+ python -m lidar_slam --no-model /working/11273800-fcd2-43ba-9a89-b8368716a795 Lidar SLAM 0.0.13 ===================================================== The recording path: /working/11273800-fcd2-43ba-9a89-b8368716a795 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 0.024839173 Adjusted end_distance from 9.223372036854776e+18 to 87.284839173 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.024839173 meters Centerline goodness [0,1] 0.9922535056727161 Centerline is valid? [0, True] SLAMing on 0.054839173 meters Centerline goodness [0,1] 0.9885801042973134 Centerline is valid? [True, True] Translation: X:0.03, Y:-0.01, Z:0.00 [[ 9.99982548e-01 -5.83315537e-03 -9.36716540e-04 3.01024345e-02] [ 5.83315891e-03 9.99982987e-01 1.05178332e-06 -7.75882449e-03] [ 9.36694469e-04 -6.51578140e-06 9.99999561e-01 6.50304609e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.08483917299999999 meters Centerline goodness [0,1] 0.9881852447814491 Centerline is valid? [True, True] Translation: X:0.06, Y:-0.01, Z:-0.00 [[ 9.99941058e-01 -1.01472372e-02 -3.86181706e-03 6.09505654e-02] [ 1.01473225e-02 9.99948515e-01 2.49726057e-06 -1.22200111e-02] [ 3.86159289e-03 -4.16842165e-05 9.99992543e-01 -7.89289000e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11483917299999999 meters Centerline goodness [0,1] 0.9922712760101288 Centerline is valid? [True, True] Translation: X:0.09, Y:-0.02, Z:-0.01 [[ 9.99862197e-01 -1.47391342e-02 -7.63833453e-03 9.29134076e-02] [ 1.47396271e-02 9.99891366e-01 8.24273007e-06 -1.52213514e-02] [ 7.63738326e-03 -1.20827797e-04 9.99970827e-01 -1.38396906e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.144839173 meters Centerline goodness [0,1] 0.9919351294334813 Centerline is valid? [True, True] Translation: X:0.13, Y:-0.03, Z:-0.03 [[ 9.99724571e-01 -2.09058456e-02 -1.06642806e-02 1.26000504e-01] [ 2.09071044e-02 9.99781423e-01 6.56254027e-06 -2.51044352e-02] [ 1.06618125e-02 -2.29519961e-04 9.99943135e-01 -2.53205186e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.174839173 meters Centerline goodness [0,1] 0.9920934803975101 Centerline is valid? [True, True] Translation: X:0.16, Y:-0.03, Z:-0.02 [[ 9.99708324e-01 -2.18984422e-02 -1.01845585e-02 1.58109324e-01] [ 2.18996261e-02 9.99760174e-01 4.72299718e-06 -2.78681811e-02] [ 1.01820125e-02 -2.27759642e-04 9.99948136e-01 -2.43510089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.20483917299999999 meters Centerline goodness [0,1] 0.9870475940851408 Centerline is valid? [True, True] Translation: X:0.19, Y:-0.03, Z:-0.02 [[ 9.99691455e-01 -2.23298547e-02 -1.08798664e-02 1.89067675e-01] [ 2.23312484e-02 9.99750627e-01 6.61757563e-06 -2.79031856e-02] [ 1.08770055e-02 -2.49576533e-04 9.99940812e-01 -1.50706329e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.23483917299999998 meters Centerline goodness [0,1] 0.9863250103763899 Centerline is valid? [True, True] Translation: X:0.22, Y:-0.03, Z:-0.02 [[ 9.99528058e-01 -2.58646053e-02 -1.65735858e-02 2.20036186e-01] [ 2.58685379e-02 9.99665353e-01 2.29059045e-05 -2.77033222e-02] [ 1.65674470e-02 -4.51629526e-04 9.99862648e-01 -1.66118688e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.264839173 meters Centerline goodness [0,1] 0.9876316994961063 Centerline is valid? [True, True] Translation: X:0.25, Y:-0.03, Z:-0.02 [[ 9.99445606e-01 -2.79290204e-02 -1.81231767e-02 2.52138533e-01] [ 2.79339991e-02 9.99609769e-01 2.15792117e-05 -2.91058815e-02] [ 1.81155018e-02 -5.27820050e-04 9.99835762e-01 -1.90015231e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.294839173 meters Centerline goodness [0,1] 0.9767325221335427 Centerline is valid? [True, True] Translation: X:0.28, Y:-0.04, Z:-0.01 [[ 9.99398306e-01 -2.94149102e-02 -1.83790539e-02 2.82678923e-01] [ 2.94202661e-02 9.99567130e-01 2.10441588e-05 -3.54173368e-02] [ 1.83704791e-02 -5.61748154e-04 9.99831091e-01 -9.15263197e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.324839173 meters Centerline goodness [0,1] 0.986333719633525 Centerline is valid? [True, True] Translation: X:0.32, Y:-0.03, Z:-0.02 [[ 9.99455773e-01 -2.79929889e-02 -1.74513795e-02 3.15595685e-01] [ 2.79975829e-02 9.99607991e-01 1.89391307e-05 -3.05546092e-02] [ 1.74440082e-02 -5.07525268e-04 9.99847713e-01 -1.71032825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.35483917299999995 meters Centerline goodness [0,1] 0.9883312861905598 Centerline is valid? [True, True] Translation: X:0.35, Y:-0.02, Z:-0.01 [[ 9.99554965e-01 -2.48191779e-02 -1.65493476e-02 3.48056411e-01] [ 2.48228889e-02 9.99691864e-01 1.88336227e-05 -2.39265736e-02] [ 1.65437807e-02 -4.29627859e-04 9.99863050e-01 -1.32118608e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.384839173 meters Centerline goodness [0,1] 0.9956369596031184 Centerline is valid? [True, True] Translation: X:0.38, Y:-0.00, Z:-0.01 [[ 9.99737981e-01 -1.47013372e-02 -1.75453883e-02 3.78468592e-01] [ 1.47040955e-02 9.99891889e-01 2.82080941e-05 -4.80096201e-03] [ 1.75430767e-02 -2.86189768e-04 9.99846067e-01 -1.05490760e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.414839173 meters Centerline goodness [0,1] 0.998187084079503 Centerline is valid? [True, True] Translation: X:0.41, Y:0.00, Z:-0.01 [[ 9.99791383e-01 -9.32829340e-03 -1.81706834e-02 4.08987963e-01] [ 9.33040832e-03 9.99956470e-01 3.16161898e-05 3.47406339e-03] [ 1.81695975e-02 -2.01149490e-04 9.99834899e-01 -1.29770237e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.444839173 meters Centerline goodness [0,1] 0.9992022867779033 Centerline is valid? [True, True] Translation: X:0.44, Y:0.01, Z:-0.02 [[ 9.99822496e-01 2.21591178e-04 -1.88394921e-02 4.37447036e-01] [-2.20892574e-04 9.99999975e-01 3.91628077e-05 1.13223152e-02] [ 1.88395003e-02 -3.49943523e-05 9.99822520e-01 -1.55106267e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.47483917299999995 meters Centerline goodness [0,1] 0.999379487634075 Centerline is valid? [True, True] Translation: X:0.46, Y:0.01, Z:-0.01 [[ 9.99830991e-01 3.80243054e-03 -1.79869817e-02 4.64912888e-01] [-3.80239972e-03 9.99992770e-01 3.59127663e-05 1.32048381e-02] [ 1.79869882e-02 3.24869977e-05 9.99838221e-01 -1.27002427e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.504839173 meters Centerline goodness [0,1] 0.9991806364461767 Centerline is valid? [True, True] Translation: X:0.49, Y:0.02, Z:-0.01 [[ 9.99841241e-01 7.66188764e-03 -1.60868777e-02 4.93430444e-01] [-7.66242867e-03 9.99970643e-01 2.80053387e-05 1.64249873e-02] [ 1.60866200e-02 9.52636603e-05 9.99870597e-01 -8.37988432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5348391730000001 meters Centerline goodness [0,1] 0.9990931009312305 Centerline is valid? [True, True] Translation: X:0.52, Y:0.02, Z:-0.01 [[ 9.99865447e-01 6.79988935e-03 -1.49281474e-02 5.21810470e-01] [-6.80015026e-03 9.99976878e-01 3.32828167e-05 1.92793437e-02] [ 1.49280285e-02 6.82353069e-05 9.99888568e-01 -7.10587955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5648391730000001 meters Centerline goodness [0,1] 0.9991273606014499 Centerline is valid? [True, True] Translation: X:0.55, Y:0.01, Z:-0.01 [[ 9.99843748e-01 -4.88164116e-03 -1.69896906e-02 5.52299723e-01] [ 4.88275241e-03 9.99988079e-01 2.39265889e-05 1.35023136e-02] [ 1.69893713e-02 -1.06879303e-04 9.99855665e-01 -1.28434587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.594839173 meters Centerline goodness [0,1] 0.9986179840399447 Centerline is valid? [True, True] Translation: X:0.58, Y:0.01, Z:-0.01 [[ 9.99698531e-01 -1.54897861e-02 -1.90502868e-02 5.80293516e-01] [ 1.54931789e-02 9.99879973e-01 3.05138575e-05 5.96088196e-03] [ 1.90475276e-02 -3.25654160e-04 9.99818526e-01 -9.92767325e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.624839173 meters Centerline goodness [0,1] 0.995160031225605 Centerline is valid? [True, True] Translation: X:0.61, Y:-0.00, Z:-0.01 [[ 9.99432132e-01 -2.58215421e-02 -2.16485978e-02 6.08988868e-01] [ 2.58281694e-02 9.99666397e-01 2.65322255e-05 -9.64194040e-04] [ 2.16406907e-02 -5.85660811e-04 9.99765641e-01 -7.92897432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.654839173 meters Centerline goodness [0,1] 0.9876777887109759 Centerline is valid? [True, True] Translation: X:0.64, Y:-0.01, Z:-0.02 [[ 9.98746743e-01 -4.35122511e-02 -2.47311138e-02 6.40577856e-01] [ 4.35261758e-02 9.99052287e-01 2.47596568e-05 -1.04996596e-02] [ 2.47065984e-02 -1.10117943e-03 9.99694139e-01 -1.82277482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.684839173 meters Centerline goodness [0,1] 0.9789895392833297 Centerline is valid? [True, True] Translation: X:0.67, Y:-0.02, Z:-0.02 [[ 9.98524474e-01 -4.87650387e-02 -2.38923731e-02 6.70031057e-01] [ 4.87795727e-02 9.98809568e-01 2.55281499e-05 -1.56971416e-02] [ 2.38626860e-02 -1.19095023e-03 9.99714536e-01 -1.64165746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.714839173 meters Centerline goodness [0,1] 0.9783730646350455 Centerline is valid? [True, True] Translation: X:0.70, Y:-0.02, Z:-0.02 [[ 9.98507549e-01 -4.94620794e-02 -2.31555227e-02 7.02637062e-01] [ 4.94757378e-02 9.98775326e-01 1.69800823e-05 -1.75301141e-02] [ 2.31263248e-02 -1.16259131e-03 9.99731875e-01 -1.94893999e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.744839173 meters Centerline goodness [0,1] 0.9817280200142959 Centerline is valid? [True, True] Translation: X:0.73, Y:-0.02, Z:-0.02 [[ 9.98526007e-01 -4.76470976e-02 -2.59916693e-02 7.33784164e-01] [ 4.76639230e-02 9.98863429e-01 2.78316564e-05 -1.79190427e-02] [ 2.59608019e-02 -1.26665556e-03 9.99662159e-01 -2.09242228e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.774839173 meters Centerline goodness [0,1] 0.9864719584303888 Centerline is valid? [True, True] Translation: X:0.77, Y:-0.02, Z:-0.03 [[ 9.98477683e-01 -4.57686568e-02 -3.07822335e-02 7.65008707e-01] [ 4.57913557e-02 9.98951025e-01 3.24920768e-05 -1.79261356e-02] [ 3.07484566e-02 -1.44200282e-03 9.99526114e-01 -2.54613142e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8048391730000001 meters Centerline goodness [0,1] 0.9881481815924329 Centerline is valid? [True, True] Translation: X:0.80, Y:-0.02, Z:-0.03 [[ 9.98344511e-01 -4.40496937e-02 -3.69846149e-02 7.96659894e-01] [ 4.40813473e-02 9.99027944e-01 4.04530145e-05 -1.96825676e-02] [ 3.69468819e-02 -1.67071770e-03 9.99315834e-01 -3.49494066e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.834839173 meters Centerline goodness [0,1] 0.9770658530383931 Centerline is valid? [True, True] Translation: X:0.83, Y:0.01, Z:-0.08 [[ 9.98555784e-01 -3.61249900e-02 -3.97659454e-02 8.31360747e-01] [ 3.61552796e-02 9.99346183e-01 4.25672565e-05 1.08360762e-02] [ 3.97384080e-02 -1.48025465e-03 9.99209021e-01 -7.71399606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.864839173 meters Centerline goodness [0,1] 0.9836130599697548 Centerline is valid? [True, True] Translation: X:0.86, Y:-0.01, Z:-0.05 [[ 9.97843634e-01 -4.72217148e-02 -4.55871837e-02 8.57396264e-01] [ 4.72733957e-02 9.98881987e-01 5.56455330e-05 -8.90477437e-03] [ 4.55335889e-02 -2.21058651e-03 9.98960362e-01 -5.36881326e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.894839173 meters Centerline goodness [0,1] 0.8878672714641821 Centerline is valid? [True, False] Translation: X:0.74, Y:0.00, Z:-0.10 [[ 9.95329866e-01 -7.78615547e-02 -5.70616874e-02 7.44829817e-01] [ 7.78752436e-02 9.96961132e-01 -1.98711076e-03 4.26836202e-04] [ 5.70430040e-02 -2.46586212e-03 9.98368677e-01 -9.58742097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.924839173 meters Centerline goodness [0,1] 0.9780826799714897 Centerline is valid? [False, True] Translation: X:0.75, Y:0.02, Z:-0.08 [[ 0.983554 0.00211197 -0.18060199 0.75269716] [-0.00928154 0.99920147 -0.03886233 0.02045546] [ 0.1803757 0.03989946 0.9827882 -0.07749204] [ 0. 0. 0. 1. ]] SLAMing on 0.954839173 meters Centerline goodness [0,1] 0.9780826799714897 Centerline is valid? [True, True] Translation: X:0.78, Y:-0.01, Z:-0.10 [[ 9.84180658e-01 -2.96394797e-04 -1.77167563e-01 7.77765307e-01] [ 2.41482124e-03 9.99928148e-01 1.17416914e-02 -9.94860627e-03] [ 1.77151353e-01 -1.19837736e-02 9.84110658e-01 -1.02878960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.984839173 meters Centerline goodness [0,1] 0.9920557717250325 Centerline is valid? [True, True] Translation: X:0.81, Y:-0.04, Z:-0.07 [[ 9.99775989e-01 1.45884251e-02 1.53346168e-02 8.06558362e-01] [-1.45745081e-02 9.99893267e-01 -1.01892331e-03 -4.10052719e-02] [-1.53478446e-02 7.95200563e-04 9.99881899e-01 -6.73818780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.014839173 meters Centerline goodness [0,1] 0.7731535756154748 Centerline is valid? [True, False] Translation: X:0.88, Y:-0.02, Z:-0.08 [[ 0.99598631 -0.01409574 0.08838886 0.87847109] [ 0.02066897 0.99705153 -0.07389884 -0.01539722] [-0.08708659 0.07542914 0.99334102 -0.08196696] [ 0. 0. 0. 1. ]] SLAMing on 1.044839173 meters Centerline goodness [0,1] 0.9820761480698842 Centerline is valid? [False, True] Translation: X:0.92, Y:-0.04, Z:-0.05 [[ 0.99735027 -0.03679623 0.0627573 0.91979317] [ 0.03813071 0.99906856 -0.02020034 -0.04094077] [-0.06195555 0.0225398 0.99782437 -0.05046579] [ 0. 0. 0. 1. ]] SLAMing on 1.074839173 meters Centerline goodness [0,1] 0.992142934022172 Centerline is valid? [True, True] Translation: X:0.95, Y:-0.03, Z:-0.03 [[ 0.99281583 -0.027624 0.11642014 0.95316688] [ 0.02768488 0.9996161 0.00109439 -0.0336065 ] [-0.11640568 0.00213655 0.99319945 -0.02559744] [ 0. 0. 0. 1. ]] SLAMing on 1.104839173 meters Centerline goodness [0,1] 0.9808764698751364 Centerline is valid? [True, True] Translation: X:0.98, Y:-0.02, Z:-0.04 [[ 0.99291196 -0.04163126 0.11132241 0.98319902] [ 0.04177498 0.9991265 0.00104213 -0.02430395] [-0.11126855 0.00361575 0.9937838 -0.04459317] [ 0. 0. 0. 1. ]] SLAMing on 1.1348391729999998 meters Centerline goodness [0,1] 0.9984600679694138 Centerline is valid? [True, True] Translation: X:1.01, Y:-0.02, Z:-0.03 [[ 0.99122147 -0.01970366 0.13073544 1.01432705] [ 0.01971348 0.99980493 0.00121921 -0.02152099] [-0.13073396 0.00136874 0.99141654 -0.02540649] [ 0. 0. 0. 1. ]] SLAMing on 1.1648391729999998 meters Centerline goodness [0,1] 0.9181853431562621 Centerline is valid? [True, False] Translation: X:0.98, Y:-0.04, Z:-0.09 [[ 0.99857853 0.01604007 0.05082939 0.98091994] [-0.01777164 0.99927061 0.03379954 -0.03827311] [-0.05025017 -0.03465481 0.99813524 -0.08986992] [ 0. 0. 0. 1. ]] SLAMing on 1.1948391729999999 meters Centerline goodness [0,1] 0.8510850586181092 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.15, Z:-0.14 [[ 0.99123872 -0.03601728 0.12707697 0.89992747] [ 0.00938662 0.97887916 0.20422411 -0.14578511] [-0.1317486 -0.20124202 0.970641 -0.14139088] [ 0. 0. 0. 1. ]] SLAMing on 1.224839173 meters Centerline goodness [0,1] 0.8676531600055317 Centerline is valid? [False, False] Translation: X:0.77, Y:-0.19, Z:-0.09 [[ 0.95721156 -0.08067643 0.27791606 0.77019864] [ 0.0187983 0.97566054 0.21847915 -0.18972133] [-0.28877785 -0.20390642 0.93543013 -0.09372979] [ 0. 0. 0. 1. ]] SLAMing on 1.254839173 meters Centerline goodness [0,1] 0.9755015970477874 Centerline is valid? [False, True] Translation: X:1.09, Y:0.11, Z:0.37 [[ 0.99514308 -0.04487273 0.08761677 1.08561483] [ 0.06814805 0.95632887 -0.28423746 0.11463748] [-0.07103593 0.28882785 0.95474204 0.37259371] [ 0. 0. 0. 1. ]] SLAMing on 1.284839173 meters Centerline goodness [0,1] 0.9910744264129826 Centerline is valid? [True, True] Translation: X:1.12, Y:-0.02, Z:0.22 [[ 9.96527014e-01 -4.83231587e-02 6.78143199e-02 1.12381012e+00] [ 4.81586767e-02 9.98831450e-01 4.05914750e-03 -2.34062784e-02] [-6.79312263e-02 -7.79202227e-04 9.97689702e-01 2.21934958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.314839173 meters Centerline goodness [0,1] 0.9726967943418756 Centerline is valid? [True, True] Translation: X:1.15, Y:-0.03, Z:0.27 [[ 9.94767711e-01 -5.85466151e-02 8.37227276e-02 1.15409781e+00] [ 5.83324949e-02 9.98284671e-01 5.00349201e-03 -2.51270030e-02] [-8.38720531e-02 -9.35567172e-05 9.96476528e-01 2.65701984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3448391729999998 meters Centerline goodness [0,1] 0.9789527363760692 Centerline is valid? [True, True] Translation: X:1.19, Y:-0.03, Z:0.25 [[ 9.94446905e-01 -6.41231683e-02 8.34480168e-02 1.18690040e+00] [ 6.39320843e-02 9.97941912e-01 4.96277627e-03 -2.52702799e-02] [-8.35945024e-02 3.99788141e-04 9.96499774e-01 2.54653296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.3748391729999998 meters Centerline goodness [0,1] 0.9767521995819072 Centerline is valid? [True, True] Translation: X:1.22, Y:-0.03, Z:0.25 [[ 0.99401838 -0.07543989 0.0789701 1.21685044] [ 0.07530465 0.99714953 0.00469347 -0.03005492] [-0.07909907 0.00128143 0.99686594 0.24819912] [ 0. 0. 0. 1. ]] SLAMing on 1.4048391729999998 meters Centerline goodness [0,1] 0.9742553338079599 Centerline is valid? [True, True] Translation: X:1.25, Y:-0.03, Z:0.25 [[ 0.99367039 -0.08178703 0.07700676 1.24918796] [ 0.08167889 0.99664827 0.00455816 -0.03296898] [-0.07712145 0.00176052 0.99702015 0.24549004] [ 0. 0. 0. 1. ]] SLAMing on 1.4348391729999999 meters Centerline goodness [0,1] 0.9791460694824454 Centerline is valid? [True, True] Translation: X:1.28, Y:-0.03, Z:0.24 [[ 0.99336078 -0.08754592 0.07463288 1.28197966] [ 0.08746229 0.99615814 0.00439444 -0.03170876] [-0.07473086 0.0021623 0.9972014 0.23789012] [ 0. 0. 0. 1. ]] SLAMing on 1.4648391729999999 meters Centerline goodness [0,1] 0.9779670906756914 Centerline is valid? [True, True] Translation: X:1.31, Y:-0.02, Z:0.23 [[ 0.99278453 -0.09653815 0.07112844 1.31251634] [ 0.09648602 0.99532558 0.00417644 -0.02301826] [-0.07119914 0.0027166 0.99745842 0.23320168] [ 0. 0. 0. 1. ]] SLAMing on 1.494839173 meters Centerline goodness [0,1] 0.9723959200171188 Centerline is valid? [True, True] Translation: X:1.34, Y:-0.01, Z:0.23 [[ 0.99271709 -0.09815263 0.06984867 1.34431535] [ 0.0981076 0.99516744 0.00408326 -0.01344302] [-0.06991191 0.00279916 0.99754924 0.23300519] [ 0. 0. 0. 1. ]] SLAMing on 1.524839173 meters Centerline goodness [0,1] 0.7896948252985405 Centerline is valid? [True, False] Translation: X:1.09, Y:-0.01, Z:0.20 [[ 0.98756874 -0.13059469 0.08748146 1.09186504] [ 0.13270441 0.99097875 -0.01872578 -0.00948008] [-0.08424678 0.03010217 0.99599013 0.19731712] [ 0. 0. 0. 1. ]] SLAMing on 1.554839173 meters Centerline goodness [0,1] 0.8115942028985508 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.02, Z:0.18 [[ 9.83033178e-01 -1.42990374e-01 1.14889182e-01 1.14331259e+00] [ 1.42060659e-01 9.89724029e-01 1.62823683e-02 -1.66688837e-02] [-1.16036806e-01 3.15124718e-04 9.93244864e-01 1.80078745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.584839173 meters Centerline goodness [0,1] 0.9654353626594209 Centerline is valid? [False, True] Translation: X:1.33, Y:0.03, Z:0.27 [[ 0.98644747 -0.07794511 0.14438123 1.32978156] [ 0.08591227 0.99505805 -0.04978508 0.03347871] [-0.1397872 0.06151449 0.98826894 0.27413988] [ 0. 0. 0. 1. ]] SLAMing on 1.6148391729999998 meters Centerline goodness [0,1] 0.8329019269485188 Centerline is valid? [True, False] Translation: X:1.25, Y:0.03, Z:0.24 [[ 0.98310071 -0.07222305 0.16821659 1.24715113] [ 0.08090634 0.99568983 -0.0453423 0.02846562] [-0.16421679 0.05818583 0.98470668 0.24405793] [ 0. 0. 0. 1. ]] SLAMing on 1.6448391729999998 meters Centerline goodness [0,1] 0.9807642623951899 Centerline is valid? [False, True] Translation: X:1.41, Y:0.08, Z:0.37 [[ 0.9794593 0.00717294 0.20151433 1.41175364] [ 0.0418384 0.97038899 -0.23789653 0.0769851 ] [-0.19725371 0.24144101 0.95015642 0.36669105] [ 0. 0. 0. 1. ]] SLAMing on 1.6748391729999998 meters Centerline goodness [0,1] 0.9716476319782765 Centerline is valid? [True, True] Translation: X:1.42, Y:-0.02, Z:0.21 [[ 9.78713043e-01 -2.76683711e-02 2.03359878e-01 1.41844139e+00] [ 2.82099688e-02 9.99601992e-01 2.35515585e-04 -1.74489586e-02] [-2.03285455e-01 5.50627364e-03 9.79104032e-01 2.12924995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7048391729999999 meters Centerline goodness [0,1] 0.9845495524923238 Centerline is valid? [True, True] Translation: X:1.44, Y:-0.00, Z:0.18 [[ 9.83376765e-01 -2.32882609e-02 1.80077194e-01 1.44497115e+00] [ 2.36383885e-02 9.99720554e-01 2.01641539e-04 -1.36663911e-03] [-1.80031568e-01 4.05844507e-03 9.83652461e-01 1.79636736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.734839173 meters Centerline goodness [0,1] 0.9716374415917198 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.03, Z:0.20 [[ 9.82310816e-01 -3.40867917e-02 1.84129172e-01 1.47957160e+00] [ 3.46437128e-02 9.99399708e-01 1.92451191e-04 -2.56377065e-02] [-1.84025201e-01 6.18987128e-03 9.82902035e-01 2.03095712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.764839173 meters Centerline goodness [0,1] 0.9778236816487405 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.03, Z:0.21 [[ 9.79429083e-01 -2.90924211e-02 1.99680502e-01 1.51173194e+00] [ 2.96483499e-02 9.99560370e-01 2.06204637e-04 -2.68725606e-02] [-1.99598715e-01 5.71823457e-03 9.79861038e-01 2.10411375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.794839173 meters Centerline goodness [0,1] 0.9818358818501283 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.02, Z:0.20 [[ 9.80427798e-01 -2.50332025e-02 1.95281006e-01 1.54116660e+00] [ 2.54851964e-02 9.99675180e-01 1.98053965e-04 -2.40791942e-02] [-1.95222533e-01 4.78259718e-03 9.80747312e-01 1.97555689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8248391729999998 meters Centerline goodness [0,1] 0.9821203547397703 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.02, Z:0.19 [[ 9.81192965e-01 -2.30481638e-02 1.91648499e-01 1.57045925e+00] [ 2.34475074e-02 9.99725052e-01 1.84178182e-04 -2.31190895e-02] [-1.91600051e-01 4.31296527e-03 9.81463610e-01 1.88833497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8548391729999998 meters Centerline goodness [0,1] 0.9848749133831928 Centerline is valid? [True, True] Translation: X:1.60, Y:-0.02, Z:0.18 [[ 9.81703814e-01 -1.73223840e-02 1.89624776e-01 1.60014929e+00] [ 1.76108034e-02 9.99844904e-01 1.64032041e-04 -1.68764930e-02] [-1.89598208e-01 3.17841378e-03 9.81856617e-01 1.76147530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8848391729999998 meters Centerline goodness [0,1] 0.9834140753645324 Centerline is valid? [True, True] Translation: X:1.63, Y:-0.01, Z:0.17 [[ 9.81314853e-01 -1.40457731e-02 1.91895482e-01 1.63252789e+00] [ 1.42825398e-02 9.99897988e-01 1.49413756e-04 -1.21383941e-02] [-1.91878005e-01 2.59413291e-03 9.81415356e-01 1.71230468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9148391729999998 meters Centerline goodness [0,1] 0.9803157139440325 Centerline is valid? [True, True] Translation: X:1.66, Y:-0.01, Z:0.17 [[ 9.81027998e-01 -1.05716670e-02 1.93577653e-01 1.66371978e+00] [ 1.07562815e-02 9.99942145e-01 9.73360578e-05 -8.47143236e-03] [-1.93567482e-01 1.98668632e-03 9.81084952e-01 1.66486313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9448391729999999 meters Centerline goodness [0,1] 0.9811152380492981 Centerline is valid? [True, True] Translation: X:1.69, Y:0.00, Z:0.16 [[ 9.81423617e-01 -6.62784367e-03 1.91738771e-01 1.69437988e+00] [ 6.74238145e-03 9.99977268e-01 5.50781622e-05 4.00592488e-03] [-1.91734778e-01 1.23872092e-03 9.81445995e-01 1.59343761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.974839173 meters Centerline goodness [0,1] 0.9812040117535638 Centerline is valid? [True, True] Translation: X:1.73, Y:0.01, Z:0.16 [[ 9.81554018e-01 -2.81183790e-03 1.91164337e-01 1.72649347e+00] [ 2.85701307e-03 9.99995918e-01 3.93052670e-05 1.44136088e-02] [-1.91163667e-01 5.07578765e-04 9.81558045e-01 1.55327593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.004839173 meters Centerline goodness [0,1] 0.9818671234552796 Centerline is valid? [True, True] Translation: X:1.76, Y:0.03, Z:0.15 [[ 9.81836256e-01 2.74462579e-03 1.89710392e-01 1.75767238e+00] [-2.79279741e-03 9.99996100e-01 -1.34169088e-05 2.66245415e-02] [-1.89709689e-01 -5.16649483e-04 9.81840092e-01 1.48766960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.034839173 meters Centerline goodness [0,1] 0.979540893739905 Centerline is valid? [True, True] Translation: X:1.79, Y:0.03, Z:0.14 [[ 9.82103656e-01 5.30139014e-03 1.88266575e-01 1.78815188e+00] [-5.38558586e-03 9.99985496e-01 -6.43220024e-05 2.93331979e-02] [-1.88264185e-01 -9.50754931e-04 9.82117963e-01 1.41785403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.064839173 meters Centerline goodness [0,1] 0.9825572801182557 Centerline is valid? [True, True] Translation: X:1.82, Y:0.04, Z:0.13 [[ 9.83049190e-01 1.26793754e-02 1.82903042e-01 1.81877815e+00] [-1.28768710e-02 9.99917084e-01 -1.07851974e-04 3.94545333e-02] [-1.82889244e-01 -2.24919508e-03 9.83130950e-01 1.28873917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.094839173 meters Centerline goodness [0,1] 0.9838845638915059 Centerline is valid? [True, True] Translation: X:1.85, Y:0.05, Z:0.12 [[ 9.83861442e-01 1.72358586e-02 1.78099939e-01 1.84967865e+00] [-1.74884098e-02 9.99847055e-01 -1.51883217e-04 4.66987994e-02] [-1.78075317e-01 -2.96525268e-03 9.84012393e-01 1.18846073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1248391730000002 meters Centerline goodness [0,1] 0.985632827867832 Centerline is valid? [True, True] Translation: X:1.88, Y:0.05, Z:0.10 [[ 9.85488605e-01 1.79979951e-02 1.68784718e-01 1.87832634e+00] [-1.82283087e-02 9.99833833e-01 -1.84933326e-04 5.22486898e-02] [-1.68760000e-01 -2.89441026e-03 9.85652923e-01 1.03949874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.154839173 meters Centerline goodness [0,1] 0.9855216677446639 Centerline is valid? [True, True] Translation: X:1.91, Y:0.05, Z:0.09 [[ 9.86297900e-01 1.85372718e-02 1.63929322e-01 1.90810955e+00] [-1.87603979e-02 9.99823991e-01 -1.87080712e-04 5.28597554e-02] [-1.63903937e-01 -2.89086200e-03 9.86472069e-01 9.16368609e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.1848391730000003 meters Centerline goodness [0,1] 0.9853761833582462 Centerline is valid? [True, True] Translation: X:1.94, Y:0.05, Z:0.08 [[ 9.86874981e-01 2.16506424e-02 1.60028187e-01 1.93785459e+00] [-2.18975315e-02 9.99760196e-01 -2.20739380e-04 5.32941725e-02] [-1.59994591e-01 -3.28638009e-03 9.87112420e-01 7.50355805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.214839173 meters Centerline goodness [0,1] 0.9829591018444266 Centerline is valid? [True, True] Translation: X:1.97, Y:0.06, Z:0.07 [[ 9.86787767e-01 2.26891600e-02 1.60421646e-01 1.96980431e+00] [-2.29441633e-02 9.99736713e-01 -2.62848434e-04 5.62830551e-02] [-1.60385373e-01 -3.42136483e-03 9.87048543e-01 7.12769506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.244839173 meters Centerline goodness [0,1] 0.9804632426988923 Centerline is valid? [True, True] Translation: X:2.00, Y:0.06, Z:0.07 [[ 9.86872772e-01 2.26871278e-02 1.59898171e-01 2.00311364e+00] [-2.29336183e-02 9.99736944e-01 -3.03920449e-04 6.05011217e-02] [-1.59863004e-01 -3.36711282e-03 9.87133467e-01 6.74580794e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.274839173 meters Centerline goodness [0,1] 0.9794940348576184 Centerline is valid? [True, True] Translation: X:2.03, Y:0.06, Z:0.06 [[ 9.88048470e-01 1.82011696e-02 1.53065147e-01 2.03317520e+00] [-1.83662528e-02 9.99831270e-01 -3.35481716e-04 6.04280522e-02] [-1.53045426e-01 -2.47976099e-03 9.88216043e-01 5.65769759e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.304839173 meters Centerline goodness [0,1] 0.9804219537522478 Centerline is valid? [True, True] Translation: X:2.06, Y:0.05, Z:0.05 [[ 9.88685465e-01 1.35635058e-02 1.49389033e-01 2.06402704e+00] [-1.36626323e-02 9.99906596e-01 -3.62764048e-04 5.32135120e-02] [-1.49380000e-01 -1.68238789e-03 9.88778431e-01 4.55365776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.334839173 meters Centerline goodness [0,1] 0.9501218877537045 Centerline is valid? [True, True] Translation: X:2.10, Y:0.04, Z:0.03 [[ 9.88859131e-01 -6.99364407e-03 1.48689973e-01 2.09578248e+00] [ 7.13224088e-03 9.99974486e-01 -3.98923251e-04 3.56982091e-02] [-1.48683390e-01 1.45497161e-03 9.88883781e-01 3.15393553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.364839173 meters Centerline goodness [0,1] 0.9521656854499579 Centerline is valid? [True, True] Translation: X:2.13, Y:0.03, Z:0.02 [[ 9.91587139e-01 -8.77654654e-03 1.29143017e-01 2.12517029e+00] [ 8.90098608e-03 9.99960311e-01 -3.86432883e-04 3.40061189e-02] [-1.29134500e-01 1.53268208e-03 9.91625903e-01 1.80027271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3948391730000003 meters Centerline goodness [0,1] 0.9476639910617153 Centerline is valid? [True, False] Translation: X:2.18, Y:0.03, Z:0.01 [[ 0.99355006 -0.00938259 0.11300555 2.17683832] [ 0.00845974 0.99992686 0.00864319 0.03085423] [-0.11307838 -0.00763144 0.99355676 0.01310782] [ 0. 0. 0. 1. ]] SLAMing on 2.424839173 meters Centerline goodness [0,1] 0.9534431099387949 Centerline is valid? [False, True] Translation: X:2.23, Y:0.04, Z:0.02 [[ 0.99186373 -0.0078916 0.12705928 2.22627227] [ 0.01061757 0.99972746 -0.02079133 0.04323504] [-0.12686058 0.02197123 0.9916772 0.02307469] [ 0. 0. 0. 1. ]] SLAMing on 2.454839173 meters Centerline goodness [0,1] 0.9376183053112126 Centerline is valid? [True, False] Translation: X:2.14, Y:0.04, Z:0.03 [[ 0.99317279 -0.01000706 0.11622246 2.14372845] [ 0.01089919 0.9999158 -0.00704306 0.03647771] [-0.11614219 0.00826171 0.99319824 0.03061299] [ 0. 0. 0. 1. ]] SLAMing on 2.484839173 meters Centerline goodness [0,1] 0.9517311869170819 Centerline is valid? [False, True] Translation: X:2.17, Y:0.03, Z:0.03 [[ 0.99304377 -0.01045655 0.11728058 2.17093327] [ 0.01114896 0.99992407 -0.00524939 0.0342583 ] [-0.11721678 0.00652043 0.99308495 0.02687413] [ 0. 0. 0. 1. ]] SLAMing on 2.514839173 meters Centerline goodness [0,1] 0.9438811720571834 Centerline is valid? [True, False] Translation: X:2.17, Y:0.03, Z:0.03 [[ 0.99302678 -0.01018093 0.11744853 2.17026765] [ 0.01085418 0.99992812 -0.00509416 0.03272676] [-0.11738822 0.00633345 0.99306591 0.02836379] [ 0. 0. 0. 1. ]] SLAMing on 2.544839173 meters Centerline goodness [0,1] 0.9477606284891504 Centerline is valid? [False, False] Translation: X:2.17, Y:0.03, Z:0.03 [[ 9.93015277e-01 -7.41233783e-03 1.17752775e-01 2.16876764e+00] [ 7.56216440e-03 9.99971066e-01 -8.25640192e-04 3.04444736e-02] [-1.17743248e-01 1.71033917e-03 9.93042598e-01 2.89630993e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.574839173 meters Centerline goodness [0,1] 0.9443107858282472 Centerline is valid? [False, False] Translation: X:2.16, Y:0.04, Z:0.04 [[ 9.92752801e-01 -4.49542347e-03 1.20090245e-01 2.15861726e+00] [ 4.27599503e-03 9.99988685e-01 2.08482014e-03 3.73691829e-02] [-1.20098258e-01 -1.55620574e-03 9.92760790e-01 3.92679725e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6048391730000002 meters Centerline goodness [0,1] 0.9451662740926474 Centerline is valid? [False, False] Translation: X:2.15, Y:0.04, Z:0.05 [[ 9.92643012e-01 -2.48297348e-03 1.21052407e-01 2.15388870e+00] [ 2.11735496e-03 9.99992801e-01 3.14886757e-03 4.17895901e-02] [-1.21059354e-01 -2.86939048e-03 9.92641123e-01 4.58520149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.634839173 meters Centerline goodness [0,1] 0.9475025484199796 Centerline is valid? [False, False] Translation: X:2.15, Y:0.05, Z:0.05 [[ 9.92569727e-01 -1.32500520e-04 1.21677112e-01 2.15012730e+00] [-4.05614371e-04 9.99990248e-01 4.39770278e-03 4.61771146e-02] [-1.21676508e-01 -4.41438064e-03 9.92559993e-01 5.19831450e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.664839173 meters Centerline goodness [0,1] 0.9454508290962979 Centerline is valid? [False, False] Translation: X:2.15, Y:0.05, Z:0.06 [[ 0.99257868 0.00330626 0.12155916 2.14924905] [-0.00419728 0.99996617 0.00707463 0.04827615] [-0.12153166 -0.00753235 0.99255898 0.05541037] [ 0. 0. 0. 1. ]] SLAMing on 2.694839173 meters Centerline goodness [0,1] 0.937466390105247 Centerline is valid? [False, False] Translation: X:2.14, Y:0.05, Z:0.06 [[ 9.93204878e-01 9.22030263e-03 1.16013174e-01 2.13785493e+00] [-9.37829611e-03 9.99955690e-01 8.16074239e-04 5.11241097e-02] [-1.16000509e-01 -1.89853482e-03 9.93247339e-01 6.11701061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.724839173 meters Centerline goodness [0,1] 0.9348088738078713 Centerline is valid? [False, False] Translation: X:2.14, Y:0.05, Z:0.06 [[ 0.99320091 0.0126405 0.11572451 2.13911649] [-0.01337399 0.99989508 0.00556398 0.04949492] [-0.11564204 -0.00707384 0.99326576 0.05898728] [ 0. 0. 0. 1. ]] SLAMing on 2.754839173 meters Centerline goodness [0,1] 0.9315146055848669 Centerline is valid? [False, False] Translation: X:2.14, Y:0.05, Z:0.06 [[ 0.99476199 0.01211796 0.10149744 2.13959627] [-0.01245651 0.99991876 0.00270246 0.05331057] [-0.10145644 -0.00395261 0.99483213 0.06432318] [ 0. 0. 0. 1. ]] SLAMing on 2.784839173 meters Centerline goodness [0,1] 0.9213442419221209 Centerline is valid? [False, False] Translation: X:2.14, Y:0.06, Z:0.06 [[ 9.96204107e-01 9.63262227e-03 8.65135182e-02 2.14410341e+00] [-9.81563130e-03 9.99950397e-01 1.69023009e-03 5.56324215e-02] [-8.64929455e-02 -2.53299895e-03 9.96249243e-01 6.35103060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.814839173 meters Centerline goodness [0,1] 0.9129226614034176 Centerline is valid? [False, False] Translation: X:2.15, Y:0.06, Z:0.06 [[ 0.9961964 0.01341709 0.08609717 2.14636545] [-0.01405651 0.99987791 0.00682486 0.05626186] [-0.08599509 -0.00800912 0.99626337 0.05993987] [ 0. 0. 0. 1. ]] SLAMing on 2.844839173 meters Centerline goodness [0,1] 0.9129226614034176 Centerline is valid? [False, False] Translation: X:2.15, Y:0.06, Z:0.06 [[ 0.9961964 0.01341709 0.08609717 2.14636545] [-0.01405651 0.99987791 0.00682486 0.05626186] [-0.08599509 -0.00800912 0.99626337 0.05993987] [ 0. 0. 0. 1. ]] SLAMing on 2.8748391730000002 meters Centerline goodness [0,1] 0.9113260676852479 Centerline is valid? [False, False] Translation: X:2.15, Y:0.06, Z:0.06 [[ 0.99622486 0.01363306 0.08573316 2.14787429] [-0.01423739 0.99987789 0.00644149 0.05893701] [-0.08563487 -0.00763779 0.99629731 0.05895562] [ 0. 0. 0. 1. ]] SLAMing on 2.904839173 meters Centerline goodness [0,1] 0.9075026767294283 Centerline is valid? [False, False] Translation: X:2.15, Y:0.06, Z:0.06 [[ 0.99626842 0.01389788 0.08518269 2.1496448 ] [-0.01445787 0.99987771 0.00596054 0.06146335] [-0.08508943 -0.00716986 0.99634752 0.05833776] [ 0. 0. 0. 1. ]] SLAMing on 2.934839173 meters Centerline goodness [0,1] 0.90177424849962 Centerline is valid? [False, False] Translation: X:2.16, Y:0.06, Z:0.06 [[ 0.99744533 0.01614253 0.06958615 2.15687727] [-0.01642979 0.99985869 0.0035577 0.06326983] [-0.06951889 -0.00469189 0.9975696 0.05965263] [ 0. 0. 0. 1. ]] SLAMing on 2.964839173 meters Centerline goodness [0,1] 0.896414342629482 Centerline is valid? [False, False] Translation: X:2.16, Y:0.06, Z:0.06 [[ 0.99747425 0.01717879 0.06892037 2.16039457] [-0.01757088 0.99983268 0.00508681 0.06174166] [-0.06882146 -0.00628496 0.9976092 0.05579003] [ 0. 0. 0. 1. ]] SLAMing on 2.994839173 meters Centerline goodness [0,1] 0.8906583138111658 Centerline is valid? [False, False] Translation: X:2.16, Y:0.07, Z:0.05 [[ 0.99748433 0.01770459 0.0686408 2.16211695] [-0.01808627 0.99982421 0.00494309 0.06506611] [-0.06854122 -0.00617211 0.99762919 0.05465424] [ 0. 0. 0. 1. ]] SLAMing on 3.024839173 meters Centerline goodness [0,1] 0.8879727265519702 Centerline is valid? [False, False] Translation: X:2.16, Y:0.07, Z:0.06 [[ 0.99750296 0.01774377 0.06835944 2.16270374] [-0.01807117 0.99982799 0.00417399 0.06776859] [-0.06827362 -0.0053989 0.99765203 0.05534698] [ 0. 0. 0. 1. ]] SLAMing on 3.054839173 meters Centerline goodness [0,1] 0.8746156293076026 Centerline is valid? [False, False] Translation: X:2.16, Y:0.07, Z:0.06 [[ 0.99791225 0.02623789 0.05901456 2.15993215] [-0.02642381 0.99964802 0.00237203 0.0660746 ] [-0.05893155 -0.00392647 0.9982543 0.05529656] [ 0. 0. 0. 1. ]] SLAMing on 3.084839173 meters Centerline goodness [0,1] 0.8647493403693931 Centerline is valid? [False, False] Translation: X:2.17, Y:0.07, Z:0.05 [[ 0.99792711 0.02856043 0.05766967 2.16585328] [-0.02883369 0.99957657 0.00391173 0.06526991] [-0.05753353 -0.00556645 0.99832806 0.05166672] [ 0. 0. 0. 1. ]] SLAMing on 3.114839173 meters Centerline goodness [0,1] 0.8321233878473607 Centerline is valid? [False, False] Translation: X:2.16, Y:0.07, Z:0.06 [[ 9.98042615e-01 3.85358509e-02 4.92536925e-02 2.16123264e+00] [-3.86235726e-02 9.99253487e-01 8.30152788e-04 6.55092486e-02] [-4.91849333e-02 -2.73088143e-03 9.98785955e-01 5.62249623e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1448391730000003 meters Centerline goodness [0,1] 0.8246862259173395 Centerline is valid? [False, False] Translation: X:2.16, Y:0.07, Z:0.06 [[ 9.98047831e-01 3.92538653e-02 4.85763474e-02 2.16358161e+00] [-3.93398818e-02 9.99225554e-01 8.15591579e-04 6.67555167e-02] [-4.85067126e-02 -2.72498717e-03 9.98819139e-01 5.55297214e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.174839173 meters Centerline goodness [0,1] 0.816745106428495 Centerline is valid? [False, False] Translation: X:2.16, Y:0.07, Z:0.06 [[ 9.98060344e-01 3.94103210e-02 4.81910470e-02 2.16410929e+00] [-3.94475820e-02 9.99221625e-01 -1.77995898e-04 7.05232785e-02] [-4.81605512e-02 -1.72336963e-03 9.98838121e-01 5.71585348e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.204839173 meters Centerline goodness [0,1] 0.8210478262037112 Centerline is valid? [False, False] Translation: X:2.16, Y:0.07, Z:0.06 [[ 9.98088718e-01 3.83002895e-02 4.84974019e-02 2.16111997e+00] [-3.82416318e-02 9.99266236e-01 -2.13712249e-03 7.42588185e-02] [-4.85436686e-02 2.78418062e-04 9.98821022e-01 6.17027149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.234839173 meters Centerline goodness [0,1] 0.8484041845236511 Centerline is valid? [False, False] Translation: X:2.16, Y:0.07, Z:0.06 [[ 9.97960125e-01 2.80413730e-02 5.73521601e-02 2.16216718e+00] [-2.81432935e-02 9.99603428e-01 9.70009710e-04 6.68195862e-02] [-5.73022154e-02 -2.58210969e-03 9.98353539e-01 6.12153434e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.264839173 meters Centerline goodness [0,1] 0.8588163900688637 Centerline is valid? [False, False] Translation: X:2.16, Y:0.06, Z:0.06 [[ 9.98065322e-01 2.36434853e-02 5.75030358e-02 2.15976332e+00] [-2.35167754e-02 9.99719296e-01 -2.87933412e-03 6.21383938e-02] [-5.75549720e-02 1.52147756e-03 9.98341179e-01 6.38874655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.294839173 meters Centerline goodness [0,1] 0.8616301039151884 Centerline is valid? [False, False] Translation: X:2.16, Y:0.06, Z:0.07 [[ 0.99814619 0.01915202 0.05777014 2.15707627] [-0.01877139 0.99979842 -0.00712438 0.05902054] [-0.05789495 0.00602674 0.99830449 0.06691069] [ 0. 0. 0. 1. ]] SLAMing on 3.324839173 meters Centerline goodness [0,1] 0.8557864425247101 Centerline is valid? [False, False] Translation: X:2.16, Y:0.05, Z:0.07 [[ 0.99829319 0.00671033 0.05801449 2.15503316] [-0.00653358 0.99997342 -0.0032357 0.05157802] [-0.05803466 0.00285114 0.9983105 0.07437844] [ 0. 0. 0. 1. ]] SLAMing on 3.3548391730000002 meters Centerline goodness [0,1] 0.8510808440385905 Centerline is valid? [False, False] Translation: X:2.15, Y:0.05, Z:0.08 [[ 9.98283398e-01 4.79426065e-04 5.85664343e-02 2.15065334e+00] [ 2.64258097e-05 9.99962707e-01 -8.63615207e-03 4.90446404e-02] [-5.85683906e-02 8.62287490e-03 9.98246157e-01 7.85439946e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.384839173 meters Centerline goodness [0,1] 0.8430607923144465 Centerline is valid? [False, False] Translation: X:2.15, Y:0.05, Z:0.08 [[ 9.98260078e-01 -1.58381280e-03 5.89432648e-02 2.14757040e+00] [ 2.16313080e-03 9.99949973e-01 -9.76589192e-03 4.72641410e-02] [-5.89248487e-02 9.87640202e-03 9.98213564e-01 8.10089126e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.414839173 meters Centerline goodness [0,1] 0.8384057409845376 Centerline is valid? [False, False] Translation: X:2.14, Y:0.05, Z:0.09 [[ 0.99819431 -0.00337699 0.05997266 2.14237092] [ 0.00406607 0.99992707 -0.01137162 0.04780186] [-0.05992989 0.01159494 0.99813524 0.08577065] [ 0. 0. 0. 1. ]] SLAMing on 3.444839173 meters Centerline goodness [0,1] 0.8374598570392624 Centerline is valid? [False, False] Translation: X:2.14, Y:0.05, Z:0.09 [[ 0.99756739 -0.0084734 0.06919185 2.14252554] [ 0.00890429 0.99994282 -0.00592153 0.04675696] [-0.06913772 0.00652323 0.9975858 0.09054639] [ 0. 0. 0. 1. ]] SLAMing on 3.474839173 meters Centerline goodness [0,1] 0.835708427311872 Centerline is valid? [False, False] Translation: X:2.14, Y:0.05, Z:0.09 [[ 0.9975742 -0.00844576 0.06909693 2.14227078] [ 0.00885669 0.99994486 -0.0056429 0.04514302] [-0.06904546 0.00624118 0.99759399 0.09124659] [ 0. 0. 0. 1. ]] SLAMing on 3.504839173 meters Centerline goodness [0,1] 0.8354655661594016 Centerline is valid? [False, False] Translation: X:2.14, Y:0.04, Z:0.09 [[ 9.97613220e-01 -5.52531872e-03 6.88282993e-02 2.14247956e+00] [ 5.60667366e-03 9.99983794e-01 -9.88875035e-04 4.34861729e-02] [-6.88217200e-02 1.37241262e-03 9.97628031e-01 8.98949877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.534839173 meters Centerline goodness [0,1] 0.8352977828547692 Centerline is valid? [False, False] Translation: X:2.14, Y:0.04, Z:0.09 [[ 9.97611164e-01 -4.75523867e-03 6.89155537e-02 2.13958137e+00] [ 4.70535246e-03 9.99988537e-01 8.86186162e-04 4.44704515e-02] [-6.89189778e-02 -5.59797238e-04 9.97622103e-01 9.23929833e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.564839173 meters Centerline goodness [0,1] 0.8296016359071261 Centerline is valid? [False, False] Translation: X:2.14, Y:0.04, Z:0.09 [[ 9.97565357e-01 -5.32198411e-03 6.95344088e-02 2.13722345e+00] [ 5.27487212e-03 9.99985717e-01 8.61133411e-04 4.13111909e-02] [-6.95379986e-02 -4.92251745e-04 9.97579182e-01 9.38995287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.594839173 meters Centerline goodness [0,1] 0.8279789267083312 Centerline is valid? [False, False] Translation: X:2.14, Y:0.04, Z:0.10 [[ 9.97536327e-01 -5.51140385e-03 6.99349813e-02 2.13558697e+00] [ 5.45434633e-03 9.99984618e-01 1.00679909e-03 3.87788637e-02] [-6.99394545e-02 -6.22869059e-04 9.97551044e-01 9.52001541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.624839173 meters Centerline goodness [0,1] 0.8283377349298736 Centerline is valid? [False, False] Translation: X:2.14, Y:0.04, Z:0.10 [[ 9.97541512e-01 -5.54030470e-03 6.98586970e-02 2.13510133e+00] [ 5.45986908e-03 9.99984194e-01 1.34229635e-03 3.66782831e-02] [-6.98650296e-02 -9.57576994e-04 9.97555994e-01 9.61480338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.654839173 meters Centerline goodness [0,1] 0.8224227200492131 Centerline is valid? [False, False] Translation: X:2.14, Y:0.03, Z:0.10 [[ 0.99843096 -0.00756609 0.055483 2.13693777] [ 0.00743007 0.99996887 0.0026575 0.03174008] [-0.05550138 -0.00224108 0.9984561 0.10199065] [ 0. 0. 0. 1. ]] SLAMing on 3.684839173 meters Centerline goodness [0,1] 0.8191162660846172 Centerline is valid? [False, False] Translation: X:2.14, Y:0.03, Z:0.10 [[ 0.99845282 -0.00712719 0.05514686 2.13819283] [ 0.0068987 0.99996682 0.00433269 0.02719309] [-0.05517591 -0.00394554 0.99846885 0.10035006] [ 0. 0. 0. 1. ]] SLAMing on 3.714839173 meters Centerline goodness [0,1] 0.811460258780037 Centerline is valid? [False, False] Translation: X:2.14, Y:0.02, Z:0.10 [[ 9.98407170e-01 -1.03061756e-02 5.54698565e-02 2.13577127e+00] [ 1.01922569e-02 9.99945328e-01 2.33621991e-03 2.02165933e-02] [-5.54909014e-02 -1.76713568e-03 9.98457629e-01 1.02663018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.744839173 meters Centerline goodness [0,1] 0.8063355651044268 Centerline is valid? [False, False] Translation: X:2.13, Y:0.01, Z:0.10 [[ 9.98385469e-01 -1.27180092e-02 5.53598042e-02 2.13486383e+00] [ 1.26829521e-02 9.99919083e-01 9.84558832e-04 1.00679207e-02] [-5.53678463e-02 -2.80843486e-04 9.98465985e-01 1.04523972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.774839173 meters Centerline goodness [0,1] 0.8048877212115204 Centerline is valid? [False, False] Translation: X:2.14, Y:0.00, Z:0.10 [[ 9.98370024e-01 -1.54685551e-02 5.49364976e-02 2.13592807e+00] [ 1.55647049e-02 9.99877988e-01 -1.32274559e-03 4.17140860e-03] [-5.49093337e-02 2.17565992e-03 9.98488974e-01 1.04511594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.804839173 meters Centerline goodness [0,1] 0.8051095428950799 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.00, Z:0.10 [[ 9.98361239e-01 -1.59653233e-02 5.49540188e-02 2.13519288e+00] [ 1.60046766e-02 9.99871879e-01 -2.76067268e-04 -3.26344652e-03] [-5.49425705e-02 1.15513616e-03 9.98488848e-01 1.04780509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.834839173 meters Centerline goodness [0,1] 0.7697859208320171 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.01, Z:0.11 [[ 9.98284486e-01 -2.02026554e-02 5.49539661e-02 2.13384749e+00] [ 2.03385726e-02 9.99791316e-01 -1.91509392e-03 -1.29693626e-02] [-5.49038081e-02 3.02949378e-03 9.98487053e-01 1.05493675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.864839173 meters Centerline goodness [0,1] 0.7696747241071213 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.02, Z:0.11 [[ 9.98263379e-01 -2.07189809e-02 5.51448153e-02 2.13274044e+00] [ 2.07996870e-02 9.99783267e-01 -8.89937308e-04 -1.84509646e-02] [-5.51144250e-02 2.03538672e-03 9.98477970e-01 1.05708816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.894839173 meters Centerline goodness [0,1] 0.7765497357039884 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.02, Z:0.11 [[ 9.98256477e-01 -2.00555646e-02 5.55137785e-02 2.12874887e+00] [ 2.00585936e-02 9.99798680e-01 5.02687479e-04 -2.30068580e-02] [-5.55126841e-02 6.11717287e-04 9.98457795e-01 1.10503765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.924839173 meters Centerline goodness [0,1] 0.7644181684355486 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.03, Z:0.12 [[ 9.98165437e-01 -2.29312608e-02 5.60349637e-02 2.12494180e+00] [ 2.30522536e-02 9.99733115e-01 -1.51373385e-03 -3.24450039e-02] [-5.59852970e-02 2.80268901e-03 9.98427660e-01 1.15030509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.954839173 meters Centerline goodness [0,1] 0.7712647490878074 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.04, Z:0.12 [[ 9.98151360e-01 -2.29997412e-02 5.62572254e-02 2.12371142e+00] [ 2.30960391e-02 9.99732687e-01 -1.06208255e-03 -3.52142541e-02] [-5.62177594e-02 2.35943822e-03 9.98415743e-01 1.16215504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.984839173 meters Centerline goodness [0,1] 0.7812802531227125 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.03, Z:0.12 [[ 9.98148529e-01 -2.30158280e-02 5.63008554e-02 2.12294624e+00] [ 2.31347038e-02 9.99731290e-01 -1.46049615e-03 -3.42788903e-02] [-5.62521123e-02 2.76029569e-03 9.98412781e-01 1.17617355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0148391729999995 meters Centerline goodness [0,1] 0.7853493542740906 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.04, Z:0.12 [[ 9.98148003e-01 -2.29008915e-02 5.63570223e-02 2.12179589e+00] [ 2.30216287e-02 9.99733851e-01 -1.49397941e-03 -3.60742499e-02] [-5.63078095e-02 2.78864301e-03 9.98409562e-01 1.19667091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.044839173 meters Centerline goodness [0,1] 0.787480807842211 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.04, Z:0.12 [[ 9.98168411e-01 -2.18610206e-02 5.64085081e-02 2.12113741e+00] [ 2.19151968e-02 9.99759775e-01 -3.41936580e-04 -4.30709672e-02] [-5.63874823e-02 1.57751385e-03 9.98407714e-01 1.21063865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.074839173 meters Centerline goodness [0,1] 0.7920194325873169 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.04, Z:0.12 [[ 9.98188757e-01 -2.03530203e-02 5.66123718e-02 2.11853393e+00] [ 2.03111435e-02 9.99792843e-01 1.31506485e-03 -4.40154035e-02] [-5.66274097e-02 -1.62820935e-04 9.98395368e-01 1.24059394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.104839173 meters Centerline goodness [0,1] 0.7882199881726789 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.04, Z:0.13 [[ 0.99820346 -0.01814351 0.05710225 2.11501409] [ 0.01795221 0.99983139 0.0038613 -0.04284429] [-0.05716268 -0.00282925 0.99836087 0.12758039] [ 0. 0. 0. 1. ]] SLAMing on 4.134839173 meters Centerline goodness [0,1] 0.7854585970651684 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.04, Z:0.13 [[ 9.98187951e-01 -1.87286681e-02 5.71843629e-02 2.11349194e+00] [ 1.85910988e-02 9.99822857e-01 2.93681197e-03 -4.12033132e-02] [-5.72292357e-02 -1.86837018e-03 9.98359316e-01 1.29912926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.164839173 meters Centerline goodness [0,1] 0.7810093086991448 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.05, Z:0.13 [[ 0.9981973 -0.01876016 0.05701065 2.11400034] [ 0.0185637 0.99981978 0.00397381 -0.04554009] [-0.05707493 -0.00290832 0.99836566 0.12902862] [ 0. 0. 0. 1. ]] SLAMing on 4.194839173 meters Centerline goodness [0,1] 0.7827909154764692 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.05, Z:0.13 [[ 9.98122940e-01 -2.11956365e-02 5.74573009e-02 2.11144702e+00] [ 2.11216860e-02 9.99775118e-01 1.89411485e-03 -5.02886540e-02] [-5.74845268e-02 -6.76964411e-04 9.98346168e-01 1.31841249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.224839173 meters Centerline goodness [0,1] 0.7850587629348691 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.05, Z:0.14 [[ 0.99816672 -0.0181964 0.05772428 2.1088462 ] [ 0.01795247 0.9998276 0.00474163 -0.04917276] [-0.05780061 -0.00369664 0.9983213 0.13512042] [ 0. 0. 0. 1. ]] SLAMing on 4.254839173 meters Centerline goodness [0,1] 0.786370922119555 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.04, Z:0.14 [[ 0.99820729 -0.01512876 0.05790792 2.10654056] [ 0.01476112 0.99986812 0.00677132 -0.0448339 ] [-0.05800273 -0.0059044 0.99829896 0.13867032] [ 0. 0. 0. 1. ]] SLAMing on 4.284839173 meters Centerline goodness [0,1] 0.78557690024458 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.04, Z:0.14 [[ 0.99826885 -0.01145496 0.05768963 2.10655411] [ 0.01089477 0.99989049 0.01001559 -0.042944 ] [-0.05779804 -0.00936973 0.99828433 0.13927006] [ 0. 0. 0. 1. ]] SLAMing on 4.314839173 meters Centerline goodness [0,1] 0.7826538806745713 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.04, Z:0.14 [[ 9.98958852e-01 -1.68772005e-02 4.23836284e-02 2.11192507e+00] [ 1.68290133e-02 9.99857267e-01 1.49349459e-03 -4.48920154e-02] [-4.24027849e-02 -7.78664997e-04 9.99100294e-01 1.41113019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.344839173 meters Centerline goodness [0,1] 0.7774058971881114 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.05, Z:0.14 [[ 9.98935049e-01 -1.74983465e-02 4.26916448e-02 2.11112593e+00] [ 1.74286006e-02 9.99846099e-01 2.00539309e-03 -4.75037520e-02] [-4.27201655e-02 -1.25920181e-03 9.99086283e-01 1.40595492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.374839173 meters Centerline goodness [0,1] 0.7744987291725501 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.05, Z:0.14 [[ 9.98922462e-01 -1.79089785e-02 4.28156847e-02 2.11053282e+00] [ 1.78301254e-02 9.99838560e-01 2.22288812e-03 -4.88996794e-02] [-4.28485822e-02 -1.45708385e-03 9.99080515e-01 1.40711689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.404839173 meters Centerline goodness [0,1] 0.7728492093373494 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.05, Z:0.14 [[ 9.98915186e-01 -1.82250397e-02 4.28520699e-02 2.11030020e+00] [ 1.81499630e-02 9.99832985e-01 2.14043856e-03 -4.87850642e-02] [-4.28839226e-02 -1.36035310e-03 9.99079135e-01 1.40656459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.434839173 meters Centerline goodness [0,1] 0.7614102534049088 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.05, Z:0.14 [[ 9.98846914e-01 -2.18891277e-02 4.27283143e-02 2.11188499e+00] [ 2.19634303e-02 9.99757968e-01 -1.27022890e-03 -4.88363270e-02] [-4.26901685e-02 2.20722457e-03 9.99085921e-01 1.38493784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.464839173 meters Centerline goodness [0,1] 0.7405049961388155 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.05, Z:0.14 [[ 9.98846551e-01 -2.21323866e-02 4.26113206e-02 2.11264918e+00] [ 2.21553227e-02 9.99754539e-01 -6.60310234e-05 -5.18879413e-02] [-4.25993998e-02 1.01002242e-03 9.99091723e-01 1.36612048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.494839173 meters Centerline goodness [0,1] 0.7301067981584912 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.05, Z:0.14 [[ 9.98844525e-01 -2.22298521e-02 4.26080757e-02 2.11263820e+00] [ 2.22362400e-02 9.99752692e-01 3.24066550e-04 -5.29584627e-02] [-4.26047424e-02 6.23751298e-04 9.99091811e-01 1.36397960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.524839173 meters Centerline goodness [0,1] 0.737207406544777 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.05, Z:0.14 [[ 9.98876135e-01 -2.16228470e-02 4.21772319e-02 2.11382052e+00] [ 2.16238129e-02 9.99766084e-01 4.33371427e-04 -5.17075186e-02] [-4.21767367e-02 4.79148195e-04 9.99110051e-01 1.36171343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.554839173 meters Centerline goodness [0,1] 0.7580648939908633 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.05, Z:0.14 [[ 9.99432422e-01 -1.92449011e-02 2.76490018e-02 2.11552024e+00] [ 1.92508107e-02 9.99814685e-01 5.24556537e-05 -5.03877376e-02] [-2.76448876e-02 4.79839819e-04 9.99617692e-01 1.41701391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.584839173 meters Centerline goodness [0,1] 0.7555883593420498 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.05, Z:0.14 [[ 9.99438645e-01 -1.87457039e-02 2.77667538e-02 2.11500940e+00] [ 1.87339035e-02 9.99824270e-01 6.85084940e-04 -5.30294942e-02] [-2.77747168e-02 -1.64520677e-04 9.99614195e-01 1.42168778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.614839173 meters Centerline goodness [0,1] 0.7609563602599814 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.06, Z:0.14 [[ 9.99350020e-01 -2.23703779e-02 2.82684222e-02 2.11361882e+00] [ 2.24198446e-02 9.99747615e-01 -1.43411790e-03 -5.98364290e-02] [-2.82292059e-02 2.06695938e-03 9.99599340e-01 1.42445390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.644839173 meters Centerline goodness [0,1] 0.7280762484999539 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.06, Z:0.14 [[ 9.99352998e-01 -2.22254393e-02 2.82774696e-02 2.11378538e+00] [ 2.22362636e-02 9.99752741e-01 -6.83538047e-05 -6.35968219e-02] [-2.82689586e-02 6.97094849e-04 9.99600110e-01 1.41557502e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.674839173 meters Centerline goodness [0,1] 0.7216042289128937 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.07, Z:0.14 [[ 9.99353181e-01 -2.22848696e-02 2.82241917e-02 2.11416936e+00] [ 2.22545516e-02 9.99751373e-01 1.38788659e-03 -6.85226423e-02] [-2.82481033e-02 -7.58872146e-04 9.99600655e-01 1.40237219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.704839173 meters Centerline goodness [0,1] 0.7535326830157717 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.08, Z:0.15 [[ 9.99608441e-01 -2.36719234e-02 1.49199475e-02 2.11395438e+00] [ 2.36933608e-02 9.99718477e-01 -1.26167795e-03 -7.71051840e-02] [-1.48858809e-02 1.61468763e-03 9.99887895e-01 1.45218593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.734839173 meters Centerline goodness [0,1] 0.7590293069396835 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.08, Z:0.14 [[ 9.99627872e-01 -2.29481459e-02 1.47478839e-02 2.11469193e+00] [ 2.29482562e-02 9.99736641e-01 1.61767478e-04 -8.05322719e-02] [-1.47477122e-02 1.76730939e-04 9.99891231e-01 1.44454244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.764839173 meters Centerline goodness [0,1] 0.7689138070791678 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.09, Z:0.14 [[ 9.99656927e-01 -2.18306907e-02 1.44723525e-02 2.11525952e+00] [ 2.18006665e-02 9.99759852e-01 2.22913885e-03 -8.60985937e-02] [-1.45175406e-02 -1.91286716e-03 9.99892785e-01 1.44237711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.794839173 meters Centerline goodness [0,1] 0.7689138070791678 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.09, Z:0.14 [[ 9.99656927e-01 -2.18306907e-02 1.44723525e-02 2.11525952e+00] [ 2.18006665e-02 9.99759852e-01 2.22913885e-03 -8.60985937e-02] [-1.45175406e-02 -1.91286716e-03 9.99892785e-01 1.44237711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.824839173 meters Centerline goodness [0,1] 0.7753628064508893 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.09, Z:0.15 [[ 0.99967115 -0.02121299 0.01440839 2.11479189] [ 0.02116646 0.99977027 0.00337415 -0.08960153] [-0.01447666 -0.00306807 0.9998905 0.14506479] [ 0. 0. 0. 1. ]] SLAMing on 4.854839173 meters Centerline goodness [0,1] 0.785929536893419 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.10, Z:0.15 [[ 0.99970243 -0.01988924 0.01412371 2.11500401] [ 0.01980893 0.99978694 0.0058035 -0.09702739] [-0.01423613 -0.005522 0.99988341 0.145369 ] [ 0. 0. 0. 1. ]] SLAMing on 4.884839173 meters Centerline goodness [0,1] 0.7873156537266054 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.10, Z:0.15 [[ 0.9997041 -0.01976142 0.01418432 2.11455772] [ 0.0196624 0.99978156 0.00708636 -0.1024927 ] [-0.01432126 -0.00680537 0.99987429 0.145436 ] [ 0. 0. 0. 1. ]] SLAMing on 4.914839173 meters Centerline goodness [0,1] 0.7901496610426458 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.11, Z:0.15 [[ 0.99965519 -0.02211531 0.01415677 2.11462326] [ 0.02203394 0.99973994 0.00587881 -0.11105769] [-0.0142831 -0.00556485 0.99988251 0.14556719] [ 0. 0. 0. 1. ]] SLAMing on 4.944839173 meters Centerline goodness [0,1] 0.7905287435604509 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.11, Z:0.15 [[ 0.99966198 -0.02185375 0.01408332 2.11470147] [ 0.0217658 0.99974281 0.00636845 -0.11214859] [-0.01421887 -0.00605977 0.99988054 0.1456281 ] [ 0. 0. 0. 1. ]] SLAMing on 4.974839173 meters Centerline goodness [0,1] 0.7862129144851657 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.12, Z:0.15 [[ 0.99959534 -0.02459197 0.01429622 2.11266151] [ 0.02452779 0.99968835 0.00464731 -0.11922592] [-0.01440605 -0.00429478 0.999887 0.14796179] [ 0. 0. 0. 1. ]] SLAMing on 5.004839173 meters Centerline goodness [0,1] 0.7852671514385078 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.13, Z:0.15 [[ 0.99952124 -0.02748587 0.01420618 2.1136643 ] [ 0.02745218 0.99961984 0.00256067 -0.12520541] [-0.01427116 -0.00216945 0.99989581 0.1470013 ] [ 0. 0. 0. 1. ]] SLAMing on 5.034839173 meters Centerline goodness [0,1] 0.7734171907756813 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.13, Z:0.15 [[ 9.99466790e-01 -2.96347818e-02 1.37082561e-02 2.11586401e+00] [ 2.96117103e-02 9.99559704e-01 1.88300009e-03 -1.33298422e-01] [-1.37580227e-02 -1.47607114e-03 9.99904264e-01 1.45303433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.064839173 meters Centerline goodness [0,1] 0.7837826515008693 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.14, Z:0.15 [[ 0.99948119 -0.02909624 0.01381189 2.11520204] [ 0.0290555 0.99957286 0.00314148 -0.13687603] [-0.01389739 -0.00273854 0.99989968 0.14590691] [ 0. 0. 0. 1. ]] SLAMing on 5.0948391729999996 meters Centerline goodness [0,1] 0.7826805590425977 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.14, Z:0.15 [[ 0.9994913 -0.02869786 0.01391302 2.11431311] [ 0.02864093 0.99958063 0.0042737 -0.14024214] [-0.01402983 -0.00387305 0.99989408 0.14678935] [ 0. 0. 0. 1. ]] SLAMing on 5.124839173 meters Centerline goodness [0,1] 0.7752492595219224 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.14, Z:0.15 [[ 0.99950865 -0.02829862 0.01347783 2.11530211] [ 0.02821872 0.99958327 0.00608173 -0.14476181] [-0.01364432 -0.00569841 0.99989067 0.1461023 ] [ 0. 0. 0. 1. ]] SLAMing on 5.154839173 meters Centerline goodness [0,1] 0.733851151555537 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.16, Z:0.14 [[ 0.99939097 -0.03276356 0.01200998 2.12135421] [ 0.03272753 0.99945924 0.00318447 -0.15931629] [-0.01210782 -0.00278947 0.99992281 0.14249278] [ 0. 0. 0. 1. ]] SLAMing on 5.184839173 meters Centerline goodness [0,1] 0.7387723774555562 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.17, Z:0.14 [[ 9.99295630e-01 -3.55942063e-02 1.18867750e-02 2.12226763e+00] [ 3.55811188e-02 9.99365932e-01 1.31074971e-03 -1.65247178e-01] [-1.19258931e-02 -8.86881707e-04 9.99928491e-01 1.41824075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.214839173 meters Centerline goodness [0,1] 0.7459118452726821 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.17, Z:0.14 [[ 0.99933573 -0.03458127 0.01149891 2.12419707] [ 0.03453461 0.99939454 0.00423241 -0.17251235] [-0.01163831 -0.00383249 0.99992493 0.13947588] [ 0. 0. 0. 1. ]] SLAMing on 5.244839173 meters Centerline goodness [0,1] 0.7559672322022621 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.17, Z:0.14 [[ 0.99934983 -0.03417752 0.01148062 2.12396789] [ 0.03412361 0.9994058 0.00485971 -0.17391536] [-0.01163989 -0.00446479 0.99992229 0.13987725] [ 0. 0. 0. 1. ]] SLAMing on 5.274839173 meters Centerline goodness [0,1] 0.7545705451451576 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.18, Z:0.14 [[ 0.99946098 -0.03074089 0.01152164 2.12212 ] [ 0.03063902 0.99949075 0.00891607 -0.17683799] [-0.01178986 -0.00855826 0.99989387 0.14183617] [ 0. 0. 0. 1. ]] SLAMing on 5.3048391729999995 meters Centerline goodness [0,1] 0.789335266100642 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.19, Z:0.14 [[ 0.99951738 -0.02892797 0.01132131 2.12101875] [ 0.02879678 0.99951816 0.01158407 -0.18570347] [-0.01165095 -0.01125247 0.99986881 0.14393402] [ 0. 0. 0. 1. ]] SLAMing on 5.334839173 meters Centerline goodness [0,1] 0.7926041342058793 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.19, Z:0.14 [[ 0.99949331 -0.02959454 0.01171687 2.12124242] [ 0.02946613 0.99950542 0.01098451 -0.19066798] [-0.01203615 -0.01063369 0.99987102 0.14319926] [ 0. 0. 0. 1. ]] SLAMing on 5.364839173 meters Centerline goodness [0,1] 0.7928719866999169 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.20, Z:0.14 [[ 9.99641633e-01 -2.59585707e-02 6.53901819e-03 2.12090326e+00] [ 2.59476270e-02 9.99661767e-01 1.75291971e-03 -1.95643075e-01] [-6.58230977e-03 -1.58261951e-03 9.99977084e-01 1.39823881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.394839173 meters Centerline goodness [0,1] 0.7934622333907915 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.20, Z:0.14 [[ 0.99967913 -0.02449529 0.00645178 2.11996848] [ 0.02446483 0.99968937 0.00475775 -0.20393401] [-0.00656632 -0.00459838 0.99996787 0.14106297] [ 0. 0. 0. 1. ]] SLAMing on 5.424839173 meters Centerline goodness [0,1] 0.7944997924449979 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.21, Z:0.14 [[ 0.9997116 -0.02317659 0.00629032 2.12132268] [ 0.02313185 0.99970725 0.00709491 -0.21002429] [-0.00645291 -0.00694736 0.99995505 0.13952207] [ 0. 0. 0. 1. ]] SLAMing on 5.454839173 meters Centerline goodness [0,1] 0.7951844773142762 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.21, Z:0.14 [[ 0.9997274 -0.02251232 0.00619026 2.12209563] [ 0.02246182 0.99971481 0.0081098 -0.21212761] [-0.00637107 -0.00796854 0.99994795 0.13866368] [ 0. 0. 0. 1. ]] SLAMing on 5.484839173 meters Centerline goodness [0,1] 0.7934269383697813 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.22, Z:0.14 [[ 0.99975174 -0.02155024 0.0056609 2.1247135 ] [ 0.02149059 0.99971501 0.01039534 -0.21692122] [-0.00588331 -0.0102711 0.99992994 0.1359749 ] [ 0. 0. 0. 1. ]] SLAMing on 5.514839173 meters Centerline goodness [0,1] 0.7885317295727914 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.22, Z:0.14 [[ 0.99969146 -0.02416859 0.00573318 2.12533779] [ 0.0241159 0.99966786 0.00908819 -0.22443658] [-0.00595092 -0.00894713 0.99994227 0.13501541] [ 0. 0. 0. 1. ]] SLAMing on 5.544839173 meters Centerline goodness [0,1] 0.7845153516972039 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.23, Z:0.14 [[ 0.99959929 -0.02770886 0.00578629 2.12537871] [ 0.0276751 0.99959994 0.00583593 -0.22667265] [-0.00594568 -0.00567346 0.99996623 0.13515713] [ 0. 0. 0. 1. ]] SLAMing on 5.574839173 meters Centerline goodness [0,1] 0.7606626205520453 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.23, Z:0.13 [[ 0.99949337 -0.03130704 0.00573398 2.12684427] [ 0.03128694 0.9995041 0.00356174 -0.23097295] [-0.00584265 -0.00338054 0.99997722 0.1331728 ] [ 0. 0. 0. 1. ]] SLAMing on 5.604839173 meters Centerline goodness [0,1] 0.7693492010652463 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.23, Z:0.13 [[ 0.99959339 -0.02791762 0.00580177 2.1265068 ] [ 0.02787459 0.99958426 0.00737034 -0.2313863 ] [-0.00600512 -0.00720563 0.99995601 0.13297189] [ 0. 0. 0. 1. ]] SLAMing on 5.634839173 meters Centerline goodness [0,1] 0.7798410135386908 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.23, Z:0.13 [[ 0.99963799 -0.0263972 0.00520407 2.12878598] [ 0.02635263 0.99961695 0.00845477 -0.22852167] [-0.00542526 -0.00831456 0.99995072 0.1314857 ] [ 0. 0. 0. 1. ]] SLAMing on 5.664839173 meters Centerline goodness [0,1] 0.7872455338595763 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.23, Z:0.13 [[ 0.99966429 -0.02537184 0.00525206 2.12883302] [ 0.0253221 0.99963582 0.00932841 -0.23286613] [-0.00548682 -0.00919228 0.9999427 0.1315727 ] [ 0. 0. 0. 1. ]] SLAMing on 5.694839173 meters Centerline goodness [0,1] 0.7896583947668986 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.24, Z:0.13 [[ 0.99966273 -0.02533123 0.00572347 2.12742785] [ 0.02527417 0.99963221 0.00983141 -0.23607693] [-0.00597041 -0.00968344 0.99993529 0.13222767] [ 0. 0. 0. 1. ]] SLAMing on 5.724839173 meters Centerline goodness [0,1] 0.787866854584646 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.24, Z:0.13 [[ 0.99966953 -0.02509129 0.00559069 2.12777378] [ 0.02503104 0.99963048 0.01059939 -0.23845752] [-0.00585457 -0.01045595 0.9999282 0.13202427] [ 0. 0. 0. 1. ]] SLAMing on 5.754839173 meters Centerline goodness [0,1] 0.7934410587234748 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.24, Z:0.13 [[ 0.99975056 -0.02154992 0.00586717 2.12520039] [ 0.02146566 0.99967067 0.01406346 -0.23860116] [-0.0061683 -0.01393401 0.99988389 0.13468703] [ 0. 0. 0. 1. ]] SLAMing on 5.784839173 meters Centerline goodness [0,1] 0.7924039617090051 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.24, Z:0.14 [[ 0.99975511 -0.02137593 0.00572701 2.12488856] [ 0.02129446 0.99967622 0.01392826 -0.23750487] [-0.00602288 -0.0138029 0.9998866 0.13559359] [ 0. 0. 0. 1. ]] SLAMing on 5.814839173 meters Centerline goodness [0,1] 0.7914289862888673 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.25, Z:0.13 [[ 0.99971023 -0.0234791 0.00530943 2.12756774] [ 0.02340869 0.99964203 0.01295551 -0.24569792] [-0.00561171 -0.01282747 0.99990198 0.13338895] [ 0. 0. 0. 1. ]] SLAMing on 5.8448391729999996 meters Centerline goodness [0,1] 0.7885837730048606 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.25, Z:0.13 [[ 0.99962029 -0.02704782 0.00526161 2.12829957] [ 0.02699298 0.99958329 0.01022853 -0.24913905] [-0.00553607 -0.01008262 0.99993384 0.13266894] [ 0. 0. 0. 1. ]] SLAMing on 5.874839173 meters Centerline goodness [0,1] 0.7606291370115992 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.26, Z:0.13 [[ 0.99938594 -0.03473846 0.00458069 2.13059738] [ 0.03470847 0.99937653 0.00647106 -0.26075058] [-0.00480262 -0.0063081 0.99996857 0.13013007] [ 0. 0. 0. 1. ]] SLAMing on 5.904839173 meters Centerline goodness [0,1] 0.7501607917176705 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.26, Z:0.13 [[ 0.99940358 -0.0342428 0.00446161 2.13203496] [ 0.03420589 0.99938197 0.00810104 -0.26483449] [-0.00473625 -0.00794359 0.99995723 0.1282352 ] [ 0. 0. 0. 1. ]] SLAMing on 5.934839173 meters Centerline goodness [0,1] 0.7339845289201352 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.27, Z:0.13 [[ 0.99939967 -0.03431664 0.00476125 2.13078473] [ 0.03427379 0.99937367 0.00880715 -0.26703764] [-0.0050605 -0.00863868 0.99994988 0.12910495] [ 0. 0. 0. 1. ]] SLAMing on 5.964839173 meters Centerline goodness [0,1] 0.7380917909367308 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.27, Z:0.13 [[ 0.99942335 -0.03366126 0.00445949 2.13188464] [ 0.03361544 0.99938502 0.0099795 -0.27020466] [-0.00479267 -0.00982383 0.99994026 0.12842078] [ 0. 0. 0. 1. ]] SLAMing on 5.994839173 meters Centerline goodness [0,1] 0.7674727555786196 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.27, Z:0.13 [[ 0.99947601 -0.03209885 0.00416831 2.13425842] [ 0.03205162 0.99942631 0.01094277 -0.27059571] [-0.00451717 -0.01080343 0.99993144 0.12620064] [ 0. 0. 0. 1. ]] SLAMing on 6.024839173 meters Centerline goodness [0,1] 0.7731615518239722 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.27, Z:0.13 [[ 0.99950566 -0.03122546 0.00366033 2.13572928] [ 0.03118239 0.99944999 0.01128642 -0.27035856] [-0.00401074 -0.0111667 0.99992961 0.1256426 ] [ 0. 0. 0. 1. ]] SLAMing on 6.0548391729999995 meters Centerline goodness [0,1] 0.7830182806631668 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.27, Z:0.13 [[ 0.99953269 -0.03035091 0.00363642 2.13609032] [ 0.0303056 0.99946951 0.01192744 -0.27191923] [-0.0039965 -0.01181166 0.99992225 0.12531322] [ 0. 0. 0. 1. ]] SLAMing on 6.084839173 meters Centerline goodness [0,1] 0.7873335955777313 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.27, Z:0.13 [[ 0.99963429 -0.0267564 0.00392075 2.13418787] [ 0.02669368 0.99952716 0.0152609 -0.27104568] [-0.00432722 -0.01515066 0.99987586 0.12681566] [ 0. 0. 0. 1. ]] SLAMing on 6.114839173 meters Centerline goodness [0,1] 0.7890180610338384 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.27, Z:0.13 [[ 0.99964203 -0.02649182 0.00374165 2.13408671] [ 0.02643144 0.99953266 0.01535707 -0.27046435] [-0.00414673 -0.01525268 0.99987507 0.12747399] [ 0. 0. 0. 1. ]] SLAMing on 6.144839173 meters Centerline goodness [0,1] 0.7904161830542199 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.27, Z:0.13 [[ 0.99964186 -0.0265046 0.00369555 2.13357694] [ 0.02644335 0.99952642 0.01573808 -0.27217027] [-0.00411093 -0.01563472 0.99986932 0.12832352] [ 0. 0. 0. 1. ]] SLAMing on 6.174839173 meters Centerline goodness [0,1] 0.7870259315935315 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.27, Z:0.13 [[ 0.99957543 -0.02896539 0.00315608 2.1359223 ] [ 0.02892042 0.999491 0.0134664 -0.27441974] [-0.00354453 -0.0133694 0.99990434 0.12696785] [ 0. 0. 0. 1. ]] SLAMing on 6.204839173 meters Centerline goodness [0,1] 0.7852330908111022 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.28, Z:0.13 [[ 0.99948438 -0.03196765 0.00300811 2.13722637] [ 0.03193028 0.9994211 0.01174426 -0.28008209] [-0.0033818 -0.01164215 0.99992651 0.1257943 ] [ 0. 0. 0. 1. ]] SLAMing on 6.234839173 meters Centerline goodness [0,1] 0.7682403433476395 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.29, Z:0.12 [[ 0.99933801 -0.03629023 0.00256291 2.13889103] [ 0.03626337 0.99929375 0.00984701 -0.28812599] [-0.00291845 -0.00974755 0.99994823 0.12448602] [ 0. 0. 0. 1. ]] SLAMing on 6.264839173 meters Centerline goodness [0,1] 0.7639001139778261 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.29, Z:0.12 [[ 0.99934932 -0.0359727 0.00262746 2.13967555] [ 0.03594216 0.99929476 0.01086961 -0.29138336] [-0.00301661 -0.0107681 0.99993747 0.12319947] [ 0. 0. 0. 1. ]] SLAMing on 6.294839173 meters Centerline goodness [0,1] 0.7697521140772674 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.29, Z:0.12 [[ 0.99936938 -0.03540773 0.00267014 2.14010586] [ 0.03537724 0.99931661 0.01071253 -0.2894045 ] [-0.00304763 -0.01061131 0.99993905 0.12258746] [ 0. 0. 0. 1. ]] SLAMing on 6.324839173 meters Centerline goodness [0,1] 0.7806877373565484 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.29, Z:0.12 [[ 0.99948603 -0.03193496 0.00279894 2.13849572] [ 0.03189385 0.99939772 0.01367382 -0.28868984] [-0.00323393 -0.01357752 0.99990259 0.12410023] [ 0. 0. 0. 1. ]] SLAMing on 6.354839173 meters Centerline goodness [0,1] 0.7822423311610145 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.29, Z:0.12 [[ 0.99948444 -0.03198582 0.00278664 2.13856277] [ 0.03194401 0.99939244 0.01394025 -0.29052019] [-0.00323084 -0.01384404 0.99989895 0.12402003] [ 0. 0. 0. 1. ]] SLAMing on 6.384839173 meters Centerline goodness [0,1] 0.7806566619683277 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.29, Z:0.12 [[ 0.99947507 -0.03228958 0.00263779 2.13857231] [ 0.03224865 0.9993774 0.01431237 -0.29262101] [-0.00309829 -0.0142198 0.99989409 0.12439658] [ 0. 0. 0. 1. ]] SLAMing on 6.414839173 meters Centerline goodness [0,1] 0.7722393431094748 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.29, Z:0.12 [[ 0.99949378 -0.03174114 0.0021625 2.14072965] [ 0.03170596 0.99938888 0.01471763 -0.29134819] [-0.00262833 -0.01464161 0.99988935 0.1227169 ] [ 0. 0. 0. 1. ]] SLAMing on 6.444839173 meters Centerline goodness [0,1] 0.7759224346889309 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.29, Z:0.12 [[ 9.99509695e-01 -3.12379899e-02 2.13483515e-03 2.14073154e+00] [ 3.12031615e-02 9.99404065e-01 1.47607004e-02 -2.90367385e-01] [-2.59465754e-03 -1.46868495e-02 9.99888776e-01 1.22926117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.474839173 meters Centerline goodness [0,1] 0.7805961474593158 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.29, Z:0.12 [[ 0.99952059 -0.03088699 0.00214217 2.14113336] [ 0.03085101 0.99940879 0.01517488 -0.29190858] [-0.00260961 -0.01510152 0.99988256 0.1223635 ] [ 0. 0. 0. 1. ]] SLAMing on 6.504839173 meters Centerline goodness [0,1] 0.7810479190847289 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.29, Z:0.12 [[ 0.99943 -0.03368901 0.00217367 2.14151452] [ 0.03366011 0.99935905 0.01218537 -0.29340371] [-0.00258279 -0.01210526 0.99992339 0.12223547] [ 0. 0. 0. 1. ]] SLAMing on 6.534839173 meters Centerline goodness [0,1] 0.7796940021945715 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.30, Z:0.12 [[ 0.99942308 -0.03388369 0.00232649 2.14104659] [ 0.03385187 0.9993478 0.01257091 -0.29553173] [-0.00275092 -0.01248491 0.99991828 0.12246552] [ 0. 0. 0. 1. ]] SLAMing on 6.564839173 meters Centerline goodness [0,1] 0.7767551769168584 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.30, Z:0.12 [[ 0.99937957 -0.0351323 0.00248747 2.13957129] [ 0.03509975 0.99931055 0.01210113 -0.29862365] [-0.00291089 -0.01200631 0.99992368 0.12406025] [ 0. 0. 0. 1. ]] SLAMing on 6.5948391729999996 meters Centerline goodness [0,1] 0.7732159502848265 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.30, Z:0.12 [[ 0.99938841 -0.03489864 0.00221362 2.14033015] [ 0.03486865 0.99931514 0.01238647 -0.2989913 ] [-0.00264438 -0.01230171 0.99992083 0.12377201] [ 0. 0. 0. 1. ]] SLAMing on 6.624839173 meters Centerline goodness [0,1] 0.7853487745758148 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.30, Z:0.13 [[ 0.9994193 -0.03394989 0.00291001 2.13543839] [ 0.03390938 0.99934045 0.01299268 -0.30125786] [-0.00334919 -0.01288646 0.99991136 0.12870775] [ 0. 0. 0. 1. ]] SLAMing on 6.654839173 meters Centerline goodness [0,1] 0.7899104020526828 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.30, Z:0.13 [[ 0.99943367 -0.03353118 0.00282702 2.13519209] [ 0.03349027 0.99934852 0.01345146 -0.30292687] [-0.00327622 -0.01334916 0.99990553 0.12934325] [ 0. 0. 0. 1. ]] SLAMing on 6.684839173 meters Centerline goodness [0,1] 0.7899104020526828 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.30, Z:0.13 [[ 0.99943367 -0.03353118 0.00282702 2.13519209] [ 0.03349027 0.99934852 0.01345146 -0.30292687] [-0.00327622 -0.01334916 0.99990553 0.12934325] [ 0. 0. 0. 1. ]] SLAMing on 6.714839173 meters Centerline goodness [0,1] 0.7902044204627996 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.30, Z:0.13 [[ 0.99944915 -0.03307798 0.00269056 2.13571801] [ 0.03303799 0.99935947 0.01375276 -0.30300984] [-0.00314375 -0.0136563 0.99990181 0.12901004] [ 0. 0. 0. 1. ]] SLAMing on 6.744839173 meters Centerline goodness [0,1] 0.7928774396946882 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.30, Z:0.13 [[ 0.99958311 -0.02875871 0.00255694 2.13590562] [ 0.02870855 0.99942812 0.01786769 -0.30229905] [-0.00306933 -0.01778684 0.99983709 0.12873747] [ 0. 0. 0. 1. ]] SLAMing on 6.774839173 meters Centerline goodness [0,1] 0.7937340604200792 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.30, Z:0.13 [[ 0.99959572 -0.0283246 0.00247109 2.1363272 ] [ 0.02827432 0.99943007 0.01844171 -0.30364504] [-0.00299203 -0.01836439 0.99982688 0.12842988] [ 0. 0. 0. 1. ]] SLAMing on 6.8048391729999995 meters Centerline goodness [0,1] 0.7962099064916754 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.31, Z:0.13 [[ 0.99961329 -0.02768006 0.00266048 2.1336988 ] [ 0.0276235 0.99943102 0.0193538 -0.30788848] [-0.00319468 -0.01927282 0.99980916 0.13150975] [ 0. 0. 0. 1. ]] SLAMing on 6.834839173 meters Centerline goodness [0,1] 0.7935918705931149 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.31, Z:0.13 [[ 0.99976241 -0.02165277 0.00250814 2.13442519] [ 0.02158381 0.99945794 0.02485903 -0.30848146] [-0.00304505 -0.02479899 0.99968782 0.13090728] [ 0. 0. 0. 1. ]] SLAMing on 6.864839173 meters Centerline goodness [0,1] 0.7927166247370809 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.31, Z:0.13 [[ 0.99984998 -0.01716869 0.0022938 2.13392382] [ 0.01709548 0.9994382 0.02882745 -0.30784251] [-0.00278744 -0.02878391 0.99958177 0.13208998] [ 0. 0. 0. 1. ]] SLAMing on 6.894839173 meters Centerline goodness [0,1] 0.7937310833782495 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.31, Z:0.13 [[ 9.99941744e-01 -1.07886216e-02 -3.39338524e-04 2.12699122e+00] [ 1.07934645e-02 9.99702196e-01 2.18865449e-02 -3.06600766e-01] [ 1.03111816e-04 -2.18889325e-02 9.99760403e-01 1.31613646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.924839173 meters Centerline goodness [0,1] 0.790570152663828 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.31, Z:0.13 [[ 9.99982584e-01 4.14452369e-04 -5.88728541e-03 2.12578768e+00] [-3.10459159e-04 9.99844108e-01 1.76539780e-02 -3.08769555e-01] [ 5.89368436e-03 -1.76518428e-02 9.99826823e-01 1.31007494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.954839173 meters Centerline goodness [0,1] 0.7799559745815509 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.31, Z:0.13 [[ 0.99997716 0.0025345 -0.00626558 2.12891299] [-0.0024136 0.99981219 0.01922933 -0.30857821] [ 0.00631314 -0.01921377 0.99979547 0.12803425] [ 0. 0. 0. 1. ]] SLAMing on 6.984839173 meters Centerline goodness [0,1] 0.7825652761884947 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.31, Z:0.13 [[ 9.99979781e-01 -4.86422798e-04 -6.34046246e-03 2.13090629e+00] [ 5.93179721e-04 9.99857913e-01 1.68464120e-02 -3.10219117e-01] [ 6.33136708e-03 -1.68498324e-02 9.99837985e-01 1.25466799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0148391729999995 meters Centerline goodness [0,1] 0.7902298253991322 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.31, Z:0.13 [[ 0.99995692 -0.00706196 -0.00602321 2.12827398] [ 0.00712657 0.99991656 0.01077424 -0.31260294] [ 0.00594662 -0.0108167 0.99992382 0.12817544] [ 0. 0. 0. 1. ]] SLAMing on 7.044839173 meters Centerline goodness [0,1] 0.7941072652145927 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.32, Z:0.13 [[ 0.99980378 -0.01939004 -0.00405232 2.121607 ] [ 0.01940197 0.99980748 0.00292578 -0.32150541] [ 0.00399481 -0.00300383 0.99998751 0.1343101 ] [ 0. 0. 0. 1. ]] SLAMing on 7.074839173 meters Centerline goodness [0,1] 0.7921800012465461 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.33, Z:0.13 [[ 9.99703846e-01 -2.39729420e-02 -4.18547484e-03 2.12179822e+00] [ 2.39749043e-02 9.99712473e-01 4.19284808e-04 -3.28647371e-01] [ 4.17421992e-03 -5.19506994e-04 9.99991153e-01 1.34398994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.104839173 meters Centerline goodness [0,1] 0.7925824175824175 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.34, Z:0.13 [[ 0.99923863 -0.03873683 -0.00464963 2.12582272] [ 0.03867973 0.99918198 -0.01180073 -0.33807549] [ 0.00510294 0.0116119 0.99991956 0.13075747] [ 0. 0. 0. 1. ]] SLAMing on 7.134839173 meters Centerline goodness [0,1] 0.7887297595044587 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.34, Z:0.13 [[ 0.99908677 -0.04249029 -0.00449374 2.12597333] [ 0.04242314 0.99900011 -0.01410891 -0.34399222] [ 0.00508873 0.01390539 0.99989037 0.13043144] [ 0. 0. 0. 1. ]] SLAMing on 7.164839173 meters Centerline goodness [0,1] 0.7698295419068828 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.35, Z:0.13 [[ 0.99873389 -0.05013538 -0.00412967 2.12542215] [ 0.05004316 0.99854627 -0.02002566 -0.35239414] [ 0.00512766 0.01979364 0.99979094 0.13102256] [ 0. 0. 0. 1. ]] SLAMing on 7.194839173 meters Centerline goodness [0,1] 0.7425754902978106 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.36, Z:0.13 [[ 0.99854843 -0.05371076 -0.00402235 2.1254217 ] [ 0.05360452 0.99829696 -0.02301585 -0.35545349] [ 0.0052517 0.02276682 0.99972701 0.13123194] [ 0. 0. 0. 1. ]] SLAMing on 7.2248391729999994 meters Centerline goodness [0,1] 0.7538173496983566 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.36, Z:0.13 [[ 0.99838133 -0.05672569 -0.00411409 2.12659405] [ 0.05660458 0.99807826 -0.02521308 -0.36048562] [ 0.00553641 0.02493939 0.99967363 0.13043697] [ 0. 0. 0. 1. ]] SLAMing on 7.254839173 meters Centerline goodness [0,1] 0.7502806536110764 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.36, Z:0.13 [[ 0.9985968 -0.0527794 -0.00433177 2.12758274] [ 0.05267945 0.99839844 -0.02062596 -0.36248576] [ 0.00541346 0.02036883 0.99977788 0.12897231] [ 0. 0. 0. 1. ]] SLAMing on 7.284839173 meters Centerline goodness [0,1] 0.7625691354430906 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.36, Z:0.13 [[ 0.9987806 -0.04917926 -0.00432518 2.12697938] [ 0.04909949 0.99865026 -0.01693811 -0.36164602] [ 0.00515234 0.01670509 0.99984719 0.1291733 ] [ 0. 0. 0. 1. ]] SLAMing on 7.314839173 meters Centerline goodness [0,1] 0.7578136387298282 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.36, Z:0.13 [[ 0.99877368 -0.04931206 -0.00441161 2.12700243] [ 0.04923074 0.9986435 -0.01695579 -0.36164732] [ 0.00524176 0.01671781 0.99984651 0.12935441] [ 0. 0. 0. 1. ]] SLAMing on 7.3448391729999996 meters Centerline goodness [0,1] 0.7394361801726828 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.37, Z:0.13 [[ 0.99878535 -0.04906327 -0.00454187 2.12805005] [ 0.04898552 0.99867315 -0.01588555 -0.36607368] [ 0.00531524 0.01564377 0.9998635 0.12821235] [ 0. 0. 0. 1. ]] SLAMing on 7.374839173 meters Centerline goodness [0,1] 0.7493248015955458 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.37, Z:0.13 [[ 0.99878368 -0.04908237 -0.00469897 2.12937253] [ 0.04900647 0.99868437 -0.01509638 -0.36818028] [ 0.00543375 0.01484773 0.999875 0.12667633] [ 0. 0. 0. 1. ]] SLAMing on 7.404839173 meters Centerline goodness [0,1] 0.7126372255489022 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.37, Z:0.13 [[ 0.99878454 -0.04905689 -0.00478229 2.12999979] [ 0.04898271 0.9986935 -0.01455948 -0.36906358] [ 0.00549028 0.01430753 0.99988257 0.12597832] [ 0. 0. 0. 1. ]] SLAMing on 7.434839173 meters Centerline goodness [0,1] 0.7116624178739456 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.37, Z:0.12 [[ 0.9989775 -0.04491205 -0.00518255 2.13161891] [ 0.04486043 0.99894637 -0.00967987 -0.37135816] [ 0.00561184 0.00943748 0.99993972 0.12420327] [ 0. 0. 0. 1. ]] SLAMing on 7.464839173 meters Centerline goodness [0,1] 0.7541239365132195 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.37, Z:0.12 [[ 0.99916289 -0.04056039 -0.00532709 2.13149634] [ 0.04053226 0.99916424 -0.00528661 -0.37176132] [ 0.00553706 0.00506627 0.99997184 0.12426389] [ 0. 0. 0. 1. ]] SLAMing on 7.494839173 meters Centerline goodness [0,1] 0.7875337627259505 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.37, Z:0.13 [[ 0.99946528 -0.03223493 -0.00548344 2.12887543] [ 0.03224977 0.99947636 0.00263931 -0.37322649] [ 0.00539549 -0.00281474 0.99998148 0.12755757] [ 0. 0. 0. 1. ]] SLAMing on 7.524839173 meters Centerline goodness [0,1] 0.7936026586353724 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.37, Z:0.13 [[ 0.99962121 -0.02695316 -0.00556488 2.12817566] [ 0.02699516 0.99960655 0.00761645 -0.3745912 ] [ 0.00535741 -0.00776379 0.99995551 0.12850734] [ 0. 0. 0. 1. ]] SLAMing on 7.5548391729999995 meters Centerline goodness [0,1] 0.7940228355135911 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.38, Z:0.13 [[ 0.9996314 -0.02654514 -0.00569426 2.12945048] [ 0.02659179 0.99961209 0.0082788 -0.37549279] [ 0.00547229 -0.00842717 0.99994952 0.12703684] [ 0. 0. 0. 1. ]] SLAMing on 7.584839173 meters Centerline goodness [0,1] 0.7895490187943409 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.38, Z:0.12 [[ 0.99954675 -0.02948627 -0.00607151 2.13256009] [ 0.02952245 0.99954636 0.00595798 -0.37723484] [ 0.00589308 -0.00613453 0.99996382 0.12407198] [ 0. 0. 0. 1. ]] SLAMing on 7.614839173 meters Centerline goodness [0,1] 0.7578605889203127 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.39, Z:0.12 [[ 0.99912537 -0.04130526 -0.0065087 2.13606343] [ 0.0412861 0.99914271 -0.00305167 -0.38653216] [ 0.00662917 0.00278028 0.99997416 0.12090051] [ 0. 0. 0. 1. ]] SLAMing on 7.644839173 meters Centerline goodness [0,1] 0.7231694876439114 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.40, Z:0.12 [[ 0.99881647 -0.04824992 -0.00613199 2.13591563] [ 0.04820206 0.99880772 -0.00772651 -0.39582234] [ 0.00649748 0.0074218 0.99995135 0.12082997] [ 0. 0. 0. 1. ]] SLAMing on 7.674839173 meters Centerline goodness [0,1] 0.7351277144521176 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.40, Z:0.12 [[ 0.99884285 -0.04767951 -0.00629445 2.13583887] [ 0.04763655 0.99884155 -0.00680631 -0.39804748] [ 0.00661168 0.00649859 0.99995703 0.1213874 ] [ 0. 0. 0. 1. ]] SLAMing on 7.704839173 meters Centerline goodness [0,1] 0.7694915959394242 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.40, Z:0.12 [[ 0.99922897 -0.03865657 -0.00686535 2.13666529] [ 0.03867234 0.99924957 0.00217869 -0.39903233] [ 0.00677598 -0.00244251 0.99997406 0.12084387] [ 0. 0. 0. 1. ]] SLAMing on 7.734839173 meters Centerline goodness [0,1] 0.7797886503577967 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.40, Z:0.12 [[ 0.99937727 -0.03458078 -0.00701656 2.13625593] [ 0.03462202 0.9993834 0.00584268 -0.39706899] [ 0.00681019 -0.00608197 0.99995831 0.12139296] [ 0. 0. 0. 1. ]] SLAMing on 7.7648391729999995 meters Centerline goodness [0,1] 0.784383909433334 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.40, Z:0.12 [[ 0.99949497 -0.03102228 -0.00688643 2.13522533] [ 0.03108636 0.99947248 0.00940184 -0.39637722] [ 0.00659113 -0.00961117 0.99993209 0.122068 ] [ 0. 0. 0. 1. ]] SLAMing on 7.794839173 meters Centerline goodness [0,1] 0.7827473374877556 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.39, Z:0.12 [[ 0.99947521 -0.03165338 -0.00688302 2.13477379] [ 0.03171083 0.99946175 0.00840397 -0.39286293] [ 0.00661331 -0.00861782 0.999941 0.12257607] [ 0. 0. 0. 1. ]] SLAMing on 7.824839173 meters Centerline goodness [0,1] 0.7647547797173733 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.39, Z:0.12 [[ 0.99945808 -0.03215748 -0.00703121 2.13548882] [ 0.03221577 0.99944615 0.00833918 -0.39319437] [ 0.00675915 -0.00856118 0.99994051 0.12190312] [ 0. 0. 0. 1. ]] SLAMing on 7.854839173 meters Centerline goodness [0,1] 0.7458530189189752 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.40, Z:0.12 [[ 0.99929482 -0.03692394 -0.00681867 2.13471512] [ 0.03695465 0.99930711 0.0044343 -0.39523434] [ 0.00665021 -0.00468315 0.99996692 0.12279187] [ 0. 0. 0. 1. ]] SLAMing on 7.884839173 meters Centerline goodness [0,1] 0.7410751435466423 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.40, Z:0.12 [[ 0.99930465 -0.03668149 -0.00668497 2.13497795] [ 0.03671474 0.99931367 0.00492111 -0.3976112 ] [ 0.00649987 -0.00516313 0.99996555 0.12207686] [ 0. 0. 0. 1. ]] SLAMing on 7.914839173 meters Centerline goodness [0,1] 0.7555218168961357 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.40, Z:0.12 [[ 0.99930982 -0.03657015 -0.00652007 2.13388889] [ 0.0366017 0.99931846 0.00478763 -0.39711361] [ 0.00634054 -0.00502297 0.99996728 0.12311314] [ 0. 0. 0. 1. ]] SLAMing on 7.944839173 meters Centerline goodness [0,1] 0.7550498753117207 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.40, Z:0.12 [[ 0.99942269 -0.03335003 -0.00648545 2.13346412] [ 0.03340456 0.99940585 0.00849014 -0.39762136] [ 0.00619845 -0.00870188 0.99994293 0.12318915] [ 0. 0. 0. 1. ]] SLAMing on 7.9748391729999994 meters Centerline goodness [0,1] 0.7710322164680435 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.39, Z:0.12 [[ 0.99953562 -0.0297651 -0.00652482 2.1330005 ] [ 0.02983609 0.99949353 0.01106732 -0.39234511] [ 0.0061921 -0.01125685 0.99991747 0.12357053] [ 0. 0. 0. 1. ]] SLAMing on 8.004839172999999 meters Centerline goodness [0,1] 0.7711695639546945 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.39, Z:0.12 [[ 0.9995459 -0.02928258 -0.00710795 2.13503356] [ 0.02935851 0.99951033 0.0108246 -0.38979872] [ 0.0067875 -0.01102837 0.99991615 0.12229671] [ 0. 0. 0. 1. ]] SLAMing on 8.034839173 meters Centerline goodness [0,1] 0.7480737995085586 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.39, Z:0.12 [[ 0.99939786 -0.03401584 -0.00684418 2.13407117] [ 0.03406036 0.99939866 0.00649685 -0.39124859] [ 0.00661906 -0.00672605 0.99995547 0.1232242 ] [ 0. 0. 0. 1. ]] SLAMing on 8.064839173 meters Centerline goodness [0,1] 0.6817992762966352 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.39, Z:0.12 [[ 9.99050516e-01 -4.30639286e-02 -6.60036888e-03 2.13434525e+00] [ 4.30554733e-02 9.99071677e-01 -1.41788335e-03 -3.93087279e-01] [ 6.65530123e-03 1.13235509e-03 9.99977212e-01 1.22985921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.094839173 meters Centerline goodness [0,1] 0.6715576090576091 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.39, Z:0.12 [[ 9.99040276e-01 -4.32786221e-02 -6.74440599e-03 2.13495396e+00] [ 4.32710781e-02 9.99062573e-01 -1.26057121e-03 -3.93387180e-01] [ 6.79263939e-03 9.67523690e-04 9.99976462e-01 1.22511139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.124839173 meters Centerline goodness [0,1] 0.6559605337107888 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.40, Z:0.12 [[ 0.99916508 -0.04024373 -0.00704143 2.13588495] [ 0.04026374 0.99918537 0.00272429 -0.39515606] [ 0.00692605 -0.00300553 0.9999715 0.12151345] [ 0. 0. 0. 1. ]] SLAMing on 8.154839173 meters Centerline goodness [0,1] 0.687257163040994 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.40, Z:0.12 [[ 0.99931519 -0.03631329 -0.00710572 2.13578838] [ 0.03636139 0.99931583 0.00676109 -0.39629376] [ 0.00685534 -0.00701483 0.9999519 0.1214276 ] [ 0. 0. 0. 1. ]] SLAMing on 8.184839173 meters Centerline goodness [0,1] 0.7147038674721305 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.40, Z:0.12 [[ 0.99947066 -0.03170238 -0.00730428 2.13507868] [ 0.03178088 0.99943549 0.01089383 -0.39696804] [ 0.0069548 -0.0111202 0.99991398 0.12259252] [ 0. 0. 0. 1. ]] SLAMing on 8.214839173 meters Centerline goodness [0,1] 0.7465528698396877 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.40, Z:0.12 [[ 0.9994938 -0.03088416 -0.00763626 2.13570229] [ 0.03096798 0.9994586 0.01111299 -0.39633211] [ 0.00728891 -0.01134385 0.99990909 0.12261183] [ 0. 0. 0. 1. ]] SLAMing on 8.244839172999999 meters Centerline goodness [0,1] 0.7659861965740895 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.40, Z:0.12 [[ 0.99951444 -0.03016729 -0.0077989 2.13605245] [ 0.03025457 0.99947805 0.01132651 -0.39547397] [ 0.00745314 -0.01155696 0.99990544 0.12257986] [ 0. 0. 0. 1. ]] SLAMing on 8.274839173 meters Centerline goodness [0,1] 0.7594441670827092 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.40, Z:0.12 [[ 0.99952758 -0.02969705 -0.00791818 2.13699841] [ 0.02979337 0.99947995 0.01233645 -0.39628714] [ 0.0075477 -0.01256653 0.99989255 0.12156182] [ 0. 0. 0. 1. ]] SLAMing on 8.304839173 meters Centerline goodness [0,1] 0.7378213380954359 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.40, Z:0.12 [[ 0.99951654 -0.03008087 -0.00786292 2.13674492] [ 0.03018019 0.99946207 0.01283426 -0.39879016] [ 0.00747262 -0.01306536 0.99988672 0.12176437] [ 0. 0. 0. 1. ]] SLAMing on 8.334839173 meters Centerline goodness [0,1] 0.695995347291459 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.40, Z:0.12 [[ 0.99941952 -0.03313714 -0.00790912 2.1379459 ] [ 0.03322168 0.99938956 0.0108091 -0.4036547 ] [ 0.00754611 -0.01106558 0.9999103 0.1205856 ] [ 0. 0. 0. 1. ]] SLAMing on 8.364839173 meters Centerline goodness [0,1] 0.7397927331751779 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.41, Z:0.12 [[ 0.99943677 -0.03261647 -0.00789305 2.13788569] [ 0.03270587 0.99939914 0.01147558 -0.40529777] [ 0.00751401 -0.01172727 0.999903 0.12064003] [ 0. 0. 0. 1. ]] SLAMing on 8.394839173 meters Centerline goodness [0,1] 0.7665441558171889 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.41, Z:0.12 [[ 0.99949611 -0.03056192 -0.0085725 2.14030325] [ 0.03067192 0.99944486 0.01300806 -0.4066211 ] [ 0.00817019 -0.01326444 0.99987864 0.11915961] [ 0. 0. 0. 1. ]] SLAMing on 8.424839173 meters Centerline goodness [0,1] 0.7616918630040134 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.41, Z:0.12 [[ 0.99949661 -0.03057291 -0.00847533 2.13991657] [ 0.03068683 0.99943578 0.01365437 -0.40941802] [ 0.00805309 -0.01390758 0.99987086 0.1194089 ] [ 0. 0. 0. 1. ]] SLAMing on 8.454839173 meters Centerline goodness [0,1] 0.7100929229237534 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.42, Z:0.12 [[ 0.99935249 -0.03496665 -0.0084813 2.14035051] [ 0.03506424 0.99931722 0.01164407 -0.41627589] [ 0.00806835 -0.01193392 0.99989624 0.11904738] [ 0. 0. 0. 1. ]] SLAMing on 8.484839173 meters Centerline goodness [0,1] 0.6769706657808965 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.42, Z:0.12 [[ 0.9993481 -0.03508975 -0.00849068 2.14064337] [ 0.03518998 0.99930911 0.01195735 -0.41710121] [ 0.00806523 -0.01224834 0.99989246 0.11867163] [ 0. 0. 0. 1. ]] SLAMing on 8.514839173 meters Centerline goodness [0,1] 0.6992373392074147 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.42, Z:0.12 [[ 0.99936274 -0.0346231 -0.00868125 2.14283205] [ 0.03473126 0.99931683 0.01263413 -0.41613731] [ 0.00823789 -0.01292759 0.9998825 0.11623043] [ 0. 0. 0. 1. ]] SLAMing on 8.544839173 meters Centerline goodness [0,1] 0.6909774904911354 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.42, Z:0.12 [[ 0.99937378 -0.03426902 -0.00881399 2.14358664] [ 0.03438081 0.99932605 0.01286131 -0.41638834] [ 0.00836731 -0.01315629 0.99987844 0.11553424] [ 0. 0. 0. 1. ]] SLAMing on 8.574839172999999 meters Centerline goodness [0,1] 0.6909774904911354 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.42, Z:0.12 [[ 0.99937378 -0.03426902 -0.00881399 2.14358664] [ 0.03438081 0.99932605 0.01286131 -0.41638834] [ 0.00836731 -0.01315629 0.99987844 0.11553424] [ 0. 0. 0. 1. ]] SLAMing on 8.604839173 meters Centerline goodness [0,1] 0.7002037591483699 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.42, Z:0.11 [[ 0.99939502 -0.03361509 -0.00892301 2.14471475] [ 0.03373606 0.99933589 0.01377169 -0.41976137] [ 0.00845415 -0.01406439 0.99986535 0.11433216] [ 0. 0. 0. 1. ]] SLAMing on 8.634839173 meters Centerline goodness [0,1] 0.7195773798381897 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.42, Z:0.12 [[ 0.99934048 -0.03530289 -0.00850319 2.14281891] [ 0.0354026 0.99930258 0.01187474 -0.42168244] [ 0.00807804 -0.01216794 0.99989334 0.11596311] [ 0. 0. 0. 1. ]] SLAMing on 8.664839173 meters Centerline goodness [0,1] 0.7161268864590695 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.42, Z:0.11 [[ 0.99933609 -0.03542852 -0.0084965 2.14375933] [ 0.03552865 0.99929733 0.0119395 -0.42208281] [ 0.00806753 -0.01223344 0.99989262 0.11463776] [ 0. 0. 0. 1. ]] SLAMing on 8.694839173 meters Centerline goodness [0,1] 0.7136559296304767 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.42, Z:0.11 [[ 0.9993433 -0.03519859 -0.00860374 2.14450041] [ 0.0352993 0.99930655 0.0118482 -0.42107191] [ 0.00818073 -0.01214413 0.99989279 0.11389341] [ 0. 0. 0. 1. ]] SLAMing on 8.724839173 meters Centerline goodness [0,1] 0.7492736177984394 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.42, Z:0.11 [[ 0.99957832 -0.0277419 -0.00857753 2.14317258] [ 0.02789477 0.99944428 0.01824879 -0.41675121] [ 0.00806651 -0.01848037 0.99979668 0.11495485] [ 0. 0. 0. 1. ]] SLAMing on 8.754839173 meters Centerline goodness [0,1] 0.7731543902590803 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.41, Z:0.11 [[ 0.99958752 -0.02733032 -0.00882238 2.14361177] [ 0.02748113 0.99946997 0.01745156 -0.41228882] [ 0.00834074 -0.01768681 0.99980879 0.11495968] [ 0. 0. 0. 1. ]] SLAMing on 8.784839173 meters Centerline goodness [0,1] 0.7739825581395349 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.41, Z:0.12 [[ 0.99959055 -0.02725094 -0.00872471 2.14261298] [ 0.02739216 0.99948861 0.01649786 -0.40870729] [ 0.00827067 -0.0167301 0.99982583 0.11607319] [ 0. 0. 0. 1. ]] SLAMing on 8.814839173 meters Centerline goodness [0,1] 0.7705612424991175 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.41, Z:0.12 [[ 0.99957579 -0.02778106 -0.00874415 2.14220164] [ 0.02791692 0.99948507 0.0158191 -0.40737244] [ 0.00830018 -0.0160565 0.99983663 0.11670604] [ 0. 0. 0. 1. ]] SLAMing on 8.844839173 meters Centerline goodness [0,1] 0.7570980538766694 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.40, Z:0.11 [[ 0.99952214 -0.0295955 -0.00892149 2.14444065] [ 0.02971558 0.99946529 0.01364217 -0.4037673 ] [ 0.00851297 -0.01390076 0.99986714 0.11429332] [ 0. 0. 0. 1. ]] SLAMing on 8.874839173 meters Centerline goodness [0,1] 0.7340000831704578 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.40, Z:0.11 [[ 0.9994842 -0.03082414 -0.00901147 2.14617983] [ 0.0309343 0.99944509 0.01235217 -0.40200591] [ 0.00862572 -0.01262456 0.9998831 0.11230155] [ 0. 0. 0. 1. ]] SLAMing on 8.904839173 meters Centerline goodness [0,1] 0.7358090846781731 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.40, Z:0.11 [[ 0.99937482 -0.03413022 -0.00922515 2.14875766] [ 0.03420923 0.99937814 0.00854722 -0.40120452] [ 0.00892769 -0.00885746 0.99992092 0.10976679] [ 0. 0. 0. 1. ]] SLAMing on 8.934839173 meters Centerline goodness [0,1] 0.7428915362583537 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.40, Z:0.11 [[ 0.99938492 -0.03386315 -0.00911391 2.14805776] [ 0.03393593 0.99939237 0.00795304 -0.39906823] [ 0.00883905 -0.00825744 0.99992684 0.11055508] [ 0. 0. 0. 1. ]] SLAMing on 8.964839173 meters Centerline goodness [0,1] 0.7816495831340832 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.39, Z:0.11 [[ 0.99961488 -0.02613367 -0.0093341 2.1479946 ] [ 0.026266 0.99955202 0.01434747 -0.39437114] [ 0.00895497 -0.01458712 0.9998535 0.11064886] [ 0. 0. 0. 1. ]] SLAMing on 8.994839172999999 meters Centerline goodness [0,1] 0.7892690028075283 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.39, Z:0.11 [[ 0.99971511 -0.02190872 -0.00947182 2.14787765] [ 0.02206916 0.99960882 0.01718024 -0.39019175] [ 0.00909171 -0.01738438 0.99980754 0.11108101] [ 0. 0. 0. 1. ]] SLAMing on 9.024839173 meters Centerline goodness [0,1] 0.7889416990099831 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.39, Z:0.11 [[ 0.99990693 -0.00961444 -0.00967913 2.14792345] [ 0.00988253 0.9995579 0.02804165 -0.38557403] [ 0.00940525 -0.0281347 0.99955989 0.11111689] [ 0. 0. 0. 1. ]] SLAMing on 9.054839173 meters Centerline goodness [0,1] 0.7905851571909133 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.38, Z:0.11 [[ 0.99990596 -0.00969722 -0.009697 2.14728561] [ 0.00995686 0.99958328 0.02709476 -0.38248782] [ 0.00943021 -0.02718877 0.99958584 0.11205592] [ 0. 0. 0. 1. ]] SLAMing on 9.084839173 meters Centerline goodness [0,1] 0.7878232242201988 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.38, Z:0.11 [[ 0.99984835 -0.01449825 -0.00964771 2.14727821] [ 0.01471168 0.99964013 0.02243168 -0.38040768] [ 0.00931902 -0.02257022 0.99970183 0.11194009] [ 0. 0. 0. 1. ]] SLAMing on 9.114839173 meters Centerline goodness [0,1] 0.7890948428300983 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.38, Z:0.11 [[ 0.99978423 -0.01830304 -0.0098226 2.14712503] [ 0.01847925 0.99966433 0.01815885 -0.37912784] [ 0.00948694 -0.01833645 0.99978686 0.1129028 ] [ 0. 0. 0. 1. ]] SLAMing on 9.144839173 meters Centerline goodness [0,1] 0.7883087164551695 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.38, Z:0.11 [[ 0.99973693 -0.0206693 -0.00994198 2.14635981] [ 0.02082045 0.99966542 0.01534775 -0.38015682] [ 0.00962143 -0.01555071 0.99983279 0.11452696] [ 0. 0. 0. 1. ]] SLAMing on 9.174839173 meters Centerline goodness [0,1] 0.7870031598203892 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.38, Z:0.11 [[ 0.99974198 -0.0202456 -0.01029994 2.14687497] [ 0.0204044 0.99967083 0.01555303 -0.38080559] [ 0.00998167 -0.01575918 0.99982599 0.11483851] [ 0. 0. 0. 1. ]] SLAMing on 9.204839173 meters Centerline goodness [0,1] 0.7868869514555026 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.38, Z:0.11 [[ 0.99968343 -0.02280259 -0.01063404 2.14994573] [ 0.02293726 0.999656 0.0127188 -0.38195434] [ 0.01034036 -0.01295869 0.99986257 0.1118619 ] [ 0. 0. 0. 1. ]] SLAMing on 9.234839173 meters Centerline goodness [0,1] 0.7887095432232298 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.38, Z:0.11 [[ 0.99957854 -0.02710414 -0.01039739 2.14922802] [ 0.02719738 0.99959016 0.00893428 -0.38344879] [ 0.01015097 -0.0092133 0.99990603 0.11243051] [ 0. 0. 0. 1. ]] SLAMing on 9.264839173 meters Centerline goodness [0,1] 0.7866918651741397 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.38, Z:0.11 [[ 0.99938478 -0.03495101 0.00291259 2.14707514] [ 0.03493039 0.99936624 0.00685463 -0.38469615] [-0.00315032 -0.00674867 0.99997227 0.11346118] [ 0. 0. 0. 1. ]] SLAMing on 9.294839173 meters Centerline goodness [0,1] 0.7862639876866758 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.38, Z:0.12 [[ 0.99945201 -0.0329444 0.00321715 2.14500132] [ 0.03291382 0.99941643 0.00913692 -0.38367388] [-0.00351629 -0.00902603 0.99995308 0.11510284] [ 0. 0. 0. 1. ]] SLAMing on 9.324839172999999 meters Centerline goodness [0,1] 0.791141997718079 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.38, Z:0.12 [[ 0.99964419 -0.02645878 0.00338127 2.14252414] [ 0.02640809 0.99954969 0.01424868 -0.37626895] [-0.00375675 -0.01415431 0.99989277 0.11753915] [ 0. 0. 0. 1. ]] SLAMing on 9.354839173 meters Centerline goodness [0,1] 0.7921945536624435 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.37, Z:0.12 [[ 0.99964877 -0.02629875 0.00327352 2.14358753] [ 0.02625291 0.99956638 0.01333528 -0.37298137] [-0.0036228 -0.01324465 0.99990572 0.11643935] [ 0. 0. 0. 1. ]] SLAMing on 9.384839173 meters Centerline goodness [0,1] 0.7910791785202567 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.37, Z:0.12 [[ 0.99966249 -0.02577094 0.00328159 2.14327928] [ 0.02573289 0.99960663 0.01115367 -0.3660267 ] [-0.00356774 -0.01106546 0.99993241 0.11728532] [ 0. 0. 0. 1. ]] SLAMing on 9.414839172999999 meters Centerline goodness [0,1] 0.7906421332447251 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.36, Z:0.12 [[ 0.99965612 -0.02603091 0.00316615 2.14443268] [ 0.02599615 0.99960622 0.01056439 -0.36470876] [-0.0034399 -0.01047845 0.99993918 0.11596612] [ 0. 0. 0. 1. ]] SLAMing on 9.444839173 meters Centerline goodness [0,1] 0.7882277272915889 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.36, Z:0.12 [[ 0.99949701 -0.03151935 0.00350114 2.1422971 ] [ 0.03149974 0.9994885 0.00552315 -0.36448298] [-0.00367344 -0.00541009 0.99997862 0.11834005] [ 0. 0. 0. 1. ]] SLAMing on 9.474839173 meters Centerline goodness [0,1] 0.7842096533421794 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.36, Z:0.12 [[ 0.99947844 -0.03209502 0.003571 2.14121259] [ 0.03207543 0.99947078 0.00541561 -0.3647283 ] [-0.00374293 -0.00529825 0.99997896 0.11965006] [ 0. 0. 0. 1. ]] SLAMing on 9.504839173 meters Centerline goodness [0,1] 0.7838011659509139 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.36, Z:0.12 [[ 0.99947469 -0.03223337 0.0033707 2.14254499] [ 0.03221505 0.99946661 0.00535581 -0.36393641] [-0.00354154 -0.00524441 0.99997998 0.11837035] [ 0. 0. 0. 1. ]] SLAMing on 9.534839173 meters Centerline goodness [0,1] 0.7811586086740091 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.36, Z:0.12 [[ 0.99949912 -0.03151699 0.00286003 2.14557133] [ 0.03149963 0.99948621 0.00592309 -0.36269546] [-0.00304524 -0.00583003 0.99997837 0.11558284] [ 0. 0. 0. 1. ]] SLAMing on 9.564839173 meters Centerline goodness [0,1] 0.7834933936238617 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.36, Z:0.12 [[ 0.99949978 -0.03150241 0.00279035 2.14567813] [ 0.03148638 0.99948842 0.00561297 -0.361382 ] [-0.00296574 -0.0055223 0.99998035 0.11566351] [ 0. 0. 0. 1. ]] SLAMing on 9.594839173 meters Centerline goodness [0,1] 0.786484468958653 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.36, Z:0.12 [[ 0.99956609 -0.02929492 0.00307274 2.14315652] [ 0.02927011 0.99954088 0.00782866 -0.36080882] [-0.00330067 -0.00773532 0.99996463 0.11797957] [ 0. 0. 0. 1. ]] SLAMing on 9.624839173 meters Centerline goodness [0,1] 0.7810641076129086 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.36, Z:0.12 [[ 0.99953978 -0.03017897 0.00307501 2.14293373] [ 0.03015888 0.99952474 0.0063831 -0.35665176] [-0.00326618 -0.00628742 0.9999749 0.11828664] [ 0. 0. 0. 1. ]] SLAMing on 9.654839173 meters Centerline goodness [0,1] 0.7698944355725159 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.35, Z:0.12 [[ 0.99951707 -0.03090738 0.00322007 2.14234022] [ 0.03088904 0.99950715 0.0055967 -0.35478406] [-0.00339146 -0.00549453 0.99997915 0.11867624] [ 0. 0. 0. 1. ]] SLAMing on 9.684839173 meters Centerline goodness [0,1] 0.740748427803491 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.35, Z:0.12 [[ 9.99382336e-01 -3.50037219e-02 3.11225856e-03 2.14485597e+00] [ 3.49994545e-02 9.99386329e-01 1.41523200e-03 -3.53207263e-01] [-3.15988704e-03 -1.30543051e-03 9.99994155e-01 1.15829945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.714839173 meters Centerline goodness [0,1] 0.7218718884832394 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.35, Z:0.12 [[ 9.99373614e-01 -3.52458013e-02 3.17999719e-03 2.14394483e+00] [ 3.52419600e-02 9.99378020e-01 1.25604634e-03 -3.53629555e-01] [-3.22228965e-03 -1.14319024e-03 9.99994155e-01 1.16975238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.744839172999999 meters Centerline goodness [0,1] 0.742027063431212 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.35, Z:0.12 [[ 9.99389491e-01 -3.48092553e-02 2.99356266e-03 2.14478059e+00] [ 3.48048047e-02 9.99392964e-01 1.52619760e-03 -3.54160001e-01] [-3.04487126e-03 -1.42107547e-03 9.99994355e-01 1.16323235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.774839173 meters Centerline goodness [0,1] 0.7792005645027396 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.35, Z:0.12 [[ 0.99961014 -0.02772149 0.00333005 2.14191239] [ 0.0276957 0.99958783 0.00755805 -0.35113217] [-0.0035382 -0.00746288 0.99996589 0.11886066] [ 0. 0. 0. 1. ]] SLAMing on 9.804839173 meters Centerline goodness [0,1] 0.7863347325547567 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.34, Z:0.12 [[ 0.99988984 -0.01462093 0.00255744 2.1457494 ] [ 0.01457086 0.99972068 0.01860802 -0.34488016] [-0.00282879 -0.0185687 0.99982359 0.11516732] [ 0. 0. 0. 1. ]] SLAMing on 9.834839173 meters Centerline goodness [0,1] 0.7872824244428825 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.34, Z:0.12 [[ 0.99994689 -0.01003807 0.00233458 2.14606624] [ 0.00998524 0.99971608 0.02163434 -0.34007265] [-0.00255109 -0.02160988 0.99976322 0.11540974] [ 0. 0. 0. 1. ]] SLAMing on 9.864839173 meters Centerline goodness [0,1] 0.7865746211414475 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.33, Z:0.12 [[ 0.99999363 -0.00255023 0.00249526 2.14507249] [ 0.00248021 0.99961393 0.0276737 -0.33336668] [-0.00256487 -0.02766734 0.9996139 0.11625196] [ 0. 0. 0. 1. ]] SLAMing on 9.894839173 meters Centerline goodness [0,1] 0.7873521702338445 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.33, Z:0.12 [[ 0.99997411 -0.00680957 0.00232565 2.14541924] [ 0.00675511 0.99972007 0.02267478 -0.33011877] [-0.00247941 -0.02265848 0.99974019 0.11631841] [ 0. 0. 0. 1. ]] SLAMing on 9.924839173 meters Centerline goodness [0,1] 0.7873460757079481 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.33, Z:0.12 [[ 0.9998776 -0.01545438 0.00243873 2.14548405] [ 0.01541692 0.99977314 0.01469647 -0.33122642] [-0.0026653 -0.01465707 0.99988903 0.11603522] [ 0. 0. 0. 1. ]] SLAMing on 9.954839173 meters Centerline goodness [0,1] 0.7866074024841108 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.34, Z:0.12 [[ 0.99980942 -0.01935322 0.00256603 2.14578942] [ 0.01932157 0.99974329 0.01183355 -0.33570574] [-0.00279439 -0.01178171 0.99992669 0.11540027] [ 0. 0. 0. 1. ]] SLAMing on 9.984839173 meters Centerline goodness [0,1] 0.7865609366242501 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.34, Z:0.11 [[ 0.99974438 -0.02246598 0.00254012 2.14643101] [ 0.02243922 0.99969707 0.0101119 -0.34310586] [-0.00276652 -0.01005232 0.99994565 0.11475937] [ 0. 0. 0. 1. ]] SLAMing on 10.014839173 meters Centerline goodness [0,1] 0.786169528119745 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.35, Z:0.11 [[ 0.99975736 -0.02189299 0.00243194 2.14669594] [ 0.02186505 0.99970068 0.01097543 -0.34561184] [-0.0026715 -0.01091959 0.99993681 0.11475214] [ 0. 0. 0. 1. ]] SLAMing on 10.044839173 meters Centerline goodness [0,1] 0.784267751172345 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.35, Z:0.11 [[ 9.99720918e-01 -2.35348805e-02 2.04823683e-03 2.14862746e+00] [ 2.35145180e-02 9.99678787e-01 9.45462750e-03 -3.51387686e-01] [-2.27009244e-03 -9.40382558e-03 9.99953206e-01 1.13602779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.074839172999999 meters Centerline goodness [0,1] 0.7844147212760655 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.35, Z:0.11 [[ 9.99642466e-01 -2.66685533e-02 1.93110847e-03 2.14998878e+00] [ 2.66546644e-02 9.99620940e-01 6.89235924e-03 -3.54566430e-01] [-2.11418571e-03 -6.83842193e-03 9.99974383e-01 1.12277792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.104839173 meters Centerline goodness [0,1] 0.7841269841269841 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.36, Z:0.11 [[ 9.99523258e-01 -3.08015008e-02 2.12712272e-03 2.14971545e+00] [ 3.07927952e-02 9.99517742e-01 4.01082464e-03 -3.57343993e-01] [-2.24963631e-03 -3.94341246e-03 9.99989694e-01 1.12238978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.134839173 meters Centerline goodness [0,1] 0.7820919668968951 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.36, Z:0.11 [[ 9.99525483e-01 -3.07349085e-02 2.04313704e-03 2.14997446e+00] [ 3.07245238e-02 9.99515715e-01 4.93336757e-03 -3.59543446e-01] [-2.19377418e-03 -4.86825219e-03 9.99985744e-01 1.12012891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.164839172999999 meters Centerline goodness [0,1] 0.7816888262014893 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.36, Z:0.11 [[ 9.99551741e-01 -2.98626060e-02 2.13105060e-03 2.14903529e+00] [ 2.98480475e-02 9.99532892e-01 6.56443729e-03 -3.64103601e-01] [-2.32608637e-03 -6.49788702e-03 9.99976183e-01 1.13075132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.194839173 meters Centerline goodness [0,1] 0.7858579157942743 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.37, Z:0.12 [[ 0.99959117 -0.0284974 0.00232185 2.14719206] [ 0.02847808 0.99956268 0.0079653 -0.36706012] [-0.00254782 -0.00789592 0.99996558 0.11507978] [ 0. 0. 0. 1. ]] SLAMing on 10.224839173 meters Centerline goodness [0,1] 0.784428032031866 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.37, Z:0.12 [[ 0.99951474 -0.03105146 0.00246961 2.14595926] [ 0.03103558 0.99949887 0.00622933 -0.37344915] [-0.0026618 -0.00614967 0.99997755 0.11662773] [ 0. 0. 0. 1. ]] SLAMing on 10.254839173 meters Centerline goodness [0,1] 0.7821786267423851 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.38, Z:0.12 [[ 0.99941156 -0.03422573 0.00226386 2.14753634] [ 0.03421773 0.99940833 0.00348244 -0.37584015] [-0.00238171 -0.00340292 0.99999137 0.11538027] [ 0. 0. 0. 1. ]] SLAMing on 10.284839173 meters Centerline goodness [0,1] 0.775734228076716 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.38, Z:0.11 [[ 0.99941885 -0.03401852 0.0021684 2.14834365] [ 0.03400716 0.99940869 0.0050774 -0.38069242] [-0.00233984 -0.00500071 0.99998476 0.11443202] [ 0. 0. 0. 1. ]] SLAMing on 10.314839173 meters Centerline goodness [0,1] 0.7815340026912327 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.38, Z:0.11 [[ 9.99474667e-01 -3.23617181e-02 1.76317823e-03 2.15086172e+00] [ 3.23477807e-02 9.99449053e-01 7.43043926e-03 -3.84922793e-01] [-2.00266860e-03 -7.36950091e-03 9.99970839e-01 1.12073477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.344839173 meters Centerline goodness [0,1] 0.781487699226927 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.39, Z:0.11 [[ 9.99508798e-01 -3.12996596e-02 1.57940095e-03 2.15085363e+00] [ 3.12823070e-02 9.99460350e-01 1.00212961e-02 -3.92243403e-01] [-1.89221179e-03 -9.96696634e-03 9.99948538e-01 1.12544905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.374839173 meters Centerline goodness [0,1] 0.777920650393015 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.40, Z:0.11 [[ 9.99518281e-01 -3.09935081e-02 1.61494887e-03 2.15090564e+00] [ 3.09730660e-02 9.99454818e-01 1.14339448e-02 -3.96534682e-01] [-1.96844649e-03 -1.13784170e-02 9.99933326e-01 1.12393292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.404839173 meters Centerline goodness [0,1] 0.7760652952996498 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.40, Z:0.11 [[ 9.99469227e-01 -3.25388959e-02 1.57634111e-03 2.14994940e+00] [ 3.25198705e-02 9.99411879e-01 1.08791096e-02 -4.03330887e-01] [-1.92940824e-03 -1.08220728e-02 9.99939578e-01 1.14092431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.434839173 meters Centerline goodness [0,1] 0.7798607946306501 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.41, Z:0.11 [[ 9.99500363e-01 -3.15686974e-02 1.56243632e-03 2.15072819e+00] [ 3.15464282e-02 9.99422060e-01 1.26636972e-02 -4.07817443e-01] [-1.96130975e-03 -1.26080807e-02 9.99918591e-01 1.13119831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.464839173 meters Centerline goodness [0,1] 0.7798607946306501 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.41, Z:0.11 [[ 9.99500363e-01 -3.15686974e-02 1.56243632e-03 2.15072819e+00] [ 3.15464282e-02 9.99422060e-01 1.26636972e-02 -4.07817443e-01] [-1.96130975e-03 -1.26080807e-02 9.99918591e-01 1.13119831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.494839172999999 meters Centerline goodness [0,1] 0.7863146997929606 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.41, Z:0.11 [[ 9.99558640e-01 -2.96850953e-02 1.14933363e-03 2.15143190e+00] [ 2.96640872e-02 9.99443051e-01 1.52849731e-02 -4.14596972e-01] [-1.60242939e-03 -1.52441330e-02 9.99882517e-01 1.13378718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.524839173 meters Centerline goodness [0,1] 0.7797139841470229 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.42, Z:0.11 [[ 9.99478179e-01 -3.22954256e-02 6.12310535e-04 2.15505281e+00] [ 3.22842241e-02 9.99387519e-01 1.35024347e-02 -4.18229044e-01] [-1.04800238e-03 -1.34756209e-02 9.99908650e-01 1.10150751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.554839173 meters Centerline goodness [0,1] 0.7201671631909964 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.43, Z:0.11 [[ 9.99126637e-01 -4.17342630e-02 2.05285655e-03 2.15069882e+00] [ 4.17168907e-02 9.99098390e-01 7.88084879e-03 -4.26821311e-01] [-2.37990709e-03 -7.78832716e-03 9.99966838e-01 1.14477234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.584839172999999 meters Centerline goodness [0,1] 0.719705912809361 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.43, Z:0.12 [[ 9.98968579e-01 -4.53567556e-02 2.13135110e-03 2.15049384e+00] [ 4.53458848e-02 9.98959336e-01 4.89847790e-03 -4.29613584e-01] [-2.35131215e-03 -4.79677750e-03 9.99985731e-01 1.15067373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.614839173 meters Centerline goodness [0,1] 0.7311496440986591 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.44, Z:0.11 [[ 9.99006737e-01 -4.45365569e-02 1.42622036e-03 2.15423689e+00] [ 4.45260643e-02 9.98985786e-01 6.69539015e-03 -4.37000883e-01] [-1.72296349e-03 -6.62523589e-03 9.99976569e-01 1.12270629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.644839173 meters Centerline goodness [0,1] 0.7169114613416949 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.44, Z:0.11 [[ 9.99052064e-01 -4.35196824e-02 1.00482974e-03 2.15540176e+00] [ 4.35105858e-02 9.99022723e-01 7.77350095e-03 -4.39585894e-01] [-1.34214804e-03 -7.72241144e-03 9.99969281e-01 1.11819689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.674839173 meters Centerline goodness [0,1] 0.7564570291447287 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.44, Z:0.11 [[ 9.99123322e-01 -4.18567944e-02 7.72772903e-04 2.15803485e+00] [ 4.18473492e-02 9.99076935e-01 9.69930111e-03 -4.43971880e-01] [-1.17804124e-03 -9.65845944e-03 9.99952662e-01 1.08917859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.704839173 meters Centerline goodness [0,1] 0.7547016048144433 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.44, Z:0.11 [[ 9.99152349e-01 -4.11597007e-02 6.80252107e-04 2.15826893e+00] [ 4.11510823e-02 9.99104958e-01 9.79135256e-03 -4.42920855e-01] [-1.08265239e-03 -9.75505980e-03 9.99951832e-01 1.08695055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.734839173 meters Centerline goodness [0,1] 0.7667308767787236 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.44, Z:0.11 [[ 9.99171425e-01 -4.06835687e-02 1.14519644e-03 2.15552984e+00] [ 4.06686587e-02 9.99112905e-01 1.09299335e-02 -4.43998050e-01] [-1.58884925e-03 -1.08743037e-02 9.99939611e-01 1.11344323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.764839173 meters Centerline goodness [0,1] 0.7456700091157703 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.45, Z:0.11 [[ 9.99156456e-01 -4.10491571e-02 1.15860978e-03 2.15522018e+00] [ 4.10324114e-02 9.99086291e-01 1.19551159e-02 -4.48229944e-01] [-1.64829858e-03 -1.18974906e-02 9.99927864e-01 1.11841249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.794839173 meters Centerline goodness [0,1] 0.7450858679908959 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.45, Z:0.11 [[ 9.99188135e-01 -4.02810948e-02 7.09597379e-04 2.15625052e+00] [ 4.02676707e-02 9.99095652e-01 1.36525985e-02 -4.52685211e-01] [-1.25889727e-03 -1.36129406e-02 9.99906547e-01 1.11725095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.824839172999999 meters Centerline goodness [0,1] 0.7495598865024957 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.46, Z:0.11 [[ 9.99199322e-01 -4.00037211e-02 6.46057431e-04 2.15608586e+00] [ 3.99901046e-02 9.99094164e-01 1.45479886e-02 -4.55449051e-01] [-1.22744589e-03 -1.45105045e-02 9.99893964e-01 1.12192585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.854839173 meters Centerline goodness [0,1] 0.7296933278077082 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.46, Z:0.11 [[ 9.99063182e-01 -4.32670524e-02 8.48796257e-04 2.15480207e+00] [ 4.32535566e-02 9.98990116e-01 1.21605210e-02 -4.59686773e-01] [-1.37408897e-03 -1.21124154e-02 9.99925698e-01 1.13838847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.884839173 meters Centerline goodness [0,1] 0.6974303891597124 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.46, Z:0.11 [[ 9.99043159e-01 -4.37313378e-02 5.80495018e-04 2.15521533e+00] [ 4.37206812e-02 9.98965613e-01 1.24982816e-02 -4.61176018e-01] [-1.12646113e-03 -1.24609430e-02 9.99921725e-01 1.14027917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.914839172999999 meters Centerline goodness [0,1] 0.6871450482941591 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.46, Z:0.11 [[ 9.98880312e-01 -4.73068086e-02 4.33382985e-04 2.15687212e+00] [ 4.73006088e-02 9.98835987e-01 9.45114955e-03 -4.63887275e-01] [-8.79982244e-04 -9.42006793e-03 9.99955243e-01 1.12693535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.944839173 meters Centerline goodness [0,1] 0.672221299908691 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.47, Z:0.11 [[ 9.98909179e-01 -4.66949543e-02 1.81465280e-04 2.15890797e+00] [ 4.66907629e-02 9.98858645e-01 1.00687627e-02 -4.65346290e-01] [-6.51418580e-04 -1.00493068e-02 9.99949292e-01 1.10615716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.974839173 meters Centerline goodness [0,1] 0.7308481744863475 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.46, Z:0.11 [[ 9.99200589e-01 -3.99754363e-02 3.83471045e-04 2.15570914e+00] [ 3.99643288e-02 9.99075143e-01 1.58654155e-02 -4.62294489e-01] [-1.01734330e-03 -1.58374073e-02 9.99874063e-01 1.13628102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.004839173 meters Centerline goodness [0,1] 0.7539212846086992 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.46, Z:0.12 [[ 9.99309181e-01 -3.71586042e-02 6.32052526e-04 2.15300031e+00] [ 3.71408973e-02 9.99143397e-01 1.82490124e-02 -4.59565760e-01] [-1.30961894e-03 -1.82129306e-02 9.99833273e-01 1.16253817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.034839173 meters Centerline goodness [0,1] 0.7646157033354051 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.45, Z:0.11 [[ 9.99504888e-01 -3.14618727e-02 3.59762451e-04 2.15420773e+00] [ 3.14449828e-02 9.99234460e-01 2.32746032e-02 -4.52023551e-01] [-1.09174964e-03 -2.32517670e-02 9.99729045e-01 1.14530535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.064839173 meters Centerline goodness [0,1] 0.7611551809618244 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.45, Z:0.11 [[ 9.99491894e-01 -3.18735730e-02 1.71053899e-04 2.15480698e+00] [ 3.18619204e-02 9.99245644e-01 2.22027053e-02 -4.48444765e-01] [-8.78604412e-04 -2.21859739e-02 9.99753475e-01 1.14117293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.094839173 meters Centerline goodness [0,1] 0.759454432734036 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.45, Z:0.12 [[ 9.99484338e-01 -3.21087234e-02 2.95245817e-04 2.15384095e+00] [ 3.20949178e-02 9.99252670e-01 2.15410808e-02 -4.46822272e-01] [-9.86681776e-04 -2.15204970e-02 9.99767920e-01 1.15110418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.124839173 meters Centerline goodness [0,1] 0.7659132509306296 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.45, Z:0.12 [[ 9.99360126e-01 -3.57668809e-02 2.61706554e-04 2.15402354e+00] [ 3.57570159e-02 9.99210979e-01 1.72874172e-02 -4.45813921e-01] [-8.79817054e-04 -1.72669976e-02 9.99850527e-01 1.15301440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.154839173 meters Centerline goodness [0,1] 0.7583388511835789 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.45, Z:0.11 [[ 9.99329345e-01 -3.66162315e-02 3.34960783e-04 2.15467791e+00] [ 3.66054968e-02 9.99189533e-01 1.67426101e-02 -4.45360530e-01] [-9.47740594e-04 -1.67191201e-02 9.99859777e-01 1.14159601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.184839173 meters Centerline goodness [0,1] 0.7325766833046827 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.45, Z:0.11 [[ 9.99283007e-01 -3.78605969e-02 2.18192225e-04 2.15542607e+00] [ 3.78521564e-02 9.99153182e-01 1.61286400e-02 -4.45038017e-01] [-8.28647393e-04 -1.61088168e-02 9.99869901e-01 1.13408958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.214839173 meters Centerline goodness [0,1] 0.6798044925124792 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.45, Z:0.11 [[ 9.99083474e-01 -4.28027326e-02 3.72307038e-04 2.15511469e+00] [ 4.27955131e-02 9.99016138e-01 1.16318755e-02 -4.45549546e-01] [-8.69816797e-04 -1.16052815e-02 9.99932278e-01 1.13980727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.244839172999999 meters Centerline goodness [0,1] 0.650128598689123 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.45, Z:0.11 [[ 9.99055885e-01 -4.34420808e-02 3.51573059e-04 2.15529416e+00] [ 4.34352141e-02 9.98990632e-01 1.14499054e-02 -4.46522661e-01] [-8.48625909e-04 -1.14238248e-02 9.99934386e-01 1.13784939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.274839173 meters Centerline goodness [0,1] 0.6549237400530503 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.44, Z:0.12 [[ 9.99080389e-01 -4.28644477e-02 1.00780926e-03 2.15212974e+00] [ 4.28507623e-02 9.99020643e-01 1.10257201e-02 -4.42091957e-01] [-1.47943366e-03 -1.09723953e-02 9.99938707e-01 1.16172286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.304839173 meters Centerline goodness [0,1] 0.6757445750170987 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.44, Z:0.12 [[ 9.99210304e-01 -3.97211717e-02 9.98925730e-04 2.15171149e+00] [ 3.97038616e-02 9.99118210e-01 1.36530462e-02 -4.38922641e-01] [-1.54035988e-03 -1.36026032e-02 9.99906294e-01 1.16340159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.334839172999999 meters Centerline goodness [0,1] 0.6977876836717847 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.43, Z:0.12 [[ 9.99350654e-01 -3.60234851e-02 7.61189258e-04 2.15233084e+00] [ 3.60079416e-02 9.99237877e-01 1.50696218e-02 -4.30268189e-01] [-1.30346943e-03 -1.50324275e-02 9.99886157e-01 1.15725359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.364839173 meters Centerline goodness [0,1] 0.7164271684069059 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.43, Z:0.11 [[ 9.99345481e-01 -3.61672671e-02 7.34270796e-04 2.15292290e+00] [ 3.61537221e-02 9.99251127e-01 1.37874099e-02 -4.25208806e-01] [-1.23237386e-03 -1.37518392e-02 9.99904680e-01 1.14881245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.394839173 meters Centerline goodness [0,1] 0.659121530584748 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.42, Z:0.11 [[ 9.99235375e-01 -3.90838517e-02 1.05738149e-03 2.15229041e+00] [ 3.90707078e-02 9.99181872e-01 1.04435330e-02 -4.15632672e-01] [-1.46468991e-03 -1.03942350e-02 9.99944906e-01 1.14653741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.424839173 meters Centerline goodness [0,1] 0.6325107407484278 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.41, Z:0.11 [[ 9.99184530e-01 -4.03626261e-02 1.06457479e-03 2.15276042e+00] [ 4.03504983e-02 9.99138943e-01 9.65448017e-03 -4.14860099e-01] [-1.45333831e-03 -9.60365111e-03 9.99952828e-01 1.13931096e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.454839173 meters Centerline goodness [0,1] 0.606139222116143 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.41, Z:0.11 [[ 9.99079420e-01 -4.28935680e-02 6.73701811e-04 2.15676714e+00] [ 4.28881608e-02 9.99057800e-01 6.64210231e-03 -4.09295264e-01] [-9.57970516e-04 -6.60709389e-03 9.99977714e-01 1.09664105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.484839173 meters Centerline goodness [0,1] 0.6368994500363183 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.41, Z:0.11 [[ 9.99048550e-01 -4.36060558e-02 7.11203198e-04 2.15663709e+00] [ 4.36017096e-02 9.99035053e-01 5.27763033e-03 -4.05808030e-01] [-9.40653567e-04 -5.24159926e-03 9.99985820e-01 1.09719350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.514839173 meters Centerline goodness [0,1] 0.6338305365651544 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.40, Z:0.11 [[ 9.99161647e-01 -4.09370424e-02 4.02496718e-04 2.15784686e+00] [ 4.09339463e-02 9.99144305e-01 5.92196510e-03 -3.97880248e-01] [-6.44580040e-04 -5.90052463e-03 9.99982384e-01 1.08634292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.544839173 meters Centerline goodness [0,1] 0.6403395881766855 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.39, Z:0.11 [[ 9.99281241e-01 -3.79036314e-02 5.62764996e-04 2.15755695e+00] [ 3.78973924e-02 9.99244561e-01 8.60785860e-03 -3.94977693e-01] [-8.88608961e-04 -8.58034430e-03 9.99962793e-01 1.08159909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.574839172999999 meters Centerline goodness [0,1] 0.6290799346797031 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.39, Z:0.11 [[ 9.99297818e-01 -3.74674838e-02 2.40356033e-04 2.15946962e+00] [ 3.74640531e-02 9.99261266e-01 8.56542605e-03 -3.91023754e-01] [-5.61103436e-04 -8.55040686e-03 9.99963287e-01 1.06451555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.604839173 meters Centerline goodness [0,1] 0.6286894433143759 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.39, Z:0.11 [[ 9.99374079e-01 -3.53751023e-02 2.27288897e-04 2.15868125e+00] [ 3.53708776e-02 9.99321010e-01 1.03160185e-02 -3.86364392e-01] [-5.92064780e-04 -1.03015221e-02 9.99946763e-01 1.07155389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.634839173 meters Centerline goodness [0,1] 0.6458596876879368 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.38, Z:0.11 [[ 9.99460397e-01 -3.28450692e-02 3.40761200e-04 2.15706579e+00] [ 3.28382104e-02 9.99381888e-01 1.25496940e-02 -3.83296537e-01] [-7.52746139e-04 -1.25317322e-02 9.99921191e-01 1.08661358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.664839172999999 meters Centerline goodness [0,1] 0.6430515463917525 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.37, Z:0.11 [[ 9.99547998e-01 -3.00629977e-02 1.22506142e-04 2.15587506e+00] [ 3.00585485e-02 9.99455519e-01 1.36069571e-02 -3.74795104e-01] [-5.31505359e-04 -1.35971244e-02 9.99907414e-01 1.10660389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.694839173 meters Centerline goodness [0,1] 0.6552831713533788 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.37, Z:0.11 [[ 9.99550730e-01 -2.99721796e-02 -8.31511708e-05 2.15665450e+00] [ 2.99706087e-02 9.99461219e-01 1.33803944e-02 -3.73859884e-01] [-3.17933215e-04 -1.33768751e-02 9.99910475e-01 1.10165654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.724839173 meters Centerline goodness [0,1] 0.6538668654985295 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.37, Z:0.11 [[ 9.99549212e-01 -3.00228703e-02 -3.63652606e-06 2.15652639e+00] [ 3.00202142e-02 9.99459155e-01 1.34232659e-02 -3.73946752e-01] [-3.99370413e-04 -1.34173241e-02 9.99909904e-01 1.10085490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.754839173 meters Centerline goodness [0,1] 0.6498301855533466 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.37, Z:0.11 [[ 9.99534590e-01 -3.05048959e-02 2.32819129e-04 2.15538611e+00] [ 3.04992202e-02 9.99448725e-01 1.31165071e-02 -3.73890526e-01] [-6.32808464e-04 -1.31033017e-02 9.99913948e-01 1.11043012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.784839173 meters Centerline goodness [0,1] 0.6550953701021971 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.37, Z:0.11 [[ 9.99519448e-01 -3.09976628e-02 1.36540795e-04 2.15459616e+00] [ 3.09937177e-02 9.99445749e-01 1.21484074e-02 -3.70634865e-01] [-5.13037354e-04 -1.21383376e-02 9.99926196e-01 1.12486994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.814839173 meters Centerline goodness [0,1] 0.6355907661757405 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.37, Z:0.11 [[ 9.99533412e-01 -3.05388097e-02 -5.82922690e-04 2.15857537e+00] [ 3.05437124e-02 9.99455248e-01 1.25015696e-02 -3.70912964e-01] [ 2.00822085e-04 -1.25135412e-02 9.99921682e-01 1.09313260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.844839173 meters Centerline goodness [0,1] 0.6423634891974348 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.37, Z:0.11 [[ 9.99537994e-01 -3.03880366e-02 -6.05366456e-04 2.15944232e+00] [ 3.03933904e-02 9.99450290e-01 1.32423389e-02 -3.73509403e-01] [ 2.02625000e-04 -1.32546200e-02 9.99912133e-01 1.08144386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.874839173 meters Centerline goodness [0,1] 0.6548661548039012 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.37, Z:0.11 [[ 9.99533106e-01 -3.05516726e-02 -4.07551687e-04 2.15884506e+00] [ 3.05543890e-02 9.99448655e-01 1.29928647e-02 -3.72987260e-01] [ 1.03732369e-05 -1.29992509e-02 9.99915506e-01 1.08491542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.904839173 meters Centerline goodness [0,1] 0.6503422526446796 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.37, Z:0.11 [[ 9.99527327e-01 -3.07389399e-02 -4.89825194e-04 2.15879551e+00] [ 3.07427346e-02 9.99439113e-01 1.32794468e-02 -3.74258736e-01] [ 8.13543420e-05 -1.32882285e-02 9.99911704e-01 1.08754545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.934839173 meters Centerline goodness [0,1] 0.6482707110106019 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.37, Z:0.11 [[ 9.99527300e-01 -3.07403992e-02 -4.51437445e-04 2.15846569e+00] [ 3.07436871e-02 9.99438014e-01 1.33597098e-02 -3.74476911e-01] [ 4.05009305e-05 -1.33672735e-02 9.99910653e-01 1.09136845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.964839173 meters Centerline goodness [0,1] 0.6608270692261498 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.37, Z:0.11 [[ 9.99664713e-01 -2.58931518e-02 -7.35584792e-05 2.15416763e+00] [ 2.58905335e-02 9.99514363e-01 1.73412621e-02 -3.68746873e-01] [-3.75497177e-04 -1.73373523e-02 9.99849626e-01 1.13481486e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.994839172999999 meters Centerline goodness [0,1] 0.6721532091097309 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.36, Z:0.11 [[ 9.99669290e-01 -2.57128772e-02 -3.99237404e-04 2.15562439e+00] [ 2.57159661e-02 9.99534482e-01 1.64167117e-02 -3.64886171e-01] [-2.30693400e-05 -1.64215493e-02 9.99865157e-01 1.12460947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.024839173 meters Centerline goodness [0,1] 0.6994305828760741 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.36, Z:0.11 [[ 9.99732346e-01 -2.31329288e-02 -3.22171480e-04 2.15486210e+00] [ 2.31350267e-02 9.99579750e-01 1.74669294e-02 -3.57860141e-01] [-8.20251461e-05 -1.74697078e-02 9.99847390e-01 1.13103008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.054839173 meters Centerline goodness [0,1] 0.6859795267105973 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.35, Z:0.11 [[ 9.99706017e-01 -2.42411384e-02 -4.97712625e-04 2.15634503e+00] [ 2.42459858e-02 9.99579920e-01 1.58781238e-02 -3.54283020e-01] [ 1.12599750e-04 -1.58855234e-02 9.99873811e-01 1.11560250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.084839172999999 meters Centerline goodness [0,1] 0.6780982396483444 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.35, Z:0.11 [[ 9.99663310e-01 -2.59317447e-02 -9.00324332e-04 2.16065477e+00] [ 2.59415861e-02 9.99571220e-01 1.35797984e-02 -3.49252012e-01] [ 5.47790426e-04 -1.35985821e-02 9.99907385e-01 1.06862940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.114839173 meters Centerline goodness [0,1] 0.6689505278410267 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.35, Z:0.11 [[ 9.99657428e-01 -2.61597954e-02 -8.31281927e-04 2.16112315e+00] [ 2.61685347e-02 9.99569292e-01 1.32830172e-02 -3.48851903e-01] [ 4.83442876e-04 -1.33002202e-02 9.99911431e-01 1.05943078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.144839173 meters Centerline goodness [0,1] 0.7026484169548382 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.34, Z:0.11 [[ 9.99811191e-01 -1.94247569e-02 5.10846366e-04 2.15601884e+00] [ 1.94125182e-02 9.99651591e-01 1.78843953e-02 -3.41522095e-01] [-8.58068414e-04 -1.78711018e-02 9.99839931e-01 1.09810739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.174839173 meters Centerline goodness [0,1] 0.7406856055907043 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.34, Z:0.11 [[ 9.99884132e-01 -1.52182725e-02 3.54760812e-04 2.15605215e+00] [ 1.52075967e-02 9.99667798e-01 2.08092046e-02 -3.37752721e-01] [-6.71323105e-04 -2.08013984e-02 9.99783402e-01 1.10184815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.204839173 meters Centerline goodness [0,1] 0.7626312948893594 Centerline is valid? [False, False] Translation: X:2.15, Y:-0.33, Z:0.11 [[ 9.99963553e-01 -8.51985404e-03 5.51601522e-04 2.15478519e+00] [ 8.50234940e-03 9.99616162e-01 2.63673666e-02 -3.31219681e-01] [-7.76035911e-04 -2.63617157e-02 9.99652168e-01 1.11128860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.234839173 meters Centerline goodness [0,1] 0.7423109583083073 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.33, Z:0.11 [[ 9.99916345e-01 -1.29295253e-02 3.60951064e-04 2.15521045e+00] [ 1.29188592e-02 9.99688115e-01 2.13723113e-02 -3.27634592e-01] [-6.37172330e-04 -2.13658604e-02 9.99771521e-01 1.11198368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.264839173 meters Centerline goodness [0,1] 0.6997515527950311 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.32, Z:0.11 [[ 9.99819911e-01 -1.89770682e-02 1.29951541e-04 2.15701981e+00] [ 1.89728604e-02 9.99702974e-01 1.52968840e-02 -3.23071229e-01] [-4.20202953e-04 -1.52916637e-02 9.99882987e-01 1.09396290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.294839173 meters Centerline goodness [0,1] 0.6861873402995617 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.32, Z:0.11 [[ 9.99814710e-01 -1.92492029e-02 -1.15749663e-04 2.15834746e+00] [ 1.92487804e-02 9.99702817e-01 1.49586637e-02 -3.22284598e-01] [-1.72227088e-04 -1.49581200e-02 9.99888106e-01 1.08146838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.324839172999999 meters Centerline goodness [0,1] 0.7293902337575908 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.32, Z:0.10 [[ 9.99902648e-01 -1.39062908e-02 -1.14474559e-03 2.16432480e+00] [ 1.39246224e-02 9.99741580e-01 1.79687831e-02 -3.16363613e-01] [ 8.94570641e-04 -1.79829739e-02 9.99837893e-01 1.02220627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.354839173 meters Centerline goodness [0,1] 0.7553315319060486 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.31, Z:0.10 [[ 9.99938723e-01 -1.10189649e-02 -1.06434840e-03 2.16471035e+00] [ 1.10377500e-02 9.99746147e-01 1.96420558e-02 -3.10097717e-01] [ 8.47643085e-04 -1.96526002e-02 9.99806510e-01 1.01402699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.384839173 meters Centerline goodness [0,1] 0.7553315319060486 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.31, Z:0.10 [[ 9.99938723e-01 -1.10189649e-02 -1.06434840e-03 2.16471035e+00] [ 1.10377500e-02 9.99746147e-01 1.96420558e-02 -3.10097717e-01] [ 8.47643085e-04 -1.96526002e-02 9.99806510e-01 1.01402699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.414839172999999 meters Centerline goodness [0,1] 0.7376909664563268 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.30, Z:0.10 [[ 9.99941973e-01 -1.07706978e-02 -2.04566132e-04 2.16233141e+00] [ 1.07726371e-02 9.99776052e-01 1.82152549e-02 -2.96625361e-01] [ 8.32931319e-06 -1.82164016e-02 9.99834068e-01 1.02144762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.444839173 meters Centerline goodness [0,1] 0.7581308411214953 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.29, Z:0.10 [[ 9.99937082e-01 -1.12173983e-02 4.17593783e-05 2.16199498e+00] [ 1.12153096e-02 9.99810192e-01 1.59309805e-02 -2.89244863e-01] [-2.20455606e-04 -1.59295098e-02 9.99873093e-01 1.02322500e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.474839173 meters Centerline goodness [0,1] 0.7883966113631186 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.28, Z:0.10 [[ 9.99998873e-01 -1.16372063e-03 9.48634989e-04 2.15947259e+00] [ 1.14200149e-03 9.99744323e-01 2.25828503e-02 -2.75430557e-01] [-9.74672573e-04 -2.25817415e-02 9.99744525e-01 1.04125999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.504839173 meters Centerline goodness [0,1] 0.7939686924493554 Centerline is valid? [False, False] Translation: X:2.16, Y:-0.27, Z:0.10 [[ 9.99997073e-01 2.26257327e-03 8.56842394e-04 2.16020031e+00] [-2.28308593e-03 9.99691123e-01 2.47476408e-02 -2.70047929e-01] [-8.00584385e-04 -2.47495247e-02 9.99693363e-01 1.03460556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.534839173 meters Centerline goodness [0,1] 0.7922507546623662 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.26, Z:0.10 [[ 9.99983888e-01 5.67550262e-03 -1.08348040e-04 2.16622268e+00] [-5.67082238e-03 9.99651475e-01 2.57831577e-02 -2.59449576e-01] [ 2.54642657e-04 -2.57821279e-02 9.99667553e-01 9.80239017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.564839173 meters Centerline goodness [0,1] 0.7937593237195425 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.25, Z:0.10 [[ 9.99984468e-01 5.56674915e-03 -2.72826934e-04 2.16730806e+00] [-5.55847470e-03 9.99689183e-01 2.43030985e-02 -2.52602718e-01] [ 4.08031388e-04 -2.43012045e-02 9.99704599e-01 9.72009087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.594839173 meters Centerline goodness [0,1] 0.7917314590201323 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.25, Z:0.10 [[ 9.99993927e-01 3.48251893e-03 -1.34466147e-04 2.16630938e+00] [-3.47881505e-03 9.99761982e-01 2.15377890e-02 -2.46261191e-01] [ 2.09439900e-04 -2.15371904e-02 9.99768026e-01 9.79806500e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.624839173 meters Centerline goodness [0,1] 0.7764129341522394 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.24, Z:0.10 [[ 9.99999348e-01 -1.08544137e-03 -3.55200810e-04 2.16676029e+00] [ 1.09122482e-03 9.99859806e-01 1.67086073e-02 -2.44327595e-01] [ 3.37014800e-04 -1.67089840e-02 9.99860338e-01 9.79969842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.654839173 meters Centerline goodness [0,1] 0.7691218130311614 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.24, Z:0.10 [[ 9.99951987e-01 -9.79560380e-03 -2.62589288e-04 2.16653576e+00] [ 9.79723390e-03 9.99926342e-01 7.16415394e-03 -2.40776770e-01] [ 1.92392732e-04 -7.16638262e-03 9.99974303e-01 9.86692139e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.684839173 meters Centerline goodness [0,1] 0.7554176331682444 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.24, Z:0.10 [[ 9.99948486e-01 -1.01491106e-02 -1.45547223e-04 2.16634625e+00] [ 1.01498975e-02 9.99922371e-01 7.22716434e-03 -2.41936230e-01] [ 7.21866339e-05 -7.22826933e-03 9.99973873e-01 9.84341485e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.714839173 meters Centerline goodness [0,1] 0.7629440882223939 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.24, Z:0.09 [[ 9.99943108e-01 -1.06357451e-02 -8.13009284e-04 2.17051298e+00] [ 1.06409295e-02 9.99921182e-01 6.66330044e-03 -2.41825621e-01] [ 7.42076040e-04 -6.67157253e-03 9.99977469e-01 9.47529244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.744839172999999 meters Centerline goodness [0,1] 0.7570552405842308 Centerline is valid? [False, False] Translation: X:2.17, Y:-0.24, Z:0.09 [[ 9.99927902e-01 -1.19779577e-02 -8.48678482e-04 2.17180185e+00] [ 1.19814072e-02 9.99919470e-01 4.18329955e-03 -2.37153436e-01] [ 7.98502752e-04 -4.19316630e-03 9.99990890e-01 9.33082181e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.774839173 meters Centerline goodness [0,1] 0.8092684324722643 Centerline is valid? [False, False] Translation: X:2.05, Y:-0.20, Z:0.07 [[ 0.99976296 -0.00870428 0.01995619 2.05028642] [ 0.00950863 0.99913137 -0.04057215 -0.19792838] [-0.01958571 0.04075229 0.9989773 0.07333638] [ 0. 0. 0. 1. ]] SLAMing on 12.804839173 meters Centerline goodness [0,1] 0.7037942449707155 Centerline is valid? [False, False] Translation: X:0.90, Y:0.99, Z:1.31 [[ 0.38089343 -0.8717037 0.30830643 0.89575135] [ 0.64554155 0.01198821 -0.76363106 0.9888222 ] [ 0.66196397 0.48988666 0.56728719 1.30781998] [ 0. 0. 0. 1. ]] SLAMing on 12.834839172999999 meters Centerline goodness [0,1] 0.7525344369891933 Centerline is valid? [False, False] Translation: X:0.70, Y:0.15, Z:0.11 [[-0.62293734 0.74785239 0.22949047 0.70473538] [-0.49089036 -0.14529179 -0.85902093 0.1503695 ] [-0.60907777 -0.64777087 0.45762121 0.11111372] [ 0. 0. 0. 1. ]] SLAMing on 12.864839173 meters Centerline goodness [0,1] 0.7461795259916644 Centerline is valid? [False, False] Translation: X:0.38, Y:0.39, Z:0.55 [[ 0.56701527 -0.68586189 0.45616571 0.38158289] [ 0.74752844 0.19586036 -0.63469674 0.38931379] [ 0.34596953 0.70087958 0.62375708 0.55028201] [ 0. 0. 0. 1. ]] SLAMing on 12.894839173 meters Centerline goodness [0,1] 0.7280453846473547 Centerline is valid? [False, False] Translation: X:-0.13, Y:-0.17, Z:0.23 [[ 0.57565427 -0.65312949 0.49197971 -0.12800537] [ 0.763818 0.21472535 -0.60866664 -0.1671299 ] [ 0.29189762 0.72616451 0.62247962 0.23371796] [ 0. 0. 0. 1. ]] SLAMing on 12.924839173 meters Centerline goodness [0,1] 0.693548051515719 Centerline is valid? [False, False] Translation: X:-0.65, Y:-0.74, Z:-0.02 [[ 0.58915422 -0.61236756 0.52716531 -0.64999152] [ 0.77040897 0.2289814 -0.59501054 -0.73916755] [ 0.2436541 0.75668586 0.60667882 -0.02423291] [ 0. 0. 0. 1. ]] SLAMing on 12.954839173 meters Centerline goodness [0,1] 0.7361655955262498 Centerline is valid? [False, False] Translation: X:-1.17, Y:-1.31, Z:-0.24 [[ 0.60635601 -0.57389388 0.55043456 -1.16769406] [ 0.77151705 0.2569269 -0.58202235 -1.31229073] [ 0.19259762 0.77758239 0.59855808 -0.23558929] [ 0. 0. 0. 1. ]] SLAMing on 12.984839173 meters Centerline goodness [0,1] 0.743093864708967 Centerline is valid? [False, False] Translation: X:-1.68, Y:-1.87, Z:-0.40 [[ 0.62243285 -0.53223291 0.57385144 -1.68140771] [ 0.76841505 0.27624363 -0.57725883 -1.8675872 ] [ 0.14871334 0.80026095 0.58091889 -0.39749642] [ 0. 0. 0. 1. ]] SLAMing on 13.014839173 meters Centerline goodness [0,1] 0.7475811879522127 Centerline is valid? [False, False] Translation: X:-1.48, Y:-3.01, Z:-1.03 [[ 0.93317569 -0.33482085 0.13068334 -1.47681579] [ 0.2765845 0.90115239 0.33380442 -3.01411347] [-0.22953028 -0.27535319 0.93353975 -1.0278347 ] [ 0. 0. 0. 1. ]] SLAMing on 13.044839173 meters Centerline goodness [0,1] 0.7635274542429284 Centerline is valid? [False, False] Translation: X:-1.60, Y:-3.03, Z:-1.00 [[ 0.93548231 -0.3249302 0.1389 -1.59924921] [ 0.26936926 0.91011373 0.31485426 -3.03082339] [-0.22872045 -0.2571252 0.9389215 -1.00290484] [ 0. 0. 0. 1. ]] SLAMing on 13.074839172999999 meters Centerline goodness [0,1] 0.7550046710262912 Centerline is valid? [False, False] Translation: X:-1.82, Y:-3.08, Z:-0.99 [[ 0.93380111 -0.31773756 0.16449416 -1.82096283] [ 0.2587414 0.91722771 0.30289638 -3.07735085] [-0.24712016 -0.24028353 0.93872012 -0.98676849] [ 0. 0. 0. 1. ]] SLAMing on 13.104839173 meters Centerline goodness [0,1] 0.7771591840164709 Centerline is valid? [False, False] Translation: X:-1.78, Y:-3.07, Z:-0.94 [[ 0.94595839 -0.2565643 0.19833679 -1.78385661] [ 0.19620698 0.93977383 0.27987133 -3.06517982] [-0.25819672 -0.22583157 0.93932665 -0.93567315] [ 0. 0. 0. 1. ]] SLAMing on 13.134839173 meters Centerline goodness [0,1] 0.7704484388994188 Centerline is valid? [False, False] Translation: X:-1.86, Y:-3.07, Z:-0.91 [[ 0.94525201 -0.25550461 0.20301731 -1.86110402] [ 0.20022252 0.94531415 0.25747252 -3.071745 ] [-0.25770055 -0.20272778 0.94471788 -0.91456049] [ 0. 0. 0. 1. ]] SLAMing on 13.164839172999999 meters Centerline goodness [0,1] 0.7642050750906266 Centerline is valid? [False, False] Translation: X:-1.94, Y:-3.08, Z:-0.89 [[ 0.94613745 -0.25120428 0.20425557 -1.93775769] [ 0.20101187 0.95032509 0.23764775 -3.07766217] [-0.25380733 -0.18378964 0.9496332 -0.89458085] [ 0. 0. 0. 1. ]] SLAMing on 13.194839173 meters Centerline goodness [0,1] 0.7714118800726074 Centerline is valid? [False, False] Translation: X:-2.01, Y:-3.08, Z:-0.87 [[ 0.94811958 -0.24554016 0.20193881 -2.01275251] [ 0.20069611 0.95490719 0.21879974 -3.08138798] [-0.24655695 -0.16691998 0.95464517 -0.87257587] [ 0. 0. 0. 1. ]] SLAMing on 13.224839173 meters Centerline goodness [0,1] 0.7669127460794127 Centerline is valid? [False, False] Translation: X:-2.10, Y:-3.08, Z:-0.85 [[ 0.94971317 -0.23428535 0.20773846 -2.09866466] [ 0.19262095 0.96019435 0.20229677 -3.08334636] [-0.24686446 -0.15210912 0.95703749 -0.84677785] [ 0. 0. 0. 1. ]] SLAMing on 13.254839172999999 meters Centerline goodness [0,1] 0.7748268618846578 Centerline is valid? [False, False] Translation: X:-2.17, Y:-3.09, Z:-0.83 [[ 0.94974414 -0.22861396 0.21382639 -2.16941077] [ 0.18941505 0.96355939 0.1888789 -3.08830812] [-0.24921478 -0.13888469 0.95843781 -0.82728683] [ 0. 0. 0. 1. ]] SLAMing on 13.284839173 meters Centerline goodness [0,1] 0.7652155669778664 Centerline is valid? [False, False] Translation: X:-2.24, Y:-3.09, Z:-0.81 [[ 0.95259703 -0.22028712 0.20983919 -2.23891888] [ 0.18729439 0.9681571 0.16611034 -3.0852848 ] [-0.23974927 -0.11893451 0.96352212 -0.80576965] [ 0. 0. 0. 1. ]] SLAMing on 13.314839173 meters Centerline goodness [0,1] 0.7673285953177258 Centerline is valid? [False, False] Translation: X:-2.30, Y:-3.08, Z:-0.79 [[ 0.95451874 -0.21553246 0.20600905 -2.29681299] [ 0.18623127 0.97058689 0.15257457 -3.08176481] [-0.23283446 -0.10726996 0.96658226 -0.79289738] [ 0. 0. 0. 1. ]] SLAMing on 13.344839173 meters Centerline goodness [0,1] 0.7413836904056228 Centerline is valid? [False, False] Translation: X:-2.35, Y:-3.08, Z:-0.77 [[ 0.95520252 -0.20843724 0.21010013 -2.35001274] [ 0.18371694 0.97418171 0.13121771 -3.07775846] [-0.23202636 -0.08674054 0.96883427 -0.77490829] [ 0. 0. 0. 1. ]] SLAMing on 13.374839173 meters Centerline goodness [0,1] 0.7289242950477255 Centerline is valid? [False, False] Translation: X:-2.37, Y:-3.08, Z:-0.77 [[ 0.95671578 -0.20378792 0.20776285 -2.36647564] [ 0.1812149 0.9757676 0.1226326 -3.07624429] [-0.2277193 -0.07967482 0.97046166 -0.76791104] [ 0. 0. 0. 1. ]] SLAMing on 13.404839173 meters Centerline goodness [0,1] 0.7611426079372001 Centerline is valid? [False, False] Translation: X:-2.48, Y:-3.10, Z:-0.75 [[ 0.95740541 -0.19480947 0.21312941 -2.48413394] [ 0.17236346 0.97776525 0.11944018 -3.09796937] [-0.2316586 -0.07761696 0.96969578 -0.74820944] [ 0. 0. 0. 1. ]] SLAMing on 13.434839173 meters Centerline goodness [0,1] 0.7651030021490438 Centerline is valid? [False, False] Translation: X:-2.55, Y:-3.10, Z:-0.73 [[ 0.95872335 -0.18987508 0.21165298 -2.54815013] [ 0.16923402 0.97920597 0.11187277 -3.10037837] [-0.22849371 -0.07143616 0.97092095 -0.73194888] [ 0. 0. 0. 1. ]] SLAMing on 13.464839173 meters Centerline goodness [0,1] 0.7693368895429045 Centerline is valid? [False, False] Translation: X:-2.60, Y:-3.09, Z:-0.73 [[ 0.9632692 -0.17672012 0.20219409 -2.604239 ] [ 0.15927575 0.98219245 0.09964556 -3.08553956] [-0.21620288 -0.06378088 0.97426296 -0.73409176] [ 0. 0. 0. 1. ]] SLAMing on 13.494839172999999 meters Centerline goodness [0,1] 0.7687917784548224 Centerline is valid? [False, False] Translation: X:-2.58, Y:-3.14, Z:-0.73 [[ 0.95346921 -0.20950301 0.21680625 -2.57816529] [ 0.16509877 0.96453047 0.20596936 -3.13607013] [-0.25226743 -0.160591 0.95423879 -0.72615312] [ 0. 0. 0. 1. ]] SLAMing on 13.524839173 meters Centerline goodness [0,1] 0.7920852295367322 Centerline is valid? [False, False] Translation: X:-2.65, Y:-3.15, Z:-0.70 [[ 0.95528285 -0.19572532 0.22164447 -2.64811237] [ 0.15360145 0.96897327 0.19364246 -3.15291399] [-0.2526683 -0.15093841 0.95570724 -0.7029469 ] [ 0. 0. 0. 1. ]] SLAMing on 13.554839173 meters Centerline goodness [0,1] 0.796094709644627 Centerline is valid? [False, False] Translation: X:-2.70, Y:-3.15, Z:-0.68 [[ 0.95723688 -0.186132 0.22147784 -2.70344337] [ 0.14945734 0.97364096 0.17229564 -3.1457062 ] [-0.24770963 -0.13182625 0.95982383 -0.67691846] [ 0. 0. 0. 1. ]] SLAMing on 13.584839172999999 meters Centerline goodness [0,1] 0.7995241303798535 Centerline is valid? [False, False] Translation: X:-2.75, Y:-3.13, Z:-0.66 [[ 0.9594499 -0.17069275 0.22432091 -2.74578941] [ 0.13908991 0.97886244 0.14994108 -3.13496289] [-0.24517317 -0.11266018 0.96291111 -0.66030224] [ 0. 0. 0. 1. ]] SLAMing on 13.614839173 meters Centerline goodness [0,1] 0.7983489551982114 Centerline is valid? [False, False] Translation: X:-2.80, Y:-3.13, Z:-0.64 [[ 0.96153506 -0.16301962 0.22107676 -2.80062708] [ 0.13525915 0.98150599 0.13546568 -3.13248514] [-0.23907173 -0.10035234 0.96580232 -0.64335867] [ 0. 0. 0. 1. ]] SLAMing on 13.644839173 meters Centerline goodness [0,1] 0.8087620038585767 Centerline is valid? [False, False] Translation: X:-2.86, Y:-3.13, Z:-0.63 [[ 0.96238315 -0.15954148 0.21992088 -2.8607328 ] [ 0.13579004 0.98353116 0.11927914 -3.12768794] [-0.23532901 -0.08492917 0.96819796 -0.62642384] [ 0. 0. 0. 1. ]] SLAMing on 13.674839173 meters Centerline goodness [0,1] 0.8087169185081666 Centerline is valid? [False, False] Translation: X:-2.90, Y:-3.12, Z:-0.61 [[ 0.96277519 -0.1557296 0.22093491 -2.89858039] [ 0.13542359 0.98527747 0.10434926 -3.1205493 ] [-0.23393246 -0.07054508 0.96969016 -0.61473049] [ 0. 0. 0. 1. ]] SLAMing on 13.704839173 meters Centerline goodness [0,1] 0.8154553123473782 Centerline is valid? [False, False] Translation: X:-2.94, Y:-3.12, Z:-0.60 [[ 0.9632002 -0.15281406 0.22111815 -2.94322783] [ 0.13413582 0.98618005 0.09724454 -3.11872376] [-0.23292264 -0.06400609 0.97038666 -0.60295532] [ 0. 0. 0. 1. ]] SLAMing on 13.734839173 meters Centerline goodness [0,1] 0.8111948684333739 Centerline is valid? [False, False] Translation: X:-3.02, Y:-3.12, Z:-0.58 [[ 0.96544338 -0.14541642 0.21627102 -3.0182526 ] [ 0.13064773 0.9881011 0.08116267 -3.11913852] [-0.22550001 -0.05010265 0.97295399 -0.58079467] [ 0. 0. 0. 1. ]] SLAMing on 13.764839173 meters Centerline goodness [0,1] 0.8096868664113539 Centerline is valid? [False, False] Translation: X:-3.04, Y:-3.11, Z:-0.57 [[ 0.96805061 -0.13197608 0.21321431 -3.04476632] [ 0.12056189 0.99052694 0.06573595 -3.11008807] [-0.21987009 -0.03793021 0.97479149 -0.56737893] [ 0. 0. 0. 1. ]] SLAMing on 13.794839173 meters Centerline goodness [0,1] 0.8057542768273717 Centerline is valid? [False, False] Translation: X:-3.06, Y:-3.11, Z:-0.56 [[ 0.96986091 -0.12608717 0.20849901 -3.06071628] [ 0.11547593 0.99135115 0.06235555 -3.10696838] [-0.21455797 -0.03639959 0.97603276 -0.55828669] [ 0. 0. 0. 1. ]] SLAMing on 13.824839172999999 meters Centerline goodness [0,1] 0.8018202707878078 Centerline is valid? [False, False] Translation: X:-3.08, Y:-3.10, Z:-0.55 [[ 0.97124531 -0.12138101 0.20481504 -3.07684484] [ 0.11221044 0.99211344 0.05585464 -3.09919436] [-0.20997945 -0.03126617 0.97720574 -0.55116539] [ 0. 0. 0. 1. ]] SLAMing on 13.854839173 meters Centerline goodness [0,1] 0.8118212669683258 Centerline is valid? [False, False] Translation: X:-3.15, Y:-3.07, Z:-0.56 [[ 0.97412925 -0.16475992 0.15468154 -3.15402069] [ 0.16046037 0.9862327 0.03996911 -3.06775709] [-0.1591373 -0.01411482 0.98715556 -0.5589515 ] [ 0. 0. 0. 1. ]] SLAMing on 13.884839173 meters Centerline goodness [0,1] 0.7681536958645392 Centerline is valid? [False, False] Translation: X:-3.17, Y:-3.12, Z:-0.52 [[ 0.97643397 -0.20881464 0.05452649 -3.17484388] [ 0.20318089 0.97462326 0.09395221 -3.11944074] [-0.07276138 -0.08065939 0.99408241 -0.522562 ] [ 0. 0. 0. 1. ]] SLAMing on 13.914839172999999 meters Centerline goodness [0,1] 0.9616301002680433 Centerline is valid? [False, True] Translation: X:-3.22, Y:-3.05, Z:-0.47 [[ 0.97400406 -0.17333672 0.145844 -3.22106612] [ 0.17263491 0.98482947 0.01755304 -3.05388664] [-0.14667405 0.00808104 0.98915187 -0.47369958] [ 0. 0. 0. 1. ]] SLAMing on 13.944839173 meters Centerline goodness [0,1] 0.7772968293474732 Centerline is valid? [True, False] Translation: X:-3.45, Y:-3.22, Z:-0.47 [[ 0.97703795 -0.20478242 0.05883031 -3.45135165] [ 0.18967126 0.96173733 0.1977021 -3.22363466] [-0.09706522 -0.18200403 0.97849521 -0.47434028] [ 0. 0. 0. 1. ]] SLAMing on 13.974839173 meters Centerline goodness [0,1] 0.8255381988509195 Centerline is valid? [False, False] Translation: X:-3.48, Y:-3.08, Z:-0.23 [[ 0.97024848 -0.11828768 0.21124847 -3.48413726] [ 0.13918902 0.98644287 -0.08693031 -3.0765266 ] [-0.19810176 0.11374747 0.97355904 -0.23096847] [ 0. 0. 0. 1. ]] SLAMing on 14.004839172999999 meters Centerline goodness [0,1] 0.8084708671468952 Centerline is valid? [False, False] Translation: X:-3.50, Y:-3.08, Z:-0.24 [[ 0.96974929 -0.11887658 0.21320102 -3.49950318] [ 0.13697365 0.98794209 -0.07217094 -3.07928028] [-0.20205083 0.09919064 0.9743391 -0.23638178] [ 0. 0. 0. 1. ]] SLAMing on 14.034839173 meters Centerline goodness [0,1] 0.8066559926806953 Centerline is valid? [False, False] Translation: X:-3.53, Y:-3.08, Z:-0.23 [[ 0.97091594 -0.1193157 0.20757168 -3.526831 ] [ 0.13550821 0.98860392 -0.06557305 -3.08439114] [-0.19738228 0.09179358 0.97601956 -0.23334441] [ 0. 0. 0. 1. ]] SLAMing on 14.064839173 meters Centerline goodness [0,1] 0.8124140640345708 Centerline is valid? [False, False] Translation: X:-3.66, Y:-3.09, Z:-0.23 [[ 0.97730848 -0.14240141 0.15681187 -3.66022384] [ 0.15257404 0.98677121 -0.05480637 -3.08958472] [-0.14693294 0.07748815 0.98610664 -0.22532409] [ 0. 0. 0. 1. ]] SLAMing on 14.094839173 meters Centerline goodness [0,1] 0.8048366974824861 Centerline is valid? [False, False] Translation: X:-3.64, Y:-3.07, Z:-0.20 [[ 0.97011304 -0.0647291 0.23386073 -3.63996097] [ 0.09183926 0.99001359 -0.10695158 -3.07141385] [-0.22460242 0.12523272 0.96636976 -0.19706615] [ 0. 0. 0. 1. ]] SLAMing on 14.124839173 meters Centerline goodness [0,1] 0.8196467918571382 Centerline is valid? [False, False] Translation: X:-3.66, Y:-3.09, Z:-0.19 [[ 0.97742853 -0.08639878 0.19279191 -3.66348164] [ 0.1030875 0.9915885 -0.0782638 -3.08635775] [-0.18440835 0.0963717 0.97811352 -0.19468947] [ 0. 0. 0. 1. ]] SLAMing on 14.154839173 meters Centerline goodness [0,1] 0.7899391929242676 Centerline is valid? [False, False] Translation: X:-3.62, Y:-3.07, Z:-0.18 [[ 0.97755917 -0.07819651 0.19561024 -3.62000118] [ 0.10046679 0.98920914 -0.10663822 -3.06597869] [-0.1851607 0.1238975 0.97486662 -0.17700674] [ 0. 0. 0. 1. ]] SLAMing on 14.184839173 meters Centerline goodness [0,1] 0.614227380184827 Centerline is valid? [False, False] Translation: X:-3.70, Y:-3.08, Z:-0.21 [[ 0.96881154 -0.10692527 0.22354238 -3.69973496] [ 0.128072 0.98834377 -0.08230526 -3.0797212 ] [-0.2121362 0.1083678 0.97121298 -0.20642901] [ 0. 0. 0. 1. ]] SLAMing on 14.214839173 meters Centerline goodness [0,1] 0.8463595583160801 Centerline is valid? [False, False] Translation: X:-3.86, Y:-3.04, Z:0.08 [[ 0.99023417 -0.08000757 0.11417127 -3.85530081] [ 0.10979067 0.9522358 -0.28494382 -3.04345483] [-0.0859203 0.29469605 0.95172052 0.08015035] [ 0. 0. 0. 1. ]] SLAMing on 14.244839172999999 meters Centerline goodness [0,1] 0.7790986809387359 Centerline is valid? [False, False] Translation: X:-3.79, Y:-3.02, Z:0.11 [[ 0.98832021 -0.06958677 0.13557601 -3.79223864] [ 0.10890202 0.94483247 -0.30892063 -3.02346432] [-0.10659982 0.320077 0.94137516 0.11040437] [ 0. 0. 0. 1. ]] SLAMing on 14.274839173 meters Centerline goodness [0,1] 0.7790986809387359 Centerline is valid? [False, False] Translation: X:-3.81, Y:-3.03, Z:0.10 [[ 0.98834926 -0.07401994 0.13299168 -3.81466051] [ 0.11038344 0.95018619 -0.2914819 -3.02960112] [-0.10479139 0.302766 0.94728639 0.10357591] [ 0. 0. 0. 1. ]] SLAMing on 14.304839173 meters Centerline goodness [0,1] 0.7674064035236321 Centerline is valid? [False, False] Translation: X:-3.84, Y:-3.03, Z:0.10 [[ 0.98856368 -0.07580475 0.13036678 -3.83592862] [ 0.1093912 0.95551682 -0.27389993 -3.03078445] [-0.10380474 0.2850285 0.95288159 0.10154784] [ 0. 0. 0. 1. ]] SLAMing on 14.334839172999999 meters Centerline goodness [0,1] 0.7661769763671203 Centerline is valid? [False, False] Translation: X:-3.85, Y:-3.03, Z:0.10 [[ 0.98794956 -0.08033479 0.13229507 -3.84738285] [ 0.11176657 0.96158159 -0.25073705 -3.02682064] [-0.1070696 0.26250173 0.95897286 0.09863116] [ 0. 0. 0. 1. ]] SLAMing on 14.364839173 meters Centerline goodness [0,1] 0.7755214600882471 Centerline is valid? [False, False] Translation: X:-3.88, Y:-3.03, Z:0.10 [[ 0.98787561 -0.08478454 0.13005139 -3.8757991 ] [ 0.11341029 0.96618126 -0.23158558 -3.03078129] [-0.10601834 0.24352691 0.96408234 0.09537405] [ 0. 0. 0. 1. ]] SLAMing on 14.394839173 meters Centerline goodness [0,1] 0.7679502354748533 Centerline is valid? [False, False] Translation: X:-3.90, Y:-3.04, Z:0.09 [[ 0.98773131 -0.08902304 0.12830339 -3.90104762] [ 0.11522628 0.9700096 -0.21401934 -3.03510112] [-0.10540286 0.22617752 0.96836665 0.09117367] [ 0. 0. 0. 1. ]] SLAMing on 14.424839172999999 meters Centerline goodness [0,1] 0.765682286173472 Centerline is valid? [False, False] Translation: X:-3.92, Y:-3.04, Z:0.09 [[ 0.98757646 -0.09312896 0.12656909 -3.92359665] [ 0.11723787 0.97299353 -0.19884386 -3.04140492] [-0.10463278 0.21121221 0.97182374 0.08840548] [ 0. 0. 0. 1. ]] SLAMing on 14.454839173 meters Centerline goodness [0,1] 0.7654218114789284 Centerline is valid? [False, False] Translation: X:-3.95, Y:-3.05, Z:0.08 [[ 0.98746628 -0.09909119 0.12284656 -3.94717846] [ 0.12076178 0.97551049 -0.18383657 -3.0470002 ] [-0.10162153 0.19636758 0.97525014 0.08450721] [ 0. 0. 0. 1. ]] SLAMing on 14.484839173 meters Centerline goodness [0,1] 0.7454578678082907 Centerline is valid? [False, False] Translation: X:-3.96, Y:-3.05, Z:0.08 [[ 0.98745663 -0.09898063 0.1230132 -3.96229617] [ 0.11934034 0.97801114 -0.17103246 -3.04746808] [-0.10337938 0.18356758 0.97755596 0.08236744] [ 0. 0. 0. 1. ]] SLAMing on 14.514839173 meters Centerline goodness [0,1] 0.7486837948825945 Centerline is valid? [False, False] Translation: X:-3.99, Y:-3.05, Z:0.08 [[ 0.98750522 -0.10027122 0.12156941 -3.98801677] [ 0.11823778 0.98144646 -0.15093927 -3.04743612] [-0.104179 0.16342742 0.98103935 0.07874006] [ 0. 0. 0. 1. ]] SLAMing on 14.544839173 meters Centerline goodness [0,1] 0.7455636880627665 Centerline is valid? [False, False] Translation: X:-4.00, Y:-3.05, Z:0.07 [[ 0.98735005 -0.10328832 0.12029711 -4.00449532] [ 0.11966949 0.98317067 -0.13803855 -3.05109496] [-0.10401482 0.15068827 0.98309408 0.0738889 ] [ 0. 0. 0. 1. ]] SLAMing on 14.574839172999999 meters Centerline goodness [0,1] 0.7478895672949297 Centerline is valid? [False, False] Translation: X:-4.02, Y:-3.05, Z:0.07 [[ 0.9870884 -0.10714414 0.11906565 -4.02143931] [ 0.12195313 0.98463599 -0.12497764 -3.05434824] [-0.1038457 0.13788441 0.98498932 0.06669306] [ 0. 0. 0. 1. ]] SLAMing on 14.604839173 meters Centerline goodness [0,1] 0.7388154752427958 Centerline is valid? [False, False] Translation: X:-4.04, Y:-3.06, Z:0.06 [[ 0.9867443 -0.10981122 0.11948718 -4.03677739] [ 0.12350558 0.98577633 -0.1139798 -3.05657766] [-0.10527137 0.12722625 0.98627147 0.06201818] [ 0. 0. 0. 1. ]] SLAMing on 14.634839173 meters Centerline goodness [0,1] 0.7390247810296945 Centerline is valid? [False, False] Translation: X:-4.06, Y:-3.06, Z:0.06 [[ 0.98636846 -0.11275649 0.11984675 -4.0590677 ] [ 0.12497402 0.98712354 -0.09984293 -3.05538594] [-0.10704561 0.11345965 0.98775915 0.05878529] [ 0. 0. 0. 1. ]] SLAMing on 14.664839172999999 meters Centerline goodness [0,1] 0.7429983965793694 Centerline is valid? [False, False] Translation: X:-4.08, Y:-3.06, Z:0.05 [[ 0.98601859 -0.11648947 0.11915348 -4.07715948] [ 0.12731703 0.9879787 -0.08768385 -3.05740085] [-0.10750686 0.10162817 0.98899646 0.05455617] [ 0. 0. 0. 1. ]] SLAMing on 14.694839173 meters Centerline goodness [0,1] 0.7457034506871789 Centerline is valid? [False, False] Translation: X:-4.10, Y:-3.06, Z:0.05 [[ 0.98589498 -0.1184957 0.11819417 -4.09501417] [ 0.12783912 0.98896587 -0.07485768 -3.05659859] [-0.10801969 0.08891165 0.99016487 0.05138518] [ 0. 0. 0. 1. ]] SLAMing on 14.724839173 meters Centerline goodness [0,1] 0.7422315812208093 Centerline is valid? [False, False] Translation: X:-4.11, Y:-3.06, Z:0.05 [[ 0.98580497 -0.11847407 0.1189641 -4.10503342] [ 0.12703012 0.98962708 -0.06709392 -3.05771046] [-0.1097812 0.08125354 0.99062907 0.05011779] [ 0. 0. 0. 1. ]] SLAMing on 14.754839172999999 meters Centerline goodness [0,1] 0.7416200358559244 Centerline is valid? [False, False] Translation: X:-4.11, Y:-3.06, Z:0.05 [[ 0.98506116 -0.12487245 0.11858073 -4.11092059] [ 0.13180655 0.98988292 -0.05252463 -3.05597596] [-0.11082216 0.06736969 0.99155422 0.05402493] [ 0. 0. 0. 1. ]] SLAMing on 14.784839173 meters Centerline goodness [0,1] 0.741510198568148 Centerline is valid? [False, False] Translation: X:-4.12, Y:-3.06, Z:0.06 [[ 0.98469538 -0.12653333 0.11985128 -4.1150626 ] [ 0.13360697 0.98962061 -0.05291708 -3.05686841] [-0.11191152 0.06812017 0.99138058 0.05563327] [ 0. 0. 0. 1. ]] SLAMing on 14.814839173 meters Centerline goodness [0,1] 0.734332719991341 Centerline is valid? [False, False] Translation: X:-4.12, Y:-3.06, Z:0.06 [[ 0.98425354 -0.12808336 0.12181795 -4.12276526] [ 0.13531494 0.98938211 -0.05303678 -3.05769563] [-0.11373137 0.06868543 0.99113444 0.06006414] [ 0. 0. 0. 1. ]] SLAMing on 14.844839173 meters Centerline goodness [0,1] 0.7397028296733312 Centerline is valid? [False, False] Translation: X:-4.13, Y:-3.06, Z:0.06 [[ 0.98488269 -0.12288883 0.12208364 -4.12719535] [ 0.12932024 0.99052587 -0.04620359 -3.05669813] [-0.1152491 0.061293 0.9914438 0.06215456] [ 0. 0. 0. 1. ]] SLAMing on 14.874839173 meters Centerline goodness [0,1] 0.7406031468531469 Centerline is valid? [False, False] Translation: X:-4.13, Y:-3.06, Z:0.06 [[ 0.98566341 -0.11698261 0.12158415 -4.1287616 ] [ 0.1223832 0.99175835 -0.03791741 -3.0590203 ] [-0.11614642 0.05225366 0.99185662 0.06156594] [ 0. 0. 0. 1. ]] SLAMing on 14.904839173 meters Centerline goodness [0,1] 0.7422461953380852 Centerline is valid? [False, False] Translation: X:-4.13, Y:-3.06, Z:0.06 [[ 0.98659255 -0.1100029 0.12055909 -4.12812306] [ 0.11419945 0.99305039 -0.02844997 -3.06164204] [-0.11659167 0.04183631 0.9922984 0.05880347] [ 0. 0. 0. 1. ]] SLAMing on 14.934839173 meters Centerline goodness [0,1] 0.7468400144456482 Centerline is valid? [False, False] Translation: X:-4.13, Y:-3.06, Z:0.06 [[ 0.98879463 -0.09874615 0.11195702 -4.13136094] [ 0.10237869 0.99437463 -0.02716069 -3.06362966] [-0.10864521 0.03831836 0.9933418 0.05519513] [ 0. 0. 0. 1. ]] SLAMing on 14.964839173 meters Centerline goodness [0,1] 0.7466352810855719 Centerline is valid? [False, False] Translation: X:-4.13, Y:-3.07, Z:0.05 [[ 0.98919479 -0.09504019 0.11162896 -4.13017015] [ 0.09800605 0.99495621 -0.02137656 -3.06907237] [-0.10903429 0.0320859 0.99352001 0.05156463] [ 0. 0. 0. 1. ]] SLAMing on 14.994839172999999 meters Centerline goodness [0,1] 0.7464562569213732 Centerline is valid? [False, False] Translation: X:-4.13, Y:-3.07, Z:0.05 [[ 0.98929508 -0.093136 0.11234291 -4.13320594] [ 0.0956552 0.99526532 -0.01723456 -3.07171014] [-0.11020584 0.02779625 0.99352003 0.05105485] [ 0. 0. 0. 1. ]] SLAMing on 15.024839173 meters Centerline goodness [0,1] 0.7428104846522184 Centerline is valid? [False, False] Translation: X:-4.14, Y:-3.07, Z:0.05 [[ 0.98907859 -0.09439667 0.11319371 -4.13587366] [ 0.09692661 0.99514553 -0.017047 -3.07329522] [-0.11103503 0.02783231 0.99342669 0.05108738] [ 0. 0. 0. 1. ]] SLAMing on 15.054839173 meters Centerline goodness [0,1] 0.7417391783236039 Centerline is valid? [False, False] Translation: X:-4.14, Y:-3.08, Z:0.05 [[ 0.98885829 -0.09587628 0.11387279 -4.13874457] [ 0.09841265 0.995003 -0.01685192 -3.0772767 ] [-0.11168807 0.02787068 0.9933524 0.05234211] [ 0. 0. 0. 1. ]] SLAMing on 15.084839172999999 meters Centerline goodness [0,1] 0.7396371268399105 Centerline is valid? [False, False] Translation: X:-4.14, Y:-3.08, Z:0.06 [[ 0.98865068 -0.09731381 0.11445463 -4.14208855] [ 0.09989281 0.9948529 -0.01700379 -3.07967088] [-0.11221081 0.028244 0.99328295 0.05519849] [ 0. 0. 0. 1. ]] SLAMing on 15.114839173 meters Centerline goodness [0,1] 0.737676444640494 Centerline is valid? [False, False] Translation: X:-4.15, Y:-3.08, Z:0.06 [[ 0.98876829 -0.09531473 0.11511891 -4.14604611] [ 0.09741835 0.99516153 -0.0127748 -3.08109843] [-0.11334428 0.02384601 0.99326957 0.05645607] [ 0. 0. 0. 1. ]] SLAMing on 15.144839173 meters Centerline goodness [0,1] 0.7428022505832304 Centerline is valid? [False, False] Translation: X:-4.15, Y:-3.08, Z:0.05 [[ 0.98919512 -0.0918243 0.11428606 -4.14546452] [ 0.0932369 0.99561888 -0.00706539 -3.08290164] [-0.11313658 0.01764473 0.99342276 0.05479666] [ 0. 0. 0. 1. ]] SLAMing on 15.174839172999999 meters Centerline goodness [0,1] 0.7433698848489845 Centerline is valid? [False, False] Translation: X:-4.14, Y:-3.09, Z:0.05 [[ 0.98941868 -0.09049264 0.11340969 -4.14209839] [ 0.09164328 0.99577953 -0.00496301 -3.08732748] [-0.11248193 0.01530373 0.99353591 0.05184108] [ 0. 0. 0. 1. ]] SLAMing on 15.204839173 meters Centerline goodness [0,1] 0.7425463226716584 Centerline is valid? [False, False] Translation: X:-4.15, Y:-3.10, Z:0.05 [[ 0.99051905 -0.08755376 0.10586007 -4.14573724] [ 0.08955912 0.9958784 -0.0143313 -3.09518939] [-0.104169 0.02367616 0.99427776 0.05336676] [ 0. 0. 0. 1. ]] SLAMing on 15.234839173 meters Centerline goodness [0,1] 0.744345850016232 Centerline is valid? [False, False] Translation: X:-4.14, Y:-3.10, Z:0.05 [[ 0.99067153 -0.08642352 0.10536079 -4.14357542] [ 0.08822784 0.99602091 -0.01257746 -3.09992564] [-0.10385456 0.02175589 0.99435452 0.05143981] [ 0. 0. 0. 1. ]] SLAMing on 15.264839173 meters Centerline goodness [0,1] 0.7446094358368465 Centerline is valid? [False, False] Translation: X:-4.14, Y:-3.11, Z:0.05 [[ 0.99071995 -0.08599097 0.10525933 -4.14304123] [ 0.08756233 0.99610485 -0.01039069 -3.1058842 ] [-0.10395583 0.01951101 0.99439052 0.04989015] [ 0. 0. 0. 1. ]] SLAMing on 15.294839173 meters Centerline goodness [0,1] 0.7459263242807206 Centerline is valid? [False, False] Translation: X:-4.14, Y:-3.11, Z:0.05 [[ 0.99066768 -0.08633453 0.10546989 -4.14407366] [ 0.08779422 0.99609552 -0.00926762 -3.11068891] [-0.10425797 0.01844078 0.99437931 0.05036821] [ 0. 0. 0. 1. ]] SLAMing on 15.324839172999999 meters Centerline goodness [0,1] 0.7406271482206124 Centerline is valid? [False, False] Translation: X:-4.14, Y:-3.12, Z:0.05 [[ 0.99043318 -0.08902034 0.1054395 -4.14421039] [ 0.0906576 0.99582325 -0.01082871 -3.11945199] [-0.10403513 0.020284 0.99436676 0.05196362] [ 0. 0. 0. 1. ]] SLAMing on 15.354839173 meters Centerline goodness [0,1] 0.742078480747036 Centerline is valid? [False, False] Translation: X:-4.14, Y:-3.13, Z:0.05 [[ 0.99048999 -0.08859697 0.10526231 -4.14328287] [ 0.09000004 0.99590424 -0.00864544 -3.12651657] [-0.10406522 0.01803683 0.99440691 0.05016169] [ 0. 0. 0. 1. ]] SLAMing on 15.384839173 meters Centerline goodness [0,1] 0.7420547125120383 Centerline is valid? [False, False] Translation: X:-4.14, Y:-3.13, Z:0.05 [[ 0.99053942 -0.08827868 0.10506439 -4.14200634] [ 0.08946131 0.99596851 -0.00658801 -3.1319638 ] [-0.10405925 0.01592489 0.9944436 0.04749248] [ 0. 0. 0. 1. ]] SLAMing on 15.414839172999999 meters Centerline goodness [0,1] 0.7420795786103437 Centerline is valid? [False, False] Translation: X:-4.14, Y:-3.14, Z:0.04 [[ 9.90598840e-01 -8.81116460e-02 1.04643562e-01 -4.14029278e+00] [ 8.89777859e-02 9.96027001e-01 -3.62863253e-03 -3.14070202e+00] [-1.03908089e-01 1.29054717e-02 9.94503171e-01 4.36856618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.444839173 meters Centerline goodness [0,1] 0.7442304267066996 Centerline is valid? [False, False] Translation: X:-4.14, Y:-3.15, Z:0.04 [[ 0.99055885 -0.08939431 0.10393183 -4.13690164] [ 0.09043599 0.99588793 -0.00534436 -3.14898507] [-0.1030267 0.01469308 0.99457006 0.04313164] [ 0. 0. 0. 1. ]] SLAMing on 15.474839173 meters Centerline goodness [0,1] 0.7482682499809699 Centerline is valid? [False, False] Translation: X:-4.14, Y:-3.15, Z:0.04 [[ 9.90633543e-01 -8.88620867e-02 1.03676003e-01 -4.13629759e+00] [ 8.97526957e-02 9.95956259e-01 -3.94767768e-03 -3.15388250e+00] [-1.02905965e-01 1.32159027e-02 9.94603289e-01 4.29296973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.504839172999999 meters Centerline goodness [0,1] 0.7519653295706511 Centerline is valid? [False, False] Translation: X:-4.14, Y:-3.16, Z:0.04 [[ 9.90779305e-01 -8.78473487e-02 1.03146560e-01 -4.13507007e+00] [ 8.85028661e-02 9.96074319e-01 -1.78697299e-03 -3.16010022e+00] [-1.02584659e-01 1.08992621e-02 9.94664563e-01 4.25857689e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.534839173 meters Centerline goodness [0,1] 0.753553789455211 Centerline is valid? [False, False] Translation: X:-4.14, Y:-3.17, Z:0.04 [[ 9.91050354e-01 -8.48877110e-02 1.03020742e-01 -4.13658514e+00] [ 8.50456579e-02 9.96372932e-01 2.86629878e-03 -3.16556290e+00] [-1.02890392e-01 5.92082036e-03 9.94675078e-01 4.41243148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.564839173 meters Centerline goodness [0,1] 0.7608144391408115 Centerline is valid? [False, False] Translation: X:-4.14, Y:-3.17, Z:0.05 [[ 9.91230268e-01 -8.31509244e-02 1.02705787e-01 -4.13735719e+00] [ 8.30666453e-02 9.96530919e-01 5.10481488e-03 -3.17346338e+00] [-1.02773962e-01 3.47137816e-03 9.94698679e-01 4.72722697e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.594839173 meters Centerline goodness [0,1] 0.7636219142701038 Centerline is valid? [False, False] Translation: X:-4.14, Y:-3.18, Z:0.05 [[ 9.91298244e-01 -8.26420802e-02 1.02460130e-01 -4.13705867e+00] [ 8.24681668e-02 9.96576000e-01 5.93952695e-03 -3.17640710e+00] [-1.02600161e-01 2.56185644e-03 9.94719379e-01 4.78616226e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.624839173 meters Centerline goodness [0,1] 0.7661266640563822 Centerline is valid? [False, False] Translation: X:-4.13, Y:-3.19, Z:0.05 [[ 9.92858997e-01 -8.01738589e-02 8.83355199e-02 -4.13405419e+00] [ 7.99070043e-02 9.96780745e-01 6.55875148e-03 -3.18514091e+00] [-8.85769858e-02 5.46711350e-04 9.96069184e-01 5.41758028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.654839173 meters Centerline goodness [0,1] 0.7646829932634549 Centerline is valid? [False, False] Translation: X:-4.13, Y:-3.19, Z:0.06 [[ 9.93908697e-01 -8.09866458e-02 7.47440019e-02 -4.13250652e+00] [ 8.07818614e-02 9.96715139e-01 5.76395905e-03 -3.19169049e+00] [-7.49652819e-02 3.09110572e-04 9.97186096e-01 5.93916973e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.684839173 meters Centerline goodness [0,1] 0.7686649415372819 Centerline is valid? [False, False] Translation: X:-4.13, Y:-3.21, Z:0.06 [[ 9.94420925e-01 -8.39625329e-02 6.38538720e-02 -4.13249300e+00] [ 8.37979415e-02 9.96468905e-01 5.25616806e-03 -3.20553248e+00] [-6.40697190e-02 1.23979517e-04 9.97945417e-01 6.32392852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.714839173 meters Centerline goodness [0,1] 0.7728803909474783 Centerline is valid? [False, False] Translation: X:-4.13, Y:-3.21, Z:0.06 [[ 9.94413273e-01 -8.39935588e-02 6.39321896e-02 -4.13307045e+00] [ 8.37194084e-02 9.96465063e-01 6.95981073e-03 -3.21417142e+00] [-6.42907726e-02 -1.56856307e-03 9.97929976e-01 6.38347811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.744839172999999 meters Centerline goodness [0,1] 0.7777518711091422 Centerline is valid? [False, False] Translation: X:-4.14, Y:-3.22, Z:0.07 [[ 9.94250412e-01 -8.56327770e-02 6.42895528e-02 -4.13529044e+00] [ 8.53777768e-02 9.96326068e-01 6.70837207e-03 -3.22492275e+00] [-6.46278139e-02 -1.18090260e-03 9.97908739e-01 6.75109274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.774839173 meters Centerline goodness [0,1] 0.7814443516197902 Centerline is valid? [False, False] Translation: X:-4.14, Y:-3.23, Z:0.07 [[ 0.99449292 -0.0827873 0.06426575 -4.13789289] [ 0.08223091 0.9965497 0.01125945 -3.22906261] [-0.06497615 -0.00591281 0.9978693 0.07028869] [ 0. 0. 0. 1. ]] SLAMing on 15.804839173 meters Centerline goodness [0,1] 0.781670666209576 Centerline is valid? [False, False] Translation: X:-4.14, Y:-3.24, Z:0.08 [[ 0.99509373 -0.08308445 0.05371627 -4.14010674] [ 0.08222063 0.99644978 0.01809981 -3.23718886] [-0.05502938 -0.01359442 0.99839219 0.07548476] [ 0. 0. 0. 1. ]] SLAMing on 15.834839172999999 meters Centerline goodness [0,1] 0.7819318877030793 Centerline is valid? [False, False] Translation: X:-4.14, Y:-3.24, Z:0.08 [[ 0.99571311 -0.08352462 0.03973708 -4.13744795] [ 0.08304406 0.99645311 0.01359695 -3.24144504] [-0.04073182 -0.01023873 0.99911765 0.07823939] [ 0. 0. 0. 1. ]] SLAMing on 15.864839173 meters Centerline goodness [0,1] 0.7815851075688329 Centerline is valid? [False, False] Translation: X:-4.14, Y:-3.25, Z:0.07 [[ 9.95864274e-01 -8.54412627e-02 3.08891218e-02 -4.13651645e+00] [ 8.53847234e-02 9.96343085e-01 3.14724655e-03 -3.25317536e+00] [-3.10450676e-02 -4.96771286e-04 9.99517862e-01 7.27787301e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.894839173 meters Centerline goodness [0,1] 0.7786775810370111 Centerline is valid? [False, False] Translation: X:-4.13, Y:-3.26, Z:0.07 [[ 9.95168082e-01 -9.30400259e-02 3.13694509e-02 -4.13470494e+00] [ 9.31301567e-02 9.95652928e-01 -1.42129307e-03 -3.26181413e+00] [-3.11008485e-02 4.33586738e-03 9.99506847e-01 6.89690185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.924839172999999 meters Centerline goodness [0,1] 0.7892187781582267 Centerline is valid? [False, False] Translation: X:-4.14, Y:-3.26, Z:0.07 [[ 9.95019443e-01 -9.45358042e-02 3.16115560e-02 -4.13638849e+00] [ 9.46219469e-02 9.95512510e-01 -1.23692615e-03 -3.26481425e+00] [-3.13527657e-02 4.22191254e-03 9.99499465e-01 6.99489449e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.954839173 meters Centerline goodness [0,1] 0.7700496652990715 Centerline is valid? [False, False] Translation: X:-4.14, Y:-3.27, Z:0.07 [[ 9.94937561e-01 -9.51771645e-02 3.22576565e-02 -4.13841468e+00] [ 9.52464107e-02 9.95453537e-01 -6.13389161e-04 -3.27049858e+00] [-3.20526176e-02 3.68270992e-03 9.99479398e-01 7.22052811e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.984839173 meters Centerline goodness [0,1] 0.7698211930552853 Centerline is valid? [False, False] Translation: X:-4.14, Y:-3.28, Z:0.07 [[ 0.99522952 -0.09454329 0.02407847 -4.14479803] [ 0.09473309 0.99547903 -0.00686541 -3.28085396] [-0.02332054 0.00911368 0.9996865 0.07429496] [ 0. 0. 0. 1. ]] SLAMing on 16.014839173 meters Centerline goodness [0,1] 0.7691318327974277 Centerline is valid? [False, False] Translation: X:-4.14, Y:-3.29, Z:0.07 [[ 0.99508827 -0.09611102 0.02370668 -4.14215518] [ 0.09630497 0.995326 -0.00717739 -3.29136461] [-0.02290605 0.00942521 0.99969319 0.07275544] [ 0. 0. 0. 1. ]] SLAMing on 16.044839173 meters Centerline goodness [0,1] 0.7719617368229579 Centerline is valid? [False, False] Translation: X:-4.14, Y:-3.29, Z:0.07 [[ 0.99514487 -0.09554338 0.02362501 -4.1421305 ] [ 0.09571741 0.99538832 -0.0063463 -3.29384363] [-0.02290972 0.00857681 0.99970075 0.07302713] [ 0. 0. 0. 1. ]] SLAMing on 16.074839173 meters Centerline goodness [0,1] 0.7824636805229109 Centerline is valid? [False, False] Translation: X:-4.15, Y:-3.29, Z:0.08 [[ 0.9957387 -0.09023574 0.01902491 -4.15099343] [ 0.09048727 0.99581533 -0.01280137 -3.29313868] [-0.01779016 0.01446834 0.99973705 0.07575176] [ 0. 0. 0. 1. ]] SLAMing on 16.104839173 meters Centerline goodness [0,1] 0.7612622415669206 Centerline is valid? [False, False] Translation: X:-4.15, Y:-3.30, Z:0.08 [[ 9.96582557e-01 -8.09720707e-02 1.63318715e-02 -4.14714287e+00] [ 8.10069622e-02 9.96712429e-01 -1.48521132e-03 -3.30130125e+00] [-1.61579187e-02 2.80313100e-03 9.99865523e-01 7.54759118e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.134839173 meters Centerline goodness [0,1] 0.7585377481147613 Centerline is valid? [False, False] Translation: X:-4.15, Y:-3.31, Z:0.08 [[ 9.96858716e-01 -7.76366905e-02 1.56602841e-02 -4.14774052e+00] [ 7.75879982e-02 9.96978664e-01 3.69416493e-03 -3.30513648e+00] [-1.58997719e-02 -2.46751041e-03 9.99870546e-01 7.68224299e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.164839173 meters Centerline goodness [0,1] 0.7702439657409811 Centerline is valid? [False, False] Translation: X:-4.15, Y:-3.31, Z:0.08 [[ 0.99710915 -0.0743132 0.01583924 -4.14756661] [ 0.0741975 0.99721328 0.00777208 -3.31438043] [-0.01637266 -0.00657438 0.99984434 0.07677207] [ 0. 0. 0. 1. ]] SLAMing on 16.194839173 meters Centerline goodness [0,1] 0.7702439657409811 Centerline is valid? [False, False] Translation: X:-4.15, Y:-3.31, Z:0.08 [[ 0.99710915 -0.0743132 0.01583924 -4.14756661] [ 0.0741975 0.99721328 0.00777208 -3.31438043] [-0.01637266 -0.00657438 0.99984434 0.07677207] [ 0. 0. 0. 1. ]] SLAMing on 16.224839173 meters Centerline goodness [0,1] 0.7574722828553522 Centerline is valid? [False, False] Translation: X:-4.15, Y:-3.32, Z:0.08 [[ 0.99743827 -0.06970044 0.01608532 -4.14862439] [ 0.06948395 0.99748972 0.0136473 -3.32105445] [-0.01699616 -0.01249467 0.99977748 0.07682623] [ 0. 0. 0. 1. ]] SLAMing on 16.254839173 meters Centerline goodness [0,1] 0.7633857761392377 Centerline is valid? [False, False] Translation: X:-4.15, Y:-3.33, Z:0.08 [[ 0.99748751 -0.06903003 0.01592227 -4.14769689] [ 0.0687846 0.99751144 0.01547944 -3.32539126] [-0.0169512 -0.01434534 0.9997534 0.07580161] [ 0. 0. 0. 1. ]] SLAMing on 16.284839172999998 meters Centerline goodness [0,1] 0.7679418679204958 Centerline is valid? [False, False] Translation: X:-4.15, Y:-3.33, Z:0.08 [[ 0.99745331 -0.06948513 0.01608478 -4.14858832] [ 0.06922079 0.99746579 0.01644618 -3.32935258] [-0.01718679 -0.01529089 0.99973537 0.07654525] [ 0. 0. 0. 1. ]] SLAMing on 16.314839173 meters Centerline goodness [0,1] 0.7886357218879645 Centerline is valid? [False, False] Translation: X:-4.15, Y:-3.33, Z:0.08 [[ 0.99715062 -0.07368679 0.0161525 -4.14834802] [ 0.07347157 0.99720544 0.01353673 -3.3336318 ] [-0.01710484 -0.0123114 0.9997779 0.07676147] [ 0. 0. 0. 1. ]] SLAMing on 16.344839173 meters Centerline goodness [0,1] 0.7890049996781323 Centerline is valid? [False, False] Translation: X:-4.15, Y:-3.34, Z:0.08 [[ 0.99724293 -0.07248205 0.01590232 -4.14801646] [ 0.07221854 0.9972513 0.01656296 -3.34136992] [-0.01705913 -0.01536886 0.99973636 0.07742544] [ 0. 0. 0. 1. ]] SLAMing on 16.374839172999998 meters Centerline goodness [0,1] 0.7872426753224566 Centerline is valid? [False, False] Translation: X:-4.15, Y:-3.35, Z:0.08 [[ 0.99726559 -0.07217426 0.01588145 -4.14778054] [ 0.07188774 0.99725158 0.01792866 -3.34603222] [-0.01713179 -0.01673796 0.99971313 0.0771655 ] [ 0. 0. 0. 1. ]] SLAMing on 16.404839173 meters Centerline goodness [0,1] 0.7859549218631138 Centerline is valid? [False, False] Translation: X:-4.15, Y:-3.35, Z:0.08 [[ 0.99706111 -0.07503438 0.01545917 -4.14559296] [ 0.074805 0.99708659 0.01491784 -3.34763571] [-0.01653348 -0.01371757 0.99976921 0.07617306] [ 0. 0. 0. 1. ]] SLAMing on 16.434839173 meters Centerline goodness [0,1] 0.7761250146868758 Centerline is valid? [False, False] Translation: X:-4.21, Y:-3.36, Z:0.07 [[ 9.97441474e-01 -7.14474714e-02 2.40099440e-03 -4.21344428e+00] [ 7.13973479e-02 9.97306405e-01 1.68033989e-02 -3.36301374e+00] [-3.59508746e-03 -1.65889823e-02 9.99855930e-01 7.07828937e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.464839172999998 meters Centerline goodness [0,1] 0.6635253389749014 Centerline is valid? [False, False] Translation: X:-4.18, Y:-3.37, Z:0.05 [[ 9.96709042e-01 -8.10621321e-02 1.27607105e-04 -4.17986152e+00] [ 8.10465110e-02 9.96545503e-01 1.81251986e-02 -3.37159380e+00] [-1.59643353e-03 -1.80552072e-02 9.99835717e-01 4.59046503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.494839173 meters Centerline goodness [0,1] 0.8391520431954841 Centerline is valid? [False, False] Translation: X:-4.27, Y:-3.33, Z:0.14 [[ 0.97612516 -0.21237606 -0.045564 -4.2700523 ] [ 0.21606894 0.97086087 0.10365031 -3.32514957] [ 0.02222346 -0.11102064 0.99356959 0.14008882] [ 0. 0. 0. 1. ]] SLAMing on 16.524839173 meters Centerline goodness [0,1] 0.8806055412739218 Centerline is valid? [False, False] Translation: X:-4.43, Y:-3.47, Z:0.02 [[ 0.97096024 -0.15454709 0.18262367 -4.42728766] [ 0.10309839 0.95912736 0.26352501 -3.46880909] [-0.21588638 -0.2370441 0.94720809 0.0173991 ] [ 0. 0. 0. 1. ]] SLAMing on 16.554839173 meters Centerline goodness [0,1] 0.7297423574956614 Centerline is valid? [False, False] Translation: X:-4.17, Y:-3.18, Z:0.27 [[ 0.99872124 0.04938979 0.01079489 -4.16557788] [-0.04763429 0.99084042 -0.12635757 -3.18366904] [-0.01693679 0.12568179 0.99192602 0.27357427] [ 0. 0. 0. 1. ]] SLAMing on 16.584839173 meters Centerline goodness [0,1] 0.8007743110908677 Centerline is valid? [False, False] Translation: X:-4.10, Y:-3.11, Z:0.64 [[ 9.99887346e-01 -3.84284013e-03 -1.45095975e-02 -4.09516003e+00] [-1.63430837e-03 9.33050962e-01 -3.59740506e-01 -3.10938844e+00] [ 1.49206191e-02 3.59723693e-01 9.32939569e-01 6.44704793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.614839173 meters Centerline goodness [0,1] 0.8894185298679681 Centerline is valid? [False, False] Translation: X:-4.07, Y:-3.10, Z:0.65 [[ 9.98911761e-01 -1.44391882e-02 -4.43486482e-02 -4.07433061e+00] [-2.64844666e-03 9.31775789e-01 -3.63024605e-01 -3.09797525e+00] [ 4.65647773e-02 3.62747003e-01 9.30723554e-01 6.47373505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.644839173 meters Centerline goodness [0,1] 0.7604326089174573 Centerline is valid? [False, False] Translation: X:-4.01, Y:-3.14, Z:0.64 [[ 0.99898869 -0.03688525 -0.02571142 -4.01152625] [ 0.0275789 0.95432082 -0.29750828 -3.14344342] [ 0.03551061 0.29649831 0.95437296 0.64057559] [ 0. 0. 0. 1. ]] SLAMing on 16.674839173 meters Centerline goodness [0,1] 0.7651564583392436 Centerline is valid? [False, False] Translation: X:-4.26, Y:-3.18, Z:0.60 [[ 9.98969578e-01 -4.53643175e-02 1.36414662e-03 -4.25996956e+00] [ 4.41284498e-02 9.63853231e-01 -2.62753932e-01 -3.17718803e+00] [ 1.06048156e-02 2.62543382e-01 9.64861913e-01 6.02302723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.704839173 meters Centerline goodness [0,1] 0.7647240429372091 Centerline is valid? [False, False] Translation: X:-4.16, Y:-3.20, Z:0.64 [[ 0.99696312 -0.073747 -0.02501826 -4.15738711] [ 0.06689366 0.97546695 -0.20973665 -3.20133371] [ 0.03987193 0.20742614 0.97743779 0.64165521] [ 0. 0. 0. 1. ]] SLAMing on 16.734839173 meters Centerline goodness [0,1] 0.7907359626489741 Centerline is valid? [False, False] Translation: X:-4.22, Y:-3.23, Z:0.63 [[ 0.99667235 -0.07447634 -0.03312864 -4.22271915] [ 0.06751961 0.98201185 -0.17633444 -3.22650152] [ 0.04566546 0.17351082 0.98377267 0.62721745] [ 0. 0. 0. 1. ]] SLAMing on 16.764839173 meters Centerline goodness [0,1] 0.949535927223554 Centerline is valid? [False, False] Translation: X:-4.20, Y:-3.39, Z:0.52 [[ 0.99756508 -0.06365191 0.02850158 -4.20281839] [ 0.06390324 0.99792407 -0.00799487 -3.39083801] [-0.02793352 0.00979675 0.99956177 0.51591662] [ 0. 0. 0. 1. ]] SLAMing on 16.794839173 meters Centerline goodness [0,1] 0.9758974358974359 Centerline is valid? [False, True] Translation: X:-4.70, Y:-4.72, Z:1.50 [[ 0.06135694 0.99649195 -0.05691323 -4.70429282] [-0.64912868 0.08315349 0.75612 -4.71955237] [ 0.75820003 -0.0094492 0.65195354 1.50374227] [ 0. 0. 0. 1. ]] SLAMing on 16.824839173 meters Centerline goodness [0,1] 0.860790273556231 Centerline is valid? [True, False] Translation: X:-4.44, Y:-3.24, Z:2.22 [[ 0.22494015 -0.40356966 -0.88686722 -4.43559603] [ 0.02062883 0.91196157 -0.40975669 -3.23868497] [ 0.97415419 0.0738757 0.21346194 2.22079226] [ 0. 0. 0. 1. ]] SLAMing on 16.854839173 meters Centerline goodness [0,1] 0.9993946731234867 Centerline is valid? [False, True] Translation: X:-4.03, Y:-3.77, Z:1.62 [[ 0.58168287 0.42526237 -0.69339524 -4.02572517] [ 0.19609821 0.75399126 0.62693115 -3.76635793] [ 0.78942418 -0.50064867 0.35519061 1.61854488] [ 0. 0. 0. 1. ]] SLAMing on 16.884839173 meters Centerline goodness [0,1] 0.9962908011869436 Centerline is valid? [True, True] Translation: X:-4.62, Y:-2.47, Z:1.72 [[ 0.40260238 -0.3970597 -0.82477568 -4.61576707] [ 0.25621076 0.91389103 -0.3148956 -2.4737833 ] [ 0.87878744 -0.08453868 0.46966567 1.72222537] [ 0. 0. 0. 1. ]] SLAMing on 16.914839173 meters Centerline goodness [0,1] 0.7227317798710957 Centerline is valid? [True, False] Translation: X:-4.49, Y:-2.42, Z:2.08 [[ 0.54766845 -0.44402586 -0.70915464 -4.4908409 ] [ 0.28457603 0.8958891 -0.34117328 -2.42108882] [ 0.78681367 -0.01495857 0.61700931 2.0804172 ] [ 0. 0. 0. 1. ]] SLAMing on 16.944839173 meters Centerline goodness [0,1] 0.7382931755201728 Centerline is valid? [False, False] Translation: X:-4.23, Y:-2.83, Z:2.73 [[ 0.37164207 0.3070466 -0.87613045 -4.2258085 ] [ 0.06200596 0.93340689 0.35342161 -2.83138605] [ 0.9263031 -0.18567164 0.32785455 2.73269321] [ 0. 0. 0. 1. ]] SLAMing on 16.974839173 meters Centerline goodness [0,1] 0.7898374100306828 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.91, Z:2.33 [[ 0.80185494 0.28137218 -0.5271227 -4.30847032] [ 0.02682041 0.86434808 0.50217831 -2.90850015] [ 0.59691651 -0.41681181 0.68553527 2.33460154] [ 0. 0. 0. 1. ]] SLAMing on 17.004839173 meters Centerline goodness [0,1] 0.7483032372177203 Centerline is valid? [False, False] Translation: X:-4.18, Y:-2.92, Z:2.42 [[ 0.82869345 0.3011386 -0.47178673 -4.17599211] [-0.01502085 0.85458587 0.51909283 -2.91659045] [ 0.55950116 -0.42308219 0.71271306 2.41961813] [ 0. 0. 0. 1. ]] SLAMing on 17.034839172999998 meters Centerline goodness [0,1] 0.7821248554408781 Centerline is valid? [False, False] Translation: X:-4.03, Y:-2.77, Z:2.64 [[ 0.81127891 0.21404418 -0.5440695 -4.03233711] [ 0.03852657 0.90898097 0.41505336 -2.7665806 ] [ 0.58338858 -0.35768517 0.72919071 2.63946019] [ 0. 0. 0. 1. ]] SLAMing on 17.064839173 meters Centerline goodness [0,1] 0.7804017567859457 Centerline is valid? [False, False] Translation: X:-4.04, Y:-2.77, Z:2.61 [[ 0.81182623 0.19602338 -0.55001183 -4.04016253] [ 0.03655997 0.92305072 0.38293698 -2.76592301] [ 0.58275342 -0.3309867 0.74219018 2.61426061] [ 0. 0. 0. 1. ]] SLAMing on 17.094839173 meters Centerline goodness [0,1] 0.764513625996379 Centerline is valid? [False, False] Translation: X:-4.02, Y:-2.74, Z:2.64 [[ 0.82115507 0.17667977 -0.54266804 -4.01717171] [ 0.02341536 0.93964211 0.34135675 -2.7411842 ] [ 0.57022458 -0.29301359 0.76745486 2.6404554 ] [ 0. 0. 0. 1. ]] SLAMing on 17.124839172999998 meters Centerline goodness [0,1] 0.8007857085976694 Centerline is valid? [False, False] Translation: X:-3.99, Y:-2.69, Z:2.66 [[ 0.82337949 0.12001792 -0.55465478 -3.99287685] [ 0.06105482 0.95297265 0.29684244 -2.68742704] [ 0.56419724 -0.27827832 0.77733046 2.65645171] [ 0. 0. 0. 1. ]] SLAMing on 17.154839173 meters Centerline goodness [0,1] 0.7469345303262536 Centerline is valid? [False, False] Translation: X:-3.90, Y:-2.68, Z:2.76 [[ 0.81158453 0.11918563 -0.57194872 -3.89800097] [ 0.09257136 0.94036946 0.32731608 -2.67913605] [ 0.57685448 -0.31859074 0.75215613 2.7566313 ] [ 0. 0. 0. 1. ]] SLAMing on 17.184839173 meters Centerline goodness [0,1] 0.7709283441970145 Centerline is valid? [False, False] Translation: X:-3.87, Y:-2.69, Z:2.78 [[ 0.82402907 0.11805595 -0.5541109 -3.87392372] [ 0.07947354 0.9442909 0.31937229 -2.69342805] [ 0.56094567 -0.30720921 0.76874082 2.7801324 ] [ 0. 0. 0. 1. ]] SLAMing on 17.214839172999998 meters Centerline goodness [0,1] 0.7585247963980666 Centerline is valid? [False, False] Translation: X:-3.85, Y:-2.68, Z:2.80 [[ 0.82177524 0.11567602 -0.55794669 -3.84798037] [ 0.08019917 0.94594981 0.31424042 -2.68461414] [ 0.56413965 -0.30298186 0.76808102 2.80151177] [ 0. 0. 0. 1. ]] SLAMing on 17.244839173 meters Centerline goodness [0,1] 0.7701335399480425 Centerline is valid? [False, False] Translation: X:-3.82, Y:-2.67, Z:2.82 [[ 0.82005137 0.11027146 -0.56156563 -3.8163472 ] [ 0.07883368 0.95013997 0.30169402 -2.67024026] [ 0.5668342 -0.29167488 0.77047048 2.82187417] [ 0. 0. 0. 1. ]] SLAMing on 17.274839173 meters Centerline goodness [0,1] 0.7138695245031734 Centerline is valid? [False, False] Translation: X:-3.76, Y:-2.63, Z:2.85 [[ 0.81004634 0.08390561 -0.58033162 -3.76453767] [ 0.09387946 0.95838386 0.26960533 -2.62508462] [ 0.57880185 -0.27287402 0.76845832 2.84968209] [ 0. 0. 0. 1. ]] SLAMing on 17.304839173 meters Centerline goodness [0,1] 0.7156566003989819 Centerline is valid? [False, False] Translation: X:-3.70, Y:-2.56, Z:2.89 [[ 0.82193084 -0.00510896 -0.56956439 -3.70107431] [ 0.15381619 0.96479889 0.21331592 -2.56458276] [ 0.54842527 -0.26293916 0.7937838 2.89376168] [ 0. 0. 0. 1. ]] SLAMing on 17.334839173 meters Centerline goodness [0,1] 0.7687823121768782 Centerline is valid? [False, False] Translation: X:-3.60, Y:-2.56, Z:3.01 [[ 0.7733709 0.03462296 -0.63300766 -3.60460101] [ 0.18894603 0.94053902 0.28228664 -2.55659247] [ 0.605142 -0.33791656 0.72084364 3.00636738] [ 0. 0. 0. 1. ]] SLAMing on 17.364839173 meters Centerline goodness [0,1] 0.7581082703156884 Centerline is valid? [False, False] Translation: X:-3.51, Y:-2.51, Z:3.10 [[ 0.75919506 0.01835048 -0.65060443 -3.50524082] [ 0.21267166 0.93773988 0.27461733 -2.50677832] [ 0.61513708 -0.34685324 0.70802486 3.10143779] [ 0. 0. 0. 1. ]] SLAMing on 17.394839173 meters Centerline goodness [0,1] 0.7815503842777932 Centerline is valid? [False, False] Translation: X:-3.46, Y:-2.47, Z:3.15 [[ 0.77407731 -0.00824284 -0.63303742 -3.45887413] [ 0.22892709 0.93589787 0.26774533 -2.47034346] [ 0.59025139 -0.352175 0.72634432 3.15192799] [ 0. 0. 0. 1. ]] SLAMing on 17.424839173 meters Centerline goodness [0,1] 0.7638989477271759 Centerline is valid? [False, False] Translation: X:-3.44, Y:-2.45, Z:3.17 [[ 0.7747611 -0.01601756 -0.63205117 -3.4432403 ] [ 0.2295823 0.93857165 0.2576339 -2.45228969] [ 0.58909864 -0.34471248 0.73084615 3.1656917 ] [ 0. 0. 0. 1. ]] SLAMing on 17.454839173 meters Centerline goodness [0,1] 0.764009192151317 Centerline is valid? [False, False] Translation: X:-3.41, Y:-2.43, Z:3.18 [[ 0.78301614 -0.02928336 -0.62131168 -3.41378589] [ 0.22842218 0.94263365 0.24344427 -2.43168498] [ 0.57854043 -0.33254216 0.74478633 3.17751973] [ 0. 0. 0. 1. ]] SLAMing on 17.484839173 meters Centerline goodness [0,1] 0.7741480453181676 Centerline is valid? [False, False] Translation: X:-3.40, Y:-2.40, Z:3.20 [[ 0.78546368 -0.04715707 -0.61710859 -3.39995363] [ 0.22901385 0.9484649 0.2190137 -2.40153639] [ 0.57497779 -0.31335372 0.75578435 3.19562732] [ 0. 0. 0. 1. ]] SLAMing on 17.514839173 meters Centerline goodness [0,1] 0.7660853749866268 Centerline is valid? [False, False] Translation: X:-3.38, Y:-2.39, Z:3.21 [[ 0.78492367 -0.05246857 -0.6173669 -3.37696384] [ 0.23024973 0.94975318 0.21202347 -2.38986844] [ 0.57522161 -0.3085708 0.75756463 3.21454355] [ 0. 0. 0. 1. ]] SLAMing on 17.544839173 meters Centerline goodness [0,1] 0.7591406515100102 Centerline is valid? [False, False] Translation: X:-3.37, Y:-2.39, Z:3.21 [[ 0.78422384 -0.06305205 -0.61726607 -3.37439735] [ 0.23736878 0.9496354 0.20456947 -2.38691046] [ 0.57327919 -0.30694795 0.75969331 3.21384569] [ 0. 0. 0. 1. ]] SLAMing on 17.574839173 meters Centerline goodness [0,1] 0.7460590609730189 Centerline is valid? [False, False] Translation: X:-3.37, Y:-2.38, Z:3.21 [[ 0.78362033 -0.06959604 -0.61732939 -3.37201926] [ 0.24164229 0.94959856 0.19967867 -2.38147161] [ 0.57231826 -0.30564515 0.76094208 3.21229312] [ 0. 0. 0. 1. ]] SLAMing on 17.604839173 meters Centerline goodness [0,1] 0.722999827198894 Centerline is valid? [False, False] Translation: X:-3.37, Y:-2.37, Z:3.21 [[ 0.78181721 -0.07617774 -0.61883665 -3.36541204] [ 0.24550114 0.9499446 0.19322123 -2.36636534] [ 0.57314138 -0.30298879 0.76138476 3.20930059] [ 0. 0. 0. 1. ]] SLAMing on 17.634839173 meters Centerline goodness [0,1] 0.7515848998254954 Centerline is valid? [False, False] Translation: X:-3.37, Y:-2.36, Z:3.21 [[ 0.78146513 -0.07834319 -0.61901098 -3.3657722 ] [ 0.24654812 0.95012196 0.19100337 -2.36026466] [ 0.57317211 -0.30187847 0.76180255 3.20843496] [ 0. 0. 0. 1. ]] SLAMing on 17.664839173 meters Centerline goodness [0,1] 0.7735509479549321 Centerline is valid? [False, False] Translation: X:-3.34, Y:-2.32, Z:3.24 [[ 0.75968744 -0.09899621 -0.64270891 -3.33685959] [ 0.25020942 0.95675402 0.14838122 -2.31586347] [ 0.60022516 -0.27353517 0.7516038 3.24479718] [ 0. 0. 0. 1. ]] SLAMing on 17.694839173 meters Centerline goodness [0,1] 0.7503792491934278 Centerline is valid? [False, False] Translation: X:-3.35, Y:-2.32, Z:3.26 [[ 0.78273546 -0.10406918 -0.61359172 -3.35274506] [ 0.23889929 0.96063142 0.14182529 -2.31858858] [ 0.57467584 -0.25759831 0.77678233 3.25856301] [ 0. 0. 0. 1. ]] SLAMing on 17.724839173 meters Centerline goodness [0,1] 0.7586259014552835 Centerline is valid? [False, False] Translation: X:-3.36, Y:-2.31, Z:3.26 [[ 0.78277402 -0.11144359 -0.612246 -3.35617301] [ 0.24308201 0.96042928 0.13596592 -2.31454519] [ 0.57286646 -0.25525658 0.77888902 3.25765397] [ 0. 0. 0. 1. ]] SLAMing on 17.754839173 meters Centerline goodness [0,1] 0.758448415035888 Centerline is valid? [False, False] Translation: X:-3.35, Y:-2.31, Z:3.26 [[ 0.78170072 -0.11597642 -0.6127752 -3.35351715] [ 0.24416341 0.96103723 0.1295827 -2.30848608] [ 0.57387125 -0.25091217 0.77956069 3.26193152] [ 0. 0. 0. 1. ]] SLAMing on 17.784839172999998 meters Centerline goodness [0,1] 0.7563949371570189 Centerline is valid? [False, False] Translation: X:-3.36, Y:-2.30, Z:3.26 [[ 0.78442719 -0.12251927 -0.60799918 -3.36086346] [ 0.24465251 0.96192971 0.1218047 -2.30172526] [ 0.56992905 -0.24429544 0.78453847 3.25665423] [ 0. 0. 0. 1. ]] SLAMing on 17.814839173 meters Centerline goodness [0,1] 0.7665188567414497 Centerline is valid? [False, False] Translation: X:-3.36, Y:-2.30, Z:3.25 [[ 0.79276376 -0.12710035 -0.59613012 -3.36019523] [ 0.24543613 0.96178995 0.12133095 -2.29614003] [ 0.55793076 -0.24249865 0.79366723 3.25263916] [ 0. 0. 0. 1. ]] SLAMing on 17.844839173 meters Centerline goodness [0,1] 0.7697917121523078 Centerline is valid? [False, False] Translation: X:-3.36, Y:-2.30, Z:3.25 [[ 0.79249285 -0.12612854 -0.59669646 -3.35886897] [ 0.24542515 0.96162006 0.1226921 -2.29800302] [ 0.55832031 -0.24367693 0.79303214 3.25389965] [ 0. 0. 0. 1. ]] SLAMing on 17.874839172999998 meters Centerline goodness [0,1] 0.7579137171096567 Centerline is valid? [False, False] Translation: X:-3.35, Y:-2.29, Z:3.25 [[ 0.79664426 -0.1321343 -0.58982917 -3.35282513] [ 0.24511643 0.96259861 0.11542037 -2.29082266] [ 0.55251774 -0.23652579 0.79923694 3.25453802] [ 0. 0. 0. 1. ]] SLAMing on 17.904839173 meters Centerline goodness [0,1] 0.7586647289382129 Centerline is valid? [False, False] Translation: X:-3.35, Y:-2.28, Z:3.26 [[ 0.79483063 -0.1367203 -0.59122908 -3.34917282] [ 0.24734825 0.96267244 0.10991188 -2.28432672] [ 0.55413276 -0.2336008 0.79897907 3.25708861] [ 0. 0. 0. 1. ]] SLAMing on 17.934839173 meters Centerline goodness [0,1] 0.7512876147894887 Centerline is valid? [False, False] Translation: X:-3.35, Y:-2.28, Z:3.26 [[ 0.79430932 -0.13891164 -0.59141885 -3.34831166] [ 0.24874411 0.96252914 0.10800005 -2.28000397] [ 0.55425542 -0.23289741 0.79909932 3.25666849] [ 0. 0. 0. 1. ]] SLAMing on 17.964839172999998 meters Centerline goodness [0,1] 0.738331827762722 Centerline is valid? [False, False] Translation: X:-3.35, Y:-2.28, Z:3.26 [[ 0.79363745 -0.14343919 -0.59124005 -3.34721554] [ 0.25211695 0.961979 0.10504019 -2.27900502] [ 0.55369363 -0.23242547 0.79962601 3.25706918] [ 0. 0. 0. 1. ]] SLAMing on 17.994839173 meters Centerline goodness [0,1] 0.7330694432492901 Centerline is valid? [False, False] Translation: X:-3.35, Y:-2.28, Z:3.25 [[ 0.79637792 -0.14668164 -0.58674245 -3.34947776] [ 0.25119017 0.96273114 0.1002609 -2.28081935] [ 0.55016879 -0.2272295 0.80354281 3.25055635] [ 0. 0. 0. 1. ]] SLAMing on 18.024839173 meters Centerline goodness [0,1] 0.7312233161976126 Centerline is valid? [False, False] Translation: X:-3.35, Y:-2.28, Z:3.24 [[ 0.79815035 -0.14769513 -0.58407378 -3.34754079] [ 0.24749753 0.96428149 0.0943726 -2.27705473] [ 0.54927315 -0.21988034 0.80619578 3.24232999] [ 0. 0. 0. 1. ]] SLAMing on 18.054839172999998 meters Centerline goodness [0,1] 0.8174718682332895 Centerline is valid? [False, False] Translation: X:-3.33, Y:-2.26, Z:3.25 [[ 0.80075365 -0.14505332 -0.58116532 -3.3255983 ] [ 0.24036671 0.96650485 0.08995682 -2.26129839] [ 0.54865056 -0.21172604 0.80879827 3.24754489] [ 0. 0. 0. 1. ]] SLAMing on 18.084839173 meters Centerline goodness [0,1] 0.8174718682332895 Centerline is valid? [False, False] Translation: X:-3.33, Y:-2.26, Z:3.25 [[ 0.80075365 -0.14505332 -0.58116532 -3.3255983 ] [ 0.24036671 0.96650485 0.08995682 -2.26129839] [ 0.54865056 -0.21172604 0.80879827 3.24754489] [ 0. 0. 0. 1. ]] SLAMing on 18.114839173 meters Centerline goodness [0,1] 0.7226473954709698 Centerline is valid? [False, False] Translation: X:-3.75, Y:-2.27, Z:3.08 [[ 0.79266167 -0.25472733 -0.55389662 -3.74781749] [ 0.28830929 0.95713998 -0.02758275 -2.26635425] [ 0.53718268 -0.13782975 0.83212843 3.08487941] [ 0. 0. 0. 1. ]] SLAMing on 18.144839173 meters Centerline goodness [0,1] 0.7244219867943356 Centerline is valid? [False, False] Translation: X:-3.77, Y:-2.29, Z:3.06 [[ 0.80502777 -0.24541465 -0.54009438 -3.7745016 ] [ 0.28348662 0.95888583 -0.01316442 -2.28681415] [ 0.52111959 -0.14251181 0.84150149 3.05616453] [ 0. 0. 0. 1. ]] SLAMing on 18.174839173 meters Centerline goodness [0,1] 0.7227089595190894 Centerline is valid? [False, False] Translation: X:-3.80, Y:-2.29, Z:3.05 [[ 0.81102845 -0.25083472 -0.52850242 -3.79873285] [ 0.28295474 0.95890566 -0.02089392 -2.28602068] [ 0.51202488 -0.1325967 0.84867464 3.04818638] [ 0. 0. 0. 1. ]] SLAMing on 18.204839173 meters Centerline goodness [0,1] 0.7117536710007115 Centerline is valid? [False, False] Translation: X:-3.81, Y:-2.29, Z:3.04 [[ 0.81577098 -0.25549859 -0.51888166 -3.81330873] [ 0.28457403 0.95834119 -0.02449032 -2.28920285] [ 0.50352291 -0.12768175 0.8544952 3.03633718] [ 0. 0. 0. 1. ]] SLAMing on 18.234839173 meters Centerline goodness [0,1] 0.6858087083413806 Centerline is valid? [False, False] Translation: X:-3.82, Y:-2.29, Z:3.03 [[ 0.81460687 -0.26710446 -0.51485032 -3.82032018] [ 0.29279359 0.95562273 -0.03251318 -2.2861119 ] [ 0.50068709 -0.12425942 0.85666332 3.03492071] [ 0. 0. 0. 1. ]] SLAMing on 18.264839173 meters Centerline goodness [0,1] 0.6683248299319728 Centerline is valid? [False, False] Translation: X:-3.83, Y:-2.28, Z:3.03 [[ 0.8152374 -0.27279899 -0.51085094 -3.8300971 ] [ 0.29817571 0.95392081 -0.03356095 -2.28179459] [ 0.49646674 -0.1249632 0.85901396 3.02809246] [ 0. 0. 0. 1. ]] SLAMing on 18.294839173 meters Centerline goodness [0,1] 0.6607445917205526 Centerline is valid? [False, False] Translation: X:-3.86, Y:-2.28, Z:3.00 [[ 0.82067235 -0.27569714 -0.50048775 -3.86179321] [ 0.30058399 0.95321157 -0.03220205 -2.28460974] [ 0.48594872 -0.12401127 0.86514452 3.00433728] [ 0. 0. 0. 1. ]] SLAMing on 18.324839173 meters Centerline goodness [0,1] 0.6562169854035058 Centerline is valid? [False, False] Translation: X:-3.88, Y:-2.28, Z:2.99 [[ 0.82541116 -0.27879577 -0.49088628 -3.87787067] [ 0.30047239 0.953108 -0.03607601 -2.28454763] [ 0.47792548 -0.11772024 0.87047641 2.99421346] [ 0. 0. 0. 1. ]] SLAMing on 18.354839173 meters Centerline goodness [0,1] 0.6541387508104604 Centerline is valid? [False, False] Translation: X:-3.89, Y:-2.28, Z:2.98 [[ 0.83080363 -0.2811335 -0.48034288 -3.89082536] [ 0.29906419 0.95336384 -0.04071861 -2.28339915] [ 0.4693889 -0.10982418 0.8761351 2.97976837] [ 0. 0. 0. 1. ]] SLAMing on 18.384839173 meters Centerline goodness [0,1] 0.6615191275453693 Centerline is valid? [False, False] Translation: X:-3.89, Y:-2.28, Z:2.98 [[ 0.83057294 -0.2815698 -0.48048625 -3.88812486] [ 0.29914091 0.95330398 -0.04154805 -2.27968604] [ 0.46974813 -0.1092244 0.87601754 2.97852395] [ 0. 0. 0. 1. ]] SLAMing on 18.414839173 meters Centerline goodness [0,1] 0.6558007825165906 Centerline is valid? [False, False] Translation: X:-3.91, Y:-2.28, Z:2.96 [[ 0.82945134 -0.28531956 -0.48021165 -3.91018808] [ 0.30187341 0.95231326 -0.04440603 -2.2786626 ] [ 0.46998183 -0.10813049 0.8760279 2.96136109] [ 0. 0. 0. 1. ]] SLAMing on 18.444839173 meters Centerline goodness [0,1] 0.650300447940566 Centerline is valid? [False, False] Translation: X:-3.94, Y:-2.29, Z:2.94 [[ 0.83465811 -0.28215426 -0.47300614 -3.94406224] [ 0.29999637 0.95313503 -0.03918915 -2.28526788] [ 0.46189611 -0.10919058 0.88018714 2.93569365] [ 0. 0. 0. 1. ]] SLAMing on 18.474839173 meters Centerline goodness [0,1] 0.669251383885423 Centerline is valid? [False, False] Translation: X:-3.98, Y:-2.29, Z:2.91 [[ 0.84295737 -0.2717384 -0.46430714 -3.97677072] [ 0.28994306 0.95646167 -0.03337817 -2.28602246] [ 0.45316211 -0.10648626 0.88504507 2.91312263] [ 0. 0. 0. 1. ]] SLAMing on 18.504839173 meters Centerline goodness [0,1] 0.6919174247725682 Centerline is valid? [False, False] Translation: X:-3.99, Y:-2.29, Z:2.90 [[ 0.84946642 -0.26656796 -0.45535516 -3.99084486] [ 0.28310727 0.9585208 -0.03298704 -2.28922001] [ 0.44526069 -0.10089297 0.88969856 2.90252007] [ 0. 0. 0. 1. ]] SLAMing on 18.534839172999998 meters Centerline goodness [0,1] 0.6792042207078479 Centerline is valid? [False, False] Translation: X:-4.02, Y:-2.30, Z:2.88 [[ 0.8532849 -0.2744881 -0.44335219 -4.0217601 ] [ 0.28769734 0.95693712 -0.03875035 -2.29805945] [ 0.43489668 -0.09448616 0.89550949 2.88026511] [ 0. 0. 0. 1. ]] SLAMing on 18.564839173 meters Centerline goodness [0,1] 0.6667843898993466 Centerline is valid? [False, False] Translation: X:-4.06, Y:-2.31, Z:2.86 [[ 0.85724427 -0.28244034 -0.43053423 -4.05786985] [ 0.29304948 0.95512585 -0.0430885 -2.31105164] [ 0.4233843 -0.08923046 0.90154515 2.85608101] [ 0. 0. 0. 1. ]] SLAMing on 18.594839173 meters Centerline goodness [0,1] 0.6485148514851485 Centerline is valid? [False, False] Translation: X:-4.08, Y:-2.32, Z:2.84 [[ 0.86215475 -0.29045615 -0.41511975 -4.07878606] [ 0.29745779 0.95345902 -0.04934333 -2.31964075] [ 0.41013175 -0.08093902 0.90842767 2.83916754] [ 0. 0. 0. 1. ]] SLAMing on 18.624839172999998 meters Centerline goodness [0,1] 0.6454195467669963 Centerline is valid? [False, False] Translation: X:-4.10, Y:-2.33, Z:2.82 [[ 0.86688163 -0.29072055 -0.40496641 -4.09678267] [ 0.29866982 0.95329414 -0.04501809 -2.32768681] [ 0.39913979 -0.08192589 0.91322263 2.82327152] [ 0. 0. 0. 1. ]] SLAMing on 18.654839173 meters Centerline goodness [0,1] 0.6392716209960099 Centerline is valid? [False, False] Translation: X:-4.13, Y:-2.33, Z:2.80 [[ 0.87128341 -0.28979735 -0.39608422 -4.1275863 ] [ 0.29942833 0.95332782 -0.03884261 -2.33437414] [ 0.38885459 -0.08475591 0.91739225 2.80420186] [ 0. 0. 0. 1. ]] SLAMing on 18.684839173 meters Centerline goodness [0,1] 0.6439294179615486 Centerline is valid? [False, False] Translation: X:-4.14, Y:-2.34, Z:2.80 [[ 0.87480503 -0.28716965 -0.39019194 -4.14190406] [ 0.29810664 0.95393686 -0.0337181 -2.33606593] [ 0.38190129 -0.08682204 0.92011594 2.795989 ] [ 0. 0. 0. 1. ]] SLAMing on 18.714839172999998 meters Centerline goodness [0,1] 0.6506190741773563 Centerline is valid? [False, False] Translation: X:-4.15, Y:-2.33, Z:2.80 [[ 0.87634183 -0.2824586 -0.39018218 -4.14865173] [ 0.29422308 0.95524372 -0.03069543 -2.33002135] [ 0.38138926 -0.08790092 0.92022587 2.79658332] [ 0. 0. 0. 1. ]] SLAMing on 18.744839173 meters Centerline goodness [0,1] 0.6659758896539429 Centerline is valid? [False, False] Translation: X:-4.15, Y:-2.33, Z:2.79 [[ 0.88063236 -0.27735403 -0.3841372 -4.15493784] [ 0.28838601 0.95704783 -0.02988261 -2.33193701] [ 0.37592574 -0.0844642 0.92279231 2.78881005] [ 0. 0. 0. 1. ]] SLAMing on 18.774839173 meters Centerline goodness [0,1] 0.6776091252020837 Centerline is valid? [False, False] Translation: X:-4.16, Y:-2.33, Z:2.78 [[ 0.88353742 -0.27573411 -0.37859257 -4.15603746] [ 0.28372994 0.95823776 -0.03574506 -2.32928252] [ 0.37263782 -0.07583595 0.92487294 2.77935675] [ 0. 0. 0. 1. ]] SLAMing on 18.804839172999998 meters Centerline goodness [0,1] 0.6701954765021896 Centerline is valid? [False, False] Translation: X:-4.16, Y:-2.33, Z:2.77 [[ 0.8857289 -0.27549372 -0.37361413 -4.16045794] [ 0.28347222 0.9583547 -0.03463779 -2.3301019 ] [ 0.36759735 -0.07522953 0.92693727 2.77143362] [ 0. 0. 0. 1. ]] SLAMing on 18.834839173 meters Centerline goodness [0,1] 0.654087616419455 Centerline is valid? [False, False] Translation: X:-4.16, Y:-2.32, Z:2.77 [[ 0.88658122 -0.27370488 -0.37290666 -4.16131693] [ 0.28223466 0.95878732 -0.03271815 -2.32109298] [ 0.36649329 -0.07623989 0.92729184 2.76643469] [ 0. 0. 0. 1. ]] SLAMing on 18.864839173 meters Centerline goodness [0,1] 0.6485638708771273 Centerline is valid? [False, False] Translation: X:-4.17, Y:-2.32, Z:2.76 [[ 0.88905674 -0.27147111 -0.36862114 -4.17120689] [ 0.28107644 0.95926105 -0.02853542 -2.31916731] [ 0.36135045 -0.07824111 0.92914164 2.75906736] [ 0. 0. 0. 1. ]] SLAMing on 18.894839173 meters Centerline goodness [0,1] 0.6420712126936154 Centerline is valid? [False, False] Translation: X:-4.19, Y:-2.32, Z:2.75 [[ 0.89254404 -0.26952932 -0.36155093 -4.18599148] [ 0.27911518 0.95989076 -0.02654151 -2.3193644 ] [ 0.35420311 -0.07722489 0.9319745 2.75229076] [ 0. 0. 0. 1. ]] SLAMing on 18.924839173 meters Centerline goodness [0,1] 0.6584300600536448 Centerline is valid? [False, False] Translation: X:-4.20, Y:-2.32, Z:2.75 [[ 0.89585428 -0.26754279 -0.35477594 -4.2035297 ] [ 0.27686721 0.96057605 -0.02526248 -2.31525338] [ 0.34754806 -0.07559433 0.93460999 2.74879239] [ 0. 0. 0. 1. ]] SLAMing on 18.954839173 meters Centerline goodness [0,1] 0.6579286943223093 Centerline is valid? [False, False] Translation: X:-4.21, Y:-2.31, Z:2.75 [[ 0.8969527 -0.26520216 -0.35375652 -4.21004955] [ 0.27515949 0.96112671 -0.02286271 -2.31245019] [ 0.34606808 -0.07683269 0.93505808 2.74827704] [ 0. 0. 0. 1. ]] SLAMing on 18.984839173 meters Centerline goodness [0,1] 0.6583020467482137 Centerline is valid? [False, False] Translation: X:-4.21, Y:-2.31, Z:2.75 [[ 0.89786903 -0.26259709 -0.35337512 -4.2136316 ] [ 0.2731087 0.96175895 -0.02076904 -2.30502241] [ 0.34531557 -0.07786194 0.93525113 2.74620036] [ 0. 0. 0. 1. ]] SLAMing on 19.014839173 meters Centerline goodness [0,1] 0.6835830474168785 Centerline is valid? [False, False] Translation: X:-4.22, Y:-2.30, Z:2.74 [[ 0.90226741 -0.25492565 -0.34774477 -4.21895368] [ 0.26466926 0.96413038 -0.02006966 -2.29837724] [ 0.34038757 -0.07392915 0.93737441 2.73651955] [ 0. 0. 0. 1. ]] SLAMing on 19.044839173 meters Centerline goodness [0,1] 0.7032389266405437 Centerline is valid? [False, False] Translation: X:-4.22, Y:-2.30, Z:2.73 [[ 0.90606981 -0.2488049 -0.34224789 -4.22061304] [ 0.25732143 0.96609569 -0.02109046 -2.29634791] [ 0.33589162 -0.06895828 0.93937297 2.72690146] [ 0. 0. 0. 1. ]] SLAMing on 19.074839173 meters Centerline goodness [0,1] 0.7255414488424197 Centerline is valid? [False, False] Translation: X:-4.22, Y:-2.30, Z:2.72 [[ 0.91033848 -0.24047105 -0.33683456 -4.22479031] [ 0.24890154 0.96834959 -0.01863049 -2.29510038] [ 0.3306537 -0.06687859 0.94137951 2.7182247 ] [ 0. 0. 0. 1. ]] SLAMing on 19.104839173 meters Centerline goodness [0,1] 0.7368381392544961 Centerline is valid? [False, False] Translation: X:-4.23, Y:-2.29, Z:2.71 [[ 0.91420405 -0.23046836 -0.33333961 -4.22734657] [ 0.23946303 0.9707978 -0.01446003 -2.2881743 ] [ 0.32693794 -0.06660309 0.94269593 2.71017567] [ 0. 0. 0. 1. ]] SLAMing on 19.134839173 meters Centerline goodness [0,1] 0.7397857088578739 Centerline is valid? [False, False] Translation: X:-4.23, Y:-2.29, Z:2.70 [[ 0.91727637 -0.22692982 -0.32727192 -4.2323877 ] [ 0.23528664 0.97181938 -0.01439759 -2.28912891] [ 0.32131644 -0.06379615 0.94482051 2.70263677] [ 0. 0. 0. 1. ]] SLAMing on 19.164839173 meters Centerline goodness [0,1] 0.7402223975164762 Centerline is valid? [False, False] Translation: X:-4.24, Y:-2.29, Z:2.70 [[ 0.92063843 -0.22244987 -0.32084412 -4.23907347] [ 0.23006174 0.97306787 -0.01450903 -2.28710949] [ 0.31543063 -0.06045638 0.94702088 2.69507096] [ 0. 0. 0. 1. ]] SLAMing on 19.194839173 meters Centerline goodness [0,1] 0.7419271970611658 Centerline is valid? [False, False] Translation: X:-4.24, Y:-2.28, Z:2.69 [[ 0.92138465 -0.21982734 -0.32050939 -4.24200022] [ 0.22800811 0.97358176 -0.01228268 -2.28108439] [ 0.31474216 -0.06176167 0.9471657 2.69341495] [ 0. 0. 0. 1. ]] SLAMing on 19.224839173 meters Centerline goodness [0,1] 0.7365402500775033 Centerline is valid? [False, False] Translation: X:-4.24, Y:-2.28, Z:2.69 [[ 0.92215598 -0.21613269 -0.32080369 -4.24390023] [ 0.22511814 0.97428715 -0.00929311 -2.27822723] [ 0.31456346 -0.06364903 0.94710012 2.69300642] [ 0. 0. 0. 1. ]] SLAMing on 19.254839173 meters Centerline goodness [0,1] 0.7483391122521903 Centerline is valid? [False, False] Translation: X:-4.25, Y:-2.27, Z:2.69 [[ 9.23806372e-01 -2.08518035e-01 -3.21095025e-01 -4.24704981e+00] [ 2.18947940e-01 9.75729484e-01 -3.71133952e-03 -2.27044998e+00] [ 3.14075764e-01 -6.68745353e-02 9.47039709e-01 2.69127489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.284839172999998 meters Centerline goodness [0,1] 0.7368988456785255 Centerline is valid? [False, False] Translation: X:-4.25, Y:-2.27, Z:2.69 [[ 9.24647509e-01 -2.05427494e-01 -3.20665759e-01 -4.25108500e+00] [ 2.16626463e-01 9.76254263e-01 -7.68235285e-04 -2.26874738e+00] [ 3.13209131e-01 -6.87543425e-02 9.47192103e-01 2.69101811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.314839173 meters Centerline goodness [0,1] 0.7315624834314194 Centerline is valid? [False, False] Translation: X:-4.26, Y:-2.26, Z:2.69 [[ 9.25447272e-01 -2.03061288e-01 -3.19864754e-01 -4.25538837e+00] [ 2.14562728e-01 9.76709935e-01 7.33166410e-04 -2.26294571e+00] [ 3.12266206e-01 -6.93095612e-02 9.47462929e-01 2.69034758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.344839173 meters Centerline goodness [0,1] 0.7464713143347823 Centerline is valid? [False, False] Translation: X:-4.26, Y:-2.26, Z:2.69 [[ 9.25314439e-01 -2.04037886e-01 -3.19627485e-01 -4.25599410e+00] [ 2.15098679e-01 9.76592059e-01 -7.12910367e-04 -2.25741595e+00] [ 3.12291125e-01 -6.80917837e-02 9.47543013e-01 2.68986518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.374839172999998 meters Centerline goodness [0,1] 0.7406363270237616 Centerline is valid? [False, False] Translation: X:-4.26, Y:-2.25, Z:2.69 [[ 9.25063548e-01 -2.07034915e-01 -3.18424208e-01 -4.25687886e+00] [ 2.17485759e-01 9.76059490e-01 -2.79578569e-03 -2.25133721e+00] [ 3.11379796e-01 -6.66664513e-02 9.47944200e-01 2.68700703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.404839173 meters Centerline goodness [0,1] 0.7399935093033319 Centerline is valid? [False, False] Translation: X:-4.26, Y:-2.25, Z:2.69 [[ 9.25025893e-01 -2.08005910e-01 -3.17900360e-01 -4.25752758e+00] [ 2.18206113e-01 9.75896050e-01 -3.60440325e-03 -2.24785334e+00] [ 3.10987442e-01 -6.60336355e-02 9.48117276e-01 2.68571792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.434839173 meters Centerline goodness [0,1] 0.7337736776024892 Centerline is valid? [False, False] Translation: X:-4.26, Y:-2.24, Z:2.68 [[ 0.92462796 -0.21139734 -0.31681904 -4.25670586] [ 0.22089554 0.97527854 -0.00607633 -2.23937284] [ 0.31027133 -0.06436557 0.94846654 2.68142807] [ 0. 0. 0. 1. ]] SLAMing on 19.464839172999998 meters Centerline goodness [0,1] 0.7289742676276343 Centerline is valid? [False, False] Translation: X:-4.26, Y:-2.24, Z:2.68 [[ 0.92460661 -0.21235886 -0.31623777 -4.25728614] [ 0.22168077 0.97509662 -0.00664975 -2.23681023] [ 0.30977452 -0.06395543 0.94865666 2.67989387] [ 0. 0. 0. 1. ]] SLAMing on 19.494839173 meters Centerline goodness [0,1] 0.7182434264028192 Centerline is valid? [False, False] Translation: X:-4.26, Y:-2.24, Z:2.68 [[ 0.9237878 -0.21868189 -0.31431565 -4.26024672] [ 0.22671509 0.97389612 -0.01125241 -2.23701166] [ 0.30857149 -0.06086526 0.94925184 2.68004081] [ 0. 0. 0. 1. ]] SLAMing on 19.524839173 meters Centerline goodness [0,1] 0.7141431038204187 Centerline is valid? [False, False] Translation: X:-4.26, Y:-2.24, Z:2.68 [[ 0.92378716 -0.2191641 -0.31398148 -4.26137287] [ 0.2271807 0.97378689 -0.01131442 -2.23908935] [ 0.30823077 -0.06087841 0.94936169 2.6804127 ] [ 0. 0. 0. 1. ]] SLAMing on 19.554839172999998 meters Centerline goodness [0,1] 0.717660109851457 Centerline is valid? [False, False] Translation: X:-4.26, Y:-2.24, Z:2.68 [[ 0.92454783 -0.214722 -0.31481069 -4.26214248] [ 0.22374507 0.97461767 -0.00765168 -2.23980588] [ 0.30846304 -0.063363 0.94912364 2.68089508] [ 0. 0. 0. 1. ]] SLAMing on 19.584839173 meters Centerline goodness [0,1] 0.728952158439512 Centerline is valid? [False, False] Translation: X:-4.27, Y:-2.24, Z:2.68 [[ 9.26199559e-01 -2.06065409e-01 -3.15739487e-01 -4.26596497e+00] [ 2.16857992e-01 9.76202674e-01 -9.74937215e-04 -2.23690972e+00] [ 3.08426632e-01 -6.75676448e-02 9.48845417e-01 2.68168340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.614839173 meters Centerline goodness [0,1] 0.7287266143633071 Centerline is valid? [False, False] Translation: X:-4.27, Y:-2.24, Z:2.68 [[ 9.27162904e-01 -2.01269403e-01 -3.16005660e-01 -4.26751209e+00] [ 2.13006382e-01 9.77047175e-01 2.66423636e-03 -2.23637310e+00] [ 3.08216208e-01 -6.97814034e-02 9.48753564e-01 2.68175957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.644839173 meters Centerline goodness [0,1] 0.7255294634039284 Centerline is valid? [False, False] Translation: X:-4.27, Y:-2.24, Z:2.68 [[ 0.92800701 -0.19603995 -0.31681435 -4.26672945] [ 0.20881984 0.97793225 0.00654164 -2.23637741] [ 0.30854055 -0.07222781 0.94846501 2.68136656] [ 0. 0. 0. 1. ]] SLAMing on 19.674839173 meters Centerline goodness [0,1] 0.7226719533013932 Centerline is valid? [False, False] Translation: X:-4.26, Y:-2.23, Z:2.68 [[ 0.92822969 -0.19361038 -0.31765493 -4.26186344] [ 0.20654956 0.97840946 0.00722546 -2.23334117] [ 0.30939766 -0.07231838 0.94817885 2.67998873] [ 0. 0. 0. 1. ]] SLAMing on 19.704839173 meters Centerline goodness [0,1] 0.7217860782855412 Centerline is valid? [False, False] Translation: X:-4.26, Y:-2.23, Z:2.68 [[ 0.92827569 -0.19403874 -0.31725891 -4.26246809] [ 0.20696551 0.97832164 0.00721414 -2.23307579] [ 0.30898143 -0.07235836 0.94831152 2.67913831] [ 0. 0. 0. 1. ]] SLAMing on 19.734839173 meters Centerline goodness [0,1] 0.7242613399916771 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.23, Z:2.68 [[ 9.27778007e-01 -2.00714972e-01 -3.14549631e-01 -4.27603506e+00] [ 2.12571441e-01 9.77139354e-01 3.47356958e-03 -2.23062235e+00] [ 3.06661626e-01 -7.00869699e-02 9.49234673e-01 2.68168811e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.764839173 meters Centerline goodness [0,1] 0.7272676822331363 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.23, Z:2.68 [[ 9.27702965e-01 -2.01752251e-01 -3.14107050e-01 -4.27831873e+00] [ 2.13386563e-01 9.76964058e-01 2.72088459e-03 -2.22946656e+00] [ 3.06322353e-01 -6.95503966e-02 9.49383673e-01 2.68231342e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.794839173 meters Centerline goodness [0,1] 0.7243589743589743 Centerline is valid? [False, False] Translation: X:-4.27, Y:-2.23, Z:2.68 [[ 0.92804239 -0.19846293 -0.31519802 -4.27169722] [ 0.21053015 0.97757773 0.00434002 -2.22522082] [ 0.30726924 -0.07038641 0.949016 2.67918407] [ 0. 0. 0. 1. ]] SLAMing on 19.824839173 meters Centerline goodness [0,1] 0.7186108135535885 Centerline is valid? [False, False] Translation: X:-4.27, Y:-2.22, Z:2.67 [[ 0.92966006 -0.19543949 -0.31230688 -4.26652972] [ 0.20430528 0.97889724 -0.00442103 -2.22345302] [ 0.30658038 -0.05969589 0.94997098 2.67092039] [ 0. 0. 0. 1. ]] SLAMing on 19.854839173 meters Centerline goodness [0,1] 0.7152077109520321 Centerline is valid? [False, False] Translation: X:-4.27, Y:-2.22, Z:2.67 [[ 0.92966444 -0.19570164 -0.3121296 -4.26723128] [ 0.20420681 0.97891206 -0.00554541 -2.21969823] [ 0.30663268 -0.05858362 0.95002335 2.67148357] [ 0. 0. 0. 1. ]] SLAMing on 19.884839173 meters Centerline goodness [0,1] 0.7134380650994575 Centerline is valid? [False, False] Translation: X:-4.27, Y:-2.22, Z:2.67 [[ 0.92966315 -0.19665985 -0.31153061 -4.27003547] [ 0.20466468 0.97880614 -0.00713466 -2.21507408] [ 0.30633118 -0.05712648 0.95020933 2.67260348] [ 0. 0. 0. 1. ]] SLAMing on 19.914839173 meters Centerline goodness [0,1] 0.7138407909023372 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.21, Z:2.67 [[ 0.93035981 -0.19433801 -0.31090733 -4.2757645 ] [ 0.20283645 0.97919936 -0.00509727 -2.209795 ] [ 0.30543085 -0.05832104 0.95042656 2.67277029] [ 0. 0. 0. 1. ]] SLAMing on 19.944839173 meters Centerline goodness [0,1] 0.7201446840021646 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.21, Z:2.67 [[ 0.93024378 -0.19571395 -0.31039096 -4.27779099] [ 0.20421316 0.97891255 -0.00521542 -2.20966268] [ 0.30486634 -0.05853431 0.95059468 2.67207675] [ 0. 0. 0. 1. ]] SLAMing on 19.974839173 meters Centerline goodness [0,1] 0.7229133745151559 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.21, Z:2.67 [[ 0.93037348 -0.19565183 -0.31004122 -4.27910705] [ 0.20396342 0.9789618 -0.00572025 -2.20665367] [ 0.30463768 -0.0579151 0.95070591 2.67242305] [ 0. 0. 0. 1. ]] SLAMing on 20.004839173 meters Centerline goodness [0,1] 0.7229133745151559 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.21, Z:2.67 [[ 0.93037348 -0.19565183 -0.31004122 -4.27910705] [ 0.20396342 0.9789618 -0.00572025 -2.20665367] [ 0.30463768 -0.0579151 0.95070591 2.67242305] [ 0. 0. 0. 1. ]] SLAMing on 20.034839172999998 meters Centerline goodness [0,1] 0.7107242017584452 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.20, Z:2.67 [[ 9.31348588e-01 -1.90722344e-01 -3.10185098e-01 -4.28027544e+00] [ 1.99618114e-01 9.79868794e-01 -3.12337370e-03 -2.20054770e+00] [ 3.04536395e-01 -5.90096146e-02 9.50671052e-01 2.67235510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.064839173 meters Centerline goodness [0,1] 0.7038463766436889 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.20, Z:2.67 [[ 9.31394405e-01 -1.89939285e-01 -3.10527825e-01 -4.27793513e+00] [ 1.98830028e-01 9.80029145e-01 -3.08139605e-03 -2.19909378e+00] [ 3.04911597e-01 -5.88722612e-02 9.50559296e-01 2.67159874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.094839173 meters Centerline goodness [0,1] 0.6770854242537206 Centerline is valid? [False, False] Translation: X:-4.27, Y:-2.20, Z:2.67 [[ 0.93094252 -0.19195984 -0.31064038 -4.27102572] [ 0.20021174 0.97973764 -0.00542319 -2.2004003 ] [ 0.30538711 -0.05714518 0.95051204 2.66915004] [ 0. 0. 0. 1. ]] SLAMing on 20.124839172999998 meters Centerline goodness [0,1] 0.6838822283899396 Centerline is valid? [False, False] Translation: X:-4.27, Y:-2.20, Z:2.67 [[ 0.93098865 -0.19171465 -0.31065354 -4.26961595] [ 0.20013752 0.97975579 -0.00485356 -2.20216049] [ 0.30529511 -0.05765482 0.95051082 2.66789889] [ 0. 0. 0. 1. ]] SLAMing on 20.154839173 meters Centerline goodness [0,1] 0.6880981032605582 Centerline is valid? [False, False] Translation: X:-4.27, Y:-2.20, Z:2.67 [[ 0.93095468 -0.19236623 -0.31035241 -4.27105263] [ 0.20061862 0.97965436 -0.00543118 -2.20070678] [ 0.30508287 -0.05720628 0.95060606 2.66821047] [ 0. 0. 0. 1. ]] SLAMing on 20.184839173 meters Centerline goodness [0,1] 0.7072296754959293 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.20, Z:2.67 [[ 0.9309428 -0.19499892 -0.30874086 -4.28496434] [ 0.20287133 0.97918228 -0.00673018 -2.19943181] [ 0.30362596 -0.05636926 0.95112238 2.67350907] [ 0. 0. 0. 1. ]] SLAMing on 20.214839172999998 meters Centerline goodness [0,1] 0.7339525578736782 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.20, Z:2.68 [[ 0.93010028 -0.20086274 -0.30751851 -4.29075475] [ 0.207642 0.97814441 -0.01087702 -2.20310223] [ 0.3029823 -0.05373704 0.95147993 2.67720382] [ 0. 0. 0. 1. ]] SLAMing on 20.244839173 meters Centerline goodness [0,1] 0.7311039853412735 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.21, Z:2.68 [[ 0.9296812 -0.20411171 -0.3066452 -4.29467091] [ 0.21032246 0.97754523 -0.01303002 -2.20696813] [ 0.30241913 -0.0523806 0.9517347 2.67966136] [ 0. 0. 0. 1. ]] SLAMing on 20.274839173 meters Centerline goodness [0,1] 0.7333713308634939 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.21, Z:2.68 [[ 0.92965869 -0.20777336 -0.30424488 -4.30137645] [ 0.21344979 0.97684077 -0.01487629 -2.21426155] [ 0.3002897 -0.05111113 0.95247769 2.68190452] [ 0. 0. 0. 1. ]] SLAMing on 20.304839172999998 meters Centerline goodness [0,1] 0.729274903998193 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.22, Z:2.68 [[ 0.92973265 -0.20731843 -0.30432921 -4.30147938] [ 0.21313826 0.97691646 -0.01436337 -2.2172589 ] [ 0.300282 -0.05151011 0.95245862 2.6827694 ] [ 0. 0. 0. 1. ]] SLAMing on 20.334839173 meters Centerline goodness [0,1] 0.7253848709713147 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.22, Z:2.68 [[ 0.92931678 -0.20814594 -0.30503376 -4.29694604] [ 0.2136745 0.97678123 -0.015545 -2.2248024 ] [ 0.30118688 -0.05073171 0.95221466 2.6843444 ] [ 0. 0. 0. 1. ]] SLAMing on 20.364839173 meters Centerline goodness [0,1] 0.7246621154749731 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.23, Z:2.68 [[ 0.92939904 -0.20688329 -0.30564149 -4.29495076] [ 0.21274051 0.97700245 -0.01441119 -2.22914936] [ 0.30159392 -0.05162858 0.9520376 2.68479645] [ 0. 0. 0. 1. ]] SLAMing on 20.394839173 meters Centerline goodness [0,1] 0.7179621559000386 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.23, Z:2.69 [[ 0.92785041 -0.20298124 -0.31287736 -4.29137361] [ 0.20631786 0.97821976 -0.02278256 -2.23495926] [ 0.31068725 -0.04341338 0.94952025 2.68582373] [ 0. 0. 0. 1. ]] SLAMing on 20.424839173 meters Centerline goodness [0,1] 0.7032841036280746 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.24, Z:2.68 [[ 0.92794803 -0.20032533 -0.31429638 -4.28483475] [ 0.20418053 0.9787086 -0.02097131 -2.237269 ] [ 0.31180566 -0.04471292 0.94909324 2.68429585] [ 0. 0. 0. 1. ]] SLAMing on 20.454839173 meters Centerline goodness [0,1] 0.6993385117887629 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.24, Z:2.68 [[ 0.92863793 -0.19694762 -0.31439343 -4.2830973 ] [ 0.20150169 0.97931728 -0.01829586 -2.24142584] [ 0.31149425 -0.04636057 0.94911645 2.68357175] [ 0. 0. 0. 1. ]] SLAMing on 20.484839173 meters Centerline goodness [0,1] 0.699994557230719 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.25, Z:2.69 [[ 0.92890657 -0.19549092 -0.31450896 -4.28656311] [ 0.20052878 0.97954721 -0.01659757 -2.24696896] [ 0.31132105 -0.04765051 0.94910939 2.68639993] [ 0. 0. 0. 1. ]] SLAMing on 20.514839173 meters Centerline goodness [0,1] 0.6890548614883216 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.25, Z:2.69 [[ 0.92897855 -0.19500886 -0.31459561 -4.28685058] [ 0.19995364 0.97966106 -0.01681507 -2.24653122] [ 0.31147616 -0.0472837 0.94907684 2.68748612] [ 0. 0. 0. 1. ]] SLAMing on 20.544839173 meters Centerline goodness [0,1] 0.6675643327348892 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.25, Z:2.69 [[ 0.92956243 -0.19204759 -0.31469256 -4.29006557] [ 0.19759659 0.98017622 -0.01449706 -2.25038179] [ 0.31123829 -0.04870626 0.94908294 2.69001377] [ 0. 0. 0. 1. ]] SLAMing on 20.574839173 meters Centerline goodness [0,1] 0.6674700752857066 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.26, Z:2.69 [[ 0.92954045 -0.1919771 -0.31480048 -4.29043156] [ 0.1977194 0.98015991 -0.01391383 -2.25533842] [ 0.31122594 -0.0493087 0.94905588 2.6910855 ] [ 0. 0. 0. 1. ]] SLAMing on 20.604839173 meters Centerline goodness [0,1] 0.7141560313985156 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.26, Z:2.69 [[ 0.9288888 -0.19598326 -0.31425493 -4.28943914] [ 0.20102345 0.97944524 -0.01663119 -2.26124599] [ 0.31105493 -0.04772408 0.94919294 2.69173382] [ 0. 0. 0. 1. ]] SLAMing on 20.634839173 meters Centerline goodness [0,1] 0.7289884046381447 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.26, Z:2.69 [[ 0.92874451 -0.19698807 -0.31405308 -4.2907325 ] [ 0.20233033 0.97918918 -0.01584255 -2.26354879] [ 0.31063817 -0.04882878 0.94927324 2.69113774] [ 0. 0. 0. 1. ]] SLAMing on 20.664839173 meters Centerline goodness [0,1] 0.7179283921257762 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.26, Z:2.69 [[ 0.92870437 -0.19734804 -0.31394575 -4.29185495] [ 0.20277444 0.97910077 -0.01562726 -2.26438578] [ 0.31046853 -0.04914707 0.94931231 2.6915046 ] [ 0. 0. 0. 1. ]] SLAMing on 20.694839173 meters Centerline goodness [0,1] 0.7083728527768995 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.27, Z:2.69 [[ 0.92874211 -0.1974887 -0.31374562 -4.29302172] [ 0.2030511 0.97905014 -0.01520096 -2.26720127] [ 0.31017471 -0.04958862 0.94938539 2.69206034] [ 0. 0. 0. 1. ]] SLAMing on 20.724839173 meters Centerline goodness [0,1] 0.7397420867526378 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.28, Z:2.69 [[ 0.92890532 -0.20146411 -0.31072031 -4.30176151] [ 0.20642049 0.97831189 -0.01721692 -2.2757839 ] [ 0.30744997 -0.04814615 0.95034544 2.69464153] [ 0. 0. 0. 1. ]] SLAMing on 20.754839173 meters Centerline goodness [0,1] 0.7452935524914959 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.28, Z:2.70 [[ 0.92897532 -0.20258537 -0.3097806 -4.30554787] [ 0.20750501 0.97807991 -0.01735952 -2.28008513] [ 0.30650696 -0.04815446 0.95064958 2.6960091 ] [ 0. 0. 0. 1. ]] SLAMing on 20.784839172999998 meters Centerline goodness [0,1] 0.7499424361040755 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.29, Z:2.70 [[ 0.92835816 -0.2077941 -0.30817648 -4.30957258] [ 0.21192388 0.9770731 -0.0204064 -2.28640328] [ 0.30535128 -0.04636551 0.95111032 2.69787327] [ 0. 0. 0. 1. ]] SLAMing on 20.814839173 meters Centerline goodness [0,1] 0.7514702512793096 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.29, Z:2.70 [[ 0.92750733 -0.21242234 -0.30758237 -4.30924781] [ 0.21561994 0.97618302 -0.02397408 -2.28846289] [ 0.30534931 -0.04408476 0.95121939 2.69859581] [ 0. 0. 0. 1. ]] SLAMing on 20.844839173 meters Centerline goodness [0,1] 0.7468739014714005 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.29, Z:2.70 [[ 0.92572723 -0.22086922 -0.30699494 -4.30456982] [ 0.22254592 0.97446036 -0.0300053 -2.2938441 ] [ 0.30578164 -0.04054375 0.95123803 2.69767796] [ 0. 0. 0. 1. ]] SLAMing on 20.874839172999998 meters Centerline goodness [0,1] 0.7463372020466741 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.30, Z:2.70 [[ 0.92488473 -0.22492483 -0.3065894 -4.30209856] [ 0.2259662 0.97358983 -0.03259029 -2.29814074] [ 0.30582269 -0.03913658 0.95128377 2.69695477] [ 0. 0. 0. 1. ]] SLAMing on 20.904839173 meters Centerline goodness [0,1] 0.7425309087290728 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.30, Z:2.70 [[ 0.92485901 -0.2250279 -0.30659135 -4.30168337] [ 0.22626965 0.97353945 -0.031984 -2.2998985 ] [ 0.30567607 -0.03979162 0.95130372 2.69628789] [ 0. 0. 0. 1. ]] SLAMing on 20.934839173 meters Centerline goodness [0,1] 0.7411252842875506 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.30, Z:2.70 [[ 0.92454495 -0.2278418 -0.30545826 -4.3065826 ] [ 0.22914976 0.97286237 -0.03208118 -2.30455455] [ 0.30447827 -0.04033519 0.95166488 2.69686053] [ 0. 0. 0. 1. ]] SLAMing on 20.964839172999998 meters Centerline goodness [0,1] 0.738452118540289 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.31, Z:2.70 [[ 0.92407164 -0.23058606 -0.30483057 -4.30999588] [ 0.23143382 0.97226046 -0.03388204 -2.30788104] [ 0.30418743 -0.03923867 0.95180373 2.69923662] [ 0. 0. 0. 1. ]] SLAMing on 20.994839173 meters Centerline goodness [0,1] 0.7392464562880995 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.31, Z:2.70 [[ 0.92350992 -0.23362463 -0.30421861 -4.31026933] [ 0.23403091 0.97157431 -0.03567771 -2.3128953 ] [ 0.30390618 -0.03824784 0.95193389 2.69991162] [ 0. 0. 0. 1. ]] SLAMing on 21.024839173 meters Centerline goodness [0,1] 0.739151752880608 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.31, Z:2.70 [[ 0.92348883 -0.2337252 -0.30420539 -4.30996412] [ 0.23416774 0.97154497 -0.03557878 -2.312394 ] [ 0.30386487 -0.03837848 0.95194182 2.69937063] [ 0. 0. 0. 1. ]] SLAMing on 21.054839172999998 meters Centerline goodness [0,1] 0.7308904942776991 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.31, Z:2.70 [[ 0.92340107 -0.23388208 -0.30435117 -4.3079398 ] [ 0.23440509 0.97149529 -0.03537171 -2.31189914] [ 0.30394854 -0.03867918 0.95190294 2.69759421] [ 0. 0. 0. 1. ]] SLAMing on 21.084839173 meters Centerline goodness [0,1] 0.7339485376690591 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.31, Z:2.70 [[ 0.92259446 -0.23824686 -0.30341043 -4.30651883] [ 0.23793218 0.97051504 -0.03858552 -2.31403194] [ 0.30365726 -0.03659231 0.95207839 2.69691286] [ 0. 0. 0. 1. ]] SLAMing on 21.114839173 meters Centerline goodness [0,1] 0.7316672703126886 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.32, Z:2.70 [[ 0.9216781 -0.24289293 -0.30251033 -4.30434127] [ 0.24166184 0.96944659 -0.04210533 -2.31717453] [ 0.3034947 -0.03429764 0.95221565 2.6959825 ] [ 0. 0. 0. 1. ]] SLAMing on 21.144839172999998 meters Centerline goodness [0,1] 0.7348689046802255 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.32, Z:2.69 [[ 0.92413225 -0.24069765 -0.29672247 -4.31391734] [ 0.23958736 0.97002205 -0.04068321 -2.31848216] [ 0.29761969 -0.03349429 0.95409677 2.69044571] [ 0. 0. 0. 1. ]] SLAMing on 21.174839173 meters Centerline goodness [0,1] 0.7352767817672774 Centerline is valid? [False, False] Translation: X:-4.32, Y:-2.31, Z:2.69 [[ 0.92586104 -0.23342375 -0.29714421 -4.31966302] [ 0.2339511 0.97164241 -0.03432073 -2.31454588] [ 0.29672919 -0.03774099 0.9542156 2.69062879] [ 0. 0. 0. 1. ]] SLAMing on 21.204839173 meters Centerline goodness [0,1] 0.7356205852674067 Centerline is valid? [False, False] Translation: X:-4.32, Y:-2.31, Z:2.69 [[ 0.92671517 -0.22967235 -0.29740478 -4.32267286] [ 0.23101615 0.97245168 -0.03113296 -2.31361966] [ 0.29636216 -0.03985392 0.95424375 2.69127941] [ 0. 0. 0. 1. ]] SLAMing on 21.234839173 meters Centerline goodness [0,1] 0.7391033468736761 Centerline is valid? [False, False] Translation: X:-4.32, Y:-2.31, Z:2.69 [[ 0.92760893 -0.22542565 -0.29786733 -4.32438277] [ 0.22758191 0.97335892 -0.02790859 -2.31244351] [ 0.29622314 -0.04190096 0.95419923 2.69163543] [ 0. 0. 0. 1. ]] SLAMing on 21.264839173 meters Centerline goodness [0,1] 0.7416218917905786 Centerline is valid? [False, False] Translation: X:-4.32, Y:-2.31, Z:2.69 [[ 0.92849323 -0.22109996 -0.29835404 -4.32472926] [ 0.22394519 0.9742791 -0.02507582 -2.30771343] [ 0.29622436 -0.04353222 0.95412582 2.69059768] [ 0. 0. 0. 1. ]] SLAMing on 21.294839173 meters Centerline goodness [0,1] 0.7408338781873962 Centerline is valid? [False, False] Translation: X:-4.33, Y:-2.30, Z:2.69 [[ 0.92907065 -0.22041757 -0.2970586 -4.33343344] [ 0.22344597 0.97441647 -0.0241751 -2.30257449] [ 0.29478741 -0.04391617 0.95455317 2.69190715] [ 0. 0. 0. 1. ]] SLAMing on 21.324839173 meters Centerline goodness [0,1] 0.739489184523205 Centerline is valid? [False, False] Translation: X:-4.34, Y:-2.30, Z:2.69 [[ 0.92968945 -0.21838006 -0.29662718 -4.33913937] [ 0.22198025 0.97480451 -0.02193046 -2.29958696] [ 0.29394268 -0.04545686 0.95474152 2.69259076] [ 0. 0. 0. 1. ]] SLAMing on 21.354839173 meters Centerline goodness [0,1] 0.736764331210191 Centerline is valid? [False, False] Translation: X:-4.34, Y:-2.30, Z:2.69 [[ 0.92956201 -0.21924072 -0.29639159 -4.3405802 ] [ 0.22255534 0.97464976 -0.02295587 -2.29641659] [ 0.29391086 -0.04462463 0.95479058 2.69307623] [ 0. 0. 0. 1. ]] SLAMing on 21.384839173 meters Centerline goodness [0,1] 0.7398274051880873 Centerline is valid? [False, False] Translation: X:-4.34, Y:-2.30, Z:2.69 [[ 0.93211941 -0.21509774 -0.29135264 -4.34243906] [ 0.21792038 0.97569223 -0.02313819 -2.29580937] [ 0.28924748 -0.04192412 0.95633585 2.68588796] [ 0. 0. 0. 1. ]] SLAMing on 21.414839173 meters Centerline goodness [0,1] 0.7427666803953872 Centerline is valid? [False, False] Translation: X:-4.34, Y:-2.29, Z:2.68 [[ 0.93306719 -0.20972663 -0.29223341 -4.34008324] [ 0.21333917 0.97677684 -0.01983459 -2.28979209] [ 0.28960667 -0.04383782 0.95614132 2.68369063] [ 0. 0. 0. 1. ]] SLAMing on 21.444839173 meters Centerline goodness [0,1] 0.7412465984190748 Centerline is valid? [False, False] Translation: X:-4.34, Y:-2.29, Z:2.68 [[ 0.9338978 -0.20542913 -0.2926325 -4.34066245] [ 0.20988735 0.97758731 -0.01644237 -2.28715092] [ 0.28945156 -0.04606437 0.95608361 2.68265595] [ 0. 0. 0. 1. ]] SLAMing on 21.474839173 meters Centerline goodness [0,1] 0.7444887949701287 Centerline is valid? [False, False] Translation: X:-4.34, Y:-2.28, Z:2.68 [[ 0.9346879 -0.20190181 -0.29256483 -4.34419007] [ 0.20694892 0.97825244 -0.01393977 -2.28309098] [ 0.28901672 -0.04751664 0.95614408 2.6831638 ] [ 0. 0. 0. 1. ]] SLAMing on 21.504839173 meters Centerline goodness [0,1] 0.7427459493804935 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.28, Z:2.68 [[ 0.93624704 -0.19439252 -0.29266538 -4.35040643] [ 0.20074404 0.97960701 -0.00848155 -2.27733613] [ 0.28834581 -0.05081 0.9561773 2.68459647] [ 0. 0. 0. 1. ]] SLAMing on 21.534839172999998 meters Centerline goodness [0,1] 0.7408858330668373 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.28, Z:2.68 [[ 0.93695909 -0.19029263 -0.29308083 -4.35169516] [ 0.19747037 0.98029511 -0.00519064 -2.27593982] [ 0.28829344 -0.05301136 0.95607358 2.68455561] [ 0. 0. 0. 1. ]] SLAMing on 21.564839173 meters Centerline goodness [0,1] 0.7397095079858506 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.27, Z:2.68 [[ 0.93687483 -0.19061568 -0.29314028 -4.3498082 ] [ 0.19773645 0.98024012 -0.00544053 -2.27214669] [ 0.28838492 -0.05286742 0.95605396 2.6823276 ] [ 0. 0. 0. 1. ]] SLAMing on 21.594839173 meters Centerline goodness [0,1] 0.739797286426771 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.27, Z:2.68 [[ 0.93597246 -0.1967922 -0.29193902 -4.35078179] [ 0.20269474 0.97918877 -0.01020767 -2.26824512] [ 0.2878722 -0.04962041 0.95638246 2.68134174] [ 0. 0. 0. 1. ]] SLAMing on 21.624839172999998 meters Centerline goodness [0,1] 0.7416212735127593 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.27, Z:2.68 [[ 0.93583857 -0.19893078 -0.29091703 -4.35515716] [ 0.20450372 0.97879883 -0.01144912 -2.26762857] [ 0.28702683 -0.04877909 0.95667978 2.6822529 ] [ 0. 0. 0. 1. ]] SLAMing on 21.654839173 meters Centerline goodness [0,1] 0.7379345438962988 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.27, Z:2.68 [[ 0.93573041 -0.20094665 -0.28987763 -4.35899623] [ 0.20628564 0.97841382 -0.01235429 -2.26739797] [ 0.28610283 -0.04823731 0.95698398 2.68247515] [ 0. 0. 0. 1. ]] SLAMing on 21.684839173 meters Centerline goodness [0,1] 0.7375965016466015 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.26, Z:2.68 [[ 0.93555931 -0.20308712 -0.28893665 -4.36184376] [ 0.20790316 0.97804534 -0.01426845 -2.25839383] [ 0.28549089 -0.04672186 0.95724188 2.68113778] [ 0. 0. 0. 1. ]] SLAMing on 21.714839172999998 meters Centerline goodness [0,1] 0.7371921382032496 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.25, Z:2.68 [[ 0.93545672 -0.20457583 -0.28821774 -4.36476353] [ 0.20900698 0.97778867 -0.01566505 -2.25448543] [ 0.28502073 -0.04558554 0.95743676 2.68148789] [ 0. 0. 0. 1. ]] SLAMing on 21.744839173 meters Centerline goodness [0,1] 0.7354390742001362 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.25, Z:2.68 [[ 0.93535017 -0.20739545 -0.2865435 -4.37005372] [ 0.21118447 0.97728083 -0.01798043 -2.249448 ] [ 0.28376253 -0.04369554 0.9578985 2.68148794] [ 0. 0. 0. 1. ]] SLAMing on 21.774839173 meters Centerline goodness [0,1] 0.7312369891530623 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.24, Z:2.68 [[ 0.93515815 -0.21042693 -0.28495569 -4.37613791] [ 0.21343297 0.97673546 -0.02083784 -2.24287046] [ 0.28271117 -0.04133227 0.95831417 2.68251071] [ 0. 0. 0. 1. ]] SLAMing on 21.804839172999998 meters Centerline goodness [0,1] 0.7317113356766256 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.24, Z:2.68 [[ 0.9350548 -0.21181049 -0.28426896 -4.37914192] [ 0.21444557 0.97648359 -0.02220119 -2.23922591] [ 0.28228642 -0.04020089 0.95848749 2.68314393] [ 0. 0. 0. 1. ]] SLAMing on 21.834839173 meters Centerline goodness [0,1] 0.7303671420296252 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.23, Z:2.69 [[ 0.93567385 -0.21006189 -0.28352857 -4.38651397] [ 0.21300019 0.97683082 -0.02079584 -2.23481675] [ 0.28132786 -0.04093351 0.95873828 2.68512111] [ 0. 0. 0. 1. ]] SLAMing on 21.864839173 meters Centerline goodness [0,1] 0.7330890720848253 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.23, Z:2.68 [[ 0.93647107 -0.20531798 -0.28437029 -4.3858426 ] [ 0.20921978 0.977722 -0.01693439 -2.23360045] [ 0.28151203 -0.04363732 0.95856495 2.68415124] [ 0. 0. 0. 1. ]] SLAMing on 21.894839172999998 meters Centerline goodness [0,1] 0.7330890720848253 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.23, Z:2.68 [[ 0.93647107 -0.20531798 -0.28437029 -4.3858426 ] [ 0.20921978 0.977722 -0.01693439 -2.23360045] [ 0.28151203 -0.04363732 0.95856495 2.68415124] [ 0. 0. 0. 1. ]] SLAMing on 21.924839173 meters Centerline goodness [0,1] 0.7363529477632831 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.23, Z:2.68 [[ 0.93797789 -0.19672693 -0.28547503 -4.37946688] [ 0.20201088 0.97932005 -0.01112842 -2.22771487] [ 0.28176068 -0.04723085 0.95832153 2.6791836 ] [ 0. 0. 0. 1. ]] SLAMing on 21.954839173 meters Centerline goodness [0,1] 0.7352528484032104 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.23, Z:2.68 [[ 0.93876316 -0.19256422 -0.28573195 -4.38090961] [ 0.1985937 0.98004914 -0.00801431 -2.22500964] [ 0.28157462 -0.04922103 0.95827607 2.67886595] [ 0. 0. 0. 1. ]] SLAMing on 21.984839173 meters Centerline goodness [0,1] 0.7351635613107523 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.22, Z:2.68 [[ 0.93953115 -0.18920782 -0.28544985 -4.38462926] [ 0.19573975 0.98063903 -0.00574877 -2.22086469] [ 0.28101098 -0.05047274 0.9583764 2.67936656] [ 0. 0. 0. 1. ]] SLAMing on 22.014839173 meters Centerline goodness [0,1] 0.7362786745964316 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.22, Z:2.68 [[ 0.93944839 -0.1904941 -0.28486613 -4.38775475] [ 0.19664455 0.98044889 -0.00713433 -2.21805491] [ 0.28065573 -0.04931503 0.95854076 2.68063196] [ 0. 0. 0. 1. ]] SLAMing on 22.044839173 meters Centerline goodness [0,1] 0.737547947151584 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.21, Z:2.68 [[ 0.93958953 -0.19276952 -0.28286292 -4.40086982] [ 0.1985603 0.98005319 -0.00834047 -2.21359028] [ 0.27882849 -0.04832873 0.95912408 2.68425178] [ 0. 0. 0. 1. ]] SLAMing on 22.074839173 meters Centerline goodness [0,1] 0.7380546075085324 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.21, Z:2.69 [[ 0.93947483 -0.19421873 -0.28225188 -4.40419706] [ 0.19968877 0.97981284 -0.00954975 -2.21106958] [ 0.27840876 -0.04739078 0.9592928 2.68530532] [ 0. 0. 0. 1. ]] SLAMing on 22.104839173 meters Centerline goodness [0,1] 0.7350819672131148 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.21, Z:2.68 [[ 0.93937814 -0.19404209 -0.28269483 -4.40099124] [ 0.1995824 0.97983634 -0.00936045 -2.20910351] [ 0.27881099 -0.04762791 0.95916423 2.6830704 ] [ 0. 0. 0. 1. ]] SLAMing on 22.134839173 meters Centerline goodness [0,1] 0.7358404558404559 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.21, Z:2.68 [[ 0.93938144 -0.19371442 -0.28290853 -4.39920806] [ 0.1992457 0.97990466 -0.00938096 -2.2082175 ] [ 0.27904062 -0.04755601 0.95910102 2.68223909] [ 0. 0. 0. 1. ]] SLAMing on 22.164839173 meters Centerline goodness [0,1] 0.7322642646088529 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.20, Z:2.68 [[ 0.93944856 -0.19421153 -0.28234427 -4.4007491 ] [ 0.19930875 0.97987669 -0.01084859 -2.20260838] [ 0.27876949 -0.04608199 0.9592518 2.68257585] [ 0. 0. 0. 1. ]] SLAMing on 22.194839173 meters Centerline goodness [0,1] 0.733976845068804 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.20, Z:2.69 [[ 0.93931685 -0.19635641 -0.28129701 -4.40640225] [ 0.20085856 0.97953347 -0.01303906 -2.19897541] [ 0.27810014 -0.04425311 0.95953216 2.68506647] [ 0. 0. 0. 1. ]] SLAMing on 22.224839173 meters Centerline goodness [0,1] 0.7336765805672208 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.20, Z:2.69 [[ 0.93914334 -0.19898985 -0.28002289 -4.4128794 ] [ 0.20285746 0.97908696 -0.01541349 -2.19619407] [ 0.27723389 -0.04232925 0.95986958 2.68774631] [ 0. 0. 0. 1. ]] SLAMing on 22.254839173 meters Centerline goodness [0,1] 0.7311335694336472 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.20, Z:2.69 [[ 0.93910393 -0.19866324 -0.28038674 -4.41103256] [ 0.20255335 0.97915099 -0.01534545 -2.1952817 ] [ 0.27758953 -0.04238231 0.95976445 2.68704929] [ 0. 0. 0. 1. ]] SLAMing on 22.284839172999998 meters Centerline goodness [0,1] 0.7326429067345521 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.19, Z:2.68 [[ 0.93885208 -0.19840748 -0.2814094 -4.40182709] [ 0.20229618 0.97920211 -0.0154751 -2.19261285] [ 0.27862705 -0.04239922 0.95946301 2.6822959 ] [ 0. 0. 0. 1. ]] SLAMing on 22.314839173 meters Centerline goodness [0,1] 0.7308025154329891 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.19, Z:2.68 [[ 0.93880666 -0.19815832 -0.2817363 -4.39978682] [ 0.20224909 0.97922235 -0.01479491 -2.19365078] [ 0.27881421 -0.04309135 0.9593778 2.68084348] [ 0. 0. 0. 1. ]] SLAMing on 22.344839173 meters Centerline goodness [0,1] 0.7329190751445087 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.19, Z:2.68 [[ 0.93875094 -0.19926069 -0.28114384 -4.4028804 ] [ 0.20322433 0.97901265 -0.01530075 -2.19328352] [ 0.27829221 -0.04277168 0.95954366 2.68167104] [ 0. 0. 0. 1. ]] SLAMing on 22.374839172999998 meters Centerline goodness [0,1] 0.733655683594881 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.19, Z:2.68 [[ 0.93941603 -0.19604599 -0.28118233 -4.40677234] [ 0.20074148 0.97956695 -0.01230662 -2.19472857] [ 0.27784958 -0.04488392 0.95957545 2.68308848] [ 0. 0. 0. 1. ]] SLAMing on 22.404839173 meters Centerline goodness [0,1] 0.7331893448524118 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.20, Z:2.69 [[ 0.93947109 -0.19680061 -0.28047031 -4.4134232 ] [ 0.20124406 0.97945259 -0.01317034 -2.19776434] [ 0.2772993 -0.04406983 0.95977234 2.68803653] [ 0. 0. 0. 1. ]] SLAMing on 22.434839173 meters Centerline goodness [0,1] 0.7331088858195212 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.20, Z:2.69 [[ 0.93944094 -0.19658782 -0.28072043 -4.41314981] [ 0.20106598 0.97949063 -0.0130604 -2.19890066] [ 0.27753054 -0.04417385 0.95970072 2.68874897] [ 0. 0. 0. 1. ]] SLAMing on 22.464839172999998 meters Centerline goodness [0,1] 0.7348195697432338 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.20, Z:2.69 [[ 0.93959671 -0.19332577 -0.28245914 -4.40508128] [ 0.19830566 0.98007691 -0.01114064 -2.19869666] [ 0.27898545 -0.04554554 0.95921464 2.68642297] [ 0. 0. 0. 1. ]] SLAMing on 22.494839173 meters Centerline goodness [0,1] 0.736220814165437 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.20, Z:2.68 [[ 0.93974367 -0.19120512 -0.28341212 -4.39955421] [ 0.1964801 0.98045706 -0.00997654 -2.19841921] [ 0.27978098 -0.04630945 0.95894632 2.68444032] [ 0. 0. 0. 1. ]] SLAMing on 22.524839173 meters Centerline goodness [0,1] 0.7306481882488811 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.20, Z:2.68 [[ 0.94010503 -0.18840823 -0.28408602 -4.39513364] [ 0.19394106 0.98097376 -0.00879509 -2.19864274] [ 0.280338 -0.04682763 0.95875846 2.68364689] [ 0. 0. 0. 1. ]] SLAMing on 22.554839172999998 meters Centerline goodness [0,1] 0.7283897205157048 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.20, Z:2.68 [[ 0.94088005 -0.18430528 -0.2842117 -4.39736627] [ 0.1907695 0.98162202 -0.00502056 -2.19965226] [ 0.27991378 -0.04949518 0.95874841 2.68367689] [ 0. 0. 0. 1. ]] SLAMing on 22.584839173 meters Centerline goodness [0,1] 0.7319677363198515 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.20, Z:2.69 [[ 9.41096616e-01 -1.84050569e-01 -2.83659209e-01 -4.40520325e+00] [ 1.90679637e-01 9.81642836e-01 -4.31489894e-03 -2.19995829e+00] [ 2.79246190e-01 -5.00272982e-02 9.58915447e-01 2.68716786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.614839173 meters Centerline goodness [0,1] 0.730764787430684 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.20, Z:2.69 [[ 9.41076355e-01 -1.84321458e-01 -2.83550514e-01 -4.40556580e+00] [ 1.91089576e-01 9.81565025e-01 -3.85686076e-03 -2.20333312e+00] [ 2.79034170e-01 -5.05539471e-02 9.58949545e-01 2.68714898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.644839172999998 meters Centerline goodness [0,1] 0.7295742897604116 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.21, Z:2.69 [[ 9.41149247e-01 -1.82837825e-01 -2.84268226e-01 -4.40116688e+00] [ 1.90014060e-01 9.81778501e-01 -2.37330874e-03 -2.20590810e+00] [ 2.79522363e-01 -5.17813221e-02 9.58741854e-01 2.68517680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.674839173 meters Centerline goodness [0,1] 0.7292045618593908 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.20, Z:2.68 [[ 9.41123313e-01 -1.82439789e-01 -2.84609614e-01 -4.39955535e+00] [ 1.89650550e-01 9.81849048e-01 -2.26197073e-03 -2.20429702e+00] [ 2.79856352e-01 -5.18475766e-02 9.58640835e-01 2.68447231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.704839173 meters Centerline goodness [0,1] 0.7247597200847876 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.20, Z:2.69 [[ 9.41831186e-01 -1.78604701e-01 -2.84700504e-01 -4.40291091e+00] [ 1.86568797e-01 9.82441514e-01 8.69819762e-04 -2.20253889e+00] [ 2.79546240e-01 -5.39354538e-02 9.58616120e-01 2.68538639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.734839173 meters Centerline goodness [0,1] 0.7289284571295569 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.20, Z:2.69 [[ 9.42470986e-01 -1.75577432e-01 -2.84466177e-01 -4.40776075e+00] [ 1.84240679e-01 9.82873948e-01 3.76498476e-03 -2.20311762e+00] [ 2.78933348e-01 -5.59586306e-02 9.58678684e-01 2.68691036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.764839173 meters Centerline goodness [0,1] 0.7245207155760154 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.21, Z:2.69 [[ 9.42469534e-01 -1.75596313e-01 -2.84459332e-01 -4.40871041e+00] [ 1.84240342e-01 9.82874267e-01 3.69758276e-03 -2.20527961e+00] [ 2.78938476e-01 -5.58937436e-02 9.58680977e-01 2.68828703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.794839173 meters Centerline goodness [0,1] 0.716168080854884 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.21, Z:2.69 [[ 9.41810635e-01 -1.76298173e-01 -2.86202169e-01 -4.39731035e+00] [ 1.84653845e-01 9.82801054e-01 2.24639805e-03 -2.20934212e+00] [ 2.80883757e-01 -5.49640124e-02 9.58166620e-01 2.68624208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.824839173 meters Centerline goodness [0,1] 0.7115657692642072 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.21, Z:2.68 [[ 9.41850358e-01 -1.74116145e-01 -2.87404716e-01 -4.39090904e+00] [ 1.82974235e-01 9.83109436e-01 4.03307075e-03 -2.21260027e+00] [ 2.81848066e-01 -5.63862073e-02 9.57800743e-01 2.68418364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.854839173 meters Centerline goodness [0,1] 0.6880672756270843 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.21, Z:2.68 [[ 0.94260263 -0.16701491 -0.28914754 -4.38501811] [ 0.17738492 0.98409235 0.00984064 -2.21425341] [ 0.28290435 -0.06056622 0.95723396 2.68153951] [ 0. 0. 0. 1. ]] SLAMing on 22.884839173 meters Centerline goodness [0,1] 0.6912332665447048 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.22, Z:2.68 [[ 0.94329838 -0.1619587 -0.28975428 -4.38481067] [ 0.17347835 0.98473324 0.01434227 -2.21589576] [ 0.28300782 -0.06379513 0.9569936 2.68092273] [ 0. 0. 0. 1. ]] SLAMing on 22.914839173 meters Centerline goodness [0,1] 0.6810900226362528 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.22, Z:2.68 [[ 0.94331892 -0.16270907 -0.28926661 -4.38738356] [ 0.17410872 0.98462777 0.0139393 -2.21648912] [ 0.28255189 -0.06351304 0.95714708 2.68192387] [ 0. 0. 0. 1. ]] SLAMing on 22.944839173 meters Centerline goodness [0,1] 0.7174680637290082 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.22, Z:2.68 [[ 0.94250733 -0.17006177 -0.2876785 -4.39284563] [ 0.18021934 0.98358531 0.00899544 -2.22050969] [ 0.28142657 -0.0603235 0.95768479 2.68450898] [ 0. 0. 0. 1. ]] SLAMing on 22.974839173 meters Centerline goodness [0,1] 0.7325336819964754 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.22, Z:2.68 [[ 9.40963695e-01 -1.79457002e-01 -2.87023533e-01 -4.39053922e+00] [ 1.87925674e-01 9.82181231e-01 1.99264867e-03 -2.22294008e+00] [ 2.81551532e-01 -5.58141009e-02 9.57921459e-01 2.68423273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.004839173 meters Centerline goodness [0,1] 0.7342928236159023 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.23, Z:2.68 [[ 9.40225368e-01 -1.83710287e-01 -2.86752135e-01 -4.38857793e+00] [ 1.91341831e-01 9.81522413e-01 -1.43441297e-03 -2.22555776e+00] [ 2.81717164e-01 -5.35190070e-02 9.58003735e-01 2.68437903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.034839172999998 meters Centerline goodness [0,1] 0.732905027932961 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.23, Z:2.69 [[ 0.93929941 -0.1915189 -0.28467021 -4.38980222] [ 0.19751105 0.98026969 -0.00779205 -2.23124114] [ 0.28054591 -0.04890645 0.95859384 2.68549607] [ 0. 0. 0. 1. ]] SLAMing on 23.064839173 meters Centerline goodness [0,1] 0.7362116991643455 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.23, Z:2.69 [[ 0.93905167 -0.19362641 -0.28406122 -4.39376147] [ 0.19942574 0.97987472 -0.00865503 -2.23368507] [ 0.28002025 -0.0485216 0.95876708 2.6871633 ] [ 0. 0. 0. 1. ]] SLAMing on 23.094839173 meters Centerline goodness [0,1] 0.7342930847965383 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.24, Z:2.69 [[ 0.9388857 -0.19520719 -0.28352741 -4.39723344] [ 0.20114197 0.9795267 -0.00832843 -2.23590404] [ 0.27934843 -0.04920982 0.95892797 2.68742666] [ 0. 0. 0. 1. ]] SLAMing on 23.124839172999998 meters Centerline goodness [0,1] 0.732314845566257 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.24, Z:2.69 [[ 0.93883646 -0.19514457 -0.28373349 -4.39740349] [ 0.20119913 0.97951813 -0.00794607 -2.23776628] [ 0.27947273 -0.04962687 0.95887026 2.68797595] [ 0. 0. 0. 1. ]] SLAMing on 23.154839173 meters Centerline goodness [0,1] 0.734537221117738 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.24, Z:2.69 [[ 0.93881639 -0.19565971 -0.28344498 -4.39924717] [ 0.20174724 0.97940611 -0.00785587 -2.24011128] [ 0.27914483 -0.04980902 0.95895632 2.68884523] [ 0. 0. 0. 1. ]] SLAMing on 23.184839173 meters Centerline goodness [0,1] 0.7342427479661435 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.24, Z:2.69 [[ 0.93884095 -0.19576895 -0.28328818 -4.40078346] [ 0.20190847 0.97937441 -0.00766413 -2.24416498] [ 0.27894559 -0.05000288 0.95900421 2.69043682] [ 0. 0. 0. 1. ]] SLAMing on 23.214839172999998 meters Centerline goodness [0,1] 0.7352892923548069 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.25, Z:2.69 [[ 0.9386592 -0.1950406 -0.28439069 -4.39083338] [ 0.20110913 0.97953614 -0.0080044 -2.24669251] [ 0.28013214 -0.04968016 0.95867506 2.68764381] [ 0. 0. 0. 1. ]] SLAMing on 23.244839173 meters Centerline goodness [0,1] 0.7349246231155779 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.25, Z:2.69 [[ 0.93868322 -0.19404509 -0.28499178 -4.38807313] [ 0.2002999 0.97970721 -0.00733079 -2.24803841] [ 0.28063101 -0.05020253 0.95850193 2.68702507] [ 0. 0. 0. 1. ]] SLAMing on 23.274839173 meters Centerline goodness [0,1] 0.7344188964350981 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.25, Z:2.69 [[ 0.93872226 -0.19386965 -0.28498258 -4.38863314] [ 0.20002393 0.97976118 -0.00764623 -2.24759532] [ 0.28069724 -0.04982565 0.9585022 2.68803619] [ 0. 0. 0. 1. ]] SLAMing on 23.304839172999998 meters Centerline goodness [0,1] 0.7354893338067794 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.25, Z:2.69 [[ 9.39454349e-01 -1.90011787e-01 -2.85168453e-01 -4.39130270e+00] [ 1.97020874e-01 9.80390359e-01 -4.18562450e-03 -2.24706906e+00] [ 2.80371720e-01 -5.22519346e-02 9.58468275e-01 2.68842301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.334839173 meters Centerline goodness [0,1] 0.7378472699293781 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.24, Z:2.69 [[ 9.40089313e-01 -1.87286516e-01 -2.84878648e-01 -4.39747360e+00] [ 1.94816666e-01 9.80837756e-01 -1.93984315e-03 -2.24332473e+00] [ 2.79783040e-01 -5.36754826e-02 9.58561627e-01 2.69048359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.364839173 meters Centerline goodness [0,1] 0.7370676629762918 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.24, Z:2.69 [[ 9.40104628e-01 -1.86481423e-01 -2.85355859e-01 -4.39504000e+00] [ 1.94201416e-01 9.80960859e-01 -1.26623271e-03 -2.24499009e+00] [ 2.80159058e-01 -5.42261207e-02 9.58420800e-01 2.68982485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.394839172999998 meters Centerline goodness [0,1] 0.7361870483831086 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.25, Z:2.69 [[ 9.40126851e-01 -1.85784438e-01 -2.85737023e-01 -4.39225770e+00] [ 1.93776362e-01 9.81045679e-01 -3.10282139e-04 -2.24750611e+00] [ 2.80378718e-01 -5.50773764e-02 9.58308018e-01 2.68837692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.424839173 meters Centerline goodness [0,1] 0.7345743224746784 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.25, Z:2.69 [[ 9.39403272e-01 -1.89619128e-01 -2.85597758e-01 -4.38948768e+00] [ 1.96741800e-01 9.80447882e-01 -3.82279492e-03 -2.24744421e+00] [ 2.80738592e-01 -5.25978709e-02 9.58341957e-01 2.68793694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.454839173 meters Centerline goodness [0,1] 0.7358444317346189 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.25, Z:2.69 [[ 0.9385936 -0.1938679 -0.28540724 -4.38691347] [ 0.20012891 0.97974192 -0.0073607 -2.247028 ] [ 0.28105245 -0.05020954 0.95837807 2.68715013] [ 0. 0. 0. 1. ]] SLAMing on 23.484839173 meters Centerline goodness [0,1] 0.738577228019508 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.25, Z:2.69 [[ 0.93851205 -0.19435213 -0.28534606 -4.38673633] [ 0.20070628 0.97962571 -0.00710393 -2.24829523] [ 0.280913 -0.05060362 0.95839822 2.68637783] [ 0. 0. 0. 1. ]] SLAMing on 23.514839173 meters Centerline goodness [0,1] 0.732821123255059 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.25, Z:2.69 [[ 0.93764148 -0.2005816 -0.28389342 -4.38967845] [ 0.20568381 0.97854434 -0.01204789 -2.24800863] [ 0.28021889 -0.04709568 0.95878015 2.68763418] [ 0. 0. 0. 1. ]] SLAMing on 23.544839173 meters Centerline goodness [0,1] 0.7320367368989735 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.25, Z:2.69 [[ 0.93760917 -0.20145736 -0.28337957 -4.39139796] [ 0.20650433 0.97836865 -0.01227755 -2.24958556] [ 0.27972309 -0.04700756 0.95892924 2.68780809] [ 0. 0. 0. 1. ]] SLAMing on 23.574839173 meters Centerline goodness [0,1] 0.7314290316518564 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.25, Z:2.69 [[ 0.93677595 -0.20523031 -0.28342785 -4.38767956] [ 0.20954861 0.97767783 -0.01534437 -2.25121099] [ 0.28025025 -0.04501767 0.9588708 2.68702455] [ 0. 0. 0. 1. ]] SLAMing on 23.604839173 meters Centerline goodness [0,1] 0.7323807736643165 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.25, Z:2.69 [[ 0.93678891 -0.20446243 -0.28393951 -4.38527739] [ 0.20900783 0.97780588 -0.01453953 -2.25345001] [ 0.28061051 -0.04572511 0.95873195 2.68633983] [ 0. 0. 0. 1. ]] SLAMing on 23.634839173 meters Centerline goodness [0,1] 0.7367131749920119 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.26, Z:2.69 [[ 0.93769964 -0.19847857 -0.28517651 -4.38421685] [ 0.20415053 0.97888826 -0.01001647 -2.25528227] [ 0.28114399 -0.04882649 0.95842268 2.6869798 ] [ 0. 0. 0. 1. ]] SLAMing on 23.664839173 meters Centerline goodness [0,1] 0.7412659046797498 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.26, Z:2.69 [[ 9.39376943e-01 -1.88475234e-01 -2.86440301e-01 -4.38629241e+00] [ 1.96102942e-01 9.80581072e-01 -2.09699844e-03 -2.25531560e+00] [ 2.81273170e-01 -5.42019138e-02 9.58095797e-01 2.68803851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.694839173 meters Centerline goodness [0,1] 0.7426210472306987 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.26, Z:2.69 [[ 9.40077104e-01 -1.84534970e-01 -2.86708707e-01 -4.38958342e+00] [ 1.93041607e-01 9.81189528e-01 1.43077272e-03 -2.25701192e+00] [ 2.81051554e-01 -5.66917464e-02 9.58016738e-01 2.68967395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.724839173 meters Centerline goodness [0,1] 0.7408912329799258 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.26, Z:2.69 [[ 9.39987099e-01 -1.84667905e-01 -2.86918138e-01 -4.39053111e+00] [ 1.93139711e-01 9.81170471e-01 1.24823487e-03 -2.25814493e+00] [ 2.81285096e-01 -5.65886110e-02 9.57954291e-01 2.69131317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.754839173 meters Centerline goodness [0,1] 0.7415943891208909 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.26, Z:2.69 [[ 9.39174789e-01 -1.88712361e-01 -2.86946615e-01 -4.38790877e+00] [ 1.96503400e-01 9.80501706e-01 -1.67889200e-03 -2.26216582e+00] [ 2.81668473e-01 -5.48092125e-02 9.57945104e-01 2.69142174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.784839172999998 meters Centerline goodness [0,1] 0.7377905596158413 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.27, Z:2.69 [[ 0.93747517 -0.19795725 -0.28627475 -4.38392346] [ 0.2042005 0.97889477 -0.00819638 -2.26788945] [ 0.28185539 -0.05077354 0.95811251 2.69030503] [ 0. 0. 0. 1. ]] SLAMing on 23.814839173 meters Centerline goodness [0,1] 0.7377905596158413 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.27, Z:2.69 [[ 0.93747517 -0.19795725 -0.28627475 -4.38392346] [ 0.2042005 0.97889477 -0.00819638 -2.26788945] [ 0.28185539 -0.05077354 0.95811251 2.69030503] [ 0. 0. 0. 1. ]] SLAMing on 23.844839173 meters Centerline goodness [0,1] 0.7339381985535831 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.27, Z:2.69 [[ 0.93667287 -0.20222642 -0.28591678 -4.38159136] [ 0.2077065 0.97812516 -0.01136593 -2.27098623] [ 0.28196089 -0.04874062 0.95818704 2.6897858 ] [ 0. 0. 0. 1. ]] SLAMing on 23.874839172999998 meters Centerline goodness [0,1] 0.7308370958534434 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.28, Z:2.69 [[ 0.93590665 -0.20528211 -0.28624815 -4.37578762] [ 0.21038705 0.97752961 -0.01315888 -2.27588596] [ 0.28251732 -0.04790742 0.95806516 2.68757306] [ 0. 0. 0. 1. ]] SLAMing on 23.904839173 meters Centerline goodness [0,1] 0.7352010253995658 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.27, Z:2.69 [[ 0.93591108 -0.20461622 -0.28671004 -4.37358493] [ 0.20976423 0.97766565 -0.01299425 -2.27454018] [ 0.28296539 -0.04798005 0.95792928 2.68683177] [ 0. 0. 0. 1. ]] SLAMing on 23.934839173 meters Centerline goodness [0,1] 0.7335062621181156 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.27, Z:2.69 [[ 0.93591829 -0.20431904 -0.28689838 -4.37341797] [ 0.20937712 0.97774469 -0.01328686 -2.27306583] [ 0.28322813 -0.04763454 0.95786887 2.68740104] [ 0. 0. 0. 1. ]] SLAMing on 23.964839172999998 meters Centerline goodness [0,1] 0.736866902237927 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.28, Z:2.69 [[ 0.9363895 -0.20273548 -0.28648391 -4.38003568] [ 0.20814905 0.97802629 -0.01177044 -2.27569651] [ 0.28257508 -0.04860963 0.95801275 2.69119057] [ 0. 0. 0. 1. ]] SLAMing on 23.994839173 meters Centerline goodness [0,1] 0.7346576522488188 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.28, Z:2.70 [[ 0.93635767 -0.20637216 -0.28398034 -4.39501913] [ 0.21165042 0.97726771 -0.01232604 -2.27854184] [ 0.28006857 -0.04856297 0.95875087 2.69565606] [ 0. 0. 0. 1. ]] SLAMing on 24.024839173 meters Centerline goodness [0,1] 0.729111284857962 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.28, Z:2.70 [[ 0.93613208 -0.20916202 -0.28267998 -4.40153224] [ 0.21410932 0.97671441 -0.01364424 -2.2801267 ] [ 0.27895146 -0.04775161 0.95911723 2.69798899] [ 0. 0. 0. 1. ]] SLAMing on 24.054839172999998 meters Centerline goodness [0,1] 0.7211513482620668 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.28, Z:2.70 [[ 0.93589672 -0.21119759 -0.28194487 -4.40722149] [ 0.21592856 0.97630058 -0.01456135 -2.28173043] [ 0.27833826 -0.04725203 0.9593201 2.70097531] [ 0. 0. 0. 1. ]] SLAMing on 24.084839173 meters Centerline goodness [0,1] 0.7270540771200249 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.28, Z:2.70 [[ 0.93591333 -0.21017404 -0.2826537 -4.40478434] [ 0.21497682 0.97651464 -0.01428729 -2.28044034] [ 0.2790183 -0.04739233 0.95911561 2.7007434 ] [ 0. 0. 0. 1. ]] SLAMing on 24.114839173 meters Centerline goodness [0,1] 0.7333402857440818 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.28, Z:2.70 [[ 0.93675483 -0.20444062 -0.28406764 -4.40205185] [ 0.21037561 0.97757147 -0.00980381 -2.28159272] [ 0.27970072 -0.05057714 0.95875412 2.69998224] [ 0. 0. 0. 1. ]] SLAMing on 24.144839172999998 meters Centerline goodness [0,1] 0.738751889891038 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.29, Z:2.69 [[ 0.94000857 -0.19694433 -0.27856207 -4.40471369] [ 0.20279905 0.97918816 -0.00794332 -2.28590479] [ 0.27432907 -0.04902534 0.96038538 2.69269719] [ 0. 0. 0. 1. ]] SLAMing on 24.174839173 meters Centerline goodness [0,1] 0.7416405501307985 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.29, Z:2.69 [[ 0.94012839 -0.19528396 -0.2793256 -4.40042843] [ 0.20135299 0.97949306 -0.00709433 -2.28708341] [ 0.2749829 -0.04957346 0.96017023 2.69145979] [ 0. 0. 0. 1. ]] SLAMing on 24.204839173 meters Centerline goodness [0,1] 0.7392221180880975 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.29, Z:2.69 [[ 0.94012143 -0.19510898 -0.27947124 -4.39966049] [ 0.20128331 0.97950996 -0.00672853 -2.28838352] [ 0.27505766 -0.04992726 0.96013049 2.69113676] [ 0. 0. 0. 1. ]] SLAMing on 24.234839173 meters Centerline goodness [0,1] 0.7381330969944999 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.29, Z:2.69 [[ 0.94002633 -0.19623001 -0.27900589 -4.40214204] [ 0.20233725 0.97929061 -0.00703881 -2.28982972] [ 0.27460907 -0.04983661 0.96026359 2.69202252] [ 0. 0. 0. 1. ]] SLAMing on 24.264839173 meters Centerline goodness [0,1] 0.7373897661351161 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.29, Z:2.69 [[ 0.93993341 -0.19696102 -0.27880377 -4.4037215 ] [ 0.20286225 0.97917599 -0.00782806 -2.2876124 ] [ 0.27453978 -0.04920091 0.96031619 2.69275846] [ 0. 0. 0. 1. ]] SLAMing on 24.294839173 meters Centerline goodness [0,1] 0.7395569702820466 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.29, Z:2.69 [[ 0.93980795 -0.19774575 -0.27867118 -4.40552612] [ 0.20342085 0.97905266 -0.0087091 -2.2851372 ] [ 0.27455595 -0.04850264 0.96034709 2.69382379] [ 0. 0. 0. 1. ]] SLAMing on 24.324839173 meters Centerline goodness [0,1] 0.7388932393630906 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.28, Z:2.69 [[ 0.93973485 -0.19826149 -0.27855124 -4.40576767] [ 0.20386491 0.97895754 -0.00901315 -2.2838588 ] [ 0.2744768 -0.04831686 0.96037908 2.69337199] [ 0. 0. 0. 1. ]] SLAMing on 24.354839173 meters Centerline goodness [0,1] 0.7372300799666589 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.28, Z:2.69 [[ 0.9396626 -0.19880447 -0.27840794 -4.4061736 ] [ 0.20437671 0.97884931 -0.00917528 -2.28397423] [ 0.2743435 -0.04827843 0.96041909 2.69316191] [ 0. 0. 0. 1. ]] SLAMing on 24.384839173 meters Centerline goodness [0,1] 0.7364697282197217 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.28, Z:2.69 [[ 0.93964342 -0.1991473 -0.27822758 -4.40567027] [ 0.20465277 0.97878925 -0.00942611 -2.2824716 ] [ 0.27420335 -0.04808286 0.96046893 2.69202121] [ 0. 0. 0. 1. ]] SLAMing on 24.414839173 meters Centerline goodness [0,1] 0.7357445251659436 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.28, Z:2.69 [[ 0.93963046 -0.1993108 -0.27815428 -4.40536618] [ 0.20474525 0.97876738 -0.00968542 -2.28125456] [ 0.27417874 -0.04785006 0.96048758 2.69151039] [ 0. 0. 0. 1. ]] SLAMing on 24.444839173 meters Centerline goodness [0,1] 0.7385377618161324 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.28, Z:2.69 [[ 0.93953759 -0.20085418 -0.27735665 -4.4092028 ] [ 0.2057433 0.97853629 -0.01168005 -2.2765335 ] [ 0.27374954 -0.04609043 0.96069603 2.69310423] [ 0. 0. 0. 1. ]] SLAMing on 24.474839173 meters Centerline goodness [0,1] 0.7395103518853814 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.28, Z:2.69 [[ 0.93948339 -0.20096218 -0.27746201 -4.40895442] [ 0.20573965 0.97853188 -0.01210586 -2.27506643] [ 0.27393824 -0.04571169 0.96066034 2.69321621] [ 0. 0. 0. 1. ]] SLAMing on 24.504839173 meters Centerline goodness [0,1] 0.7386912258606213 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.27, Z:2.69 [[ 0.93827161 -0.19831512 -0.28340341 -4.40609283] [ 0.19997301 0.97952249 -0.02337701 -2.2725305 ] [ 0.28223603 -0.03473905 0.95871582 2.69288623] [ 0. 0. 0. 1. ]] SLAMing on 24.534839172999998 meters Centerline goodness [0,1] 0.7394531147195831 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.27, Z:2.69 [[ 0.93836904 -0.19705749 -0.28395754 -4.40217481] [ 0.19883877 0.97976599 -0.02284172 -2.27167376] [ 0.28271307 -0.0350278 0.95856475 2.69106665] [ 0. 0. 0. 1. ]] SLAMing on 24.564839173 meters Centerline goodness [0,1] 0.7437367303609341 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.27, Z:2.69 [[ 0.93907962 -0.19421749 -0.28356485 -4.4077601 ] [ 0.19645176 0.98029225 -0.02082788 -2.26511647] [ 0.28202157 -0.03614777 0.95872685 2.69221008] [ 0. 0. 0. 1. ]] SLAMing on 24.594839173 meters Centerline goodness [0,1] 0.7411683336880187 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.26, Z:2.69 [[ 0.93892754 -0.19605361 -0.28280393 -4.41270754] [ 0.19772473 0.97998964 -0.02291804 -2.26020914] [ 0.28163809 -0.03439895 0.95890391 2.69470204] [ 0. 0. 0. 1. ]] SLAMing on 24.624839172999998 meters Centerline goodness [0,1] 0.7381549461103405 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.26, Z:2.70 [[ 0.93829256 -0.20230297 -0.28050061 -4.4241805 ] [ 0.20291946 0.97881852 -0.02716598 -2.25894917] [ 0.28005495 -0.0314294 0.95946934 2.69876732] [ 0. 0. 0. 1. ]] SLAMing on 24.654839173 meters Centerline goodness [0,1] 0.7386297143465078 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.26, Z:2.70 [[ 0.93745105 -0.20737446 -0.2796093 -4.42441801] [ 0.2069226 0.9778508 -0.03147777 -2.25887179] [ 0.27994387 -0.02834861 0.95959772 2.69925384] [ 0. 0. 0. 1. ]] SLAMing on 24.684839173 meters Centerline goodness [0,1] 0.7349044653224955 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.26, Z:2.70 [[ 0.9357559 -0.21617506 -0.27862023 -4.42003971] [ 0.21391893 0.97607808 -0.03886235 -2.25894734] [ 0.28035617 -0.02323647 0.95961476 2.69762281] [ 0. 0. 0. 1. ]] SLAMing on 24.714839172999998 meters Centerline goodness [0,1] 0.7248336326185698 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.25, Z:2.70 [[ 0.93548041 -0.21884806 -0.27745616 -4.42475039] [ 0.21620342 0.97550842 -0.0404895 -2.25477029] [ 0.27952187 -0.02210984 0.95988472 2.69778422] [ 0. 0. 0. 1. ]] SLAMing on 24.744839173 meters Centerline goodness [0,1] 0.729423950282846 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.25, Z:2.70 [[ 0.93599921 -0.21651492 -0.27753697 -4.42865028] [ 0.2145666 0.97597917 -0.03776031 -2.25442997] [ 0.27904597 -0.02420655 0.9599726 2.6983997 ] [ 0. 0. 0. 1. ]] SLAMing on 24.774839173 meters Centerline goodness [0,1] 0.7258271763572117 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.25, Z:2.70 [[ 0.93585597 -0.21790906 -0.27692824 -4.4320621 ] [ 0.21562586 0.97569437 -0.03906389 -2.25181277] [ 0.2787097 -0.02315471 0.96009623 2.69977803] [ 0. 0. 0. 1. ]] SLAMing on 24.804839172999998 meters Centerline goodness [0,1] 0.7186296425974306 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.25, Z:2.70 [[ 0.9364571 -0.21575014 -0.27658628 -4.43783763] [ 0.21397484 0.97613952 -0.0369649 -2.24924944] [ 0.27796198 -0.02456646 0.96027789 2.70118757] [ 0. 0. 0. 1. ]] SLAMing on 24.834839173 meters Centerline goodness [0,1] 0.7116013734555384 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.25, Z:2.70 [[ 0.93632212 -0.21702819 -0.27604285 -4.44089775] [ 0.21496515 0.97587836 -0.03809733 -2.24770594] [ 0.27765244 -0.02366822 0.96038999 2.70251627] [ 0. 0. 0. 1. ]] SLAMing on 24.864839173 meters Centerline goodness [0,1] 0.7027587693302441 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.25, Z:2.70 [[ 0.93526704 -0.22336674 -0.2745594 -4.44398064] [ 0.22002559 0.97453153 -0.04332486 -2.2463113 ] [ 0.27724412 -0.01988978 0.96059361 2.70402114] [ 0. 0. 0. 1. ]] SLAMing on 24.894839172999998 meters Centerline goodness [0,1] 0.6785435140015632 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.25, Z:2.70 [[ 0.9352786 -0.22324201 -0.27462146 -4.44284019] [ 0.21998967 0.97455386 -0.04300368 -2.24687671] [ 0.27723363 -0.02019346 0.96059031 2.70300791] [ 0. 0. 0. 1. ]] SLAMing on 24.924839173 meters Centerline goodness [0,1] 0.6996274700356333 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.25, Z:2.70 [[ 0.93531552 -0.22318486 -0.27454218 -4.44238856] [ 0.21985666 0.97457288 -0.04325224 -2.24571934] [ 0.2772146 -0.01990544 0.96060181 2.70258249] [ 0. 0. 0. 1. ]] SLAMing on 24.954839173 meters Centerline goodness [0,1] 0.7127530528075047 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.24, Z:2.70 [[ 0.93529666 -0.22324665 -0.27455615 -4.44297147] [ 0.21975917 0.97456977 -0.04381408 -2.2440054 ] [ 0.27735547 -0.01935707 0.96057235 2.70340227] [ 0. 0. 0. 1. ]] SLAMing on 24.984839173 meters Centerline goodness [0,1] 0.7326317498106265 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.24, Z:2.70 [[ 0.93614591 -0.21802803 -0.27585253 -4.44282653] [ 0.21534156 0.97570348 -0.0403824 -2.24144097] [ 0.27795477 -0.0215987 0.96035131 2.70451667] [ 0. 0. 0. 1. ]] SLAMing on 25.014839173 meters Centerline goodness [0,1] 0.7377080284057028 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.24, Z:2.70 [[ 0.93701931 -0.21317352 -0.27668005 -4.44298042] [ 0.21148916 0.97670668 -0.03628226 -2.24269194] [ 0.27796967 -0.02451765 0.96027691 2.70453992] [ 0. 0. 0. 1. ]] SLAMing on 25.044839173 meters Centerline goodness [0,1] 0.7403458056070689 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.24, Z:2.71 [[ 0.93787828 -0.20852301 -0.27731297 -4.44388715] [ 0.20774697 0.97764173 -0.03252437 -2.2440473 ] [ 0.27789481 -0.02710703 0.96022897 2.70509468] [ 0. 0. 0. 1. ]] SLAMing on 25.074839173 meters Centerline goodness [0,1] 0.7430791382542312 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.24, Z:2.71 [[ 0.9378479 -0.20843328 -0.27748312 -4.4438625 ] [ 0.20748938 0.97767685 -0.03310801 -2.24231177] [ 0.27818964 -0.02652452 0.96015987 2.70592519] [ 0. 0. 0. 1. ]] SLAMing on 25.104839173 meters Centerline goodness [0,1] 0.7498970034881485 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.24, Z:2.70 [[ 0.93895735 -0.20174762 -0.27867005 -4.43879145] [ 0.20189984 0.97899227 -0.02847102 -2.24218717] [ 0.27855979 -0.02953036 0.95996479 2.70358286] [ 0. 0. 0. 1. ]] SLAMing on 25.134839173 meters Centerline goodness [0,1] 0.7539927304769247 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.24, Z:2.70 [[ 0.94005502 -0.19549234 -0.27942674 -4.43282083] [ 0.19675604 0.98016335 -0.02380921 -2.24247459] [ 0.27853837 -0.03259693 0.95987177 2.69964924] [ 0. 0. 0. 1. ]] SLAMing on 25.164839173 meters Centerline goodness [0,1] 0.7573053512903137 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.24, Z:2.70 [[ 0.9408145 -0.19066197 -0.28020722 -4.43235694] [ 0.19295932 0.98101024 -0.01963694 -2.24357144] [ 0.27863017 -0.03559388 0.95973867 2.69905797] [ 0. 0. 0. 1. ]] SLAMing on 25.194839173 meters Centerline goodness [0,1] 0.7551054337886891 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.24, Z:2.70 [[ 0.94155962 -0.18577339 -0.28098706 -4.43207702] [ 0.18901094 0.98184806 -0.01578783 -2.24307631] [ 0.27881956 -0.03824445 0.95958169 2.69878083] [ 0. 0. 0. 1. ]] SLAMing on 25.224839173 meters Centerline goodness [0,1] 0.7540417953641094 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.24, Z:2.70 [[ 0.94226487 -0.18255066 -0.28073506 -4.43648495] [ 0.18648747 0.98237308 -0.01286717 -2.24254344] [ 0.27813547 -0.04022929 0.95969905 2.69985312] [ 0. 0. 0. 1. ]] SLAMing on 25.254839173 meters Centerline goodness [0,1] 0.7527633154216666 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.24, Z:2.70 [[ 0.94223466 -0.18279433 -0.28067788 -4.43720829] [ 0.18675464 0.98232303 -0.01281322 -2.24455294] [ 0.27805853 -0.04034484 0.95971649 2.70048442] [ 0. 0. 0. 1. ]] SLAMing on 25.284839172999998 meters Centerline goodness [0,1] 0.7521115803511892 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.25, Z:2.70 [[ 0.94229174 -0.18175154 -0.28116303 -4.43494437] [ 0.18584793 0.98250198 -0.01226434 -2.24724354] [ 0.2784723 -0.04069698 0.95958165 2.70058064] [ 0. 0. 0. 1. ]] SLAMing on 25.314839173 meters Centerline goodness [0,1] 0.74945048830027 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.25, Z:2.70 [[ 0.94230395 -0.18116579 -0.28149994 -4.43379335] [ 0.18529308 0.98260852 -0.0121231 -2.24729241] [ 0.27880053 -0.04073635 0.95948466 2.70074173] [ 0. 0. 0. 1. ]] SLAMing on 25.344839173 meters Centerline goodness [0,1] 0.7429948192301264 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.25, Z:2.70 [[ 0.94247113 -0.17950677 -0.28200262 -4.43054898] [ 0.18375467 0.98290439 -0.01154073 -2.24630751] [ 0.27925326 -0.04094249 0.95934422 2.69973708] [ 0. 0. 0. 1. ]] SLAMing on 25.374839172999998 meters Centerline goodness [0,1] 0.7398513278249095 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.25, Z:2.70 [[ 0.94182483 -0.18379136 -0.28140136 -4.42950997] [ 0.18715977 0.98221335 -0.01510515 -2.24957323] [ 0.27917236 -0.03844061 0.95947127 2.70012182] [ 0. 0. 0. 1. ]] SLAMing on 25.404839173 meters Centerline goodness [0,1] 0.7411604965639548 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.25, Z:2.70 [[ 0.94108273 -0.18864578 -0.28067076 -4.42976901] [ 0.1909923 0.9814031 -0.01923249 -2.25020943] [ 0.27907928 -0.03550659 0.9596114 2.70094552] [ 0. 0. 0. 1. ]] SLAMing on 25.434839173 meters Centerline goodness [0,1] 0.7402353978885856 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.25, Z:2.70 [[ 0.94029975 -0.19422442 -0.27948748 -4.43260144] [ 0.19552184 0.98041741 -0.02351399 -2.25298409] [ 0.27858138 -0.03253571 0.95986137 2.70295488] [ 0. 0. 0. 1. ]] SLAMing on 25.464839172999998 meters Centerline goodness [0,1] 0.7400582225639899 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.25, Z:2.70 [[ 0.94024868 -0.19528655 -0.27891859 -4.43527766] [ 0.1965495 0.98020696 -0.02371958 -2.2545775 ] [ 0.27803006 -0.032519 0.96002177 2.70358445] [ 0. 0. 0. 1. ]] SLAMing on 25.494839173 meters Centerline goodness [0,1] 0.7408792235999231 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.25, Z:2.70 [[ 0.94015435 -0.19609573 -0.27866872 -4.43659191] [ 0.19732047 0.98004669 -0.02393979 -2.25485297] [ 0.27780284 -0.03247994 0.96008887 2.70374632] [ 0. 0. 0. 1. ]] SLAMing on 25.524839173 meters Centerline goodness [0,1] 0.7410373865101352 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.25, Z:2.70 [[ 0.9400972 -0.19593138 -0.27897698 -4.43539963] [ 0.19723124 0.98007063 -0.02369391 -2.25397941] [ 0.27805953 -0.0327484 0.96000544 2.7030448 ] [ 0. 0. 0. 1. ]] SLAMing on 25.554839172999998 meters Centerline goodness [0,1] 0.7439335362342683 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.26, Z:2.70 [[ 0.94008242 -0.19557097 -0.27927948 -4.43445083] [ 0.19695896 0.98013306 -0.02337414 -2.25511413] [ 0.27830236 -0.03303298 0.95992532 2.70311959] [ 0. 0. 0. 1. ]] SLAMing on 25.584839173 meters Centerline goodness [0,1] 0.7545004128819157 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.26, Z:2.70 [[ 0.94007295 -0.1960603 -0.2789681 -4.4353576 ] [ 0.1974655 0.98003176 -0.02334799 -2.2582708 ] [ 0.27797521 -0.03313776 0.96001649 2.7034784 ] [ 0. 0. 0. 1. ]] SLAMing on 25.614839173 meters Centerline goodness [0,1] 0.7388295715637248 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.26, Z:2.71 [[ 0.93977503 -0.19981169 -0.27730522 -4.4422928 ] [ 0.20069617 0.97932166 -0.02549775 -2.25923214] [ 0.27666576 -0.03169194 0.96044348 2.70579179] [ 0. 0. 0. 1. ]] SLAMing on 25.644839172999998 meters Centerline goodness [0,1] 0.7406864342348214 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.26, Z:2.71 [[ 0.93971321 -0.20044129 -0.27706023 -4.44381785] [ 0.20118902 0.97920638 -0.02603554 -2.25897698] [ 0.27651774 -0.03127554 0.96049976 2.70655163] [ 0. 0. 0. 1. ]] SLAMing on 25.674839173 meters Centerline goodness [0,1] 0.7398217623317171 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.26, Z:2.71 [[ 0.93971192 -0.20048911 -0.27703 -4.44354965] [ 0.20120128 0.97920048 -0.02616249 -2.25923742] [ 0.27651321 -0.03115359 0.96050502 2.70644879] [ 0. 0. 0. 1. ]] SLAMing on 25.704839173 meters Centerline goodness [0,1] 0.7398217623317171 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.26, Z:2.71 [[ 0.93971192 -0.20048911 -0.27703 -4.44354965] [ 0.20120128 0.97920048 -0.02616249 -2.25923742] [ 0.27651321 -0.03115359 0.96050502 2.70644879] [ 0. 0. 0. 1. ]] SLAMing on 25.734839172999997 meters Centerline goodness [0,1] 0.7398637602179836 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.26, Z:2.71 [[ 0.94041007 -0.19682894 -0.27728552 -4.4462606 ] [ 0.19817385 0.97988608 -0.02346048 -2.25835181] [ 0.27632592 -0.03288827 0.96050109 2.70782473] [ 0. 0. 0. 1. ]] SLAMing on 25.764839173 meters Centerline goodness [0,1] 0.7421812899158512 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.25, Z:2.71 [[ 0.94098856 -0.19438758 -0.27704513 -4.45315134] [ 0.19612954 0.98033802 -0.0216928 -2.25468985] [ 0.27581469 -0.03392405 0.960612 2.71105422] [ 0. 0. 0. 1. ]] SLAMing on 25.794839173 meters Centerline goodness [0,1] 0.7413826146475018 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.25, Z:2.71 [[ 0.94099367 -0.19383798 -0.27741262 -4.45181665] [ 0.19561339 0.98044443 -0.02154339 -2.25435349] [ 0.27616358 -0.03399343 0.9605093 2.71101266] [ 0. 0. 0. 1. ]] SLAMing on 25.824839173 meters Centerline goodness [0,1] 0.7429297392841361 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.25, Z:2.71 [[ 0.9419531 -0.18737106 -0.27859726 -4.44886972] [ 0.19014589 0.98160367 -0.0172852 -2.25228919] [ 0.27671084 -0.03669227 0.96025246 2.71000349] [ 0. 0. 0. 1. ]] SLAMing on 25.854839173 meters Centerline goodness [0,1] 0.7459725330901655 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.25, Z:2.71 [[ 0.94238443 -0.18565478 -0.27828743 -4.45139709] [ 0.18866884 0.98190779 -0.01616062 -2.25197895] [ 0.27625289 -0.03727465 0.96036188 2.7110369 ] [ 0. 0. 0. 1. ]] SLAMing on 25.884839173 meters Centerline goodness [0,1] 0.7463569749758053 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.25, Z:2.71 [[ 0.94235151 -0.1858207 -0.27828815 -4.45195682] [ 0.18867431 0.98189699 -0.01674258 -2.25028986] [ 0.27636141 -0.03672843 0.9603517 2.71172157] [ 0. 0. 0. 1. ]] SLAMing on 25.914839173 meters Centerline goodness [0,1] 0.7461958480002218 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.25, Z:2.71 [[ 0.94232391 -0.18609927 -0.27819545 -4.45278286] [ 0.18889953 0.98185002 -0.01695579 -2.24933846] [ 0.27630167 -0.03657315 0.96037482 2.71201137] [ 0. 0. 0. 1. ]] SLAMing on 25.944839173 meters Centerline goodness [0,1] 0.7432544052863437 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.25, Z:2.71 [[ 0.94160898 -0.19069906 -0.27750025 -4.45245962] [ 0.19254655 0.98106639 -0.02084639 -2.25005802] [ 0.27622156 -0.03380256 0.96049937 2.71236842] [ 0. 0. 0. 1. ]] SLAMing on 25.974839173 meters Centerline goodness [0,1] 0.7427705031013094 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.25, Z:2.71 [[ 0.94157783 -0.19163382 -0.27696148 -4.45455128] [ 0.19344646 0.98088531 -0.02103507 -2.25188946] [ 0.27569848 -0.03377106 0.96065075 2.71270593] [ 0. 0. 0. 1. ]] SLAMing on 26.004839173 meters Centerline goodness [0,1] 0.7411456898925916 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.25, Z:2.71 [[ 0.94158895 -0.19222986 -0.27651026 -4.45615463] [ 0.19406226 0.98076452 -0.02099507 -2.25351157] [ 0.27522733 -0.03389148 0.9607816 2.71288758] [ 0. 0. 0. 1. ]] SLAMing on 26.034839172999998 meters Centerline goodness [0,1] 0.743137471061625 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.25, Z:2.71 [[ 0.94144495 -0.19366391 -0.27599945 -4.45921897] [ 0.19533257 0.98049674 -0.02171008 -2.25198862] [ 0.27482102 -0.03347284 0.96091258 2.71363989] [ 0. 0. 0. 1. ]] SLAMing on 26.064839173 meters Centerline goodness [0,1] 0.7443159922928709 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.25, Z:2.71 [[ 0.94144514 -0.19398664 -0.27577208 -4.45996371] [ 0.19571977 0.9804241 -0.02150236 -2.25341341] [ 0.27454476 -0.03373076 0.96098252 2.7135229 ] [ 0. 0. 0. 1. ]] SLAMing on 26.094839173 meters Centerline goodness [0,1] 0.7426985740583015 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.25, Z:2.71 [[ 0.94148075 -0.19394685 -0.27567845 -4.46019165] [ 0.19570556 0.98042929 -0.02139506 -2.25450914] [ 0.27443273 -0.03380876 0.96101178 2.71364603] [ 0. 0. 0. 1. ]] SLAMing on 26.124839172999998 meters Centerline goodness [0,1] 0.7416201497617427 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.26, Z:2.72 [[ 0.94149894 -0.19465113 -0.27511941 -4.46271563] [ 0.19627453 0.98030439 -0.02189995 -2.25852286] [ 0.27396362 -0.03338016 0.9611606 2.71562193] [ 0. 0. 0. 1. ]] SLAMing on 26.154839173 meters Centerline goodness [0,1] 0.7449363978817491 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.26, Z:2.72 [[ 0.94149434 -0.19490051 -0.27495853 -4.46421039] [ 0.1965198 0.98025458 -0.02192998 -2.2605598 ] [ 0.27380352 -0.03338784 0.96120595 2.71681125] [ 0. 0. 0. 1. ]] SLAMing on 26.184839173 meters Centerline goodness [0,1] 0.7469662676229173 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.26, Z:2.72 [[ 0.9414759 -0.19480061 -0.27509243 -4.46427873] [ 0.19646909 0.98026854 -0.02175995 -2.26193977] [ 0.27390331 -0.03356069 0.9611715 2.71737417] [ 0. 0. 0. 1. ]] SLAMing on 26.214839172999998 meters Centerline goodness [0,1] 0.7464355681323465 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.26, Z:2.72 [[ 0.94137749 -0.1951293 -0.27519625 -4.46413909] [ 0.19697951 0.98017873 -0.0211831 -2.2645348 ] [ 0.27387495 -0.03426673 0.96115467 2.71707064] [ 0. 0. 0. 1. ]] SLAMing on 26.244839173 meters Centerline goodness [0,1] 0.7467834360471403 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.27, Z:2.72 [[ 0.94124631 -0.19668243 -0.27453855 -4.46732849] [ 0.19844386 0.97987347 -0.02163392 -2.26580017] [ 0.27326805 -0.03411764 0.9613327 2.71776551] [ 0. 0. 0. 1. ]] SLAMing on 26.274839173 meters Centerline goodness [0,1] 0.7437058601541862 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.27, Z:2.72 [[ 0.94022359 -0.2043203 -0.27245699 -4.47329333] [ 0.20488838 0.97842152 -0.0266849 -2.26916651] [ 0.27203005 -0.0307335 0.96179785 2.71995035] [ 0. 0. 0. 1. ]] SLAMing on 26.304839172999998 meters Centerline goodness [0,1] 0.739486326185556 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.27, Z:2.72 [[ 0.93981034 -0.20726969 -0.27165384 -4.47637543] [ 0.20738301 0.97784094 -0.02862499 -2.2713885 ] [ 0.27156734 -0.02943433 0.96196923 2.72140993] [ 0. 0. 0. 1. ]] SLAMing on 26.334839173 meters Centerline goodness [0,1] 0.7365718694298864 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.27, Z:2.72 [[ 0.93890788 -0.21277869 -0.2705129 -4.47731919] [ 0.21187816 0.97674264 -0.0328855 -2.27110394] [ 0.27121882 -0.02643932 0.96215452 2.72146798] [ 0. 0. 0. 1. ]] SLAMing on 26.364839173 meters Centerline goodness [0,1] 0.7405791671127289 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.27, Z:2.72 [[ 0.93878058 -0.21351435 -0.27037501 -4.47876197] [ 0.21241124 0.97659924 -0.03369544 -2.2693386 ] [ 0.27124249 -0.02579807 0.96216525 2.72234814] [ 0. 0. 0. 1. ]] SLAMing on 26.394839172999998 meters Centerline goodness [0,1] 0.73638326585695 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.27, Z:2.72 [[ 0.93926881 -0.21238235 -0.26956973 -4.48603107] [ 0.21171152 0.97681096 -0.03191525 -2.26710169] [ 0.2700969 -0.02709402 0.96245186 2.7236571 ] [ 0. 0. 0. 1. ]] SLAMing on 26.424839173 meters Centerline goodness [0,1] 0.7345907531007647 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.26, Z:2.72 [[ 0.93913686 -0.21371321 -0.26897699 -4.48915389] [ 0.21262782 0.97655807 -0.03352236 -2.26309068] [ 0.26983582 -0.02570991 0.96256305 2.72497169] [ 0. 0. 0. 1. ]] SLAMing on 26.454839173 meters Centerline goodness [0,1] 0.7296630614513024 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.26, Z:2.73 [[ 0.93900672 -0.21547498 -0.2680241 -4.49231108] [ 0.21408317 0.97619627 -0.03477424 -2.26286839] [ 0.2691371 -0.0247262 0.96278442 2.72556192] [ 0. 0. 0. 1. ]] SLAMing on 26.484839172999997 meters Centerline goodness [0,1] 0.7192793761763915 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.26, Z:2.73 [[ 0.93810159 -0.22044375 -0.26715157 -4.49272574] [ 0.21799439 0.97516314 -0.03918276 -2.26203482] [ 0.26915396 -0.02148013 0.9628576 2.72637127] [ 0. 0. 0. 1. ]] SLAMing on 26.514839173 meters Centerline goodness [0,1] 0.7146117480845514 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.26, Z:2.73 [[ 0.93850194 -0.22034831 -0.26582085 -4.50336545] [ 0.21823798 0.97516172 -0.03783928 -2.25734854] [ 0.26755613 -0.02249997 0.96327954 2.72814368] [ 0. 0. 0. 1. ]] SLAMing on 26.544839173 meters Centerline goodness [0,1] 0.7207383811157396 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.26, Z:2.73 [[ 0.9392251 -0.2168586 -0.26613634 -4.50577853] [ 0.21555594 0.975883 -0.03446757 -2.25677555] [ 0.26719252 -0.02499446 0.96331897 2.72822174] [ 0. 0. 0. 1. ]] SLAMing on 26.574839173 meters Centerline goodness [0,1] 0.7275606892220311 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.26, Z:2.73 [[ 0.94012033 -0.21210798 -0.26680323 -4.50574379] [ 0.21163305 0.97686116 -0.03088236 -2.25574832] [ 0.26718011 -0.02743125 0.9632561 2.72786025] [ 0. 0. 0. 1. ]] SLAMing on 26.604839173 meters Centerline goodness [0,1] 0.7316725978647687 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.25, Z:2.73 [[ 0.9401483 -0.2118969 -0.2668724 -4.50485378] [ 0.21137031 0.97691286 -0.03104615 -2.25466031] [ 0.26728966 -0.02722092 0.96323168 2.72745281] [ 0. 0. 0. 1. ]] SLAMing on 26.634839173 meters Centerline goodness [0,1] 0.732302928233824 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.25, Z:2.72 [[ 0.9400833 -0.21237274 -0.2667231 -4.50008502] [ 0.21159736 0.97683311 -0.03199414 -2.25347612] [ 0.26733864 -0.02636075 0.96324201 2.72464183] [ 0. 0. 0. 1. ]] SLAMing on 26.664839173 meters Centerline goodness [0,1] 0.7319460774930957 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.25, Z:2.72 [[ 0.9400943 -0.21252592 -0.26656227 -4.49956835] [ 0.21173365 0.97680142 -0.03206014 -2.25238557] [ 0.26719201 -0.02630065 0.96328433 2.7235952 ] [ 0. 0. 0. 1. ]] SLAMing on 26.694839173 meters Centerline goodness [0,1] 0.7258802137858835 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.25, Z:2.72 [[ 0.94072551 -0.21054621 -0.26590565 -4.50534679] [ 0.21025885 0.97718877 -0.02988856 -2.24689638] [ 0.26613294 -0.02779209 0.9635356 2.72343373] [ 0. 0. 0. 1. ]] SLAMing on 26.724839173 meters Centerline goodness [0,1] 0.7225619034444598 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.25, Z:2.72 [[ 0.94134397 -0.2083854 -0.26541865 -4.51116234] [ 0.20872824 0.97759411 -0.02724476 -2.24548888] [ 0.26514912 -0.02975367 0.96374824 2.72418807] [ 0. 0. 0. 1. ]] SLAMing on 26.754839173 meters Centerline goodness [0,1] 0.7222592284207605 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.24, Z:2.73 [[ 0.94134478 -0.20954304 -0.26450279 -4.51947256] [ 0.20985913 0.97734771 -0.0273971 -2.24317245] [ 0.26425206 -0.02971821 0.96399568 2.72677237] [ 0. 0. 0. 1. ]] SLAMing on 26.784839172999998 meters Centerline goodness [0,1] 0.7227059052599372 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.24, Z:2.73 [[ 0.94124978 -0.21063476 -0.26397321 -4.52224408] [ 0.21073068 0.97713466 -0.02829197 -2.24184517] [ 0.26389664 -0.02899744 0.96411499 2.72782278] [ 0. 0. 0. 1. ]] SLAMing on 26.814839173 meters Centerline goodness [0,1] 0.7069162418874126 Centerline is valid? [False, False] Translation: X:-4.53, Y:-2.24, Z:2.73 [[ 0.94105087 -0.21255575 -0.26314125 -4.52709131] [ 0.21240771 0.97674003 -0.02935778 -2.24092705] [ 0.26326076 -0.02826606 0.96431053 2.72949509] [ 0. 0. 0. 1. ]] SLAMing on 26.844839173 meters Centerline goodness [0,1] 0.6606800832755031 Centerline is valid? [False, False] Translation: X:-4.53, Y:-2.24, Z:2.73 [[ 0.94075237 -0.21406584 -0.26298439 -4.52870493] [ 0.21393652 0.97640259 -0.02948139 -2.24286816] [ 0.2630896 -0.02852728 0.96434955 2.72967419] [ 0. 0. 0. 1. ]] SLAMing on 26.874839172999998 meters Centerline goodness [0,1] 0.6622251832111925 Centerline is valid? [False, False] Translation: X:-4.53, Y:-2.25, Z:2.73 [[ 0.94079542 -0.21326534 -0.26348031 -4.52546182] [ 0.21348819 0.97654038 -0.02813687 -2.24660217] [ 0.26329978 -0.0297789 0.96425435 2.7278716 ] [ 0. 0. 0. 1. ]] SLAMing on 26.904839173 meters Centerline goodness [0,1] 0.6492913298638024 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.25, Z:2.73 [[ 0.94004104 -0.21642962 -0.26359259 -4.52120577] [ 0.21593148 0.97590905 -0.03122687 -2.24722599] [ 0.26400082 -0.0275634 0.96412853 2.72710908] [ 0. 0. 0. 1. ]] SLAMing on 26.934839173 meters Centerline goodness [0,1] 0.645726083964212 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.25, Z:2.73 [[ 0.93926776 -0.22118389 -0.2624 -4.52192708] [ 0.21974577 0.97492187 -0.03520158 -2.24861028] [ 0.26360552 -0.02459758 0.9643169 2.72765516] [ 0. 0. 0. 1. ]] SLAMing on 26.964839172999998 meters Centerline goodness [0,1] 0.6330526835422209 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.25, Z:2.73 [[ 0.93911424 -0.22251268 -0.26182542 -4.52471724] [ 0.2210161 0.97462222 -0.03554443 -2.25074127] [ 0.26308996 -0.02448736 0.96446049 2.72851184] [ 0. 0. 0. 1. ]] SLAMing on 26.994839173 meters Centerline goodness [0,1] 0.6196313970709231 Centerline is valid? [False, False] Translation: X:-4.53, Y:-2.25, Z:2.73 [[ 0.93862382 -0.22496664 -0.26148678 -4.52718914] [ 0.22333739 0.97406362 -0.03633845 -2.25377691] [ 0.2628797 -0.02429164 0.96452277 2.72935295] [ 0. 0. 0. 1. ]] SLAMing on 27.024839173 meters Centerline goodness [0,1] 0.6205699920758532 Centerline is valid? [False, False] Translation: X:-4.53, Y:-2.25, Z:2.73 [[ 0.93856793 -0.2251634 -0.26151805 -4.52714511] [ 0.22350032 0.97402047 -0.03649283 -2.25318066] [ 0.26294078 -0.02419837 0.96450847 2.72928498] [ 0. 0. 0. 1. ]] SLAMing on 27.054839172999998 meters Centerline goodness [0,1] 0.6173595474765226 Centerline is valid? [False, False] Translation: X:-4.53, Y:-2.25, Z:2.73 [[ 0.9385211 -0.22499222 -0.26183323 -4.52551428] [ 0.22334421 0.97405811 -0.03644397 -2.25132427] [ 0.26324039 -0.0242755 0.9644248 2.72822122] [ 0. 0. 0. 1. ]] SLAMing on 27.084839173 meters Centerline goodness [0,1] 0.6320107194618393 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.25, Z:2.73 [[ 0.93866676 -0.22410654 -0.26207053 -4.52247399] [ 0.222688 0.97424307 -0.03550351 -2.25441575] [ 0.26327697 -0.02503399 0.96439543 2.72655164] [ 0. 0. 0. 1. ]] SLAMing on 27.114839173 meters Centerline goodness [0,1] 0.5976893035365589 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.26, Z:2.73 [[ 0.93873869 -0.22400306 -0.26190132 -4.52221534] [ 0.22269283 0.97425747 -0.03507534 -2.25812525] [ 0.2630163 -0.02539697 0.96445706 2.72643314] [ 0. 0. 0. 1. ]] SLAMing on 27.144839172999998 meters Centerline goodness [0,1] 0.6036545749864646 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.26, Z:2.73 [[ 0.93855949 -0.22558152 -0.26118779 -4.52497827] [ 0.22411392 0.97390515 -0.03580087 -2.26168153] [ 0.26244815 -0.02493457 0.96462388 2.7276819 ] [ 0. 0. 0. 1. ]] SLAMing on 27.174839173 meters Centerline goodness [0,1] 0.6223582057364676 Centerline is valid? [False, False] Translation: X:-4.53, Y:-2.26, Z:2.73 [[ 0.93849874 -0.22688614 -0.26027446 -4.52884499] [ 0.22523057 0.9736184 -0.03658413 -2.26244967] [ 0.26170843 -0.0242876 0.96484134 2.72911853] [ 0. 0. 0. 1. ]] SLAMing on 27.204839173 meters Centerline goodness [0,1] 0.6205347477809049 Centerline is valid? [False, False] Translation: X:-4.53, Y:-2.26, Z:2.73 [[ 0.93935928 -0.22236577 -0.26107012 -4.52894388] [ 0.22157947 0.97458931 -0.0328363 -2.2611964 ] [ 0.26173782 -0.0270027 0.9647612 2.72855037] [ 0. 0. 0. 1. ]] SLAMing on 27.234839172999997 meters Centerline goodness [0,1] 0.6480416473602442 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.26, Z:2.73 [[ 0.9402664 -0.2162861 -0.26290572 -4.52497734] [ 0.21647083 0.97586924 -0.02862889 -2.2581595 ] [ 0.26275364 -0.02999263 0.96439669 2.72715622] [ 0. 0. 0. 1. ]] SLAMing on 27.264839173 meters Centerline goodness [0,1] 0.6456774333995483 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.26, Z:2.73 [[ 0.94028555 -0.21567267 -0.26334081 -4.52299972] [ 0.21595014 0.97599548 -0.02825525 -2.25832671] [ 0.26311333 -0.03030048 0.96428899 2.72653702] [ 0. 0. 0. 1. ]] SLAMing on 27.294839173 meters Centerline goodness [0,1] 0.6543270276146989 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.26, Z:2.73 [[ 0.94040338 -0.21559236 -0.26298559 -4.52347099] [ 0.21589241 0.9760122 -0.02811873 -2.25996135] [ 0.26273933 -0.03033364 0.96438992 2.72646245] [ 0. 0. 0. 1. ]] SLAMing on 27.324839173 meters Centerline goodness [0,1] 0.6777508904537916 Centerline is valid? [False, False] Translation: X:-4.53, Y:-2.26, Z:2.73 [[ 0.94033859 -0.21668218 -0.26232074 -4.52658092] [ 0.21674577 0.97579546 -0.02906013 -2.25888907] [ 0.2622682 -0.02953055 0.96454307 2.72769407] [ 0. 0. 0. 1. ]] SLAMing on 27.354839173 meters Centerline goodness [0,1] 0.6738815951087698 Centerline is valid? [False, False] Translation: X:-4.53, Y:-2.26, Z:2.73 [[ 0.94107179 -0.21384487 -0.2620196 -4.53148965] [ 0.21449526 0.9763663 -0.02646935 -2.25588711] [ 0.26148744 -0.0312924 0.96469949 2.72847319] [ 0. 0. 0. 1. ]] SLAMing on 27.384839173 meters Centerline goodness [0,1] 0.6682957461912302 Centerline is valid? [False, False] Translation: X:-4.53, Y:-2.25, Z:2.73 [[ 0.94101453 -0.21423232 -0.26190869 -4.53241 ] [ 0.21470654 0.97630092 -0.02715923 -2.25370015] [ 0.26152008 -0.03067628 0.96471043 2.72903055] [ 0. 0. 0. 1. ]] SLAMing on 27.414839173 meters Centerline goodness [0,1] 0.685498184201185 Centerline is valid? [False, False] Translation: X:-4.53, Y:-2.26, Z:2.73 [[ 0.94115365 -0.21297301 -0.26243533 -4.53002333] [ 0.2135999 0.9765621 -0.0264867 -2.25647508] [ 0.26192535 -0.03112811 0.964586 2.72910674] [ 0. 0. 0. 1. ]] SLAMing on 27.444839173 meters Centerline goodness [0,1] 0.6775059665871122 Centerline is valid? [False, False] Translation: X:-4.53, Y:-2.26, Z:2.73 [[ 0.94120256 -0.21271142 -0.26247207 -4.52964115] [ 0.2134524 0.9766065 -0.02603482 -2.25910434] [ 0.26186983 -0.03152125 0.96458831 2.72913581] [ 0. 0. 0. 1. ]] SLAMing on 27.474839173 meters Centerline goodness [0,1] 0.672541216600341 Centerline is valid? [False, False] Translation: X:-4.53, Y:-2.26, Z:2.73 [[ 0.94129906 -0.2112059 -0.26334036 -4.52628982] [ 0.21206525 0.97692278 -0.02549946 -2.2578918 ] [ 0.26264883 -0.03184272 0.96436592 2.72862217] [ 0. 0. 0. 1. ]] SLAMing on 27.504839173 meters Centerline goodness [0,1] 0.7124952318674731 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.26, Z:2.73 [[ 0.94217296 -0.2059108 -0.26440663 -4.52445382] [ 0.20785054 0.97793645 -0.0209394 -2.25946918] [ 0.26288453 -0.03522852 0.96418394 2.72748004] [ 0. 0. 0. 1. ]] SLAMing on 27.534839172999998 meters Centerline goodness [0,1] 0.7355766606626276 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.26, Z:2.72 [[ 0.94439295 -0.19781845 -0.26265911 -4.52019694] [ 0.20060988 0.97953344 -0.01642902 -2.26059381] [ 0.26053335 -0.03717656 0.96474882 2.72168375] [ 0. 0. 0. 1. ]] SLAMing on 27.564839173 meters Centerline goodness [0,1] 0.7420264461904893 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.26, Z:2.72 [[ 0.94529969 -0.19174517 -0.26389826 -4.51689936] [ 0.19557549 0.98061596 -0.01193993 -2.26133342] [ 0.26107227 -0.04032522 0.96447662 2.72045735] [ 0. 0. 0. 1. ]] SLAMing on 27.594839173 meters Centerline goodness [0,1] 0.7416666666666667 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.26, Z:2.72 [[ 9.46968112e-01 -1.81442649e-01 -2.65197963e-01 -4.51616260e+00] [ 1.86959538e-01 9.82357250e-01 -4.51278380e-03 -2.25780220e+00] [ 2.61337953e-01 -4.53078264e-02 9.64183424e-01 2.71961968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.624839172999998 meters Centerline goodness [0,1] 0.7416666666666667 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.26, Z:2.72 [[ 9.46968112e-01 -1.81442649e-01 -2.65197963e-01 -4.51616260e+00] [ 1.86959538e-01 9.82357250e-01 -4.51278380e-03 -2.25780220e+00] [ 2.61337953e-01 -4.53078264e-02 9.64183424e-01 2.71961968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.654839173 meters Centerline goodness [0,1] 0.74779757107523 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.26, Z:2.72 [[ 9.47653113e-01 -1.76987656e-01 -2.65761073e-01 -4.51709866e+00] [ 1.83255647e-01 9.83064519e-01 -1.23230961e-03 -2.25558662e+00] [ 2.61478385e-01 -4.75344154e-02 9.64038139e-01 2.71998326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.684839173 meters Centerline goodness [0,1] 0.749888230691852 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.25, Z:2.72 [[ 9.48336758e-01 -1.72480846e-01 -2.66285095e-01 -4.51778831e+00] [ 1.79534135e-01 9.83749326e-01 2.18150902e-03 -2.25357441e+00] [ 2.61581514e-01 -4.98760693e-02 9.63891845e-01 2.72001358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.714839172999998 meters Centerline goodness [0,1] 0.7481500097735333 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.25, Z:2.72 [[ 9.48348352e-01 -1.72392493e-01 -2.66301016e-01 -4.51807291e+00] [ 1.79333638e-01 9.83786708e-01 1.77737504e-03 -2.25250510e+00] [ 2.61676994e-01 -4.94423007e-02 9.63888277e-01 2.72068455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.744839173 meters Centerline goodness [0,1] 0.7489995242492934 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.25, Z:2.72 [[ 9.48362592e-01 -1.72545336e-01 -2.66151276e-01 -4.51873300e+00] [ 1.79415687e-01 9.83772172e-01 1.52479281e-03 -2.25275469e+00] [ 2.61569123e-01 -4.91977704e-02 9.63930067e-01 2.72121592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.774839173 meters Centerline goodness [0,1] 0.7505173088753425 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.25, Z:2.72 [[ 9.48336253e-01 -1.71872810e-01 -2.66679747e-01 -4.51697652e+00] [ 1.78786006e-01 9.83886563e-01 1.67205291e-03 -2.25223938e+00] [ 2.62095239e-01 -4.92642753e-02 9.63783750e-01 2.72121324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.804839172999998 meters Centerline goodness [0,1] 0.7500980666853461 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.25, Z:2.72 [[ 9.48454170e-01 -1.70146920e-01 -2.67366252e-01 -4.51340079e+00] [ 1.77171587e-01 9.84177551e-01 2.18558481e-03 -2.24943935e+00] [ 2.62763993e-01 -4.94426303e-02 9.63592502e-01 2.71999418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.834839173 meters Centerline goodness [0,1] 0.7485570187727655 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.25, Z:2.72 [[ 9.48474931e-01 -1.69750875e-01 -2.67544289e-01 -4.51176595e+00] [ 1.76816055e-01 9.84241099e-01 2.35403169e-03 -2.24923780e+00] [ 2.62928486e-01 -4.95388658e-02 9.63542688e-01 2.71911001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.864839173 meters Centerline goodness [0,1] 0.7476531068395171 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.25, Z:2.72 [[ 9.47874221e-01 -1.73247851e-01 -2.67431567e-01 -4.50786175e+00] [ 1.79557550e-01 9.83747081e-01 -8.75346995e-04 -2.24946446e+00] [ 2.63236675e-01 -4.71896381e-02 9.63576458e-01 2.71755484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.894839172999998 meters Centerline goodness [0,1] 0.7470406372726512 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.25, Z:2.72 [[ 9.47913952e-01 -1.73141884e-01 -2.67359361e-01 -4.50690471e+00] [ 1.79624476e-01 9.83735229e-01 -2.14034422e-04 -2.25191903e+00] [ 2.63047881e-01 -4.78213990e-02 9.63596869e-01 2.71637439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.924839173 meters Centerline goodness [0,1] 0.7454565664425055 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.25, Z:2.72 [[ 9.47235052e-01 -1.77915740e-01 -2.66630354e-01 -4.50654681e+00] [ 1.83381958e-01 9.83031589e-01 -4.46676313e-03 -2.25050806e+00] [ 2.62900768e-01 -4.46641216e-02 9.63788515e-01 2.71638184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.954839173 meters Centerline goodness [0,1] 0.7439722222222223 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.25, Z:2.72 [[ 0.94714587 -0.17880233 -0.26635395 -4.50778239] [ 0.18420141 0.98287686 -0.00478711 -2.25039769] [ 0.26264908 -0.04452868 0.9638634 2.71641056] [ 0. 0. 0. 1. ]] SLAMing on 27.984839172999997 meters Centerline goodness [0,1] 0.740048200781185 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.25, Z:2.72 [[ 0.94630327 -0.18467923 -0.26533695 -4.5092433 ] [ 0.18906031 0.98192269 -0.00916694 -2.25068233] [ 0.26223332 -0.04148998 0.96411217 2.71682332] [ 0. 0. 0. 1. ]] SLAMing on 28.014839173 meters Centerline goodness [0,1] 0.7402345911253735 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.25, Z:2.72 [[ 0.94623812 -0.18605385 -0.26460797 -4.51198787] [ 0.19030251 0.98167733 -0.00972517 -2.2508943 ] [ 0.26156905 -0.04115323 0.96430703 2.7171136 ] [ 0. 0. 0. 1. ]] SLAMing on 28.044839173 meters Centerline goodness [0,1] 0.7381163927143493 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.25, Z:2.72 [[ 0.9459045 -0.19004694 -0.26295786 -4.51900802] [ 0.19386867 0.98095906 -0.01158747 -2.24849761] [ 0.26015306 -0.04001865 0.96473773 2.71761444] [ 0. 0. 0. 1. ]] SLAMing on 28.074839173 meters Centerline goodness [0,1] 0.7344238700213126 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.25, Z:2.72 [[ 0.94583881 -0.19046599 -0.26289095 -4.51888422] [ 0.19420314 0.98088857 -0.0119481 -2.24752501] [ 0.26014244 -0.03975327 0.96475157 2.71726395] [ 0. 0. 0. 1. ]] SLAMing on 28.104839173 meters Centerline goodness [0,1] 0.7324200913242009 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.24, Z:2.72 [[ 0.94590907 -0.19013334 -0.26287895 -4.51751826] [ 0.19370697 0.98097971 -0.01250681 -2.24443291] [ 0.26025688 -0.03909118 0.96474776 2.71645606] [ 0. 0. 0. 1. ]] SLAMing on 28.134839173 meters Centerline goodness [0,1] 0.7335131227758007 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.24, Z:2.72 [[ 0.94588678 -0.19057996 -0.26263565 -4.51836087] [ 0.19399584 0.98091467 -0.01311543 -2.2421565 ] [ 0.2601227 -0.03854452 0.96480594 2.71649552] [ 0. 0. 0. 1. ]] SLAMing on 28.164839173 meters Centerline goodness [0,1] 0.7304097971936285 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.24, Z:2.72 [[ 0.94644099 -0.18709684 -0.26314297 -4.52016571] [ 0.1914026 0.98146644 -0.00941693 -2.24203478] [ 0.26002787 -0.04145368 0.96471089 2.71635311] [ 0. 0. 0. 1. ]] SLAMing on 28.194839173 meters Centerline goodness [0,1] 0.7318432640321053 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.24, Z:2.72 [[ 0.9464639 -0.18733691 -0.26288965 -4.52050344] [ 0.19158851 0.9814283 -0.00960908 -2.24197202] [ 0.25980748 -0.04127199 0.96477806 2.71619432] [ 0. 0. 0. 1. ]] SLAMing on 28.224839173 meters Centerline goodness [0,1] 0.7302646208583501 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.24, Z:2.72 [[ 0.94644508 -0.18831664 -0.26225664 -4.52253013] [ 0.19259941 0.98123126 -0.00952276 -2.24415849] [ 0.25912771 -0.0414977 0.96495118 2.71602691] [ 0. 0. 0. 1. ]] SLAMing on 28.254839173 meters Centerline goodness [0,1] 0.7322241973114099 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.24, Z:2.72 [[ 0.94633297 -0.18899543 -0.26217291 -4.52377405] [ 0.19311392 0.98112318 -0.01021359 -2.24306308] [ 0.25915425 -0.04096378 0.96496686 2.71693736] [ 0. 0. 0. 1. ]] SLAMing on 28.284839172999998 meters Centerline goodness [0,1] 0.7261071936230107 Centerline is valid? [False, False] Translation: X:-4.53, Y:-2.24, Z:2.72 [[ 0.94694271 -0.18547043 -0.26248852 -4.52602897] [ 0.19039502 0.98168413 -0.00678203 -2.2420763 ] [ 0.25893868 -0.04355432 0.96491128 2.71699008] [ 0. 0. 0. 1. ]] SLAMing on 28.314839173 meters Centerline goodness [0,1] 0.7289148217426505 Centerline is valid? [False, False] Translation: X:-4.53, Y:-2.24, Z:2.72 [[ 0.94687608 -0.18620353 -0.26220971 -4.52795267] [ 0.19097088 0.98156766 -0.00742 -2.24156609] [ 0.2587582 -0.0430486 0.96498239 2.71806878] [ 0. 0. 0. 1. ]] SLAMing on 28.344839173 meters Centerline goodness [0,1] 0.7126551695409481 Centerline is valid? [False, False] Translation: X:-4.53, Y:-2.24, Z:2.72 [[ 0.94605698 -0.19174534 -0.2611703 -4.5294613 ] [ 0.19561866 0.98061446 -0.01134068 -2.24405531] [ 0.25828189 -0.04036085 0.96522612 2.71876805] [ 0. 0. 0. 1. ]] SLAMing on 28.374839172999998 meters Centerline goodness [0,1] 0.7141513609205576 Centerline is valid? [False, False] Translation: X:-4.53, Y:-2.25, Z:2.72 [[ 0.94525811 -0.19629509 -0.26068245 -4.52870978] [ 0.19934621 0.97981496 -0.01495782 -2.24580836] [ 0.25835671 -0.03782706 0.96530872 2.71910712] [ 0. 0. 0. 1. ]] SLAMing on 28.404839173 meters Centerline goodness [0,1] 0.7100071244588151 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.25, Z:2.72 [[ 0.94451721 -0.19920815 -0.26115772 -4.52261028] [ 0.20179587 0.97927734 -0.01715577 -2.25142179] [ 0.25916341 -0.03649663 0.96514368 2.7176741 ] [ 0. 0. 0. 1. ]] SLAMing on 28.434839173 meters Centerline goodness [0,1] 0.7150083394854128 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.25, Z:2.72 [[ 0.94459492 -0.19753562 -0.26214523 -4.51744085] [ 0.20049118 0.97956962 -0.01570482 -2.25453258] [ 0.25989176 -0.03772311 0.96490064 2.71587924] [ 0. 0. 0. 1. ]] SLAMing on 28.464839172999998 meters Centerline goodness [0,1] 0.726384632224168 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.25, Z:2.71 [[ 0.9449597 -0.19372385 -0.26367071 -4.50893411] [ 0.19712811 0.98028129 -0.01375104 -2.25459486] [ 0.26113537 -0.03898273 0.96451473 2.71309013] [ 0. 0. 0. 1. ]] SLAMing on 28.494839173 meters Centerline goodness [0,1] 0.7237442298762666 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.25, Z:2.71 [[ 0.94559688 -0.18944269 -0.26449576 -4.50440363] [ 0.19353338 0.98103471 -0.0107574 -2.25306055] [ 0.26151743 -0.04101659 0.96432685 2.71063145] [ 0. 0. 0. 1. ]] SLAMing on 28.524839173 meters Centerline goodness [0,1] 0.738363425542488 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.25, Z:2.71 [[ 9.47086279e-01 -1.78985450e-01 -2.66442842e-01 -4.50151799e+00] [ 1.84969979e-01 9.82740521e-01 -2.67871990e-03 -2.25100977e+00] [ 2.62323629e-01 -4.67469479e-02 9.63846999e-01 2.70909032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.554839172999998 meters Centerline goodness [0,1] 0.7402875497093913 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.25, Z:2.71 [[ 9.47790130e-01 -1.74655863e-01 -2.66813041e-01 -4.50266341e+00] [ 1.81490770e-01 9.83392165e-01 9.74288965e-04 -2.25050403e+00] [ 2.62211689e-01 -4.93475257e-02 9.63747816e-01 2.70896541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.584839173 meters Centerline goodness [0,1] 0.7392505371243617 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.25, Z:2.71 [[ 9.47793243e-01 -1.74445959e-01 -2.66939274e-01 -4.50236091e+00] [ 1.81078730e-01 9.83468575e-01 2.36299768e-04 -2.24661730e+00] [ 2.62485166e-01 -4.85609880e-02 9.63713323e-01 2.70932183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.614839173 meters Centerline goodness [0,1] 0.7380025579714174 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.25, Z:2.71 [[ 9.46992563e-01 -1.79285349e-01 -2.66574284e-01 -4.50178329e+00] [ 1.84926854e-01 9.82744132e-01 -4.00364795e-03 -2.24564274e+00] [ 2.62692109e-01 -4.55053189e-02 9.63806060e-01 2.70989874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.644839172999998 meters Centerline goodness [0,1] 0.7378075814675238 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.25, Z:2.71 [[ 0.94638263 -0.18153123 -0.26721963 -4.49511826] [ 0.18662053 0.98241089 -0.00645097 -2.2464428 ] [ 0.26369052 -0.04376359 0.96361406 2.70813097] [ 0. 0. 0. 1. ]] SLAMing on 28.674839173 meters Centerline goodness [0,1] 0.7388902767368918 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.25, Z:2.71 [[ 0.94639414 -0.18057934 -0.26782313 -4.49218685] [ 0.18569083 0.98258776 -0.00634126 -2.24533141] [ 0.26430483 -0.04373096 0.96344723 2.70750816] [ 0. 0. 0. 1. ]] SLAMing on 28.704839173 meters Centerline goodness [0,1] 0.7411859643264602 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.24, Z:2.71 [[ 0.94646612 -0.17904133 -0.26860024 -4.48823722] [ 0.18429634 0.98285397 -0.00573805 -2.2445988 ] [ 0.26502216 -0.04407117 0.96323465 2.70642683] [ 0. 0. 0. 1. ]] SLAMing on 28.734839172999997 meters Centerline goodness [0,1] 0.7415137805656554 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.25, Z:2.71 [[ 0.94649368 -0.1779134 -0.26925179 -4.48484771] [ 0.18336671 0.983032 -0.00497353 -2.24510137] [ 0.26556799 -0.0446644 0.96305697 2.70519628] [ 0. 0. 0. 1. ]] SLAMing on 28.764839173 meters Centerline goodness [0,1] 0.7436772993531551 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.25, Z:2.70 [[ 9.46489524e-01 -1.77183472e-01 -2.69747287e-01 -4.48221701e+00] [ 1.82820406e-01 9.83136954e-01 -4.29298230e-03 -2.24586554e+00] [ 2.65959171e-01 -4.52520457e-02 9.62921581e-01 2.70405599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.794839173 meters Centerline goodness [0,1] 0.7443740623437239 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.24, Z:2.70 [[ 0.94644511 -0.17718386 -0.26990283 -4.48171593] [ 0.18271507 0.98315466 -0.00470303 -2.24379781] [ 0.26618953 -0.04486415 0.96287608 2.70412846] [ 0. 0. 0. 1. ]] SLAMing on 28.824839172999997 meters Centerline goodness [0,1] 0.7453230580220025 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.24, Z:2.71 [[ 9.47055296e-01 -1.73886115e-01 -2.69907178e-01 -4.48558566e+00] [ 1.80004601e-01 9.83663492e-01 -2.11596064e-03 -2.24142810e+00] [ 2.65865774e-01 -4.65806022e-02 9.62884021e-01 2.70551474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.854839173 meters Centerline goodness [0,1] 0.7418533747307767 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.24, Z:2.71 [[ 9.47041594e-01 -1.74181063e-01 -2.69765038e-01 -4.48655526e+00] [ 1.80134769e-01 9.83638156e-01 -2.72837781e-03 -2.24044420e+00] [ 2.65826416e-01 -4.60101756e-02 9.62922313e-01 2.70636756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.884839173 meters Centerline goodness [0,1] 0.7423620992717836 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.24, Z:2.71 [[ 9.47050786e-01 -1.73833792e-01 -2.69956702e-01 -4.48586417e+00] [ 1.79718150e-01 9.83713675e-01 -2.96515185e-03 -2.24154697e+00] [ 2.66075543e-01 -4.57079696e-02 9.62867897e-01 2.70715345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.914839173 meters Centerline goodness [0,1] 0.7441827944960286 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.24, Z:2.71 [[ 9.47035004e-01 -1.73337665e-01 -2.70330824e-01 -4.48426571e+00] [ 1.79258382e-01 9.83797956e-01 -2.83089396e-03 -2.24177547e+00] [ 2.66441613e-01 -4.57781104e-02 9.62763331e-01 2.70703387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.944839173 meters Centerline goodness [0,1] 0.7464682771879962 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.24, Z:2.71 [[ 9.47001475e-01 -1.72837090e-01 -2.70768437e-01 -4.48236497e+00] [ 1.78810027e-01 9.83880049e-01 -2.65025334e-03 -2.24209482e+00] [ 2.66861725e-01 -4.59063177e-02 9.62640862e-01 2.70680776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.974839173 meters Centerline goodness [0,1] 0.7488750384303642 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.24, Z:2.71 [[ 9.46875336e-01 -1.72864530e-01 -2.71191726e-01 -4.48288756e+00] [ 1.78665742e-01 9.83904133e-01 -3.34796652e-03 -2.24052534e+00] [ 2.67405405e-01 -4.52825641e-02 9.62519526e-01 2.70884685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.004839173 meters Centerline goodness [0,1] 0.7500348684761081 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.24, Z:2.71 [[ 9.46817188e-01 -1.73069565e-01 -2.71263964e-01 -4.48444190e+00] [ 1.78764317e-01 9.83884692e-01 -3.77258980e-03 -2.24183271e+00] [ 2.67545382e-01 -4.49203644e-02 9.62497600e-01 2.71106961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.034839172999998 meters Centerline goodness [0,1] 0.7490234375 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.24, Z:2.71 [[ 9.46748227e-01 -1.73657960e-01 -2.71128583e-01 -4.48632041e+00] [ 1.79171640e-01 9.83807614e-01 -4.48344939e-03 -2.24166073e+00] [ 2.67516951e-01 -4.43338550e-02 9.62532696e-01 2.71270323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.064839173 meters Centerline goodness [0,1] 0.7504189008042895 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.24, Z:2.71 [[ 0.94669729 -0.17409148 -0.2710284 -4.4873545 ] [ 0.17954743 0.98373792 -0.00473501 -2.2427297 ] [ 0.26744524 -0.04417983 0.9625597 2.71352781] [ 0. 0. 0. 1. ]] SLAMing on 29.094839173 meters Centerline goodness [0,1] 0.7499792937798515 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.25, Z:2.71 [[ 0.94515724 -0.18287357 -0.27061974 -4.48361573] [ 0.18667713 0.98234986 -0.01184906 -2.246174 ] [ 0.26801014 -0.03931929 0.9626134 2.71352512] [ 0. 0. 0. 1. ]] SLAMing on 29.124839172999998 meters Centerline goodness [0,1] 0.7483574244415243 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.25, Z:2.71 [[ 0.94362796 -0.19198664 -0.26964312 -4.48081683] [ 0.19408749 0.98079801 -0.01911315 -2.2489949 ] [ 0.2681349 -0.03429865 0.96277062 2.71298468] [ 0. 0. 0. 1. ]] SLAMing on 29.154839173 meters Centerline goodness [0,1] 0.7476750547045952 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.25, Z:2.71 [[ 0.94354543 -0.19282515 -0.26933339 -4.48187559] [ 0.19486669 0.98063779 -0.01940367 -2.25021523] [ 0.26786002 -0.03417586 0.9628515 2.71306831] [ 0. 0. 0. 1. ]] SLAMing on 29.184839173 meters Centerline goodness [0,1] 0.7466509278576918 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.25, Z:2.72 [[ 0.94357498 -0.19388807 -0.26846541 -4.48978887] [ 0.19558494 0.98046868 -0.02068099 -2.24828868] [ 0.26723172 -0.03299372 0.9630673 2.71749961] [ 0. 0. 0. 1. ]] SLAMing on 29.214839172999998 meters Centerline goodness [0,1] 0.7446668132834836 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.25, Z:2.72 [[ 0.94347758 -0.1950039 -0.26799914 -4.49318609] [ 0.19644645 0.98027449 -0.02169605 -2.24733741] [ 0.26694354 -0.03217774 0.96317482 2.71946668] [ 0. 0. 0. 1. ]] SLAMing on 29.244839173 meters Centerline goodness [0,1] 0.7393942722205442 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.25, Z:2.72 [[ 0.94327665 -0.19684074 -0.26736282 -4.4989095 ] [ 0.19799407 0.97993521 -0.02292012 -2.24860872] [ 0.26650985 -0.03131624 0.96332331 2.72308816] [ 0. 0. 0. 1. ]] SLAMing on 29.274839173 meters Centerline goodness [0,1] 0.7415053881680229 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.25, Z:2.72 [[ 0.9432029 -0.19765726 -0.26702042 -4.50180005] [ 0.19865297 0.97978659 -0.0235633 -2.24873646] [ 0.26628048 -0.03081943 0.96340275 2.72495102] [ 0. 0. 0. 1. ]] SLAMing on 29.304839172999998 meters Centerline goodness [0,1] 0.7389380530973451 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.25, Z:2.73 [[ 0.94373143 -0.19438485 -0.26755468 -4.50548197] [ 0.19615686 0.98036109 -0.02036199 -2.25037572] [ 0.26625827 -0.03326644 0.9633275 2.72721512] [ 0. 0. 0. 1. ]] SLAMing on 29.334839173 meters Centerline goodness [0,1] 0.7374106652006597 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.25, Z:2.73 [[ 0.94371984 -0.19413093 -0.26777984 -4.50576718] [ 0.19588097 0.98041474 -0.02043494 -2.25099375] [ 0.26650235 -0.03316812 0.9632634 2.72845313] [ 0. 0. 0. 1. ]] SLAMing on 29.364839173 meters Centerline goodness [0,1] 0.7419046317802979 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.25, Z:2.73 [[ 0.94373537 -0.1937481 -0.2680023 -4.50695516] [ 0.19546654 0.98049559 -0.02052399 -2.25495517] [ 0.26675155 -0.03301626 0.96319963 2.73133376] [ 0. 0. 0. 1. ]] SLAMing on 29.394839172999998 meters Centerline goodness [0,1] 0.742728143384868 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.26, Z:2.73 [[ 0.94375883 -0.19294208 -0.26850069 -4.50571435] [ 0.19467414 0.98065528 -0.0204254 -2.25525221] [ 0.26724754 -0.03299349 0.96306292 2.7320977 ] [ 0. 0. 0. 1. ]] SLAMing on 29.424839173 meters Centerline goodness [0,1] 0.7494822888283379 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.26, Z:2.73 [[ 0.94469912 -0.18582352 -0.27020954 -4.50106453] [ 0.18869563 0.98191249 -0.01555028 -2.25701536] [ 0.26821174 -0.03629702 0.96267595 2.73158593] [ 0. 0. 0. 1. ]] SLAMing on 29.454839173 meters Centerline goodness [0,1] 0.7500890777031657 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.26, Z:2.73 [[ 0.94475438 -0.18504663 -0.27054927 -4.49995027] [ 0.1879071 0.98206402 -0.01552984 -2.25727813] [ 0.26857045 -0.03616624 0.96258086 2.73215676] [ 0. 0. 0. 1. ]] SLAMing on 29.484839172999997 meters Centerline goodness [0,1] 0.7525351067630328 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.26, Z:2.73 [[ 0.94481394 -0.18450369 -0.27071202 -4.49998738] [ 0.18749257 0.98215124 -0.01501574 -2.26331197] [ 0.26865061 -0.03656941 0.96254326 2.73374076] [ 0. 0. 0. 1. ]] SLAMing on 29.514839173 meters Centerline goodness [0,1] 0.7525351067630328 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.26, Z:2.73 [[ 0.94481394 -0.18450369 -0.27071202 -4.49998738] [ 0.18749257 0.98215124 -0.01501574 -2.26331197] [ 0.26865061 -0.03656941 0.96254326 2.73374076] [ 0. 0. 0. 1. ]] SLAMing on 29.544839173 meters Centerline goodness [0,1] 0.7529167463591901 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.27, Z:2.73 [[ 0.94479243 -0.18435166 -0.27089061 -4.50034548] [ 0.18740112 0.98217193 -0.01480252 -2.26627857] [ 0.26879002 -0.0367799 0.96249632 2.7349909 ] [ 0. 0. 0. 1. ]] SLAMing on 29.574839172999997 meters Centerline goodness [0,1] 0.7550769734687193 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.27, Z:2.73 [[ 0.94480602 -0.18245833 -0.27212231 -4.49541052] [ 0.18599348 0.98246528 -0.01297656 -2.27073691] [ 0.2697184 -0.03835265 0.96217517 2.73394031] [ 0. 0. 0. 1. ]] SLAMing on 29.604839173 meters Centerline goodness [0,1] 0.7548666775723867 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.27, Z:2.73 [[ 0.94482933 -0.1811422 -0.27291948 -4.49162552] [ 0.18498072 0.98267097 -0.01182756 -2.27323191] [ 0.27033252 -0.03930982 0.96196417 2.73283092] [ 0. 0. 0. 1. ]] SLAMing on 29.634839173 meters Centerline goodness [0,1] 0.7537222357822797 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.28, Z:2.73 [[ 0.94501598 -0.17943702 -0.27339926 -4.48435212] [ 0.18342242 0.98297112 -0.01113495 -2.27793405] [ 0.2707416 -0.03962485 0.96183619 2.73048159] [ 0. 0. 0. 1. ]] SLAMing on 29.664839173 meters Centerline goodness [0,1] 0.7501083188908145 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.28, Z:2.73 [[ 0.94508731 -0.17807142 -0.2740448 -4.48079113] [ 0.18227674 0.98319375 -0.01025844 -2.2801935 ] [ 0.27126587 -0.04025687 0.96166221 2.72954105] [ 0. 0. 0. 1. ]] SLAMing on 29.694839173 meters Centerline goodness [0,1] 0.7265049805110437 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.28, Z:2.73 [[ 0.94591663 -0.17267021 -0.27463926 -4.48061204] [ 0.1778223 0.98404292 -0.00622572 -2.28089811] [ 0.27133181 -0.04294797 0.96152718 2.72958212] [ 0. 0. 0. 1. ]] SLAMing on 29.724839173 meters Centerline goodness [0,1] 0.7239355487324404 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.28, Z:2.73 [[ 9.46564172e-01 -1.69058096e-01 -2.74655474e-01 -4.48453156e+00] [ 1.74884125e-01 9.84583414e-01 -3.32325607e-03 -2.27946100e+00] [ 2.70983047e-01 -4.48872071e-02 9.61536961e-01 2.73121257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.754839173 meters Centerline goodness [0,1] 0.714566499235641 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.28, Z:2.73 [[ 9.47134237e-01 -1.64605239e-01 -2.75393994e-01 -4.48590339e+00] [ 1.71332252e-01 9.85213235e-01 3.75395765e-04 -2.28076810e+00] [ 2.71260016e-01 -4.75394234e-02 9.61331372e-01 2.73269226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.784839172999998 meters Centerline goodness [0,1] 0.7222146609685058 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.28, Z:2.73 [[ 9.47094662e-01 -1.64468234e-01 -2.75611867e-01 -4.48478068e+00] [ 1.71342055e-01 9.85211213e-01 8.75134419e-04 -2.28377514e+00] [ 2.71391970e-01 -4.80527387e-02 9.61268606e-01 2.73241129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.814839173 meters Centerline goodness [0,1] 0.7403040897633955 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.28, Z:2.73 [[ 9.46458088e-01 -1.69982943e-01 -2.74450153e-01 -4.48667076e+00] [ 1.75871183e-01 9.84407993e-01 -3.19862970e-03 -2.28349549e+00] [ 2.70714636e-01 -4.52405040e-02 9.61596008e-01 2.73265962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.844839173 meters Centerline goodness [0,1] 0.7545688371463382 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.28, Z:2.73 [[ 9.46388527e-01 -1.71267168e-01 -2.73891061e-01 -4.48943434e+00] [ 1.77027391e-01 9.84198820e-01 -3.73963711e-03 -2.28369384e+00] [ 2.70203736e-01 -4.49470703e-02 9.61753452e-01 2.73344685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.874839172999998 meters Centerline goodness [0,1] 0.7521614611477359 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.29, Z:2.73 [[ 9.46264424e-01 -1.72433345e-01 -2.73587978e-01 -4.49053783e+00] [ 1.78091967e-01 9.84004820e-01 -4.21491705e-03 -2.28518895e+00] [ 2.69938681e-01 -4.47353949e-02 9.61837748e-01 2.73367129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.904839173 meters Centerline goodness [0,1] 0.7515761560732743 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.28, Z:2.73 [[ 0.9461668 -0.1732678 -0.27339834 -4.49143221] [ 0.17882522 0.98386981 -0.00466159 -2.28465527] [ 0.26979608 -0.04447988 0.96188961 2.73366043] [ 0. 0. 0. 1. ]] SLAMing on 29.934839173 meters Centerline goodness [0,1] 0.7542872526585005 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.29, Z:2.74 [[ 0.94539116 -0.17957626 -0.27200721 -4.49411147] [ 0.18393573 0.98289134 -0.00960541 -2.28580308] [ 0.26907844 -0.04095097 0.96224727 2.73506516] [ 0. 0. 0. 1. ]] SLAMing on 29.964839172999998 meters Centerline goodness [0,1] 0.7522159548751007 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.29, Z:2.74 [[ 0.9452973 -0.18096148 -0.27141473 -4.49649233] [ 0.18516317 0.98265409 -0.01027318 -2.28614787] [ 0.26856584 -0.04054481 0.96240766 2.73549568] [ 0. 0. 0. 1. ]] SLAMing on 29.994839173 meters Centerline goodness [0,1] 0.7533279656468063 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.29, Z:2.74 [[ 0.9444287 -0.18681292 -0.27047248 -4.49763733] [ 0.18991051 0.98168805 -0.0149186 -2.28566096] [ 0.26830659 -0.03727601 0.96261211 2.73608415] [ 0. 0. 0. 1. ]] SLAMing on 30.024839173 meters Centerline goodness [0,1] 0.7511198133197436 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.29, Z:2.74 [[ 0.94441741 -0.18750136 -0.27003517 -4.49929732] [ 0.19044433 0.98157549 -0.01550833 -2.28504914] [ 0.26796774 -0.03678033 0.96272556 2.73659568] [ 0. 0. 0. 1. ]] SLAMing on 30.054839172999998 meters Centerline goodness [0,1] 0.7528771258388809 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.28, Z:2.74 [[ 0.94500504 -0.18594782 -0.26905181 -4.50700872] [ 0.18923918 0.98183275 -0.01389205 -2.28064413] [ 0.26674708 -0.03778708 0.96302551 2.73832282] [ 0. 0. 0. 1. ]] SLAMing on 30.084839173 meters Centerline goodness [0,1] 0.7526931321737715 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.28, Z:2.74 [[ 0.94574082 -0.18225201 -0.26899536 -4.50992583] [ 0.18631533 0.98243309 -0.01057414 -2.2793107 ] [ 0.2661971 -0.04011756 0.96308343 2.73848615] [ 0. 0. 0. 1. ]] SLAMing on 30.114839173 meters Centerline goodness [0,1] 0.753056434887021 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.28, Z:2.74 [[ 0.94644597 -0.17812341 -0.26928068 -4.51156269] [ 0.18291698 0.98310053 -0.00739817 -2.27747198] [ 0.26604776 -0.04225404 0.96303332 2.73873954] [ 0. 0. 0. 1. ]] SLAMing on 30.144839172999998 meters Centerline goodness [0,1] 0.7573791139587098 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.28, Z:2.74 [[ 9.47166123e-01 -1.73140006e-01 -2.69997914e-01 -4.51066397e+00] [ 1.78874390e-01 9.83865982e-01 -3.41780138e-03 -2.27662314e+00] [ 2.66233521e-01 -4.50584866e-02 9.62854841e-01 2.73776426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.174839173 meters Centerline goodness [0,1] 0.7526253410876216 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.27, Z:2.74 [[ 9.47913552e-01 -1.67989149e-01 -2.70628054e-01 -4.51022907e+00] [ 1.74309775e-01 9.84690625e-01 -6.90031447e-04 -2.26968596e+00] [ 2.66600825e-01 -4.65190250e-02 9.62683739e-01 2.73756048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.204839173 meters Centerline goodness [0,1] 0.7514755188561612 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.27, Z:2.74 [[ 9.47964158e-01 -1.68384285e-01 -2.70204898e-01 -4.51171048e+00] [ 1.74369099e-01 9.84678563e-01 -1.88279223e-03 -2.26694198e+00] [ 2.66382003e-01 -4.53305651e-02 9.62801001e-01 2.73849644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.234839172999997 meters Centerline goodness [0,1] 0.7505918395766606 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.26, Z:2.74 [[ 9.48563765e-01 -1.66171905e-01 -2.69469261e-01 -4.51732678e+00] [ 1.72356977e-01 9.85034292e-01 -7.17863772e-04 -2.26148235e+00] [ 2.65555751e-01 -4.57639675e-02 9.63008724e-01 2.74009948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.264839173 meters Centerline goodness [0,1] 0.7477283529510443 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.26, Z:2.74 [[ 9.48515483e-01 -1.66283671e-01 -2.69570249e-01 -4.51635991e+00] [ 1.72266925e-01 9.85049190e-01 -1.48291512e-03 -2.25734860e+00] [ 2.65786540e-01 -4.50314699e-02 9.62979585e-01 2.73948643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.294839173 meters Centerline goodness [0,1] 0.744428185502026 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.25, Z:2.74 [[ 9.48568945e-01 -1.65575419e-01 -2.69817970e-01 -4.51224027e+00] [ 1.71519779e-01 9.85179428e-01 -1.56831823e-03 -2.25057709e+00] [ 2.66078788e-01 -4.47914606e-02 9.62910070e-01 2.73583127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.324839172999997 meters Centerline goodness [0,1] 0.7493792325056434 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.25, Z:2.74 [[ 9.48485500e-01 -1.67701393e-01 -2.68796389e-01 -4.51669288e+00] [ 1.73168279e-01 9.84886315e-01 -3.41970750e-03 -2.24600750e+00] [ 2.65307375e-01 -4.33034652e-02 9.63190950e-01 2.73680760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.354839173 meters Centerline goodness [0,1] 0.7537245793916049 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.24, Z:2.74 [[ 9.50470146e-01 -1.75423212e-01 -2.56579808e-01 -4.52298095e+00] [ 1.81510664e-01 9.83388975e-01 4.37106454e-05 -2.24199592e+00] [ 2.52310087e-01 -4.66135170e-02 9.66523047e-01 2.73515834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.384839173 meters Centerline goodness [0,1] 0.7533248623464633 Centerline is valid? [False, False] Translation: X:-4.53, Y:-2.24, Z:2.74 [[ 0.9495922 -0.18182719 -0.25536938 -4.52642604] [ 0.18669051 0.9824046 -0.00527868 -2.24043882] [ 0.25183586 -0.04266245 0.96682915 2.73717557] [ 0. 0. 0. 1. ]] SLAMing on 30.414839173 meters Centerline goodness [0,1] 0.7546283190850931 Centerline is valid? [False, False] Translation: X:-4.53, Y:-2.24, Z:2.74 [[ 0.94946897 -0.18321784 -0.25483308 -4.52996352] [ 0.18786531 0.98217524 -0.00619914 -2.23935048] [ 0.25142654 -0.04198841 0.96696519 2.73875985] [ 0. 0. 0. 1. ]] SLAMing on 30.444839173 meters Centerline goodness [0,1] 0.7535078061037238 Centerline is valid? [False, False] Translation: X:-4.53, Y:-2.24, Z:2.74 [[ 0.94950666 -0.18226005 -0.2553789 -4.52744548] [ 0.18707808 0.98232959 -0.00551167 -2.2408333 ] [ 0.2518708 -0.04254242 0.96682534 2.73811295] [ 0. 0. 0. 1. ]] SLAMing on 30.474839173 meters Centerline goodness [0,1] 0.7539666882732576 Centerline is valid? [False, False] Translation: X:-4.53, Y:-2.24, Z:2.73 [[ 0.95200571 -0.17619913 -0.25027782 -4.52555465] [ 0.1792227 0.98374874 -0.01084651 -2.24359315] [ 0.24812164 -0.03452952 0.9681133 2.72970237] [ 0. 0. 0. 1. ]] SLAMing on 30.504839173 meters Centerline goodness [0,1] 0.7534269662921348 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.24, Z:2.73 [[ 0.9520872 -0.17438143 -0.25123908 -4.52064988] [ 0.17758928 0.98405357 -0.01003103 -2.24364592] [ 0.24898194 -0.03506696 0.96787308 2.72818698] [ 0. 0. 0. 1. ]] SLAMing on 30.534839172999998 meters Centerline goodness [0,1] 0.7376111282497125 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.24, Z:2.73 [[ 0.95165064 -0.17207119 -0.25446524 -4.51506157] [ 0.172138 0.98482307 -0.02218158 -2.24424481] [ 0.25442005 -0.02269403 0.9668275 2.72587941] [ 0. 0. 0. 1. ]] SLAMing on 30.564839173 meters Centerline goodness [0,1] 0.7363957003694994 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.25, Z:2.72 [[ 0.95168665 -0.17123237 -0.25489603 -4.51280206] [ 0.17150026 0.98495277 -0.02134709 -2.24636242] [ 0.25471587 -0.023399 0.9667328 2.72495901] [ 0. 0. 0. 1. ]] SLAMing on 30.594839173 meters Centerline goodness [0,1] 0.7367273337247338 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.25, Z:2.73 [[ 0.95170289 -0.17148213 -0.2546674 -4.51384396] [ 0.17174489 0.98490948 -0.02137793 -2.24755513] [ 0.25449027 -0.02339238 0.96679238 2.72541638] [ 0. 0. 0. 1. ]] SLAMing on 30.624839172999998 meters Centerline goodness [0,1] 0.7394808515368796 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.25, Z:2.73 [[ 0.95198194 -0.17099062 -0.25395393 -4.51961218] [ 0.17124352 0.98499883 -0.02128268 -2.2482154 ] [ 0.25378346 -0.02322724 0.96698214 2.72897698] [ 0. 0. 0. 1. ]] SLAMing on 30.654839173 meters Centerline goodness [0,1] 0.7445334971655171 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.25, Z:2.73 [[ 0.95192859 -0.17072113 -0.25433493 -4.51819667] [ 0.17107974 0.98503589 -0.02088093 -2.24770447] [ 0.25409385 -0.0236344 0.96689075 2.72820239] [ 0. 0. 0. 1. ]] SLAMing on 30.684839173 meters Centerline goodness [0,1] 0.7416811140316537 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.25, Z:2.73 [[ 0.95192897 -0.17028501 -0.2546257 -4.51639272] [ 0.17087026 0.98509074 -0.01998949 -2.24979425] [ 0.25423333 -0.02447939 0.96683306 2.72693 ] [ 0. 0. 0. 1. ]] SLAMing on 30.714839172999998 meters Centerline goodness [0,1] 0.7413240418118467 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.25, Z:2.73 [[ 0.95197213 -0.17015401 -0.25455192 -4.51675984] [ 0.1707277 0.98511507 -0.02000879 -2.25142755] [ 0.25416751 -0.02441126 0.96685209 2.72764399] [ 0. 0. 0. 1. ]] SLAMing on 30.744839173 meters Centerline goodness [0,1] 0.7435310537334263 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.25, Z:2.73 [[ 0.95254704 -0.16720552 -0.25435498 -4.52125743] [ 0.16858285 0.98554877 -0.01653631 -2.2533199 ] [ 0.25344419 -0.02712828 0.96696954 2.72881153] [ 0. 0. 0. 1. ]] SLAMing on 30.774839173 meters Centerline goodness [0,1] 0.7463098858785122 Centerline is valid? [False, False] Translation: X:-4.53, Y:-2.26, Z:2.73 [[ 0.95306637 -0.16458768 -0.25411689 -4.52769156] [ 0.16648305 0.98594229 -0.01418464 -2.25503256] [ 0.25287921 -0.02878725 0.96706949 2.73294565] [ 0. 0. 0. 1. ]] SLAMing on 30.804839172999998 meters Centerline goodness [0,1] 0.7428555496696128 Centerline is valid? [False, False] Translation: X:-4.53, Y:-2.26, Z:2.73 [[ 0.95304574 -0.16384833 -0.25467143 -4.52636517] [ 0.16585625 0.98605446 -0.01372275 -2.25753581] [ 0.25336835 -0.02916044 0.96693027 2.73361441] [ 0. 0. 0. 1. ]] SLAMing on 30.834839173 meters Centerline goodness [0,1] 0.7285205189598529 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.26, Z:2.73 [[ 0.95314599 -0.16042454 -0.25646966 -4.51838202] [ 0.16293019 0.98656947 -0.01159475 -2.26049918] [ 0.25488522 -0.03073516 0.96648273 2.73169614] [ 0. 0. 0. 1. ]] SLAMing on 30.864839173 meters Centerline goodness [0,1] 0.7235075772375876 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.26, Z:2.73 [[ 0.95313496 -0.15901223 -0.25738852 -4.51493264] [ 0.16167921 0.98678304 -0.01091137 -2.26123996] [ 0.25572167 -0.03121437 0.96624639 2.7312687 ] [ 0. 0. 0. 1. ]] SLAMing on 30.894839172999998 meters Centerline goodness [0,1] 0.7008923622658242 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.27, Z:2.73 [[ 0.95315836 -0.15700983 -0.25852864 -4.51028569] [ 0.16019749 0.98704551 -0.00882791 -2.26646413] [ 0.2565656 -0.03300124 0.96596326 2.72992813] [ 0. 0. 0. 1. ]] SLAMing on 30.924839173 meters Centerline goodness [0,1] 0.6956089752435626 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.27, Z:2.73 [[ 0.95318928 -0.1563204 -0.25883224 -4.50906824] [ 0.15975044 0.98712611 -0.00786433 -2.26892942] [ 0.25672941 -0.03385237 0.96589028 2.7294815 ] [ 0. 0. 0. 1. ]] SLAMing on 30.954839173 meters Centerline goodness [0,1] 0.7113498622589531 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.27, Z:2.73 [[ 0.95316618 -0.15564013 -0.25932678 -4.50887259] [ 0.15933734 0.98720052 -0.00683713 -2.27284785] [ 0.25707167 -0.03480352 0.96576543 2.73058625] [ 0. 0. 0. 1. ]] SLAMing on 30.984839172999997 meters Centerline goodness [0,1] 0.7085362517099862 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.28, Z:2.73 [[ 0.95312965 -0.15564047 -0.25946082 -4.50935386] [ 0.15952297 0.987175 -0.00616012 -2.27668198] [ 0.257092 -0.03551857 0.96573399 2.73122411] [ 0. 0. 0. 1. ]] SLAMing on 31.014839173 meters Centerline goodness [0,1] 0.7409820993997079 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.28, Z:2.73 [[ 0.95222914 -0.16176191 -0.25902267 -4.5093261 ] [ 0.16474572 0.98628232 -0.0102973 -2.28472337] [ 0.25713519 -0.03286748 0.96581635 2.73275075] [ 0. 0. 0. 1. ]] SLAMing on 31.044839173 meters Centerline goodness [0,1] 0.7541463939141421 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.29, Z:2.73 [[ 0.95146982 -0.16639961 -0.25887517 -4.50766603] [ 0.16876147 0.98556803 -0.01323683 -2.28886699] [ 0.25734169 -0.03109371 0.96582008 2.7322726 ] [ 0. 0. 0. 1. ]] SLAMing on 31.074839172999997 meters Centerline goodness [0,1] 0.7557780998814073 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.30, Z:2.73 [[ 0.94956588 -0.17752784 -0.25847342 -4.50127888] [ 0.17785826 0.98380337 -0.02230152 -2.2972134 ] [ 0.25824617 -0.02479487 0.96576091 2.73188207] [ 0. 0. 0. 1. ]] SLAMing on 31.104839173 meters Centerline goodness [0,1] 0.7598916412700893 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.30, Z:2.73 [[ 0.94888716 -0.18099818 -0.2585591 -4.498181 ] [ 0.18067556 0.98321942 -0.02521746 -2.30020369] [ 0.25878465 -0.02278679 0.96566623 2.73153654] [ 0. 0. 0. 1. ]] SLAMing on 31.134839173 meters Centerline goodness [0,1] 0.7603762278210573 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.30, Z:2.73 [[ 0.94898395 -0.17935011 -0.25935113 -4.49434502] [ 0.17937053 0.9834939 -0.0237901 -2.30284613] [ 0.25933701 -0.02394353 0.96549004 2.73014175] [ 0. 0. 0. 1. ]] SLAMing on 31.164839173 meters Centerline goodness [0,1] 0.75761464526098 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.30, Z:2.73 [[ 0.94971311 -0.17414861 -0.26022541 -4.49292165] [ 0.17523157 0.98433961 -0.01922047 -2.30306484] [ 0.2594974 -0.02734578 0.96535657 2.7287773 ] [ 0. 0. 0. 1. ]] SLAMing on 31.194839173 meters Centerline goodness [0,1] 0.744950816241105 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.30, Z:2.73 [[ 0.94994653 -0.17153486 -0.26110799 -4.48746447] [ 0.17297348 0.98476846 -0.0176424 -2.30401984] [ 0.26015719 -0.02840542 0.96514836 2.72638273] [ 0. 0. 0. 1. ]] SLAMing on 31.224839173 meters Centerline goodness [0,1] 0.7331035555094848 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.31, Z:2.73 [[ 0.94996043 -0.17166035 -0.26097491 -4.48733373] [ 0.17320735 0.98473445 -0.01724203 -2.307341 ] [ 0.25995075 -0.02882352 0.96519159 2.72605724] [ 0. 0. 0. 1. ]] SLAMing on 31.254839173 meters Centerline goodness [0,1] 0.7505882352941177 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.31, Z:2.73 [[ 0.9498239 -0.17474568 -0.25941956 -4.49425204] [ 0.17600673 0.9842142 -0.01854825 -2.30821811] [ 0.25856564 -0.02804202 0.96558659 2.72804961] [ 0. 0. 0. 1. ]] SLAMing on 31.284839172999998 meters Centerline goodness [0,1] 0.7593066873625662 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.31, Z:2.73 [[ 0.94999764 -0.17499986 -0.25861076 -4.50302246] [ 0.17656986 0.98413548 -0.01733344 -2.30864786] [ 0.25754137 -0.02919614 0.96582609 2.73144655] [ 0. 0. 0. 1. ]] SLAMing on 31.314839173 meters Centerline goodness [0,1] 0.7581029490891389 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.31, Z:2.73 [[ 0.95142067 -0.17792758 -0.25127772 -4.50615277] [ 0.18180477 0.98330295 -0.00789524 -2.30964281] [ 0.24848691 -0.03817179 0.96788283 2.73458619] [ 0. 0. 0. 1. ]] SLAMing on 31.344839173 meters Centerline goodness [0,1] 0.754540605075317 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.31, Z:2.74 [[ 0.95136653 -0.17647963 -0.25250083 -4.50354497] [ 0.18072112 0.98351299 -0.00648704 -2.31404806] [ 0.24948268 -0.03946068 0.96757493 2.73555205] [ 0. 0. 0. 1. ]] SLAMing on 31.374839172999998 meters Centerline goodness [0,1] 0.7519651097925858 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.32, Z:2.73 [[ 0.95143321 -0.17444182 -0.25366296 -4.49912319] [ 0.17901639 0.98383276 -0.00512271 -2.31671976] [ 0.25045555 -0.04053591 0.9672791 2.7349131 ] [ 0. 0. 0. 1. ]] SLAMing on 31.404839173 meters Centerline goodness [0,1] 0.7503666616092651 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.32, Z:2.73 [[ 9.51514514e-01 -1.72621004e-01 -2.54601881e-01 -4.49544663e+00] [ 1.77524435e-01 9.84109157e-01 -3.77386768e-03 -2.32011703e+00] [ 2.51207492e-01 -4.16071653e-02 9.67038593e-01 2.73440131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.434839173 meters Centerline goodness [0,1] 0.7503666616092651 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.32, Z:2.73 [[ 9.51514514e-01 -1.72621004e-01 -2.54601881e-01 -4.49544663e+00] [ 1.77524435e-01 9.84109157e-01 -3.77386768e-03 -2.32011703e+00] [ 2.51207492e-01 -4.16071653e-02 9.67038593e-01 2.73440131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.464839172999998 meters Centerline goodness [0,1] 0.7499937341788014 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.33, Z:2.73 [[ 9.51655084e-01 -1.70483721e-01 -2.55514973e-01 -4.49209464e+00] [ 1.76023065e-01 9.84385302e-01 -1.20706995e-03 -2.32713384e+00] [ 2.51730970e-01 -4.38278145e-02 9.66804345e-01 2.73379162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.494839173 meters Centerline goodness [0,1] 0.7500250075022507 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.33, Z:2.73 [[ 9.51640991e-01 -1.70544750e-01 -2.55526737e-01 -4.49318437e+00] [ 1.76168768e-01 9.84359573e-01 -8.92024540e-04 -2.32935013e+00] [ 2.51682320e-01 -4.41669433e-02 9.66801578e-01 2.73494434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.524839173 meters Centerline goodness [0,1] 0.7503980891719746 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.34, Z:2.74 [[ 9.51090810e-01 -1.73286355e-01 -2.55730544e-01 -4.49276187e+00] [ 1.78494442e-01 9.83936684e-01 -2.88732917e-03 -2.33629365e+00] [ 2.52122998e-01 -4.29003684e-02 9.66743788e-01 2.73732939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.554839172999998 meters Centerline goodness [0,1] 0.7485139234886418 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.34, Z:2.74 [[ 0.95047464 -0.17685279 -0.25557984 -4.49142548] [ 0.18140211 0.98339155 -0.00585897 -2.34087712] [ 0.25237123 -0.04079392 0.9667702 2.73834339] [ 0. 0. 0. 1. ]] SLAMing on 31.584839173 meters Centerline goodness [0,1] 0.7481523038271093 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.35, Z:2.74 [[ 0.94992768 -0.18006621 -0.25536946 -4.48808446] [ 0.18406585 0.98287839 -0.00835628 -2.35150323] [ 0.25250181 -0.03906694 0.96680743 2.73895694] [ 0. 0. 0. 1. ]] SLAMing on 31.614839173 meters Centerline goodness [0,1] 0.7461532869708498 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.35, Z:2.74 [[ 0.94924942 -0.18336515 -0.25554407 -4.4851183 ] [ 0.1867706 0.9823409 -0.01109478 -2.35445238] [ 0.25306579 -0.03719641 0.96673375 2.73890027] [ 0. 0. 0. 1. ]] SLAMing on 31.644839172999998 meters Centerline goodness [0,1] 0.7496844862483629 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.36, Z:2.74 [[ 0.94870475 -0.18478465 -0.25654226 -4.47816734] [ 0.1882324 0.98205979 -0.01127536 -2.36125909] [ 0.25402336 -0.03759258 0.96646724 2.73637855] [ 0. 0. 0. 1. ]] SLAMing on 31.674839173 meters Centerline goodness [0,1] 0.749669749009247 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.36, Z:2.73 [[ 0.9481464 -0.18692592 -0.25705469 -4.47267894] [ 0.18999263 0.98169829 -0.01308682 -2.36351649] [ 0.25479642 -0.03643027 0.96630824 2.73454932] [ 0. 0. 0. 1. ]] SLAMing on 31.704839173 meters Centerline goodness [0,1] 0.7448366982684684 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.37, Z:2.73 [[ 0.94814914 -0.18599765 -0.25771704 -4.46953298] [ 0.18954824 0.9818072 -0.0112287 -2.36950696] [ 0.25511696 -0.03820333 0.96615519 2.73321738] [ 0. 0. 0. 1. ]] SLAMing on 31.734839172999997 meters Centerline goodness [0,1] 0.7489209463358338 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.37, Z:2.73 [[ 0.94816532 -0.18642962 -0.25734514 -4.47218242] [ 0.18990917 0.98173433 -0.01149844 -2.37002159] [ 0.25478821 -0.03796978 0.96625114 2.73487072] [ 0. 0. 0. 1. ]] SLAMing on 31.764839173 meters Centerline goodness [0,1] 0.747089056672428 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.37, Z:2.74 [[ 0.94764369 -0.1904901 -0.25629078 -4.47708109] [ 0.19333985 0.98102798 -0.01427606 -2.37467054] [ 0.25414788 -0.0360226 0.9664943 2.73855932] [ 0. 0. 0. 1. ]] SLAMing on 31.794839173 meters Centerline goodness [0,1] 0.7470708780683388 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.38, Z:2.74 [[ 0.94616609 -0.19917928 -0.25514181 -4.47574244] [ 0.20048256 0.97946863 -0.02116492 -2.37855836] [ 0.25411901 -0.03112595 0.96667197 2.73902382] [ 0. 0. 0. 1. ]] SLAMing on 31.824839172999997 meters Centerline goodness [0,1] 0.7450004504098731 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.38, Z:2.74 [[ 0.94665087 -0.1962132 -0.25564136 -4.47780286] [ 0.19825523 0.97998471 -0.01802311 -2.37974375] [ 0.254061 -0.03362065 0.96660367 2.74004741] [ 0. 0. 0. 1. ]] SLAMing on 31.854839173 meters Centerline goodness [0,1] 0.7424105120072497 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.38, Z:2.74 [[ 0.94811643 -0.18759433 -0.25667802 -4.48066677] [ 0.19132804 0.98146908 -0.01058436 -2.37731768] [ 0.25390711 -0.03907449 0.96643901 2.74066269] [ 0. 0. 0. 1. ]] SLAMing on 31.884839173 meters Centerline goodness [0,1] 0.7437717561941164 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.38, Z:2.74 [[ 0.94884402 -0.18325689 -0.25712241 -4.48303455] [ 0.18772474 0.98219468 -0.00728231 -2.3774027 ] [ 0.2538788 -0.04135847 0.9663514 2.74233729] [ 0. 0. 0. 1. ]] SLAMing on 31.914839173 meters Centerline goodness [0,1] 0.7429878881704763 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.38, Z:2.74 [[ 0.94905079 -0.18209512 -0.25718471 -4.48260431] [ 0.18656112 0.98241738 -0.00714439 -2.37755484] [ 0.25396368 -0.04120028 0.96633586 2.74287123] [ 0. 0. 0. 1. ]] SLAMing on 31.944839173 meters Centerline goodness [0,1] 0.7347936278059377 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.38, Z:2.74 [[ 0.9493518 -0.18056496 -0.2571526 -4.47850118] [ 0.18519891 0.98268089 -0.00629517 -2.38188787] [ 0.25383563 -0.04164805 0.96635031 2.7407898 ] [ 0. 0. 0. 1. ]] SLAMing on 31.974839173 meters Centerline goodness [0,1] 0.732636011378144 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.38, Z:2.74 [[ 0.94935563 -0.18040443 -0.25725111 -4.47795566] [ 0.18518179 0.98268749 -0.00574459 -2.38486302] [ 0.25383379 -0.04218456 0.96632752 2.74072733] [ 0. 0. 0. 1. ]] SLAMing on 32.004839173 meters Centerline goodness [0,1] 0.7390713426317901 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.39, Z:2.74 [[ 9.50155779e-01 -1.76305885e-01 -2.57138544e-01 -4.48439231e+00] [ 1.82130147e-01 9.83273717e-01 -1.18586188e-03 -2.38772642e+00] [ 2.53046646e-01 -4.57059273e-02 9.66373822e-01 2.74383623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.034839172999995 meters Centerline goodness [0,1] 0.7400427217302301 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.39, Z:2.74 [[ 0.95412927 -0.17388193 -0.24372611 -4.48712566] [ 0.18064146 0.98353373 0.00548387 -2.38992126] [ 0.2387593 -0.04925936 0.9698286 2.74079732] [ 0. 0. 0. 1. ]] SLAMing on 32.064839172999996 meters Centerline goodness [0,1] 0.7338112148713227 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.40, Z:2.75 [[ 0.9545833 -0.17211602 -0.24320116 -4.49334802] [ 0.17930844 0.98376371 0.00757952 -2.39617473] [ 0.23794792 -0.0508433 0.96994626 2.7455745 ] [ 0. 0. 0. 1. ]] SLAMing on 32.094839173 meters Centerline goodness [0,1] 0.7306714748115483 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.40, Z:2.75 [[ 0.95444148 -0.17359302 -0.24270747 -4.49333925] [ 0.18053218 0.9835478 0.0064702 -2.40096507] [ 0.23759122 -0.04999193 0.97007795 2.74623196] [ 0. 0. 0. 1. ]] SLAMing on 32.124839173 meters Centerline goodness [0,1] 0.7341763956926131 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.40, Z:2.75 [[ 9.53826701e-01 -1.77192712e-01 -2.42522922e-01 -4.49134277e+00] [ 1.83544454e-01 9.83004586e-01 3.66296291e-03 -2.40367905e+00] [ 2.37752095e-01 -4.80075693e-02 9.70138761e-01 2.74595294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.15483917299999 meters Centerline goodness [0,1] 0.7352304626395525 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.41, Z:2.75 [[ 9.53194273e-01 -1.80692412e-01 -2.42427163e-01 -4.48905387e+00] [ 1.86660451e-01 9.82423052e-01 1.68001931e-03 -2.40836451e+00] [ 2.37862467e-01 -4.68529484e-02 9.70168155e-01 2.74535436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.18483917299999 meters Centerline goodness [0,1] 0.7352230701810641 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.41, Z:2.74 [[ 9.53250478e-01 -1.80042862e-01 -2.42689296e-01 -4.48728514e+00] [ 1.86268913e-01 9.82494924e-01 2.75962911e-03 -2.40959672e+00] [ 2.37944150e-01 -4.78360892e-02 9.70100144e-01 2.74404020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.214839172999994 meters Centerline goodness [0,1] 0.7329365419200138 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.41, Z:2.74 [[ 9.53182073e-01 -1.80513288e-01 -2.42608508e-01 -4.48720697e+00] [ 1.86727287e-01 9.82408164e-01 2.66839495e-03 -2.41075785e+00] [ 2.37858898e-01 -4.78450947e-02 9.70120607e-01 2.74387999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.244839172999995 meters Centerline goodness [0,1] 0.7307222067308723 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.41, Z:2.74 [[ 9.52493401e-01 -1.84976585e-01 -2.41950375e-01 -4.48568813e+00] [ 1.90434303e-01 9.81699580e-01 -8.43227078e-04 -2.41181407e+00] [ 2.37678559e-01 -4.52724827e-02 9.70288259e-01 2.74319597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.274839173 meters Centerline goodness [0,1] 0.7367678342003834 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.41, Z:2.74 [[ 9.53908588e-01 -1.94417596e-01 -2.28604909e-01 -4.48478148e+00] [ 1.99162995e-01 9.79963543e-01 -2.35719118e-03 -2.41466979e+00] [ 2.24482756e-01 -4.32810933e-02 9.73516430e-01 2.74002484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.304839173 meters Centerline goodness [0,1] 0.7314697430696416 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.42, Z:2.74 [[ 0.95309102 -0.19951412 -0.22762167 -4.48623103] [ 0.20347364 0.9790609 -0.00618386 -2.41682067] [ 0.22408924 -0.04042123 0.97373001 2.74125607] [ 0. 0. 0. 1. ]] SLAMing on 32.334839173 meters Centerline goodness [0,1] 0.6920350959588413 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.42, Z:2.74 [[ 0.95211314 -0.2069558 -0.22505525 -4.49167829] [ 0.21018206 0.97761314 -0.0098003 -2.41952643] [ 0.2220452 -0.03797158 0.97429671 2.74161129] [ 0. 0. 0. 1. ]] SLAMing on 32.36483917299999 meters Centerline goodness [0,1] 0.6599601424694708 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.42, Z:2.74 [[ 9.54426848e-01 -2.08317427e-01 -2.13712986e-01 -4.49163334e+00] [ 2.12582188e-01 9.77138298e-01 -3.09194411e-03 -2.42043742e+00] [ 2.09471249e-01 -4.24805397e-02 9.76891601e-01 2.73681888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.394839172999994 meters Centerline goodness [0,1] 0.645933620471244 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.42, Z:2.74 [[ 0.95535814 -0.21020868 -0.20761294 -4.48597048] [ 0.21598024 0.97638351 0.00527031 -2.41834079] [ 0.20160199 -0.04987533 0.97819686 2.7364733 ] [ 0. 0. 0. 1. ]] SLAMing on 32.424839172999995 meters Centerline goodness [0,1] 0.6492342886191778 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.42, Z:2.74 [[ 0.95534469 -0.21027624 -0.20760644 -4.48620134] [ 0.21590797 0.97640294 0.00458655 -2.41608252] [ 0.2017431 -0.04920562 0.97820168 2.73674626] [ 0. 0. 0. 1. ]] SLAMing on 32.454839172999996 meters Centerline goodness [0,1] 0.6750944677960344 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.41, Z:2.74 [[ 0.95624302 -0.20677941 -0.20698206 -4.49107332] [ 0.21248279 0.97714954 0.00546317 -2.40857309] [ 0.20112275 -0.04920424 0.97832949 2.7391377 ] [ 0. 0. 0. 1. ]] SLAMing on 32.484839173 meters Centerline goodness [0,1] 0.6992310978214438 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.41, Z:2.74 [[ 0.95696005 -0.20328598 -0.20712864 -4.49412901] [ 0.20936893 0.97780684 0.00764395 -2.40501639] [ 0.2009779 -0.05068126 0.97828385 2.7406108 ] [ 0. 0. 0. 1. ]] SLAMing on 32.514839173 meters Centerline goodness [0,1] 0.7084614071038251 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.40, Z:2.74 [[ 0.95701428 -0.20369908 -0.2064712 -4.49644059] [ 0.20933916 0.97782701 0.00560902 -2.39836962] [ 0.20075056 -0.04859042 0.9784366 2.74173518] [ 0. 0. 0. 1. ]] SLAMing on 32.54483917299999 meters Centerline goodness [0,1] 0.7089869772639361 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.40, Z:2.74 [[ 9.56911765e-01 -2.04738099e-01 -2.05917910e-01 -4.49884662e+00] [ 2.10122704e-01 9.77665175e-01 4.38804954e-03 -2.39594209e+00] [ 2.00420369e-01 -4.74670043e-02 9.78559431e-01 2.74276469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.574839172999994 meters Centerline goodness [0,1] 0.6949513643797882 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.40, Z:2.74 [[ 0.9595845 -0.20629772 -0.19141272 -4.50259763] [ 0.21156005 0.97733813 0.00724675 -2.39554197] [ 0.18557996 -0.04744916 0.98148289 2.73923922] [ 0. 0. 0. 1. ]] SLAMing on 32.604839172999995 meters Centerline goodness [0,1] 0.685547212152598 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.39, Z:2.74 [[ 0.95946531 -0.20693817 -0.19131887 -4.50322509] [ 0.21210281 0.97722445 0.00669171 -2.39418002] [ 0.18557671 -0.04699974 0.98150513 2.73945558] [ 0. 0. 0. 1. ]] SLAMing on 32.634839172999996 meters Centerline goodness [0,1] 0.6778375575290077 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.39, Z:2.74 [[ 0.95943115 -0.20677626 -0.19166493 -4.50199446] [ 0.21191108 0.97726759 0.00646102 -2.39062081] [ 0.18597194 -0.04681482 0.98143915 2.73841173] [ 0. 0. 0. 1. ]] SLAMing on 32.664839173 meters Centerline goodness [0,1] 0.6766651284417782 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.38, Z:2.74 [[ 0.96003141 -0.20405064 -0.19158036 -4.50302711] [ 0.20952217 0.9777667 0.00852878 -2.38222358] [ 0.18558059 -0.04832823 0.98143987 2.73602072] [ 0. 0. 0. 1. ]] SLAMing on 32.694839173 meters Centerline goodness [0,1] 0.6744779530878992 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.38, Z:2.74 [[ 0.95994425 -0.20522196 -0.19076422 -4.50546827] [ 0.21023855 0.97763035 0.00621748 -2.37544935] [ 0.18522093 -0.04607443 0.9816162 2.73655368] [ 0. 0. 0. 1. ]] SLAMing on 32.72483917299999 meters Centerline goodness [0,1] 0.6764758218781974 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.38, Z:2.74 [[ 0.95987938 -0.20554147 -0.19074667 -4.50464518] [ 0.21050687 0.97757446 0.00591944 -2.37508111] [ 0.18525238 -0.04583544 0.98162145 2.73572792] [ 0. 0. 0. 1. ]] SLAMing on 32.75483917299999 meters Centerline goodness [0,1] 0.671285881400162 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.37, Z:2.73 [[ 0.9599969 -0.20454898 -0.1912215 -4.50242684] [ 0.20958712 0.9777698 0.00628154 -2.36812043] [ 0.18568572 -0.04610782 0.98152681 2.7328998 ] [ 0. 0. 0. 1. ]] SLAMing on 32.784839172999995 meters Centerline goodness [0,1] 0.6666287637587556 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.37, Z:2.73 [[ 0.96063134 -0.20111867 -0.19167342 -4.50358465] [ 0.20670065 0.97835932 0.00937425 -2.36565623] [ 0.18564014 -0.04862422 0.98141399 2.73253779] [ 0. 0. 0. 1. ]] SLAMing on 32.814839172999996 meters Centerline goodness [0,1] 0.6630640923112077 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.36, Z:2.73 [[ 0.96053731 -0.20162252 -0.19161534 -4.5038276 ] [ 0.20705734 0.97829134 0.00856264 -2.36293572] [ 0.1857292 -0.04790009 0.98143275 2.73246625] [ 0. 0. 0. 1. ]] SLAMing on 32.844839173 meters Centerline goodness [0,1] 0.653199659684058 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.36, Z:2.73 [[ 0.96021957 -0.20310637 -0.19164077 -4.49881168] [ 0.20825085 0.97805127 0.00687796 -2.35928632] [ 0.18603755 -0.0465137 0.98144104 2.72811419] [ 0. 0. 0. 1. ]] SLAMing on 32.874839173 meters Centerline goodness [0,1] 0.6479367662443334 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.35, Z:2.72 [[ 0.96057684 -0.20064827 -0.19243804 -4.4944312 ] [ 0.20618901 0.9784708 0.00899984 -2.35322862] [ 0.1864892 -0.04832364 0.98126785 2.72300079] [ 0. 0. 0. 1. ]] SLAMing on 32.90483917299999 meters Centerline goodness [0,1] 0.6421256897035443 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.35, Z:2.72 [[ 0.9606161 -0.20032141 -0.19258256 -4.49325223] [ 0.2057794 0.97856098 0.00855886 -2.34936087] [ 0.18673925 -0.0478513 0.98124345 2.72185503] [ 0. 0. 0. 1. ]] SLAMing on 32.93483917299999 meters Centerline goodness [0,1] 0.6766465655328371 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.35, Z:2.72 [[ 0.9613688 -0.19681564 -0.19244126 -4.49654292] [ 0.20255121 0.97921645 0.01039952 -2.34554832] [ 0.18639486 -0.04897699 0.98125339 2.72364987] [ 0. 0. 0. 1. ]] SLAMing on 32.964839172999994 meters Centerline goodness [0,1] 0.6854343132370038 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.34, Z:2.72 [[ 0.96204134 -0.19328636 -0.1926573 -4.49895457] [ 0.19950217 0.97980829 0.01321389 -2.34421877] [ 0.18621316 -0.05114786 0.98117713 2.72478597] [ 0. 0. 0. 1. ]] SLAMing on 32.994839172999995 meters Centerline goodness [0,1] 0.677357541498 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.34, Z:2.72 [[ 0.96192352 -0.19383646 -0.19269292 -4.49861087] [ 0.19987193 0.97974607 0.01220076 -2.33950311] [ 0.18642517 -0.0502501 0.98118326 2.72404985] [ 0. 0. 0. 1. ]] SLAMing on 33.024839173 meters Centerline goodness [0,1] 0.6514115756398263 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.34, Z:2.72 [[ 0.96191105 -0.19346495 -0.19312807 -4.49592985] [ 0.19959299 0.97979783 0.01260391 -2.33878716] [ 0.18678805 -0.05067085 0.9810926 2.72203804] [ 0. 0. 0. 1. ]] SLAMing on 33.054839173 meters Centerline goodness [0,1] 0.6550639748421634 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.34, Z:2.72 [[ 0.96121362 -0.1966487 -0.19338478 -4.48983406] [ 0.20235741 0.97926044 0.01002354 -2.33941094] [ 0.18740295 -0.04876761 0.98107179 2.71809447] [ 0. 0. 0. 1. ]] SLAMing on 33.084839173 meters Centerline goodness [0,1] 0.656370103363491 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.34, Z:2.72 [[ 0.96050466 -0.20054333 -0.19290716 -4.48815047] [ 0.20555357 0.97862681 0.00610697 -2.3390984 ] [ 0.1875594 -0.04551852 0.98119801 2.71775958] [ 0. 0. 0. 1. ]] SLAMing on 33.11483917299999 meters Centerline goodness [0,1] 0.6561953789057824 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.33, Z:2.72 [[ 0.96050298 -0.2007176 -0.1927342 -4.48854928] [ 0.2055832 0.97862488 0.00537548 -2.33459217] [ 0.18753553 -0.04478608 0.98123628 2.71746206] [ 0. 0. 0. 1. ]] SLAMing on 33.144839172999994 meters Centerline goodness [0,1] 0.6416011609626315 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.33, Z:2.72 [[ 0.96118557 -0.19666092 -0.19351173 -4.48851407] [ 0.20217844 0.97930745 0.00898905 -2.33250096] [ 0.18773968 -0.04776405 0.98105678 2.71670704] [ 0. 0. 0. 1. ]] SLAMing on 33.174839172999995 meters Centerline goodness [0,1] 0.6477336522736703 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.33, Z:2.71 [[ 0.96170866 -0.1919161 -0.19566465 -4.47985678] [ 0.19808284 0.98010857 0.01226262 -2.32960059] [ 0.18941921 -0.05055088 0.98059419 2.71196602] [ 0. 0. 0. 1. ]] SLAMing on 33.204839172999996 meters Centerline goodness [0,1] 0.6627273837138323 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.33, Z:2.71 [[ 0.96181575 -0.1905496 -0.19647219 -4.47546761] [ 0.19689894 0.98033599 0.01312081 -2.33070946] [ 0.1901086 -0.05130496 0.9804216 2.7099357 ] [ 0. 0. 0. 1. ]] SLAMing on 33.234839173 meters Centerline goodness [0,1] 0.6668632655067335 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.33, Z:2.71 [[ 0.96186973 -0.19011913 -0.19662485 -4.47365249] [ 0.19652457 0.98040718 0.01341066 -2.33057854] [ 0.1902228 -0.05154092 0.98038708 2.70843028] [ 0. 0. 0. 1. ]] SLAMing on 33.264839173 meters Centerline goodness [0,1] 0.6613794464453105 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.33, Z:2.71 [[ 0.96172794 -0.19100366 -0.19646113 -4.47520524] [ 0.19719907 0.98028649 0.01228515 -2.32713286] [ 0.19024168 -0.05055692 0.98043465 2.70931406] [ 0. 0. 0. 1. ]] SLAMing on 33.29483917299999 meters Centerline goodness [0,1] 0.6528946189456917 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.32, Z:2.71 [[ 0.96230986 -0.18794136 -0.19656494 -4.47824051] [ 0.19448396 0.98080072 0.01435055 -2.32244994] [ 0.19009397 -0.05203841 0.98038579 2.71049424] [ 0. 0. 0. 1. ]] SLAMing on 33.324839172999994 meters Centerline goodness [0,1] 0.6528946189456917 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.32, Z:2.71 [[ 0.96230986 -0.18794136 -0.19656494 -4.47824051] [ 0.19448396 0.98080072 0.01435055 -2.32244994] [ 0.19009397 -0.05203841 0.98038579 2.71049424] [ 0. 0. 0. 1. ]] SLAMing on 33.354839172999995 meters Centerline goodness [0,1] 0.6675917436875882 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.32, Z:2.71 [[ 0.96237668 -0.18737492 -0.19677844 -4.47699583] [ 0.19382387 0.98093836 0.01386497 -2.32023596] [ 0.19042957 -0.05148369 0.98034994 2.71023239] [ 0. 0. 0. 1. ]] SLAMing on 33.384839172999996 meters Centerline goodness [0,1] 0.6988435272419122 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.32, Z:2.71 [[ 0.96315873 -0.18241474 -0.19761105 -4.47555283] [ 0.18946022 0.98173792 0.0171893 -2.31815098] [ 0.19086668 -0.05399545 0.98012979 2.70940802] [ 0. 0. 0. 1. ]] SLAMing on 33.414839173 meters Centerline goodness [0,1] 0.7026742260799759 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.32, Z:2.71 [[ 0.96315989 -0.18239017 -0.19762804 -4.47531549] [ 0.18931205 0.98177745 0.01655236 -2.31555308] [ 0.19100776 -0.05335594 0.98013733 2.70934003] [ 0. 0. 0. 1. ]] SLAMing on 33.444839173 meters Centerline goodness [0,1] 0.709474267576895 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.31, Z:2.71 [[ 0.96374254 -0.17861065 -0.19823864 -4.47565852] [ 0.18593552 0.98238176 0.01881632 -2.30899737] [ 0.19138523 -0.05499369 0.97997316 2.70905144] [ 0. 0. 0. 1. ]] SLAMing on 33.47483917299999 meters Centerline goodness [0,1] 0.7075459733671527 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.31, Z:2.71 [[ 0.96365831 -0.17870507 -0.19856274 -4.47526384] [ 0.18588996 0.98240574 0.01799693 -2.30575289] [ 0.19185303 -0.05425371 0.97992293 2.70953877] [ 0. 0. 0. 1. ]] SLAMing on 33.50483917299999 meters Centerline goodness [0,1] 0.7126170602605864 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.30, Z:2.71 [[ 0.96423916 -0.17542289 -0.1986697 -4.47917786] [ 0.18294699 0.98291883 0.02002414 -2.30332981] [ 0.1917635 -0.05565409 0.97986192 2.71267737] [ 0. 0. 0. 1. ]] SLAMing on 33.534839172999995 meters Centerline goodness [0,1] 0.7205683872774962 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.30, Z:2.71 [[ 0.96429443 -0.17466669 -0.19906735 -4.47812071] [ 0.18209745 0.98308699 0.01950598 -2.30168112] [ 0.19229348 -0.05505916 0.97979167 2.71354556] [ 0. 0. 0. 1. ]] SLAMing on 33.564839172999996 meters Centerline goodness [0,1] 0.7305998053577831 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.30, Z:2.70 [[ 0.96705001 -0.16555571 -0.19340523 -4.47949925] [ 0.17270215 0.9847592 0.02057394 -2.30337763] [ 0.18705144 -0.05329753 0.98090322 2.70459825] [ 0. 0. 0. 1. ]] SLAMing on 33.594839173 meters Centerline goodness [0,1] 0.7352697739382339 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.30, Z:2.70 [[ 0.96839127 -0.15573807 -0.19484352 -4.47811443] [ 0.16438382 0.98597248 0.02891758 -2.30179058] [ 0.18760678 -0.06003266 0.98040796 2.70289367] [ 0. 0. 0. 1. ]] SLAMing on 33.624839173 meters Centerline goodness [0,1] 0.7365900383141762 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.30, Z:2.70 [[ 0.96840704 -0.15498775 -0.19536274 -4.47617436] [ 0.16368925 0.98608235 0.02911068 -2.3011906 ] [ 0.18813195 -0.06016977 0.98029892 2.7024819 ] [ 0. 0. 0. 1. ]] SLAMing on 33.65483917299999 meters Centerline goodness [0,1] 0.7407502834174997 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.30, Z:2.70 [[ 0.96781409 -0.15832935 -0.1956213 -4.47330089] [ 0.16647211 0.98570852 0.02580222 -2.30373468] [ 0.18874034 -0.05753724 0.98034002 2.70290971] [ 0. 0. 0. 1. ]] SLAMing on 33.68483917299999 meters Centerline goodness [0,1] 0.7451428278110002 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.31, Z:2.71 [[ 0.96771106 -0.15936386 -0.1952907 -4.47599874] [ 0.16736894 0.98557504 0.02508941 -2.30628904] [ 0.18847529 -0.0569649 0.98042443 2.70550604] [ 0. 0. 0. 1. ]] SLAMing on 33.714839172999994 meters Centerline goodness [0,1] 0.7463914882707345 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.31, Z:2.71 [[ 0.96760531 -0.16070022 -0.1947188 -4.48037568] [ 0.16840517 0.98543597 0.02357226 -2.30565648] [ 0.18809485 -0.05560029 0.98057582 2.70929219] [ 0. 0. 0. 1. ]] SLAMing on 33.744839172999995 meters Centerline goodness [0,1] 0.7475266508167804 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.31, Z:2.71 [[ 0.9679734 -0.15782879 -0.19523721 -4.48415049] [ 0.1661396 0.98573678 0.0268446 -2.30763375] [ 0.18821565 -0.05842149 0.9803886 2.71242745] [ 0. 0. 0. 1. ]] SLAMing on 33.774839173 meters Centerline goodness [0,1] 0.7502559901699775 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.31, Z:2.71 [[ 0.96794097 -0.15721287 -0.19589383 -4.48223577] [ 0.16564847 0.9858057 0.02734436 -2.30729826] [ 0.18881437 -0.05891724 0.98024379 2.71196747] [ 0. 0. 0. 1. ]] SLAMing on 33.804839173 meters Centerline goodness [0,1] 0.7509474960836828 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.31, Z:2.71 [[ 0.9680039 -0.15629647 -0.19631571 -4.48095234] [ 0.16499538 0.98587776 0.02866281 -2.31336958] [ 0.1890634 -0.06013689 0.98012172 2.71247419] [ 0. 0. 0. 1. ]] SLAMing on 33.834839173 meters Centerline goodness [0,1] 0.7512547681188516 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.32, Z:2.71 [[ 0.96741465 -0.16014649 -0.19611731 -4.48036129] [ 0.16820812 0.98543309 0.02505314 -2.31688975] [ 0.18924832 -0.0572253 0.98026034 2.71426612] [ 0. 0. 0. 1. ]] SLAMing on 33.86483917299999 meters Centerline goodness [0,1] 0.7510114466153542 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.33, Z:2.72 [[ 0.96603224 -0.1695617 -0.19501422 -4.48111753] [ 0.17628399 0.98418346 0.01751769 -2.32564331] [ 0.18895945 -0.05130054 0.98064396 2.71761171] [ 0. 0. 0. 1. ]] SLAMing on 33.894839172999994 meters Centerline goodness [0,1] 0.7443452744834331 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.33, Z:2.72 [[ 0.96522392 -0.17494222 -0.1942627 -4.48307961] [ 0.18113273 0.98335275 0.01443265 -2.3311201 ] [ 0.18850388 -0.04911807 0.98084336 2.71936325] [ 0. 0. 0. 1. ]] SLAMing on 33.924839172999995 meters Centerline goodness [0,1] 0.7423998830751242 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.33, Z:2.72 [[ 0.96516197 -0.17503708 -0.19448494 -4.48330258] [ 0.18132014 0.98331206 0.01484555 -2.33333785] [ 0.18864087 -0.0495924 0.98079316 2.72018145] [ 0. 0. 0. 1. ]] SLAMing on 33.954839172999996 meters Centerline goodness [0,1] 0.744124502282218 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.34, Z:2.72 [[ 0.9651866 -0.17385295 -0.19542258 -4.48018196] [ 0.18041829 0.98345701 0.01617221 -2.33648977] [ 0.18937812 -0.05086701 0.98058578 2.71951253] [ 0. 0. 0. 1. ]] SLAMing on 33.984839173 meters Centerline goodness [0,1] 0.7420804639362087 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.34, Z:2.72 [[ 0.96461828 -0.17660425 -0.19576135 -4.47615863] [ 0.18277748 0.98305768 0.01378377 -2.33892392] [ 0.19001042 -0.04907684 0.98055469 2.7183907 ] [ 0. 0. 0. 1. ]] SLAMing on 34.014839173 meters Centerline goodness [0,1] 0.7427736666906147 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.34, Z:2.72 [[ 0.96456296 -0.17734697 -0.19536209 -4.47835445] [ 0.18341107 0.98294699 0.01325158 -2.33938161] [ 0.18968045 -0.04861355 0.98064165 2.7198606 ] [ 0. 0. 0. 1. ]] SLAMing on 34.04483917299999 meters Centerline goodness [0,1] 0.7409021260294963 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.34, Z:2.72 [[ 0.96377062 -0.18229476 -0.19471726 -4.47939917] [ 0.18754663 0.98221695 0.00872509 -2.3395053 ] [ 0.18966405 -0.04492755 0.98082061 2.72174076] [ 0. 0. 0. 1. ]] SLAMing on 34.074839172999994 meters Centerline goodness [0,1] 0.7297560975609756 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.34, Z:2.72 [[ 9.62306328e-01 -1.90519465e-01 -1.94084684e-01 -4.47587939e+00] [ 1.94538852e-01 9.80893369e-01 1.68322470e-03 -2.34177187e+00] [ 1.90055692e-01 -3.93767894e-02 9.80983334e-01 2.72094674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.104839172999995 meters Centerline goodness [0,1] 0.7286921032649962 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.34, Z:2.72 [[ 9.61546256e-01 -1.94486511e-01 -1.93916981e-01 -4.47356402e+00] [ 1.97876179e-01 9.80225132e-01 -1.92591185e-03 -2.34128874e+00] [ 1.90456862e-01 -3.65196979e-02 9.81016053e-01 2.72019421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.134839172999996 meters Centerline goodness [0,1] 0.7141498668695321 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.34, Z:2.72 [[ 0.96077345 -0.19847739 -0.19370365 -4.47033232] [ 0.20137628 0.97950214 -0.00481169 -2.34113948] [ 0.19068815 -0.03438438 0.98104829 2.7176532 ] [ 0. 0. 0. 1. ]] SLAMing on 34.164839173 meters Centerline goodness [0,1] 0.705840217754644 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.34, Z:2.72 [[ 0.96069828 -0.19897311 -0.19356784 -4.47109443] [ 0.20183822 0.97940606 -0.00501033 -2.34042878] [ 0.19057843 -0.03425597 0.9810741 2.71780952] [ 0. 0. 0. 1. ]] SLAMing on 34.194839173 meters Centerline goodness [0,1] 0.6921066387872452 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.34, Z:2.72 [[ 0.95991196 -0.20351258 -0.19274765 -4.47112558] [ 0.20570901 0.97857395 -0.0087657 -2.34120978] [ 0.19040176 -0.03123563 0.98120921 2.71810291] [ 0. 0. 0. 1. ]] SLAMing on 34.22483917299999 meters Centerline goodness [0,1] 0.68518825283385 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.34, Z:2.72 [[ 0.95911726 -0.20760015 -0.19234412 -4.46986188] [ 0.20915439 0.97780378 -0.01241848 -2.34222826] [ 0.19065289 -0.02831884 0.98124896 2.71830691] [ 0. 0. 0. 1. ]] SLAMing on 34.25483917299999 meters Centerline goodness [0,1] 0.6930580547400322 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.34, Z:2.72 [[ 0.95910712 -0.20764645 -0.1923447 -4.46944861] [ 0.20928385 0.97778136 -0.01199512 -2.34400271] [ 0.19056181 -0.02875004 0.98125411 2.71788049] [ 0. 0. 0. 1. ]] SLAMing on 34.284839172999995 meters Centerline goodness [0,1] 0.6914827995255042 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.34, Z:2.72 [[ 9.60204082e-01 -2.07400717e-01 -1.87064331e-01 -4.46231742e+00] [ 2.10939228e-01 9.77498654e-01 -1.01148715e-03 -2.34187192e+00] [ 1.83064914e-01 -3.84879714e-02 9.82347145e-01 2.71658921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.314839172999996 meters Centerline goodness [0,1] 0.6763888559010047 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.34, Z:2.72 [[ 9.59956701e-01 -2.08821755e-01 -1.86752794e-01 -4.46465868e+00] [ 2.12258569e-01 9.77212182e-01 -1.62849990e-03 -2.34322771e+00] [ 1.82837172e-01 -3.80765915e-02 9.82405589e-01 2.71825792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.344839173 meters Centerline goodness [0,1] 0.6764287745237418 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.35, Z:2.72 [[ 9.59672398e-01 -2.10612769e-01 -1.86201905e-01 -4.46455304e+00] [ 2.13699954e-01 9.76892833e-01 -3.56686229e-03 -2.34541872e+00] [ 1.82650533e-01 -3.63683193e-02 9.82505027e-01 2.71908683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.374839173 meters Centerline goodness [0,1] 0.6769764281362762 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.35, Z:2.72 [[ 0.95892306 -0.21365045 -0.18660132 -4.45971449] [ 0.21633281 0.97630055 -0.00611212 -2.35108874] [ 0.18348483 -0.03450693 0.98241671 2.71837779] [ 0. 0. 0. 1. ]] SLAMing on 34.40483917299999 meters Centerline goodness [0,1] 0.6673427046180386 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.35, Z:2.72 [[ 0.95894759 -0.21302217 -0.18719263 -4.45764954] [ 0.21584914 0.97641184 -0.00539209 -2.35358173] [ 0.18392574 -0.03523464 0.98230843 2.71803455] [ 0. 0. 0. 1. ]] SLAMing on 34.43483917299999 meters Centerline goodness [0,1] 0.6785955750355536 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.36, Z:2.72 [[ 9.59789890e-01 -2.07450685e-01 -1.89123189e-01 -4.45430890e+00] [ 2.11194892e-01 9.77443904e-01 -3.63176991e-04 -2.35583358e+00] [ 1.84932650e-01 -3.95932780e-02 9.81953302e-01 2.71722428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.464839172999994 meters Centerline goodness [0,1] 0.6789671361502347 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.35, Z:2.72 [[ 9.60647694e-01 -2.01995580e-01 -1.90666710e-01 -4.45276126e+00] [ 2.06583480e-01 9.78419584e-01 4.28765481e-03 -2.35253702e+00] [ 1.85685956e-01 -4.35075182e-02 9.81645466e-01 2.71629726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.494839172999995 meters Centerline goodness [0,1] 0.6721249676036096 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.35, Z:2.72 [[ 9.60579701e-01 -2.02117320e-01 -1.90880138e-01 -4.45283574e+00] [ 2.06671465e-01 9.78402029e-01 4.04661592e-03 -2.35072181e+00] [ 1.85939623e-01 -4.33365750e-02 9.81605011e-01 2.71660503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.524839173 meters Centerline goodness [0,1] 0.6608878997305845 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.35, Z:2.72 [[ 9.59875764e-01 -2.05415536e-01 -1.90900433e-01 -4.45024319e+00] [ 2.09366055e-01 9.77837188e-01 5.36678033e-04 -2.35127509e+00] [ 1.86559301e-01 -4.04832148e-02 9.81609259e-01 2.71692202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.554839173 meters Centerline goodness [0,1] 0.6654153860591699 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.35, Z:2.72 [[ 9.59140029e-01 -2.08830292e-01 -1.90893461e-01 -4.44701018e+00] [ 2.12215419e-01 9.77218986e-01 -2.76920746e-03 -2.35269741e+00] [ 1.87123009e-01 -3.78544781e-02 9.81606855e-01 2.71630272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.584839173 meters Centerline goodness [0,1] 0.646070435371924 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.35, Z:2.71 [[ 0.95839504 -0.21168275 -0.19149247 -4.44162791] [ 0.2145735 0.97669088 -0.00575705 -2.35207876] [ 0.18824762 -0.03557168 0.9814772 2.71453513] [ 0. 0. 0. 1. ]] SLAMing on 34.61483917299999 meters Centerline goodness [0,1] 0.6619543010121409 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.35, Z:2.71 [[ 9.59082470e-01 -2.07760208e-01 -1.92344772e-01 -4.44194296e+00] [ 2.11280566e-01 9.77422851e-01 -2.25682322e-03 -2.35067767e+00] [ 1.88471054e-01 -3.84742327e-02 9.81324816e-01 2.71447916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.644839172999994 meters Centerline goodness [0,1] 0.6649087799315849 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.35, Z:2.71 [[ 9.59841417e-01 -2.02964659e-01 -1.93674473e-01 -4.44000181e+00] [ 2.07023126e-01 9.78335775e-01 7.32072521e-04 -2.34519645e+00] [ 1.89330081e-01 -4.07977685e-02 9.81065575e-01 2.71354308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.674839172999995 meters Centerline goodness [0,1] 0.6768228919098773 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.34, Z:2.71 [[ 9.59898592e-01 -2.02225130e-01 -1.94164077e-01 -4.43817500e+00] [ 2.06203673e-01 9.78509051e-01 2.85818775e-04 -2.34304738e+00] [ 1.89933507e-01 -4.03117030e-02 9.80969026e-01 2.71346705e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.704839172999996 meters Centerline goodness [0,1] 0.6898313622951999 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.34, Z:2.71 [[ 9.60011843e-01 -2.01978713e-01 -1.93860418e-01 -4.43883941e+00] [ 2.05594032e-01 9.78636215e-01 -1.50096208e-03 -2.33676352e+00] [ 1.90021988e-01 -3.84156036e-02 9.81027974e-01 2.71447299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.734839173 meters Centerline goodness [0,1] 0.6858312266762971 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.33, Z:2.72 [[ 9.60627528e-01 -1.98496855e-01 -1.94406148e-01 -4.44074463e+00] [ 2.02588245e-01 9.79263289e-01 1.18906290e-03 -2.33362941e+00] [ 1.90138779e-01 -4.05266469e-02 9.80920402e-01 2.71552166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.764839173 meters Centerline goodness [0,1] 0.7077865266841645 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.33, Z:2.72 [[ 0.96211915 -0.18957003 -0.19593354 -4.44100537] [ 0.19480098 0.98081335 0.00759921 -2.32836405] [ 0.19073365 -0.04547939 0.98058773 2.71584878] [ 0. 0. 0. 1. ]] SLAMing on 34.79483917299999 meters Centerline goodness [0,1] 0.7116680140123957 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.33, Z:2.72 [[ 0.96280447 -0.1852726 -0.19667644 -4.44110479] [ 0.19108217 0.98151446 0.0108149 -2.3254243 ] [ 0.19103706 -0.04799399 0.9804088 2.71571726] [ 0. 0. 0. 1. ]] SLAMing on 34.824839172999994 meters Centerline goodness [0,1] 0.7193207938901109 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.32, Z:2.72 [[ 0.9634616 -0.18075709 -0.19765783 -4.44029486] [ 0.18707347 0.98225171 0.01360506 -2.31924831] [ 0.19169053 -0.05008449 0.98017666 2.71526148] [ 0. 0. 0. 1. ]] SLAMing on 34.854839172999995 meters Centerline goodness [0,1] 0.7196930054072912 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.31, Z:2.72 [[ 0.96346961 -0.18027255 -0.19806088 -4.439091 ] [ 0.18644279 0.98238242 0.012801 -2.31446092] [ 0.19226386 -0.0492604 0.98010613 2.7152526 ] [ 0. 0. 0. 1. ]] SLAMing on 34.884839172999996 meters Centerline goodness [0,1] 0.7185428800964049 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.31, Z:2.71 [[ 0.96338233 -0.18000049 -0.19873177 -4.43530583] [ 0.18609217 0.98245587 0.01225456 -2.30976631] [ 0.19303936 -0.04878825 0.9799773 2.71289929] [ 0. 0. 0. 1. ]] SLAMing on 34.914839173 meters Centerline goodness [0,1] 0.7111725524695237 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.31, Z:2.71 [[ 0.96303352 -0.18198178 -0.19861792 -4.43200165] [ 0.18768513 0.98217718 0.01011352 -2.3067134 ] [ 0.19323752 -0.04701729 0.98002481 2.71050506] [ 0. 0. 0. 1. ]] SLAMing on 34.944839173 meters Centerline goodness [0,1] 0.7031009899992442 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.30, Z:2.71 [[ 0.9623269 -0.18597568 -0.19834308 -4.42810631] [ 0.1909342 0.98158449 0.00600106 -2.30165258] [ 0.19357444 -0.04364546 0.98011428 2.70744866] [ 0. 0. 0. 1. ]] SLAMing on 34.97483917299999 meters Centerline goodness [0,1] 0.69587785486403 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.30, Z:2.70 [[ 0.9620605 -0.18713488 -0.19854505 -4.42372722] [ 0.1918567 0.98141198 0.00464046 -2.29999174] [ 0.19398609 -0.0425566 0.98008078 2.70480818] [ 0. 0. 0. 1. ]] SLAMing on 35.00483917299999 meters Centerline goodness [0,1] 0.6867239975575006 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.30, Z:2.70 [[ 9.61893538e-01 -1.87571422e-01 -1.98941659e-01 -4.42103467e+00] [ 1.92201109e-01 9.81347231e-01 4.04294237e-03 -2.29519608e+00] [ 1.94472506e-01 -4.21256877e-02 9.80002995e-01 2.70231717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.034839172999995 meters Centerline goodness [0,1] 0.6772894146440955 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.29, Z:2.70 [[ 9.61771562e-01 -1.88329083e-01 -1.98815538e-01 -4.42177532e+00] [ 1.92739853e-01 9.81245635e-01 2.89020839e-03 -2.29009198e+00] [ 1.94542569e-01 -4.10993978e-02 9.80032667e-01 2.70231553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.064839172999996 meters Centerline goodness [0,1] 0.6839375564443297 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.28, Z:2.70 [[ 0.96417654 -0.18368673 -0.19137081 -4.41882116] [ 0.19012344 0.98163509 0.01567231 -2.28264789] [ 0.18497751 -0.05149495 0.98139268 2.70141161] [ 0. 0. 0. 1. ]] SLAMing on 35.094839173 meters Centerline goodness [0,1] 0.6768857463406998 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.28, Z:2.70 [[ 0.96413876 -0.18363709 -0.19160864 -4.41639483] [ 0.18991318 0.98168995 0.01475915 -2.27845449] [ 0.18538995 -0.05061887 0.98136043 2.69983402] [ 0. 0. 0. 1. ]] SLAMing on 35.124839173 meters Centerline goodness [0,1] 0.6822258832143511 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.28, Z:2.70 [[ 0.96413406 -0.18359637 -0.19167132 -4.41460291] [ 0.18987399 0.98169761 0.01475372 -2.27727615] [ 0.18545455 -0.05061796 0.98134827 2.69798585] [ 0. 0. 0. 1. ]] SLAMing on 35.15483917299999 meters Centerline goodness [0,1] 0.6631706866034397 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.27, Z:2.70 [[ 0.96402959 -0.18435983 -0.19146385 -4.41439099] [ 0.19034304 0.98162917 0.01317915 -2.26857386] [ 0.18551679 -0.04914891 0.98141118 2.69640613] [ 0. 0. 0. 1. ]] SLAMing on 35.18483917299999 meters Centerline goodness [0,1] 0.670551836342784 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.26, Z:2.70 [[ 0.96388322 -0.18547071 -0.19112757 -4.41643947] [ 0.19110523 0.98150432 0.01131611 -2.26216007] [ 0.18549373 -0.04743289 0.98149997 2.69740143] [ 0. 0. 0. 1. ]] SLAMing on 35.214839172999994 meters Centerline goodness [0,1] 0.6499291083705625 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.26, Z:2.69 [[ 0.96667864 -0.18493745 -0.17700436 -4.41940278] [ 0.19065991 0.98153003 0.01573517 -2.25817412] [ 0.17082507 -0.04895848 0.98408428 2.69340799] [ 0. 0. 0. 1. ]] SLAMing on 35.244839172999995 meters Centerline goodness [0,1] 0.6499291083705625 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.26, Z:2.69 [[ 0.96667864 -0.18493745 -0.17700436 -4.41940278] [ 0.19065991 0.98153003 0.01573517 -2.25817412] [ 0.17082507 -0.04895848 0.98408428 2.69340799] [ 0. 0. 0. 1. ]] SLAMing on 35.274839173 meters Centerline goodness [0,1] 0.6493800539083558 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.26, Z:2.69 [[ 0.96650043 -0.18641071 -0.17643119 -4.42245593] [ 0.19197886 0.98128624 0.01488051 -2.25804783] [ 0.17035562 -0.04825308 0.98420049 2.69486947] [ 0. 0. 0. 1. ]] SLAMing on 35.304839173 meters Centerline goodness [0,1] 0.6481986973325045 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.26, Z:2.70 [[ 0.96641808 -0.18671223 -0.17656339 -4.42300653] [ 0.19217798 0.98125699 0.01422494 -2.25703232] [ 0.17059809 -0.04767883 0.98418648 2.69612045] [ 0. 0. 0. 1. ]] SLAMing on 35.33483917299999 meters Centerline goodness [0,1] 0.6530684159167299 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.26, Z:2.70 [[ 0.96644358 -0.1859253 -0.17725291 -4.42026938] [ 0.19145423 0.98139498 0.01446268 -2.25627918] [ 0.17126614 -0.04791318 0.98405906 2.69524002] [ 0. 0. 0. 1. ]] SLAMing on 35.36483917299999 meters Centerline goodness [0,1] 0.6485401853048912 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.26, Z:2.69 [[ 0.96607209 -0.18696742 -0.17817939 -4.41246426] [ 0.19223931 0.98126667 0.01263974 -2.25680094] [ 0.17247827 -0.04646399 0.98391684 2.69228048] [ 0. 0. 0. 1. ]] SLAMing on 35.394839172999994 meters Centerline goodness [0,1] 0.6495671344840566 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.26, Z:2.69 [[ 0.96541787 -0.19028437 -0.17821388 -4.40904714] [ 0.19498095 0.98076523 0.00905542 -2.2571591 ] [ 0.17306287 -0.04349057 0.98395011 2.69175519] [ 0. 0. 0. 1. ]] SLAMing on 35.424839172999995 meters Centerline goodness [0,1] 0.6534677225821934 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.26, Z:2.69 [[ 0.96533327 -0.19111697 -0.17778071 -4.41173033] [ 0.19566197 0.98063689 0.00822733 -2.25910997] [ 0.17276594 -0.04272704 0.98403574 2.69455799] [ 0. 0. 0. 1. ]] SLAMing on 35.454839172999996 meters Centerline goodness [0,1] 0.6562741287041721 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.26, Z:2.70 [[ 0.96521017 -0.19156372 -0.17796819 -4.41283025] [ 0.19594491 0.98058841 0.00720836 -2.25717618] [ 0.17313269 -0.04182954 0.98400984 2.69664622] [ 0. 0. 0. 1. ]] SLAMing on 35.484839173 meters Centerline goodness [0,1] 0.6474967429741298 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.26, Z:2.70 [[ 0.96517306 -0.19130017 -0.17845225 -4.41206748] [ 0.19568615 0.98064058 0.00714084 -2.25734127] [ 0.17363147 -0.04181278 0.98392266 2.69753735] [ 0. 0. 0. 1. ]] SLAMing on 35.514839173 meters Centerline goodness [0,1] 0.6584591785459257 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.26, Z:2.69 [[ 0.96539125 -0.18787363 -0.18089562 -4.40220423] [ 0.19279157 0.98119042 0.0098371 -2.26084197] [ 0.17564492 -0.0443718 0.9834531 2.69391907] [ 0. 0. 0. 1. ]] SLAMing on 35.54483917299999 meters Centerline goodness [0,1] 0.6837431153977916 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.26, Z:2.69 [[ 9.65319304e-01 -1.81317795e-01 -1.87836359e-01 -4.39698754e+00] [ 1.84832340e-01 9.82769314e-01 1.21734096e-03 -2.25871067e+00] [ 1.84379084e-01 -3.58933564e-02 9.82199583e-01 2.69236047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.574839172999994 meters Centerline goodness [0,1] 0.6931866271688532 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.26, Z:2.69 [[ 9.65339684e-01 -1.80461436e-01 -1.88554940e-01 -4.39421670e+00] [ 1.84010734e-01 9.82923317e-01 1.34236853e-03 -2.25653852e+00] [ 1.85092801e-01 -3.59919745e-02 9.82061726e-01 2.69140413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.604839172999995 meters Centerline goodness [0,1] 0.6827029886273472 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.26, Z:2.69 [[ 9.64630344e-01 -1.84278762e-01 -1.88493069e-01 -4.39171506e+00] [ 1.87173608e-01 9.82323712e-01 -2.48314780e-03 -2.25557661e+00] [ 1.85618802e-01 -3.28856079e-02 9.82071381e-01 2.69101453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.634839172999996 meters Centerline goodness [0,1] 0.6788533115117599 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.26, Z:2.69 [[ 9.64543512e-01 -1.84880560e-01 -1.88348062e-01 -4.39252250e+00] [ 1.87770566e-01 9.82209630e-01 -2.54096159e-03 -2.25770204e+00] [ 1.85467055e-01 -3.29153544e-02 9.82099053e-01 2.69154613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.664839173 meters Centerline goodness [0,1] 0.6409736842105263 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.26, Z:2.69 [[ 0.96363215 -0.19035094 -0.18756227 -4.39413652] [ 0.19238077 0.98129174 -0.00749357 -2.25629529] [ 0.18547972 -0.02886233 0.98222413 2.69360502] [ 0. 0. 0. 1. ]] SLAMing on 35.694839173 meters Centerline goodness [0,1] 0.6451316514845247 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.26, Z:2.69 [[ 0.96351707 -0.19082777 -0.18766889 -4.39437239] [ 0.19293787 0.98118506 -0.00713186 -2.25906781] [ 0.18549887 -0.02933676 0.98220646 2.69382657] [ 0. 0. 0. 1. ]] SLAMing on 35.72483917299999 meters Centerline goodness [0,1] 0.6326791920353289 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.26, Z:2.69 [[ 0.96278711 -0.19460237 -0.18753904 -4.39195581] [ 0.19615186 0.98051791 -0.01044386 -2.26136332] [ 0.18591778 -0.02673091 0.98220163 2.69365958] [ 0. 0. 0. 1. ]] SLAMing on 35.75483917299999 meters Centerline goodness [0,1] 0.6447962626524786 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.27, Z:2.69 [[ 0.96289843 -0.19347755 -0.18813041 -4.38930551] [ 0.19529113 0.98070375 -0.00902908 -2.26569718] [ 0.18624713 -0.02804611 0.98210255 2.69272453] [ 0. 0. 0. 1. ]] SLAMing on 35.784839172999995 meters Centerline goodness [0,1] 0.6563776904458267 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.26, Z:2.69 [[ 0.96366907 -0.18805979 -0.18967192 -4.38823125] [ 0.19062387 0.9816514 -0.00480213 -2.26474207] [ 0.18709479 -0.03152833 0.98183578 2.69360865] [ 0. 0. 0. 1. ]] SLAMing on 35.814839172999996 meters Centerline goodness [0,1] 0.6510212046311955 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.27, Z:2.69 [[ 9.64301338e-01 -1.83753838e-01 -1.90676314e-01 -4.38848749e+00] [ 1.87071624e-01 9.82346087e-01 -6.10703519e-04 -2.26683654e+00] [ 1.87422350e-01 -3.50812256e-02 9.81652775e-01 2.69432531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.844839173 meters Centerline goodness [0,1] 0.6464871588877084 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.27, Z:2.70 [[ 9.64206592e-01 -1.83503798e-01 -1.91394892e-01 -4.38759517e+00] [ 1.87020069e-01 9.82356043e-01 3.13058231e-04 -2.27342730e+00] [ 1.87960482e-01 -3.60965387e-02 9.81513065e-01 2.69584662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.874839173 meters Centerline goodness [0,1] 0.6394810009267841 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.28, Z:2.70 [[ 9.63476506e-01 -1.87453648e-01 -1.91243697e-01 -4.38597981e+00] [ 1.90402474e-01 9.81701508e-01 -3.00778095e-03 -2.27671409e+00] [ 1.88308045e-01 -3.35153467e-02 9.81537978e-01 2.69645535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.90483917299999 meters Centerline goodness [0,1] 0.6138686686788242 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.28, Z:2.70 [[ 0.96108299 -0.19993676 -0.19064307 -4.38272613] [ 0.2011234 0.97947552 -0.01330699 -2.28477297] [ 0.18939078 -0.02555366 0.98156923 2.69881315] [ 0. 0. 0. 1. ]] SLAMing on 35.93483917299999 meters Centerline goodness [0,1] 0.6101511061779471 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.30, Z:2.70 [[ 0.95920134 -0.20836191 -0.1910971 -4.37358923] [ 0.20837436 0.9778393 -0.02025932 -2.2956787 ] [ 0.19108352 -0.02038697 0.98136204 2.69775849] [ 0. 0. 0. 1. ]] SLAMing on 35.964839172999994 meters Centerline goodness [0,1] 0.6080904850278377 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.30, Z:2.70 [[ 0.9585726 -0.21031415 -0.1921107 -4.36697656] [ 0.20998806 0.97744976 -0.02229297 -2.29917478] [ 0.19246708 -0.01897153 0.98112003 2.69646198] [ 0. 0. 0. 1. ]] SLAMing on 35.994839172999995 meters Centerline goodness [0,1] 0.6133017810437165 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.31, Z:2.70 [[ 0.95812447 -0.21050753 -0.1941239 -4.35765094] [ 0.21009979 0.97741109 -0.02292682 -2.30689194] [ 0.19456512 -0.01881865 0.98070907 2.69575011] [ 0. 0. 0. 1. ]] SLAMing on 36.024839173 meters Centerline goodness [0,1] 0.6143234224811993 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.31, Z:2.70 [[ 0.95817998 -0.2095174 -0.19491944 -4.35632775] [ 0.20929571 0.97760555 -0.02197017 -2.31097541] [ 0.19515745 -0.01974443 0.98057316 2.69704284] [ 0. 0. 0. 1. ]] SLAMing on 36.054839173 meters Centerline goodness [0,1] 0.6186660091234126 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.32, Z:2.70 [[ 0.95866045 -0.2063411 -0.19594257 -4.35832395] [ 0.20662982 0.97823086 -0.01919641 -2.3193317 ] [ 0.19563807 -0.02208474 0.98042746 2.70243817] [ 0. 0. 0. 1. ]] SLAMing on 36.08483917299999 meters Centerline goodness [0,1] 0.6288942891859053 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.33, Z:2.70 [[ 0.95996536 -0.20025502 -0.19586842 -4.35501018] [ 0.20116085 0.9794361 -0.01546727 -2.33194837] [ 0.194938 -0.02455302 0.9805082 2.70268505] [ 0. 0. 0. 1. ]] SLAMing on 36.11483917299999 meters Centerline goodness [0,1] 0.6492961820285383 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.34, Z:2.70 [[ 0.96008423 -0.19858601 -0.1969819 -4.35273895] [ 0.19968787 0.97975288 -0.0144584 -2.33682304] [ 0.19586482 -0.02545361 0.98030051 2.70448617] [ 0. 0. 0. 1. ]] SLAMing on 36.144839172999994 meters Centerline goodness [0,1] 0.6640234319188456 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.35, Z:2.71 [[ 0.96049482 -0.19577409 -0.19779336 -4.35442947] [ 0.19730114 0.98026757 -0.01215546 -2.34527756] [ 0.19627014 -0.0273496 0.98016837 2.70936204] [ 0. 0. 0. 1. ]] SLAMing on 36.174839172999995 meters Centerline goodness [0,1] 0.6626129904016401 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.35, Z:2.71 [[ 0.96043761 -0.19505675 -0.19877743 -4.35527668] [ 0.19688791 0.98036751 -0.01070917 -2.35457959] [ 0.19696383 -0.02885138 0.97998615 2.71357008] [ 0. 0. 0. 1. ]] SLAMing on 36.204839172999996 meters Centerline goodness [0,1] 0.6589837248011836 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.36, Z:2.72 [[ 0.96039775 -0.19479945 -0.19922182 -4.35545605] [ 0.19679472 0.98039439 -0.00993407 -2.35972041] [ 0.1972511 -0.02966514 0.97990407 2.71538865] [ 0. 0. 0. 1. ]] SLAMing on 36.234839173 meters Centerline goodness [0,1] 0.666109648620808 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.37, Z:2.72 [[ 0.96043258 -0.19420755 -0.19963136 -4.35482184] [ 0.19638167 0.98048578 -0.00904859 -2.36589271] [ 0.19749302 -0.03051338 0.97982929 2.71675201] [ 0. 0. 0. 1. ]] SLAMing on 36.264839173 meters Centerline goodness [0,1] 0.6742494200319826 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.37, Z:2.72 [[ 0.96061292 -0.19164072 -0.20123783 -4.35075472] [ 0.19420246 0.98093559 -0.00712495 -2.37423202] [ 0.19876678 -0.03223656 0.9795165 2.71834887] [ 0. 0. 0. 1. ]] SLAMing on 36.29483917299999 meters Centerline goodness [0,1] 0.6810711566880121 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.38, Z:2.72 [[ 0.96074254 -0.18998279 -0.20218878 -4.34804205] [ 0.1927548 0.98122814 -0.00607713 -2.37709958] [ 0.19954787 -0.0331343 0.97932771 2.71873102] [ 0. 0. 0. 1. ]] SLAMing on 36.324839172999994 meters Centerline goodness [0,1] 0.7052605920936004 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.39, Z:2.72 [[ 0.96275298 -0.18435138 -0.197791 -4.35266167] [ 0.18708627 0.98233109 -0.00493567 -2.38782727] [ 0.19520614 -0.03225215 0.98023179 2.71715918] [ 0. 0. 0. 1. ]] SLAMing on 36.354839172999995 meters Centerline goodness [0,1] 0.711139896373057 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.39, Z:2.72 [[ 9.62779458e-01 -1.83727754e-01 -1.98241842e-01 -4.35245627e+00] [ 1.86584323e-01 9.82429372e-01 -4.33807617e-03 -2.39177493e+00] [ 1.95555633e-01 -3.28122093e-02 9.80143537e-01 2.71878563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.384839172999996 meters Centerline goodness [0,1] 0.7110037854066049 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.40, Z:2.72 [[ 9.62866578e-01 -1.82543838e-01 -1.98911285e-01 -4.35201629e+00] [ 1.85701923e-01 9.82602066e-01 -2.82425980e-03 -2.39661299e+00] [ 1.95966191e-01 -3.42188227e-02 9.80013431e-01 2.72029149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.414839173 meters Centerline goodness [0,1] 0.7102383743649863 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.40, Z:2.72 [[ 9.62923250e-01 -1.81636975e-01 -1.99466346e-01 -4.35073866e+00] [ 1.84938202e-01 9.82747874e-01 -2.11592876e-03 -2.39748543e+00] [ 1.96409458e-01 -3.48514703e-02 9.79902393e-01 2.72044788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.444839173 meters Centerline goodness [0,1] 0.7081200808567374 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.40, Z:2.72 [[ 9.62970783e-01 -1.80333714e-01 -2.00417119e-01 -4.34884853e+00] [ 1.83916201e-01 9.82941636e-01 -7.56361203e-04 -2.39948439e+00] [ 1.97134728e-01 -3.61316015e-02 9.79710369e-01 2.72083861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.47483917299999 meters Centerline goodness [0,1] 0.7006944593752016 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.40, Z:2.72 [[ 9.62932981e-01 -1.80264711e-01 -2.00660679e-01 -4.34887158e+00] [ 1.83918064e-01 9.82941478e-01 -4.42994398e-04 -2.40000105e+00] [ 1.97317561e-01 -3.64785498e-02 9.79660704e-01 2.72133300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.50483917299999 meters Centerline goodness [0,1] 0.69602596341909 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.40, Z:2.72 [[ 9.62811753e-01 -1.80276710e-01 -2.01230803e-01 -4.34767777e+00] [ 1.84085308e-01 9.82910246e-01 2.17031122e-04 -2.40248249e+00] [ 1.97752692e-01 -3.72525945e-02 9.79543831e-01 2.72140444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.534839172999995 meters Centerline goodness [0,1] 0.6683731391239156 Centerline is valid? [False, False] Translation: X:-4.34, Y:-2.41, Z:2.72 [[ 0.961271 -0.18869184 -0.2008817 -4.34381262] [ 0.19140752 0.98149232 -0.00599901 -2.4065272 ] [ 0.19829581 -0.0326836 0.97959714 2.72006634] [ 0. 0. 0. 1. ]] SLAMing on 36.564839172999996 meters Centerline goodness [0,1] 0.6559718969555035 Centerline is valid? [False, False] Translation: X:-4.34, Y:-2.41, Z:2.72 [[ 0.96019575 -0.19400609 -0.20096207 -4.34114461] [ 0.19621191 0.98051947 -0.00908084 -2.41076565] [ 0.19880896 -0.03071177 0.97955693 2.71884279] [ 0. 0. 0. 1. ]] SLAMing on 36.594839173 meters Centerline goodness [0,1] 0.6447056815514924 Centerline is valid? [False, False] Translation: X:-4.34, Y:-2.41, Z:2.72 [[ 0.96010395 -0.19415603 -0.20125563 -4.34008106] [ 0.19648152 0.98047021 -0.0085539 -2.41254809] [ 0.19898595 -0.03133038 0.9795014 2.71829688] [ 0. 0. 0. 1. ]] SLAMing on 36.624839173 meters Centerline goodness [0,1] 0.6430126809273728 Centerline is valid? [False, False] Translation: X:-4.34, Y:-2.41, Z:2.72 [[ 0.95932283 -0.19803354 -0.20120246 -4.33683885] [ 0.19982522 0.97976318 -0.01157577 -2.4125057 ] [ 0.19942315 -0.02910043 0.97948128 2.7164014 ] [ 0. 0. 0. 1. ]] SLAMing on 36.65483917299999 meters Centerline goodness [0,1] 0.6412642593704434 Centerline is valid? [False, False] Translation: X:-4.34, Y:-2.41, Z:2.72 [[ 0.95925428 -0.19847942 -0.20108988 -4.33730139] [ 0.2002048 0.97968142 -0.01193138 -2.41273106] [ 0.19937215 -0.02881393 0.97950013 2.71683195] [ 0. 0. 0. 1. ]] SLAMing on 36.68483917299999 meters Centerline goodness [0,1] 0.6524667524667525 Centerline is valid? [False, False] Translation: X:-4.34, Y:-2.41, Z:2.72 [[ 0.9591787 -0.19899844 -0.20093739 -4.33842451] [ 0.20042919 0.9796164 -0.01341076 -2.41126843] [ 0.19951029 -0.02741041 0.97951228 2.71869615] [ 0. 0. 0. 1. ]] SLAMing on 36.714839172999994 meters Centerline goodness [0,1] 0.6609746655770141 Centerline is valid? [False, False] Translation: X:-4.34, Y:-2.41, Z:2.72 [[ 0.95913914 -0.19888228 -0.20124101 -4.33809962] [ 0.20013464 0.97966382 -0.01431523 -2.40708084] [ 0.19999558 -0.026545 0.97943715 2.71910581] [ 0. 0. 0. 1. ]] SLAMing on 36.744839172999995 meters Centerline goodness [0,1] 0.6627250796932885 Centerline is valid? [False, False] Translation: X:-4.34, Y:-2.40, Z:2.71 [[ 0.962062 -0.19524998 -0.19056273 -4.33637761] [ 0.19676686 0.98038727 -0.011118 -2.40046597] [ 0.18899606 -0.02680022 0.98161206 2.71378445] [ 0. 0. 0. 1. ]] SLAMing on 36.774839173 meters Centerline goodness [0,1] 0.6635919577827205 Centerline is valid? [False, False] Translation: X:-4.34, Y:-2.39, Z:2.72 [[ 0.96260468 -0.1922769 -0.19084503 -4.33916117] [ 0.19403841 0.98094701 -0.00959505 -2.39396575] [ 0.18905377 -0.02779502 0.98157328 2.71545438] [ 0. 0. 0. 1. ]] SLAMing on 36.804839173 meters Centerline goodness [0,1] 0.665620231087857 Centerline is valid? [False, False] Translation: X:-4.34, Y:-2.39, Z:2.72 [[ 0.96250863 -0.19290694 -0.19069362 -4.34044326] [ 0.19448751 0.980848 -0.01057442 -2.3916087 ] [ 0.18908133 -0.02690955 0.98159265 2.71650088] [ 0. 0. 0. 1. ]] SLAMing on 36.83483917299999 meters Centerline goodness [0,1] 0.6712558910804678 Centerline is valid? [False, False] Translation: X:-4.34, Y:-2.39, Z:2.71 [[ 9.65885213e-01 -1.89336536e-01 -1.76684551e-01 -4.34463492e+00] [ 1.91608962e-01 9.81462061e-01 -4.26954780e-03 -2.38863450e+00] [ 1.74217565e-01 -2.97304504e-02 9.84258269e-01 2.71346580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.86483917299999 meters Centerline goodness [0,1] 0.6751411808653234 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.39, Z:2.72 [[ 9.66466274e-01 -1.86057653e-01 -1.76990085e-01 -4.34749702e+00] [ 1.88775953e-01 9.82019028e-01 -1.50609137e-03 -2.38782725e+00] [ 1.74087851e-01 -3.19558855e-02 9.84211482e-01 2.71547971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.894839172999994 meters Centerline goodness [0,1] 0.6915691436409088 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.38, Z:2.72 [[ 9.67781115e-01 -1.78261886e-01 -1.77826923e-01 -4.35078941e+00] [ 1.81882306e-01 9.83311614e-01 4.13479821e-03 -2.38154971e+00] [ 1.74122201e-01 -3.63451504e-02 9.84053093e-01 2.71743925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.924839172999995 meters Centerline goodness [0,1] 0.6924326368956233 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.38, Z:2.72 [[ 0.96830432 -0.17503735 -0.17818155 -4.35340386] [ 0.17904346 0.9838195 0.00652927 -2.37798148] [ 0.17415562 -0.03822456 0.98397597 2.71908836] [ 0. 0. 0. 1. ]] SLAMing on 36.954839172999996 meters Centerline goodness [0,1] 0.6971530089052802 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.37, Z:2.72 [[ 0.97070161 -0.1756535 -0.16396412 -4.35548 ] [ 0.17937235 0.98374841 0.00803945 -2.37345266] [ 0.15988728 -0.03721454 0.98643354 2.71513342] [ 0. 0. 0. 1. ]] SLAMing on 36.984839173 meters Centerline goodness [0,1] 0.6984569369859289 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.37, Z:2.72 [[ 9.69998095e-01 -1.80243051e-01 -1.63144531e-01 -4.35606574e+00] [ 1.83179867e-01 9.83074795e-01 3.01402304e-03 -2.36990692e+00] [ 1.59840020e-01 -3.28083901e-02 9.86597576e-01 2.71597531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.014839173 meters Centerline goodness [0,1] 0.6968265308474108 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.36, Z:2.71 [[ 0.97215421 -0.18093331 -0.14892724 -4.35808063] [ 0.1837118 0.98296743 0.00500013 -2.36433348] [ 0.14548594 -0.03222059 0.98883552 2.71079781] [ 0. 0. 0. 1. ]] SLAMing on 37.04483917299999 meters Centerline goodness [0,1] 0.685811989671296 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.36, Z:2.71 [[ 9.72053541e-01 -1.81581293e-01 -1.48795656e-01 -4.35892483e+00] [ 1.84164652e-01 9.82888614e-01 3.65411709e-03 -2.36030709e+00] [ 1.45586037e-01 -3.09548977e-02 9.88861214e-01 2.71137629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.074839172999994 meters Centerline goodness [0,1] 0.7044926140767009 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.36, Z:2.71 [[ 9.72003246e-01 -1.81678872e-01 -1.49004958e-01 -4.35680372e+00] [ 1.84113634e-01 9.82901540e-01 2.59458472e-03 -2.35540479e+00] [ 1.45985821e-01 -2.99557890e-02 9.88833045e-01 2.70955347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.104839172999995 meters Centerline goodness [0,1] 0.7067802208172125 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.35, Z:2.71 [[ 9.71965616e-01 -1.81895147e-01 -1.48986563e-01 -4.35613456e+00] [ 1.84230669e-01 9.82881179e-01 1.90996290e-03 -2.35221730e+00] [ 1.46088675e-01 -2.93043124e-02 9.88837376e-01 2.70860658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.134839172999996 meters Centerline goodness [0,1] 0.7067802208172125 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.35, Z:2.71 [[ 9.71965616e-01 -1.81895147e-01 -1.48986563e-01 -4.35613456e+00] [ 1.84230669e-01 9.82881179e-01 1.90996290e-03 -2.35221730e+00] [ 1.46088675e-01 -2.93043124e-02 9.88837376e-01 2.70860658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.164839173 meters Centerline goodness [0,1] 0.6769703369492176 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.34, Z:2.71 [[ 0.97304869 -0.18184067 -0.14181052 -4.35235689] [ 0.18533016 0.98260681 0.01168738 -2.34426801] [ 0.13721874 -0.03765416 0.98982482 2.70759953] [ 0. 0. 0. 1. ]] SLAMing on 37.194839173 meters Centerline goodness [0,1] 0.6925065848295193 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.34, Z:2.71 [[ 0.97288038 -0.18309358 -0.14135242 -4.35495154] [ 0.18633071 0.98243719 0.00990113 -2.33967618] [ 0.13705705 -0.03597091 0.98990982 2.70921854] [ 0. 0. 0. 1. ]] SLAMing on 37.22483917299999 meters Centerline goodness [0,1] 0.6728757211303413 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.33, Z:2.71 [[ 0.97252132 -0.18599834 -0.14002462 -4.36030604] [ 0.18881904 0.98198683 0.00701751 -2.33198005] [ 0.13619709 -0.03326399 0.99012315 2.71086843] [ 0. 0. 0. 1. ]] SLAMing on 37.25483917299999 meters Centerline goodness [0,1] 0.647959559274619 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.33, Z:2.71 [[ 0.97229342 -0.18787799 -0.13909482 -4.36330262] [ 0.19049831 0.98167127 0.00564958 -2.32829377] [ 0.13548395 -0.03199038 0.99026295 2.71100354] [ 0. 0. 0. 1. ]] SLAMing on 37.284839172999995 meters Centerline goodness [0,1] 0.6412414518674382 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.32, Z:2.71 [[ 9.71819721e-01 -1.91525743e-01 -1.37420229e-01 -4.36695366e+00] [ 1.93763300e-01 9.81043819e-01 2.96790127e-03 -2.32146614e+00] [ 1.34246837e-01 -2.95112621e-02 9.90508391e-01 2.70946725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.314839172999996 meters Centerline goodness [0,1] 0.6325224391829387 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.32, Z:2.71 [[ 9.71725828e-01 -1.92047921e-01 -1.37355420e-01 -4.36665902e+00] [ 1.94139158e-01 9.80972224e-01 1.86638672e-03 -2.31733440e+00] [ 1.34383416e-01 -2.84796818e-02 9.90520068e-01 2.70880333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.344839173 meters Centerline goodness [0,1] 0.6377280603404343 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.31, Z:2.70 [[ 9.72289466e-01 -1.89233944e-01 -1.37272386e-01 -4.36539360e+00] [ 1.91497446e-01 9.81487386e-01 3.35260827e-03 -2.30653678e+00] [ 1.34096688e-01 -2.95470170e-02 9.90527663e-01 2.70466688e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.374839173 meters Centerline goodness [0,1] 0.6373088999845575 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.30, Z:2.70 [[ 0.97290342 -0.18604311 -0.13728401 -4.36531001] [ 0.18864828 0.98202577 0.00610001 -2.30162155] [ 0.13368157 -0.03183312 0.99051294 2.70217034] [ 0. 0. 0. 1. ]] SLAMing on 37.40483917299999 meters Centerline goodness [0,1] 0.642040250189736 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.29, Z:2.70 [[ 0.97361 -0.18225004 -0.13736263 -4.36628598] [ 0.18509646 0.98268671 0.00813227 -2.29104953] [ 0.13350232 -0.033343 0.99048744 2.70072043] [ 0. 0. 0. 1. ]] SLAMing on 37.43483917299999 meters Centerline goodness [0,1] 0.6416832930799118 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.29, Z:2.70 [[ 0.97357405 -0.18241694 -0.13739588 -4.36633997] [ 0.18508691 0.9826986 0.00680474 -2.28601069] [ 0.13377744 -0.03205509 0.99049284 2.70108949] [ 0. 0. 0. 1. ]] SLAMing on 37.464839172999994 meters Centerline goodness [0,1] 0.6479942464439827 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.28, Z:2.71 [[ 0.97385091 -0.18223274 -0.13566734 -4.37656463] [ 0.1847761 0.98276052 0.00628912 -2.27544074] [ 0.13218242 -0.03119274 0.99073448 2.70521566] [ 0. 0. 0. 1. ]] SLAMing on 37.494839172999995 meters Centerline goodness [0,1] 0.6389565217391304 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.27, Z:2.71 [[ 9.73504076e-01 -1.84877488e-01 -1.34573875e-01 -4.38130651e+00] [ 1.87146096e-01 9.82322698e-01 4.29603231e-03 -2.27040936e+00] [ 1.31400732e-01 -2.93671802e-02 9.90894251e-01 2.70631210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.524839173 meters Centerline goodness [0,1] 0.6402908468776732 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.27, Z:2.70 [[ 0.9735982 -0.18384688 -0.13530288 -4.37785306] [ 0.18616903 0.98250694 0.00460448 -2.26952796] [ 0.1320895 -0.02967212 0.99079359 2.7047867 ] [ 0. 0. 0. 1. ]] SLAMing on 37.554839173 meters Centerline goodness [0,1] 0.6501330752480039 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.27, Z:2.70 [[ 0.97438977 -0.17831302 -0.13700015 -4.36988339] [ 0.18114633 0.9834203 0.00839774 -2.26704135] [ 0.1332313 -0.03299974 0.99053543 2.69997585] [ 0. 0. 0. 1. ]] SLAMing on 37.58483917299999 meters Centerline goodness [0,1] 0.6477628032345013 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.26, Z:2.70 [[ 0.97444096 -0.1774261 -0.13778535 -4.36665551] [ 0.18032176 0.98356898 0.00872446 -2.26466151] [ 0.13397345 -0.03334717 0.99042369 2.69826407] [ 0. 0. 0. 1. ]] SLAMing on 37.61483917299999 meters Centerline goodness [0,1] 0.6597337093581366 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.26, Z:2.70 [[ 9.74665875e-01 -1.70400029e-01 -1.44880168e-01 -4.36333299e+00] [ 1.72321151e-01 9.85040557e-01 7.22015376e-04 -2.26026154e+00] [ 1.42589810e-01 -2.56696409e-02 9.89448945e-01 2.69658804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.644839172999994 meters Centerline goodness [0,1] 0.6852541957946849 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.26, Z:2.70 [[ 0.97485732 -0.16380302 -0.15106876 -4.35986271] [ 0.16435629 0.98636086 -0.00890295 -2.25790831] [ 0.15046665 -0.01614999 0.98848316 2.69616503] [ 0. 0. 0. 1. ]] SLAMing on 37.674839172999995 meters Centerline goodness [0,1] 0.6932749095065727 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.26, Z:2.70 [[ 0.97488015 -0.16311192 -0.15166802 -4.35784589] [ 0.16368553 0.98647349 -0.00878108 -2.25770055] [ 0.15104877 -0.01626536 0.98839249 2.6960053 ] [ 0. 0. 0. 1. ]] SLAMing on 37.704839172999996 meters Centerline goodness [0,1] 0.7038764765256295 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.26, Z:2.70 [[ 0.97487388 -0.16279251 -0.152051 -4.35715069] [ 0.16333446 0.98652966 -0.00900445 -2.25686482] [ 0.15146868 -0.01605696 0.98833163 2.69666868] [ 0. 0. 0. 1. ]] SLAMing on 37.734839173 meters Centerline goodness [0,1] 0.7040724475600775 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.26, Z:2.70 [[ 0.97489052 -0.16212274 -0.15265875 -4.35562548] [ 0.16272521 0.98663374 -0.00862381 -2.25778137] [ 0.15201638 -0.01643416 0.98824134 2.69699028] [ 0. 0. 0. 1. ]] SLAMing on 37.764839173 meters Centerline goodness [0,1] 0.7095411944202267 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.26, Z:2.70 [[ 0.97491259 -0.16169791 -0.15296807 -4.35466681] [ 0.16236468 0.98669669 -0.00820705 -2.25899154] [ 0.15226015 -0.01683546 0.98819705 2.69692344] [ 0. 0. 0. 1. ]] SLAMing on 37.79483917299999 meters Centerline goodness [0,1] 0.7075280443303149 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.26, Z:2.70 [[ 0.97428061 -0.16535191 -0.15308836 -4.3532391 ] [ 0.1655619 0.98613275 -0.01146518 -2.26319106] [ 0.15286123 -0.0141753 0.98814599 2.69838734] [ 0. 0. 0. 1. ]] SLAMing on 37.824839172999994 meters Centerline goodness [0,1] 0.6980531636091352 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.27, Z:2.70 [[ 0.97361558 -0.16946691 -0.15281908 -4.35289782] [ 0.16911392 0.98547617 -0.01540155 -2.26578169] [ 0.15320962 -0.01084864 0.98813416 2.70015061] [ 0. 0. 0. 1. ]] SLAMing on 37.854839172999995 meters Centerline goodness [0,1] 0.6883633319380493 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.28, Z:2.70 [[ 0.97249568 -0.17649553 -0.15199169 -4.35104851] [ 0.17522806 0.98428646 -0.02180134 -2.27559022] [ 0.1534512 -0.0054315 0.9881413 2.70206003] [ 0. 0. 0. 1. ]] SLAMing on 37.884839172999996 meters Centerline goodness [0,1] 0.6815306439904594 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.28, Z:2.70 [[ 9.71882289e-01 -1.79252972e-01 -1.52686566e-01 -4.34622017e+00] [ 1.77574705e-01 9.83798018e-01 -2.46715075e-02 -2.27841137e+00] [ 1.54635182e-01 -3.13547072e-03 9.87966664e-01 2.70138826e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.914839173 meters Centerline goodness [0,1] 0.6847680066136199 Centerline is valid? [False, False] Translation: X:-4.34, Y:-2.28, Z:2.70 [[ 9.71997839e-01 -1.77705246e-01 -1.53756453e-01 -4.34251137e+00] [ 1.76207484e-01 9.84074263e-01 -2.34257829e-02 -2.28018163e+00] [ 1.55470653e-01 -4.32322731e-03 9.87831051e-01 2.70032375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.944839173 meters Centerline goodness [0,1] 0.7133061813682529 Centerline is valid? [False, False] Translation: X:-4.34, Y:-2.28, Z:2.70 [[ 0.9729195 -0.16998714 -0.15662698 -4.33524588] [ 0.16946714 0.98539319 -0.01676776 -2.28487698] [ 0.15718946 -0.01022944 0.98751548 2.69840529] [ 0. 0. 0. 1. ]] SLAMing on 37.97483917299999 meters Centerline goodness [0,1] 0.7307811531308122 Centerline is valid? [False, False] Translation: X:-4.33, Y:-2.29, Z:2.70 [[ 0.97378842 -0.16344787 -0.15817999 -4.3317828 ] [ 0.16369844 0.986443 -0.01153348 -2.29152821] [ 0.15792066 -0.01466265 0.98734293 2.69884673] [ 0. 0. 0. 1. ]] SLAMing on 38.00483917299999 meters Centerline goodness [0,1] 0.7342149951114084 Centerline is valid? [False, False] Translation: X:-4.33, Y:-2.29, Z:2.70 [[ 0.9738218 -0.16289472 -0.15854469 -4.33103187] [ 0.1632075 0.98652893 -0.01113457 -2.29400007] [ 0.15822269 -0.01503259 0.98728902 2.69957681] [ 0. 0. 0. 1. ]] SLAMing on 38.034839172999995 meters Centerline goodness [0,1] 0.7317930044107088 Centerline is valid? [False, False] Translation: X:-4.33, Y:-2.30, Z:2.70 [[ 0.97381776 -0.16271979 -0.158749 -4.33087563] [ 0.16309846 0.98655146 -0.01072934 -2.29871976] [ 0.15835994 -0.01544329 0.98726067 2.70081246] [ 0. 0. 0. 1. ]] SLAMing on 38.064839172999996 meters Centerline goodness [0,1] 0.7297200745107045 Centerline is valid? [False, False] Translation: X:-4.33, Y:-2.30, Z:2.70 [[ 0.97377023 -0.16282412 -0.15893344 -4.33058022] [ 0.16323119 0.98653112 -0.01057918 -2.30298916] [ 0.15851533 -0.01564121 0.98723262 2.7017143 ] [ 0. 0. 0. 1. ]] SLAMing on 38.094839173 meters Centerline goodness [0,1] 0.7259844113776698 Centerline is valid? [False, False] Translation: X:-4.33, Y:-2.31, Z:2.70 [[ 0.97362878 -0.16402514 -0.15856468 -4.33063249] [ 0.16428001 0.98634566 -0.01158984 -2.30974044] [ 0.15830061 -0.01476481 0.98728057 2.70327971] [ 0. 0. 0. 1. ]] SLAMing on 38.124839173 meters Centerline goodness [0,1] 0.7272521217921273 Centerline is valid? [False, False] Translation: X:-4.33, Y:-2.31, Z:2.70 [[ 0.97361558 -0.1636371 -0.15904594 -4.33007396] [ 0.16399507 0.98640024 -0.01096238 -2.31235556] [ 0.1586768 -0.0154096 0.98721032 2.70408278] [ 0. 0. 0. 1. ]] SLAMing on 38.15483917299999 meters Centerline goodness [0,1] 0.7155355580552432 Centerline is valid? [False, False] Translation: X:-4.33, Y:-2.32, Z:2.71 [[ 0.9730311 -0.16740516 -0.15870094 -4.33317225] [ 0.16742995 0.98579411 -0.01331108 -2.3215726 ] [ 0.15867479 -0.01361919 0.98723697 2.70884621] [ 0. 0. 0. 1. ]] SLAMing on 38.18483917299999 meters Centerline goodness [0,1] 0.7124922772766589 Centerline is valid? [False, False] Translation: X:-4.33, Y:-2.33, Z:2.71 [[ 0.97246195 -0.17069533 -0.15868477 -4.33282119] [ 0.17035956 0.98525498 -0.01581898 -2.32890792] [ 0.15904519 -0.01165011 0.98720256 2.7110842 ] [ 0. 0. 0. 1. ]] SLAMing on 38.214839172999994 meters Centerline goodness [0,1] 0.7114606193611315 Centerline is valid? [False, False] Translation: X:-4.33, Y:-2.34, Z:2.71 [[ 0.97194635 -0.1729241 -0.15942883 -4.32923591] [ 0.17243562 0.98487408 -0.01700002 -2.34115656] [ 0.15995703 -0.0109681 0.98706304 2.71230371] [ 0. 0. 0. 1. ]] SLAMing on 38.244839172999995 meters Centerline goodness [0,1] 0.7155115991564249 Centerline is valid? [False, False] Translation: X:-4.33, Y:-2.35, Z:2.71 [[ 0.97205151 -0.17150027 -0.16032319 -4.32637004] [ 0.17126792 0.98510457 -0.01537178 -2.34512197] [ 0.16057137 -0.01251606 0.98694487 2.71162348] [ 0. 0. 0. 1. ]] SLAMing on 38.274839173 meters Centerline goodness [0,1] 0.7139432297660147 Centerline is valid? [False, False] Translation: X:-4.32, Y:-2.35, Z:2.71 [[ 0.97226089 -0.16864171 -0.16207634 -4.31967549] [ 0.16891869 0.98555484 -0.01217094 -2.35202563] [ 0.16178765 -0.01554439 0.98670316 2.70881438] [ 0. 0. 0. 1. ]] SLAMing on 38.304839173 meters Centerline goodness [0,1] 0.7145576094972997 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.36, Z:2.71 [[ 0.97177188 -0.1709314 -0.16260956 -4.31467851] [ 0.17087593 0.98518684 -0.01443303 -2.35652987] [ 0.16266785 -0.01376045 0.98658493 2.70747631] [ 0. 0. 0. 1. ]] SLAMing on 38.33483917299999 meters Centerline goodness [0,1] 0.7100557361820715 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.37, Z:2.71 [[ 0.97056117 -0.17827151 -0.16195769 -4.31166036] [ 0.1772492 0.98394494 -0.02085827 -2.36723911] [ 0.16307589 -0.00846265 0.98657723 2.70859279] [ 0. 0. 0. 1. ]] SLAMing on 38.36483917299999 meters Centerline goodness [0,1] 0.6937360387192852 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.37, Z:2.71 [[ 0.96986395 -0.18238896 -0.16154934 -4.31499953] [ 0.18115558 0.98319798 -0.02245873 -2.37415024] [ 0.16293121 -0.00748365 0.98660905 2.71178617] [ 0. 0. 0. 1. ]] SLAMing on 38.394839172999994 meters Centerline goodness [0,1] 0.6833360406562551 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.38, Z:2.71 [[ 0.97006987 -0.18605029 -0.15604399 -4.30444231] [ 0.18609864 0.98242509 -0.01443049 -2.37865159] [ 0.15598633 -0.01504099 0.98764469 2.70912629] [ 0. 0. 0. 1. ]] SLAMing on 38.424839172999995 meters Centerline goodness [0,1] 0.6549886987407167 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.39, Z:2.71 [[ 0.9686575 -0.19339009 -0.15589392 -4.30254457] [ 0.19278759 0.98105417 -0.01912202 -2.38818202] [ 0.15663839 -0.01153173 0.9875887 2.71022612] [ 0. 0. 0. 1. ]] SLAMing on 38.454839172999996 meters Centerline goodness [0,1] 0.650375939849624 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.39, Z:2.71 [[ 0.96864693 -0.19286274 -0.15661124 -4.30026527] [ 0.19253197 0.98113597 -0.01742572 -2.39445138] [ 0.15701769 -0.0132733 0.98750659 2.70959006] [ 0. 0. 0. 1. ]] SLAMing on 38.484839173 meters Centerline goodness [0,1] 0.6451362045698863 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.40, Z:2.71 [[ 0.9687157 -0.19166875 -0.1576483 -4.29645351] [ 0.19171173 0.98133543 -0.01507895 -2.40341676] [ 0.15759602 -0.01561581 0.98738019 2.70845781] [ 0. 0. 0. 1. ]] SLAMing on 38.514839173 meters Centerline goodness [0,1] 0.6509151566391701 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.40, Z:2.71 [[ 0.9688115 -0.19059507 -0.1583597 -4.29488047] [ 0.19075172 0.98153338 -0.0143532 -2.40496211] [ 0.15817098 -0.01630184 0.98727716 2.70891708] [ 0. 0. 0. 1. ]] SLAMing on 38.54483917299999 meters Centerline goodness [0,1] 0.6703180617751752 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.41, Z:2.71 [[ 0.96939123 -0.1868649 -0.159255 -4.29368891] [ 0.1874364 0.98220871 -0.01156089 -2.41135376] [ 0.15858197 -0.01864316 0.98716979 2.71083048] [ 0. 0. 0. 1. ]] SLAMing on 38.574839172999994 meters Centerline goodness [0,1] 0.6814086250773781 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.42, Z:2.71 [[ 0.96954237 -0.1852197 -0.16025371 -4.29008948] [ 0.18603795 0.98249151 -0.01001608 -2.41636054] [ 0.15930309 -0.02010226 0.98702504 2.71018642] [ 0. 0. 0. 1. ]] SLAMing on 38.604839172999995 meters Centerline goodness [0,1] 0.7123306294466851 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.43, Z:2.71 [[ 0.96924823 -0.18567792 -0.16149792 -4.28206096] [ 0.18633072 0.9824229 -0.01122933 -2.42573867] [ 0.16074429 -0.01920802 0.98680916 2.70914763] [ 0. 0. 0. 1. ]] SLAMing on 38.634839172999996 meters Centerline goodness [0,1] 0.7080333288049632 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.43, Z:2.71 [[ 0.96936556 -0.1840941 -0.16260309 -4.27742346] [ 0.18507368 0.98268125 -0.00923582 -2.43098151] [ 0.16148727 -0.02114067 0.98664833 2.70716583] [ 0. 0. 0. 1. ]] SLAMing on 38.664839173 meters Centerline goodness [0,1] 0.7076940407795427 Centerline is valid? [False, False] Translation: X:-4.27, Y:-2.44, Z:2.70 [[ 0.96961321 -0.1814029 -0.16414388 -4.27140065] [ 0.18304363 0.98309102 -0.00520296 -2.4384446 ] [ 0.16231221 -0.02500064 0.98642269 2.70351983] [ 0. 0. 0. 1. ]] SLAMing on 38.694839173 meters Centerline goodness [0,1] 0.7105198817541286 Centerline is valid? [False, False] Translation: X:-4.27, Y:-2.44, Z:2.70 [[ 9.69769245e-01 -1.79681484e-01 -1.65112616e-01 -4.26754268e+00] [ 1.81652080e-01 9.83357614e-01 -3.21329000e-03 -2.44185442e+00] [ 1.62942117e-01 -2.68769004e-02 9.86269486e-01 2.70169679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.72483917299999 meters Centerline goodness [0,1] 0.7154360343268107 Centerline is valid? [False, False] Translation: X:-4.26, Y:-2.45, Z:2.70 [[ 9.69971241e-01 -1.77318291e-01 -1.66475271e-01 -4.26266600e+00] [ 1.79784513e-01 9.83705983e-01 -2.59838198e-04 -2.44727132e+00] [ 1.63808794e-01 -2.96776399e-02 9.86045596e-01 2.69948836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.75483917299999 meters Centerline goodness [0,1] 0.7163234005258545 Centerline is valid? [False, False] Translation: X:-4.26, Y:-2.45, Z:2.70 [[ 9.70023778e-01 -1.76383107e-01 -1.67161210e-01 -4.25995786e+00] [ 1.79122628e-01 9.83825851e-01 1.33372970e-03 -2.45161462e+00] [ 1.64222272e-01 -3.12361048e-02 9.85928674e-01 2.69842006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.784839172999995 meters Centerline goodness [0,1] 0.7123941593226197 Centerline is valid? [False, False] Translation: X:-4.26, Y:-2.46, Z:2.70 [[ 9.69479843e-01 -1.79265177e-01 -1.67250799e-01 -4.25610187e+00] [ 1.81809477e-01 9.83333770e-01 -1.00920362e-04 -2.45728759e+00] [ 1.64481450e-01 -3.03099399e-02 9.85914378e-01 2.69623404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.814839172999996 meters Centerline goodness [0,1] 0.7044214974022894 Centerline is valid? [False, False] Translation: X:-4.26, Y:-2.46, Z:2.70 [[ 9.69415297e-01 -1.79353782e-01 -1.67529707e-01 -4.25532189e+00] [ 1.82032826e-01 9.83292242e-01 6.45999665e-04 -2.45929074e+00] [ 1.64614799e-01 -3.11221481e-02 9.85866816e-01 2.69582145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.844839173 meters Centerline goodness [0,1] 0.6968670981014015 Centerline is valid? [False, False] Translation: X:-4.25, Y:-2.46, Z:2.69 [[ 9.68627691e-01 -1.83230223e-01 -1.67890085e-01 -4.25218436e+00] [ 1.85585413e-01 9.82626683e-01 -1.69001052e-03 -2.46090391e+00] [ 1.65282939e-01 -2.95209599e-02 9.85804272e-01 2.69426003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.874839173 meters Centerline goodness [0,1] 0.6733554475798916 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.46, Z:2.68 [[ 0.96743931 -0.19523844 -0.16106874 -4.28824644] [ 0.1962131 0.98051039 -0.00998983 -2.45593849] [ 0.15987997 -0.02193925 0.98689263 2.68448435] [ 0. 0. 0. 1. ]] SLAMing on 38.90483917299999 meters Centerline goodness [0,1] 0.6884294678930629 Centerline is valid? [False, False] Translation: X:-4.25, Y:-2.46, Z:2.69 [[ 9.71272266e-01 -1.81110553e-01 -1.54366943e-01 -4.25321092e+00] [ 1.82848004e-01 9.83136654e-01 -2.98786234e-03 -2.46430818e+00] [ 1.52304933e-01 -2.53236596e-02 9.88009069e-01 2.68848011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.93483917299999 meters Centerline goodness [0,1] 0.673491149498827 Centerline is valid? [False, False] Translation: X:-4.24, Y:-2.47, Z:2.69 [[ 9.70871403e-01 -1.89484047e-01 -1.46644175e-01 -4.24439849e+00] [ 1.91623584e-01 9.81468379e-01 4.72287439e-04 -2.46697490e+00] [ 1.43837130e-01 -2.85590128e-02 9.89189195e-01 2.68534764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.964839172999994 meters Centerline goodness [0,1] 0.6688864065990721 Centerline is valid? [False, False] Translation: X:-4.25, Y:-2.47, Z:2.69 [[ 9.70737732e-01 -1.90501248e-01 -1.46210569e-01 -4.24618003e+00] [ 1.92540350e-01 9.81289035e-01 -2.09306964e-04 -2.46646559e+00] [ 1.43514701e-01 -2.79482519e-02 9.89253469e-01 2.68628114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.994839172999995 meters Centerline goodness [0,1] 0.6568848274234722 Centerline is valid? [False, False] Translation: X:-4.24, Y:-2.46, Z:2.69 [[ 0.97096983 -0.19426698 -0.13956334 -4.24123542] [ 0.19720171 0.98033515 0.00738136 -2.46286886] [ 0.13538489 -0.0346892 0.99018563 2.68527806] [ 0. 0. 0. 1. ]] SLAMing on 39.024839173 meters Centerline goodness [0,1] 0.6453191443895976 Centerline is valid? [False, False] Translation: X:-4.24, Y:-2.46, Z:2.69 [[ 0.97080234 -0.19507554 -0.13960067 -4.24135143] [ 0.19803732 0.98016569 0.00751248 -2.46395466] [ 0.13536628 -0.03493928 0.99017939 2.68532595] [ 0. 0. 0. 1. ]] SLAMing on 39.054839173 meters Centerline goodness [0,1] 0.6453191443895976 Centerline is valid? [False, False] Translation: X:-4.24, Y:-2.46, Z:2.69 [[ 0.97080234 -0.19507554 -0.13960067 -4.24135143] [ 0.19803732 0.98016569 0.00751248 -2.46395466] [ 0.13536628 -0.03493928 0.99017939 2.68532595] [ 0. 0. 0. 1. ]] SLAMing on 39.08483917299999 meters Centerline goodness [0,1] 0.6233591885441527 Centerline is valid? [False, False] Translation: X:-4.24, Y:-2.47, Z:2.68 [[ 9.70256570e-01 -2.06667776e-01 -1.26057998e-01 -4.23628699e+00] [ 2.08753336e-01 9.77962349e-01 3.41900200e-03 -2.46926532e+00] [ 1.22573378e-01 -2.96323367e-02 9.92016982e-01 2.68037503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.11483917299999 meters Centerline goodness [0,1] 0.6147481399127683 Centerline is valid? [False, False] Translation: X:-4.24, Y:-2.47, Z:2.68 [[ 9.69062551e-01 -2.13072717e-01 -1.24570422e-01 -4.23854081e+00] [ 2.14629155e-01 9.76695156e-01 -9.47369415e-04 -2.47283284e+00] [ 1.21869187e-01 -2.58183842e-02 9.92210317e-01 2.68178659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.144839172999994 meters Centerline goodness [0,1] 0.6112667621960348 Centerline is valid? [False, False] Translation: X:-4.24, Y:-2.47, Z:2.68 [[ 9.69032925e-01 -2.13175922e-01 -1.24624301e-01 -4.23831875e+00] [ 2.14741596e-01 9.76670494e-01 -8.90323483e-04 -2.47317642e+00] [ 1.21906673e-01 -2.58992686e-02 9.92203604e-01 2.68172104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.174839172999995 meters Centerline goodness [0,1] 0.615256729969947 Centerline is valid? [False, False] Translation: X:-4.24, Y:-2.47, Z:2.68 [[ 9.69830976e-01 -2.09362249e-01 -1.24881250e-01 -4.24069603e+00] [ 2.11269245e-01 9.77425696e-01 2.07730385e-03 -2.47074962e+00] [ 1.21627234e-01 -2.83982011e-02 9.92169521e-01 2.68312513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.204839172999996 meters Centerline goodness [0,1] 0.6205611853870391 Centerline is valid? [False, False] Translation: X:-4.24, Y:-2.47, Z:2.68 [[ 0.97054943 -0.20579172 -0.12523407 -4.24331152] [ 0.20803016 0.97811002 0.00492364 -2.46876854] [ 0.12147945 -0.0308311 0.99211501 2.68493701] [ 0. 0. 0. 1. ]] SLAMing on 39.234839173 meters Centerline goodness [0,1] 0.6186400787367881 Centerline is valid? [False, False] Translation: X:-4.24, Y:-2.47, Z:2.69 [[ 9.70511406e-01 -2.05908802e-01 -1.25336256e-01 -4.24369542e+00] [ 2.08053785e-01 9.78108676e-01 4.12798261e-03 -2.46612755e+00] [ 1.21742491e-01 -3.00829367e-02 9.92105732e-01 2.68564148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.264839173 meters Centerline goodness [0,1] 0.6131690870226316 Centerline is valid? [False, False] Translation: X:-4.24, Y:-2.47, Z:2.69 [[ 9.70413551e-01 -2.06356768e-01 -1.25357190e-01 -4.24355849e+00] [ 2.08491813e-01 9.78015878e-01 4.01320885e-03 -2.46612228e+00] [ 1.21773169e-01 -3.00304200e-02 9.92103558e-01 2.68537501e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.29483917299999 meters Centerline goodness [0,1] 0.6106141788070673 Centerline is valid? [False, False] Translation: X:-4.24, Y:-2.47, Z:2.69 [[ 9.69566038e-01 -2.10615618e-01 -1.24830923e-01 -4.24281028e+00] [ 2.12282313e-01 9.77208379e-01 5.10701538e-05 -2.46624411e+00] [ 1.21975067e-01 -2.65489129e-02 9.92178027e-01 2.68553941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.324839172999994 meters Centerline goodness [0,1] 0.6141883820731762 Centerline is valid? [False, False] Translation: X:-4.24, Y:-2.47, Z:2.69 [[ 9.69549615e-01 -2.10689127e-01 -1.24834433e-01 -4.24327524e+00] [ 2.12312807e-01 9.77201709e-01 -3.04199787e-04 -2.46543449e+00] [ 1.22052513e-01 -2.62090122e-02 9.92177540e-01 2.68613547e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.354839172999995 meters Centerline goodness [0,1] 0.619747992368783 Centerline is valid? [False, False] Translation: X:-4.25, Y:-2.46, Z:2.69 [[ 9.70279334e-01 -2.07188200e-01 -1.25024251e-01 -4.24582665e+00] [ 2.09075442e-01 9.77897424e-01 2.02179556e-03 -2.46215389e+00] [ 1.21842001e-01 -2.81012070e-02 9.92151626e-01 2.68767525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.384839172999996 meters Centerline goodness [0,1] 0.6226767452200979 Centerline is valid? [False, False] Translation: X:-4.25, Y:-2.46, Z:2.69 [[ 0.9708868 -0.20424799 -0.1251462 -4.24919842] [ 0.20639393 0.97845958 0.00428893 -2.45909962] [ 0.12157449 -0.02999348 0.99212904 2.68968061] [ 0. 0. 0. 1. ]] SLAMing on 39.414839173 meters Centerline goodness [0,1] 0.6209367744240043 Centerline is valid? [False, False] Translation: X:-4.25, Y:-2.46, Z:2.69 [[ 0.97139659 -0.20197381 -0.12488092 -4.25373561] [ 0.20429683 0.97889091 0.00594907 -2.45503233] [ 0.12104324 -0.03129168 0.9921539 2.69194222] [ 0. 0. 0. 1. ]] SLAMing on 39.444839173 meters Centerline goodness [0,1] 0.6320146156622157 Centerline is valid? [False, False] Translation: X:-4.25, Y:-2.44, Z:2.69 [[ 0.97214045 -0.20390213 -0.11561519 -4.25415645] [ 0.20662819 0.97834623 0.01197719 -2.44483266] [ 0.11066951 -0.03553287 0.99322187 2.6936441 ] [ 0. 0. 0. 1. ]] SLAMing on 39.47483917299999 meters Centerline goodness [0,1] 0.6250869516436666 Centerline is valid? [False, False] Translation: X:-4.26, Y:-2.44, Z:2.69 [[ 0.97197331 -0.20498106 -0.11511144 -4.25612482] [ 0.20755533 0.97816463 0.01071153 -2.44292786] [ 0.11040228 -0.03430332 0.99329483 2.69481516] [ 0. 0. 0. 1. ]] SLAMing on 39.50483917299999 meters Centerline goodness [0,1] 0.6420655928933554 Centerline is valid? [False, False] Translation: X:-4.26, Y:-2.44, Z:2.70 [[ 0.97158159 -0.20753052 -0.11384328 -4.26078797] [ 0.20974841 0.97772484 0.0077295 -2.43996817] [ 0.1097033 -0.03138829 0.99346865 2.69787555] [ 0. 0. 0. 1. ]] SLAMing on 39.534839172999995 meters Centerline goodness [0,1] 0.6205965717370765 Centerline is valid? [False, False] Translation: X:-4.27, Y:-2.43, Z:2.70 [[ 0.97131173 -0.20949625 -0.11253816 -4.26632838] [ 0.21136219 0.97739613 0.00477839 -2.4349579 ] [ 0.10899331 -0.02842762 0.99363591 2.70185599] [ 0. 0. 0. 1. ]] SLAMing on 39.564839172999996 meters Centerline goodness [0,1] 0.6118571749382439 Centerline is valid? [False, False] Translation: X:-4.27, Y:-2.43, Z:2.70 [[ 9.71214045e-01 -2.10065894e-01 -1.12319186e-01 -4.26743982e+00] [ 2.11854616e-01 9.77292599e-01 4.09845288e-03 -2.43416942e+00] [ 1.08907764e-01 -2.77758130e-02 9.93663727e-01 2.70268460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.594839173 meters Centerline goodness [0,1] 0.6223143101662088 Centerline is valid? [False, False] Translation: X:-4.27, Y:-2.43, Z:2.70 [[ 9.71045440e-01 -2.11095094e-01 -1.11846385e-01 -4.26935221e+00] [ 2.12793584e-01 9.77091484e-01 3.33511378e-03 -2.43423732e+00] [ 1.08580124e-01 -2.70387401e-02 9.93719912e-01 2.70383789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.624839173 meters Centerline goodness [0,1] 0.6094823328693935 Centerline is valid? [False, False] Translation: X:-4.27, Y:-2.43, Z:2.71 [[ 9.70652086e-01 -2.13495284e-01 -1.10699101e-01 -4.27430326e+00] [ 2.14932913e-01 9.76628218e-01 1.08005658e-03 -2.42936271e+00] [ 1.07881279e-01 -2.48412394e-02 9.93853381e-01 2.70609039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.65483917299999 meters Centerline goodness [0,1] 0.6040906428796684 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.43, Z:2.71 [[ 9.71176730e-01 -2.11025480e-01 -1.10833239e-01 -4.27741318e+00] [ 2.12744884e-01 9.77100439e-01 3.78760031e-03 -2.42707427e+00] [ 1.07495927e-01 -2.72576340e-02 9.93831800e-01 2.70723041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.68483917299999 meters Centerline goodness [0,1] 0.6064858972612073 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.42, Z:2.71 [[ 0.97239043 -0.20468137 -0.11208202 -4.27985863] [ 0.20708109 0.97827186 0.01007873 -2.4236203 ] [ 0.10758375 -0.03301053 0.99364785 2.70786091] [ 0. 0. 0. 1. ]] SLAMing on 39.714839172999994 meters Centerline goodness [0,1] 0.6131102192594609 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.42, Z:2.71 [[ 0.97309404 -0.20073038 -0.11311633 -4.27919585] [ 0.20349689 0.97898463 0.013346 -2.42143439] [ 0.1080602 -0.03600573 0.99349211 2.70740256] [ 0. 0. 0. 1. ]] SLAMing on 39.744839172999995 meters Centerline goodness [0,1] 0.6165820797014042 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.42, Z:2.71 [[ 0.97306198 -0.2009 -0.11309096 -4.27963369] [ 0.20359457 0.97897312 0.0126839 -2.41940482] [ 0.10816482 -0.03536693 0.99350368 2.70780933] [ 0. 0. 0. 1. ]] SLAMing on 39.774839173 meters Centerline goodness [0,1] 0.611492673992674 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.41, Z:2.71 [[ 0.97297127 -0.20137551 -0.11302568 -4.27989006] [ 0.20391694 0.97892328 0.01127313 -2.41426447] [ 0.10837334 -0.03401628 0.99352811 2.70774444] [ 0. 0. 0. 1. ]] SLAMing on 39.804839173 meters Centerline goodness [0,1] 0.6092133695002528 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.41, Z:2.71 [[ 0.97292007 -0.20160103 -0.11306444 -4.27914114] [ 0.20408966 0.97889302 0.01076454 -2.41221419] [ 0.10850785 -0.03354832 0.99352934 2.70675491] [ 0. 0. 0. 1. ]] SLAMing on 39.83483917299999 meters Centerline goodness [0,1] 0.6085818821785847 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.40, Z:2.70 [[ 0.97291593 -0.20165876 -0.11299709 -4.27760914] [ 0.20401249 0.97892173 0.00954768 -2.40488807] [ 0.10868993 -0.03234191 0.99354945 2.70416688] [ 0. 0. 0. 1. ]] SLAMing on 39.86483917299999 meters Centerline goodness [0,1] 0.6115795390668914 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.40, Z:2.70 [[ 0.97352474 -0.19867399 -0.11304084 -4.28009773] [ 0.20126235 0.97946569 0.01184985 -2.40086273] [ 0.10836537 -0.03428698 0.99351968 2.70470192] [ 0. 0. 0. 1. ]] SLAMing on 39.894839172999994 meters Centerline goodness [0,1] 0.6088261712286673 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.39, Z:2.70 [[ 0.97402196 -0.19611157 -0.11323197 -4.27999144] [ 0.19886739 0.97993388 0.0134665 -2.39348149] [ 0.10831891 -0.03563481 0.99347731 2.70261204] [ 0. 0. 0. 1. ]] SLAMing on 39.924839172999995 meters Centerline goodness [0,1] 0.6123257137437161 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.39, Z:2.70 [[ 0.97402096 -0.19594011 -0.11353696 -4.27807987] [ 0.19868286 0.97997419 0.01325572 -2.39163166] [ 0.10866597 -0.0354692 0.99344534 2.70097706] [ 0. 0. 0. 1. ]] SLAMing on 39.954839172999996 meters Centerline goodness [0,1] 0.6113372928441422 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.38, Z:2.70 [[ 0.97421813 -0.19500347 -0.11345787 -4.27652146] [ 0.19766544 0.98018862 0.01259564 -2.38445199] [ 0.10875392 -0.0346976 0.99346296 2.69849841] [ 0. 0. 0. 1. ]] SLAMing on 39.984839173 meters Centerline goodness [0,1] 0.6105321294784363 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.38, Z:2.70 [[ 0.97409884 -0.19577006 -0.11316156 -4.27732336] [ 0.19833098 0.98006499 0.01172302 -2.38234433] [ 0.10861067 -0.03386282 0.99350744 2.6984362 ] [ 0. 0. 0. 1. ]] SLAMing on 40.014839173 meters Centerline goodness [0,1] 0.6050579912411569 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.38, Z:2.70 [[ 0.97399393 -0.19647532 -0.11284181 -4.27847003] [ 0.1988938 0.97996503 0.01047847 -2.37854948] [ 0.10852226 -0.03264951 0.99355771 2.69879609] [ 0. 0. 0. 1. ]] SLAMing on 40.04483917299999 meters Centerline goodness [0,1] 0.6199043108919592 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.37, Z:2.70 [[ 0.97452694 -0.19390422 -0.11268713 -4.2819016 ] [ 0.19645529 0.98044074 0.01188571 -2.37054665] [ 0.10817837 -0.03372093 0.99355943 2.69961872] [ 0. 0. 0. 1. ]] SLAMing on 40.074839172999994 meters Centerline goodness [0,1] 0.6210411718131433 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.36, Z:2.70 [[ 0.97518925 -0.19013839 -0.11337246 -4.28218967] [ 0.19298391 0.98109369 0.01457366 -2.36425622] [ 0.108458 -0.03609114 0.99344567 2.69889245] [ 0. 0. 0. 1. ]] SLAMing on 40.104839172999995 meters Centerline goodness [0,1] 0.6284393408396093 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.36, Z:2.70 [[ 0.97582902 -0.18673839 -0.11351869 -4.28450428] [ 0.1899008 0.98164521 0.01761706 -2.36266134] [ 0.1081453 -0.03874853 0.99337966 2.69975485] [ 0. 0. 0. 1. ]] SLAMing on 40.134839172999996 meters Centerline goodness [0,1] 0.6517738830412281 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.36, Z:2.70 [[ 0.97656524 -0.18270551 -0.11374985 -4.28595053] [ 0.1861253 0.98232007 0.02011614 -2.35839705] [ 0.10806343 -0.04081645 0.99330575 2.70042375] [ 0. 0. 0. 1. ]] SLAMing on 40.164839173 meters Centerline goodness [0,1] 0.6656987754071455 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.36, Z:2.70 [[ 0.97724008 -0.17877414 -0.11419995 -4.28570271] [ 0.18257314 0.98290813 0.02363597 -2.3560223 ] [ 0.10802256 -0.04394786 0.99317658 2.69886522] [ 0. 0. 0. 1. ]] SLAMing on 40.194839173 meters Centerline goodness [0,1] 0.6679415589382698 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.35, Z:2.70 [[ 0.97781007 -0.17549798 -0.11440245 -4.28663541] [ 0.1796057 0.98337994 0.0265647 -2.35225807] [ 0.10783903 -0.04652257 0.99307925 2.69783283] [ 0. 0. 0. 1. ]] SLAMing on 40.22483917299999 meters Centerline goodness [0,1] 0.6427100494233937 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.34, Z:2.70 [[ 0.97749698 -0.17811114 -0.1130313 -4.28996635] [ 0.1818605 0.98303889 0.02369179 -2.34297476] [ 0.10689439 -0.04371458 0.99330893 2.6969442 ] [ 0. 0. 0. 1. ]] SLAMing on 40.25483917299999 meters Centerline goodness [0,1] 0.6356321246195904 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.34, Z:2.70 [[ 0.9759896 -0.18771922 -0.11047981 -4.29173622] [ 0.19034536 0.98162259 0.01362847 -2.3379136 ] [ 0.10589115 -0.03433056 0.99378492 2.69712843] [ 0. 0. 0. 1. ]] SLAMing on 40.284839172999995 meters Centerline goodness [0,1] 0.6184104758200442 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.33, Z:2.70 [[ 0.97587985 -0.18854929 -0.11003491 -4.29216238] [ 0.19096038 0.98152795 0.01170528 -2.33004441] [ 0.10579532 -0.03243526 0.99385879 2.69600643] [ 0. 0. 0. 1. ]] SLAMing on 40.314839172999996 meters Centerline goodness [0,1] 0.6278784397681583 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.33, Z:2.69 [[ 0.97649862 -0.18521862 -0.11020213 -4.29342026] [ 0.18794208 0.98206905 0.01477016 -2.32586874] [ 0.1054904 -0.03513466 0.99379944 2.69490521] [ 0. 0. 0. 1. ]] SLAMing on 40.344839173 meters Centerline goodness [0,1] 0.6372492233163077 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.32, Z:2.69 [[ 0.977073 -0.18221567 -0.11011726 -4.29509834] [ 0.18522976 0.98253574 0.01770469 -2.32133651] [ 0.10496807 -0.03769577 0.9937609 2.69348611] [ 0. 0. 0. 1. ]] SLAMing on 40.374839173 meters Centerline goodness [0,1] 0.6401399919235429 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.31, Z:2.69 [[ 0.97865532 -0.1738229 -0.10963286 -4.30377287] [ 0.17766061 0.98374323 0.02619104 -2.31034303] [ 0.10329798 -0.04510944 0.99362703 2.69322697] [ 0. 0. 0. 1. ]] SLAMing on 40.40483917299999 meters Centerline goodness [0,1] 0.6526446862649559 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.30, Z:2.70 [[ 0.97855025 -0.17486258 -0.10891509 -4.30676828] [ 0.17842934 0.98366398 0.02383564 -2.30401182] [ 0.10296789 -0.04275802 0.99376525 2.69522953] [ 0. 0. 0. 1. ]] SLAMing on 40.43483917299999 meters Centerline goodness [0,1] 0.6540571366500109 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.30, Z:2.70 [[ 0.97800147 -0.17896928 -0.10715933 -4.3091458 ] [ 0.18187617 0.98315818 0.01791773 -2.29975947] [ 0.10214785 -0.03701329 0.9940804 2.69754877] [ 0. 0. 0. 1. ]] SLAMing on 40.464839172999994 meters Centerline goodness [0,1] 0.6546374829001368 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.29, Z:2.70 [[ 0.97788972 -0.17962083 -0.10708903 -4.30869389] [ 0.18235635 0.98309833 0.01624312 -2.29210867] [ 0.10236144 -0.03541235 0.99411674 2.69627085] [ 0. 0. 0. 1. ]] SLAMing on 40.494839172999995 meters Centerline goodness [0,1] 0.6550136472664112 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.29, Z:2.69 [[ 0.97844021 -0.17645572 -0.10732261 -4.30858003] [ 0.17948705 0.98357302 0.01919691 -2.28753534] [ 0.10217222 -0.03804605 0.9940389 2.69393496] [ 0. 0. 0. 1. ]] SLAMing on 40.524839173 meters Centerline goodness [0,1] 0.6580472581364245 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.28, Z:2.69 [[ 0.97897661 -0.17360581 -0.10707854 -4.30922617] [ 0.17679655 0.9840236 0.02098901 -2.27940881] [ 0.10172399 -0.03947887 0.994029 2.69170202] [ 0. 0. 0. 1. ]] SLAMing on 40.554839173 meters Centerline goodness [0,1] 0.6579232844705294 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.28, Z:2.69 [[ 0.97902008 -0.17331719 -0.10714867 -4.30839083] [ 0.17642033 0.98410924 0.02012161 -2.27675962] [ 0.10195858 -0.03860267 0.99403938 2.69170662] [ 0. 0. 0. 1. ]] SLAMing on 40.58483917299999 meters Centerline goodness [0,1] 0.6655006436447082 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.27, Z:2.69 [[ 0.97904117 -0.17332017 -0.10695093 -4.30825111] [ 0.17628309 0.98415942 0.01882853 -2.27203962] [ 0.1019934 -0.03728755 0.99408601 2.6915355 ] [ 0. 0. 0. 1. ]] SLAMing on 40.61483917299999 meters Centerline goodness [0,1] 0.6690205968894494 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.27, Z:2.69 [[ 0.97892665 -0.17411378 -0.10670993 -4.30971772] [ 0.1769083 0.98407645 0.01723341 -2.26695383] [ 0.10201016 -0.03574811 0.99414083 2.69257668] [ 0. 0. 0. 1. ]] SLAMing on 40.644839172999994 meters Centerline goodness [0,1] 0.6700031014746102 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.26, Z:2.69 [[ 0.97943498 -0.17134288 -0.10653045 -4.31310325] [ 0.17440488 0.98446979 0.02005396 -2.26400065] [ 0.10143991 -0.03822098 0.99410719 2.69316826] [ 0. 0. 0. 1. ]] SLAMing on 40.674839172999995 meters Centerline goodness [0,1] 0.693878134560947 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.26, Z:2.69 [[ 0.98066338 -0.16377862 -0.10712558 -4.31360824] [ 0.16746855 0.98552534 0.02634571 -2.25659004] [ 0.10126011 -0.04377644 0.99389638 2.69097151] [ 0. 0. 0. 1. ]] SLAMing on 40.704839172999996 meters Centerline goodness [0,1] 0.7146928435718809 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.25, Z:2.69 [[ 0.98130353 -0.15948353 -0.10774221 -4.31295743] [ 0.16351385 0.98609649 0.02961297 -2.25318905] [ 0.10152144 -0.04667666 0.99373774 2.6900109 ] [ 0. 0. 0. 1. ]] SLAMing on 40.734839173 meters Centerline goodness [0,1] 0.7369214708270502 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.25, Z:2.69 [[ 0.98210967 -0.15414544 -0.10816555 -4.31129682] [ 0.15847785 0.98682357 0.0326192 -2.24689877] [ 0.10171222 -0.04917747 0.99359761 2.68833076] [ 0. 0. 0. 1. ]] SLAMing on 40.764839173 meters Centerline goodness [0,1] 0.7350964475866283 Centerline is valid? [False, False] Translation: X:-4.32, Y:-2.24, Z:2.69 [[ 0.98191511 -0.15619395 -0.10698673 -4.31670666] [ 0.16026724 0.986601 0.03054315 -2.24305975] [ 0.10078256 -0.04713725 0.9937912 2.69111594] [ 0. 0. 0. 1. ]] SLAMing on 40.79483917299999 meters Centerline goodness [0,1] 0.7151559312153891 Centerline is valid? [False, False] Translation: X:-4.32, Y:-2.24, Z:2.69 [[ 0.98206434 -0.16040203 -0.09910005 -4.31684198] [ 0.16476914 0.98561807 0.03752523 -2.24052175] [ 0.09165568 -0.05318082 0.99436967 2.69439848] [ 0. 0. 0. 1. ]] SLAMing on 40.824839172999994 meters Centerline goodness [0,1] 0.7085149325767104 Centerline is valid? [False, False] Translation: X:-4.32, Y:-2.24, Z:2.70 [[ 0.98199651 -0.16089171 -0.09897829 -4.31825852] [ 0.16519706 0.98556981 0.0369063 -2.23979125] [ 0.0916121 -0.05259278 0.99440496 2.69588902] [ 0. 0. 0. 1. ]] SLAMing on 40.854839172999995 meters Centerline goodness [0,1] 0.7322894452396951 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.24, Z:2.69 [[ 0.98231255 -0.15801079 -0.10047214 -4.31140437] [ 0.16250738 0.98596699 0.03821568 -2.24013056] [ 0.09302372 -0.05386721 0.99420567 2.69339338] [ 0. 0. 0. 1. ]] SLAMing on 40.884839172999996 meters Centerline goodness [0,1] 0.7467435529666598 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.24, Z:2.69 [[ 0.98248514 -0.15628646 -0.10147658 -4.3068182 ] [ 0.16087828 0.9862147 0.03871356 -2.2387085 ] [ 0.09402729 -0.05436088 0.99408439 2.69152244] [ 0. 0. 0. 1. ]] SLAMing on 40.914839173 meters Centerline goodness [0,1] 0.7529739232346909 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.24, Z:2.69 [[ 0.98287357 -0.15325371 -0.10233692 -4.30164724] [ 0.1579939 0.98663383 0.03989503 -2.23685289] [ 0.09485501 -0.05538038 0.99394947 2.68915168] [ 0. 0. 0. 1. ]] SLAMing on 40.944839173 meters Centerline goodness [0,1] 0.7529739232346909 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.24, Z:2.69 [[ 0.98287357 -0.15325371 -0.10233692 -4.30164724] [ 0.1579939 0.98663383 0.03989503 -2.23685289] [ 0.09485501 -0.05538038 0.99394947 2.68915168] [ 0. 0. 0. 1. ]] SLAMing on 40.97483917299999 meters Centerline goodness [0,1] 0.751551703946598 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.24, Z:2.69 [[ 0.98287982 -0.15319448 -0.10236555 -4.30138768] [ 0.15796333 0.98662712 0.04018093 -2.23865484] [ 0.09484113 -0.05566303 0.993935 2.68910767] [ 0. 0. 0. 1. ]] SLAMing on 41.00483917299999 meters Centerline goodness [0,1] 0.7459002093510119 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.24, Z:2.69 [[ 0.98219778 -0.15803485 -0.10155053 -4.3031824 ] [ 0.16241513 0.98605207 0.03636802 -2.24438847] [ 0.09438669 -0.05221393 0.99416541 2.69179116] [ 0. 0. 0. 1. ]] SLAMing on 41.034839172999995 meters Centerline goodness [0,1] 0.7413917510895605 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.25, Z:2.69 [[ 0.98173572 -0.16036666 -0.10235971 -4.29834108] [ 0.16453677 0.9857974 0.03363226 -2.24843171] [ 0.09551245 -0.04985993 0.99417874 2.69177141] [ 0. 0. 0. 1. ]] SLAMing on 41.064839172999996 meters Centerline goodness [0,1] 0.7544244593931345 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.25, Z:2.69 [[ 0.98184034 -0.15918469 -0.10319782 -4.29500651] [ 0.16347138 0.98594638 0.03445057 -2.2496187 ] [ 0.09626352 -0.05069485 0.99406407 2.69054739] [ 0. 0. 0. 1. ]] SLAMing on 41.094839173 meters Centerline goodness [0,1] 0.7522832694690138 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.25, Z:2.69 [[ 0.98194181 -0.15803152 -0.10400154 -4.29177929] [ 0.1624193 0.98609684 0.03511409 -2.2507594 ] [ 0.09700646 -0.05137186 0.99395708 2.68956712] [ 0. 0. 0. 1. ]] SLAMing on 41.124839173 meters Centerline goodness [0,1] 0.7589455488331893 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.25, Z:2.69 [[ 0.98221396 -0.15579953 -0.10479619 -4.28771385] [ 0.16026863 0.98643058 0.03561836 -2.25070523] [ 0.09782484 -0.05178039 0.99385567 2.68892199] [ 0. 0. 0. 1. ]] SLAMing on 41.15483917299999 meters Centerline goodness [0,1] 0.76167090362838 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.25, Z:2.69 [[ 0.98221348 -0.15575966 -0.10485994 -4.28778559] [ 0.16022375 0.98644087 0.03553534 -2.25093166] [ 0.09790316 -0.05170435 0.99385192 2.68939287] [ 0. 0. 0. 1. ]] SLAMing on 41.18483917299999 meters Centerline goodness [0,1] 0.7648096725673956 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.25, Z:2.69 [[ 0.98278936 -0.15165039 -0.10548574 -4.28828767] [ 0.15652399 0.98688314 0.03952091 -2.25174561] [ 0.09810874 -0.05535178 0.99363517 2.68985262] [ 0. 0. 0. 1. ]] SLAMing on 41.214839172999994 meters Centerline goodness [0,1] 0.7632059872944044 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.25, Z:2.69 [[ 0.98279926 -0.15145375 -0.10567577 -4.28791245] [ 0.15632765 0.98691811 0.03942484 -2.2515477 ] [ 0.09832229 -0.05526675 0.9936188 2.69021896] [ 0. 0. 0. 1. ]] SLAMing on 41.244839172999995 meters Centerline goodness [0,1] 0.7653129064893771 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.25, Z:2.69 [[ 0.9828176 -0.15114775 -0.10594298 -4.28672082] [ 0.15605146 0.98695529 0.03958783 -2.25154518] [ 0.09857738 -0.05544018 0.99358386 2.68966276] [ 0. 0. 0. 1. ]] SLAMing on 41.274839173 meters Centerline goodness [0,1] 0.7624255048313371 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.25, Z:2.69 [[ 0.98275941 -0.15173248 -0.10564655 -4.2880211 ] [ 0.15659026 0.98688278 0.03926662 -2.25184665] [ 0.09830274 -0.05513287 0.99362817 2.69032791] [ 0. 0. 0. 1. ]] SLAMing on 41.304839173 meters Centerline goodness [0,1] 0.7635693512626336 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.25, Z:2.70 [[ 0.9821399 -0.15671117 -0.10412892 -4.29626384] [ 0.16110033 0.98631304 0.03511795 -2.25167719] [ 0.09720033 -0.05126594 0.99394361 2.69635185] [ 0. 0. 0. 1. ]] SLAMing on 41.33483917299999 meters Centerline goodness [0,1] 0.7615685826164004 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.25, Z:2.70 [[ 0.9814693 -0.16114052 -0.10369062 -4.29679517] [ 0.16509265 0.98580087 0.03067684 -2.25226302] [ 0.09727502 -0.04722694 0.9941364 2.69840469] [ 0. 0. 0. 1. ]] SLAMing on 41.36483917299999 meters Centerline goodness [0,1] 0.7606039847005766 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.26, Z:2.70 [[ 0.98148284 -0.16099002 -0.10379621 -4.29660021] [ 0.16501958 0.9857896 0.03142313 -2.25617339] [ 0.09726241 -0.04796967 0.99410207 2.69870544] [ 0. 0. 0. 1. ]] SLAMing on 41.394839172999994 meters Centerline goodness [0,1] 0.7563467579882829 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.26, Z:2.70 [[ 0.98087952 -0.16455447 -0.10390953 -4.2941963 ] [ 0.16827393 0.98534124 0.02804495 -2.25712555] [ 0.09777142 -0.04499398 0.99419128 2.69833682] [ 0. 0. 0. 1. ]] SLAMing on 41.424839172999995 meters Centerline goodness [0,1] 0.7502826136106715 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.26, Z:2.70 [[ 0.98018622 -0.16909657 -0.10315681 -4.29448165] [ 0.17243659 0.98472075 0.02430346 -2.2579516 ] [ 0.09747102 -0.04160993 0.99436815 2.69830272] [ 0. 0. 0. 1. ]] SLAMing on 41.454839172999996 meters Centerline goodness [0,1] 0.743729061681822 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.26, Z:2.70 [[ 0.9800972 -0.16966386 -0.10307113 -4.29491757] [ 0.17305197 0.98460029 0.02480485 -2.26103768] [ 0.09727537 -0.04214783 0.99436465 2.69815773] [ 0. 0. 0. 1. ]] SLAMing on 41.484839173 meters Centerline goodness [0,1] 0.7422133677535215 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.26, Z:2.70 [[ 0.98011848 -0.16932731 -0.10342157 -4.29328391] [ 0.17281278 0.98462037 0.02566074 -2.2641374 ] [ 0.09748592 -0.04302313 0.99430655 2.69723806] [ 0. 0. 0. 1. ]] SLAMing on 41.514839173 meters Centerline goodness [0,1] 0.7454994111379059 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.26, Z:2.70 [[ 0.98025076 -0.16832274 -0.103807 -4.29102819] [ 0.17183588 0.98478719 0.02581883 -2.26254654] [ 0.09788191 -0.0431467 0.99426229 2.69614349] [ 0. 0. 0. 1. ]] SLAMing on 41.54483917299999 meters Centerline goodness [0,1] 0.7467169600447052 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.26, Z:2.70 [[ 0.98013047 -0.16963256 -0.1028059 -4.29577826] [ 0.17293969 0.98463771 0.02409247 -2.26185919] [ 0.0971397 -0.04139298 0.99440962 2.70005262] [ 0. 0. 0. 1. ]] SLAMing on 41.574839172999994 meters Centerline goodness [0,1] 0.742656717252173 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.26, Z:2.70 [[ 0.98005299 -0.17033895 -0.10237569 -4.2973408 ] [ 0.17363044 0.98451636 0.02408339 -2.26386522] [ 0.0966882 -0.04137854 0.99445423 2.70057877] [ 0. 0. 0. 1. ]] SLAMing on 41.604839172999995 meters Centerline goodness [0,1] 0.7380395433027012 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.26, Z:2.70 [[ 0.97993947 -0.17093634 -0.1024666 -4.29727586] [ 0.17425889 0.98439912 0.02433553 -2.26388981] [ 0.0967082 -0.04170306 0.99443873 2.69969396] [ 0. 0. 0. 1. ]] SLAMing on 41.634839172999996 meters Centerline goodness [0,1] 0.7386689695517732 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.26, Z:2.70 [[ 0.97991806 -0.1710302 -0.10251475 -4.29738102] [ 0.17434681 0.98438568 0.02424924 -2.26325532] [ 0.0967667 -0.04163539 0.99443587 2.69974475] [ 0. 0. 0. 1. ]] SLAMing on 41.664839173 meters Centerline goodness [0,1] 0.7339610552413851 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.27, Z:2.70 [[ 0.97994949 -0.17074889 -0.10268304 -4.29644758] [ 0.17415833 0.98439662 0.02514279 -2.26653131] [ 0.09678774 -0.04252177 0.99439632 2.69909001] [ 0. 0. 0. 1. ]] SLAMing on 41.694839173 meters Centerline goodness [0,1] 0.7276269968492621 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.27, Z:2.70 [[ 0.97941464 -0.174396 -0.10165134 -4.30015538] [ 0.17746292 0.98388419 0.02188176 -2.26882236] [ 0.09619706 -0.03947066 0.99457941 2.7025339 ] [ 0. 0. 0. 1. ]] SLAMing on 41.72483917299999 meters Centerline goodness [0,1] 0.7251136237667664 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.27, Z:2.70 [[ 0.9793153 -0.17530027 -0.10105126 -4.30299127] [ 0.17826117 0.9837594 0.02098543 -2.26830534] [ 0.09573138 -0.03856487 0.99465987 2.70450044] [ 0. 0. 0. 1. ]] SLAMing on 41.75483917299999 meters Centerline goodness [0,1] 0.7320685638209352 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.27, Z:2.71 [[ 0.97991545 -0.17167717 -0.10145272 -4.30507378] [ 0.17494632 0.98428079 0.02418919 -2.26790195] [ 0.09570523 -0.04145214 0.99454624 2.70630825] [ 0. 0. 0. 1. ]] SLAMing on 41.784839172999995 meters Centerline goodness [0,1] 0.7345208743108846 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.27, Z:2.70 [[ 0.97990061 -0.17143423 -0.10200536 -4.29839677] [ 0.17467758 0.98434054 0.02369495 -2.26930622] [ 0.09634589 -0.04103675 0.99450161 2.7024346 ] [ 0. 0. 0. 1. ]] SLAMing on 41.814839172999996 meters Centerline goodness [0,1] 0.728673379066165 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.27, Z:2.70 [[ 0.97989447 -0.17159376 -0.10179592 -4.29837751] [ 0.17486391 0.98429873 0.02405465 -2.27068642] [ 0.09606997 -0.04137145 0.99451444 2.70164311] [ 0. 0. 0. 1. ]] SLAMing on 41.844839173 meters Centerline goodness [0,1] 0.7090994164923483 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.27, Z:2.70 [[ 0.97910951 -0.17653387 -0.10089775 -4.3008152 ] [ 0.17934272 0.98359519 0.01940874 -2.27174165] [ 0.09581624 -0.03709856 0.99470747 2.70472511] [ 0. 0. 0. 1. ]] SLAMing on 41.874839173 meters Centerline goodness [0,1] 0.7108870635422104 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.27, Z:2.71 [[ 0.97905089 -0.17689719 -0.10083026 -4.30159903] [ 0.17970535 0.98352896 0.01941054 -2.27352604] [ 0.09573581 -0.03712364 0.99471428 2.70564924] [ 0. 0. 0. 1. ]] SLAMing on 41.90483917299999 meters Centerline goodness [0,1] 0.7016548723738194 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.27, Z:2.71 [[ 0.97908625 -0.17646037 -0.10125145 -4.30008719] [ 0.17933607 0.98358523 0.0199668 -2.27490492] [ 0.09606609 -0.03770725 0.99466048 2.70509902] [ 0. 0. 0. 1. ]] SLAMing on 41.93483917299999 meters Centerline goodness [0,1] 0.7210668578993822 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.27, Z:2.70 [[ 0.97978693 -0.1715934 -0.10282648 -4.294864 ] [ 0.17492118 0.98428492 0.02420286 -2.27266497] [ 0.09705751 -0.04170017 0.99440482 2.70119663] [ 0. 0. 0. 1. ]] SLAMing on 41.964839172999994 meters Centerline goodness [0,1] 0.7220243518595213 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.27, Z:2.70 [[ 0.97982799 -0.17129321 -0.10293566 -4.29415518] [ 0.17462627 0.98433676 0.02422395 -2.27223682] [ 0.09717395 -0.04171057 0.99439301 2.70083732] [ 0. 0. 0. 1. ]] SLAMing on 41.994839172999995 meters Centerline goodness [0,1] 0.7201283079390537 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.27, Z:2.70 [[ 0.97928786 -0.17500602 -0.10182431 -4.29794029] [ 0.17797251 0.98381674 0.0207462 -2.27338267] [ 0.09654575 -0.03843843 0.99458605 2.70403817] [ 0. 0. 0. 1. ]] SLAMing on 42.024839173 meters Centerline goodness [0,1] 0.7078290052816901 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.28, Z:2.71 [[ 0.97851104 -0.17998635 -0.10060345 -4.30289291] [ 0.18253044 0.98305995 0.01660653 -2.27559601] [ 0.09591028 -0.03461286 0.994788 2.70830484] [ 0. 0. 0. 1. ]] SLAMing on 42.054839173 meters Centerline goodness [0,1] 0.7062457103637612 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.28, Z:2.71 [[ 0.97860055 -0.17948024 -0.10063702 -4.30711185] [ 0.18204357 0.98314662 0.01681831 -2.27720739] [ 0.09592239 -0.03477873 0.99478105 2.71342974] [ 0. 0. 0. 1. ]] SLAMing on 42.08483917299999 meters Centerline goodness [0,1] 0.7296671171295402 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.28, Z:2.71 [[ 0.97954814 -0.17310809 -0.10256237 -4.3016079 ] [ 0.17622763 0.98410111 0.0221093 -2.27639255] [ 0.09710444 -0.03973144 0.99448084 2.71004894] [ 0. 0. 0. 1. ]] SLAMing on 42.11483917299999 meters Centerline goodness [0,1] 0.7669198030543269 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.27, Z:2.70 [[ 0.98149158 -0.15624366 -0.11073478 -4.28996846] [ 0.15953246 0.98695996 0.02143445 -2.27078166] [ 0.10594179 -0.03870352 0.99361883 2.70128056] [ 0. 0. 0. 1. ]] SLAMing on 42.144839172999994 meters Centerline goodness [0,1] 0.7729811236457054 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.27, Z:2.70 [[ 0.98229428 -0.15037753 -0.11173426 -4.28637839] [ 0.1541361 0.98771406 0.02574862 -2.26976395] [ 0.10648949 -0.04251501 0.99340448 2.69900227] [ 0. 0. 0. 1. ]] SLAMing on 42.174839172999995 meters Centerline goodness [0,1] 0.7713610931481429 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.27, Z:2.70 [[ 0.98454405 -0.1428925 -0.10126572 -4.30193565] [ 0.14588247 0.98904091 0.02272429 -2.26834723] [ 0.09690881 -0.03714596 0.99459985 2.70008088] [ 0. 0. 0. 1. ]] SLAMing on 42.204839172999996 meters Centerline goodness [0,1] 0.7720040622884224 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.27, Z:2.70 [[ 0.98490295 -0.14073656 -0.10079382 -4.30739706] [ 0.14392695 0.98927054 0.0250764 -2.26729938] [ 0.09618319 -0.03920477 0.99459126 2.70322311] [ 0. 0. 0. 1. ]] SLAMing on 42.234839173 meters Centerline goodness [0,1] 0.7754851947903901 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.26, Z:2.71 [[ 0.98516331 -0.1391032 -0.10051646 -4.31252171] [ 0.14247021 0.98942808 0.02709823 -2.26304492] [ 0.09568436 -0.04101678 0.9945663 2.70539853] [ 0. 0. 0. 1. ]] SLAMing on 42.26483917299999 meters Centerline goodness [0,1] 0.778073489010989 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.26, Z:2.70 [[ 0.98513414 -0.13925831 -0.10058753 -4.3115425 ] [ 0.14263105 0.9894043 0.02712021 -2.26150286] [ 0.09574502 -0.04106395 0.99455852 2.70387336] [ 0. 0. 0. 1. ]] SLAMing on 42.29483917299999 meters Centerline goodness [0,1] 0.774399131205167 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.26, Z:2.70 [[ 0.9851589 -0.13884389 -0.10091738 -4.30884339] [ 0.14229974 0.98943152 0.02785781 -2.26167541] [ 0.09598295 -0.04180489 0.99450471 2.70111912] [ 0. 0. 0. 1. ]] SLAMing on 42.324839172999994 meters Centerline goodness [0,1] 0.771146994598322 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.26, Z:2.70 [[ 0.98519973 -0.13882081 -0.10054986 -4.30509295] [ 0.14219576 0.98946534 0.02717902 -2.25806804] [ 0.09571759 -0.04107452 0.99456072 2.69655097] [ 0. 0. 0. 1. ]] SLAMing on 42.354839172999995 meters Centerline goodness [0,1] 0.7672676997522898 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.25, Z:2.70 [[ 0.98509986 -0.14098153 -0.09850112 -4.3120203 ] [ 0.14391409 0.98931599 0.0232938 -2.25021121] [ 0.09416473 -0.03712242 0.99486428 2.70103575] [ 0. 0. 0. 1. ]] SLAMing on 42.384839172999996 meters Centerline goodness [0,1] 0.7650175144023391 Centerline is valid? [False, False] Translation: X:-4.32, Y:-2.25, Z:2.70 [[ 0.98497204 -0.14250286 -0.09758596 -4.31558331] [ 0.14532026 0.98913191 0.02236251 -2.24981882] [ 0.09333867 -0.03620766 0.99497583 2.70233196] [ 0. 0. 0. 1. ]] SLAMing on 42.414839173 meters Centerline goodness [0,1] 0.7605617556305332 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.25, Z:2.70 [[ 0.98505313 -0.14631018 -0.09090466 -4.31079867] [ 0.14966244 0.98824514 0.03118797 -2.25065571] [ 0.08527297 -0.04432682 0.99537111 2.70098226] [ 0. 0. 0. 1. ]] SLAMing on 42.444839173 meters Centerline goodness [0,1] 0.7592325862764302 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.25, Z:2.70 [[ 0.9849468 -0.14710809 -0.09076898 -4.31226521] [ 0.15047412 0.98811549 0.03138978 -2.25266759] [ 0.08507254 -0.04457565 0.99537715 2.70175083] [ 0. 0. 0. 1. ]] SLAMing on 42.47483917299999 meters Centerline goodness [0,1] 0.7606269772792638 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.25, Z:2.70 [[ 0.98494834 -0.14669332 -0.09142117 -4.31023889] [ 0.15013613 0.98814873 0.03195664 -2.25410942] [ 0.08564989 -0.04520126 0.99529942 2.70122068] [ 0. 0. 0. 1. ]] SLAMing on 42.50483917299999 meters Centerline goodness [0,1] 0.7594361334867664 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.25, Z:2.70 [[ 0.9850084 -0.14602825 -0.09183788 -4.30804131] [ 0.14952338 0.98822827 0.03236725 -2.25476793] [ 0.08603026 -0.04561392 0.99524779 2.70008177] [ 0. 0. 0. 1. ]] SLAMing on 42.534839172999995 meters Centerline goodness [0,1] 0.7572257656725851 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.25, Z:2.70 [[ 0.98525332 -0.14303991 -0.0938908 -4.30629625] [ 0.14536484 0.98920751 0.01837289 -2.25375918] [ 0.09024942 -0.03175037 0.99541296 2.6988407 ] [ 0. 0. 0. 1. ]] SLAMing on 42.564839172999996 meters Centerline goodness [0,1] 0.7582922070469413 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.25, Z:2.70 [[ 0.98534633 -0.14195326 -0.09456157 -4.30255627] [ 0.14435573 0.98934276 0.0190348 -2.25451243] [ 0.09085176 -0.03240638 0.99533702 2.6966795 ] [ 0. 0. 0. 1. ]] SLAMing on 42.594839173 meters Centerline goodness [0,1] 0.7592667088098385 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.25, Z:2.70 [[ 0.98539303 -0.14125763 -0.09511497 -4.30040374] [ 0.14365621 0.98944857 0.0188263 -2.25261898] [ 0.09145201 -0.03221516 0.99528826 2.69617301] [ 0. 0. 0. 1. ]] SLAMing on 42.624839173 meters Centerline goodness [0,1] 0.7610382119682768 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.25, Z:2.70 [[ 0.98525738 -0.14264288 -0.09445059 -4.30369896] [ 0.14491498 0.9892873 0.01761514 -2.24929752] [ 0.09092609 -0.03104275 0.9953737 2.69765794] [ 0. 0. 0. 1. ]] SLAMing on 42.65483917299999 meters Centerline goodness [0,1] 0.7504667796512797 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.25, Z:2.70 [[ 0.98472153 -0.15126118 -0.08627605 -4.30271022] [ 0.15363565 0.98789274 0.02154137 -2.25026767] [ 0.08197311 -0.03446733 0.99603836 2.69999707] [ 0. 0. 0. 1. ]] SLAMing on 42.68483917299999 meters Centerline goodness [0,1] 0.7389438755077522 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.25, Z:2.70 [[ 0.98398246 -0.15666143 -0.08506305 -4.30617701] [ 0.15863999 0.98719049 0.01697902 -2.25195875] [ 0.08131348 -0.03020146 0.99623089 2.70280022] [ 0. 0. 0. 1. ]] SLAMing on 42.714839172999994 meters Centerline goodness [0,1] 0.7229114500341453 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.25, Z:2.70 [[ 0.98327531 -0.16154753 -0.08409558 -4.30793055] [ 0.16318414 0.98651103 0.01292 -2.25413496] [ 0.08087402 -0.02642698 0.99637393 2.70427855] [ 0. 0. 0. 1. ]] SLAMing on 42.744839172999995 meters Centerline goodness [0,1] 0.7131883648686812 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.26, Z:2.70 [[ 0.98267091 -0.16516223 -0.08413868 -4.3050357 ] [ 0.16663197 0.98596103 0.01070693 -2.25896901] [ 0.08118907 -0.02454159 0.99639653 2.70225035] [ 0. 0. 0. 1. ]] SLAMing on 42.774839173 meters Centerline goodness [0,1] 0.708259562150465 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.26, Z:2.70 [[ 0.98219831 -0.16774069 -0.08455498 -4.30031787] [ 0.16900734 0.98558232 0.00800029 -2.26065796] [ 0.08199392 -0.02214828 0.9963867 2.70007552] [ 0. 0. 0. 1. ]] SLAMing on 42.804839173 meters Centerline goodness [0,1] 0.710117869980773 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.27, Z:2.70 [[ 0.98181843 -0.16966017 -0.08513521 -4.29360895] [ 0.17075051 0.98529816 0.00563975 -2.26669879] [ 0.08292672 -0.02007409 0.99635345 2.69767339] [ 0. 0. 0. 1. ]] SLAMing on 42.83483917299999 meters Centerline goodness [0,1] 0.7164013225528605 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.27, Z:2.70 [[ 0.98182336 -0.16967705 -0.08504463 -4.29415479] [ 0.17072035 0.98530635 0.00509555 -2.26648694] [ 0.08293042 -0.01952178 0.99636411 2.69881322] [ 0. 0. 0. 1. ]] SLAMing on 42.86483917299999 meters Centerline goodness [0,1] 0.7164013225528605 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.27, Z:2.70 [[ 0.98182336 -0.16967705 -0.08504463 -4.29415479] [ 0.17072035 0.98530635 0.00509555 -2.26648694] [ 0.08293042 -0.01952178 0.99636411 2.69881322] [ 0. 0. 0. 1. ]] SLAMing on 42.894839172999994 meters Centerline goodness [0,1] 0.7240453960977247 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.27, Z:2.70 [[ 0.98242168 -0.16614562 -0.08510746 -4.29628872] [ 0.16744501 0.98584636 0.00831372 -2.26507527] [ 0.08252159 -0.0224184 0.99633709 2.69950899] [ 0. 0. 0. 1. ]] SLAMing on 42.924839172999995 meters Centerline goodness [0,1] 0.7263137331510061 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.26, Z:2.70 [[ 0.98252759 -0.16513187 -0.08585447 -4.29379187] [ 0.166428 0.98602021 0.00811528 -2.26336436] [ 0.08331415 -0.02226208 0.99627464 2.69937326] [ 0. 0. 0. 1. ]] SLAMing on 42.954839172999996 meters Centerline goodness [0,1] 0.7426520080771819 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.26, Z:2.70 [[ 0.98347189 -0.15867126 -0.0872151 -4.29058172] [ 0.16033802 0.98698421 0.01240496 -2.26171169] [ 0.08411161 -0.02618383 0.99611226 2.6989447 ] [ 0. 0. 0. 1. ]] SLAMing on 42.984839173 meters Centerline goodness [0,1] 0.7526646391723275 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.26, Z:2.70 [[ 0.98460791 -0.15119207 -0.08768244 -4.29517383] [ 0.15337477 0.9879916 0.01867551 -2.25608222] [ 0.08380593 -0.03183633 0.9959734 2.70187116] [ 0. 0. 0. 1. ]] SLAMing on 43.01483917299999 meters Centerline goodness [0,1] 0.7522867596615596 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.26, Z:2.70 [[ 0.98503754 -0.14853428 -0.08739916 -4.29970144] [ 0.15094462 0.98830597 0.02161115 -2.25515299] [ 0.08316712 -0.03448023 0.99593893 2.70427438] [ 0. 0. 0. 1. ]] SLAMing on 43.04483917299999 meters Centerline goodness [0,1] 0.7483402194044736 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.26, Z:2.71 [[ 0.98456582 -0.15287099 -0.08520919 -4.30797347] [ 0.1547808 0.98781539 0.01623739 -2.25588824] [ 0.08168873 -0.02917553 0.99623077 2.71271677] [ 0. 0. 0. 1. ]] SLAMing on 43.074839172999994 meters Centerline goodness [0,1] 0.7465071553820917 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.26, Z:2.71 [[ 0.98392686 -0.15730738 -0.08451227 -4.30882654] [ 0.15886428 0.98722772 0.01198202 -2.25903362] [ 0.081548 -0.02521541 0.99635039 2.71481282] [ 0. 0. 0. 1. ]] SLAMing on 43.104839172999995 meters Centerline goodness [0,1] 0.7419998875203869 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.26, Z:2.72 [[ 0.98326958 -0.16165679 -0.08395249 -4.30899573] [ 0.16289296 0.98661095 0.00804429 -2.26160707] [ 0.08152803 -0.02158497 0.99643729 2.71594601] [ 0. 0. 0. 1. ]] SLAMing on 43.134839172999996 meters Centerline goodness [0,1] 0.7315201067912565 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.27, Z:2.71 [[ 9.81986070e-01 -1.69384814e-01 -8.37385383e-02 -4.30537984e+00] [ 1.70127724e-01 9.85420439e-01 1.76498569e-03 -2.26749071e+00] [ 8.22187054e-02 -1.59794383e-02 9.96486198e-01 2.71486542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.164839173 meters Centerline goodness [0,1] 0.7260626522027895 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.27, Z:2.71 [[ 9.81346231e-01 -1.73101781e-01 -8.36381930e-02 -4.30343963e+00] [ 1.73635003e-01 9.84809654e-01 -9.11659487e-04 -2.27114451e+00] [ 8.25255098e-02 -1.36278643e-02 9.96495771e-01 2.71399083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.194839173 meters Centerline goodness [0,1] 0.7140197152245344 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.28, Z:2.71 [[ 9.80795450e-01 -1.75909186e-01 -8.42392041e-02 -4.29883696e+00] [ 1.76390844e-01 9.84318653e-01 -1.74925488e-03 -2.27813895e+00] [ 8.32259299e-02 -1.31433631e-02 9.96444026e-01 2.71075789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.22483917299999 meters Centerline goodness [0,1] 0.7045280122793554 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.28, Z:2.71 [[ 9.80904219e-01 -1.75067097e-01 -8.47255874e-02 -4.29640141e+00] [ 1.75688904e-01 9.84445730e-01 -1.18836227e-04 -2.28103960e+00] [ 8.34285470e-02 -1.47687786e-02 9.96404316e-01 2.70857304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.25483917299999 meters Centerline goodness [0,1] 0.7174915879735158 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.29, Z:2.71 [[ 9.81242298e-01 -1.72442653e-01 -8.61805272e-02 -4.29036980e+00] [ 1.73291669e-01 9.84867593e-01 2.41277303e-03 -2.28785269e+00] [ 8.44603434e-02 -1.73018823e-02 9.96276616e-01 2.70624140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.284839172999995 meters Centerline goodness [0,1] 0.724670494056764 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.29, Z:2.71 [[ 9.81344992e-01 -1.71636047e-01 -8.66202878e-02 -4.28962154e+00] [ 1.72487297e-01 9.85008857e-01 2.38418900e-03 -2.28940936e+00] [ 8.49125379e-02 -1.72806113e-02 9.96238546e-01 2.70778142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.314839172999996 meters Centerline goodness [0,1] 0.7319201659169876 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.29, Z:2.71 [[ 0.98195667 -0.16794769 -0.08691757 -4.29232468] [ 0.16906923 0.98558796 0.00565403 -2.29283779] [ 0.08471533 -0.0202471 0.99619946 2.71129333] [ 0. 0. 0. 1. ]] SLAMing on 43.344839173 meters Centerline goodness [0,1] 0.7343170456378003 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.29, Z:2.71 [[ 0.98202167 -0.16732482 -0.08738329 -4.2911417 ] [ 0.16845678 0.98569261 0.00569176 -2.29218749] [ 0.08518069 -0.02030974 0.9961585 2.71146713] [ 0. 0. 0. 1. ]] SLAMing on 43.374839173 meters Centerline goodness [0,1] 0.7376732713086843 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.29, Z:2.71 [[ 0.98231235 -0.16486147 -0.08878712 -4.28494174] [ 0.1661898 0.98606348 0.007731 -2.29455796] [ 0.08627519 -0.02234977 0.99602062 2.708072 ] [ 0. 0. 0. 1. ]] SLAMing on 43.40483917299999 meters Centerline goodness [0,1] 0.7398039582276115 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.30, Z:2.71 [[ 0.98242871 -0.16384338 -0.08938218 -4.28179631] [ 0.16530455 0.98620015 0.00914694 -2.29844425] [ 0.08665005 -0.0237615 0.9959554 2.7060779 ] [ 0. 0. 0. 1. ]] SLAMing on 43.43483917299999 meters Centerline goodness [0,1] 0.7350988142292489 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.31, Z:2.71 [[ 0.98171639 -0.16851226 -0.08852433 -4.28250379] [ 0.16963605 0.98549267 0.00527412 -2.30567328] [ 0.08635132 -0.02019461 0.99606005 2.70816515] [ 0. 0. 0. 1. ]] SLAMing on 43.464839172999994 meters Centerline goodness [0,1] 0.7301516619954422 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.31, Z:2.71 [[ 9.80994759e-01 -1.73111013e-01 -8.76462181e-02 -4.28516246e+00] [ 1.73923812e-01 9.84757704e-01 1.66515370e-03 -2.30996121e+00] [ 8.60220320e-02 -1.68772715e-02 9.96150274e-01 2.71118218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.494839172999995 meters Centerline goodness [0,1] 0.719860826214525 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.32, Z:2.72 [[ 9.79745541e-01 -1.80396372e-01 -8.69242369e-02 -4.28766497e+00] [ 1.80763401e-01 9.83519667e-01 -3.69567473e-03 -2.31768245e+00] [ 8.61583829e-02 -1.20918998e-02 9.96208070e-01 2.71554997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.524839173 meters Centerline goodness [0,1] 0.7190862996688742 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.32, Z:2.72 [[ 9.79808831e-01 -1.79756128e-01 -8.75350732e-02 -4.28606670e+00] [ 1.80188527e-01 9.83627513e-01 -3.00180289e-03 -2.31887724e+00] [ 8.66414988e-02 -1.28316229e-02 9.96156915e-01 2.71530610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.554839173 meters Centerline goodness [0,1] 0.725335479014717 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.32, Z:2.71 [[ 9.80557407e-01 -1.75084667e-01 -8.86145064e-02 -4.28484875e+00] [ 1.75931932e-01 9.84400722e-01 1.78171851e-03 -2.32103123e+00] [ 8.69202324e-02 -1.73371986e-02 9.96064403e-01 2.71464300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58483917299999 meters Centerline goodness [0,1] 0.7319348520771054 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.32, Z:2.71 [[ 0.98141388 -0.16943971 -0.09009433 -4.28174148] [ 0.17074756 0.98529025 0.00695641 -2.32371398] [ 0.08759038 -0.0222105 0.99590894 2.71326941] [ 0. 0. 0. 1. ]] SLAMing on 43.61483917299999 meters Centerline goodness [0,1] 0.7293335039017526 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.33, Z:2.71 [[ 0.98084694 -0.17277356 -0.08993652 -4.27957257] [ 0.17385559 0.98476186 0.00427975 -2.32875046] [ 0.08782662 -0.01983375 0.9959383 2.71280096] [ 0. 0. 0. 1. ]] SLAMing on 43.644839172999994 meters Centerline goodness [0,1] 0.7219890626987155 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.33, Z:2.71 [[ 9.80162277e-01 -1.76868112e-01 -8.94403811e-02 -4.27878811e+00] [ 1.77663154e-01 9.84090907e-01 9.43875194e-04 -2.33255697e+00] [ 8.78505243e-02 -1.68154110e-02 9.95991731e-01 2.71288281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.674839172999995 meters Centerline goodness [0,1] 0.7070178966418661 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.34, Z:2.71 [[ 0.97806297 -0.18868363 -0.08826844 -4.27644856] [ 0.18855458 0.98201307 -0.00987375 -2.33882283] [ 0.08854377 -0.00698627 0.99604779 2.71428489] [ 0. 0. 0. 1. ]] SLAMing on 43.704839172999996 meters Centerline goodness [0,1] 0.67993321038728 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.34, Z:2.71 [[ 0.97728522 -0.1928951 -0.08777859 -4.27547034] [ 0.19252381 0.98120937 -0.01275716 -2.34259235] [ 0.08858997 -0.00443208 0.99605832 2.71370505] [ 0. 0. 0. 1. ]] SLAMing on 43.734839173 meters Centerline goodness [0,1] 0.6585402221725192 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.34, Z:2.71 [[ 0.97702081 -0.19417577 -0.08789828 -4.27614551] [ 0.19390669 0.98095054 -0.01167206 -2.34370824] [ 0.0884903 -0.00564022 0.99606107 2.71261922] [ 0. 0. 0. 1. ]] SLAMing on 43.76483917299999 meters Centerline goodness [0,1] 0.6554490363600238 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.34, Z:2.71 [[ 0.97730727 -0.19264294 -0.0880863 -4.27811115] [ 0.19254233 0.98124054 -0.00971822 -2.34456043] [ 0.08830599 -0.00746265 0.99606544 2.71391546] [ 0. 0. 0. 1. ]] SLAMing on 43.79483917299999 meters Centerline goodness [0,1] 0.66171863344771 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.34, Z:2.71 [[ 0.97737629 -0.19214509 -0.08840729 -4.27743129] [ 0.19204294 0.98133819 -0.00974015 -2.34433197] [ 0.08862897 -0.0074582 0.99603679 2.71430551] [ 0. 0. 0. 1. ]] SLAMing on 43.824839172999994 meters Centerline goodness [0,1] 0.6760133054084021 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.35, Z:2.71 [[ 9.78346480e-01 -1.90423667e-01 -8.10986506e-02 -4.28413475e+00] [ 1.89853920e-01 9.81701531e-01 -1.47510638e-02 -2.35203773e+00] [ 8.24236211e-02 -9.65245311e-04 9.96596917e-01 2.71010434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.854839172999995 meters Centerline goodness [0,1] 0.6854262503670353 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.36, Z:2.71 [[ 9.77673239e-01 -1.94113180e-01 -8.04680751e-02 -4.28384680e+00] [ 1.93244649e-01 9.80975811e-01 -1.85192900e-02 -2.35538981e+00] [ 8.25320735e-02 2.55578928e-03 9.96585132e-01 2.71133577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.884839172999996 meters Centerline goodness [0,1] 0.695772917178668 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.36, Z:2.71 [[ 9.78304193e-01 -1.90725475e-01 -8.08993083e-02 -4.28521429e+00] [ 1.90153097e-01 9.81642992e-01 -1.47931327e-02 -2.35610072e+00] [ 8.22356662e-02 -9.11070249e-04 9.96612495e-01 2.71179294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.914839173 meters Centerline goodness [0,1] 0.6805945865996155 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.36, Z:2.71 [[ 0.97899052 -0.18691459 -0.08148928 -4.28587535] [ 0.18665011 0.98236577 -0.01091934 -2.35518728] [ 0.08209326 -0.00452005 0.9966144 2.71159629] [ 0. 0. 0. 1. ]] SLAMing on 43.944839173 meters Centerline goodness [0,1] 0.7187376237623763 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.36, Z:2.71 [[ 9.80466252e-01 -1.78320798e-01 -8.29916965e-02 -4.28603317e+00] [ 1.78684532e-01 9.83901583e-01 -3.08418830e-03 -2.35538924e+00] [ 8.22056365e-02 -1.18053899e-02 9.96545466e-01 2.71187589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.97483917299999 meters Centerline goodness [0,1] 0.7286679703938411 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.36, Z:2.71 [[ 9.81271372e-01 -1.73571092e-01 -8.35438226e-02 -4.28539033e+00] [ 1.74258151e-01 9.84699548e-01 9.47510906e-04 -2.35523721e+00] [ 8.21011038e-02 -1.54879573e-02 9.96503654e-01 2.71081542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.00483917299999 meters Centerline goodness [0,1] 0.7280523471967482 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.35, Z:2.71 [[ 9.81251017e-01 -1.73758445e-01 -8.33933140e-02 -4.28557097e+00] [ 1.74405943e-01 9.84673717e-01 4.87266872e-04 -2.35311837e+00] [ 8.20305377e-02 -1.50224207e-02 9.96516592e-01 2.71044549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.034839172999995 meters Centerline goodness [0,1] 0.7261167182971919 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.35, Z:2.71 [[ 9.81155429e-01 -1.74527640e-01 -8.29103534e-02 -4.28695605e+00] [ 1.75137370e-01 9.84544004e-01 8.24972863e-05 -2.35243770e+00] [ 8.16144932e-02 -1.46016439e-02 9.96557006e-01 2.71056706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.064839172999996 meters Centerline goodness [0,1] 0.7090999750685615 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.35, Z:2.71 [[ 9.80637085e-01 -1.77666159e-01 -8.23750152e-02 -4.28942081e+00] [ 1.78143164e-01 9.84003309e-01 -1.58172912e-03 -2.35272423e+00] [ 8.13383073e-02 -1.31234436e-02 9.96600148e-01 2.71153652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.094839173 meters Centerline goodness [0,1] 0.6752283531197889 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.35, Z:2.71 [[ 9.80483962e-01 -1.78642404e-01 -8.20858859e-02 -4.29040590e+00] [ 1.79104805e-01 9.83828434e-01 -1.75532293e-03 -2.35294643e+00] [ 8.10720037e-02 -1.29809106e-02 9.96623713e-01 2.71143704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.124839173 meters Centerline goodness [0,1] 0.6557433853921739 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.35, Z:2.71 [[ 0.97970363 -0.18319507 -0.08136564 -4.29010734] [ 0.18336414 0.98302993 -0.00545338 -2.35387633] [ 0.08098389 -0.00957684 0.9966694 2.71087893] [ 0. 0. 0. 1. ]] SLAMing on 44.15483917299999 meters Centerline goodness [0,1] 0.6805290664553043 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.35, Z:2.71 [[ 0.97908592 -0.18680558 -0.08058807 -4.28989128] [ 0.18663052 0.98238163 -0.00976648 -2.35445637] [ 0.08099267 -0.00547797 0.99669964 2.71179856] [ 0. 0. 0. 1. ]] SLAMing on 44.18483917299999 meters Centerline goodness [0,1] 0.6762225969645869 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.35, Z:2.71 [[ 0.97913108 -0.18658959 -0.08053976 -4.29009924] [ 0.18636502 0.98242592 -0.01036345 -2.35215267] [ 0.08105806 -0.00486262 0.99669752 2.71222031] [ 0. 0. 0. 1. ]] SLAMing on 44.214839172999994 meters Centerline goodness [0,1] 0.6700158247720479 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.35, Z:2.71 [[ 0.9798068 -0.18280986 -0.08098882 -4.29110107] [ 0.18284792 0.98311622 -0.00700962 -2.3500633 ] [ 0.08090285 -0.00794057 0.99669036 2.71235887] [ 0. 0. 0. 1. ]] SLAMing on 44.244839172999995 meters Centerline goodness [0,1] 0.7126607443943931 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.35, Z:2.71 [[ 9.80555904e-01 -1.78458192e-01 -8.16259287e-02 -4.29209815e+00] [ 1.78741473e-01 9.83888413e-01 -3.88284140e-03 -2.34756131e+00] [ 8.10037303e-02 -1.07825956e-02 9.96655473e-01 2.71378190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.274839173 meters Centerline goodness [0,1] 0.7167709293921192 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.35, Z:2.71 [[ 0.98005103 -0.18128163 -0.08146744 -4.29001794] [ 0.18131473 0.98339983 -0.00705346 -2.35107366] [ 0.08139373 -0.0078585 0.99665104 2.71403062] [ 0. 0. 0. 1. ]] SLAMing on 44.304839173 meters Centerline goodness [0,1] 0.7135483224335363 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.35, Z:2.71 [[ 0.98010981 -0.18095662 -0.08148289 -4.28959976] [ 0.18098376 0.98346035 -0.00711448 -2.35037071] [ 0.0814226 -0.00777411 0.99664935 2.71369717] [ 0. 0. 0. 1. ]] SLAMing on 44.33483917299999 meters Centerline goodness [0,1] 0.7224966322406825 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.35, Z:2.71 [[ 9.80790915e-01 -1.77108197e-01 -8.17426865e-02 -4.29058047e+00] [ 1.77430895e-01 9.84127535e-01 -3.35739949e-03 -2.34913036e+00] [ 8.10398515e-02 -1.12107711e-02 9.96647812e-01 2.71322262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.36483917299999 meters Centerline goodness [0,1] 0.7286632842718641 Centerline is valid? [False, False] Translation: X:-4.29, Y:-2.35, Z:2.72 [[ 9.82052259e-01 -1.69780565e-01 -8.21457304e-02 -4.29475646e+00] [ 1.70607138e-01 9.85334260e-01 3.09836700e-03 -2.34540116e+00] [ 8.04149600e-02 -1.70574063e-02 9.96615512e-01 2.71539774e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.394839172999994 meters Centerline goodness [0,1] 0.7342275461157108 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.35, Z:2.72 [[ 9.82064062e-01 -1.69677075e-01 -8.22184182e-02 -4.29523593e+00] [ 1.70466802e-01 9.85359907e-01 2.63120705e-03 -2.34505074e+00] [ 8.05682774e-02 -1.65995247e-02 9.96610861e-01 2.71668224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.424839172999995 meters Centerline goodness [0,1] 0.7389294282287084 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.35, Z:2.72 [[ 9.81944021e-01 -1.70597821e-01 -8.17454751e-02 -4.29579395e+00] [ 1.71264291e-01 9.85224440e-01 1.15974943e-03 -2.34919175e+00] [ 8.03397892e-02 -1.51388899e-02 9.96652563e-01 2.71851660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.454839172999996 meters Centerline goodness [0,1] 0.7374822774419819 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.35, Z:2.72 [[ 9.81877876e-01 -1.71131438e-01 -8.14240036e-02 -4.29711810e+00] [ 1.71817246e-01 9.85127789e-01 1.43958792e-03 -2.35230325e+00] [ 7.99666899e-02 -1.54035476e-02 9.96678513e-01 2.71933434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.484839173 meters Centerline goodness [0,1] 0.7365977205571972 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.35, Z:2.72 [[ 9.81816166e-01 -1.71608127e-01 -8.11644442e-02 -4.29801740e+00] [ 1.72321777e-01 9.85039034e-01 1.81856151e-03 -2.35481782e+00] [ 7.96380657e-02 -1.57718944e-02 9.96699065e-01 2.71962526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.51483917299999 meters Centerline goodness [0,1] 0.7390065650935216 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.35, Z:2.72 [[ 9.81781481e-01 -1.71941277e-01 -8.08784392e-02 -4.29862777e+00] [ 1.72664294e-01 9.84978742e-01 1.97956373e-03 -2.35375719e+00] [ 7.93231746e-02 -1.59083176e-02 9.96722007e-01 2.71887718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.54483917299999 meters Centerline goodness [0,1] 0.7405901573919333 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.36, Z:2.72 [[ 0.98236938 -0.16815244 -0.08170162 -4.29784835] [ 0.16923617 0.98555425 0.00647581 -2.35571731] [ 0.07943245 -0.0201885 0.9966358 2.71764588] [ 0. 0. 0. 1. ]] SLAMing on 44.574839172999994 meters Centerline goodness [0,1] 0.7441315133413966 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.36, Z:2.72 [[ 0.9824842 -0.16729033 -0.08208989 -4.29578716] [ 0.16843004 0.98568796 0.00711151 -2.35803002] [ 0.07972532 -0.02081335 0.99659956 2.71670904] [ 0. 0. 0. 1. ]] SLAMing on 44.604839172999995 meters Centerline goodness [0,1] 0.7501848292178027 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.36, Z:2.71 [[ 0.98397063 -0.16147348 -0.07568429 -4.29967167] [ 0.16233761 0.98672068 0.00536731 -2.36164246] [ 0.07381258 -0.01756768 0.99711739 2.70836766] [ 0. 0. 0. 1. ]] SLAMing on 44.634839172999996 meters Centerline goodness [0,1] 0.7505064479470329 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.36, Z:2.71 [[ 0.98406767 -0.16060458 -0.07626924 -4.29713292] [ 0.16149229 0.98685821 0.00557746 -2.36033084] [ 0.07437116 -0.01780549 0.99707166 2.70686936] [ 0. 0. 0. 1. ]] SLAMing on 44.664839173 meters Centerline goodness [0,1] 0.7505850136918097 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.36, Z:2.70 [[ 0.98471337 -0.15632738 -0.07682006 -4.29581266] [ 0.15752676 0.98746637 0.00977181 -2.3587862 ] [ 0.07432962 -0.02172365 0.99699709 2.70428393] [ 0. 0. 0. 1. ]] SLAMing on 44.694839173 meters Centerline goodness [0,1] 0.7521367521367521 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.36, Z:2.70 [[ 0.98469437 -0.15655329 -0.07660324 -4.29643126] [ 0.15772916 0.98743661 0.0095109 -2.35819699] [ 0.07415188 -0.02144789 0.99701629 2.70439526] [ 0. 0. 0. 1. ]] SLAMing on 44.72483917299999 meters Centerline goodness [0,1] 0.7489462984082907 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.36, Z:2.71 [[ 0.98421384 -0.16015019 -0.07533286 -4.30128482] [ 0.16108743 0.98691877 0.00649451 -2.35927073] [ 0.07330732 -0.01852716 0.99713729 2.70792137] [ 0. 0. 0. 1. ]] SLAMing on 44.75483917299999 meters Centerline goodness [0,1] 0.7489462984082907 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.36, Z:2.71 [[ 0.98421384 -0.16015019 -0.07533286 -4.30128482] [ 0.16108743 0.98691877 0.00649451 -2.35927073] [ 0.07330732 -0.01852716 0.99713729 2.70792137] [ 0. 0. 0. 1. ]] SLAMing on 44.784839172999995 meters Centerline goodness [0,1] 0.7466452092102005 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.36, Z:2.71 [[ 0.98409133 -0.16119634 -0.07469937 -4.30378743] [ 0.16209285 0.98675691 0.00605848 -2.35999732] [ 0.07273352 -0.01807033 0.99718769 2.70923925] [ 0. 0. 0. 1. ]] SLAMing on 44.814839172999996 meters Centerline goodness [0,1] 0.7461380148280394 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.36, Z:2.71 [[ 0.98397363 -0.16214696 -0.07419065 -4.3054477 ] [ 0.16298978 0.98661293 0.00540979 -2.35861847] [ 0.07232027 -0.01741541 0.9972294 2.70953286] [ 0. 0. 0. 1. ]] SLAMing on 44.844839173 meters Centerline goodness [0,1] 0.7457080480301677 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.36, Z:2.71 [[ 0.98395965 -0.16223697 -0.07417937 -4.30511767] [ 0.16309383 0.98659465 0.00560285 -2.35876928] [ 0.07227598 -0.01761118 0.99722918 2.70882321] [ 0. 0. 0. 1. ]] SLAMing on 44.874839173 meters Centerline goodness [0,1] 0.7442898593854623 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.36, Z:2.71 [[ 0.98389705 -0.16264121 -0.07412443 -4.30498666] [ 0.16351456 0.9865237 0.00582915 -2.36093165] [ 0.07217745 -0.0178557 0.99723196 2.70845112] [ 0. 0. 0. 1. ]] SLAMing on 44.90483917299999 meters Centerline goodness [0,1] 0.7413941586083019 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.36, Z:2.71 [[ 0.98379946 -0.16332516 -0.07391564 -4.30581753] [ 0.16419842 0.98640996 0.00585471 -2.36295232] [ 0.0719549 -0.0178967 0.99724731 2.70881958] [ 0. 0. 0. 1. ]] SLAMing on 44.93483917299999 meters Centerline goodness [0,1] 0.7402262353641595 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.36, Z:2.71 [[ 0.98379455 -0.16326448 -0.07411479 -4.30464968] [ 0.16413069 0.98642208 0.00570989 -2.36004705] [ 0.07217625 -0.01778187 0.99723337 2.7074433 ] [ 0. 0. 0. 1. ]] SLAMing on 44.964839172999994 meters Centerline goodness [0,1] 0.7411662531017369 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.36, Z:2.71 [[ 0.98379088 -0.16319829 -0.07430898 -4.30386792] [ 0.16407859 0.98642987 0.00585873 -2.35989939] [ 0.07234447 -0.01795628 0.99721806 2.70680904] [ 0. 0. 0. 1. ]] SLAMing on 44.994839172999995 meters Centerline goodness [0,1] 0.7418791477471184 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.36, Z:2.71 [[ 0.98378641 -0.16336512 -0.07400089 -4.30396214] [ 0.16421069 0.98641024 0.00544883 -2.35929723] [ 0.07210509 -0.01751222 0.99724329 2.70627011] [ 0. 0. 0. 1. ]] SLAMing on 45.024839173 meters Centerline goodness [0,1] 0.7408156134571229 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.36, Z:2.71 [[ 0.98373514 -0.16385374 -0.07360112 -4.30520367] [ 0.16465043 0.98634006 0.0048492 -2.35821469] [ 0.07180117 -0.01688878 0.99727597 2.70674039] [ 0. 0. 0. 1. ]] SLAMing on 45.054839173 meters Centerline goodness [0,1] 0.7377693724182551 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.36, Z:2.71 [[ 9.83661619e-01 -1.64432536e-01 -7.32922883e-02 -4.30645687e+00] [ 1.65155664e-01 9.86259897e-01 3.87586856e-03 -2.35578666e+00] [ 7.16479258e-02 -1.59171797e-02 9.97302972e-01 2.70757484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.08483917299999 meters Centerline goodness [0,1] 0.7410985371239305 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.36, Z:2.71 [[ 0.98425381 -0.16070571 -0.07360784 -4.30717672] [ 0.16169636 0.9868108 0.00766389 -2.35552674] [ 0.07140538 -0.01944533 0.99725782 2.70721387] [ 0. 0. 0. 1. ]] SLAMing on 45.11483917299999 meters Centerline goodness [0,1] 0.7404179860671312 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.35, Z:2.70 [[ 0.98482827 -0.1566883 -0.07457919 -4.30116888] [ 0.15781555 0.98742355 0.0094329 -2.35299172] [ 0.07216323 -0.02105954 0.99717048 2.70337099] [ 0. 0. 0. 1. ]] SLAMing on 45.144839172999994 meters Centerline goodness [0,1] 0.7474391396531024 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.35, Z:2.70 [[ 0.98501139 -0.15531586 -0.07503031 -4.2979638 ] [ 0.1564632 0.98763686 0.00962771 -2.35133025] [ 0.07260736 -0.02122289 0.99713478 2.70108968] [ 0. 0. 0. 1. ]] SLAMing on 45.174839172999995 meters Centerline goodness [0,1] 0.7404868102459539 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.35, Z:2.70 [[ 0.98513035 -0.15444398 -0.0752679 -4.29555164] [ 0.15558773 0.987776 0.00954107 -2.34769322] [ 0.07287427 -0.02110996 0.9971177 2.69865764] [ 0. 0. 0. 1. ]] SLAMing on 45.204839172999996 meters Centerline goodness [0,1] 0.7398336649829074 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.35, Z:2.70 [[ 0.98505375 -0.15523126 -0.07464833 -4.29737504] [ 0.15632893 0.98766352 0.00905778 -2.34707703] [ 0.07232138 -0.02059209 0.99716878 2.69895552] [ 0. 0. 0. 1. ]] SLAMing on 45.234839173 meters Centerline goodness [0,1] 0.7385672678963773 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.35, Z:2.69 [[ 0.985953 -0.15610665 -0.05939196 -4.30400967] [ 0.15722577 0.98745428 0.01463228 -2.3467798 ] [ 0.05636265 -0.02376469 0.99812749 2.69446316] [ 0. 0. 0. 1. ]] SLAMing on 45.26483917299999 meters Centerline goodness [0,1] 0.7403789602884394 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.35, Z:2.70 [[ 0.98585371 -0.15690016 -0.05894745 -4.30647849] [ 0.15794832 0.98735461 0.01353488 -2.34506524] [ 0.05607841 -0.02265407 0.99816933 2.69660242] [ 0. 0. 0. 1. ]] SLAMing on 45.29483917299999 meters Centerline goodness [0,1] 0.7406111739890935 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.34, Z:2.69 [[ 0.98702636 -0.15400261 -0.04541095 -4.31136733] [ 0.1551823 0.98760177 0.02368959 -2.34411355] [ 0.04119968 -0.03042923 0.99868746 2.69239033] [ 0. 0. 0. 1. ]] SLAMing on 45.324839172999994 meters Centerline goodness [0,1] 0.7389176519073746 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.34, Z:2.69 [[ 0.98697158 -0.15439897 -0.04525543 -4.31257647] [ 0.15556115 0.9875497 0.02337339 -2.34367695] [ 0.04108316 -0.03010885 0.99870197 2.69346157] [ 0. 0. 0. 1. ]] SLAMing on 45.354839172999995 meters Centerline goodness [0,1] 0.7386539453326457 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.35, Z:2.69 [[ 0.98698008 -0.15431492 -0.04535657 -4.31206574] [ 0.15551055 0.98753989 0.02411279 -2.34735505] [ 0.04107046 -0.03085227 0.99867981 2.693252 ] [ 0. 0. 0. 1. ]] SLAMing on 45.384839172999996 meters Centerline goodness [0,1] 0.7393804060470728 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.35, Z:2.69 [[ 0.98705059 -0.15376059 -0.04570355 -4.31072584] [ 0.15497738 0.98761734 0.02437203 -2.34769403] [ 0.04139017 -0.03113945 0.99865769 2.69268956] [ 0. 0. 0. 1. ]] SLAMing on 45.414839173 meters Centerline goodness [0,1] 0.7396778991639739 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.35, Z:2.69 [[ 0.9872122 -0.15257945 -0.04616918 -4.3081942 ] [ 0.15381932 0.98779291 0.02459245 -2.3454149 ] [ 0.04185329 -0.03137968 0.99863087 2.69086001] [ 0. 0. 0. 1. ]] SLAMing on 45.444839173 meters Centerline goodness [0,1] 0.7379643425987772 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.34, Z:2.69 [[ 0.98716633 -0.15294564 -0.04593759 -4.30845817] [ 0.15417025 0.98774308 0.02439559 -2.34437241] [ 0.04164333 -0.03116471 0.99864638 2.69018788] [ 0. 0. 0. 1. ]] SLAMing on 45.47483917299999 meters Centerline goodness [0,1] 0.7290427948043994 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.34, Z:2.69 [[ 0.98580546 -0.16189153 -0.04448285 -4.30960534] [ 0.16273633 0.98653901 0.01605234 -2.34445206] [ 0.04128533 -0.02306346 0.99888117 2.69127869] [ 0. 0. 0. 1. ]] SLAMing on 45.50483917299999 meters Centerline goodness [0,1] 0.7208541502878446 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.35, Z:2.69 [[ 0.98508139 -0.16640229 -0.04387415 -4.30927276] [ 0.16710723 0.98585439 0.01289588 -2.34739175] [ 0.04110761 -0.02003518 0.99895383 2.69050172] [ 0. 0. 0. 1. ]] SLAMing on 45.534839172999995 meters Centerline goodness [0,1] 0.7033052854335669 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.35, Z:2.69 [[ 0.98417787 -0.17172331 -0.04364659 -4.30854599] [ 0.17231472 0.98498974 0.01014156 -2.35287187] [ 0.0412499 -0.01750205 0.99899556 2.68956893] [ 0. 0. 0. 1. ]] SLAMing on 45.564839172999996 meters Centerline goodness [0,1] 0.7036888129460247 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.36, Z:2.69 [[ 0.98424888 -0.17123934 -0.0439457 -4.30695498] [ 0.17188155 0.9850534 0.01124848 -2.35620568] [ 0.04136268 -0.01862476 0.99897059 2.68832393] [ 0. 0. 0. 1. ]] SLAMing on 45.594839173 meters Centerline goodness [0,1] 0.7119459772721546 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.35, Z:2.69 [[ 0.98487989 -0.16750046 -0.04421751 -4.3091851 ] [ 0.16828118 0.98563178 0.01454108 -2.35425664] [ 0.04114654 -0.02176219 0.9989161 2.69003266] [ 0. 0. 0. 1. ]] SLAMing on 45.624839173 meters Centerline goodness [0,1] 0.7151309164149043 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.35, Z:2.69 [[ 0.98541612 -0.16425129 -0.04445883 -4.31088147] [ 0.16518806 0.98609299 0.01826266 -2.35429051] [ 0.04084087 -0.02534039 0.99884428 2.69052006] [ 0. 0. 0. 1. ]] SLAMing on 45.65483917299999 meters Centerline goodness [0,1] 0.6850748548732051 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.35, Z:2.69 [[ 0.98494969 -0.16698583 -0.04460755 -4.30714534] [ 0.16781307 0.9856975 0.01546627 -2.3545634 ] [ 0.0413869 -0.02271923 0.99888486 2.68773742] [ 0. 0. 0. 1. ]] SLAMing on 45.68483917299999 meters Centerline goodness [0,1] 0.6899641127311968 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.36, Z:2.69 [[ 0.98430973 -0.17086167 -0.04405275 -4.30604288] [ 0.17155019 0.98509827 0.01232586 -2.35658839] [ 0.04129027 -0.01968972 0.99895317 2.68663729] [ 0. 0. 0. 1. ]] SLAMing on 45.714839172999994 meters Centerline goodness [0,1] 0.6511277452506238 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.36, Z:2.69 [[ 0.98301518 -0.17855892 -0.04240123 -4.31013631] [ 0.17899171 0.98382838 0.0066092 -2.36153419] [ 0.0405354 -0.01408641 0.9990788 2.69015435] [ 0. 0. 0. 1. ]] SLAMing on 45.744839172999995 meters Centerline goodness [0,1] 0.6524927407844874 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.36, Z:2.69 [[ 0.98282978 -0.17966978 -0.04200481 -4.31288543] [ 0.18009167 0.98362866 0.00645428 -2.36488128] [ 0.0401575 -0.01390818 0.99909656 2.6928605 ] [ 0. 0. 0. 1. ]] SLAMing on 45.774839173 meters Centerline goodness [0,1] 0.6683538732394366 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.37, Z:2.69 [[ 0.98298466 -0.17865749 -0.04269261 -4.31085209] [ 0.17915501 0.98378755 0.00809542 -2.37103013] [ 0.04055415 -0.01560627 0.99905546 2.69277603] [ 0. 0. 0. 1. ]] SLAMing on 45.804839173 meters Centerline goodness [0,1] 0.6835424498364497 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.37, Z:2.69 [[ 0.98315229 -0.17757117 -0.04335964 -4.30902183] [ 0.17811456 0.98396881 0.00897694 -2.37275849] [ 0.04107049 -0.01654868 0.9990192 2.69253219] [ 0. 0. 0. 1. ]] SLAMing on 45.83483917299999 meters Centerline goodness [0,1] 0.704389792088137 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.38, Z:2.69 [[ 0.98397288 -0.17270946 -0.04437136 -4.30860224] [ 0.17347884 0.98473683 0.01408817 -2.37707281] [ 0.04126095 -0.02155987 0.99891577 2.69323805] [ 0. 0. 0. 1. ]] SLAMing on 45.86483917299999 meters Centerline goodness [0,1] 0.7249478332605426 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.38, Z:2.69 [[ 0.98417952 -0.1713198 -0.04516862 -4.30647697] [ 0.17217243 0.98494193 0.015686 -2.38149038] [ 0.04180115 -0.02321463 0.99885622 2.6930526 ] [ 0. 0. 0. 1. ]] SLAMing on 45.894839172999994 meters Centerline goodness [0,1] 0.721948628814214 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.38, Z:2.69 [[ 0.98372672 -0.17381548 -0.04549627 -4.30286806] [ 0.17457489 0.98455465 0.01325696 -2.38484011] [ 0.0424893 -0.02098373 0.99887654 2.69169094] [ 0. 0. 0. 1. ]] SLAMing on 45.924839172999995 meters Centerline goodness [0,1] 0.7217214097338768 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.39, Z:2.69 [[ 0.98323845 -0.17648589 -0.04576978 -4.29921478] [ 0.17716079 0.9841193 0.01110192 -2.38943509] [ 0.04308359 -0.01902445 0.99889032 2.68997519] [ 0. 0. 0. 1. ]] SLAMing on 45.954839172999996 meters Centerline goodness [0,1] 0.7034992982372672 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.40, Z:2.69 [[ 0.98256279 -0.18018799 -0.04585468 -4.29656657] [ 0.18078662 0.98347906 0.00922684 -2.39522876] [ 0.04343455 -0.01735586 0.99890551 2.68827152] [ 0. 0. 0. 1. ]] SLAMing on 45.984839173 meters Centerline goodness [0,1] 0.6943244910549045 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.40, Z:2.69 [[ 0.98250958 -0.18051214 -0.0457198 -4.29747586] [ 0.18111263 0.98341823 0.00931689 -2.39547298] [ 0.04327988 -0.01743437 0.99891085 2.68889424] [ 0. 0. 0. 1. ]] SLAMing on 46.01483917299999 meters Centerline goodness [0,1] 0.6632358897386414 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.40, Z:2.69 [[ 0.98281603 -0.17891836 -0.04539672 -4.3031627 ] [ 0.17963001 0.98366007 0.0120802 -2.39560865] [ 0.04249357 -0.02002723 0.99889599 2.69277084] [ 0. 0. 0. 1. ]] SLAMing on 46.04483917299999 meters Centerline goodness [0,1] 0.6601173647573115 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.40, Z:2.69 [[ 0.98271809 -0.17938467 -0.04567601 -4.3022341 ] [ 0.18011626 0.9835671 0.01240577 -2.39789297] [ 0.04270001 -0.02041836 0.99887927 2.69223873] [ 0. 0. 0. 1. ]] SLAMing on 46.074839172999994 meters Centerline goodness [0,1] 0.650408445994363 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.40, Z:2.69 [[ 0.98269995 -0.17941303 -0.04595405 -4.30078002] [ 0.18015636 0.98355798 0.01254575 -2.39779156] [ 0.0429476 -0.02060762 0.99886477 2.69085999] [ 0. 0. 0. 1. ]] SLAMing on 46.104839172999995 meters Centerline goodness [0,1] 0.6501470975148891 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.40, Z:2.69 [[ 0.98211558 -0.18266773 -0.04562325 -4.29870576] [ 0.18324745 0.98302717 0.00882959 -2.39611971] [ 0.04323601 -0.01703203 0.9989197 2.68916949] [ 0. 0. 0. 1. ]] SLAMing on 46.134839172999996 meters Centerline goodness [0,1] 0.6532367587143504 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.40, Z:2.68 [[ 0.98223629 -0.18505305 -0.03110061 -4.29992494] [ 0.18543865 0.98260512 0.00998372 -2.39623184] [ 0.02871211 -0.01557363 0.9994664 2.68090764] [ 0. 0. 0. 1. ]] SLAMing on 46.164839173 meters Centerline goodness [0,1] 0.6429852888410477 Centerline is valid? [False, False] Translation: X:-4.30, Y:-2.39, Z:2.68 [[ 0.98202945 -0.1862725 -0.03034332 -4.3030377 ] [ 0.18660146 0.98240002 0.00837176 -2.39229738] [ 0.02824985 -0.01388343 0.99950448 2.68276204] [ 0. 0. 0. 1. ]] SLAMing on 46.194839173 meters Centerline goodness [0,1] 0.6357893721670363 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.39, Z:2.68 [[ 0.98235993 -0.18463521 -0.02964461 -4.30810198] [ 0.18500067 0.98268675 0.01007519 -2.38726012] [ 0.02727113 -0.01538174 0.99950972 2.68464296] [ 0. 0. 0. 1. ]] SLAMing on 46.22483917299999 meters Centerline goodness [0,1] 0.6362206248941165 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.38, Z:2.69 [[ 0.98221295 -0.18549503 -0.02914302 -4.31018429] [ 0.18580309 0.98255261 0.00822042 -2.38162725] [ 0.0271097 -0.01348906 0.99954145 2.68592008] [ 0. 0. 0. 1. ]] SLAMing on 46.25483917299999 meters Centerline goodness [0,1] 0.6366110260708993 Centerline is valid? [False, False] Translation: X:-4.31, Y:-2.38, Z:2.69 [[ 0.98206352 -0.18635007 -0.02872104 -4.31241528] [ 0.18661081 0.98241135 0.00665869 -2.37822641] [ 0.02697503 -0.01189891 0.99956529 2.68785515] [ 0. 0. 0. 1. ]] SLAMing on 46.284839172999995 meters Centerline goodness [0,1] 0.6290782232704403 Centerline is valid? [False, False] Translation: X:-4.32, Y:-2.37, Z:2.69 [[ 0.98208296 -0.18653806 -0.02676956 -4.32278441] [ 0.18676424 0.98238525 0.00619148 -2.37225323] [ 0.02514307 -0.01108014 0.99962246 2.69466643] [ 0. 0. 0. 1. ]] SLAMing on 46.314839172999996 meters Centerline goodness [0,1] 0.627411892104745 Centerline is valid? [False, False] Translation: X:-4.33, Y:-2.37, Z:2.70 [[ 0.98190337 -0.18755161 -0.02627112 -4.32541253] [ 0.18773739 0.98220767 0.00477111 -2.36917962] [ 0.02490887 -0.00961684 0.99964347 2.69678454] [ 0. 0. 0. 1. ]] SLAMing on 46.344839173 meters Centerline goodness [0,1] 0.626666997174161 Centerline is valid? [False, False] Translation: X:-4.33, Y:-2.37, Z:2.70 [[ 0.98234019 -0.18529045 -0.02598477 -4.32892822] [ 0.18553098 0.98261239 0.00715227 -2.36600953] [ 0.02420771 -0.01184694 0.99963675 2.69793997] [ 0. 0. 0. 1. ]] SLAMing on 46.374839173 meters Centerline goodness [0,1] 0.6278556758538503 Centerline is valid? [False, False] Translation: X:-4.34, Y:-2.35, Z:2.70 [[ 0.98361508 -0.17846527 -0.02552505 -4.33841188] [ 0.17886496 0.98376936 0.01432357 -2.35373361] [ 0.0225545 -0.01865442 0.99957156 2.70022011] [ 0. 0. 0. 1. ]] SLAMing on 46.40483917299999 meters Centerline goodness [0,1] 0.6247552303411317 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.34, Z:2.71 [[ 0.98371228 -0.178207 -0.02350364 -4.34794748] [ 0.17853384 0.98385292 0.01261309 -2.34160671] [ 0.02087638 -0.01660385 0.99964418 2.70588711] [ 0. 0. 0. 1. ]] SLAMing on 46.43483917299999 meters Centerline goodness [0,1] 0.6184799193152137 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.34, Z:2.71 [[ 0.98353705 -0.17925709 -0.02284222 -4.35011319] [ 0.17954321 0.98368698 0.01114307 -2.33844613] [ 0.02047212 -0.01506079 0.99967698 2.70686686] [ 0. 0. 0. 1. ]] SLAMing on 46.464839172999994 meters Centerline goodness [0,1] 0.6252189599728097 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.33, Z:2.70 [[ 0.98348114 -0.17959726 -0.02257605 -4.34845657] [ 0.17984095 0.98365216 0.00925529 -2.33038706] [ 0.02054475 -0.0131625 0.99970229 2.70375784] [ 0. 0. 0. 1. ]] SLAMing on 46.494839172999995 meters Centerline goodness [0,1] 0.6230424466121803 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.33, Z:2.70 [[ 0.9839875 -0.17678605 -0.02270003 -4.34874337] [ 0.17708288 0.98412528 0.01179373 -2.32542332] [ 0.02025471 -0.01562467 0.99967275 2.70184526] [ 0. 0. 0. 1. ]] SLAMing on 46.524839173 meters Centerline goodness [0,1] 0.628333910633876 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.32, Z:2.70 [[ 0.98450699 -0.17387639 -0.02264924 -4.35009055] [ 0.17422313 0.98460171 0.01434488 -2.31916627] [ 0.01980625 -0.01806866 0.99964055 2.70037947] [ 0. 0. 0. 1. ]] SLAMing on 46.554839173 meters Centerline goodness [0,1] 0.6472533130979159 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.31, Z:2.69 [[ 0.98538583 -0.16870962 -0.02349122 -4.34565498] [ 0.16912488 0.98544855 0.01696857 -2.30926456] [ 0.02028662 -0.02069353 0.99958003 2.69497236] [ 0. 0. 0. 1. ]] SLAMing on 46.58483917299999 meters Centerline goodness [0,1] 0.674986346258875 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.30, Z:2.69 [[ 0.98655904 -0.1616213 -0.0240792 -4.34639484] [ 0.16216696 0.98650116 0.02274503 -2.30202221] [ 0.02007808 -0.02634416 0.99945128 2.69365331] [ 0. 0. 0. 1. ]] SLAMing on 46.61483917299999 meters Centerline goodness [0,1] 0.7199469735431827 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.28, Z:2.69 [[ 0.98867468 -0.1481035 -0.02424326 -4.35194931] [ 0.14887431 0.98827587 0.03387102 -2.28373536] [ 0.01894261 -0.03709662 0.99913213 2.69259568] [ 0. 0. 0. 1. ]] SLAMing on 46.644839172999994 meters Centerline goodness [0,1] 0.7140125570776256 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.27, Z:2.70 [[ 0.98829591 -0.15090645 -0.02232593 -4.35864981] [ 0.15152173 0.9880268 0.02905543 -2.27041218] [ 0.01767397 -0.03209822 0.99932844 2.696071 ] [ 0. 0. 0. 1. ]] SLAMing on 46.674839172999995 meters Centerline goodness [0,1] 0.7140125570776256 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.27, Z:2.70 [[ 0.98829591 -0.15090645 -0.02232593 -4.35864981] [ 0.15152173 0.9880268 0.02905543 -2.27041218] [ 0.01767397 -0.03209822 0.99932844 2.696071 ] [ 0. 0. 0. 1. ]] SLAMing on 46.704839172999996 meters Centerline goodness [0,1] 0.6992724564619615 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.27, Z:2.70 [[ 0.98757295 -0.15570078 -0.02137612 -4.35973934] [ 0.15618912 0.98744831 0.02346899 -2.26561528] [ 0.01745367 -0.02651606 0.99949601 2.69668569] [ 0. 0. 0. 1. ]] SLAMing on 46.734839173 meters Centerline goodness [0,1] 0.6428510090167454 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.26, Z:2.70 [[ 0.98649276 -0.16265208 -0.01939948 -4.36397068] [ 0.16300936 0.98645066 0.01852124 -2.26083054] [ 0.01612411 -0.02143336 0.99964025 2.69508333] [ 0. 0. 0. 1. ]] SLAMing on 46.76483917299999 meters Centerline goodness [0,1] 0.6439487696071378 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.26, Z:2.70 [[ 0.98632634 -0.16369697 -0.0190699 -4.36560458] [ 0.16403065 0.98630033 0.01748162 -2.25696811] [ 0.01594696 -0.02037063 0.99966531 2.69545885] [ 0. 0. 0. 1. ]] SLAMing on 46.79483917299999 meters Centerline goodness [0,1] 0.64153450616749 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.25, Z:2.69 [[ 0.98665797 -0.16170819 -0.01888152 -4.36864355] [ 0.16208651 0.98656163 0.02059421 -2.25407917] [ 0.01529753 -0.02337988 0.99960961 2.69487113] [ 0. 0. 0. 1. ]] SLAMing on 46.824839172999994 meters Centerline goodness [0,1] 0.6364318923445667 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.26, Z:2.69 [[ 0.98655332 -0.16239324 -0.01846581 -4.36974945] [ 0.16276588 0.98644396 0.02087035 -2.25583139] [ 0.01482629 -0.02359532 0.99961165 2.69443072] [ 0. 0. 0. 1. ]] SLAMing on 46.854839172999995 meters Centerline goodness [0,1] 0.6254351891814127 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.26, Z:2.70 [[ 0.98575174 -0.16741207 -0.01633126 -4.37734075] [ 0.16768487 0.98569286 0.01706956 -2.25936224] [ 0.01323995 -0.01956485 0.99972092 2.6998503 ] [ 0. 0. 0. 1. ]] SLAMing on 46.884839172999996 meters Centerline goodness [0,1] 0.6237193507540002 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.26, Z:2.70 [[ 0.98560216 -0.16833491 -0.01586609 -4.37954258] [ 0.16859632 0.9855404 0.0168936 -2.26189665] [ 0.01279289 -0.01932533 0.9997314 2.70152108] [ 0. 0. 0. 1. ]] SLAMing on 46.914839173 meters Centerline goodness [0,1] 0.6247283541118609 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.27, Z:2.70 [[ 0.98562624 -0.16815779 -0.01624391 -4.3783976 ] [ 0.16843281 0.98556004 0.01737241 -2.265017 ] [ 0.01308804 -0.01985871 0.99971713 2.70149617] [ 0. 0. 0. 1. ]] SLAMing on 46.944839173 meters Centerline goodness [0,1] 0.6258114551617165 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.27, Z:2.70 [[ 0.98640264 -0.16342065 -0.01742169 -4.37595742] [ 0.16378674 0.986246 0.02219736 -2.2665397 ] [ 0.01355456 -0.02474897 0.9996018 2.69957129] [ 0. 0. 0. 1. ]] SLAMing on 46.97483917299999 meters Centerline goodness [0,1] 0.6236590065863269 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.27, Z:2.70 [[ 0.98659812 -0.16213761 -0.01831769 -4.37239031] [ 0.16252956 0.98644861 0.02243396 -2.26516669] [ 0.01443207 -0.02511047 0.9995805 2.69795467] [ 0. 0. 0. 1. ]] SLAMing on 47.00483917299999 meters Centerline goodness [0,1] 0.6322000803997014 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.26, Z:2.70 [[ 0.98666653 -0.16168639 -0.01861907 -4.37041738] [ 0.16209392 0.98650787 0.0229735 -2.26432624] [ 0.01465336 -0.02568522 0.99956268 2.69560641] [ 0. 0. 0. 1. ]] SLAMing on 47.034839172999995 meters Centerline goodness [0,1] 0.6293120752444585 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.26, Z:2.69 [[ 0.98667126 -0.16167687 -0.01845045 -4.37011292] [ 0.16208398 0.98650316 0.02324432 -2.26487573] [ 0.01444336 -0.02592503 0.99955954 2.69455247] [ 0. 0. 0. 1. ]] SLAMing on 47.064839172999996 meters Centerline goodness [0,1] 0.6213136345416023 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.27, Z:2.69 [[ 0.9860187 -0.16568518 -0.01776368 -4.37015655] [ 0.16602607 0.98592211 0.01982249 -2.26756773] [ 0.01422931 -0.02249457 0.9996457 2.6947431 ] [ 0. 0. 0. 1. ]] SLAMing on 47.094839173 meters Centerline goodness [0,1] 0.6130771632091268 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.27, Z:2.70 [[ 0.9853477 -0.16968631 -0.01721826 -4.37049897] [ 0.16996285 0.98531877 0.01611056 -2.27143396] [ 0.01423173 -0.01880097 0.99972195 2.69657121] [ 0. 0. 0. 1. ]] SLAMing on 47.124839173 meters Centerline goodness [0,1] 0.6102527891540743 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.27, Z:2.70 [[ 0.98529419 -0.1700188 -0.01699902 -4.37125565] [ 0.17029404 0.98525826 0.01631281 -2.27372383] [ 0.01397494 -0.01896775 0.99972242 2.69708104] [ 0. 0. 0. 1. ]] SLAMing on 47.15483917299999 meters Centerline goodness [0,1] 0.6126853701775614 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.27, Z:2.70 [[ 0.98531045 -0.16991385 -0.01710553 -4.37087591] [ 0.1701931 0.98527335 0.01645414 -2.27474755] [ 0.01405783 -0.01912368 0.99971829 2.69708054] [ 0. 0. 0. 1. ]] SLAMing on 47.18483917299999 meters Centerline goodness [0,1] 0.6246585372722409 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.28, Z:2.69 [[ 0.98624392 -0.16425667 -0.01851141 -4.36720875] [ 0.16463946 0.98611952 0.02149764 -2.27625534] [ 0.01472334 -0.02424962 0.99959751 2.69489122] [ 0. 0. 0. 1. ]] SLAMing on 47.214839172999994 meters Centerline goodness [0,1] 0.6528185720741075 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.28, Z:2.69 [[ 0.98837051 -0.15144029 -0.0137684 -4.37047176] [ 0.15177423 0.9880249 0.02777387 -2.279668 ] [ 0.00939743 -0.02954057 0.99951941 2.68877411] [ 0. 0. 0. 1. ]] SLAMing on 47.244839172999995 meters Centerline goodness [0,1] 0.6835443037974683 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.28, Z:2.69 [[ 0.98909959 -0.14652904 -0.01453386 -4.36936989] [ 0.14692947 0.98862956 0.0319896 -2.28177981] [ 0.0096812 -0.03377635 0.99938253 2.6890143 ] [ 0. 0. 0. 1. ]] SLAMing on 47.274839173 meters Centerline goodness [0,1] 0.7174212404800044 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.28, Z:2.69 [[ 0.99041274 -0.13721844 -0.01592805 -4.36827479] [ 0.13776263 0.98963554 0.04053343 -2.28473814] [ 0.01020103 -0.04233912 0.99905122 2.68964261] [ 0. 0. 0. 1. ]] SLAMing on 47.304839173 meters Centerline goodness [0,1] 0.723322486535009 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.28, Z:2.69 [[ 0.99059366 -0.13580884 -0.01673766 -4.36499084] [ 0.13639752 0.98979058 0.04135609 -2.28457081] [ 0.01095026 -0.04325006 0.99900427 2.68795493] [ 0. 0. 0. 1. ]] SLAMing on 47.33483917299999 meters Centerline goodness [0,1] 0.7309037982478237 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.28, Z:2.69 [[ 0.99072084 -0.13477595 -0.01754046 -4.36261004] [ 0.13540309 0.98991691 0.04159955 -2.28315081] [ 0.01175698 -0.04358858 0.99898038 2.68751159] [ 0. 0. 0. 1. ]] SLAMing on 47.36483917299999 meters Centerline goodness [0,1] 0.7381038563274398 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.28, Z:2.69 [[ 0.99073274 -0.13467557 -0.01763866 -4.36343319] [ 0.13530372 0.98994233 0.041317 -2.28263824] [ 0.01189686 -0.04332068 0.99899038 2.68947081] [ 0. 0. 0. 1. ]] SLAMing on 47.394839172999994 meters Centerline goodness [0,1] 0.7409270571325908 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.29, Z:2.69 [[ 0.99067176 -0.13515844 -0.01736843 -4.36502183] [ 0.13576757 0.98990343 0.04072316 -2.2863893 ] [ 0.01168899 -0.04270136 0.9990195 2.69233278] [ 0. 0. 0. 1. ]] SLAMing on 47.424839172999995 meters Centerline goodness [0,1] 0.7364485469336328 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.29, Z:2.69 [[ 0.99065457 -0.13529612 -0.01727681 -4.36510158] [ 0.1359059 0.98986779 0.04112606 -2.28967949] [ 0.01153756 -0.04308974 0.99900458 2.69245204] [ 0. 0. 0. 1. ]] SLAMing on 47.454839172999996 meters Centerline goodness [0,1] 0.7319498017058728 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.29, Z:2.69 [[ 0.99020447 -0.13854285 -0.01734885 -4.3631003 ] [ 0.13910842 0.98957378 0.03731732 -2.29048619] [ 0.01199792 -0.03936515 0.99915286 2.69250823] [ 0. 0. 0. 1. ]] SLAMing on 47.484839173 meters Centerline goodness [0,1] 0.7322336398053002 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.29, Z:2.69 [[ 0.99026484 -0.13807096 -0.01766246 -4.36151034] [ 0.13865333 0.98962491 0.03765348 -2.29146745] [ 0.01228036 -0.03973588 0.99913475 2.6915967 ] [ 0. 0. 0. 1. ]] SLAMing on 47.51483917299999 meters Centerline goodness [0,1] 0.7237369795171318 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.29, Z:2.69 [[ 0.99025772 -0.13815667 -0.01738894 -4.36250294] [ 0.13872709 0.98961781 0.03756837 -2.29302944] [ 0.01201808 -0.03961468 0.99914275 2.69271018] [ 0. 0. 0. 1. ]] SLAMing on 47.54483917299999 meters Centerline goodness [0,1] 0.7182920599069668 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.29, Z:2.70 [[ 0.99006343 -0.13962548 -0.01670734 -4.36595515] [ 0.1401607 0.98943989 0.03692799 -2.29437408] [ 0.01137482 -0.03890277 0.99917826 2.69514977] [ 0. 0. 0. 1. ]] SLAMing on 47.574839172999994 meters Centerline goodness [0,1] 0.6778292521508935 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.30, Z:2.70 [[ 9.88955859e-01 -1.47958072e-01 -8.64390374e-03 -4.38129646e+00] [ 1.48178435e-01 9.88270172e-01 3.69488745e-02 -2.30459610e+00] [ 3.07562800e-03 -3.78216460e-02 9.99279772e-01 2.69948240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.604839172999995 meters Centerline goodness [0,1] 0.6365230592053603 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.31, Z:2.70 [[ 9.88275214e-01 -1.52475733e-01 -7.95309360e-03 -4.38271452e+00] [ 1.52657556e-01 9.87720121e-01 3.32360349e-02 -2.30760883e+00] [ 2.78774178e-03 -3.40604494e-02 9.99415887e-01 2.70133593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.634839172999996 meters Centerline goodness [0,1] 0.6355394854058587 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.31, Z:2.70 [[ 9.88517441e-01 -1.50828371e-01 -9.16906828e-03 -4.37888321e+00] [ 1.51059468e-01 9.87905621e-01 3.49788678e-02 -2.30894499e+00] [ 3.78236844e-03 -3.59622955e-02 9.99345990e-01 2.69944882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.664839173 meters Centerline goodness [0,1] 0.6568075364454502 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.31, Z:2.70 [[ 9.89188650e-01 -1.46297865e-01 -1.01365676e-02 -4.37694671e+00] [ 1.46586821e-01 9.88413307e-01 3.93883072e-02 -2.30754472e+00] [ 4.25669305e-03 -4.04483537e-02 9.99172563e-01 2.69734052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.694839173 meters Centerline goodness [0,1] 0.6596348351504007 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.31, Z:2.70 [[ 0.98933497 -0.14527102 -0.01061351 -4.37466792] [ 0.14558021 0.98856106 0.03941358 -2.30575935] [ 0.00476645 -0.04053835 0.99916661 2.69619134] [ 0. 0. 0. 1. ]] SLAMing on 47.72483917299999 meters Centerline goodness [0,1] 0.665921346836775 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.31, Z:2.70 [[ 0.98927038 -0.14573235 -0.01030523 -4.37575412] [ 0.14602728 0.98850755 0.03910057 -2.30731575] [ 0.00448858 -0.04018588 0.99918214 2.69720948] [ 0. 0. 0. 1. ]] SLAMing on 47.75483917299999 meters Centerline goodness [0,1] 0.6489686285758991 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.31, Z:2.70 [[ 9.88697246e-01 -1.49615484e-01 -9.64167817e-03 -4.37582301e+00] [ 1.49862078e-01 9.88106334e-01 3.44562000e-02 -2.30668315e+00] [ 4.37182222e-03 -3.55116720e-02 9.99359699e-01 2.69826266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.784839172999995 meters Centerline goodness [0,1] 0.6521761929732564 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.31, Z:2.70 [[ 0.98870945 -0.14952475 -0.00979707 -4.37519588] [ 0.14977638 0.9881234 0.03433912 -2.30644503] [ 0.00454617 -0.03541878 0.99936222 2.69804456] [ 0. 0. 0. 1. ]] SLAMing on 47.814839172999996 meters Centerline goodness [0,1] 0.6508637690305277 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.31, Z:2.70 [[ 0.98865998 -0.1498421 -0.00993976 -4.37500036] [ 0.1500983 0.98807679 0.03427473 -2.30555626] [ 0.00468545 -0.035378 0.99936302 2.69766818] [ 0. 0. 0. 1. ]] SLAMing on 47.844839173 meters Centerline goodness [0,1] 0.6352567496029645 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.30, Z:2.70 [[ 0.98850071 -0.15090894 -0.00963485 -4.37656125] [ 0.15115093 0.98793816 0.03363907 -2.3014874 ] [ 0.0044422 -0.03470856 0.9993876 2.69754011] [ 0. 0. 0. 1. ]] SLAMing on 47.874839173 meters Centerline goodness [0,1] 0.635771968972479 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.30, Z:2.70 [[ 9.88447783e-01 -1.51264984e-01 -9.48076941e-03 -4.37725279e+00] [ 1.51498602e-01 9.87906930e-01 3.29859318e-02 -2.29973328e+00] [ 4.37650136e-03 -3.40411944e-02 9.99410848e-01 2.69806523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.90483917299999 meters Centerline goodness [0,1] 0.6362640006415569 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.29, Z:2.70 [[ 9.88366664e-01 -1.51828121e-01 -8.91958695e-03 -4.37969761e+00] [ 1.52033662e-01 9.87895357e-01 3.07982173e-02 -2.29414999e+00] [ 4.13558308e-03 -3.17960087e-02 9.99485823e-01 2.70086195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.93483917299999 meters Centerline goodness [0,1] 0.6385248318190346 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.29, Z:2.70 [[ 0.98834759 -0.15194636 -0.00901878 -4.37985736] [ 0.15214879 0.98792123 0.02936661 -2.28892818] [ 0.0044477 -0.03039662 0.99952802 2.70164501] [ 0. 0. 0. 1. ]] SLAMing on 47.964839172999994 meters Centerline goodness [0,1] 0.6385545442195354 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.28, Z:2.70 [[ 9.88735403e-01 -1.49413376e-01 -8.82863790e-03 -4.38149402e+00] [ 1.49620571e-01 9.88237324e-01 3.16334695e-02 -2.28378043e+00] [ 3.99832602e-03 -3.25980770e-02 9.99460544e-01 2.70089435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.994839172999995 meters Centerline goodness [0,1] 0.6414550595399924 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.28, Z:2.70 [[ 9.88748317e-01 -1.49327259e-01 -8.83946751e-03 -4.38083727e+00] [ 1.49532198e-01 9.88271376e-01 3.09807938e-02 -2.28149262e+00] [ 4.10951569e-03 -3.19539928e-02 9.99480892e-01 2.70032757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.024839173 meters Centerline goodness [0,1] 0.6531397538411157 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.28, Z:2.70 [[ 9.88927503e-01 -1.48139065e-01 -8.78701670e-03 -4.37963682e+00] [ 1.48338217e-01 9.88485773e-01 2.98604945e-02 -2.27644604e+00] [ 4.26233528e-03 -3.08333146e-02 9.99515452e-01 2.70030615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.054839173 meters Centerline goodness [0,1] 0.6645003838982122 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.28, Z:2.70 [[ 9.89417590e-01 -1.44813362e-01 -9.05108625e-03 -4.38080076e+00] [ 1.45036555e-01 9.88871062e-01 3.31424412e-02 -2.27575188e+00] [ 4.15088893e-03 -3.41044526e-02 9.99409654e-01 2.70090247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08483917299999 meters Centerline goodness [0,1] 0.6683703069315137 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.27, Z:2.70 [[ 9.89907903e-01 -1.41413244e-01 -9.19992387e-03 -4.38192133e+00] [ 1.41656002e-01 9.89255957e-01 3.61417828e-02 -2.27168173e+00] [ 3.99015274e-03 -3.70802608e-02 9.99304324e-01 2.70064914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.11483917299999 meters Centerline goodness [0,1] 0.6771164203839248 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.27, Z:2.70 [[ 9.89923586e-01 -1.41281455e-01 -9.53121315e-03 -4.38093525e+00] [ 1.41535231e-01 9.89284628e-01 3.58288076e-02 -2.26958412e+00] [ 4.36713659e-03 -3.68167841e-02 9.99312490e-01 2.70018803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.144839172999994 meters Centerline goodness [0,1] 0.6506321307431391 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.27, Z:2.70 [[ 0.9900774 -0.1401307 -0.01049464 -4.37731452] [ 0.14042002 0.98944844 0.03569323 -2.26554622] [ 0.00538219 -0.03681272 0.99930769 2.69850727] [ 0. 0. 0. 1. ]] SLAMing on 48.174839172999995 meters Centerline goodness [0,1] 0.6805829833393597 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.27, Z:2.70 [[ 9.90483586e-01 -1.37458931e-01 -6.87803660e-03 -4.45510988e+00] [ 1.37607057e-01 9.90004796e-01 3.08998758e-02 -2.27195575e+00] [ 2.56182534e-03 -3.15522861e-02 9.99498820e-01 2.69630063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.204839172999996 meters Centerline goodness [0,1] 0.6784841419220721 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.27, Z:2.70 [[ 9.90892138e-01 -1.34487921e-01 -6.76536906e-03 -4.45744313e+00] [ 1.34640552e-01 9.90320936e-01 3.37100241e-02 -2.26932445e+00] [ 2.16629559e-03 -3.43138908e-02 9.99408757e-01 2.69727442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.234839173 meters Centerline goodness [0,1] 0.6973591499675883 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.27, Z:2.69 [[ 9.91370719e-01 -1.30898873e-01 -7.04150779e-03 -4.45408575e+00] [ 1.31068421e-01 9.90722038e-01 3.59292819e-02 -2.26672589e+00] [ 2.27307444e-03 -3.65421573e-02 9.99329527e-01 2.69408906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26483917299999 meters Centerline goodness [0,1] 0.6971435029525612 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.27, Z:2.69 [[ 9.91533365e-01 -1.29604266e-01 -8.01998428e-03 -4.44963178e+00] [ 1.29812989e-01 9.90858912e-01 3.67042791e-02 -2.26636083e+00] [ 3.18964173e-03 -3.74346155e-02 9.99293989e-01 2.69104560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.29483917299999 meters Centerline goodness [0,1] 0.6949563941181451 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.27, Z:2.69 [[ 9.91267870e-01 -1.31582552e-01 -8.60472668e-03 -4.44469226e+00] [ 1.31800625e-01 9.90699222e-01 3.38178567e-02 -2.26556942e+00] [ 4.07485614e-03 -3.46566631e-02 9.99390970e-01 2.68819522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.324839172999994 meters Centerline goodness [0,1] 0.6801437556154537 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.26, Z:2.69 [[ 9.90682634e-01 -1.35955368e-01 -8.00358131e-03 -4.44467652e+00] [ 1.36134462e-01 9.90251100e-01 2.94985933e-02 -2.26410484e+00] [ 3.91506308e-03 -3.03133074e-02 9.99532779e-01 2.68776222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.354839172999995 meters Centerline goodness [0,1] 0.6680927718982211 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.26, Z:2.69 [[ 9.90510163e-01 -1.37245621e-01 -7.29770874e-03 -4.44807547e+00] [ 1.37398034e-01 9.90118700e-01 2.80489037e-02 -2.26092787e+00] [ 3.37600867e-03 -2.87854150e-02 9.99579913e-01 2.69004677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.384839172999996 meters Centerline goodness [0,1] 0.6734137686302342 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.26, Z:2.69 [[ 9.90782578e-01 -1.35298510e-01 -6.64796258e-03 -4.45335398e+00] [ 1.35438443e-01 9.90328639e-01 3.00934518e-02 -2.25809818e+00] [ 2.51206853e-03 -3.07164575e-02 9.99524982e-01 2.69328449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.414839173 meters Centerline goodness [0,1] 0.6791997044362975 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.26, Z:2.69 [[ 9.90864437e-01 -1.34650783e-01 -7.53885796e-03 -4.44634001e+00] [ 1.34818027e-01 9.90416856e-01 2.99758241e-02 -2.25687103e+00] [ 3.43034381e-03 -3.07183520e-02 9.99522194e-01 2.68749431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.444839173 meters Centerline goodness [0,1] 0.6786861023498991 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.26, Z:2.69 [[ 9.90841124e-01 -1.34820190e-01 -7.57520299e-03 -4.44613881e+00] [ 1.34987897e-01 9.90398736e-01 2.98096023e-02 -2.25615356e+00] [ 3.48353522e-03 -3.05591405e-02 9.99526890e-01 2.68713582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.47483917299999 meters Centerline goodness [0,1] 0.6744993172507965 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.25, Z:2.69 [[ 9.90759256e-01 -1.35436029e-01 -7.29238763e-03 -4.44823848e+00] [ 1.35590240e-01 9.90357520e-01 2.84124995e-02 -2.25304682e+00] [ 3.37399481e-03 -2.91387235e-02 9.99569683e-01 2.68966779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.50483917299999 meters Centerline goodness [0,1] 0.669511359744263 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.25, Z:2.69 [[ 9.90602634e-01 -1.36606605e-01 -6.71239443e-03 -4.45145311e+00] [ 1.36741029e-01 9.90223603e-01 2.75518831e-02 -2.25296205e+00] [ 2.88300219e-03 -2.82108277e-02 9.99597838e-01 2.69231994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.534839172999995 meters Centerline goodness [0,1] 0.6630072143488551 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.26, Z:2.69 [[ 9.90589317e-01 -1.36697292e-01 -6.83048960e-03 -4.45112529e+00] [ 1.36837589e-01 9.90185496e-01 2.84281298e-02 -2.25642228e+00] [ 2.87740337e-03 -2.90952694e-02 9.99572502e-01 2.69181994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.564839172999996 meters Centerline goodness [0,1] 0.6630072143488551 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.26, Z:2.69 [[ 9.90589317e-01 -1.36697292e-01 -6.83048960e-03 -4.45112529e+00] [ 1.36837589e-01 9.90185496e-01 2.84281298e-02 -2.25642228e+00] [ 2.87740337e-03 -2.90952694e-02 9.99572502e-01 2.69181994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.594839173 meters Centerline goodness [0,1] 0.6469859154929578 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.26, Z:2.69 [[ 9.90102966e-01 -1.40161989e-01 -7.12276108e-03 -4.44830586e+00] [ 1.40303504e-01 9.89751500e-01 2.65875001e-02 -2.26106885e+00] [ 3.32320656e-03 -2.73237111e-02 9.99621114e-01 2.68914323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.624839173 meters Centerline goodness [0,1] 0.6361756239344905 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.27, Z:2.69 [[ 9.89649853e-01 -1.43309891e-01 -7.44611612e-03 -4.44523521e+00] [ 1.43451029e-01 9.89356446e-01 2.44054326e-02 -2.26563424e+00] [ 3.86932311e-03 -2.52209858e-02 9.99674412e-01 2.68727181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.65483917299999 meters Centerline goodness [0,1] 0.631703579885778 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.27, Z:2.69 [[ 9.89168238e-01 -1.46605511e-01 -7.28153703e-03 -4.44367213e+00] [ 1.46727529e-01 9.88958095e-01 2.08067099e-02 -2.26775319e+00] [ 4.15075664e-03 -2.16497385e-02 9.99757000e-01 2.68732420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.68483917299999 meters Centerline goodness [0,1] 0.6313997896717773 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.27, Z:2.69 [[ 9.89165804e-01 -1.46627516e-01 -7.16828649e-03 -4.44344990e+00] [ 1.46748572e-01 9.88947071e-01 2.11789358e-02 -2.27207957e+00] [ 3.98364117e-03 -2.20014149e-02 9.99750003e-01 2.68747930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.714839172999994 meters Centerline goodness [0,1] 0.6569852839287199 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.27, Z:2.69 [[ 0.99000737 -0.14074047 -0.00880517 -4.43846664] [ 0.140926 0.98967352 0.02619526 -2.27455437] [ 0.00502751 -0.02717438 0.99961807 2.68512454] [ 0. 0. 0. 1. ]] SLAMing on 48.744839172999995 meters Centerline goodness [0,1] 0.6744063470927653 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.27, Z:2.68 [[ 0.99034766 -0.13821877 -0.01034841 -4.43247095] [ 0.13845554 0.9899877 0.02746681 -2.27430759] [ 0.00644837 -0.02863448 0.99956915 2.68237884] [ 0. 0. 0. 1. ]] SLAMing on 48.774839173 meters Centerline goodness [0,1] 0.6985304330916465 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.27, Z:2.68 [[ 0.99145792 -0.12899594 -0.0192676 -4.43283404] [ 0.12943588 0.99130551 0.02365862 -2.27476506] [ 0.01604821 -0.02595044 0.99953441 2.68271312] [ 0. 0. 0. 1. ]] SLAMing on 48.804839173 meters Centerline goodness [0,1] 0.7091616849715001 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.28, Z:2.68 [[ 0.99201506 -0.124555 -0.01980341 -4.43258137] [ 0.12508265 0.99174799 0.02811138 -2.27562583] [ 0.01613858 -0.03036397 0.99940861 2.68247785] [ 0. 0. 0. 1. ]] SLAMing on 48.83483917299999 meters Centerline goodness [0,1] 0.6976368297848623 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.28, Z:2.68 [[ 0.99320654 -0.11439558 -0.02131712 -4.42974107] [ 0.11513489 0.99264288 0.03747088 -2.27895519] [ 0.01687378 -0.03967067 0.99907032 2.68168672] [ 0. 0. 0. 1. ]] SLAMing on 48.86483917299999 meters Centerline goodness [0,1] 0.6828629537792885 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.28, Z:2.68 [[ 0.99372871 -0.10963672 -0.02197813 -4.4288632 ] [ 0.11048543 0.99298673 0.04207527 -2.2818057 ] [ 0.017211 -0.04423967 0.99887268 2.68187301] [ 0. 0. 0. 1. ]] SLAMing on 48.894839172999994 meters Centerline goodness [0,1] 0.6628642797668609 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.29, Z:2.68 [[ 0.99427731 -0.10433916 -0.02293394 -4.42714103] [ 0.10532506 0.99332241 0.04708729 -2.28560187] [ 0.01786775 -0.04923334 0.99862747 2.68215408] [ 0. 0. 0. 1. ]] SLAMing on 48.924839172999995 meters Centerline goodness [0,1] 0.6611324085054745 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.29, Z:2.68 [[ 0.99429931 -0.10409208 -0.02310235 -4.42717488] [ 0.10508034 0.99336446 0.04674581 -2.28540674] [ 0.01808318 -0.04890693 0.99863963 2.68353249] [ 0. 0. 0. 1. ]] SLAMing on 48.954839172999996 meters Centerline goodness [0,1] 0.6556203532240679 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.29, Z:2.69 [[ 0.99427521 -0.10433543 -0.02304179 -4.42865956] [ 0.10532212 0.99333462 0.04683581 -2.28838244] [ 0.01800157 -0.04899449 0.99863681 2.68589037] [ 0. 0. 0. 1. ]] SLAMing on 48.984839173 meters Centerline goodness [0,1] 0.6625961722750048 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.29, Z:2.69 [[ 0.99392955 -0.10750419 -0.02338605 -4.42621376] [ 0.10844551 0.99314528 0.04361216 -2.29197527] [ 0.01853725 -0.04588353 0.99877479 2.68588436] [ 0. 0. 0. 1. ]] SLAMing on 49.01483917299999 meters Centerline goodness [0,1] 0.6920112404656764 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.30, Z:2.69 [[ 0.99263779 -0.11880812 -0.02355506 -4.42230033] [ 0.11955452 0.99226846 0.03331701 -2.30136926] [ 0.01941461 -0.03588784 0.99916722 2.68654275] [ 0. 0. 0. 1. ]] SLAMing on 49.04483917299999 meters Centerline goodness [0,1] 0.7032716474892624 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.31, Z:2.69 [[ 0.99218457 -0.12252816 -0.02359279 -4.42041409] [ 0.12322519 0.99190111 0.03078541 -2.3076719 ] [ 0.01962964 -0.03345204 0.99924754 2.68570429] [ 0. 0. 0. 1. ]] SLAMing on 49.074839172999994 meters Centerline goodness [0,1] 0.70693582593669 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.31, Z:2.68 [[ 0.99190191 -0.12462343 -0.02448668 -4.41507447] [ 0.12532988 0.99166712 0.02981185 -2.31231897] [ 0.02056738 -0.03263935 0.99925555 2.68175949] [ 0. 0. 0. 1. ]] SLAMing on 49.104839172999995 meters Centerline goodness [0,1] 0.7076979318988929 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.31, Z:2.68 [[ 0.99196925 -0.12396612 -0.02508794 -4.41276044] [ 0.12470625 0.99172581 0.03046765 -2.31232493] [ 0.02110341 -0.0333516 0.99922086 2.68026845] [ 0. 0. 0. 1. ]] SLAMing on 49.134839172999996 meters Centerline goodness [0,1] 0.7119005513367316 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.31, Z:2.68 [[ 0.99202798 -0.12338485 -0.02562568 -4.41115369] [ 0.12416699 0.99175885 0.03157443 -2.31466704] [ 0.02151869 -0.03450458 0.99917285 2.679464 ] [ 0. 0. 0. 1. ]] SLAMing on 49.164839173 meters Centerline goodness [0,1] 0.7120755785517543 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.32, Z:2.68 [[ 0.99160851 -0.1267415 -0.02547851 -4.40919286] [ 0.12745485 0.99143055 0.02864832 -2.32094342] [ 0.02162924 -0.03165527 0.99926479 2.67909615] [ 0. 0. 0. 1. ]] SLAMing on 49.194839173 meters Centerline goodness [0,1] 0.7166135499126144 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.32, Z:2.68 [[ 0.99154423 -0.12728698 -0.02525991 -4.41004545] [ 0.12800054 0.99135041 0.02898654 -2.32374993] [ 0.02135181 -0.03197472 0.99926059 2.67937505] [ 0. 0. 0. 1. ]] SLAMing on 49.22483917299999 meters Centerline goodness [0,1] 0.714884103407514 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.33, Z:2.68 [[ 0.9914421 -0.128101 -0.02515348 -4.41053096] [ 0.1288123 0.99124347 0.02904781 -2.32579773] [ 0.02121217 -0.03203929 0.99926149 2.67930333] [ 0. 0. 0. 1. ]] SLAMing on 49.25483917299999 meters Centerline goodness [0,1] 0.6998387880959083 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.33, Z:2.68 [[ 0.99069412 -0.13399947 -0.02386026 -4.41328233] [ 0.1345796 0.99059649 0.02463575 -2.32677934] [ 0.02033471 -0.0276176 0.99941171 2.67983814] [ 0. 0. 0. 1. ]] SLAMing on 49.284839172999995 meters Centerline goodness [0,1] 0.6931166837256909 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.33, Z:2.68 [[ 0.99052886 -0.13529078 -0.02343056 -4.415036 ] [ 0.13585347 0.99042936 0.02436226 -2.32770661] [ 0.01991033 -0.02731464 0.99942858 2.68021616] [ 0. 0. 0. 1. ]] SLAMing on 49.314839172999996 meters Centerline goodness [0,1] 0.68344530488743 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.33, Z:2.68 [[ 0.99033015 -0.1368324 -0.02287122 -4.41661481] [ 0.13736822 0.99023475 0.02377205 -2.3265933 ] [ 0.01939509 -0.02668396 0.99945575 2.67965159] [ 0. 0. 0. 1. ]] SLAMing on 49.344839173 meters Centerline goodness [0,1] 0.6813711644627038 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.33, Z:2.68 [[ 0.99029082 -0.13712273 -0.02283537 -4.41723376] [ 0.13765304 0.99020078 0.02353855 -2.32641156] [ 0.01938393 -0.02645337 0.9994621 2.68037177] [ 0. 0. 0. 1. ]] SLAMing on 49.374839173 meters Centerline goodness [0,1] 0.6868994070742179 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.33, Z:2.68 [[ 0.99022402 -0.13770855 -0.02219776 -4.41895392] [ 0.13821642 0.99012926 0.02324358 -2.32760243] [ 0.01877782 -0.02608445 0.99948336 2.68113943] [ 0. 0. 0. 1. ]] SLAMing on 49.40483917299999 meters Centerline goodness [0,1] 0.6883263587584401 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.33, Z:2.68 [[ 0.99020664 -0.13785731 -0.02204911 -4.41953752] [ 0.13835469 0.9901182 0.02288961 -2.32644114] [ 0.01867573 -0.02571604 0.99949482 2.68152573] [ 0. 0. 0. 1. ]] SLAMing on 49.43483917299999 meters Centerline goodness [0,1] 0.6935504486310999 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.33, Z:2.68 [[ 0.99057014 -0.13533393 -0.02134289 -4.42363688] [ 0.13587249 0.99037976 0.02620307 -2.32537929] [ 0.0175914 -0.02885589 0.99942878 2.68268906] [ 0. 0. 0. 1. ]] SLAMing on 49.464839172999994 meters Centerline goodness [0,1] 0.6975769348737348 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.68 [[ 0.99098104 -0.13227885 -0.02142167 -4.42573355] [ 0.13288388 0.99068255 0.02983225 -2.32610986] [ 0.0172759 -0.03240979 0.99932535 2.68379394] [ 0. 0. 0. 1. ]] SLAMing on 49.494839172999995 meters Centerline goodness [0,1] 0.7023080667059456 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.69 [[ 0.99098216 -0.13226341 -0.02146502 -4.4262824 ] [ 0.13286658 0.99069052 0.02964397 -2.32717783] [ 0.01734438 -0.03222863 0.99933002 2.68536602] [ 0. 0. 0. 1. ]] SLAMing on 49.524839173 meters Centerline goodness [0,1] 0.7084382071034501 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.69 [[ 0.99098632 -0.13224942 -0.02135898 -4.4265619 ] [ 0.13285183 0.99068789 0.02979765 -2.32937555] [ 0.01721936 -0.03236664 0.99932772 2.68592215] [ 0. 0. 0. 1. ]] SLAMing on 49.554839173 meters Centerline goodness [0,1] 0.7178278065104959 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.69 [[ 0.9909502 -0.132577 -0.02100119 -4.42874153] [ 0.13315282 0.99067358 0.02891699 -2.33027995] [ 0.0169716 -0.03145166 0.99936117 2.68911706] [ 0. 0. 0. 1. ]] SLAMing on 49.58483917299999 meters Centerline goodness [0,1] 0.724253249220947 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.69 [[ 0.99099926 -0.13213296 -0.02147895 -4.42725021] [ 0.13272324 0.99073241 0.028876 -2.32922168] [ 0.01746442 -0.03146685 0.99935221 2.68862971] [ 0. 0. 0. 1. ]] SLAMing on 49.61483917299999 meters Centerline goodness [0,1] 0.7301643940359372 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.33, Z:2.68 [[ 0.9914798 -0.12818221 -0.02317591 -4.42022127] [ 0.1288983 0.99112124 0.03261768 -2.32575946] [ 0.01878913 -0.03532711 0.99919916 2.68171495] [ 0. 0. 0. 1. ]] SLAMing on 49.644839172999994 meters Centerline goodness [0,1] 0.728170451645828 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.33, Z:2.68 [[ 0.99152958 -0.12773554 -0.0235099 -4.41784163] [ 0.12847692 0.99115274 0.03331541 -2.3256235 ] [ 0.01904634 -0.0360537 0.99916834 2.6788553 ] [ 0. 0. 0. 1. ]] SLAMing on 49.674839172999995 meters Centerline goodness [0,1] 0.7244382379078329 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.32, Z:2.68 [[ 0.99098461 -0.13203539 -0.0227189 -4.41826847] [ 0.13266022 0.990748 0.02862973 -2.32421295] [ 0.01872857 -0.03138552 0.99933187 2.67911983] [ 0. 0. 0. 1. ]] SLAMing on 49.704839172999996 meters Centerline goodness [0,1] 0.7228805834092981 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.32, Z:2.68 [[ 0.99084715 -0.13314821 -0.02221425 -4.42075584] [ 0.13374002 0.99062915 0.02770371 -2.32460036] [ 0.01831738 -0.03042108 0.99936932 2.68129301] [ 0. 0. 0. 1. ]] SLAMing on 49.734839173 meters Centerline goodness [0,1] 0.7152702395678187 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.32, Z:2.69 [[ 0.99032059 -0.13712069 -0.02151835 -4.42546482] [ 0.13761747 0.99020414 0.02360477 -2.32401526] [ 0.01807085 -0.02633759 0.99948976 2.68693258] [ 0. 0. 0. 1. ]] SLAMing on 49.76483917299999 meters Centerline goodness [0,1] 0.7158835559370818 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.69 [[ 0.99021995 -0.13787163 -0.02135112 -4.42649803] [ 0.13836286 0.99010167 0.0235457 -2.32514118] [ 0.01789349 -0.02626962 0.99949474 2.68751061] [ 0. 0. 0. 1. ]] SLAMing on 49.79483917299999 meters Centerline goodness [0,1] 0.7135192322224742 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.33, Z:2.68 [[ 0.99026435 -0.13743369 -0.02210189 -4.4234494 ] [ 0.13796976 0.99012355 0.02489373 -2.32717486] [ 0.01846236 -0.02770077 0.99944575 2.68451143] [ 0. 0. 0. 1. ]] SLAMing on 49.824839172999994 meters Centerline goodness [0,1] 0.7209823677581864 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.33, Z:2.68 [[ 0.99082779 -0.13231734 -0.02743005 -4.42045046] [ 0.13272976 0.99105625 0.0137954 -2.32743589] [ 0.02535936 -0.01730966 0.99952853 2.6833721 ] [ 0. 0. 0. 1. ]] SLAMing on 49.854839172999995 meters Centerline goodness [0,1] 0.7253450186360431 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.33, Z:2.68 [[ 0.99093951 -0.13135151 -0.0280297 -4.41836564] [ 0.13178188 0.99117852 0.01409524 -2.32735651] [ 0.025931 -0.01766134 0.99950771 2.68280713] [ 0. 0. 0. 1. ]] SLAMing on 49.884839172999996 meters Centerline goodness [0,1] 0.733759991905292 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.33, Z:2.68 [[ 0.99136982 -0.12803899 -0.02814063 -4.42029153] [ 0.12855684 0.99154899 0.0174283 -2.32836388] [ 0.02567131 -0.02089556 0.99945203 2.68445692] [ 0. 0. 0. 1. ]] SLAMing on 49.914839173 meters Centerline goodness [0,1] 0.7363502836304701 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.68 [[ 0.99216936 -0.12412517 -0.01388918 -4.42564043] [ 0.1244644 0.99185568 0.02703573 -2.32962419] [ 0.01042025 -0.02855274 0.99953797 2.68079614] [ 0. 0. 0. 1. ]] SLAMing on 49.944839173 meters Centerline goodness [0,1] 0.7397886967950662 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.69 [[ 0.99230869 -0.1229797 -0.01412264 -4.42899595] [ 0.12333286 0.99197913 0.02768407 -2.33009199] [ 0.01060478 -0.02921293 0.99951696 2.68615769] [ 0. 0. 0. 1. ]] SLAMing on 49.97483917299999 meters Centerline goodness [0,1] 0.7425765074234926 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.69 [[ 0.99233492 -0.12272881 -0.01445845 -4.42883282] [ 0.12309156 0.9920099 0.0276555 -2.33152679] [ 0.0109488 -0.02922324 0.99951294 2.68760134] [ 0. 0. 0. 1. ]] SLAMing on 50.00483917299999 meters Centerline goodness [0,1] 0.7493203101399657 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.34, Z:2.69 [[ 0.99250041 -0.12129315 -0.01519555 -4.42682002] [ 0.12168848 0.99215739 0.02855927 -2.33622632] [ 0.01161234 -0.03019421 0.99947659 2.68861963] [ 0. 0. 0. 1. ]] SLAMing on 50.034839172999995 meters Centerline goodness [0,1] 0.749830831307486 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.34, Z:2.69 [[ 0.99258488 -0.12054121 -0.0156546 -4.42501691] [ 0.12096252 0.99221734 0.02954349 -2.33941203] [ 0.01197156 -0.03121804 0.9994409 2.68783424] [ 0. 0. 0. 1. ]] SLAMing on 50.064839172999996 meters Centerline goodness [0,1] 0.7522931206380857 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.34, Z:2.69 [[ 0.99275129 -0.11904502 -0.01652776 -4.42222351] [ 0.11951677 0.99233836 0.03131008 -2.34405074] [ 0.01267382 -0.03305847 0.99937306 2.68714527] [ 0. 0. 0. 1. ]] SLAMing on 50.094839173 meters Centerline goodness [0,1] 0.7539299572181872 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.35, Z:2.69 [[ 0.99282184 -0.11836918 -0.01713289 -4.42088726] [ 0.1188669 0.99240286 0.03173663 -2.34511288] [ 0.01324609 -0.03354536 0.99934941 2.68753757] [ 0. 0. 0. 1. ]] SLAMing on 50.124839173 meters Centerline goodness [0,1] 0.7548683556880278 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.35, Z:2.69 [[ 0.99292196 -0.11744031 -0.0177131 -4.41902767] [ 0.11797166 0.99247734 0.03273264 -2.34869508] [ 0.01373572 -0.0345906 0.99930717 2.6873026 ] [ 0. 0. 0. 1. ]] SLAMing on 50.15483917299999 meters Centerline goodness [0,1] 0.7579675654456685 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.36, Z:2.69 [[ 0.99283359 -0.11813628 -0.01803543 -4.41614238] [ 0.11865752 0.99244336 0.03124996 -2.35705311] [ 0.01420739 -0.03316605 0.99934887 2.68825529] [ 0. 0. 0. 1. ]] SLAMing on 50.18483917299999 meters Centerline goodness [0,1] 0.7598226682581054 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.36, Z:2.69 [[ 0.99300764 -0.11668873 -0.01787624 -4.41989426] [ 0.11722534 0.99256745 0.03268148 -2.35884457] [ 0.01392982 -0.03454851 0.99930594 2.69286457] [ 0. 0. 0. 1. ]] SLAMing on 50.214839172999994 meters Centerline goodness [0,1] 0.765898572373093 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.36, Z:2.70 [[ 0.99325645 -0.11454237 -0.01793524 -4.42335163] [ 0.11512269 0.99271277 0.03561075 -2.35824199] [ 0.0137256 -0.03743536 0.99920478 2.69569616] [ 0. 0. 0. 1. ]] SLAMing on 50.244839172999995 meters Centerline goodness [0,1] 0.7676580379144606 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.36, Z:2.70 [[ 0.9927794 -0.11858234 -0.01809133 -4.42301991] [ 0.1191199 0.99235497 0.03228101 -2.36149634] [ 0.01412506 -0.03420296 0.99931509 2.69728499] [ 0. 0. 0. 1. ]] SLAMing on 50.274839173 meters Centerline goodness [0,1] 0.7693826447076952 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.37, Z:2.70 [[ 0.99207072 -0.12432817 -0.01838987 -4.41817359] [ 0.12478085 0.99184501 0.02594633 -2.36569297] [ 0.01501405 -0.0280353 0.99949417 2.69600142] [ 0. 0. 0. 1. ]] SLAMing on 50.304839173 meters Centerline goodness [0,1] 0.7767664152937221 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.37, Z:2.69 [[ 0.99166793 -0.12747928 -0.01854037 -4.41545413] [ 0.12789563 0.99151311 0.02333353 -2.37135491] [ 0.01540848 -0.02551034 0.9995558 2.69487208] [ 0. 0. 0. 1. ]] SLAMing on 50.33483917299999 meters Centerline goodness [0,1] 0.7752477836141944 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.37, Z:2.69 [[ 0.99116659 -0.13134548 -0.01836155 -4.41443189] [ 0.13170987 0.99108075 0.02028428 -2.37407931] [ 0.01553353 -0.02252349 0.99962563 2.69439838] [ 0. 0. 0. 1. ]] SLAMing on 50.36483917299999 meters Centerline goodness [0,1] 0.7764041225416036 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.38, Z:2.70 [[ 0.99107498 -0.13205328 -0.0182293 -4.41546793] [ 0.13241921 0.9909801 0.0205816 -2.37658049] [ 0.015347 -0.02281182 0.99962197 2.69512996] [ 0. 0. 0. 1. ]] SLAMing on 50.394839172999994 meters Centerline goodness [0,1] 0.7799891782529936 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.38, Z:2.70 [[ 0.99098991 -0.13273717 -0.01788411 -4.4169901 ] [ 0.13309647 0.99088754 0.02066893 -2.37950789] [ 0.01497761 -0.02286302 0.99962641 2.69629221] [ 0. 0. 0. 1. ]] SLAMing on 50.424839172999995 meters Centerline goodness [0,1] 0.7783100840730826 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.38, Z:2.70 [[ 0.99046835 -0.1366917 -0.01696571 -4.4220942 ] [ 0.13699294 0.990407 0.01808061 -2.38211105] [ 0.01433149 -0.02023246 0.99969258 2.70084067] [ 0. 0. 0. 1. ]] SLAMing on 50.454839172999996 meters Centerline goodness [0,1] 0.7785175113694969 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.38, Z:2.70 [[ 0.99034373 -0.13762378 -0.01670275 -4.42389287] [ 0.13791657 0.99028277 0.01786224 -2.38399 ] [ 0.01408218 -0.01999334 0.99970093 2.70253127] [ 0. 0. 0. 1. ]] SLAMing on 50.484839173 meters Centerline goodness [0,1] 0.7785175113694969 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.38, Z:2.70 [[ 0.99034373 -0.13762378 -0.01670275 -4.42389287] [ 0.13791657 0.99028277 0.01786224 -2.38399 ] [ 0.01408218 -0.01999334 0.99970093 2.70253127] [ 0. 0. 0. 1. ]] SLAMing on 50.51483917299999 meters Centerline goodness [0,1] 0.7773442036559589 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.39, Z:2.70 [[ 0.98974429 -0.1419088 -0.01637476 -4.42422349] [ 0.14214689 0.98974048 0.01442405 -2.38855728] [ 0.01415986 -0.01660374 0.99976188 2.70408107] [ 0. 0. 0. 1. ]] SLAMing on 50.54483917299999 meters Centerline goodness [0,1] 0.7789225105919941 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.39, Z:2.70 [[ 0.98973656 -0.14194921 -0.01649157 -4.42327458] [ 0.14219902 0.98972274 0.01511081 -2.39128478] [ 0.01417712 -0.01730081 0.99974981 2.70303723] [ 0. 0. 0. 1. ]] SLAMing on 50.574839172999994 meters Centerline goodness [0,1] 0.7782008125362739 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.39, Z:2.70 [[ 0.98965531 -0.1425542 -0.01614508 -4.42444188] [ 0.14279737 0.98963729 0.01506496 -2.39105381] [ 0.0138302 -0.01721459 0.99975616 2.70319289] [ 0. 0. 0. 1. ]] SLAMing on 50.604839172999995 meters Centerline goodness [0,1] 0.7759399541316283 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.39, Z:2.71 [[ 0.98954406 -0.14337716 -0.01567011 -4.4274369 ] [ 0.14358935 0.989547 0.0133727 -2.38686979] [ 0.01358897 -0.01548294 0.99978779 2.70662924] [ 0. 0. 0. 1. ]] SLAMing on 50.634839172999996 meters Centerline goodness [0,1] 0.7777416885135605 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.39, Z:2.71 [[ 0.98949135 -0.14374731 -0.01560708 -4.42869595] [ 0.14394423 0.98950909 0.01232123 -2.38515454] [ 0.0136722 -0.0144383 0.99980228 2.70863976] [ 0. 0. 0. 1. ]] SLAMing on 50.664839173 meters Centerline goodness [0,1] 0.7783739837398373 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.38, Z:2.71 [[ 0.98944747 -0.14404986 -0.01559927 -4.429825 ] [ 0.14423494 0.98947704 0.01146628 -2.38356935] [ 0.01378341 -0.01359524 0.99981258 2.71049826] [ 0. 0. 0. 1. ]] SLAMing on 50.69483917299999 meters Centerline goodness [0,1] 0.7679436371642449 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.38, Z:2.71 [[ 0.98917487 -0.14594841 -0.01523618 -4.43242069] [ 0.14612137 0.98920631 0.01092781 -2.38471873] [ 0.01347683 -0.01303585 0.99982421 2.71226855] [ 0. 0. 0. 1. ]] SLAMing on 50.72483917299999 meters Centerline goodness [0,1] 0.7608821822402786 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.39, Z:2.71 [[ 0.98910183 -0.14643915 -0.01526928 -4.43211329] [ 0.14661618 0.98913009 0.01119655 -2.3868908 ] [ 0.0134637 -0.01331325 0.99982073 2.71181816] [ 0. 0. 0. 1. ]] SLAMing on 50.75483917299999 meters Centerline goodness [0,1] 0.7596435036902938 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.39, Z:2.71 [[ 0.98869448 -0.14913409 -0.01556423 -4.42832489] [ 0.14927337 0.98876196 0.00820098 -2.38775798] [ 0.01416628 -0.01043159 0.99984524 2.70944608] [ 0. 0. 0. 1. ]] SLAMing on 50.784839172999995 meters Centerline goodness [0,1] 0.7632794189311489 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.39, Z:2.71 [[ 0.98916182 -0.14593796 -0.01615554 -4.42573981] [ 0.14612874 0.9892007 0.01132993 -2.38571147] [ 0.01432761 -0.01356793 0.9998053 2.70604429] [ 0. 0. 0. 1. ]] SLAMing on 50.814839172999996 meters Centerline goodness [0,1] 0.7572529359884881 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.38, Z:2.71 [[ 0.98914569 -0.14603763 -0.01624213 -4.42586148] [ 0.14621983 0.98919475 0.01065433 -2.3827587 ] [ 0.01451069 -0.01291361 0.99981132 2.70643014] [ 0. 0. 0. 1. ]] SLAMing on 50.844839173 meters Centerline goodness [0,1] 0.7491093673597691 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.38, Z:2.71 [[ 0.98905701 -0.1467252 -0.01542567 -4.43267063] [ 0.14688953 0.98910117 0.01011618 -2.38100718] [ 0.01377325 -0.01227135 0.99982984 2.71245271] [ 0. 0. 0. 1. ]] SLAMing on 50.874839173 meters Centerline goodness [0,1] 0.7519018061324497 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.38, Z:2.72 [[ 0.98895715 -0.14741997 -0.01520201 -4.43478002] [ 0.14756643 0.98901116 0.00900388 -2.37947367] [ 0.01370761 -0.01114776 0.9998439 2.71509357] [ 0. 0. 0. 1. ]] SLAMing on 50.90483917299999 meters Centerline goodness [0,1] 0.7512816311243241 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.38, Z:2.72 [[ 0.98892152 -0.1476493 -0.01529397 -4.43552107] [ 0.14778792 0.98898372 0.00836245 -2.37836445] [ 0.01389078 -0.01053007 0.99984807 2.71668804] [ 0. 0. 0. 1. ]] SLAMing on 50.93483917299999 meters Centerline goodness [0,1] 0.7478119706380576 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.38, Z:2.72 [[ 0.98893486 -0.14752674 -0.0156109 -4.43456719] [ 0.14766754 0.98900238 0.00828206 -2.37837491] [ 0.01421739 -0.01049564 0.99984384 2.71650006] [ 0. 0. 0. 1. ]] SLAMing on 50.964839172999994 meters Centerline goodness [0,1] 0.748596396438723 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.38, Z:2.72 [[ 0.98901648 -0.14692283 -0.01612688 -4.43252773] [ 0.14707505 0.98908715 0.00869092 -2.37799811] [ 0.01467399 -0.01096732 0.99983218 2.71513337] [ 0. 0. 0. 1. ]] SLAMing on 50.994839172999995 meters Centerline goodness [0,1] 0.7529743565435844 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.38, Z:2.71 [[ 0.98967647 -0.1422939 -0.01711523 -4.4306526 ] [ 0.14251748 0.98971163 0.01263582 -2.37584363] [ 0.01514115 -0.01494459 0.99977368 2.71352527] [ 0. 0. 0. 1. ]] SLAMing on 51.024839173 meters Centerline goodness [0,1] 0.7687363141908596 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.37, Z:2.71 [[ 0.98985737 -0.14100128 -0.01734994 -4.42924741] [ 0.1412272 0.98989749 0.01256356 -2.37382179] [ 0.01540319 -0.01488642 0.99977054 2.71301266] [ 0. 0. 0. 1. ]] SLAMing on 51.054839173 meters Centerline goodness [0,1] 0.7739968807599603 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.37, Z:2.71 [[ 0.98986996 -0.14092076 -0.0172859 -4.42943757] [ 0.14114018 0.98991441 0.01220299 -2.37256676] [ 0.01539191 -0.0145191 0.99977612 2.71326567] [ 0. 0. 0. 1. ]] SLAMing on 51.08483917299999 meters Centerline goodness [0,1] 0.7743688306757783 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.37, Z:2.71 [[ 0.99028636 -0.13795037 -0.01739587 -4.43018517] [ 0.13822347 0.99027799 0.01561303 -2.37029087] [ 0.01507292 -0.01786589 0.99972677 2.71211222] [ 0. 0. 0. 1. ]] SLAMing on 51.11483917299999 meters Centerline goodness [0,1] 0.7722185178129167 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.37, Z:2.71 [[ 0.99029319 -0.13788446 -0.01752908 -4.42923775] [ 0.13815638 0.99029102 0.01537915 -2.36790187] [ 0.01523834 -0.01765162 0.99972807 2.71093761] [ 0. 0. 0. 1. ]] SLAMing on 51.144839172999994 meters Centerline goodness [0,1] 0.7689553948593112 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.37, Z:2.71 [[ 0.99030161 -0.13780289 -0.01769413 -4.42831893] [ 0.13807201 0.99030846 0.01500917 -2.36547715] [ 0.01545434 -0.01730667 0.99973078 2.71004075] [ 0. 0. 0. 1. ]] SLAMing on 51.174839172999995 meters Centerline goodness [0,1] 0.7753355987756971 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.36, Z:2.71 [[ 0.9906413 -0.13536589 -0.01748943 -4.42867516] [ 0.13566065 0.99061066 0.01693274 -2.36086481] [ 0.0150331 -0.0191469 0.99970366 2.70851148] [ 0. 0. 0. 1. ]] SLAMing on 51.204839172999996 meters Centerline goodness [0,1] 0.7743696765269723 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.35, Z:2.71 [[ 0.99048077 -0.13663391 -0.01670415 -4.43179237] [ 0.13687573 0.99048494 0.01430479 -2.35273432] [ 0.01459069 -0.01645501 0.99975814 2.71061797] [ 0. 0. 0. 1. ]] SLAMing on 51.234839173 meters Centerline goodness [0,1] 0.7710022467519781 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.35, Z:2.71 [[ 0.99042921 -0.13703383 -0.01648373 -4.4321053 ] [ 0.13725423 0.99044957 0.01307345 -2.34829008] [ 0.0145348 -0.01521079 0.99977866 2.71036809] [ 0. 0. 0. 1. ]] SLAMing on 51.26483917299999 meters Centerline goodness [0,1] 0.7701472655960926 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.34, Z:2.71 [[ 0.99062028 -0.13566312 -0.0163395 -4.43125796] [ 0.13589014 0.99062935 0.01368773 -2.34173445] [ 0.01432947 -0.01577972 0.99977281 2.70766894] [ 0. 0. 0. 1. ]] SLAMing on 51.29483917299999 meters Centerline goodness [0,1] 0.7678212290502793 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.34, Z:2.71 [[ 0.99055318 -0.1361673 -0.01621297 -4.43208069] [ 0.13637332 0.99058043 0.01235811 -2.33742999] [ 0.01437748 -0.01445238 0.99979219 2.70839296] [ 0. 0. 0. 1. ]] SLAMing on 51.324839172999994 meters Centerline goodness [0,1] 0.7691190827846897 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.71 [[ 0.99043255 -0.13709113 -0.01579208 -4.43345947] [ 0.137267 0.99047688 0.01064535 -2.33211604] [ 0.01418231 -0.01271123 0.99981863 2.70893287] [ 0. 0. 0. 1. ]] SLAMing on 51.354839172999995 meters Centerline goodness [0,1] 0.7604909145668106 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.71 [[ 0.99036474 -0.13759245 -0.01568433 -4.4338055 ] [ 0.13775602 0.99041701 0.00986995 -2.32926161] [ 0.014176 -0.01193546 0.99982828 2.70876086] [ 0. 0. 0. 1. ]] SLAMing on 51.384839172999996 meters Centerline goodness [0,1] 0.7539487983017008 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.71 [[ 0.99023662 -0.13854986 -0.01534162 -4.43422013] [ 0.13869755 0.99029374 0.00901661 -2.32527152] [ 0.01394346 -0.01105642 0.99984166 2.70743001] [ 0. 0. 0. 1. ]] SLAMing on 51.414839173 meters Centerline goodness [0,1] 0.7435714649422068 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.32, Z:2.71 [[ 0.99008762 -0.13966538 -0.01483522 -4.43569921] [ 0.13979115 0.99015026 0.00780408 -2.31988185] [ 0.01359914 -0.00980055 0.9998595 2.70698177] [ 0. 0. 0. 1. ]] SLAMing on 51.44483917299999 meters Centerline goodness [0,1] 0.7362454151383795 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.32, Z:2.71 [[ 0.99036995 -0.13770528 -0.01430412 -4.4402843 ] [ 0.13785907 0.99039743 0.01038295 -2.3183104 ] [ 0.01273698 -0.01225492 0.99984378 2.70934407] [ 0. 0. 0. 1. ]] SLAMing on 51.47483917299999 meters Centerline goodness [0,1] 0.7412740527034337 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.31, Z:2.71 [[ 0.99019642 -0.13901707 -0.01361241 -4.44408514] [ 0.13912997 0.99024399 0.00772668 -2.3144972 ] [ 0.01240547 -0.00954482 0.99987749 2.71417885] [ 0. 0. 0. 1. ]] SLAMing on 51.50483917299999 meters Centerline goodness [0,1] 0.7346339200577274 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.31, Z:2.72 [[ 0.99015731 -0.13931083 -0.01345363 -4.44500977] [ 0.13941603 0.99020756 0.00722236 -2.31423055] [ 0.01231574 -0.00902693 0.99988341 2.71532639] [ 0. 0. 0. 1. ]] SLAMing on 51.534839172999995 meters Centerline goodness [0,1] 0.739151797258857 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.31, Z:2.72 [[ 0.99016001 -0.13928683 -0.01350318 -4.44502462] [ 0.13938459 0.99021642 0.00658677 -2.3124869 ] [ 0.01245362 -0.00840409 0.99988713 2.71591029] [ 0. 0. 0. 1. ]] SLAMing on 51.564839172999996 meters Centerline goodness [0,1] 0.745604238630756 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.31, Z:2.71 [[ 0.990824 -0.13436936 -0.01458334 -4.44241257] [ 0.1345324 0.99084992 0.01083867 -2.31091084] [ 0.01299352 -0.01270115 0.99983491 2.71395247] [ 0. 0. 0. 1. ]] SLAMing on 51.594839173 meters Centerline goodness [0,1] 0.7548147372828135 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.31, Z:2.71 [[ 0.99148539 -0.12924247 -0.01590918 -4.43477345] [ 0.12947538 0.99147516 0.01459885 -2.30947722] [ 0.01388677 -0.01653439 0.99976686 2.70774366] [ 0. 0. 0. 1. ]] SLAMing on 51.624839173 meters Centerline goodness [0,1] 0.7564694766678914 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.31, Z:2.71 [[ 0.99156634 -0.12856389 -0.01635608 -4.43325947] [ 0.12880003 0.99156737 0.01430746 -2.30709868] [ 0.01437873 -0.01629346 0.99976386 2.70740621] [ 0. 0. 0. 1. ]] SLAMing on 51.65483917299999 meters Centerline goodness [0,1] 0.7523175659614927 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.31, Z:2.71 [[ 0.99210939 -0.12421639 -0.01700746 -4.43197544] [ 0.12452369 0.99204625 0.01838721 -2.30709197] [ 0.01458819 -0.02035996 0.99968628 2.70629242] [ 0. 0. 0. 1. ]] SLAMing on 51.68483917299999 meters Centerline goodness [0,1] 0.751690438457475 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.31, Z:2.70 [[ 0.99220993 -0.12334416 -0.01748335 -4.42968631] [ 0.12367076 0.99214098 0.01902153 -2.3079644 ] [ 0.01499975 -0.02103553 0.9996662 2.70488536] [ 0. 0. 0. 1. ]] SLAMing on 51.714839172999994 meters Centerline goodness [0,1] 0.7485737030648799 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.31, Z:2.70 [[ 0.99222005 -0.12327117 -0.0174241 -4.42958238] [ 0.12360273 0.9921414 0.01943707 -2.30918995] [ 0.01489114 -0.02143952 0.99965924 2.70455694] [ 0. 0. 0. 1. ]] SLAMing on 51.744839172999995 meters Centerline goodness [0,1] 0.7448884634814283 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.31, Z:2.71 [[ 0.99215178 -0.12384653 -0.01723054 -4.43103836] [ 0.12416456 0.99208346 0.01880356 -2.30676612] [ 0.01476538 -0.02079541 0.99967471 2.70561592] [ 0. 0. 0. 1. ]] SLAMing on 51.774839173 meters Centerline goodness [0,1] 0.7373029301963312 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.31, Z:2.71 [[ 0.99231952 -0.1226085 -0.01640498 -4.4374176 ] [ 0.12294536 0.99218271 0.02139889 -2.30507543] [ 0.01365305 -0.02325145 0.99963642 2.70868907] [ 0. 0. 0. 1. ]] SLAMing on 51.804839173 meters Centerline goodness [0,1] 0.7369384404188313 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.31, Z:2.71 [[ 0.99230617 -0.12269782 -0.01654409 -4.43775621] [ 0.1230324 0.99218043 0.02100035 -2.30506984] [ 0.01383802 -0.02287423 0.99964258 2.71002841] [ 0. 0. 0. 1. ]] SLAMing on 51.83483917299999 meters Centerline goodness [0,1] 0.7362406904525045 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.31, Z:2.71 [[ 0.99261774 -0.11993245 -0.01806199 -4.43086516] [ 0.12032696 0.99247664 0.02261749 -2.3091608 ] [ 0.01521353 -0.02462387 0.99958102 2.70722629] [ 0. 0. 0. 1. ]] SLAMing on 51.86483917299999 meters Centerline goodness [0,1] 0.734335029754692 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.31, Z:2.70 [[ 0.99285356 -0.11776069 -0.01934516 -4.42447727] [ 0.11821855 0.99268464 0.02452701 -2.3127606 ] [ 0.01631532 -0.02663869 0.99951198 2.70317617] [ 0. 0. 0. 1. ]] SLAMing on 51.894839172999994 meters Centerline goodness [0,1] 0.735608077222984 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.32, Z:2.70 [[ 0.99308398 -0.11559597 -0.02053712 -4.41480433] [ 0.11609329 0.99292508 0.02494253 -2.31705406] [ 0.01750857 -0.02715424 0.99947791 2.69783118] [ 0. 0. 0. 1. ]] SLAMing on 51.924839172999995 meters Centerline goodness [0,1] 0.735776199605757 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.32, Z:2.70 [[ 0.99311176 -0.11534494 -0.02060509 -4.41495917] [ 0.11584777 0.99294855 0.02514905 -2.31858742] [ 0.01755898 -0.02736287 0.99947134 2.69864037] [ 0. 0. 0. 1. ]] SLAMing on 51.954839172999996 meters Centerline goodness [0,1] 0.7358586263046902 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.32, Z:2.70 [[ 0.99303317 -0.11609634 -0.02016819 -4.41427769] [ 0.11656829 0.99289135 0.02405402 -2.32448549] [ 0.01723224 -0.02623741 0.9995072 2.6992911 ] [ 0. 0. 0. 1. ]] SLAMing on 51.984839173 meters Centerline goodness [0,1] 0.7376272094268881 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.33, Z:2.70 [[ 0.99310952 -0.11536542 -0.0205987 -4.41225459] [ 0.11586932 0.99294424 0.02521994 -2.32678811] [ 0.01754385 -0.02743292 0.99946968 2.69768537] [ 0. 0. 0. 1. ]] SLAMing on 52.01483917299999 meters Centerline goodness [0,1] 0.7416735664111536 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.33, Z:2.69 [[ 0.99274973 -0.11834433 -0.02103794 -4.40849123] [ 0.11882946 0.99263575 0.02353367 -2.3319329 ] [ 0.01809794 -0.02586297 0.99950166 2.69474676] [ 0. 0. 0. 1. ]] SLAMing on 52.04483917299999 meters Centerline goodness [0,1] 0.7368943709820728 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.34, Z:2.69 [[ 0.99195714 -0.12478462 -0.0212094 -4.40473929] [ 0.12516844 0.99197498 0.01784631 -2.33985756] [ 0.01881225 -0.02035752 0.99961576 2.69404493] [ 0. 0. 0. 1. ]] SLAMing on 52.074839172999994 meters Centerline goodness [0,1] 0.7371321617968181 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.34, Z:2.69 [[ 0.9919366 -0.12495364 -0.02117454 -4.40480593] [ 0.12534966 0.99193947 0.01853517 -2.34343387] [ 0.01868782 -0.02103994 0.99960396 2.69391952] [ 0. 0. 0. 1. ]] SLAMing on 52.104839172999995 meters Centerline goodness [0,1] 0.7368571502819573 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.35, Z:2.69 [[ 0.991946 -0.12482156 -0.02151065 -4.40326584] [ 0.12524337 0.99193399 0.01952075 -2.34683044] [ 0.01890053 -0.0220576 0.99957803 2.69250284] [ 0. 0. 0. 1. ]] SLAMing on 52.134839172999996 meters Centerline goodness [0,1] 0.7385756522641216 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.35, Z:2.69 [[ 0.99193693 -0.12487738 -0.02160476 -4.40299062] [ 0.12530619 0.99192091 0.01978052 -2.3477674 ] [ 0.01896007 -0.02232823 0.99957089 2.69227403] [ 0. 0. 0. 1. ]] SLAMing on 52.164839173 meters Centerline goodness [0,1] 0.7348632179437313 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.35, Z:2.69 [[ 0.99192242 -0.12495392 -0.02182716 -4.40170248] [ 0.12540281 0.99189263 0.02057027 -2.35038276] [ 0.01907987 -0.0231413 0.99955012 2.69077712] [ 0. 0. 0. 1. ]] SLAMing on 52.19483917299999 meters Centerline goodness [0,1] 0.7308815548031944 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.35, Z:2.69 [[ 0.99103634 -0.13182511 -0.02165887 -4.39651493] [ 0.13216408 0.99111376 0.01503878 -2.35381044] [ 0.01948391 -0.0177665 0.9996523 2.68503948] [ 0. 0. 0. 1. ]] SLAMing on 52.22483917299999 meters Centerline goodness [0,1] 0.6750679063936482 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.36, Z:2.68 [[ 0.98992158 -0.14004601 -0.02103302 -4.39332777] [ 0.14025583 0.99007576 0.00884871 -2.35695038] [ 0.01958506 -0.01170954 0.99973962 2.68024784] [ 0. 0. 0. 1. ]] SLAMing on 52.25483917299999 meters Centerline goodness [0,1] 0.6620124684424751 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.36, Z:2.68 [[ 0.98934194 -0.14415639 -0.02052947 -4.39277637] [ 0.14429739 0.98951879 0.00555321 -2.35859197] [ 0.01951377 -0.00845637 0.99977383 2.67973937] [ 0. 0. 0. 1. ]] SLAMing on 52.284839172999995 meters Centerline goodness [0,1] 0.6423021876916786 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.36, Z:2.68 [[ 9.88588497e-01 -1.49352170e-01 -1.96649947e-02 -4.39319649e+00] [ 1.49426330e-01 9.88770071e-01 2.34909334e-03 -2.36350522e+00] [ 1.90933160e-02 -5.26075464e-03 9.99803866e-01 2.67882594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.314839172999996 meters Centerline goodness [0,1] 0.6362426414128488 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.36, Z:2.68 [[ 0.98901919 -0.14649237 -0.01951969 -4.39576204] [ 0.1466291 0.98917477 0.00576039 -2.36327612] [ 0.01846453 -0.00855929 0.99979288 2.67978281] [ 0. 0. 0. 1. ]] SLAMing on 52.344839173 meters Centerline goodness [0,1] 0.6656527118993607 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.36, Z:2.68 [[ 0.99009557 -0.13900388 -0.0197149 -4.39933132] [ 0.13924445 0.99019243 0.01139879 -2.35642915] [ 0.01793707 -0.01403108 0.99974066 2.68266462] [ 0. 0. 0. 1. ]] SLAMing on 52.374839173 meters Centerline goodness [0,1] 0.6656527118993607 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.36, Z:2.68 [[ 0.99009557 -0.13900388 -0.0197149 -4.39933132] [ 0.13924445 0.99019243 0.01139879 -2.35642915] [ 0.01793707 -0.01403108 0.99974066 2.68266462] [ 0. 0. 0. 1. ]] SLAMing on 52.40483917299999 meters Centerline goodness [0,1] 0.694249069093918 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.35, Z:2.68 [[ 0.99066196 -0.13483825 -0.02018752 -4.39945917] [ 0.13514843 0.99071368 0.01487614 -2.35476399] [ 0.01799418 -0.01746554 0.99968553 2.68283131] [ 0. 0. 0. 1. ]] SLAMing on 52.43483917299999 meters Centerline goodness [0,1] 0.7274397185139191 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.35, Z:2.68 [[ 0.99107223 -0.13160693 -0.0213411 -4.39397582] [ 0.13195792 0.99112677 0.01596369 -2.35481583] [ 0.0190508 -0.0186373 0.9996448 2.68045194] [ 0. 0. 0. 1. ]] SLAMing on 52.464839172999994 meters Centerline goodness [0,1] 0.7253341654964374 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.36, Z:2.68 [[ 0.9907181 -0.13419795 -0.02164624 -4.39062707] [ 0.13449062 0.99083376 0.01267791 -2.35641398] [ 0.01974647 -0.01547145 0.99968531 2.67923808] [ 0. 0. 0. 1. ]] SLAMing on 52.494839172999995 meters Centerline goodness [0,1] 0.7196189890920264 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.36, Z:2.68 [[ 0.9901919 -0.13809699 -0.0211949 -4.39057349] [ 0.13832436 0.99033989 0.00965813 -2.36083132] [ 0.01965639 -0.01249517 0.99972871 2.67991168] [ 0. 0. 0. 1. ]] SLAMing on 52.524839173 meters Centerline goodness [0,1] 0.7310767658704815 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.36, Z:2.68 [[ 0.99042823 -0.13639909 -0.02114723 -4.39363264] [ 0.13667669 0.99053955 0.01228341 -2.36063433] [ 0.01927173 -0.01505617 0.99970091 2.68174071] [ 0. 0. 0. 1. ]] SLAMing on 52.554839173 meters Centerline goodness [0,1] 0.7238276919904101 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.35, Z:2.68 [[ 0.99128495 -0.12999456 -0.02134411 -4.39794425] [ 0.1304085 0.99127248 0.01930031 -2.35490979] [ 0.01864889 -0.02191556 0.99958588 2.68299076] [ 0. 0. 0. 1. ]] SLAMing on 52.58483917299999 meters Centerline goodness [0,1] 0.7330442459493145 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.35, Z:2.68 [[ 0.99173298 -0.12645415 -0.02179563 -4.39882436] [ 0.12693813 0.99165614 0.02246797 -2.3513863 ] [ 0.01877261 -0.02504892 0.99950995 2.68356555] [ 0. 0. 0. 1. ]] SLAMing on 52.61483917299999 meters Centerline goodness [0,1] 0.7352703372369005 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.36, Z:2.68 [[ 0.99146493 -0.12840964 -0.02254439 -4.39293617] [ 0.12887684 0.99144541 0.02065796 -2.35690324] [ 0.01969885 -0.02338709 0.99953239 2.67987538] [ 0. 0. 0. 1. ]] SLAMing on 52.644839172999994 meters Centerline goodness [0,1] 0.7326610730505735 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.36, Z:2.68 [[ 0.99074547 -0.13371399 -0.02332353 -4.38414119] [ 0.13408061 0.99085798 0.01492855 -2.36432669] [ 0.02111415 -0.01791762 0.9996165 2.67529858] [ 0. 0. 0. 1. ]] SLAMing on 52.674839172999995 meters Centerline goodness [0,1] 0.7318816531794858 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.36, Z:2.67 [[ 0.99044081 -0.13587151 -0.02378944 -4.37955468] [ 0.13619496 0.99060266 0.01254224 -2.36473304] [ 0.02186175 -0.01566234 0.99963831 2.67187238] [ 0. 0. 0. 1. ]] SLAMing on 52.704839172999996 meters Centerline goodness [0,1] 0.7303016430133781 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.36, Z:2.67 [[ 0.9904655 -0.13563563 -0.02410549 -4.37785563] [ 0.13596847 0.9906312 0.01274361 -2.36330295] [ 0.02215116 -0.01589969 0.99962819 2.66997947] [ 0. 0. 0. 1. ]] SLAMing on 52.734839173 meters Centerline goodness [0,1] 0.7310291661313119 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.35, Z:2.67 [[ 0.99087069 -0.13270134 -0.02378281 -4.38141225] [ 0.13307596 0.99099349 0.01492266 -2.35453592] [ 0.02158835 -0.01795135 0.99960577 2.6712577 ] [ 0. 0. 0. 1. ]] SLAMing on 52.76483917299999 meters Centerline goodness [0,1] 0.736948519881798 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.35, Z:2.67 [[ 0.99187446 -0.12696024 -0.00813382 -4.39280224] [ 0.12711664 0.9916201 0.02304226 -2.34924459] [ 0.00514021 -0.02388897 0.9997014 2.6713865 ] [ 0. 0. 0. 1. ]] SLAMing on 52.79483917299999 meters Centerline goodness [0,1] 0.7376478232618584 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.35, Z:2.67 [[ 0.99180107 -0.12754615 -0.00791296 -4.39489446] [ 0.12768859 0.99158468 0.02134126 -2.34604748] [ 0.00512437 -0.02217668 0.99974093 2.6744571 ] [ 0. 0. 0. 1. ]] SLAMing on 52.824839172999994 meters Centerline goodness [0,1] 0.734372560245667 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.35, Z:2.67 [[ 0.99169097 -0.12840846 -0.0077641 -4.39558542] [ 0.12854661 0.99147727 0.02118013 -2.34807688] [ 0.00497822 -0.02200219 0.99974553 2.67478853] [ 0. 0. 0. 1. ]] SLAMing on 52.854839172999995 meters Centerline goodness [0,1] 0.7221361829539001 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.35, Z:2.68 [[ 0.99052114 -0.13720395 -0.00655283 -4.39668043] [ 0.13727831 0.99045096 0.01271076 -2.34906316] [ 0.00474629 -0.01348984 0.99989774 2.67626951] [ 0. 0. 0. 1. ]] SLAMing on 52.884839172999996 meters Centerline goodness [0,1] 0.7111454709444659 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.35, Z:2.68 [[ 9.90155589e-01 -1.39875383e-01 -5.17558035e-03 -4.40277033e+00] [ 1.39924932e-01 9.90101733e-01 1.09348747e-02 -2.34749817e+00] [ 3.59483130e-03 -1.15514200e-02 9.99926818e-01 2.68010401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.914839173 meters Centerline goodness [0,1] 0.700588751743015 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.35, Z:2.68 [[ 9.90515527e-01 -1.37311485e-01 -4.95451062e-03 -4.40619264e+00] [ 1.37367465e-01 9.90425648e-01 1.36826322e-02 -2.34502696e+00] [ 3.02829184e-03 -1.42334482e-02 9.99894114e-01 2.68209301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.94483917299999 meters Centerline goodness [0,1] 0.7266957452921357 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.34, Z:2.68 [[ 9.91507383e-01 -1.29932726e-01 -5.53143789e-03 -4.40819626e+00] [ 1.30018886e-01 9.91306473e-01 2.01634813e-02 -2.33972661e+00] [ 2.86345409e-03 -2.07114320e-02 9.99781395e-01 2.68319997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.97483917299999 meters Centerline goodness [0,1] 0.7349255453020134 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.34, Z:2.68 [[ 9.92049806e-01 -1.25698883e-01 -6.08059130e-03 -4.40781866e+00] [ 1.25809526e-01 9.91766078e-01 2.39167359e-02 -2.33921817e+00] [ 3.02421720e-03 -2.44915895e-02 9.99695462e-01 2.68307986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.00483917299999 meters Centerline goodness [0,1] 0.7381290424357154 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.34, Z:2.68 [[ 9.92148180e-01 -1.24917442e-01 -6.13369288e-03 -4.40758839e+00] [ 1.25027220e-01 9.91883032e-01 2.31569763e-02 -2.33734503e+00] [ 3.19119564e-03 -2.37420305e-02 9.99713025e-01 2.68428383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.034839172999995 meters Centerline goodness [0,1] 0.7383625915968158 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.34, Z:2.69 [[ 9.92050238e-01 -1.25705348e-01 -5.87283562e-03 -4.40935538e+00] [ 1.25805387e-01 9.91810123e-01 2.20382570e-02 -2.33544680e+00] [ 3.05441104e-03 -2.26018925e-02 9.99739879e-01 2.68611074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.064839172999996 meters Centerline goodness [0,1] 0.7325401202952224 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.33, Z:2.69 [[ 9.91203901e-01 -1.32271661e-01 -4.36273052e-03 -4.41430878e+00] [ 1.32325628e-01 9.91073829e-01 1.62047194e-02 -2.33194753e+00] [ 2.18036289e-03 -1.66394821e-02 9.99859177e-01 2.68903946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.094839173 meters Centerline goodness [0,1] 0.6723078950836958 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.33, Z:2.69 [[ 9.89897037e-01 -1.41775569e-01 -1.88235712e-03 -4.42296867e+00] [ 1.41786511e-01 9.89861108e-01 8.45998509e-03 -2.33197040e+00] [ 6.63852906e-04 -8.64140703e-03 9.99962442e-01 2.69457186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.124839173 meters Centerline goodness [0,1] 0.6751632610069518 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.33, Z:2.70 [[ 9.89275422e-01 -1.46056282e-01 -1.30434359e-03 -4.42331456e+00] [ 1.46060544e-01 9.89266699e-01 4.20897367e-03 -2.33237427e+00] [ 6.75596629e-04 -4.35434734e-03 9.99990292e-01 2.69531856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.15483917299999 meters Centerline goodness [0,1] 0.6658764685961394 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.33, Z:2.69 [[ 9.89250284e-01 -1.46225898e-01 -1.36484757e-03 -4.42245773e+00] [ 1.46230943e-01 9.89237956e-01 4.97781182e-03 -2.33462208e+00] [ 6.22274019e-04 -5.12388471e-03 9.99986679e-01 2.69367958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.18483917299999 meters Centerline goodness [0,1] 0.6647028017805708 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.34, Z:2.69 [[ 9.89324682e-01 -1.45716872e-01 -1.80754224e-03 -4.41971990e+00] [ 1.45725080e-01 9.89307814e-01 5.85231212e-03 -2.33591034e+00] [ 9.35435044e-04 -6.05324106e-03 9.99981241e-01 2.69081238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.214839172999994 meters Centerline goodness [0,1] 0.6638811756693037 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.33, Z:2.69 [[ 9.89297415e-01 -1.45902686e-01 -1.74080854e-03 -4.42008793e+00] [ 1.45909969e-01 9.89283767e-01 5.28285227e-03 -2.33404317e+00] [ 9.51371291e-04 -5.48031341e-03 9.99984530e-01 2.69119126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.244839172999995 meters Centerline goodness [0,1] 0.660364938518655 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.70 [[ 9.89448304e-01 -1.44885539e-01 -4.85147299e-04 -4.42764611e+00] [ 1.44885467e-01 9.89425020e-01 6.80672737e-03 -2.32987223e+00] [-5.06179486e-04 -6.80519564e-03 9.99976716e-01 2.69545837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.274839173 meters Centerline goodness [0,1] 0.6603009259259259 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.70 [[ 9.89241840e-01 -1.46288614e-01 4.71909755e-04 -4.43164524e+00] [ 1.46283849e-01 9.89227365e-01 5.50054507e-03 -2.32873514e+00] [-1.27149315e-03 -5.37233655e-03 9.99984761e-01 2.69832480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.304839173 meters Centerline goodness [0,1] 0.6544214462526992 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.70 [[ 9.89143626e-01 -1.46949734e-01 8.14273766e-04 -4.43265264e+00] [ 1.46943055e-01 9.89129401e-01 5.54684000e-03 -2.33059966e+00] [-1.62052879e-03 -5.36696956e-03 9.99984285e-01 2.69852402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.33483917299999 meters Centerline goodness [0,1] 0.6428010265542345 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.33, Z:2.70 [[ 9.88848790e-01 -1.48911791e-01 1.83005785e-03 -4.43745945e+00] [ 1.48903358e-01 9.88843234e-01 4.10475830e-03 -2.33057398e+00] [-2.42088724e-03 -3.78648352e-03 9.99989901e-01 2.70235307e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.36483917299999 meters Centerline goodness [0,1] 0.6463510332199843 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.33, Z:2.70 [[ 9.88820475e-01 -1.49097406e-01 2.00805437e-03 -4.43809153e+00] [ 1.49088065e-01 9.88815023e-01 4.19502458e-03 -2.33174941e+00] [-2.61106162e-03 -3.84874926e-03 9.99989185e-01 2.70276341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.394839172999994 meters Centerline goodness [0,1] 0.6528166618697506 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.70 [[ 9.89029066e-01 -1.47716470e-01 1.16239511e-03 -4.43377685e+00] [ 1.47708041e-01 9.89015795e-01 5.48555590e-03 -2.33331524e+00] [-1.95993408e-03 -5.25367913e-03 9.99984279e-01 2.69919415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.424839172999995 meters Centerline goodness [0,1] 0.6531899303920029 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.70 [[ 9.89223999e-01 -1.46409687e-01 2.88919670e-04 -4.43016652e+00] [ 1.46405121e-01 9.89205359e-01 6.18862793e-03 -2.33265006e+00] [-1.19187597e-03 -6.07963995e-03 9.99980809e-01 2.69679009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.454839172999996 meters Centerline goodness [0,1] 0.6781627296587927 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.70 [[ 9.89891182e-01 -1.41828003e-01 -5.15479255e-04 -4.42858712e+00] [ 1.41825259e-01 9.89832774e-01 1.08015998e-02 -2.33376260e+00] [-1.02173107e-03 -1.07655164e-02 9.99941528e-01 2.69524785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.484839173 meters Centerline goodness [0,1] 0.7076822576430625 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.70 [[ 9.90544976e-01 -1.37184417e-01 -1.04265970e-03 -4.42829584e+00] [ 1.37185330e-01 9.90443684e-01 1.41948545e-02 -2.33167966e+00] [-9.14617119e-04 -1.42036794e-02 9.99898704e-01 2.69562871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.51483917299999 meters Centerline goodness [0,1] 0.7021036617353897 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.70 [[ 9.90910214e-01 -1.34523902e-01 -5.17047442e-04 -4.43199931e+00] [ 1.34513272e-01 9.90766755e-01 1.69533762e-02 -2.33059362e+00] [-1.76836090e-03 -1.68688234e-02 9.99856148e-01 2.69755373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.54483917299999 meters Centerline goodness [0,1] 0.7034305362345468 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.70 [[ 9.90784883e-01 -1.35444877e-01 -2.26553430e-05 -4.43419164e+00] [ 1.35427953e-01 9.90658410e-01 1.59744885e-02 -2.32897136e+00] [-2.14121892e-03 -1.58303498e-02 9.99872399e-01 2.69905015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.574839172999994 meters Centerline goodness [0,1] 0.7018371596510187 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.33, Z:2.70 [[ 9.90617311e-01 -1.36663680e-01 6.18322161e-04 -4.43666870e+00] [ 1.36639396e-01 9.90508719e-01 1.49047754e-02 -2.32666708e+00] [-2.64939494e-03 -1.46804413e-02 9.99888726e-01 2.70022974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.604839172999995 meters Centerline goodness [0,1] 0.7005524277746941 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.33, Z:2.70 [[ 9.90643386e-01 -1.36475290e-01 4.20455262e-04 -4.43576898e+00] [ 1.36454444e-01 9.90537348e-01 1.46951313e-02 -2.32515253e+00] [-2.42199895e-03 -1.45002617e-02 9.99891932e-01 2.69953785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.634839172999996 meters Centerline goodness [0,1] 0.6981659112469696 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.70 [[ 9.90694207e-01 -1.36106528e-01 3.36132374e-05 -4.43347751e+00] [ 1.36089445e-01 9.90573714e-01 1.56006316e-02 -2.32811789e+00] [-2.15664418e-03 -1.54508809e-02 9.99878302e-01 2.69727084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.664839173 meters Centerline goodness [0,1] 0.6919503826867247 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.70 [[ 9.90689696e-01 -1.36139341e-01 -8.41146452e-05 -4.43326908e+00] [ 1.36124268e-01 9.90570427e-01 1.55052265e-02 -2.32743289e+00] [-2.02754983e-03 -1.53723181e-02 9.99879783e-01 2.69721209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.69483917299999 meters Centerline goodness [0,1] 0.6867686293155824 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.70 [[ 9.90690179e-01 -1.36135801e-01 -1.09972094e-04 -4.43239287e+00] [ 1.36120485e-01 9.90565941e-01 1.58218336e-02 -2.32680924e+00] [-2.04498337e-03 -1.56895046e-02 9.99874821e-01 2.69545417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.72483917299999 meters Centerline goodness [0,1] 0.6872115409974417 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.69 [[ 9.90711233e-01 -1.35982477e-01 -1.38426848e-04 -4.43170988e+00] [ 1.35967100e-01 9.90582837e-01 1.60807643e-02 -2.32743216e+00] [-2.04957890e-03 -1.59502154e-02 9.99870687e-01 2.69461167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.75483917299999 meters Centerline goodness [0,1] 0.6727861771058316 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.69 [[ 9.90209065e-01 -1.39592179e-01 1.73918947e-04 -4.42975654e+00] [ 1.39577618e-01 9.90122301e-01 1.32633958e-02 -2.32976248e+00] [-2.02366736e-03 -1.31092596e-02 9.99912022e-01 2.69203266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.784839172999995 meters Centerline goodness [0,1] 0.6632816816184788 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.69 [[ 9.90014741e-01 -1.40962314e-01 6.62457116e-04 -4.43275331e+00] [ 1.40942106e-01 9.89933534e-01 1.29198239e-02 -2.33201640e+00] [-2.47699677e-03 -1.26974480e-02 9.99916316e-01 2.69452057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.814839172999996 meters Centerline goodness [0,1] 0.6576004200577579 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.69 [[ 9.90033120e-01 -1.40834340e-01 3.32672094e-04 -4.43232918e+00] [ 1.40818529e-01 9.89952278e-01 1.28307557e-02 -2.33121822e+00] [-2.13634050e-03 -1.26560267e-02 9.99917627e-01 2.69491375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.844839173 meters Centerline goodness [0,1] 0.6657872520050654 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.70 [[ 9.90517437e-01 -1.37386987e-01 1.49411352e-04 -4.43367550e+00] [ 1.37365471e-01 9.90380429e-01 1.66533431e-02 -2.33166633e+00] [-2.43592670e-03 -1.64749027e-02 9.99861312e-01 2.69543633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.874839173 meters Centerline goodness [0,1] 0.6917726707746013 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.70 [[ 9.91106309e-01 -1.33072464e-01 -5.25517561e-05 -4.43491950e+00] [ 1.33048457e-01 9.90919852e-01 1.93895843e-02 -2.32817217e+00] [-2.52814518e-03 -1.92241313e-02 9.99812003e-01 2.69743903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.90483917299999 meters Centerline goodness [0,1] 0.6984680401479133 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.70 [[ 9.91245954e-01 -1.32026077e-01 -7.57865117e-04 -4.43241776e+00] [ 1.32015960e-01 9.91059003e-01 1.93349349e-02 -2.32654391e+00] [-1.80162657e-03 -1.92657263e-02 9.99812775e-01 2.69678306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.93483917299999 meters Centerline goodness [0,1] 0.7103815016667548 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.70 [[ 9.91264912e-01 -1.31882948e-01 -8.72717210e-04 -4.43176606e+00] [ 1.31875186e-01 9.91079078e-01 1.92664616e-02 -2.32638502e+00] [-1.67598600e-03 -1.92132572e-02 9.99814004e-01 2.69637551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.964839172999994 meters Centerline goodness [0,1] 0.7054545454545454 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.33, Z:2.70 [[ 9.90768077e-01 -1.35566290e-01 -6.31082699e-04 -4.43098581e+00] [ 1.35561119e-01 9.90662739e-01 1.45093232e-02 -2.32542675e+00] [-1.34178500e-03 -1.44609245e-02 9.99894535e-01 2.69732078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.994839172999995 meters Centerline goodness [0,1] 0.712860516331025 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.32, Z:2.70 [[ 9.91126941e-01 -1.32918332e-01 -3.23423127e-04 -4.43434781e+00] [ 1.32904100e-01 9.90978859e-01 1.72453036e-02 -2.32310768e+00] [-1.97171151e-03 -1.71352693e-02 9.99851236e-01 2.69907593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.024839173 meters Centerline goodness [0,1] 0.7297674668385157 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.32, Z:2.70 [[ 9.92012879e-01 -1.26134095e-01 -7.99313341e-04 -4.43778103e+00] [ 1.26119916e-01 9.91758392e-01 2.25623145e-02 -2.31586859e+00] [-2.05315140e-03 -2.24829159e-02 9.99745119e-01 2.70257205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.054839173 meters Centerline goodness [0,1] 0.7374983060035235 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.31, Z:2.70 [[ 9.92476453e-01 -1.22430402e-01 -1.13447367e-03 -4.43916973e+00] [ 1.22419150e-01 9.92147886e-01 2.56149287e-02 -2.31355938e+00] [-2.01048035e-03 -2.55610949e-02 9.99671240e-01 2.70426238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08483917299999 meters Centerline goodness [0,1] 0.7424073216571787 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.31, Z:2.71 [[ 9.93019939e-01 -1.17943392e-01 -8.70154966e-04 -4.44121608e+00] [ 1.17922212e-01 9.92637549e-01 2.76595057e-02 -2.30733764e+00] [-2.39850743e-03 -2.75690513e-02 9.99617024e-01 2.70684346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.11483917299999 meters Centerline goodness [0,1] 0.7452855971576934 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.31, Z:2.71 [[ 9.93374395e-01 -1.14921087e-01 -6.74046270e-04 -4.44348865e+00] [ 1.14887431e-01 9.92903266e-01 3.07243068e-02 -2.30575802e+00] [-2.86160799e-03 -3.05981791e-02 9.99527670e-01 2.70771753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.144839172999994 meters Centerline goodness [0,1] 0.7513971117136059 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.30, Z:2.70 [[ 9.93486578e-01 -1.13944293e-01 -1.05754431e-03 -4.43996057e+00] [ 1.13922998e-01 9.93016337e-01 3.06611264e-02 -2.30031235e+00] [-2.44350158e-03 -3.05818962e-02 9.99529278e-01 2.70370690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.174839172999995 meters Centerline goodness [0,1] 0.757085020242915 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.30, Z:2.70 [[ 9.93255319e-01 -1.15940580e-01 -1.28545172e-03 -4.43554102e+00] [ 1.15932028e-01 9.92877678e-01 2.74532622e-02 -2.29815719e+00] [-1.90665082e-03 -2.74171237e-02 9.99622262e-01 2.70028690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.204839172999996 meters Centerline goodness [0,1] 0.747814853498983 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.30, Z:2.70 [[ 9.93238384e-01 -1.16090389e-01 -7.30645839e-04 -4.43310972e+00] [ 1.16069783e-01 9.92897735e-01 2.61130987e-02 -2.29544202e+00] [-2.30602319e-03 -2.60213379e-02 9.99658728e-01 2.69674311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.234839173 meters Centerline goodness [0,1] 0.745369856936897 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.29, Z:2.70 [[ 9.93126537e-01 -1.17045634e-01 -2.60075423e-05 -4.43558033e+00] [ 1.17010320e-01 9.92821396e-01 2.47842776e-02 -2.29278103e+00] [-2.87507063e-03 -2.46169669e-02 9.99692822e-01 2.69808432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26483917299999 meters Centerline goodness [0,1] 0.7447263239702453 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.29, Z:2.70 [[ 9.93043441e-01 -1.17748037e-01 3.51229160e-04 -4.43725376e+00] [ 1.17708202e-01 9.92776748e-01 2.32187037e-02 -2.28845156e+00] [-3.08264893e-03 -2.30158389e-02 9.99730348e-01 2.69952554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.29483917299999 meters Centerline goodness [0,1] 0.7447263239702453 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.29, Z:2.70 [[ 9.93043441e-01 -1.17748037e-01 3.51229160e-04 -4.43725376e+00] [ 1.17708202e-01 9.92776748e-01 2.32187037e-02 -2.28845156e+00] [-3.08264893e-03 -2.30158389e-02 9.99730348e-01 2.69952554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.324839172999994 meters Centerline goodness [0,1] 0.7492532266245844 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.28, Z:2.70 [[ 9.93430873e-01 -1.14426669e-01 1.27989854e-03 -4.44659075e+00] [ 1.14347902e-01 9.93056190e-01 2.76398270e-02 -2.28000381e+00] [-4.43374451e-03 -2.73119037e-02 9.99617128e-01 2.70372315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.354839172999995 meters Centerline goodness [0,1] 0.7503347673722898 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.27, Z:2.71 [[ 9.93696712e-01 -1.12072234e-01 2.58055659e-03 -4.45787761e+00] [ 1.11948299e-01 9.93276641e-01 2.94803680e-02 -2.27255945e+00] [-5.86713728e-03 -2.90056558e-02 9.99562028e-01 2.71293306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.384839172999996 meters Centerline goodness [0,1] 0.7531809512965757 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.27, Z:2.72 [[ 9.93603755e-01 -1.12886287e-01 2.87458743e-03 -4.46027698e+00] [ 1.12764781e-01 9.93237682e-01 2.76226628e-02 -2.26800372e+00] [-5.97336839e-03 -2.71218292e-02 9.99614288e-01 2.71597431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.414839173 meters Centerline goodness [0,1] 0.7553586739068305 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.27, Z:2.72 [[ 9.93511012e-01 -1.13689701e-01 3.24357846e-03 -4.46272779e+00] [ 1.13566970e-01 9.93185385e-01 2.61788931e-02 -2.26576199e+00] [-6.19774523e-03 -2.56406552e-02 9.99652012e-01 2.71883222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44483917299999 meters Centerline goodness [0,1] 0.7528186344646025 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.26, Z:2.72 [[ 9.93506593e-01 -1.13727887e-01 3.25838252e-03 -4.46307953e+00] [ 1.13609451e-01 9.93200249e-01 2.54196293e-02 -2.26423706e+00] [-6.12714705e-03 -2.48843862e-02 9.99671559e-01 2.71993897e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.47483917299999 meters Centerline goodness [0,1] 0.7594757657111515 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.26, Z:2.72 [[ 9.93951428e-01 -1.09785389e-01 2.77974818e-03 -4.46330767e+00] [ 1.09663314e-01 9.93564206e-01 2.83571035e-02 -2.26033438e+00] [-5.87505395e-03 -2.78807471e-02 9.99593991e-01 2.72068760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.50483917299999 meters Centerline goodness [0,1] 0.761384387953274 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.26, Z:2.72 [[ 9.94001574e-01 -1.09341493e-01 2.30394773e-03 -4.46226511e+00] [ 1.09237403e-01 9.93634965e-01 2.75090165e-02 -2.25690045e+00] [-5.29715995e-03 -2.70923285e-02 9.99618900e-01 2.72147169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.534839172999995 meters Centerline goodness [0,1] 0.7606820287169986 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.26, Z:2.72 [[ 9.94077591e-01 -1.08652578e-01 2.08800036e-03 -4.46047678e+00] [ 1.08551885e-01 9.93695212e-01 2.80412887e-02 -2.25908305e+00] [-5.12159426e-03 -2.76485604e-02 9.99604585e-01 2.72027235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.564839172999996 meters Centerline goodness [0,1] 0.7594540554637921 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.26, Z:2.72 [[ 9.94070164e-01 -1.08718075e-01 2.21133116e-03 -4.46060373e+00] [ 1.08614948e-01 9.93693690e-01 2.78503739e-02 -2.25868753e+00] [-5.22522486e-03 -2.74450421e-02 9.99609657e-01 2.72014253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.594839173 meters Centerline goodness [0,1] 0.7625713706054547 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.26, Z:2.72 [[ 9.94002736e-01 -1.09329554e-01 2.36848573e-03 -4.46198242e+00] [ 1.09226584e-01 9.93650872e-01 2.69721531e-02 -2.25625288e+00] [-5.30230137e-03 -2.65516924e-02 9.99633379e-01 2.72148241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.624839173 meters Centerline goodness [0,1] 0.7612429640805431 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.26, Z:2.73 [[ 9.93833009e-01 -1.10849519e-01 2.88705052e-03 -4.46603852e+00] [ 1.10739652e-01 9.93517220e-01 2.56955991e-02 -2.25543482e+00] [-5.71667922e-03 -2.52174236e-02 9.99665645e-01 2.72539924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.65483917299999 meters Centerline goodness [0,1] 0.7601295658964051 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.26, Z:2.73 [[ 9.93778454e-01 -1.11333099e-01 3.05371472e-03 -4.46723848e+00] [ 1.11219429e-01 9.93466041e-01 2.56020408e-02 -2.25765560e+00] [-5.88411642e-03 -2.51031241e-02 9.99667550e-01 2.72673428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.68483917299999 meters Centerline goodness [0,1] 0.7597691197691198 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.26, Z:2.73 [[ 9.93350769e-01 -1.15083176e-01 3.17998521e-03 -4.46673169e+00] [ 1.14987186e-01 9.93126349e-01 2.18632357e-02 -2.25964950e+00] [-5.67421771e-03 -2.13522045e-02 9.99755914e-01 2.72756655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.714839172999994 meters Centerline goodness [0,1] 0.7601161052994597 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.26, Z:2.73 [[ 9.93348452e-01 -1.15109093e-01 2.95804793e-03 -4.46569848e+00] [ 1.15011353e-01 9.93097008e-01 2.30373937e-02 -2.26347155e+00] [-5.58944204e-03 -2.25439503e-02 9.99730228e-01 2.72602654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.744839172999995 meters Centerline goodness [0,1] 0.7569406873772032 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.27, Z:2.72 [[ 9.93231080e-01 -1.16142963e-01 1.68335698e-03 -4.45716026e+00] [ 1.16078404e-01 9.92997266e-01 2.19598264e-02 -2.26761528e+00] [-4.22204818e-03 -2.16157807e-02 9.99757437e-01 2.71969573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.774839173 meters Centerline goodness [0,1] 0.7562307278848058 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.27, Z:2.72 [[ 9.93010461e-01 -1.18019953e-01 1.23054447e-03 -4.45220537e+00] [ 1.17975195e-01 9.92832955e-01 1.90938990e-02 -2.26798855e+00] [-3.47518616e-03 -1.88152677e-02 9.99816938e-01 2.71662042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.804839173 meters Centerline goodness [0,1] 0.7520556431628745 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.27, Z:2.72 [[ 9.92561751e-01 -1.21729584e-01 1.75472628e-03 -4.45147732e+00] [ 1.21687333e-01 9.92443918e-01 1.57245589e-02 -2.27073160e+00] [-3.65561143e-03 -1.53940677e-02 9.99874822e-01 2.71567387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.83483917299999 meters Centerline goodness [0,1] 0.7460438137072704 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.27, Z:2.72 [[ 9.92425072e-01 -1.22832102e-01 2.17984738e-03 -4.45347212e+00] [ 1.22784332e-01 9.92313197e-01 1.54443286e-02 -2.27390649e+00] [-4.06015068e-03 -1.50596879e-02 9.99878353e-01 2.71716920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.86483917299999 meters Centerline goodness [0,1] 0.7474408457794932 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.28, Z:2.72 [[ 9.92280775e-01 -1.23985246e-01 2.55388647e-03 -4.45572542e+00] [ 1.23934521e-01 9.92179874e-01 1.48098395e-02 -2.27807535e+00] [-4.37011634e-03 -1.43790043e-02 9.99887067e-01 2.71996617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.894839172999994 meters Centerline goodness [0,1] 0.7489135006308706 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.28, Z:2.72 [[ 9.92413442e-01 -1.22909344e-01 2.97535268e-03 -4.45998868e+00] [ 1.22847209e-01 9.92297591e-01 1.59390470e-02 -2.27835925e+00] [-4.91149311e-03 -1.54526108e-02 9.99868538e-01 2.72395778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.924839172999995 meters Centerline goodness [0,1] 0.7519131217645735 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.28, Z:2.73 [[ 9.92801541e-01 -1.19737224e-01 2.84543746e-03 -4.46257230e+00] [ 1.19661292e-01 9.92628706e-01 1.92204705e-02 -2.27836810e+00] [-5.12586868e-03 -1.87416240e-02 9.99811221e-01 2.72653010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.954839172999996 meters Centerline goodness [0,1] 0.7583497053045187 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.28, Z:2.73 [[ 9.93523512e-01 -1.13538379e-01 -4.47958964e-03 -4.45976757e+00] [ 1.13575840e-01 9.93486237e-01 9.25340351e-03 -2.28058470e+00] [ 3.39979422e-03 -9.70224712e-03 9.99947153e-01 2.72652292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.984839173 meters Centerline goodness [0,1] 0.762582056892779 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.28, Z:2.72 [[ 9.93743454e-01 -1.11558834e-01 -5.34544376e-03 -4.45556202e+00] [ 1.11609044e-01 9.93699262e-01 1.02565707e-02 -2.28148150e+00] [ 4.16755245e-03 -1.07889999e-02 9.99933112e-01 2.72432776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.01483917299999 meters Centerline goodness [0,1] 0.7650529628276812 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.28, Z:2.72 [[ 0.99446508 -0.10484972 -0.00676376 -4.4504661 ] [ 0.10494523 0.99435273 0.01578454 -2.28143385] [ 0.00507056 -0.016407 0.99985254 2.72099959] [ 0. 0. 0. 1. ]] SLAMing on 55.04483917299999 meters Centerline goodness [0,1] 0.7654178186537268 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.28, Z:2.72 [[ 0.9948623 -0.10098301 -0.00717134 -4.45014943] [ 0.10110984 0.9946673 0.02034103 -2.28286142] [ 0.00507899 -0.02096162 0.99976738 2.71977643] [ 0. 0. 0. 1. ]] SLAMing on 55.074839172999994 meters Centerline goodness [0,1] 0.768285152960988 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.28, Z:2.72 [[ 0.9947773 -0.1018398 -0.00683919 -4.45209789] [ 0.10195752 0.99458923 0.01992313 -2.28267776] [ 0.00477322 -0.02051638 0.99977812 2.72108689] [ 0. 0. 0. 1. ]] SLAMing on 55.104839172999995 meters Centerline goodness [0,1] 0.7741284043418506 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.28, Z:2.72 [[ 9.94578649e-01 -1.03793798e-01 -6.33704406e-03 -4.45554610e+00] [ 1.03897696e-01 9.94402953e-01 1.91842354e-02 -2.28444519e+00] [ 4.31037067e-03 -1.97386352e-02 9.99795883e-01 2.72352210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.134839172999996 meters Centerline goodness [0,1] 0.7645132645132645 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.29, Z:2.73 [[ 9.93586977e-01 -1.12955396e-01 -5.09879673e-03 -4.45836127e+00] [ 1.13004979e-01 9.93535760e-01 1.07966771e-02 -2.28788866e+00] [ 3.84629394e-03 -1.13036272e-02 9.99928714e-01 2.72674300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.164839173 meters Centerline goodness [0,1] 0.7603564213963527 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.29, Z:2.73 [[ 9.93099623e-01 -1.17183108e-01 -4.61069741e-03 -4.45896467e+00] [ 1.17212791e-01 9.93083524e-01 6.80259006e-03 -2.29003164e+00] [ 3.78165899e-03 -7.29608234e-03 9.99966233e-01 2.72790301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.19483917299999 meters Centerline goodness [0,1] 0.7508906549739655 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.30, Z:2.73 [[ 9.92060555e-01 -1.25712707e-01 -3.48855442e-03 -4.46327272e+00] [ 1.25712606e-01 9.92066671e-01 -2.49074890e-04 -2.29504692e+00] [ 3.49219045e-03 -1.91457892e-04 9.99993884e-01 2.73247882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22483917299999 meters Centerline goodness [0,1] 0.7385252782366163 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.30, Z:2.74 [[ 9.91368223e-01 -1.31080142e-01 -2.65365258e-03 -4.46796192e+00] [ 1.31070181e-01 9.91366435e-01 -3.63297197e-03 -2.30195613e+00] [ 3.10695259e-03 3.25379824e-03 9.99989880e-01 2.73727138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.25483917299999 meters Centerline goodness [0,1] 0.7386845159374915 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.31, Z:2.74 [[ 9.91319870e-01 -1.31449690e-01 -2.42793803e-03 -4.46918530e+00] [ 1.31441851e-01 9.91318886e-01 -3.14751431e-03 -2.30573702e+00] [ 2.82060061e-03 2.80106081e-03 9.99992099e-01 2.73827375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.284839172999995 meters Centerline goodness [0,1] 0.7379961888402802 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.31, Z:2.74 [[ 9.91323009e-01 -1.31426418e-01 -2.40576360e-03 -4.46990033e+00] [ 1.31420923e-01 9.91323952e-01 -2.31574038e-03 -2.31093239e+00] [ 2.68924054e-03 1.97947905e-03 9.99994425e-01 2.73942254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.314839172999996 meters Centerline goodness [0,1] 0.7399539836267324 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.31, Z:2.74 [[ 9.91338542e-01 -1.31308133e-01 -2.46368959e-03 -4.47015437e+00] [ 1.31303891e-01 9.91340510e-01 -1.81164348e-03 -2.31366709e+00] [ 2.68023882e-03 1.47245998e-03 9.99995324e-01 2.74013495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.344839173 meters Centerline goodness [0,1] 0.7377663248499017 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.32, Z:2.74 [[ 9.91240340e-01 -1.32047030e-01 -2.48386278e-03 -4.47185846e+00] [ 1.32043942e-01 9.91242918e-01 -1.36956639e-03 -2.32077485e+00] [ 2.64295856e-03 1.02959042e-03 9.99995977e-01 2.74294598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.374839173 meters Centerline goodness [0,1] 0.7390649762282092 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.33, Z:2.74 [[ 9.90895083e-01 -1.34603550e-01 -2.96982435e-03 -4.46830549e+00] [ 1.34593569e-01 9.90895265e-01 -3.33830955e-03 -2.32693005e+00] [ 3.39213320e-03 2.90819526e-03 9.99990018e-01 2.74140196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40483917299999 meters Centerline goodness [0,1] 0.7376454626102384 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.34, Z:2.74 [[ 9.90473039e-01 -1.37674667e-01 -2.97417983e-03 -4.46624390e+00] [ 1.37659048e-01 9.90467361e-01 -4.93887394e-03 -2.33729826e+00] [ 3.62578587e-03 4.48239872e-03 9.99983381e-01 2.74067344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.43483917299999 meters Centerline goodness [0,1] 0.7392378080482479 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.34, Z:2.74 [[ 9.90555391e-01 -1.37074504e-01 -3.25538830e-03 -4.46541602e+00] [ 1.37061570e-01 9.90554809e-01 -3.91103229e-03 -2.33994108e+00] [ 3.76074334e-03 3.42790549e-03 9.99987053e-01 2.74031283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.464839172999994 meters Centerline goodness [0,1] 0.7484363239988581 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.34, Z:2.74 [[ 9.91265077e-01 -1.31809877e-01 -4.43877747e-03 -4.46291209e+00] [ 1.31820275e-01 9.91271331e-01 2.13633620e-03 -2.34423398e+00] [ 4.11844264e-03 -2.70279633e-03 9.99987867e-01 2.73832623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.494839172999995 meters Centerline goodness [0,1] 0.753297811804873 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.35, Z:2.74 [[ 9.91806531e-01 -1.27655347e-01 -4.89056981e-03 -4.46283654e+00] [ 1.27686502e-01 9.91791956e-01 6.69878463e-03 -2.34727961e+00] [ 3.99529212e-03 -7.26835810e-03 9.99965604e-01 2.73817143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.524839173 meters Centerline goodness [0,1] 0.7601090647185924 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.35, Z:2.74 [[ 0.99206271 -0.12560143 -0.00598796 -4.4586421 ] [ 0.12564983 0.99203792 0.00853753 -2.35129772] [ 0.00486796 -0.00922215 0.99994563 2.73625449] [ 0. 0. 0. 1. ]] SLAMing on 55.554839173 meters Centerline goodness [0,1] 0.7632665623637436 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.36, Z:2.73 [[ 0.99214789 -0.12489588 -0.00660247 -4.45572622] [ 0.12495745 0.99211248 0.00992271 -2.35558965] [ 0.00531109 -0.01066983 0.99992897 2.73395324] [ 0. 0. 0. 1. ]] SLAMing on 55.58483917299999 meters Centerline goodness [0,1] 0.7570157600406711 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.36, Z:2.73 [[ 0.99150457 -0.129852 -0.00756002 -4.44708999] [ 0.12989852 0.99150899 0.00602469 -2.36436126] [ 0.00671351 -0.00695554 0.99995327 2.72759762] [ 0. 0. 0. 1. ]] SLAMing on 55.61483917299999 meters Centerline goodness [0,1] 0.7592131347532151 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.36, Z:2.73 [[ 0.99156712 -0.12935567 -0.00785899 -4.44556389] [ 0.1294083 0.99156941 0.00660271 -2.36490199] [ 0.00693864 -0.00756405 0.99994732 2.72622701] [ 0. 0. 0. 1. ]] SLAMing on 55.644839172999994 meters Centerline goodness [0,1] 0.766979695431472 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.36, Z:2.72 [[ 0.99230772 -0.12345759 -0.00914342 -4.44202435] [ 0.12356196 0.99226556 0.01189532 -2.36455355] [ 0.00760413 -0.01293359 0.99988744 2.72359523] [ 0. 0. 0. 1. ]] SLAMing on 55.674839172999995 meters Centerline goodness [0,1] 0.7748974025642986 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.37, Z:2.72 [[ 9.94104907e-01 -1.08369200e-01 -3.39869331e-03 -4.44869201e+00] [ 1.08415158e-01 9.93913605e-01 1.95422249e-02 -2.36660858e+00] [ 1.26023225e-03 -1.97954916e-02 9.99803256e-01 2.71737835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.704839172999996 meters Centerline goodness [0,1] 0.7762748200704406 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.37, Z:2.72 [[ 9.94621948e-01 -1.03497085e-01 -3.94134334e-03 -4.44855471e+00] [ 1.03560864e-01 9.94354289e-01 2.31234706e-02 -2.36532585e+00] [ 1.52587985e-03 -2.34072803e-02 9.99724848e-01 2.71853928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.734839173 meters Centerline goodness [0,1] 0.7591048593350384 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.36, Z:2.72 [[ 9.95565053e-01 -9.39972066e-02 -3.84053414e-03 -4.45230180e+00] [ 9.40711830e-02 9.95085092e-01 3.09236531e-02 -2.36468486e+00] [ 9.14921261e-04 -3.11477919e-02 9.99514371e-01 2.72296555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.76483917299999 meters Centerline goodness [0,1] 0.75114190402874 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.36, Z:2.73 [[ 9.95879331e-01 -9.06041570e-02 -3.90440342e-03 -4.45447162e+00] [ 9.06848580e-02 9.95290831e-01 3.42405945e-02 -2.36487765e+00] [ 7.83676724e-04 -3.44535706e-02 9.99405992e-01 2.72527325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.79483917299999 meters Centerline goodness [0,1] 0.7435543631020826 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.36, Z:2.73 [[ 9.95917545e-01 -9.01663840e-02 -4.27402854e-03 -4.45378676e+00] [ 9.02596930e-02 9.95340819e-01 3.39093314e-02 -2.36354612e+00] [ 1.19663328e-03 -3.41566705e-02 9.99415774e-01 2.72591738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.824839172999994 meters Centerline goodness [0,1] 0.7531888735208238 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.36, Z:2.72 [[ 9.95640966e-01 -9.31537967e-02 -4.63001055e-03 -4.45123072e+00] [ 9.32522897e-02 9.95171206e-01 3.06313756e-02 -2.36356093e+00] [ 1.75422426e-03 -3.09296114e-02 9.99520026e-01 2.72476270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.854839172999995 meters Centerline goodness [0,1] 0.7651081788828719 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.36, Z:2.72 [[ 9.94956115e-01 -1.00204688e-01 -4.62052532e-03 -4.44797580e+00] [ 1.00285644e-01 9.94686104e-01 2.32882956e-02 -2.36370198e+00] [ 2.26237595e-03 -2.36342045e-02 9.99718113e-01 2.72283931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.884839172999996 meters Centerline goodness [0,1] 0.7728267508143323 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.36, Z:2.72 [[ 9.94526256e-01 -1.04398338e-01 -4.30261334e-03 -4.44780418e+00] [ 1.04462336e-01 9.94342495e-01 1.92515458e-02 -2.36444714e+00] [ 2.26844189e-03 -1.95956288e-02 9.99805414e-01 2.72296272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.914839173 meters Centerline goodness [0,1] 0.7782032101833304 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.37, Z:2.73 [[ 9.93721661e-01 -1.11837613e-01 -3.09986501e-03 -4.45182008e+00] [ 1.11868919e-01 9.93636520e-01 1.31076803e-02 -2.36520823e+00] [ 1.61420741e-03 -1.33721643e-02 9.99909286e-01 2.72570920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94483917299999 meters Centerline goodness [0,1] 0.7738098251119941 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.37, Z:2.73 [[ 9.93392455e-01 -1.14734840e-01 -2.71054803e-03 -4.45430979e+00] [ 1.14757901e-01 9.93332881e-01 1.09732613e-02 -2.36562230e+00] [ 1.43346111e-03 -1.12118117e-02 9.99936118e-01 2.72785248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.97483917299999 meters Centerline goodness [0,1] 0.7748206198157854 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.36, Z:2.73 [[ 9.93276266e-01 -1.15744707e-01 -2.32858037e-03 -4.45560541e+00] [ 1.15762815e-01 9.93222438e-01 1.03999791e-02 -2.36434968e+00] [ 1.10905574e-03 -1.05996154e-02 9.99943207e-01 2.72799407e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.00483917299999 meters Centerline goodness [0,1] 0.7749032389488695 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.36, Z:2.73 [[ 9.93272503e-01 -1.15775664e-01 -2.39366790e-03 -4.45528226e+00] [ 1.15794233e-01 9.93220776e-01 1.02071560e-02 -2.36423520e+00] [ 1.19570042e-03 -1.04156603e-02 9.99945041e-01 2.72787758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.034839172999995 meters Centerline goodness [0,1] 0.7707809842889414 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.37, Z:2.73 [[ 9.92985109e-01 -1.18231217e-01 -1.39764659e-03 -4.45810390e+00] [ 1.18238233e-01 9.92959526e-01 7.14845132e-03 -2.36630686e+00] [ 5.42636398e-04 -7.26356097e-03 9.99973473e-01 2.73106611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.064839172999996 meters Centerline goodness [0,1] 0.7716827656329436 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.37, Z:2.73 [[ 9.92851222e-01 -1.19355157e-01 -8.93153433e-04 -4.46098965e+00] [ 1.19358433e-01 9.92830739e-01 6.37867196e-03 -2.36795230e+00] [ 1.25422789e-04 -6.43967764e-03 9.99979257e-01 2.73391317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.094839173 meters Centerline goodness [0,1] 0.7740423591406567 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.37, Z:2.74 [[ 9.92794421e-01 -1.19827644e-01 -7.56642953e-04 -4.46335626e+00] [ 1.19830019e-01 9.92777574e-01 5.78399456e-03 -2.36962308e+00] [ 5.80957123e-05 -5.83298608e-03 9.99982986e-01 2.73768638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.124839173 meters Centerline goodness [0,1] 0.77911189317876 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.36, Z:2.74 [[ 9.93762150e-01 -1.11512211e-01 -1.34724190e-03 -4.46472493e+00] [ 1.11520348e-01 9.93691303e-01 1.18661514e-02 -2.36177355e+00] [ 1.55217836e-05 -1.19423770e-02 9.99928687e-01 2.73954040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.15483917299999 meters Centerline goodness [0,1] 0.7780487172170485 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.36, Z:2.74 [[ 9.94261657e-01 -1.06957475e-01 -1.96371319e-03 -4.46457792e+00] [ 1.06974995e-01 9.94145802e-01 1.51813691e-02 -2.35864917e+00] [ 3.28456333e-04 -1.53043214e-02 9.99882828e-01 2.74051552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.18483917299999 meters Centerline goodness [0,1] 0.7780487172170485 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.36, Z:2.74 [[ 9.94261657e-01 -1.06957475e-01 -1.96371319e-03 -4.46457792e+00] [ 1.06974995e-01 9.94145802e-01 1.51813691e-02 -2.35864917e+00] [ 3.28456333e-04 -1.53043214e-02 9.99882828e-01 2.74051552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.214839172999994 meters Centerline goodness [0,1] 0.776918066953237 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.36, Z:2.74 [[ 9.94669206e-01 -1.03096201e-01 -2.08421693e-03 -4.46583446e+00] [ 1.03117109e-01 9.94499753e-01 1.83603507e-02 -2.35924308e+00] [ 1.79870827e-04 -1.84773938e-02 9.99829262e-01 2.74222028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.244839172999995 meters Centerline goodness [0,1] 0.7761506817417402 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.36, Z:2.74 [[ 9.94571785e-01 -1.04038804e-01 -1.70042733e-03 -4.46791849e+00] [ 1.04052598e-01 9.94415271e-01 1.76444363e-02 -2.36061814e+00] [-1.44775140e-04 -1.77255924e-02 9.99842879e-01 2.74427619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.274839173 meters Centerline goodness [0,1] 0.774544134049231 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.36, Z:2.75 [[ 9.93855904e-01 -1.10681715e-01 -2.46754512e-05 -4.47389107e+00] [ 1.10674308e-01 9.93786766e-01 1.17923918e-02 -2.35975320e+00] [-1.28068001e-03 -1.17226692e-02 9.99930467e-01 2.74863594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.304839173 meters Centerline goodness [0,1] 0.7723366808158194 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.36, Z:2.75 [[ 9.93618948e-01 -1.12787659e-01 5.75372051e-04 -4.47663335e+00] [ 1.12774382e-01 9.93558610e-01 1.11007599e-02 -2.36153494e+00] [-1.82369458e-03 -1.09650381e-02 9.99938219e-01 2.74999640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.33483917299999 meters Centerline goodness [0,1] 0.7748850663773955 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.36, Z:2.75 [[ 9.93467820e-01 -1.14110742e-01 6.55138209e-04 -4.47718191e+00] [ 1.14096316e-01 9.93406541e-01 1.12015206e-02 -2.36401952e+00] [-1.92903240e-03 -1.10536014e-02 9.99937046e-01 2.74967366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.36483917299999 meters Centerline goodness [0,1] 0.7736175263850541 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.36, Z:2.75 [[ 9.93521061e-01 -1.13647805e-01 2.80590643e-04 -4.47559026e+00] [ 1.13636849e-01 9.93454046e-01 1.16500909e-02 -2.36444497e+00] [-1.60276116e-03 -1.15427252e-02 9.99932096e-01 2.74855981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.394839172999994 meters Centerline goodness [0,1] 0.7766729512642372 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.36, Z:2.75 [[ 9.93699375e-01 -1.12077915e-01 -3.05490718e-04 -4.47254085e+00] [ 1.12073100e-01 9.93622966e-01 1.23701807e-02 -2.36406765e+00] [-1.08288146e-03 -1.23264781e-02 9.99923440e-01 2.74647683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.424839172999995 meters Centerline goodness [0,1] 0.7783834052336545 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.36, Z:2.75 [[ 9.93746900e-01 -1.11655007e-01 -5.08204577e-04 -4.47127421e+00] [ 1.11652978e-01 9.93673880e-01 1.20760954e-02 -2.36173204e+00] [-8.43366905e-04 -1.20573249e-02 9.99926952e-01 2.74540679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.454839172999996 meters Centerline goodness [0,1] 0.7765259926107093 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.36, Z:2.75 [[ 9.94080224e-01 -1.08648260e-01 -2.52644640e-04 -4.47312588e+00] [ 1.08640293e-01 9.93973281e-01 1.46424876e-02 -2.35757783e+00] [-1.33975877e-03 -1.45832547e-02 9.99892761e-01 2.74569093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.484839173 meters Centerline goodness [0,1] 0.7760016716293162 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.36, Z:2.75 [[ 9.94012784e-01 -1.09263797e-01 8.88048351e-05 -4.47435792e+00] [ 1.09251805e-01 9.93915090e-01 1.40298635e-02 -2.35685918e+00] [-1.62122063e-03 -1.39361616e-02 9.99901573e-01 2.74636327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.51483917299999 meters Centerline goodness [0,1] 0.7772506907157379 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.36, Z:2.75 [[ 9.93531830e-01 -1.13552460e-01 5.84915161e-04 -4.47414457e+00] [ 1.13541309e-01 9.93484809e-01 9.81356416e-03 -2.35677030e+00] [-1.69545868e-03 -9.68367632e-03 9.99951675e-01 2.74589066e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.54483917299999 meters Centerline goodness [0,1] 0.7798114976046657 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.36, Z:2.74 [[ 9.93457164e-01 -1.14203556e-01 6.41396224e-04 -4.47414044e+00] [ 1.14191217e-01 9.93406872e-01 1.01564173e-02 -2.35687403e+00] [-1.79706639e-03 -1.00167237e-02 9.99948217e-01 2.74467692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.574839172999994 meters Centerline goodness [0,1] 0.7801007490929972 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.36, Z:2.74 [[ 9.93818801e-01 -1.11013133e-01 5.24687777e-04 -4.47521681e+00] [ 1.10994925e-01 9.93722068e-01 1.40206689e-02 -2.35710853e+00] [-2.07787220e-03 -1.38757667e-02 9.99901568e-01 2.74464382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.604839172999995 meters Centerline goodness [0,1] 0.7796583729818267 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.35, Z:2.74 [[ 9.94118076e-01 -1.08301664e-01 3.83322161e-05 -4.47312988e+00] [ 1.08286895e-01 9.93988225e-01 1.61665180e-02 -2.35498447e+00] [-1.78896257e-03 -1.60672768e-02 9.99869313e-01 2.74284913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.634839172999996 meters Centerline goodness [0,1] 0.7848697262266896 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.35, Z:2.74 [[ 0.99507431 -0.09897461 -0.00558071 -4.4739833 ] [ 0.09902256 0.99504363 0.00909395 -2.3490137 ] [ 0.00465298 -0.00960178 0.99994308 2.74255289] [ 0. 0. 0. 1. ]] SLAMing on 56.664839173 meters Centerline goodness [0,1] 0.7853516657852988 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.35, Z:2.74 [[ 0.99515976 -0.09809219 -0.00591337 -4.47177797] [ 0.0981428 0.99513181 0.00898139 -2.34632016] [ 0.00500358 -0.00951827 0.99994218 2.74084743] [ 0. 0. 0. 1. ]] SLAMing on 56.69483917299999 meters Centerline goodness [0,1] 0.7835904553461805 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.34, Z:2.74 [[ 0.99549339 -0.09465599 -0.00575803 -4.47051872] [ 0.09471739 0.99543735 0.01153693 -2.3415068 ] [ 0.00463972 -0.01203032 0.99991687 2.73782676] [ 0. 0. 0. 1. ]] SLAMing on 56.72483917299999 meters Centerline goodness [0,1] 0.7823222177581358 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.34, Z:2.74 [[ 9.95399528e-01 -9.56685973e-02 -5.22481458e-03 -4.47261061e+00] [ 9.57183392e-02 9.95355311e-01 1.02861709e-02 -2.34003489e+00] [ 4.21648339e-03 -1.07389603e-02 9.99933446e-01 2.73927895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.75483917299999 meters Centerline goodness [0,1] 0.786390674597882 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.34, Z:2.74 [[ 9.95329279e-01 -9.64182786e-02 -4.81062529e-03 -4.47398507e+00] [ 9.64630671e-02 9.95284706e-01 1.01602143e-02 -2.34090118e+00] [ 3.80831140e-03 -1.05768065e-02 9.99936812e-01 2.73954411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.784839172999995 meters Centerline goodness [0,1] 0.780695942543662 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.34, Z:2.74 [[ 9.95203682e-01 -9.77278060e-02 -4.34830650e-03 -4.47586794e+00] [ 9.77665746e-02 9.95160746e-01 9.83802367e-03 -2.34031287e+00] [ 3.36581548e-03 -1.02159564e-02 9.99942151e-01 2.73992165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.814839172999996 meters Centerline goodness [0,1] 0.783157331907499 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.34, Z:2.74 [[ 9.95138563e-01 -9.83942383e-02 -4.22060277e-03 -4.47732890e+00] [ 9.84297387e-02 9.95101062e-01 9.24458738e-03 -2.33870608e+00] [ 3.29031216e-03 -9.61507823e-03 9.99948361e-01 2.74136915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.844839173 meters Centerline goodness [0,1] 0.7817102836215883 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.34, Z:2.74 [[ 9.95104303e-01 -9.87498521e-02 -3.98666432e-03 -4.47900018e+00] [ 9.87807950e-02 9.95072902e-01 8.50138140e-03 -2.33686344e+00] [ 3.12751148e-03 -8.85356708e-03 9.99955916e-01 2.74327728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.874839173 meters Centerline goodness [0,1] 0.7841662862206945 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.34, Z:2.75 [[ 9.95418652e-01 -9.55384129e-02 -3.75752699e-03 -4.48242352e+00] [ 9.55750202e-02 9.95359080e-01 1.12124199e-02 -2.33530523e+00] [ 2.66887180e-03 -1.15201777e-02 9.99930079e-01 2.74679291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.90483917299999 meters Centerline goodness [0,1] 0.7802552916464696 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.34, Z:2.75 [[ 9.95900018e-01 -9.03423462e-02 -4.62761245e-03 -4.47994006e+00] [ 9.04053418e-02 9.95777261e-01 1.59536990e-02 -2.33681262e+00] [ 3.16677665e-03 -1.63066500e-02 9.99862023e-01 2.74533192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.93483917299999 meters Centerline goodness [0,1] 0.7742109231929333 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.34, Z:2.75 [[ 9.96037637e-01 -8.88406130e-02 -4.04619962e-03 -4.48241643e+00] [ 8.88963955e-02 9.95899946e-01 1.67549691e-02 -2.33726870e+00] [ 2.54108826e-03 -1.70482724e-02 9.99851439e-01 2.74772198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.964839172999994 meters Centerline goodness [0,1] 0.7722785593243134 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.34, Z:2.76 [[ 9.96145241e-01 -8.76743337e-02 -2.80546942e-03 -4.48948737e+00] [ 8.77077533e-02 9.96022471e-01 1.57031125e-02 -2.33615091e+00] [ 1.41755066e-03 -1.58886422e-02 9.99872763e-01 2.75725803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.994839172999995 meters Centerline goodness [0,1] 0.7707168959587274 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.34, Z:2.76 [[ 9.96143911e-01 -8.76865696e-02 -2.89391685e-03 -4.49013181e+00] [ 8.77214926e-02 9.96020218e-01 1.57691295e-02 -2.33750459e+00] [ 1.49965882e-03 -1.59621810e-02 9.99871472e-01 2.75870959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.024839173 meters Centerline goodness [0,1] 0.7722343891886118 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.34, Z:2.75 [[ 9.96041314e-01 -8.87943401e-02 -4.15530653e-03 -4.48341785e+00] [ 8.88484518e-02 9.95925339e-01 1.54490142e-02 -2.34312080e+00] [ 2.76659005e-03 -1.57570489e-02 9.99872023e-01 2.75361604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.054839173 meters Centerline goodness [0,1] 0.7690734790344425 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.35, Z:2.75 [[ 9.96073959e-01 -8.84168033e-02 -4.37460468e-03 -4.48228898e+00] [ 8.84777380e-02 9.95940184e-01 1.65782760e-02 -2.34775893e+00] [ 2.89104643e-03 -1.69002441e-02 9.99853001e-01 2.75270035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.08483917299999 meters Centerline goodness [0,1] 0.762896642527979 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.35, Z:2.76 [[ 9.96095650e-01 -8.82075590e-02 -3.58923180e-03 -4.48666499e+00] [ 8.82567291e-02 9.95947934e-01 1.72760655e-02 -2.35410139e+00] [ 2.05080843e-03 -1.75253875e-02 9.99844315e-01 2.75730296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.11483917299999 meters Centerline goodness [0,1] 0.7602693251213529 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.36, Z:2.76 [[ 9.96109543e-01 -8.80496818e-02 -3.61004067e-03 -4.48742378e+00] [ 8.81001946e-02 9.95953624e-01 1.77407860e-02 -2.35777921e+00] [ 2.03336252e-03 -1.79898115e-02 9.99836103e-01 2.75888492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.144839172999994 meters Centerline goodness [0,1] 0.7589033278862864 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.37, Z:2.76 [[ 9.95957412e-01 -8.97298603e-02 -4.16967106e-03 -4.48558628e+00] [ 8.97877374e-02 9.95819269e-01 1.67971640e-02 -2.36654681e+00] [ 2.64503161e-03 -1.71036453e-02 9.99850223e-01 2.75950077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.174839172999995 meters Centerline goodness [0,1] 0.7575734137726557 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.37, Z:2.76 [[ 9.95962409e-01 -8.96652505e-02 -4.36153928e-03 -4.48538356e+00] [ 8.97295775e-02 9.95804755e-01 1.79302200e-02 -2.37180894e+00] [ 2.73552389e-03 -1.82491841e-02 9.99829728e-01 2.75971750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.204839172999996 meters Centerline goodness [0,1] 0.76343839249286 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.38, Z:2.76 [[ 9.95757696e-01 -9.18755002e-02 -5.05011111e-03 -4.48182880e+00] [ 9.19487737e-02 9.95619157e-01 1.69681252e-02 -2.37903338e+00] [ 3.46903237e-03 -1.73604928e-02 9.99843277e-01 2.75766335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.234839173 meters Centerline goodness [0,1] 0.7645970134117588 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.38, Z:2.76 [[ 9.95646328e-01 -9.30926276e-02 -4.70660680e-03 -4.48179622e+00] [ 9.31578949e-02 9.95516779e-01 1.63691419e-02 -2.38399800e+00] [ 3.16165960e-03 -1.67363337e-02 9.99854939e-01 2.75747791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.26483917299999 meters Centerline goodness [0,1] 0.7662236904672524 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.39, Z:2.76 [[ 9.94970589e-01 -1.00079602e-01 -4.19536813e-03 -4.48091203e+00] [ 1.00118633e-01 9.94920652e-01 1.04477279e-02 -2.39169039e+00] [ 3.12845395e-03 -1.08152165e-02 9.99936620e-01 2.75736658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.29483917299999 meters Centerline goodness [0,1] 0.7670410870589403 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.40, Z:2.76 [[ 9.94504247e-01 -1.04639568e-01 -3.44430924e-03 -4.48250462e+00] [ 1.04662681e-01 9.94480220e-01 7.40376996e-03 -2.39761457e+00] [ 2.65057012e-03 -7.72357131e-03 9.99966660e-01 2.75852844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.324839172999994 meters Centerline goodness [0,1] 0.769625499580599 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.40, Z:2.76 [[ 9.94380671e-01 -1.05822213e-01 -2.95655367e-03 -4.48497219e+00] [ 1.05841433e-01 9.94355831e-01 7.35336556e-03 -2.40032470e+00] [ 2.16171696e-03 -7.62497045e-03 9.99968593e-01 2.76027449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.354839172999995 meters Centerline goodness [0,1] 0.7669520716464915 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.40, Z:2.77 [[ 9.94260248e-01 -1.06971374e-01 -1.91972839e-03 -4.49174858e+00] [ 1.06983465e-01 9.94228253e-01 8.04480029e-03 -2.40437342e+00] [ 1.04808486e-03 -8.20400432e-03 9.99965797e-01 2.76579167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.384839172999996 meters Centerline goodness [0,1] 0.7675700729392823 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.41, Z:2.77 [[ 9.94244860e-01 -1.07116204e-01 -1.81012606e-03 -4.49270411e+00] [ 1.07127748e-01 9.94209490e-01 8.43416694e-03 -2.40684650e+00] [ 8.96208564e-04 -8.57954186e-03 9.99962793e-01 2.76694702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.414839173 meters Centerline goodness [0,1] 0.7672046544463108 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.41, Z:2.77 [[ 9.94363682e-01 -1.05996734e-01 -2.35781601e-03 -4.48971466e+00] [ 1.06015388e-01 9.94312504e-01 1.01677194e-02 -2.41431596e+00] [ 1.26666088e-03 -1.03603757e-02 9.99945528e-01 2.76509645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.44483917299999 meters Centerline goodness [0,1] 0.7697703772027769 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.42, Z:2.76 [[ 9.94463152e-01 -1.05045490e-01 -2.91270135e-03 -4.48735024e+00] [ 1.05072210e-01 9.94398707e-01 1.14473228e-02 -2.41699783e+00] [ 1.69389683e-03 -1.16899846e-02 9.99930235e-01 2.76328942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.47483917299999 meters Centerline goodness [0,1] 0.7686567164179104 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.42, Z:2.76 [[ 9.94493746e-01 -1.04750467e-01 -3.08696244e-03 -4.48649292e+00] [ 1.04780379e-01 9.94422211e-01 1.20639126e-02 -2.41827308e+00] [ 1.80604354e-03 -1.23209387e-02 9.99922463e-01 2.76249901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.50483917299999 meters Centerline goodness [0,1] 0.7650648912047089 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.42, Z:2.77 [[ 9.94301862e-01 -1.06576750e-01 -2.28100207e-03 -4.49028512e+00] [ 1.06596092e-01 9.94235560e-01 1.15292848e-02 -2.42102068e+00] [ 1.03909967e-03 -1.17067352e-02 9.99930934e-01 2.76526877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.534839172999995 meters Centerline goodness [0,1] 0.7637141900616959 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.43, Z:2.77 [[ 9.93447744e-01 -1.14284587e-01 -7.83291726e-04 -4.49478076e+00] [ 1.14287204e-01 9.93431245e-01 5.72687874e-03 -2.42591332e+00] [ 1.23652502e-04 -5.77887499e-03 9.99983295e-01 2.76894373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.564839172999996 meters Centerline goodness [0,1] 0.7578055841328325 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.43, Z:2.77 [[ 9.92926103e-01 -1.18733679e-01 -2.58642327e-04 -4.49491910e+00] [ 1.18733930e-01 9.92921933e-01 2.87894926e-03 -2.43008307e+00] [-8.50165974e-05 -2.88929349e-03 9.99995822e-01 2.76847368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.594839173 meters Centerline goodness [0,1] 0.7424527857580181 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.44, Z:2.77 [[ 9.91831989e-01 -1.27550652e-01 3.70450291e-04 -4.49380042e+00] [ 1.27551183e-01 9.91828750e-01 -2.53517048e-03 -2.43836263e+00] [-4.40606000e-05 2.56171455e-03 9.99996718e-01 2.76612925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.62483917299999 meters Centerline goodness [0,1] 0.7333521910284515 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.44, Z:2.77 [[ 9.91724392e-01 -1.28383914e-01 5.47697279e-04 -4.49425743e+00] [ 1.28384801e-01 9.91722127e-01 -2.13687603e-03 -2.44077124e+00] [-2.68823000e-04 2.18950809e-03 9.99997567e-01 2.76579886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.65483917299999 meters Centerline goodness [0,1] 0.7245385067607291 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.44, Z:2.77 [[ 9.91676277e-01 -1.28754512e-01 6.61152889e-04 -4.49432057e+00] [ 1.28755655e-01 9.91674005e-01 -2.15624576e-03 -2.44028347e+00] [-3.78021763e-04 2.22342494e-03 9.99997457e-01 2.76525994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.68483917299999 meters Centerline goodness [0,1] 0.6982990786676117 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.44, Z:2.77 [[ 9.91877510e-01 -1.27191688e-01 1.13080010e-03 -4.49787937e+00] [ 1.27191466e-01 9.91878148e-01 2.66205563e-04 -2.43779379e+00] [-1.15547504e-03 -1.20215189e-04 9.99999325e-01 2.76662427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.714839172999994 meters Centerline goodness [0,1] 0.7050236561184946 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.44, Z:2.77 [[ 9.91717872e-01 -1.28423338e-01 1.76340419e-03 -4.50024133e+00] [ 1.28425347e-01 9.91718594e-01 -1.07749418e-03 -2.43754819e+00] [-1.61042532e-03 1.29503603e-03 9.99997865e-01 2.76838770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.744839172999995 meters Centerline goodness [0,1] 0.7053758325404377 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.44, Z:2.77 [[ 9.91687727e-01 -1.28653579e-01 1.92588804e-03 -4.50072063e+00] [ 1.28656581e-01 9.91688034e-01 -1.52531284e-03 -2.43711645e+00] [-1.71364317e-03 1.76041219e-03 9.99996982e-01 2.76878179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.774839173 meters Centerline goodness [0,1] 0.6633921315550457 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.43, Z:2.77 [[ 9.91745999e-01 -1.28208512e-01 1.56533663e-03 -4.49896713e+00] [ 1.28210815e-01 9.91745845e-01 -1.47179711e-03 -2.43467539e+00] [-1.36371919e-03 1.66034198e-03 9.99997692e-01 2.76694492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.804839173 meters Centerline goodness [0,1] 0.705325330591358 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.43, Z:2.77 [[ 9.92188661e-01 -1.24741068e-01 1.15180672e-03 -4.49858829e+00] [ 1.24737696e-01 9.92186235e-01 2.64229797e-03 -2.43485891e+00] [-1.47240985e-03 -2.47798437e-03 9.99995846e-01 2.76556294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.83483917299999 meters Centerline goodness [0,1] 0.7192318743415382 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.43, Z:2.76 [[ 9.92771366e-01 -1.20020412e-01 3.41203309e-04 -4.49625096e+00] [ 1.20014953e-01 9.92746483e-01 7.12967578e-03 -2.43337571e+00] [-1.19443501e-03 -7.03718847e-03 9.99974525e-01 2.76272482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.86483917299999 meters Centerline goodness [0,1] 0.7281075999710753 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.43, Z:2.76 [[ 9.93182927e-01 -1.16565548e-01 3.81822624e-04 -4.49763666e+00] [ 1.16555326e-01 9.93129862e-01 1.03890707e-02 -2.43220936e+00] [-1.59020717e-03 -1.02737442e-02 9.99945959e-01 2.76313633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.894839172999994 meters Centerline goodness [0,1] 0.7377265722462758 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.42, Z:2.77 [[ 9.93771774e-01 -1.11423618e-01 1.56125359e-03 -4.50463586e+00] [ 1.11393460e-01 9.93688244e-01 1.32352155e-02 -2.42151177e+00] [-3.02611493e-03 -1.29788701e-02 9.99911192e-01 2.76866413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.924839172999995 meters Centerline goodness [0,1] 0.7359253653574176 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.41, Z:2.77 [[ 9.93878828e-01 -1.10436333e-01 2.94811522e-03 -4.51169096e+00] [ 1.10392559e-01 9.93812355e-01 1.22672603e-02 -2.41090954e+00] [-4.28462458e-03 -1.18667204e-02 9.99920408e-01 2.77438271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.954839172999996 meters Centerline goodness [0,1] 0.7332089087968148 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.41, Z:2.78 [[ 9.93711759e-01 -1.11912114e-01 3.55222987e-03 -4.51467290e+00] [ 1.11868159e-01 9.93664343e-01 1.08022549e-02 -2.40914496e+00] [-4.73862733e-03 -1.03369463e-02 9.99935344e-01 2.77678851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.984839173 meters Centerline goodness [0,1] 0.7272501181327564 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.41, Z:2.78 [[ 9.93592783e-01 -1.12947646e-01 4.02636030e-03 -4.51664578e+00] [ 1.12903169e-01 9.93556184e-01 9.94909929e-03 -2.40926717e+00] [-5.12414252e-03 -9.43076442e-03 9.99942400e-01 2.77831457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.01483917299999 meters Centerline goodness [0,1] 0.7317273883444303 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.41, Z:2.78 [[ 9.93687432e-01 -1.12128808e-01 3.52381494e-03 -4.51345350e+00] [ 1.12089319e-01 9.93648765e-01 9.90537784e-03 -2.40572937e+00] [-4.61211258e-03 -9.44786746e-03 9.99944732e-01 2.77507782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04483917299999 meters Centerline goodness [0,1] 0.7341379831678678 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.40, Z:2.77 [[ 9.94137098e-01 -1.08082897e-01 3.08498731e-03 -4.51254796e+00] [ 1.08033530e-01 9.94059671e-01 1.31956780e-02 -2.40052990e+00] [-4.49288857e-03 -1.27850310e-02 9.99908174e-01 2.77330595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.074839172999994 meters Centerline goodness [0,1] 0.752106759560462 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.39, Z:2.77 [[ 9.95490134e-01 -9.48167790e-02 3.02837818e-03 -4.51707944e+00] [ 9.47150470e-02 9.95203618e-01 2.44707555e-02 -2.38658794e+00] [-5.33409113e-03 -2.40735627e-02 9.99695959e-01 2.77490385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.104839172999995 meters Centerline goodness [0,1] 0.752106759560462 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.39, Z:2.77 [[ 9.95490134e-01 -9.48167790e-02 3.02837818e-03 -4.51707944e+00] [ 9.47150470e-02 9.95203618e-01 2.44707555e-02 -2.38658794e+00] [-5.33409113e-03 -2.40735627e-02 9.99695959e-01 2.77490385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.134839172999996 meters Centerline goodness [0,1] 0.7516108164057446 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.38, Z:2.78 [[ 9.95763192e-01 -9.18843775e-02 3.59541246e-03 -4.52081401e+00] [ 9.17686796e-02 9.95474703e-01 2.46703455e-02 -2.37704774e+00] [-5.84596149e-03 -2.42358757e-02 9.99689175e-01 2.77927648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.164839173 meters Centerline goodness [0,1] 0.7538469604424988 Centerline is valid? [False, False] Translation: X:-4.53, Y:-2.37, Z:2.79 [[ 0.99593153 -0.08996314 0.00519863 -4.52706673] [ 0.08982557 0.99570488 0.02243124 -2.3652731 ] [-0.00719429 -0.02187301 0.99973487 2.7866206 ] [ 0. 0. 0. 1. ]] SLAMing on 58.19483917299999 meters Centerline goodness [0,1] 0.7519995776469657 Centerline is valid? [False, False] Translation: X:-4.53, Y:-2.36, Z:2.79 [[ 0.99573905 -0.09203192 0.00582055 -4.52941926] [ 0.09189901 0.99556711 0.0200176 -2.36161654] [-0.00763701 -0.01939741 0.99978268 2.78794755] [ 0. 0. 0. 1. ]] SLAMing on 58.22483917299999 meters Centerline goodness [0,1] 0.7481446266804004 Centerline is valid? [False, False] Translation: X:-4.53, Y:-2.36, Z:2.79 [[ 0.99562292 -0.09324549 0.0063465 -4.53146583] [ 0.09311377 0.99548188 0.01859149 -2.35886764] [-0.0080514 -0.01791916 0.99980702 2.78909581] [ 0. 0. 0. 1. ]] SLAMing on 58.25483917299999 meters Centerline goodness [0,1] 0.7499264332147347 Centerline is valid? [False, False] Translation: X:-4.54, Y:-2.35, Z:2.79 [[ 0.99557258 -0.09360915 0.008518 -4.54093085] [ 0.09345283 0.99547513 0.01719989 -2.34621454] [-0.01008953 -0.0163277 0.99981579 2.794564 ] [ 0. 0. 0. 1. ]] SLAMing on 58.284839172999995 meters Centerline goodness [0,1] 0.751901475165787 Centerline is valid? [False, False] Translation: X:-4.54, Y:-2.34, Z:2.80 [[ 0.99576104 -0.09150398 0.00932561 -4.54499208] [ 0.09131543 0.99564151 0.01895961 -2.33941793] [-0.01101985 -0.01802767 0.99977676 2.79614974] [ 0. 0. 0. 1. ]] SLAMing on 58.314839172999996 meters Centerline goodness [0,1] 0.7517942256067496 Centerline is valid? [False, False] Translation: X:-4.55, Y:-2.33, Z:2.80 [[ 0.99597308 -0.08908536 0.01007055 -4.54839039] [ 0.08887967 0.99585535 0.01930113 -2.32729642] [-0.01174826 -0.01832834 0.999763 2.79811528] [ 0. 0. 0. 1. ]] SLAMing on 58.344839173 meters Centerline goodness [0,1] 0.7495457798821781 Centerline is valid? [False, False] Translation: X:-4.55, Y:-2.32, Z:2.80 [[ 0.99589285 -0.08991155 0.01064593 -4.55051342] [ 0.08971895 0.99581571 0.0173659 -2.32301503] [-0.01216278 -0.01633944 0.99979252 2.80003688] [ 0. 0. 0. 1. ]] SLAMing on 58.37483917299999 meters Centerline goodness [0,1] 0.743921308576481 Centerline is valid? [False, False] Translation: X:-4.56, Y:-2.32, Z:2.80 [[ 0.99565212 -0.09236036 0.01210076 -4.55572178] [ 0.09218638 0.99564018 0.01422358 -2.31766173] [-0.0133617 -0.01304621 0.99982562 2.80321291] [ 0. 0. 0. 1. ]] SLAMing on 58.40483917299999 meters Centerline goodness [0,1] 0.7416049928200596 Centerline is valid? [False, False] Translation: X:-4.56, Y:-2.32, Z:2.80 [[ 0.99552937 -0.09359264 0.01271568 -4.55788239] [ 0.09342713 0.9955407 0.0130418 -2.31501405] [-0.01387959 -0.0117955 0.9998341 2.80400189] [ 0. 0. 0. 1. ]] SLAMing on 58.43483917299999 meters Centerline goodness [0,1] 0.7368098330499735 Centerline is valid? [False, False] Translation: X:-4.55, Y:-2.31, Z:2.80 [[ 0.99545167 -0.09440234 0.01281318 -4.5549294 ] [ 0.0942537 0.99547889 0.01174821 -2.3110034 ] [-0.01386431 -0.01048709 0.99984889 2.79972283] [ 0. 0. 0. 1. ]] SLAMing on 58.464839172999994 meters Centerline goodness [0,1] 0.7408741795838569 Centerline is valid? [False, False] Translation: X:-4.55, Y:-2.31, Z:2.80 [[ 0.99556192 -0.09330826 0.01224899 -4.55109276] [ 0.09315475 0.99557246 0.01255687 -2.31048333] [-0.01336642 -0.01136009 0.99984613 2.79589681] [ 0. 0. 0. 1. ]] SLAMing on 58.494839172999995 meters Centerline goodness [0,1] 0.7467684249063617 Centerline is valid? [False, False] Translation: X:-4.55, Y:-2.30, Z:2.79 [[ 0.99598923 -0.08869285 0.01179109 -4.54788741] [ 0.08850066 0.99594874 0.01592904 -2.30346958] [-0.01315611 -0.01482163 0.9998036 2.79157687] [ 0. 0. 0. 1. ]] SLAMing on 58.524839173 meters Centerline goodness [0,1] 0.7494625480878027 Centerline is valid? [False, False] Translation: X:-4.55, Y:-2.30, Z:2.79 [[ 0.9961935 -0.08626761 0.01250617 -4.55152144] [ 0.08602616 0.99611724 0.01870699 -2.3000773 ] [-0.01407142 -0.01755993 0.99974679 2.79268156] [ 0. 0. 0. 1. ]] SLAMing on 58.554839173 meters Centerline goodness [0,1] 0.7486761942720492 Centerline is valid? [False, False] Translation: X:-4.56, Y:-2.29, Z:2.80 [[ 0.99615538 -0.08640453 0.01444672 -4.56138631] [ 0.08611695 0.99609482 0.01946741 -2.2947631 ] [-0.01607238 -0.01814846 0.99970611 2.79841149] [ 0. 0. 0. 1. ]] SLAMing on 58.58483917299999 meters Centerline goodness [0,1] 0.7480722720159341 Centerline is valid? [False, False] Translation: X:-4.56, Y:-2.30, Z:2.80 [[ 0.99610317 -0.08694569 0.01479578 -4.56303737] [ 0.08665691 0.99605409 0.01915277 -2.29521484] [-0.01640265 -0.01779598 0.99970709 2.79959363] [ 0. 0. 0. 1. ]] SLAMing on 58.61483917299999 meters Centerline goodness [0,1] 0.7388710675896224 Centerline is valid? [False, False] Translation: X:-4.56, Y:-2.30, Z:2.80 [[ 0.99578117 -0.09050332 0.01513308 -4.56241533] [ 0.0902633 0.9957917 0.01585611 -2.29892316] [-0.01650443 -0.01442325 0.99975976 2.79913747] [ 0. 0. 0. 1. ]] SLAMing on 58.644839172999994 meters Centerline goodness [0,1] 0.7402099650058324 Centerline is valid? [False, False] Translation: X:-4.56, Y:-2.30, Z:2.80 [[ 0.99554686 -0.09307644 0.01494071 -4.55920188] [ 0.09288371 0.99559058 0.0131151 -2.30191174] [-0.01609553 -0.01166895 0.99980237 2.79691471] [ 0. 0. 0. 1. ]] SLAMing on 58.674839172999995 meters Centerline goodness [0,1] 0.7376939948360588 Centerline is valid? [False, False] Translation: X:-4.56, Y:-2.30, Z:2.80 [[ 0.99556385 -0.09288542 0.01499726 -4.55891572] [ 0.09268525 0.99560348 0.01353313 -2.30304248] [-0.01618836 -0.01208307 0.99979595 2.79625153] [ 0. 0. 0. 1. ]] SLAMing on 58.704839172999996 meters Centerline goodness [0,1] 0.7420843233685142 Centerline is valid? [False, False] Translation: X:-4.56, Y:-2.30, Z:2.79 [[ 0.99569752 -0.09152883 0.01445408 -4.55618779] [ 0.09132287 0.99571837 0.01432027 -2.30351196] [-0.01570291 -0.01293867 0.99979298 2.79458157] [ 0. 0. 0. 1. ]] SLAMing on 58.734839173 meters Centerline goodness [0,1] 0.7431311133091549 Centerline is valid? [False, False] Translation: X:-4.55, Y:-2.30, Z:2.79 [[ 0.99584038 -0.09005478 0.01385926 -4.55315077] [ 0.08984655 0.99584297 0.01497897 -2.30366842] [-0.01515058 -0.01367146 0.99979175 2.79291309] [ 0. 0. 0. 1. ]] SLAMing on 58.76483917299999 meters Centerline goodness [0,1] 0.7514700225311864 Centerline is valid? [False, False] Translation: X:-4.55, Y:-2.30, Z:2.79 [[ 0.99643763 -0.08338091 0.01263595 -4.54736296] [ 0.08311104 0.99632819 0.02055942 -2.30447264] [-0.01430382 -0.019436 0.99970878 2.78849386] [ 0. 0. 0. 1. ]] SLAMing on 58.79483917299999 meters Centerline goodness [0,1] 0.7511372094946654 Centerline is valid? [False, False] Translation: X:-4.55, Y:-2.30, Z:2.79 [[ 0.99680551 -0.07891718 0.01228229 -4.54673237] [ 0.07859903 0.9966045 0.02452863 -2.30365199] [-0.01417631 -0.0234849 0.99962368 2.78813119] [ 0. 0. 0. 1. ]] SLAMing on 58.824839172999994 meters Centerline goodness [0,1] 0.7386291370586446 Centerline is valid? [False, False] Translation: X:-4.54, Y:-2.30, Z:2.79 [[ 0.99727191 -0.07288562 0.01168025 -4.54457818] [ 0.07252412 0.99694926 0.02885183 -2.30223101] [-0.0137475 -0.02792602 0.99951545 2.78795642] [ 0. 0. 0. 1. ]] SLAMing on 58.854839172999995 meters Centerline goodness [0,1] 0.7298559964823568 Centerline is valid? [False, False] Translation: X:-4.54, Y:-2.31, Z:2.79 [[ 0.99738682 -0.07134431 0.01138099 -4.54236808] [ 0.07097271 0.99701913 0.03026113 -2.30735025] [-0.01350603 -0.02937431 0.99947723 2.78695583] [ 0. 0. 0. 1. ]] SLAMing on 58.884839172999996 meters Centerline goodness [0,1] 0.7229215017064846 Centerline is valid? [False, False] Translation: X:-4.54, Y:-2.31, Z:2.79 [[ 0.99742471 -0.07083859 0.01121765 -4.54124671] [ 0.07046082 0.99702975 0.03109572 -2.30974182] [-0.0133871 -0.03022524 0.99945346 2.78594175] [ 0. 0. 0. 1. ]] SLAMing on 58.914839173 meters Centerline goodness [0,1] 0.7065965634993767 Centerline is valid? [False, False] Translation: X:-4.54, Y:-2.31, Z:2.78 [[ 0.99783826 -0.06484381 0.01068122 -4.54049557] [ 0.06460336 0.99767941 0.02149894 -2.31338651] [-0.0120505 -0.02076242 0.99971181 2.78266759] [ 0. 0. 0. 1. ]] SLAMing on 58.94483917299999 meters Centerline goodness [0,1] 0.7064027185932359 Centerline is valid? [False, False] Translation: X:-4.53, Y:-2.32, Z:2.78 [[ 0.99779907 -0.06559555 0.00970812 -4.5343293 ] [ 0.06539561 0.99766592 0.01965008 -2.31540719] [-0.01097441 -0.01897196 0.99975978 2.77922126] [ 0. 0. 0. 1. ]] SLAMing on 58.97483917299999 meters Centerline goodness [0,1] 0.6930010462215307 Centerline is valid? [False, False] Translation: X:-4.53, Y:-2.32, Z:2.78 [[ 0.99789493 -0.06422132 0.00901815 -4.53087341] [ 0.06401831 0.99772272 0.02123735 -2.31873934] [-0.0103615 -0.02061532 0.99973379 2.7766043 ] [ 0. 0. 0. 1. ]] SLAMing on 59.00483917299999 meters Centerline goodness [0,1] 0.6775168318931242 Centerline is valid? [False, False] Translation: X:-4.53, Y:-2.32, Z:2.77 [[ 9.98113662e-01 -6.12892387e-02 3.57038652e-03 -4.52758877e+00] [ 6.12594990e-02 9.98090483e-01 7.91594907e-03 -2.32385943e+00] [-4.04873129e-03 -7.68229683e-03 9.99962294e-01 2.77486199e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.034839172999995 meters Centerline goodness [0,1] 0.6831236897274633 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.33, Z:2.77 [[ 9.98020590e-01 -6.28247037e-02 2.82111401e-03 -4.52221017e+00] [ 6.28053678e-02 9.98004713e-01 6.48684192e-03 -2.32881447e+00] [-3.22301899e-03 -6.29682069e-03 9.99974981e-01 2.77099968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.064839172999996 meters Centerline goodness [0,1] 0.6814652129578791 Centerline is valid? [False, False] Translation: X:-4.52, Y:-2.33, Z:2.77 [[ 9.98075246e-01 -6.19650186e-02 2.47801871e-03 -4.52020598e+00] [ 6.19439308e-02 9.98048883e-01 7.83432586e-03 -2.33117629e+00] [-2.95863795e-03 -7.66574849e-03 9.99966241e-01 2.76896130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.094839173 meters Centerline goodness [0,1] 0.6731028405556707 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.34, Z:2.76 [[ 9.98260857e-01 -5.89424024e-02 1.02684636e-03 -4.51267240e+00] [ 5.89275870e-02 9.98201622e-01 1.10027778e-02 -2.33652909e+00] [-1.67352985e-03 -1.09231328e-02 9.99938940e-01 2.76330946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12483917299999 meters Centerline goodness [0,1] 0.6745560602932067 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.34, Z:2.76 [[ 9.98330902e-01 -5.77506369e-02 5.22926309e-04 -4.50943143e+00] [ 5.77393055e-02 9.98250387e-01 1.27411635e-02 -2.34004183e+00] [-1.25782170e-03 -1.26897039e-02 9.99918691e-01 2.76010446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.15483917299999 meters Centerline goodness [0,1] 0.6902695645495738 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.34, Z:2.76 [[ 9.98381260e-01 -5.68758211e-02 2.85353012e-05 -4.50726819e+00] [ 5.68695151e-02 9.98277791e-01 1.43982881e-02 -2.34338923e+00] [-8.47400615e-04 -1.43733582e-02 9.99896339e-01 2.75836771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.18483917299999 meters Centerline goodness [0,1] 0.692103584640898 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.35, Z:2.76 [[ 9.98352127e-01 -5.73836428e-02 3.84221513e-04 -4.50903251e+00] [ 5.73715624e-02 9.98241713e-01 1.48991762e-02 -2.34694550e+00] [-1.23851495e-03 -1.48525808e-02 9.99888927e-01 2.75952294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.214839172999994 meters Centerline goodness [0,1] 0.7070244712155127 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.36, Z:2.76 [[ 9.98104165e-01 -6.15375117e-02 1.10050229e-03 -4.51097489e+00] [ 6.15193643e-02 9.98029973e-01 1.23101856e-02 -2.35500460e+00] [-1.85587246e-03 -1.22191454e-02 9.99923621e-01 2.76102777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.244839172999995 meters Centerline goodness [0,1] 0.7207999203068187 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.36, Z:2.76 [[ 9.97941204e-01 -6.41337270e-02 4.68113335e-04 -4.50654735e+00] [ 6.41241604e-02 9.97876043e-01 1.14671526e-02 -2.36254149e+00] [-1.20255031e-03 -1.14135266e-02 9.99934140e-01 2.75672294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.274839173 meters Centerline goodness [0,1] 0.7202804131883376 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.37, Z:2.75 [[ 9.97779323e-01 -6.66064656e-02 2.83737390e-05 -4.50305658e+00] [ 6.66035312e-02 9.97739187e-01 8.97133696e-03 -2.36502960e+00] [-6.25858638e-04 -8.94952473e-03 9.99959756e-01 2.75432114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.304839173 meters Centerline goodness [0,1] 0.7282949855423473 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.37, Z:2.75 [[ 9.97548900e-01 -6.99727696e-02 5.93408680e-05 -4.50211956e+00] [ 6.99712535e-02 9.97532197e-01 5.79129407e-03 -2.36773968e+00] [-4.64427312e-04 -5.77294688e-03 9.99983229e-01 2.75420443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.33483917299999 meters Centerline goodness [0,1] 0.7359794193311282 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.37, Z:2.75 [[ 0.99750498 -0.06904966 0.01469568 -4.50459937] [ 0.06889107 0.99756312 0.01103848 -2.37426416] [-0.01542207 -0.00999854 0.99983108 2.7500703 ] [ 0. 0. 0. 1. ]] SLAMing on 59.36483917299999 meters Centerline goodness [0,1] 0.7366439451731182 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.38, Z:2.75 [[ 0.99772673 -0.0657489 0.01478043 -4.50667438] [ 0.06552689 0.99773754 0.01503449 -2.37606192] [-0.01573549 -0.01403179 0.99977773 2.75188071] [ 0. 0. 0. 1. ]] SLAMing on 59.394839172999994 meters Centerline goodness [0,1] 0.751357565676826 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.38, Z:2.75 [[ 0.99757138 -0.06820965 0.01409887 -4.50371359] [ 0.06802528 0.9975967 0.01316791 -2.38212589] [-0.01496316 -0.01217685 0.9998139 2.75120204] [ 0. 0. 0. 1. ]] SLAMing on 59.424839172999995 meters Centerline goodness [0,1] 0.7735236078355874 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.39, Z:2.75 [[ 9.96920067e-01 -7.73321853e-02 1.30427560e-02 -4.49622796e+00] [ 7.72678622e-02 9.96995928e-01 5.36631183e-03 -2.39359582e+00] [-1.34185633e-02 -4.34199808e-03 9.99900540e-01 2.74692113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.454839172999996 meters Centerline goodness [0,1] 0.780565160367235 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.40, Z:2.74 [[ 9.96713129e-01 -8.00195156e-02 1.26418116e-02 -4.49236517e+00] [ 7.99813907e-02 9.96790234e-01 3.49391300e-03 -2.40141856e+00] [-1.28808156e-02 -2.47131928e-03 9.99913985e-01 2.74425221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.484839173 meters Centerline goodness [0,1] 0.7796326029467322 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.41, Z:2.74 [[ 9.96983023e-01 -7.75260547e-02 3.81623078e-03 -4.48916296e+00] [ 7.75452546e-02 9.96975427e-01 -5.17025365e-03 -2.41122005e+00] [-3.40385894e-03 5.45058570e-03 9.99979352e-01 2.74063279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.51483917299999 meters Centerline goodness [0,1] 0.7787256103308512 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.42, Z:2.74 [[ 9.97108855e-01 -7.59289315e-02 2.95438519e-03 -4.48535337e+00] [ 7.59363349e-02 9.97109584e-01 -2.47991515e-03 -2.41687595e+00] [-2.75754848e-03 2.69709053e-03 9.99992561e-01 2.73749974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54483917299999 meters Centerline goodness [0,1] 0.7781106311829455 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.42, Z:2.74 [[ 9.97179230e-01 -7.50230800e-02 2.26305196e-03 -4.48300746e+00] [ 7.50232562e-02 9.97181784e-01 7.03358292e-06 -2.42410405e+00] [-2.25720187e-03 1.62767784e-04 9.99997439e-01 2.73589728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.574839172999994 meters Centerline goodness [0,1] 0.8047141933696556 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.44, Z:2.74 [[ 9.96695568e-01 -8.11937350e-02 2.34972175e-03 -4.48386509e+00] [ 8.12024943e-02 9.96689958e-01 -3.90934095e-03 -2.43656913e+00] [-2.02453008e-03 4.08722607e-03 9.99989598e-01 2.73931841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.604839172999995 meters Centerline goodness [0,1] 0.8136924030580619 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.44, Z:2.74 [[ 9.96440746e-01 -8.42703004e-02 2.08707680e-03 -4.48228654e+00] [ 8.42805138e-02 9.96427341e-01 -5.41747887e-03 -2.44440135e+00] [-1.62308781e-03 5.57409660e-03 9.99983147e-01 2.73886699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.634839172999996 meters Centerline goodness [0,1] 0.8114668954927288 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.46, Z:2.74 [[ 9.96273923e-01 -8.62416731e-02 8.03051432e-04 -4.47744857e+00] [ 8.62444044e-02 9.96264102e-01 -4.44316838e-03 -2.45627822e+00] [-4.16865039e-04 4.49587149e-03 9.99989807e-01 2.73545496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.664839173 meters Centerline goodness [0,1] 0.8063144301204551 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.47, Z:2.73 [[ 9.96171496e-01 -8.74197466e-02 -3.73297634e-04 -4.47220659e+00] [ 8.74171547e-02 9.96161396e-01 -4.55132868e-03 -2.46699633e+00] [ 7.69740692e-04 4.50127128e-03 9.99989573e-01 2.73324795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.69483917299999 meters Centerline goodness [0,1] 0.8076069097206803 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.47, Z:2.73 [[ 9.96241198e-01 -8.66186584e-02 -8.26100572e-04 -4.47070860e+00] [ 8.66160741e-02 9.96237910e-01 -2.77178778e-03 -2.47347518e+00] [ 1.06308125e-03 2.68981559e-03 9.99995817e-01 2.73276225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.72483917299999 meters Centerline goodness [0,1] 0.7736517317804528 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.48, Z:2.73 [[ 9.96472393e-01 -8.38993089e-02 -1.91708305e-03 -4.46714841e+00] [ 8.38998068e-02 9.96474179e-01 1.80661168e-04 -2.48160847e+00] [ 1.89516641e-03 -3.40866764e-04 9.99998146e-01 2.73222803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.75483917299999 meters Centerline goodness [0,1] 0.7589625909248354 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.48, Z:2.73 [[ 9.96572987e-01 -8.26853462e-02 -2.32697842e-03 -4.46544994e+00] [ 8.26890167e-02 9.96574228e-01 1.52786837e-03 -2.48440865e+00] [ 2.19267440e-03 -1.71504790e-03 9.99996125e-01 2.73142965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.784839172999995 meters Centerline goodness [0,1] 0.7422766849403418 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.49, Z:2.73 [[ 9.96649422e-01 -8.17484555e-02 -2.66819822e-03 -4.46516798e+00] [ 8.17562044e-02 9.96648030e-01 2.93707249e-03 -2.48931976e+00] [ 2.41915336e-03 -3.14537336e-03 9.99992127e-01 2.73281354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.814839172999996 meters Centerline goodness [0,1] 0.7566693786665525 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.49, Z:2.73 [[ 9.96631314e-01 -8.19728646e-02 -2.54427655e-03 -4.46638590e+00] [ 8.19809141e-02 9.96628635e-01 3.23942857e-03 -2.49143247e+00] [ 2.27015363e-03 -3.43709807e-03 9.99991516e-01 2.73443446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.844839173 meters Centerline goodness [0,1] 0.7958181428265065 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.50, Z:2.74 [[ 9.96162474e-01 -8.75232679e-02 -5.37937527e-05 -4.47446741e+00] [ 8.75232813e-02 9.96162415e-01 3.43632499e-04 -2.49872880e+00] [ 2.35114754e-05 -3.47022006e-04 9.99999940e-01 2.74200904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.87483917299999 meters Centerline goodness [0,1] 0.8083296014330497 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.50, Z:2.75 [[ 9.95970750e-01 -8.96779009e-02 3.73134931e-04 -4.47773789e+00] [ 8.96781176e-02 9.95970613e-01 -6.11482867e-04 -2.50259334e+00] [-3.16794926e-04 6.42481087e-04 9.99999743e-01 2.74597414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.90483917299999 meters Centerline goodness [0,1] 0.8062599808367934 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.51, Z:2.75 [[ 9.95889341e-01 -9.05724233e-02 1.02807048e-03 -4.48321330e+00] [ 9.05722286e-02 9.95889862e-01 2.34507950e-04 -2.50666081e+00] [-1.04508492e-03 -1.40429333e-04 9.99999444e-01 2.75203413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.93483917299999 meters Centerline goodness [0,1] 0.80345229270359 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.51, Z:2.75 [[ 9.95901224e-01 -9.04422969e-02 9.70933267e-04 -4.48318540e+00] [ 9.04412176e-02 9.95901184e-01 1.10331307e-03 -2.50958743e+00] [-1.06673976e-03 -1.01097845e-03 9.99998920e-01 2.75230618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.964839172999994 meters Centerline goodness [0,1] 0.8011422747829041 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.51, Z:2.75 [[ 9.95941652e-01 -8.99988931e-02 6.52430042e-04 -4.48268969e+00] [ 8.99975567e-02 9.95940269e-01 1.84927703e-03 -2.51154853e+00] [-8.16214237e-04 -1.78305491e-03 9.99998077e-01 2.75293190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.994839172999995 meters Centerline goodness [0,1] 0.8011422747829041 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.51, Z:2.75 [[ 9.95941652e-01 -8.99988931e-02 6.52430042e-04 -4.48268969e+00] [ 8.99975567e-02 9.95940269e-01 1.84927703e-03 -2.51154853e+00] [-8.16214237e-04 -1.78305491e-03 9.99998077e-01 2.75293190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.024839173 meters Centerline goodness [0,1] 0.8088996351913125 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.51, Z:2.75 [[ 9.95969447e-01 -8.96913303e-02 5.71546685e-04 -4.48277632e+00] [ 8.96897644e-02 9.95966994e-01 2.34378138e-03 -2.51329515e+00] [-7.79458504e-04 -2.28307276e-03 9.99997090e-01 2.75366485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.054839173 meters Centerline goodness [0,1] 0.813720708302407 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.51, Z:2.75 [[ 9.95981625e-01 -8.95544940e-02 7.71221977e-04 -4.48329183e+00] [ 8.95523703e-02 9.95979102e-01 2.44957887e-03 -2.51425016e+00] [-9.87491769e-04 -2.37067079e-03 9.99996702e-01 2.75443523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.08483917299999 meters Centerline goodness [0,1] 0.8142651479866199 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.51, Z:2.76 [[ 0.99572953 -0.09183502 0.00943525 -4.47996701] [ 0.09176137 0.99574918 0.00796411 -2.50896779] [-0.01012653 -0.00706431 0.99992377 2.75761778] [ 0. 0. 0. 1. ]] SLAMing on 60.11483917299999 meters Centerline goodness [0,1] 0.8095985076525205 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.51, Z:2.76 [[ 0.99563956 -0.09278644 0.00962017 -4.48223004] [ 0.09272358 0.99566876 0.00678726 -2.50710412] [-0.01020827 -0.00586565 0.99993069 2.76065909] [ 0. 0. 0. 1. ]] SLAMing on 60.144839172999994 meters Centerline goodness [0,1] 0.800004254775986 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.50, Z:2.77 [[ 0.99564517 -0.09264363 0.01038539 -4.48822928] [ 0.09256715 0.99567729 0.00761896 -2.50373702] [-0.01104635 -0.00662444 0.99991704 2.76613977] [ 0. 0. 0. 1. ]] SLAMing on 60.174839172999995 meters Centerline goodness [0,1] 0.7990803423170264 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.50, Z:2.77 [[ 0.99588721 -0.09003736 0.01009671 -4.48876775] [ 0.08992658 0.99588834 0.01093688 -2.50352973] [-0.01103992 -0.00998394 0.99988921 2.76634395] [ 0. 0. 0. 1. ]] SLAMing on 60.204839172999996 meters Centerline goodness [0,1] 0.7976039947707936 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.50, Z:2.76 [[ 0.99595806 -0.08933309 0.00933453 -4.48521101] [ 0.08923261 0.99595357 0.01067822 -2.49967766] [-0.01025067 -0.00980211 0.99989942 2.76344832] [ 0. 0. 0. 1. ]] SLAMing on 60.234839173 meters Centerline goodness [0,1] 0.8032924287034451 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.50, Z:2.76 [[ 0.99599651 -0.08894474 0.00893269 -4.48308536] [ 0.08884866 0.99598838 0.01063282 -2.49817618] [-0.00984259 -0.00979659 0.99990357 2.7615993 ] [ 0. 0. 0. 1. ]] SLAMing on 60.26483917299999 meters Centerline goodness [0,1] 0.8008259485502882 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.50, Z:2.76 [[ 0.99598912 -0.08902565 0.00895064 -4.48244517] [ 0.08893342 0.99598511 0.0102229 -2.49556484] [-0.00982481 -0.00938588 0.99990768 2.7605356 ] [ 0. 0. 0. 1. ]] SLAMing on 60.29483917299999 meters Centerline goodness [0,1] 0.800387850263651 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.49, Z:2.76 [[ 0.99618327 -0.08681793 0.00903008 -4.48238679] [ 0.08670778 0.99616213 0.01194856 -2.48813617] [-0.01003278 -0.01111998 0.99988784 2.75899609] [ 0. 0. 0. 1. ]] SLAMing on 60.324839172999994 meters Centerline goodness [0,1] 0.8023899092719629 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.48, Z:2.76 [[ 0.99635908 -0.08472215 0.00952594 -4.4856443 ] [ 0.08461074 0.99634717 0.01154701 -2.47888125] [-0.01046943 -0.01069897 0.99988796 2.76334512] [ 0. 0. 0. 1. ]] SLAMing on 60.354839172999995 meters Centerline goodness [0,1] 0.808968209704406 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.48, Z:2.77 [[ 0.99655325 -0.08237871 0.00976531 -4.48876756] [ 0.08224663 0.99652415 0.01323303 -2.47518636] [-0.01082149 -0.01238426 0.99986475 2.76661408] [ 0. 0. 0. 1. ]] SLAMing on 60.384839172999996 meters Centerline goodness [0,1] 0.8072210164586724 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.47, Z:2.77 [[ 0.9967884 -0.07952099 0.00944952 -4.49013028] [ 0.07938915 0.99675102 0.01359281 -2.46571759] [-0.01049973 -0.01279896 0.99986296 2.77005686] [ 0. 0. 0. 1. ]] SLAMing on 60.414839173 meters Centerline goodness [0,1] 0.8096987842496824 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.46, Z:2.77 [[ 0.99706428 -0.07604542 0.00893985 -4.48942222] [ 0.07588723 0.99697365 0.01687237 -2.4627256 ] [-0.01019586 -0.01614441 0.99981768 2.76932384] [ 0. 0. 0. 1. ]] SLAMing on 60.44483917299999 meters Centerline goodness [0,1] 0.8135153144458996 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.45, Z:2.77 [[ 0.99730586 -0.0728603 0.00850846 -4.48851261] [ 0.0726986 0.99719191 0.01797808 -2.45156053] [-0.00979445 -0.0173111 0.99980218 2.76893145] [ 0. 0. 0. 1. ]] SLAMing on 60.47483917299999 meters Centerline goodness [0,1] 0.8035912319199641 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.45, Z:2.77 [[ 0.99740814 -0.07154368 0.0076487 -4.48500142] [ 0.07139428 0.9972805 0.01828855 -2.44639527] [-0.00893633 -0.01769508 0.99980349 2.7662669 ] [ 0. 0. 0. 1. ]] SLAMing on 60.50483917299999 meters Centerline goodness [0,1] 0.8103250751825863 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.44, Z:2.76 [[ 0.99786085 -0.06429001 0.01185367 -4.48708965] [ 0.06412949 0.99785083 0.01345837 -2.44124549] [-0.01269344 -0.01266941 0.99983917 2.75700613] [ 0. 0. 0. 1. ]] SLAMing on 60.534839172999995 meters Centerline goodness [0,1] 0.8131073176554853 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.44, Z:2.76 [[ 0.99791732 -0.06349556 0.01137245 -4.48473323] [ 0.06334734 0.9979075 0.01295161 -2.43742643] [-0.01217102 -0.01220422 0.99985145 2.75554984] [ 0. 0. 0. 1. ]] SLAMing on 60.564839172999996 meters Centerline goodness [0,1] 0.8175667541473046 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.43, Z:2.76 [[ 0.99807983 -0.06084399 0.01160457 -4.48641796] [ 0.06067269 0.99805118 0.01458295 -2.43048403] [-0.01246924 -0.01385087 0.99982632 2.75660809] [ 0. 0. 0. 1. ]] SLAMing on 60.594839173 meters Centerline goodness [0,1] 0.8204350025290845 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.43, Z:2.76 [[ 0.99824756 -0.05800335 0.01172244 -4.48814314] [ 0.05779522 0.99817724 0.01737573 -2.42781733] [-0.01270893 -0.01666778 0.99978031 2.75773681] [ 0. 0. 0. 1. ]] SLAMing on 60.62483917299999 meters Centerline goodness [0,1] 0.8159477824593877 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.42, Z:2.76 [[ 0.99831124 -0.056705 0.01261821 -4.49364682] [ 0.05647599 0.99824491 0.01782039 -2.419874 ] [-0.01360656 -0.01707767 0.99976158 2.7623938 ] [ 0. 0. 0. 1. ]] SLAMing on 60.65483917299999 meters Centerline goodness [0,1] 0.8120173981038021 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.42, Z:2.76 [[ 0.99824836 -0.05773659 0.01291148 -4.49561169] [ 0.05751961 0.99820655 0.01658848 -2.41674284] [-0.01384608 -0.01581676 0.99977903 2.76421437] [ 0. 0. 0. 1. ]] SLAMing on 60.68483917299999 meters Centerline goodness [0,1] 0.8131363937483131 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.42, Z:2.76 [[ 0.99824902 -0.05782072 0.01247604 -4.49335742] [ 0.05760765 0.99819775 0.01681109 -2.4150079 ] [-0.01342559 -0.01606294 0.99978084 2.76168595] [ 0. 0. 0. 1. ]] SLAMing on 60.714839172999994 meters Centerline goodness [0,1] 0.8122855944124978 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.41, Z:2.76 [[ 0.99831683 -0.05672331 0.01208198 -4.48796759] [ 0.05652759 0.99827333 0.01596848 -2.40908286] [-0.0129669 -0.01525864 0.9997995 2.75613408] [ 0. 0. 0. 1. ]] SLAMing on 60.744839172999995 meters Centerline goodness [0,1] 0.8123103705545884 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.41, Z:2.75 [[ 0.99850133 -0.05330733 0.01238623 -4.48832278] [ 0.05306413 0.99840656 0.01919745 -2.40624183] [-0.01338986 -0.01851142 0.99973899 2.75484826] [ 0. 0. 0. 1. ]] SLAMing on 60.774839173 meters Centerline goodness [0,1] 0.8080451127819549 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.40, Z:2.76 [[ 0.99863114 -0.05069454 0.01288024 -4.49027736] [ 0.05041414 0.99850265 0.02123397 -2.40033997] [-0.0139374 -0.02055555 0.99969156 2.75526589] [ 0. 0. 0. 1. ]] SLAMing on 60.804839173 meters Centerline goodness [0,1] 0.8022555818029414 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.39, Z:2.76 [[ 0.99861184 -0.05067205 0.01437845 -4.49684223] [ 0.05037416 0.99852257 0.02037473 -2.38915665] [-0.01538963 -0.01962214 0.99968902 2.7595178 ] [ 0. 0. 0. 1. ]] SLAMing on 60.83483917299999 meters Centerline goodness [0,1] 0.7996175908221798 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.38, Z:2.76 [[ 0.99852536 -0.05218017 0.01497806 -4.50001709] [ 0.05190878 0.99849015 0.01796923 -2.38476315] [-0.01589308 -0.01716523 0.99972634 2.76286506] [ 0. 0. 0. 1. ]] SLAMing on 60.86483917299999 meters Centerline goodness [0,1] 0.8046772492217449 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.37, Z:2.76 [[ 0.99866205 -0.04959443 0.01464572 -4.49971524] [ 0.04932024 0.99861122 0.01852428 -2.37494859] [-0.01554408 -0.01777717 0.99972114 2.7636332 ] [ 0. 0. 0. 1. ]] SLAMing on 60.894839172999994 meters Centerline goodness [0,1] 0.8039225927763705 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.36, Z:2.76 [[ 0.99881947 -0.04720649 0.01145481 -4.48924948] [ 0.0470329 0.99878104 0.01497816 -2.36054408] [-0.01214791 -0.01442173 0.99982221 2.75737818] [ 0. 0. 0. 1. ]] SLAMing on 60.924839172999995 meters Centerline goodness [0,1] 0.7997527486979852 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.35, Z:2.76 [[ 0.99893961 -0.04442397 0.01209022 -4.49056173] [ 0.04421236 0.99887338 0.01724078 -2.35480959] [-0.0128425 -0.01668796 0.99977827 2.75661198] [ 0. 0. 0. 1. ]] SLAMing on 60.954839172999996 meters Centerline goodness [0,1] 0.793771404109589 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.34, Z:2.76 [[ 0.99898803 -0.04281972 0.01376169 -4.49563103] [ 0.04259683 0.9989626 0.01610069 -2.33922169] [-0.01443684 -0.01549819 0.99977567 2.76018665] [ 0. 0. 0. 1. ]] SLAMing on 60.984839173 meters Centerline goodness [0,1] 0.7924218792018501 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.33, Z:2.76 [[ 0.99897573 -0.04312617 0.01369768 -4.49593145] [ 0.04293025 0.99897588 0.01428945 -2.3320992 ] [-0.0142999 -0.01368677 0.99980407 2.76160346] [ 0. 0. 0. 1. ]] SLAMing on 61.01483917299999 meters Centerline goodness [0,1] 0.7907285846036999 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.32, Z:2.76 [[ 0.99895014 -0.04367313 0.01383038 -4.4961466 ] [ 0.04350749 0.99898032 0.01205921 -2.32445148] [-0.01434294 -0.01144482 0.99983163 2.76256868] [ 0. 0. 0. 1. ]] SLAMing on 61.04483917299999 meters Centerline goodness [0,1] 0.7880796508456083 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.32, Z:2.76 [[ 0.99889566 -0.04477125 0.01424738 -4.49811444] [ 0.0446264 0.99895036 0.01032735 -2.31967107] [-0.01469479 -0.00968014 0.99984517 2.76431827] [ 0. 0. 0. 1. ]] SLAMing on 61.074839172999994 meters Centerline goodness [0,1] 0.7836087966124846 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.31, Z:2.77 [[ 0.99883724 -0.04590913 0.01471458 -4.5002445 ] [ 0.04578753 0.99891507 0.00849672 -2.31461338] [-0.01508869 -0.00781309 0.99985563 2.76621125] [ 0. 0. 0. 1. ]] SLAMing on 61.104839172999995 meters Centerline goodness [0,1] 0.7809716932014359 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.31, Z:2.77 [[ 0.99874325 -0.04753531 0.01588439 -4.50376557] [ 0.04742508 0.99884851 0.00724639 -2.31246233] [-0.01621056 -0.00648396 0.99984758 2.76717405] [ 0. 0. 0. 1. ]] SLAMing on 61.134839172999996 meters Centerline goodness [0,1] 0.7799230958029943 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.31, Z:2.77 [[ 9.98556798e-01 -5.13541455e-02 1.57185620e-02 -4.50205940e+00] [ 5.13046631e-02 9.98676790e-01 3.53550639e-03 -2.31235900e+00] [-1.58793259e-02 -2.72396841e-03 9.99870205e-01 2.76565803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.164839173 meters Centerline goodness [0,1] 0.7775624402893409 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.31, Z:2.76 [[ 9.98573108e-01 -5.11061158e-02 1.54891444e-02 -4.50074960e+00] [ 5.10483748e-02 9.98687762e-01 4.10081934e-03 -2.31263373e+00] [-1.56783959e-02 -3.30427226e-03 9.99871627e-01 2.76409499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.19483917299999 meters Centerline goodness [0,1] 0.7770486424411451 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.31, Z:2.76 [[ 0.998738 -0.04777833 0.01548037 -4.50108075] [ 0.04765804 0.99883128 0.00804873 -2.31064625] [-0.01584683 -0.00730081 0.99984778 2.76296362] [ 0. 0. 0. 1. ]] SLAMing on 61.22483917299999 meters Centerline goodness [0,1] 0.775456489554203 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.31, Z:2.76 [[ 0.99875443 -0.04748899 0.01530962 -4.50015017] [ 0.0473648 0.99884255 0.00837491 -2.31053581] [-0.01568962 -0.00763934 0.99984773 2.76211202] [ 0. 0. 0. 1. ]] SLAMing on 61.25483917299999 meters Centerline goodness [0,1] 0.7746163508273716 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.31, Z:2.76 [[ 0.99867467 -0.04881821 0.01629985 -4.50393459] [ 0.04869375 0.99878214 0.00794708 -2.31236822] [-0.01666796 -0.00714284 0.99983557 2.76394476] [ 0. 0. 0. 1. ]] SLAMing on 61.284839172999995 meters Centerline goodness [0,1] 0.7739289218358225 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.31, Z:2.77 [[ 0.99866017 -0.04905382 0.01647976 -4.50521016] [ 0.0489338 0.99877304 0.0076096 -2.3129924 ] [-0.01683282 -0.00679299 0.99983524 2.76564122] [ 0. 0. 0. 1. ]] SLAMing on 61.314839172999996 meters Centerline goodness [0,1] 0.7795946129778262 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.31, Z:2.76 [[ 0.99885089 -0.04567436 0.01451727 -4.49724193] [ 0.04553825 0.99891673 0.00957228 -2.31470927] [-0.01493876 -0.00890019 0.9998488 2.7620185 ] [ 0. 0. 0. 1. ]] SLAMing on 61.344839173 meters Centerline goodness [0,1] 0.7878209671264242 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.32, Z:2.75 [[ 9.99253605e-01 -3.82811311e-02 5.17567081e-03 -4.48984841e+00] [ 3.82582328e-02 9.99257963e-01 4.45313937e-03 -2.31720082e+00] [-5.34230148e-03 -4.25180355e-03 9.99976691e-01 2.75358152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.37483917299999 meters Centerline goodness [0,1] 0.7878342718789957 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.32, Z:2.75 [[ 9.99322052e-01 -3.65701227e-02 4.25009455e-03 -4.48473214e+00] [ 3.65442540e-02 9.99313947e-01 6.01276610e-03 -2.31784015e+00] [-4.46706636e-03 -5.85337322e-03 9.99972891e-01 2.74928893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.40483917299999 meters Centerline goodness [0,1] 0.7858990063971689 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.32, Z:2.75 [[ 9.99314087e-01 -3.67786954e-02 4.32242306e-03 -4.48522740e+00] [ 3.67552337e-02 9.99309776e-01 5.38749860e-03 -2.31590490e+00] [-4.51758478e-03 -5.22493158e-03 9.99976145e-01 2.75005134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.43483917299999 meters Centerline goodness [0,1] 0.7780533674943444 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.31, Z:2.76 [[ 0.99896831 -0.04324721 0.01385656 -4.48865471] [ 0.04311449 0.99902268 0.00973828 -2.31086516] [-0.01426417 -0.00913081 0.99985657 2.75653263] [ 0. 0. 0. 1. ]] SLAMing on 61.464839172999994 meters Centerline goodness [0,1] 0.7773682070741292 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.31, Z:2.76 [[ 0.99862225 -0.04965721 0.01696356 -4.50061129] [ 0.04957161 0.99875581 0.00543035 -2.31174695] [-0.01721211 -0.00458196 0.99984136 2.76366551] [ 0. 0. 0. 1. ]] SLAMing on 61.494839172999995 meters Centerline goodness [0,1] 0.7727690395113778 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.31, Z:2.76 [[ 0.99857634 -0.0504435 0.01734229 -4.50228896] [ 0.05034672 0.99871394 0.00597295 -2.31497485] [-0.01762129 -0.00509132 0.99983177 2.76396228] [ 0. 0. 0. 1. ]] SLAMing on 61.524839173 meters Centerline goodness [0,1] 0.7717359229551735 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.32, Z:2.76 [[ 9.98415368e-01 -5.36860663e-02 1.68689046e-02 -4.49952002e+00] [ 5.36202980e-02 9.98552020e-01 4.32750878e-03 -2.32080594e+00] [-1.70768057e-02 -3.41613558e-03 9.99848345e-01 2.76091622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.554839173 meters Centerline goodness [0,1] 0.7689567430025446 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.32, Z:2.76 [[ 9.98287074e-01 -5.62120434e-02 1.62210764e-02 -4.49571498e+00] [ 5.61914867e-02 9.98418528e-01 1.72064694e-03 -2.32360894e+00] [-1.62921443e-02 -8.06213199e-04 9.99866949e-01 2.75849527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.58483917299999 meters Centerline goodness [0,1] 0.7673918240497251 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.33, Z:2.75 [[ 9.98350805e-01 -5.51461003e-02 1.59554959e-02 -4.49339729e+00] [ 5.50813572e-02 9.98471866e-01 4.46945580e-03 -2.32914529e+00] [-1.61775869e-02 -3.58323443e-03 9.99862714e-01 2.75470157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.61483917299999 meters Centerline goodness [0,1] 0.7671181740614335 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.33, Z:2.75 [[ 0.99852331 -0.05177598 0.01644557 -4.49495094] [ 0.05162863 0.9986234 0.00926184 -2.33130482] [-0.01690247 -0.0083991 0.99982186 2.75368634] [ 0. 0. 0. 1. ]] SLAMing on 61.644839172999994 meters Centerline goodness [0,1] 0.7709173454399787 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.33, Z:2.76 [[ 0.99870077 -0.04813292 0.0167331 -4.49682337] [ 0.04791574 0.99876486 0.01314703 -2.33192088] [-0.01734524 -0.01232817 0.99977355 2.75505696] [ 0. 0. 0. 1. ]] SLAMing on 61.674839172999995 meters Centerline goodness [0,1] 0.7684381923497852 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.33, Z:2.76 [[ 0.99868656 -0.0483095 0.01706885 -4.49793112] [ 0.04808451 0.99875399 0.01335499 -2.33323495] [-0.01769276 -0.0125167 0.99976512 2.75551466] [ 0. 0. 0. 1. ]] SLAMing on 61.704839172999996 meters Centerline goodness [0,1] 0.764989478731055 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.33, Z:2.76 [[ 0.99862445 -0.04941866 0.01752131 -4.50026602] [ 0.04920088 0.99870879 0.01265012 -2.3335908 ] [-0.01812384 -0.01177065 0.99976646 2.75729047] [ 0. 0. 0. 1. ]] SLAMing on 61.734839173 meters Centerline goodness [0,1] 0.7548119159811517 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.33, Z:2.75 [[ 0.99844876 -0.05292106 0.01730406 -4.49790619] [ 0.05276291 0.99856214 0.00947201 -2.33469904] [-0.01778045 -0.0085443 0.99980541 2.75485757] [ 0. 0. 0. 1. ]] SLAMing on 61.76483917299999 meters Centerline goodness [0,1] 0.7485339772335289 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.34, Z:2.75 [[ 0.9984285 -0.05322432 0.01754119 -4.49781556] [ 0.05304658 0.99853739 0.01044687 -2.33773489] [-0.01807156 -0.00949995 0.99979156 2.75310153] [ 0. 0. 0. 1. ]] SLAMing on 61.79483917299999 meters Centerline goodness [0,1] 0.743261473350086 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.34, Z:2.75 [[ 0.99825407 -0.05647915 0.01728905 -4.49566859] [ 0.05636038 0.99838393 0.00728209 -2.33909527] [-0.01767239 -0.00629496 0.99982401 2.75146908] [ 0. 0. 0. 1. ]] SLAMing on 61.824839172999994 meters Centerline goodness [0,1] 0.7247171751799795 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.34, Z:2.75 [[ 0.9981825 -0.05752897 0.0179475 -4.49665408] [ 0.05738944 0.99831823 0.00819537 -2.34174205] [-0.01838878 -0.00715048 0.99980534 2.74910261] [ 0. 0. 0. 1. ]] SLAMing on 61.854839172999995 meters Centerline goodness [0,1] 0.7301973006523863 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.34, Z:2.75 [[ 0.99819026 -0.05743402 0.01781967 -4.49593593] [ 0.0572929 0.99832265 0.00833131 -2.34049563] [-0.01826828 -0.00729529 0.99980651 2.74821015] [ 0. 0. 0. 1. ]] SLAMing on 61.884839172999996 meters Centerline goodness [0,1] 0.725340383344349 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.34, Z:2.74 [[ 0.99827555 -0.0561841 0.01700781 -4.49205414] [ 0.05602847 0.99838404 0.00949269 -2.33913392] [-0.01751367 -0.0085234 0.99981029 2.74488002] [ 0. 0. 0. 1. ]] SLAMing on 61.914839173 meters Centerline goodness [0,1] 0.725340383344349 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.34, Z:2.74 [[ 0.99827555 -0.0561841 0.01700781 -4.49205414] [ 0.05602847 0.99838404 0.00949269 -2.33913392] [-0.01751367 -0.0085234 0.99981029 2.74488002] [ 0. 0. 0. 1. ]] SLAMing on 61.94483917299999 meters Centerline goodness [0,1] 0.7316722950514531 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.34, Z:2.74 [[ 0.9984577 -0.05272296 0.01739284 -4.49309275] [ 0.05249255 0.99853075 0.01344882 -2.33770473] [-0.01807635 -0.01251509 0.99975828 2.74386798] [ 0. 0. 0. 1. ]] SLAMing on 61.97483917299999 meters Centerline goodness [0,1] 0.7409112684302975 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.34, Z:2.74 [[ 0.99848092 -0.0524046 0.01701768 -4.49225112] [ 0.05219148 0.99855589 0.012735 -2.33522191] [-0.01766048 -0.01182747 0.99977408 2.74456071] [ 0. 0. 0. 1. ]] SLAMing on 62.00483917299999 meters Centerline goodness [0,1] 0.7388089581720632 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.33, Z:2.74 [[ 0.99849508 -0.05222747 0.01672945 -4.49143521] [ 0.05202724 0.99857128 0.01218871 -2.33292096] [-0.01734214 -0.01129998 0.99978576 2.74470353] [ 0. 0. 0. 1. ]] SLAMing on 62.034839172999995 meters Centerline goodness [0,1] 0.7530096254390434 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.33, Z:2.74 [[ 0.99867514 -0.04881701 0.01627444 -4.48786705] [ 0.04857881 0.99871082 0.01472371 -2.33035679] [-0.01697223 -0.01391361 0.99975915 2.74161082] [ 0. 0. 0. 1. ]] SLAMing on 62.064839172999996 meters Centerline goodness [0,1] 0.7558049016186617 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.33, Z:2.74 [[ 0.99870816 -0.04822153 0.01602146 -4.48688532] [ 0.04799256 0.99874416 0.01438079 -2.32997323] [-0.01669481 -0.01359331 0.99976823 2.74197657] [ 0. 0. 0. 1. ]] SLAMing on 62.094839173 meters Centerline goodness [0,1] 0.7548501355086269 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.33, Z:2.74 [[ 0.99871183 -0.04810519 0.01614204 -4.48724793] [ 0.04787008 0.99874615 0.01464889 -2.33166012] [-0.01682649 -0.0138573 0.99976239 2.74223562] [ 0. 0. 0. 1. ]] SLAMing on 62.12483917299999 meters Centerline goodness [0,1] 0.7469056764831412 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.33, Z:2.74 [[ 0.99852119 -0.05185211 0.01633369 -4.48770529] [ 0.05167682 0.99860352 0.01097765 -2.33403769] [-0.01688009 -0.01011734 0.99980633 2.74334813] [ 0. 0. 0. 1. ]] SLAMing on 62.15483917299999 meters Centerline goodness [0,1] 0.7437486699297723 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.34, Z:2.74 [[ 0.99848101 -0.05242711 0.01694319 -4.48954521] [ 0.0522331 0.99856641 0.01169705 -2.33713469] [-0.01753214 -0.01079428 0.99978803 2.74331675] [ 0. 0. 0. 1. ]] SLAMing on 62.18483917299999 meters Centerline goodness [0,1] 0.7074341163370275 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.34, Z:2.75 [[ 0.99819614 -0.05743908 0.0174702 -4.49255335] [ 0.05730981 0.99832587 0.00781297 -2.34036918] [-0.01788972 -0.00679766 0.99981686 2.746171 ] [ 0. 0. 0. 1. ]] SLAMing on 62.214839172999994 meters Centerline goodness [0,1] 0.6785902711828637 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.34, Z:2.75 [[ 0.99811174 -0.05866087 0.0182168 -4.49577827] [ 0.05851645 0.99825142 0.00836266 -2.34469007] [-0.01867551 -0.00728088 0.99979909 2.74749676] [ 0. 0. 0. 1. ]] SLAMing on 62.244839172999995 meters Centerline goodness [0,1] 0.6006240658677924 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.35, Z:2.75 [[ 9.97750161e-01 -6.39722048e-02 2.00542583e-02 -4.50433004e+00] [ 6.38726755e-02 9.97942537e-01 5.56550454e-03 -2.35119333e+00] [-2.03690350e-02 -4.27206392e-03 9.99783402e-01 2.75386192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.274839173 meters Centerline goodness [0,1] 0.7168802578819089 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.36, Z:2.75 [[ 0.99767606 -0.06503393 0.02032401 -4.50562798] [ 0.06491981 0.99787106 0.00622611 -2.35679625] [-0.02068565 -0.00489221 0.99977406 2.75406224] [ 0. 0. 0. 1. ]] SLAMing on 62.304839173 meters Centerline goodness [0,1] 0.5139611560455413 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.37, Z:2.75 [[ 9.97313289e-01 -7.08407413e-02 1.86492106e-02 -4.49853370e+00] [ 7.07657706e-02 9.97482119e-01 4.65055859e-03 -2.36979185e+00] [-1.89317031e-02 -3.31833813e-03 9.99815273e-01 2.74559990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.33483917299999 meters Centerline goodness [0,1] 0.5066035321218326 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.38, Z:2.74 [[ 9.97160754e-01 -7.31303015e-02 1.79552103e-02 -4.49400439e+00] [ 7.30795440e-02 9.97320086e-01 3.46782014e-03 -2.37622746e+00] [-1.81606946e-02 -2.14581557e-03 9.99832778e-01 2.74163624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.36483917299999 meters Centerline goodness [0,1] 0.6576441611862986 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.38, Z:2.74 [[ 9.97249010e-01 -7.23695137e-02 1.60332790e-02 -4.48424264e+00] [ 7.23241298e-02 9.97375408e-01 3.39335178e-03 -2.38286353e+00] [-1.62367734e-02 -2.22442374e-03 9.99865701e-01 2.73612709e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.394839172999994 meters Centerline goodness [0,1] 0.6996498706043538 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.38, Z:2.74 [[ 0.99756525 -0.06789862 0.01591714 -4.48554335] [ 0.06778566 0.99767147 0.00753294 -2.38498554] [-0.01639155 -0.00643565 0.99984494 2.73842366] [ 0. 0. 0. 1. ]] SLAMing on 62.424839172999995 meters Centerline goodness [0,1] 0.6739406887430693 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.39, Z:2.74 [[ 0.99775279 -0.06501128 0.01621431 -4.48867065] [ 0.0648405 0.9978367 0.01084544 -2.38760057] [-0.01688431 -0.00976972 0.99980972 2.74142726] [ 0. 0. 0. 1. ]] SLAMing on 62.454839172999996 meters Centerline goodness [0,1] 0.7142712216896193 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.39, Z:2.74 [[ 0.99781796 -0.06413497 0.01568547 -4.48853115] [ 0.06395756 0.99788564 0.01156237 -2.39063955] [-0.01639386 -0.01053393 0.99981012 2.74353709] [ 0. 0. 0. 1. ]] SLAMing on 62.484839173 meters Centerline goodness [0,1] 0.7123384491114702 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.39, Z:2.74 [[ 0.99787425 -0.06338847 0.01512882 -4.48703416] [ 0.06320492 0.99792456 0.01231734 -2.39165463] [-0.0158782 -0.01133494 0.99980968 2.74316625] [ 0. 0. 0. 1. ]] SLAMing on 62.51483917299999 meters Centerline goodness [0,1] 0.7314346150940545 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.39, Z:2.74 [[ 0.99814292 -0.05912705 0.01465258 -4.48719993] [ 0.05888357 0.99812806 0.01652579 -2.39236344] [-0.01560227 -0.01563231 0.99975607 2.74443617] [ 0. 0. 0. 1. ]] SLAMing on 62.54483917299999 meters Centerline goodness [0,1] 0.7433367729595046 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.39, Z:2.75 [[ 0.99837481 -0.05508651 0.01460168 -4.48800784] [ 0.05478 0.99828551 0.02062003 -2.39409447] [-0.01571253 -0.01978664 0.99968075 2.74532695] [ 0. 0. 0. 1. ]] SLAMing on 62.574839172999994 meters Centerline goodness [0,1] 0.7530935613682093 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.40, Z:2.74 [[ 0.99856449 -0.04880872 0.02206062 -4.49742397] [ 0.04841392 0.99866354 0.01808954 -2.39572227] [-0.02291406 -0.01699554 0.99959297 2.74190182] [ 0. 0. 0. 1. ]] SLAMing on 62.604839172999995 meters Centerline goodness [0,1] 0.7560171198388721 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.39, Z:2.74 [[ 0.9985866 -0.04846783 0.02180984 -4.49653958] [ 0.04808085 0.99868248 0.0179316 -2.3948946 ] [-0.02265021 -0.01685762 0.99960131 2.74167507] [ 0. 0. 0. 1. ]] SLAMing on 62.634839172999996 meters Centerline goodness [0,1] 0.757845503922752 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.39, Z:2.74 [[ 0.9985839 -0.04850356 0.02185397 -4.49726804] [ 0.04813216 0.99869267 0.01721182 -2.39414699] [-0.02266023 -0.01613556 0.999613 2.74328905] [ 0. 0. 0. 1. ]] SLAMing on 62.664839173 meters Centerline goodness [0,1] 0.7605594758064516 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.39, Z:2.75 [[ 0.9985573 -0.04896508 0.02203935 -4.4995402 ] [ 0.04861542 0.9986873 0.01613119 -2.39312839] [-0.02280029 -0.01503647 0.99962696 2.74664759] [ 0. 0. 0. 1. ]] SLAMing on 62.69483917299999 meters Centerline goodness [0,1] 0.7688199133326615 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.39, Z:2.75 [[ 0.99861676 -0.04732537 0.02291007 -4.50591554] [ 0.04692483 0.9987413 0.01771637 -2.39197295] [-0.02371967 -0.01661681 0.99958054 2.7532566 ] [ 0. 0. 0. 1. ]] SLAMing on 62.72483917299999 meters Centerline goodness [0,1] 0.7673137856460293 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.39, Z:2.76 [[ 0.99859067 -0.04773775 0.02319018 -4.50765781] [ 0.04734988 0.99873375 0.01699648 -2.3906508 ] [-0.02397219 -0.01587447 0.99958658 2.75518273] [ 0. 0. 0. 1. ]] SLAMing on 62.75483917299999 meters Centerline goodness [0,1] 0.7598497643114618 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.39, Z:2.76 [[ 0.99854563 -0.04837978 0.0237911 -4.51059225] [ 0.04800346 0.99871672 0.01614262 -2.38972008] [-0.02454155 -0.01497709 0.99958661 2.7580434 ] [ 0. 0. 0. 1. ]] SLAMing on 62.784839172999995 meters Centerline goodness [0,1] 0.7626931011925728 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.39, Z:2.76 [[ 0.99857254 -0.04797086 0.02348769 -4.50961948] [ 0.04757823 0.99872285 0.01699944 -2.39339033] [-0.02427317 -0.01585767 0.99957959 2.75766891] [ 0. 0. 0. 1. ]] SLAMing on 62.814839172999996 meters Centerline goodness [0,1] 0.7596628959843488 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.40, Z:2.76 [[ 0.99860727 -0.04741453 0.02313819 -4.50865003] [ 0.04701432 0.99874012 0.01754499 -2.3963889 ] [-0.02394092 -0.01643273 0.99957831 2.75777942] [ 0. 0. 0. 1. ]] SLAMing on 62.844839173 meters Centerline goodness [0,1] 0.7639436760373496 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.40, Z:2.76 [[ 0.99866129 -0.04643486 0.02279114 -4.5075495 ] [ 0.04603183 0.99877956 0.01790117 -2.39887482] [-0.02359456 -0.01682808 0.99957997 2.75826701] [ 0. 0. 0. 1. ]] SLAMing on 62.87483917299999 meters Centerline goodness [0,1] 0.77083751757381 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.40, Z:2.76 [[ 0.99867883 -0.04614723 0.02260581 -4.50709273] [ 0.04575512 0.99879823 0.01756618 -2.39693875] [-0.02338927 -0.01650864 0.99959012 2.75851579] [ 0. 0. 0. 1. ]] SLAMing on 62.90483917299999 meters Centerline goodness [0,1] 0.7765050949455106 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.39, Z:2.76 [[ 0.99889252 -0.04176656 0.02166289 -4.50490711] [ 0.04130939 0.99892276 0.0211391 -2.39275893] [-0.02252246 -0.02022081 0.99954182 2.75784436] [ 0. 0. 0. 1. ]] SLAMing on 62.93483917299999 meters Centerline goodness [0,1] 0.7813842964760604 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.39, Z:2.76 [[ 0.99896392 -0.04052058 0.02071655 -4.50112767] [ 0.04007262 0.99896329 0.02159941 -2.39242333] [-0.0215703 -0.02074687 0.99955204 2.7558293 ] [ 0. 0. 0. 1. ]] SLAMing on 62.964839172999994 meters Centerline goodness [0,1] 0.7875063355296503 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.39, Z:2.76 [[ 0.99928015 -0.03432167 0.01616213 -4.50059463] [ 0.03416256 0.99936606 0.01001984 -2.39152046] [-0.01649578 -0.00946049 0.99981918 2.75590325] [ 0. 0. 0. 1. ]] SLAMing on 62.994839172999995 meters Centerline goodness [0,1] 0.7831083823827887 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.39, Z:2.76 [[ 0.99929547 -0.033952 0.01599456 -4.49971122] [ 0.03379634 0.99937967 0.00990392 -2.39067049] [-0.0163209 -0.00935639 0.99982303 2.75547673] [ 0. 0. 0. 1. ]] SLAMing on 63.024839173 meters Centerline goodness [0,1] 0.782919871631603 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.39, Z:2.76 [[ 0.99930495 -0.03299271 0.0173519 -4.50648557] [ 0.03280182 0.99939942 0.01117342 -2.38659586] [-0.01771012 -0.01059649 0.99978701 2.76038813] [ 0. 0. 0. 1. ]] SLAMing on 63.054839173 meters Centerline goodness [0,1] 0.778492482834316 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.39, Z:2.76 [[ 0.99924913 -0.03440154 0.01782424 -4.50988587] [ 0.03422629 0.99936362 0.01004552 -2.38539792] [-0.01815848 -0.00942792 0.99979067 2.76366938] [ 0. 0. 0. 1. ]] SLAMing on 63.08483917299999 meters Centerline goodness [0,1] 0.7809225918014444 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.39, Z:2.76 [[ 0.99927673 -0.03383831 0.01734877 -4.50793034] [ 0.03364962 0.99937255 0.01105512 -2.3877291 ] [-0.01771197 -0.01046334 0.99978838 2.76211338] [ 0. 0. 0. 1. ]] SLAMing on 63.11483917299999 meters Centerline goodness [0,1] 0.7852123434158265 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.39, Z:2.76 [[ 0.99950669 -0.03021155 0.00858189 -4.50925434] [ 0.03017074 0.99953302 0.00484505 -2.39030758] [-0.00872426 -0.00458374 0.99995144 2.75804269] [ 0. 0. 0. 1. ]] SLAMing on 63.144839172999994 meters Centerline goodness [0,1] 0.7880917347404739 Centerline is valid? [False, False] Translation: X:-4.51, Y:-2.39, Z:2.75 [[ 0.99955057 -0.02893073 0.00785314 -4.50546143] [ 0.02888072 0.99956232 0.0064085 -2.39329997] [-0.00803511 -0.00617881 0.99994863 2.75477442] [ 0. 0. 0. 1. ]] SLAMing on 63.174839172999995 meters Centerline goodness [0,1] 0.790142404267096 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.40, Z:2.75 [[ 9.99650010e-01 -2.64532612e-02 -2.85659177e-04 -4.50302856e+00] [ 2.64509790e-02 9.99630825e-01 -6.20967686e-03 -2.39822266e+00] [ 4.49819922e-04 6.19994757e-03 9.99980679e-01 2.75441027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.204839172999996 meters Centerline goodness [0,1] 0.7919935828340812 Centerline is valid? [False, False] Translation: X:-4.50, Y:-2.40, Z:2.75 [[ 9.99695454e-01 -2.46589429e-02 -9.67625562e-04 -4.49909477e+00] [ 2.46553437e-02 9.99689636e-01 -3.57024847e-03 -2.40428206e+00] [ 1.05536380e-03 3.54530403e-03 9.99993158e-01 2.75070523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.234839173 meters Centerline goodness [0,1] 0.7985149008272701 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.41, Z:2.75 [[ 9.99755569e-01 -2.19983066e-02 -2.20826491e-03 -4.49372994e+00] [ 2.19982953e-02 9.99758008e-01 -2.93993710e-05 -2.41073605e+00] [ 2.20837727e-03 -1.91858787e-05 9.99997561e-01 2.74663652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.26483917299999 meters Centerline goodness [0,1] 0.8048458588575128 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.41, Z:2.74 [[ 9.99851365e-01 -1.70249655e-02 -2.72010906e-03 -4.49157882e+00] [ 1.70412564e-02 9.99836286e-01 6.08253600e-03 -2.41487740e+00] [ 2.61610878e-03 -6.12798599e-03 9.99977802e-01 2.74422949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.29483917299999 meters Centerline goodness [0,1] 0.8103538175046555 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.42, Z:2.74 [[ 9.99926967e-01 -1.15105005e-02 -3.68354019e-03 -4.48843890e+00] [ 1.15529758e-02 9.99864512e-01 1.17254262e-02 -2.41697651e+00] [ 3.54807560e-03 -1.17671257e-02 9.99924470e-01 2.74260101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.324839172999994 meters Centerline goodness [0,1] 0.811160825254785 Centerline is valid? [False, False] Translation: X:-4.49, Y:-2.42, Z:2.74 [[ 9.99932910e-01 -1.08187946e-02 -4.13879683e-03 -4.48737596e+00] [ 1.08685380e-02 9.99866615e-01 1.21912879e-02 -2.41796263e+00] [ 4.00634973e-03 -1.22354526e-02 9.99917118e-01 2.74282682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.354839172999995 meters Centerline goodness [0,1] 0.8086917894425113 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.42, Z:2.74 [[ 0.99991046 -0.0121809 -0.00554066 -4.48224387] [ 0.01223965 0.99986788 0.01069679 -2.42498057] [ 0.00540963 -0.01076365 0.99992744 2.7409621 ] [ 0. 0. 0. 1. ]] SLAMing on 63.384839172999996 meters Centerline goodness [0,1] 0.8116803379340832 Centerline is valid? [False, False] Translation: X:-4.48, Y:-2.43, Z:2.74 [[ 0.99987596 -0.01424093 -0.00672739 -4.47724565] [ 0.01429747 0.99986223 0.00843257 -2.4278218 ] [ 0.00660638 -0.00852771 0.99994182 2.73823383] [ 0. 0. 0. 1. ]] SLAMing on 63.414839173 meters Centerline goodness [0,1] 0.7934347281259981 Centerline is valid? [False, False] Translation: X:-4.47, Y:-2.43, Z:2.73 [[ 9.99812617e-01 -9.29122796e-03 -1.69824689e-02 -4.46997643e+00] [ 9.34725114e-03 9.99951121e-01 3.22248838e-03 -2.42956122e+00] [ 1.69516979e-02 -3.38062394e-03 9.99850594e-01 2.72888746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.44483917299999 meters Centerline goodness [0,1] 0.7820216428922775 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.43, Z:2.72 [[ 0.99981139 -0.00725372 -0.01801554 -4.46430989] [ 0.00734524 0.99996043 0.00501911 -2.43023833] [ 0.01797842 -0.00515049 0.99982511 2.72439249] [ 0. 0. 0. 1. ]] SLAMing on 63.47483917299999 meters Centerline goodness [0,1] 0.7357001005222252 Centerline is valid? [False, False] Translation: X:-4.46, Y:-2.43, Z:2.72 [[ 9.99658856e-01 -1.61793686e-03 -2.60682584e-02 -4.45794643e+00] [ 1.48688218e-03 9.99986164e-01 -5.04596536e-03 -2.43331339e+00] [ 2.60760618e-02 5.00548353e-03 9.99647430e-01 2.72041192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.50483917299999 meters Centerline goodness [0,1] 0.7091798068695758 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.44, Z:2.72 [[ 9.99622998e-01 2.51672448e-03 -2.73409455e-02 -4.45041689e+00] [-2.56352592e-03 9.99995308e-01 -1.67685486e-03 -2.43771438e+00] [ 2.73365970e-02 1.74631190e-03 9.99624760e-01 2.71522117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.534839172999995 meters Centerline goodness [0,1] 0.6988759661570721 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.44, Z:2.71 [[ 9.99571456e-01 5.04402937e-03 -2.88350858e-02 -4.44381349e+00] [-5.04075821e-03 9.99987278e-01 1.86133458e-04 -2.43750428e+00] [ 2.88356578e-02 -4.07029958e-05 9.99584165e-01 2.71132683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.564839172999996 meters Centerline goodness [0,1] 0.6853040249809447 Centerline is valid? [False, False] Translation: X:-4.43, Y:-2.44, Z:2.70 [[ 9.99134530e-01 1.36915597e-02 -3.92776336e-02 -4.43214967e+00] [-1.38040931e-02 9.99901351e-01 -2.59529301e-03 -2.44223343e+00] [ 3.92382253e-02 3.13523897e-03 9.99224966e-01 2.69881841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.594839173 meters Centerline goodness [0,1] 0.6679215762968758 Centerline is valid? [False, False] Translation: X:-4.42, Y:-2.44, Z:2.69 [[ 9.99048288e-01 1.65250226e-02 -4.03663388e-02 -4.42266199e+00] [-1.65816114e-02 9.99861946e-01 -1.06745261e-03 -2.44177366e+00] [ 4.03431264e-02 1.73577565e-03 9.99184377e-01 2.69098090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62483917299999 meters Centerline goodness [0,1] 0.662272906793049 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.44, Z:2.68 [[ 0.99864761 0.02672575 -0.04459457 -4.41379392] [-0.02706287 0.99960941 -0.00697295 -2.43651302] [ 0.0443908 0.00817037 0.99898083 2.68006553] [ 0. 0. 0. 1. ]] SLAMing on 63.65483917299999 meters Centerline goodness [0,1] 0.6511275957029796 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.44, Z:2.68 [[ 0.99859229 0.02815293 -0.04495391 -4.40978905] [-0.02846362 0.99957506 -0.00628605 -2.43502573] [ 0.04475783 0.00755676 0.99896928 2.67637886] [ 0. 0. 0. 1. ]] SLAMing on 63.68483917299999 meters Centerline goodness [0,1] 0.6463074548080274 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.43, Z:2.67 [[ 0.99858239 0.02829632 -0.04508358 -4.40703925] [-0.02865338 0.9995628 -0.00729323 -2.42837105] [ 0.0448575 0.00857469 0.9989566 2.67386374] [ 0. 0. 0. 1. ]] SLAMing on 63.714839172999994 meters Centerline goodness [0,1] 0.6458040906356527 Centerline is valid? [False, False] Translation: X:-4.41, Y:-2.43, Z:2.67 [[ 0.99859459 0.02785873 -0.04508593 -4.40663093] [-0.02824036 0.99957034 -0.00784953 -2.42510828] [ 0.04484788 0.00911174 0.99895227 2.67339485] [ 0. 0. 0. 1. ]] SLAMing on 63.744839172999995 meters Centerline goodness [0,1] 0.6483580134985394 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.42, Z:2.67 [[ 9.98851987e-01 2.39458103e-02 -4.14886254e-02 -4.39581137e+00] [-2.38617532e-02 9.99712091e-01 2.52012459e-03 -2.42268075e+00] [ 4.15370269e-02 -1.52724012e-03 9.99135798e-01 2.66686169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.774839173 meters Centerline goodness [0,1] 0.6482704322649464 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.42, Z:2.67 [[ 9.98856960e-01 2.35426717e-02 -4.15994652e-02 -4.39541841e+00] [-2.34713330e-02 9.99722084e-01 2.20254085e-03 -2.42122626e+00] [ 4.16397578e-02 -1.22362835e-03 9.99131940e-01 2.66649896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.804839173 meters Centerline goodness [0,1] 0.6482704322649464 Centerline is valid? [False, False] Translation: X:-4.40, Y:-2.42, Z:2.67 [[ 9.98856960e-01 2.35426717e-02 -4.15994652e-02 -4.39541841e+00] [-2.34713330e-02 9.99722084e-01 2.20254085e-03 -2.42122626e+00] [ 4.16397578e-02 -1.22362835e-03 9.99131940e-01 2.66649896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.83483917299999 meters Centerline goodness [0,1] 0.6295836080539636 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.42, Z:2.66 [[ 9.98820429e-01 2.41288932e-02 -4.21372434e-02 -4.39196577e+00] [-2.40358359e-02 9.99707414e-01 2.71374022e-03 -2.41796607e+00] [ 4.21903942e-02 -1.69773530e-03 9.99108146e-01 2.66359824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.86483917299999 meters Centerline goodness [0,1] 0.6569889715311619 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.42, Z:2.66 [[ 9.98815960e-01 2.40587778e-02 -4.22830128e-02 -4.39140667e+00] [-2.39880609e-02 9.99709870e-01 2.17911389e-03 -2.41566105e+00] [ 4.23231721e-02 -1.16224624e-03 9.99103297e-01 2.66358087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.894839172999994 meters Centerline goodness [0,1] 0.6447637031744411 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.42, Z:2.65 [[ 9.99251706e-01 2.57563384e-02 -2.88554951e-02 -4.38774965e+00] [-2.56211453e-02 9.99658993e-01 5.04521530e-03 -2.41671275e+00] [ 2.89756014e-02 -4.30212917e-03 9.99570861e-01 2.65472019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.924839172999995 meters Centerline goodness [0,1] 0.6370221431701595 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.41, Z:2.66 [[ 9.99254430e-01 2.55942918e-02 -2.89053011e-02 -4.38771908e+00] [-2.55050123e-02 9.99668730e-01 3.45322840e-03 -2.41067960e+00] [ 2.89841085e-02 -2.71342372e-03 9.99576190e-01 2.65606368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.954839172999996 meters Centerline goodness [0,1] 0.636209072876684 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.41, Z:2.65 [[ 9.99221928e-01 2.61324906e-02 -2.95403433e-02 -4.38512706e+00] [-2.60412426e-02 9.99654849e-01 3.46950150e-03 -2.40922478e+00] [ 2.96208142e-02 -2.69753473e-03 9.99557567e-01 2.65487452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.984839173 meters Centerline goodness [0,1] 0.628387232035222 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.41, Z:2.65 [[ 9.99195882e-01 2.64959106e-02 -3.00924459e-02 -4.38196785e+00] [-2.64189224e-02 9.99646597e-01 2.95317759e-03 -2.40583974e+00] [ 3.01600583e-02 -2.15579290e-03 9.99542757e-01 2.65288434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.014839173 meters Centerline goodness [0,1] 0.6364307367866087 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.41, Z:2.65 [[ 9.99192110e-01 2.64065678e-02 -3.02955666e-02 -4.38126374e+00] [-2.63350693e-02 9.99649371e-01 2.75668684e-03 -2.40502191e+00] [ 3.03577388e-02 -1.95662389e-03 9.99537183e-01 2.65268121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.044839173 meters Centerline goodness [0,1] 0.5988813845504433 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.40, Z:2.65 [[ 9.99091184e-01 2.81355445e-02 -3.20187142e-02 -4.37431033e+00] [-2.80267457e-02 9.99599791e-01 3.84181094e-03 -2.40427593e+00] [ 3.21139915e-02 -2.94093908e-03 9.99479886e-01 2.64918372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.074839173 meters Centerline goodness [0,1] 0.6283457889436582 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.40, Z:2.65 [[ 9.99022069e-01 2.93629411e-02 -3.30563643e-02 -4.37069598e+00] [-2.92489015e-02 9.99564440e-01 3.92825014e-03 -2.40191169e+00] [ 3.31573113e-02 -2.95754624e-03 9.99445769e-01 2.64860331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.104839173 meters Centerline goodness [0,1] 0.605571266220895 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.40, Z:2.65 [[ 0.99882162 0.0346536 -0.03397794 -4.36932525] [-0.03438408 0.99937268 0.00848476 -2.40468064] [ 0.03425066 -0.00730646 0.99938657 2.65111081] [ 0. 0. 0. 1. ]] SLAMing on 64.134839173 meters Centerline goodness [0,1] 0.6049090095072556 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.41, Z:2.65 [[ 0.99872494 0.03634276 -0.03503844 -4.36615401] [-0.03602002 0.99930303 0.0097989 -2.40888757] [ 0.03537014 -0.00852432 0.99933793 2.65098619] [ 0. 0. 0. 1. ]] SLAMing on 64.164839173 meters Centerline goodness [0,1] 0.552299605781866 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.42, Z:2.65 [[ 0.9985403 0.03978152 -0.03653358 -4.35950693] [-0.03936752 0.99915295 0.01198269 -2.41970557] [ 0.03697932 -0.01052696 0.99926058 2.64927774] [ 0. 0. 0. 1. ]] SLAMing on 64.194839173 meters Centerline goodness [0,1] 0.6061107608238756 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.42, Z:2.65 [[ 0.99853973 0.03875645 -0.03763431 -4.35520304] [-0.03842785 0.99921701 0.00941615 -2.42106122] [ 0.03796978 -0.0079562 0.99924721 2.64857924] [ 0. 0. 0. 1. ]] SLAMing on 64.224839173 meters Centerline goodness [0,1] 0.5824073354573005 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.43, Z:2.65 [[ 0.99852214 0.03855472 -0.03830226 -4.35619453] [-0.03826613 0.99923361 0.0082396 -2.42959936] [ 0.03859058 -0.00676174 0.99923223 2.65368089] [ 0. 0. 0. 1. ]] SLAMing on 64.25483917300001 meters Centerline goodness [0,1] 0.60282252900648 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.43, Z:2.66 [[ 9.98609464e-01 3.55409052e-02 -3.89356187e-02 -4.35719307e+00] [-3.53835790e-02 9.99362647e-01 4.72257222e-03 -2.43484474e+00] [ 3.90786475e-02 -3.33832378e-03 9.99230561e-01 2.65760149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.284839173 meters Centerline goodness [0,1] 0.6051625239005736 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.45, Z:2.65 [[ 0.99909377 0.03378459 -0.02588887 -4.356533 ] [-0.03361391 0.99941038 0.00700025 -2.44886229] [ 0.02611011 -0.00612368 0.99964032 2.65477062] [ 0. 0. 0. 1. ]] SLAMing on 64.314839173 meters Centerline goodness [0,1] 0.6081900656608692 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.45, Z:2.66 [[ 9.99159283e-01 3.10418921e-02 -2.67792568e-02 -4.35570726e+00] [-3.09524578e-02 9.99513831e-01 3.74786064e-03 -2.44885513e+00] [ 2.68825783e-02 -2.91582593e-03 9.99634346e-01 2.65688743e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.344839173 meters Centerline goodness [0,1] 0.5980918306499702 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.46, Z:2.66 [[ 9.99207140e-01 2.82547750e-02 -2.80492109e-02 -4.35489526e+00] [-2.82053703e-02 9.99599825e-01 2.15552311e-03 -2.45706334e+00] [ 2.80988901e-02 -1.36267570e-03 9.99604219e-01 2.65902317e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.374839173 meters Centerline goodness [0,1] 0.5555856099540168 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.47, Z:2.66 [[ 9.99244937e-01 2.59557984e-02 -2.89110994e-02 -4.35435533e+00] [-2.59362395e-02 9.99663046e-01 1.05137857e-03 -2.46929269e+00] [ 2.89286470e-02 -3.00739514e-04 9.99581434e-01 2.66056409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.404839173 meters Centerline goodness [0,1] 0.5711069145845439 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.47, Z:2.66 [[ 9.99267411e-01 2.37533510e-02 -3.00069975e-02 -4.35100786e+00] [-2.37966486e-02 9.99716229e-01 -1.08657739e-03 -2.47454283e+00] [ 2.99726725e-02 1.79984734e-03 9.99549098e-01 2.65959396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.434839173 meters Centerline goodness [0,1] 0.5581483860225029 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.49, Z:2.66 [[ 9.99242126e-01 2.29917270e-02 -3.14094534e-02 -4.34750458e+00] [-2.30283024e-02 9.99734491e-01 -8.03176993e-04 -2.48666390e+00] [ 3.13826475e-02 1.52587468e-03 9.99506279e-01 2.65898472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.464839173 meters Centerline goodness [0,1] 0.5476778365667254 Centerline is valid? [False, False] Translation: X:-4.34, Y:-2.49, Z:2.65 [[ 0.99953233 0.02436058 -0.01848484 -4.34451495] [-0.02426453 0.99969097 0.00540271 -2.49392797] [ 0.01861074 -0.00495166 0.99981454 2.65188527] [ 0. 0. 0. 1. ]] SLAMing on 64.494839173 meters Centerline goodness [0,1] 0.5605583910135403 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.50, Z:2.65 [[ 0.9995105 0.02497723 -0.01883866 -4.34526516] [-0.02485999 0.99967025 0.00643224 -2.50084714] [ 0.0189931 -0.00596077 0.99980185 2.65426941] [ 0. 0. 0. 1. ]] SLAMing on 64.524839173 meters Centerline goodness [0,1] 0.5446195120842143 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.51, Z:2.66 [[ 9.99608713e-01 2.08642745e-02 -1.86306761e-02 -4.34987166e+00] [-2.08273380e-02 9.99780723e-01 2.17441688e-03 -2.51435978e+00] [ 1.86719584e-02 -1.78553867e-03 9.99824069e-01 2.66127866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.554839173 meters Centerline goodness [0,1] 0.567775974025974 Centerline is valid? [False, False] Translation: X:-4.35, Y:-2.52, Z:2.66 [[ 9.99677910e-01 1.69549971e-02 -1.88839663e-02 -4.35115480e+00] [-1.69666388e-02 9.99855952e-01 -4.56431205e-04 -2.52257701e+00] [ 1.88735074e-02 7.76681629e-04 9.99821578e-01 2.66339642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.584839173 meters Centerline goodness [0,1] 0.5685015222560501 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.54, Z:2.67 [[ 9.99846358e-01 6.73279708e-03 -1.61842604e-02 -4.35982953e+00] [-6.74288912e-03 9.99977105e-01 -5.69083234e-04 -2.54192424e+00] [ 1.61800583e-02 6.78124472e-04 9.99868864e-01 2.67120628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.61483917300001 meters Centerline goodness [0,1] 0.5915720171786096 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.56, Z:2.68 [[ 9.99976203e-01 -5.50040412e-03 -4.16399013e-03 -4.37367138e+00] [ 5.49090800e-03 9.99982306e-01 -2.28854096e-03 -2.56318459e+00] [ 4.17650436e-03 2.26562241e-03 9.99988712e-01 2.67836206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64483917300001 meters Centerline goodness [0,1] 0.6014872475049466 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.57, Z:2.68 [[ 9.99957219e-01 -8.55393612e-03 -3.51989000e-03 -4.37878249e+00] [ 8.54142227e-03 9.99957202e-01 -3.55498863e-03 -2.57216767e+00] [ 3.55014850e-03 3.52477168e-03 9.99987486e-01 2.68395143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.674839173 meters Centerline goodness [0,1] 0.6285689677447138 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.59, Z:2.69 [[ 9.99929941e-01 -1.17794078e-02 1.16540581e-03 -4.38704848e+00] [ 1.17755716e-02 9.99925398e-01 3.24562131e-03 -2.59379853e+00] [-1.20355036e-03 -3.23167060e-03 9.99994054e-01 2.69182971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.704839173 meters Centerline goodness [0,1] 0.6268634306428433 Centerline is valid? [False, False] Translation: X:-4.39, Y:-2.60, Z:2.69 [[ 9.99935801e-01 -1.12843271e-02 1.02827804e-03 -4.38773655e+00] [ 1.12786370e-02 9.99921916e-01 5.38086873e-03 -2.60273053e+00] [-1.08891723e-03 -5.36892571e-03 9.99984994e-01 2.69309926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.734839173 meters Centerline goodness [0,1] 0.6208179233383928 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.62, Z:2.69 [[ 9.99933701e-01 -1.15149588e-02 5.38785155e-06 -4.38267549e+00] [ 1.15146484e-02 9.99909971e-01 6.88928493e-03 -2.61786848e+00] [-8.47171984e-05 -6.88876613e-03 9.99976269e-01 2.68912599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.764839173 meters Centerline goodness [0,1] 0.6141188617151707 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.62, Z:2.69 [[ 9.99915502e-01 -1.29877806e-02 -5.53168832e-04 -4.37946959e+00] [ 1.29907160e-02 9.99899471e-01 5.68240054e-03 -2.62401485e+00] [ 4.79311451e-04 -5.68910645e-03 9.99983702e-01 2.68667840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.794839173 meters Centerline goodness [0,1] 0.5892442912170934 Centerline is valid? [False, False] Translation: X:-4.38, Y:-2.64, Z:2.68 [[ 9.99922364e-01 -1.23906607e-02 -1.31825682e-03 -4.37509441e+00] [ 1.23994313e-02 9.99899543e-01 6.86720118e-03 -2.64089548e+00] [ 1.23303523e-03 -6.88301367e-03 9.99975552e-01 2.68439589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.824839173 meters Centerline goodness [0,1] 0.5923047358756459 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.65, Z:2.68 [[ 9.99934045e-01 -1.13471264e-02 -1.77454139e-03 -4.37312918e+00] [ 1.13632344e-02 9.99891748e-01 9.34715583e-03 -2.64746934e+00] [ 1.66828594e-03 -9.36670386e-03 9.99954740e-01 2.68276682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.854839173 meters Centerline goodness [0,1] 0.5829020419685706 Centerline is valid? [False, False] Translation: X:-4.44, Y:-2.67, Z:2.68 [[ 9.99896213e-01 -2.93629615e-03 -1.41046438e-02 -4.43843527e+00] [ 3.10034465e-03 9.99927643e-01 1.16230650e-02 -2.66725284e+00] [ 1.40694945e-02 -1.16655879e-02 9.99832968e-01 2.68111287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.884839173 meters Centerline goodness [0,1] 0.6712221317162941 Centerline is valid? [False, False] Translation: X:-4.54, Y:-2.68, Z:2.67 [[ 9.99940609e-01 2.21125168e-04 -1.08963447e-02 -4.53941167e+00] [-1.91274890e-05 9.99828217e-01 1.85347321e-02 -2.68423269e+00] [ 1.08985713e-02 -1.85334229e-02 9.99768840e-01 2.67092266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.914839173 meters Centerline goodness [0,1] 0.6600928987561014 Centerline is valid? [False, False] Translation: X:-4.53, Y:-2.69, Z:2.66 [[ 9.97903307e-01 4.01480137e-05 -6.47224009e-02 -4.53005065e+00] [ 5.45471986e-04 9.99959076e-01 9.03048497e-03 -2.69002777e+00] [ 6.47201148e-02 -9.04685507e-03 9.97862446e-01 2.66328245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.944839173 meters Centerline goodness [0,1] 0.5454000532812362 Centerline is valid? [False, False] Translation: X:-4.37, Y:-2.70, Z:2.67 [[ 9.99142320e-01 1.68648351e-02 -3.78180058e-02 -4.36504392e+00] [-1.69725640e-02 9.99852756e-01 -2.52935385e-03 -2.69820873e+00] [ 3.77697802e-02 3.16905300e-03 9.99281442e-01 2.67119054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.974839173 meters Centerline goodness [0,1] 0.9489592006661116 Centerline is valid? [False, False] Translation: X:-4.45, Y:-2.73, Z:2.68 [[ 0.98565822 0.04431696 -0.16283082 -4.44514888] [-0.04184489 0.99895131 0.01858198 -2.72802099] [ 0.16348356 -0.01150184 0.98647901 2.67632682] [ 0. 0. 0. 1. ]] SLAMing on 65.00483917300001 meters Centerline goodness [0,1] 0.5270890084049266 Centerline is valid? [False, False] Translation: X:-4.26, Y:-2.72, Z:2.34 [[ 0.99620533 0.06121755 0.06186561 -4.26436994] [-0.0576521 0.99665853 -0.05786194 -2.72432008] [-0.06520105 0.05407569 0.99640586 2.33707919] [ 0. 0. 0. 1. ]] SLAMing on 65.034839173 meters Centerline goodness [0,1] 0.47061627186502075 Centerline is valid? [False, False] Translation: X:-4.26, Y:-2.73, Z:2.34 [[ 0.99770789 0.05407001 0.0406866 -4.26489682] [-0.05196175 0.99733554 -0.0512034 -2.72968134] [-0.04334676 0.04897189 0.99785911 2.33810648] [ 0. 0. 0. 1. ]] SLAMing on 65.064839173 meters Centerline goodness [0,1] 0.5306820706509665 Centerline is valid? [False, False] Translation: X:-4.24, Y:-2.73, Z:2.34 [[ 0.99687499 0.05669825 0.05500506 -4.23759713] [-0.05379988 0.99715399 -0.05281566 -2.72759012] [-0.05784307 0.04969135 0.99708824 2.34474607] [ 0. 0. 0. 1. ]] SLAMing on 65.094839173 meters Centerline goodness [0,1] 0.5374691623475092 Centerline is valid? [False, False] Translation: X:-4.24, Y:-2.73, Z:2.35 [[ 0.99690733 0.05581455 0.05532186 -4.24005866] [-0.05290614 0.99720726 -0.05271259 -2.73028785] [-0.05810949 0.0496227 0.99707616 2.34775634] [ 0. 0. 0. 1. ]] SLAMing on 65.124839173 meters Centerline goodness [0,1] 0.6132797445355944 Centerline is valid? [False, False] Translation: X:-4.36, Y:-2.75, Z:2.37 [[ 0.99708693 0.04248415 0.06334621 -4.3630861 ] [-0.04000733 0.99840367 -0.03986893 -2.7456591 ] [-0.06493888 0.03721847 0.99719493 2.37179592] [ 0. 0. 0. 1. ]] SLAMing on 65.154839173 meters Centerline goodness [0,1] 0.5417221387159115 Centerline is valid? [False, False] Translation: X:-4.23, Y:-2.74, Z:2.38 [[ 0.9954225 0.06919689 0.06592298 -4.22840377] [-0.06420995 0.99511565 -0.0749795 -2.7379845 ] [-0.07078934 0.07040337 0.99500364 2.38497494] [ 0. 0. 0. 1. ]] SLAMing on 65.184839173 meters Centerline goodness [0,1] 0.5489669861554846 Centerline is valid? [False, False] Translation: X:-4.23, Y:-2.75, Z:2.40 [[ 0.99550062 0.06613185 0.06786086 -4.23051579] [-0.06171162 0.99595641 -0.06528788 -2.74833737] [-0.07190406 0.06080632 0.99555633 2.39522317] [ 0. 0. 0. 1. ]] SLAMing on 65.214839173 meters Centerline goodness [0,1] 0.5764755391899001 Centerline is valid? [False, False] Translation: X:-4.24, Y:-2.77, Z:2.41 [[ 0.99447939 0.06378646 0.08331879 -4.24024196] [-0.06002116 0.9970927 -0.04694261 -2.76845174] [-0.08607086 0.04168257 0.99541668 2.41006682] [ 0. 0. 0. 1. ]] SLAMing on 65.244839173 meters Centerline goodness [0,1] 0.5761187128234231 Centerline is valid? [False, False] Translation: X:-4.24, Y:-2.79, Z:2.42 [[ 0.99421752 0.06084937 0.08848099 -4.24098378] [-0.05899344 0.99798305 -0.02344371 -2.78998838] [-0.08972906 0.01808835 0.99580194 2.42448176] [ 0. 0. 0. 1. ]] SLAMing on 65.274839173 meters Centerline goodness [0,1] 0.5840074148972025 Centerline is valid? [False, False] Translation: X:-4.24, Y:-2.80, Z:2.42 [[ 0.99414728 0.06210891 0.08839495 -4.24126789] [-0.06063509 0.99797408 -0.01926442 -2.80054059] [-0.08941237 0.01379184 0.9958992 2.42479232] [ 0. 0. 0. 1. ]] SLAMing on 65.304839173 meters Centerline goodness [0,1] 0.6287900322152739 Centerline is valid? [False, False] Translation: X:-4.28, Y:-2.82, Z:2.43 [[ 0.99463092 0.06595913 0.07974168 -4.28025831] [-0.06421312 0.99764108 -0.02426814 -2.82238508] [-0.08115429 0.01901738 0.99652011 2.42935134] [ 0. 0. 0. 1. ]] SLAMing on 65.334839173 meters Centerline goodness [0,1] 0.6463368051134483 Centerline is valid? [False, False] Translation: X:-4.34, Y:-2.86, Z:2.46 [[ 0.99794655 0.04650368 0.04404647 -4.34410492] [-0.04786767 0.99838989 0.03043552 -2.85674234] [-0.04256019 -0.03248142 0.99856577 2.45916985] [ 0. 0. 0. 1. ]] SLAMing on 65.36483917300001 meters Centerline goodness [0,1] 0.979343220338983 Centerline is valid? [False, True] Translation: X:-4.28, Y:-2.90, Z:2.76 [[ 0.95006446 0.07453178 -0.30302232 -4.27954735] [-0.11016249 0.98864274 -0.10222402 -2.896876 ] [ 0.29196188 0.1305011 0.94748495 2.75606682] [ 0. 0. 0. 1. ]] SLAMing on 65.39483917300001 meters Centerline goodness [0,1] 0.5297719940948111 Centerline is valid? [True, False] Translation: X:-5.30, Y:-3.05, Z:2.28 [[ 0.46031957 -0.22224607 0.8594839 -5.30362884] [ 0.11258769 0.97495377 0.19180503 -3.05469225] [-0.88058498 0.0084757 0.47381247 2.28225458] [ 0. 0. 0. 1. ]] SLAMing on 65.424839173 meters Centerline goodness [0,1] 0.6937178627319472 Centerline is valid? [False, False] Translation: X:-5.27, Y:-3.13, Z:2.09 [[ 0.93649465 -0.01324493 0.35043164 -5.27463403] [-0.03558922 0.99053756 0.13254715 -3.13073235] [-0.34887128 -0.13660128 0.92716175 2.08901192] [ 0. 0. 0. 1. ]] SLAMing on 65.454839173 meters Centerline goodness [0,1] 0.5758069381598794 Centerline is valid? [False, False] Translation: X:-5.27, Y:-3.11, Z:2.15 [[ 0.93962662 0.02400182 0.34135865 -5.26756426] [-0.0697869 0.99001368 0.12248554 -3.1116959 ] [-0.33500986 -0.13891304 0.93191822 2.14634389] [ 0. 0. 0. 1. ]] SLAMing on 65.484839173 meters Centerline goodness [0,1] 0.8459942547079476 Centerline is valid? [False, False] Translation: X:-5.42, Y:-3.09, Z:2.22 [[ 0.93215122 0.03128709 0.36071486 -5.42180519] [-0.07299837 0.99204111 0.10259472 -3.08542189] [-0.35463408 -0.12196539 0.92701624 2.21682752] [ 0. 0. 0. 1. ]] SLAMing on 65.514839173 meters Centerline goodness [0,1] 0.9762931034482759 Centerline is valid? [False, True] Translation: X:-5.57, Y:-1.94, Z:2.41 [[ 0.42107616 -0.72387359 -0.54653627 -5.56567657] [ 0.87385214 0.16229001 0.45830601 -1.94038823] [-0.24305824 -0.67057362 0.70089494 2.41145237] [ 0. 0. 0. 1. ]] SLAMing on 65.544839173 meters Centerline goodness [0,1] 0.6087099889299762 Centerline is valid? [True, False] Translation: X:-5.18, Y:-1.84, Z:2.11 [[ 0.39911056 -0.71101192 -0.57894111 -5.17747779] [ 0.91682596 0.31763876 0.24194167 -1.8424259 ] [ 0.01187072 -0.62734972 0.77864717 2.1063013 ] [ 0. 0. 0. 1. ]] SLAMing on 65.574839173 meters Centerline goodness [0,1] 0.6869501166264271 Centerline is valid? [False, False] Translation: X:-5.25, Y:-2.01, Z:2.12 [[ 0.40736939 -0.72420588 -0.55639557 -5.24981892] [ 0.91264576 0.34522406 0.21885627 -2.01017997] [ 0.03358414 -0.5969474 0.80157714 2.1202349 ] [ 0. 0. 0. 1. ]] SLAMing on 65.604839173 meters Centerline goodness [0,1] 0.5941844674843187 Centerline is valid? [False, False] Translation: X:-5.20, Y:-1.86, Z:2.23 [[ 0.42108395 -0.61604926 -0.66571136 -5.20238609] [ 0.9066957 0.30557301 0.29073708 -1.86194216] [ 0.02431506 -0.72602235 0.6872411 2.22984488] [ 0. 0. 0. 1. ]] SLAMing on 65.634839173 meters Centerline goodness [0,1] 0.5937368818738981 Centerline is valid? [False, False] Translation: X:-5.32, Y:-2.07, Z:2.24 [[ 0.43457507 -0.64029866 -0.63337361 -5.31881972] [ 0.90040122 0.32492018 0.28931734 -2.07400696] [ 0.02054636 -0.69602047 0.71772791 2.2403161 ] [ 0. 0. 0. 1. ]] SLAMing on 65.664839173 meters Centerline goodness [0,1] 0.6045766297032242 Centerline is valid? [False, False] Translation: X:-5.45, Y:-2.32, Z:2.26 [[ 0.4469268 -0.66026598 -0.60357706 -5.45068483] [ 0.89431472 0.34590849 0.28381066 -2.32340974] [ 0.0213919 -0.66663044 0.74508136 2.25847927] [ 0. 0. 0. 1. ]] SLAMing on 65.694839173 meters Centerline goodness [0,1] 0.60772948926341 Centerline is valid? [False, False] Translation: X:-5.53, Y:-2.48, Z:2.27 [[ 0.44720214 -0.6681453 -0.59463612 -5.53495429] [ 0.89409267 0.35227086 0.27659273 -2.48218217] [ 0.02466885 -0.65535265 0.75492009 2.27372556] [ 0. 0. 0. 1. ]] SLAMing on 65.724839173 meters Centerline goodness [0,1] 0.5947871493052482 Centerline is valid? [False, False] Translation: X:-5.60, Y:-2.62, Z:2.29 [[ 0.44874293 -0.67993173 -0.57993329 -5.60465335] [ 0.89314252 0.36332284 0.26512818 -2.61721347] [ 0.03043395 -0.63693748 0.7703145 2.28554088] [ 0. 0. 0. 1. ]] SLAMing on 65.75483917300001 meters Centerline goodness [0,1] 0.5947871493052482 Centerline is valid? [False, False] Translation: X:-5.66, Y:-2.71, Z:2.29 [[ 0.44973269 -0.68945811 -0.56779223 -5.65858099] [ 0.89240647 0.37303041 0.25388779 -2.70835292] [ 0.03675877 -0.6208831 0.78304085 2.29443026] [ 0. 0. 0. 1. ]] SLAMing on 65.784839173 meters Centerline goodness [0,1] 0.6158145039339017 Centerline is valid? [False, False] Translation: X:-5.71, Y:-2.81, Z:2.31 [[ 0.4477339 -0.69347186 -0.56447421 -5.71235175] [ 0.8929618 0.37953567 0.2420163 -2.80895366] [ 0.04640661 -0.61241281 0.78917487 2.31261708] [ 0. 0. 0. 1. ]] SLAMing on 65.814839173 meters Centerline goodness [0,1] 0.6454705638474295 Centerline is valid? [False, False] Translation: X:-5.77, Y:-2.95, Z:2.33 [[ 0.44964068 -0.70331127 -0.55061467 -5.76810934] [ 0.8908783 0.39763041 0.219604 -2.94683189] [ 0.06449117 -0.58927355 0.80535556 2.32625204] [ 0. 0. 0. 1. ]] SLAMing on 65.844839173 meters Centerline goodness [0,1] 0.6011655810764485 Centerline is valid? [False, False] Translation: X:-5.92, Y:-3.21, Z:2.40 [[ 0.43162351 -0.69151434 -0.57923144 -5.92338162] [ 0.89440925 0.41149907 0.17521589 -3.21413298] [ 0.1171889 -0.59369725 0.7961095 2.40012185] [ 0. 0. 0. 1. ]] SLAMing on 65.874839173 meters Centerline goodness [0,1] 0.5818218191517739 Centerline is valid? [False, False] Translation: X:-5.85, Y:-3.11, Z:2.42 [[ 0.46000202 -0.66632545 -0.5868633 -5.85075613] [ 0.87844874 0.43778973 0.19148881 -3.10766026] [ 0.12932886 -0.60361456 0.78671692 2.42011744] [ 0. 0. 0. 1. ]] SLAMing on 65.904839173 meters Centerline goodness [0,1] 0.6050228310502284 Centerline is valid? [False, False] Translation: X:-5.81, Y:-3.04, Z:2.42 [[ 0.46609673 -0.66850179 -0.5795336 -5.81219691] [ 0.87298028 0.45391941 0.17850098 -3.04059352] [ 0.14373333 -0.58912013 0.79515923 2.4167808 ] [ 0. 0. 0. 1. ]] SLAMing on 65.934839173 meters Centerline goodness [0,1] 0.8375305623471883 Centerline is valid? [False, False] Translation: X:-5.65, Y:-2.81, Z:2.41 [[ 0.58583993 -0.67970934 -0.44134655 -5.64741349] [ 0.79581448 0.58543571 0.15473958 -2.81219145] [ 0.15320209 -0.44188261 0.88389416 2.40898081] [ 0. 0. 0. 1. ]] SLAMing on 65.964839173 meters Centerline goodness [0,1] 0.6184324144802391 Centerline is valid? [False, False] Translation: X:-5.68, Y:-2.79, Z:2.42 [[ 0.67058693 -0.65193658 -0.35396591 -5.67669867] [ 0.73748853 0.6374285 0.22314923 -2.78893608] [ 0.08014881 -0.41068675 0.90824697 2.41845261] [ 0. 0. 0. 1. ]] SLAMing on 65.994839173 meters Centerline goodness [0,1] 0.5960271005208093 Centerline is valid? [False, False] Translation: X:-5.68, Y:-2.74, Z:2.46 [[ 0.69514497 -0.63630145 -0.33450551 -5.67945457] [ 0.70128486 0.70254179 0.12097345 -2.73971709] [ 0.15802852 -0.31867774 0.93459697 2.456925 ] [ 0. 0. 0. 1. ]] SLAMing on 66.024839173 meters Centerline goodness [0,1] 0.5666118857021682 Centerline is valid? [False, False] Translation: X:-5.72, Y:-2.80, Z:2.47 [[ 0.69892641 -0.61973772 -0.35696922 -5.72079722] [ 0.6837112 0.72543917 0.07922757 -2.80012848] [ 0.20985914 -0.29943809 0.93075022 2.47340566] [ 0. 0. 0. 1. ]] SLAMing on 66.054839173 meters Centerline goodness [0,1] 0.562558392041007 Centerline is valid? [False, False] Translation: X:-5.73, Y:-2.83, Z:2.47 [[ 0.69317605 -0.63456213 -0.34181554 -5.73462421] [ 0.6977833 0.70961664 0.0976867 -2.8343347 ] [ 0.18056971 -0.30622726 0.93467612 2.47022151] [ 0. 0. 0. 1. ]] SLAMing on 66.084839173 meters Centerline goodness [0,1] 0.5936646641179684 Centerline is valid? [False, False] Translation: X:-5.72, Y:-2.82, Z:2.47 [[ 0.71046961 -0.62480228 -0.32381329 -5.71735055] [ 0.68578986 0.71793877 0.11939928 -2.82483376] [ 0.15787717 -0.30689743 0.93855675 2.47227155] [ 0. 0. 0. 1. ]] SLAMing on 66.11483917300001 meters Centerline goodness [0,1] 0.5807154627119545 Centerline is valid? [False, False] Translation: X:-5.74, Y:-2.85, Z:2.47 [[ 0.69938237 -0.61554058 -0.3632824 -5.73892503] [ 0.68555893 0.7214777 0.09735959 -2.85197903] [ 0.20217137 -0.31714308 0.92657812 2.47094022] [ 0. 0. 0. 1. ]] SLAMing on 66.14483917300001 meters Centerline goodness [0,1] 0.8162249231219798 Centerline is valid? [False, False] Translation: X:-5.98, Y:-3.26, Z:2.56 [[ 0.90761076 -0.38054359 -0.17728306 -5.98496981] [ 0.40396716 0.6767353 0.61549969 -3.25647071] [-0.11425076 -0.63025068 0.76793935 2.56116772] [ 0. 0. 0. 1. ]] SLAMing on 66.174839173 meters Centerline goodness [0,1] 0.9172178048599242 Centerline is valid? [False, False] Translation: X:-6.92, Y:-3.27, Z:3.09 [[ 0.06498867 -0.48879222 0.86997623 -6.91643645] [ 0.84715355 0.48776036 0.21076218 -3.27258241] [-0.52735883 0.7233063 0.44578096 3.08802265] [ 0. 0. 0. 1. ]] SLAMing on 66.204839173 meters Centerline goodness [0,1] 1.0 Centerline is valid? [False, True] Translation: X:-6.55, Y:-2.99, Z:3.04 [[ 0.94599411 -0.31187319 -0.08848877 -6.55020063] [ 0.17318742 0.71692672 -0.67529415 -2.98798034] [ 0.27404611 0.62349915 0.73222097 3.03561466] [ 0. 0. 0. 1. ]] SLAMing on 66.234839173 meters Centerline goodness [0,1] 0.5832918945798111 Centerline is valid? [True, False] Translation: X:-6.53, Y:-3.52, Z:3.46 [[ 0.96477604 -0.03057903 0.26128932 -6.52765506] [-0.06486094 0.93491116 0.34890427 -3.51932675] [-0.25495146 -0.35356195 0.8999965 3.46183471] [ 0. 0. 0. 1. ]] SLAMing on 66.264839173 meters Centerline goodness [0,1] 0.8646900661289151 Centerline is valid? [False, False] Translation: X:-6.33, Y:-2.18, Z:3.25 [[ 0.18644081 0.81796401 -0.54421935 -6.32854451] [-0.98089497 0.12365984 -0.15017759 -2.18328498] [-0.05554179 0.56182125 0.82539202 3.25231646] [ 0. 0. 0. 1. ]] SLAMing on 66.294839173 meters Centerline goodness [0,1] 1.0 Centerline is valid? [False, True] Translation: X:-6.10, Y:-1.61, Z:3.03 [[-0.35508808 -0.74489965 -0.56483358 -6.09652461] [ 0.9338267 -0.25461387 -0.25127569 -1.60893241] [ 0.04336071 -0.61668168 0.78601753 3.03335039] [ 0. 0. 0. 1. ]] SLAMing on 66.324839173 meters Centerline goodness [0,1] 0.6036283672347444 Centerline is valid? [True, False] SLAMing on 66.354839173 meters Centerline goodness [0,1] 0.9720763723150359 Centerline is valid? [False, True] SLAMing on 66.384839173 meters Centerline goodness [0,1] 0.8761061946902655 Centerline is valid? [True, False] Translation: X:-7.43, Y:-4.43, Z:3.27 [[ 0.61032722 0.79180095 -0.02349356 -7.42592006] [-0.75854047 0.59272267 0.27073271 -4.43054296] [ 0.22829158 -0.14741473 0.96236784 3.26752011] [ 0. 0. 0. 1. ]] SLAMing on 66.414839173 meters Centerline goodness [0,1] 0.9543790481554492 Centerline is valid? [False, True] Translation: X:-6.77, Y:-3.30, Z:3.90 [[ 0.43999213 0.09257025 -0.89321759 -6.76862605] [ 0.89476456 0.03918725 0.4448154 -3.30014976] [ 0.07617942 -0.99493473 -0.0655865 3.89551959] [ 0. 0. 0. 1. ]] SLAMing on 66.444839173 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-7.11, Y:-1.81, Z:3.62 [[-0.74373744 -0.63003464 -0.22340762 -7.1149626 ] [-0.48211782 0.73706356 -0.47360292 -1.81080128] [ 0.46305186 -0.24452743 -0.85193269 3.62379295] [ 0. 0. 0. 1. ]] SLAMing on 66.474839173 meters Centerline goodness [0,1] 0.791904580636975 Centerline is valid? [True, False] Translation: X:-7.08, Y:-2.19, Z:2.83 [[ 0.98144321 0.11881965 0.15050291 -7.08086464] [-0.18447086 0.79930186 0.57191523 -2.18972284] [-0.05234248 -0.58906572 0.80638815 2.83186135] [ 0. 0. 0. 1. ]] SLAMing on 66.50483917300001 meters Centerline goodness [0,1] 0.5471921361609174 Centerline is valid? [False, False] Translation: X:-7.08, Y:-2.00, Z:2.81 [[ 0.98904155 -0.01857335 0.14646445 -7.07722538] [-0.03928709 0.92317536 0.38236602 -2.0042041 ] [-0.14231419 -0.38393004 0.9123291 2.80955172] [ 0. 0. 0. 1. ]] SLAMing on 66.534839173 meters Centerline goodness [0,1] 0.5867827049634049 Centerline is valid? [False, False] Translation: X:-7.03, Y:-1.98, Z:2.80 [[ 0.98113885 -0.01645278 0.19260285 -7.02891938] [-0.05169228 0.93775393 0.34343191 -1.98280489] [-0.18626449 -0.34691047 0.91921633 2.80286372] [ 0. 0. 0. 1. ]] SLAMing on 66.564839173 meters Centerline goodness [0,1] 0.7153322195090606 Centerline is valid? [False, False] Translation: X:-7.06, Y:-1.94, Z:2.92 [[ 9.92923287e-01 3.24925346e-02 -1.14226010e-01 -7.06197092e+00] [-4.89178227e-03 9.72216440e-01 2.34032615e-01 -1.93883568e+00] [ 1.18656717e-01 -2.31817665e-01 9.65495289e-01 2.92244521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.594839173 meters Centerline goodness [0,1] 0.76103500761035 Centerline is valid? [False, False] Translation: X:-6.38, Y:-2.09, Z:3.21 [[ 0.8318698 0.35035632 -0.43039875 -6.37837523] [-0.22942275 0.92326432 0.30813666 -2.09118183] [ 0.50532944 -0.15758632 0.84841541 3.20996094] [ 0. 0. 0. 1. ]] SLAMing on 66.624839173 meters Centerline goodness [0,1] 0.8815210559396606 Centerline is valid? [False, False] Translation: X:-6.48, Y:-1.08, Z:3.01 [[ 0.99708867 0.05957973 -0.04758616 -6.47798798] [-0.07447231 0.62691701 -0.7755185 -1.0819686 ] [-0.01637261 0.77680456 0.62952889 3.01497032] [ 0. 0. 0. 1. ]] SLAMing on 66.654839173 meters Centerline goodness [0,1] 0.9627507163323782 Centerline is valid? [False, True] Translation: X:-6.20, Y:-1.53, Z:5.87 [[-0.31488598 -0.19798809 -0.92824972 -6.20433995] [ 0.87912891 0.30778327 -0.36387061 -1.53477789] [ 0.35774178 -0.93062891 0.07714042 5.86711349] [ 0. 0. 0. 1. ]] SLAMing on 66.684839173 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:137: RuntimeWarning: invalid value encountered in divide ret = um.true_divide( /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:223: RuntimeWarning: Degrees of freedom <= 0 for slice ret = _var(a, axis=axis, dtype=dtype, out=out, ddof=ddof, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:181: RuntimeWarning: invalid value encountered in divide arrmean = um.true_divide(arrmean, div, out=arrmean, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:215: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 66.714839173 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] SLAMing on 66.744839173 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:137: RuntimeWarning: invalid value encountered in divide ret = um.true_divide( /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:223: RuntimeWarning: Degrees of freedom <= 0 for slice ret = _var(a, axis=axis, dtype=dtype, out=out, ddof=ddof, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:181: RuntimeWarning: invalid value encountered in divide arrmean = um.true_divide(arrmean, div, out=arrmean, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:215: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 66.774839173 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:137: RuntimeWarning: invalid value encountered in divide ret = um.true_divide( /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:223: RuntimeWarning: Degrees of freedom <= 0 for slice ret = _var(a, axis=axis, dtype=dtype, out=out, ddof=ddof, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:181: RuntimeWarning: invalid value encountered in divide arrmean = um.true_divide(arrmean, div, out=arrmean, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:215: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 66.804839173 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:137: RuntimeWarning: invalid value encountered in divide ret = um.true_divide( /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:223: RuntimeWarning: Degrees of freedom <= 0 for slice ret = _var(a, axis=axis, dtype=dtype, out=out, ddof=ddof, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:181: RuntimeWarning: invalid value encountered in divide arrmean = um.true_divide(arrmean, div, out=arrmean, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:215: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 66.834839173 meters Centerline goodness [0,1] 0.8409090909090909 Centerline is valid? [True, False] SLAMing on 66.86483917300001 meters Centerline goodness [0,1] 0.8713144116836594 Centerline is valid? [False, False] Translation: X:-6.30, Y:-1.26, Z:2.99 [[ 0.73502666 0.57186058 -0.36429561 -6.29541573] [-0.62915186 0.37491568 -0.68088631 -1.25509601] [-0.2527919 0.72966685 0.63536017 2.98816149] [ 0. 0. 0. 1. ]] SLAMing on 66.89483917300001 meters Centerline goodness [0,1] 0.9967490247074122 Centerline is valid? [False, True] Translation: X:-5.55, Y:-1.30, Z:4.01 [[ 0.14014841 -0.63172429 -0.76241907 -5.54523583] [-0.24402771 0.72422805 -0.64493737 -1.29884162] [ 0.95958788 0.27643833 -0.05265882 4.00702098] [ 0. 0. 0. 1. ]] SLAMing on 66.924839173 meters Centerline goodness [0,1] 1.0 Centerline is valid? [True, True] Translation: X:-6.44, Y:-1.29, Z:4.12 [[-1.39580830e-02 -9.97599054e-01 6.78328812e-02 -6.43586634e+00] [ 1.42587330e-01 -6.91320398e-02 -9.87364985e-01 -1.28600041e+00] [ 9.89683801e-01 -4.10961304e-03 1.43209936e-01 4.11586953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.954839173 meters Centerline goodness [0,1] 0.7119459564541213 Centerline is valid? [True, False] SLAMing on 66.984839173 meters Centerline goodness [0,1] 0.9974785678265254 Centerline is valid? [False, True] SLAMing on 67.014839173 meters Centerline goodness [0,1] 0.6 Centerline is valid? [True, False] SLAMing on 67.044839173 meters /usr/local/lib/python3.11/site-packages/numpy/_core/fromnumeric.py:3860: RuntimeWarning: Mean of empty slice. return _methods._mean(a, axis=axis, dtype=dtype, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:137: RuntimeWarning: invalid value encountered in divide ret = um.true_divide( /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:223: RuntimeWarning: Degrees of freedom <= 0 for slice ret = _var(a, axis=axis, dtype=dtype, out=out, ddof=ddof, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:181: RuntimeWarning: invalid value encountered in divide arrmean = um.true_divide(arrmean, div, out=arrmean, /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:215: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) /usr/local/lib/python3.11/site-packages/numpy/_core/_methods.py:145: RuntimeWarning: invalid value encountered in scalar divide ret = ret.dtype.type(ret / rcount) SLAMing on 67.074839173 meters Centerline goodness [0,1] 0.9475262368815592 Centerline is valid? [False, False] SLAMing on 67.104839173 meters Centerline goodness [0,1] 0.6653865661908558 Centerline is valid? [False, False] Translation: X:-5.93, Y:-1.33, Z:3.83 [[ 0.87830548 0.3332599 -0.342808 -5.92916475] [-0.26777367 0.93690246 0.22474661 -1.33236651] [ 0.39607669 -0.10560123 0.91212479 3.83274776] [ 0. 0. 0. 1. ]] SLAMing on 67.134839173 meters Centerline goodness [0,1] 0.7840806500150467 Centerline is valid? [False, False] Translation: X:-5.85, Y:-1.32, Z:3.87 [[ 0.86630069 0.36017353 -0.34611868 -5.85282427] [-0.31088893 0.93110085 0.19078598 -1.32256465] [ 0.39098746 -0.05767356 0.91858727 3.86856441] [ 0. 0. 0. 1. ]] SLAMing on 67.164839173 meters Centerline goodness [0,1] 0.6704479235460938 Centerline is valid? [False, False] Translation: X:-5.81, Y:-1.13, Z:4.01 [[ 0.85082239 0.16499819 -0.4988756 -5.81338853] [-0.23445857 0.96887665 -0.07941802 -1.13036888] [ 0.47024509 0.18453629 0.86302718 4.00709061] [ 0. 0. 0. 1. ]] SLAMing on 67.194839173 meters Centerline goodness [0,1] 0.6402832743178504 Centerline is valid? [False, False] Translation: X:-5.71, Y:-1.17, Z:3.98 [[ 0.85386209 0.18104433 -0.48799844 -5.7064073 ] [-0.22513228 0.97378091 -0.03265258 -1.17123511] [ 0.469292 0.137745 0.87223353 3.97713293] [ 0. 0. 0. 1. ]] SLAMing on 67.224839173 meters Centerline goodness [0,1] 0.9660277092427405 Centerline is valid? [False, True] Translation: X:-5.69, Y:-1.17, Z:3.95 [[ 0.93959341 0.20461316 -0.27440423 -5.69412593] [-0.20377133 0.97849889 0.03189292 -1.16919811] [ 0.27502995 0.02594934 0.96108541 3.95178335] [ 0. 0. 0. 1. ]] SLAMing on 67.25483917300001 meters Centerline goodness [0,1] 0.965311004784689 Centerline is valid? [True, True] Translation: X:-5.67, Y:-1.12, Z:3.78 [[ 0.9487982 0.16163244 -0.27139811 -5.66864126] [-0.15267735 0.98680294 0.05394058 -1.12100752] [ 0.276535 -0.00974238 0.96095446 3.78489202] [ 0. 0. 0. 1. ]] SLAMing on 67.284839173 meters Centerline goodness [0,1] 0.49378823232641733 Centerline is valid? [True, False] Translation: X:-5.84, Y:-1.05, Z:3.46 [[ 0.88578167 0.46265547 0.03661619 -5.84132475] [-0.45851364 0.88459441 -0.08519371 -1.0498862 ] [-0.07180581 0.058674 0.99569136 3.464368 ] [ 0. 0. 0. 1. ]] SLAMing on 67.314839173 meters Centerline goodness [0,1] 0.7170969833339689 Centerline is valid? [False, False] Translation: X:-5.84, Y:-1.03, Z:3.50 [[ 0.90647748 0.41096371 0.09699184 -5.84054486] [-0.39889452 0.90877394 -0.12252795 -1.02756914] [-0.13849819 0.07237932 0.98771427 3.50153683] [ 0. 0. 0. 1. ]] SLAMing on 67.344839173 meters Centerline goodness [0,1] 0.6525100150225338 Centerline is valid? [False, False] Translation: X:-5.92, Y:-0.99, Z:3.51 [[ 0.91824754 0.33747518 0.20720027 -5.92380599] [-0.31693361 0.93998264 -0.12643469 -0.99207083] [-0.23743322 0.05042961 0.97009397 3.51228361] [ 0. 0. 0. 1. ]] SLAMing on 67.374839173 meters Centerline goodness [0,1] 0.6446844252459802 Centerline is valid? [False, False] Translation: X:-6.06, Y:-0.95, Z:3.48 [[ 0.92201973 0.23991262 0.30384463 -6.06224052] [-0.20837134 0.96899188 -0.13280108 -0.94716412] [-0.32628363 0.0591327 0.94342054 3.48018442] [ 0. 0. 0. 1. ]] SLAMing on 67.404839173 meters Centerline goodness [0,1] 0.7098182642964475 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.90, Z:3.64 [[ 0.95639113 0.24352329 0.16128365 -6.0175241 ] [-0.21160854 0.95828719 -0.19211322 -0.896317 ] [-0.2013401 0.14960638 0.96802897 3.63573524] [ 0. 0. 0. 1. ]] SLAMing on 67.434839173 meters Centerline goodness [0,1] 0.6941340782122905 Centerline is valid? [False, False] Translation: X:-6.18, Y:-0.85, Z:3.66 [[ 0.96267613 0.2361763 0.13219462 -6.18155529] [-0.20953216 0.95949164 -0.1883403 -0.85298588] [-0.17132115 0.15361169 0.97316623 3.65555705] [ 0. 0. 0. 1. ]] SLAMing on 67.464839173 meters Centerline goodness [0,1] 0.6756448056950088 Centerline is valid? [False, False] Translation: X:-6.02, Y:-0.94, Z:3.68 [[ 0.94292757 0.32545832 0.07045902 -6.01888782] [-0.31479685 0.94020201 -0.13008894 -0.9435583 ] [-0.10858424 0.10048417 0.98899565 3.6832828 ] [ 0. 0. 0. 1. ]] SLAMing on 67.494839173 meters Centerline goodness [0,1] 0.6598175462528775 Centerline is valid? [False, False] Translation: X:-6.05, Y:-0.92, Z:3.67 [[ 0.93691863 0.31247998 0.15665169 -6.04829628] [-0.29036321 0.94525856 -0.14891429 -0.92129268] [-0.19460909 0.09403468 0.97636304 3.673482 ] [ 0. 0. 0. 1. ]] SLAMing on 67.524839173 meters Centerline goodness [0,1] 0.6865719337864036 Centerline is valid? [False, False] Translation: X:-6.13, Y:-0.88, Z:3.70 [[ 0.93379286 0.31317686 0.17306403 -6.12795656] [-0.29173233 0.94641303 -0.13854465 -0.88326957] [-0.20717903 0.07888363 0.97511754 3.7004246 ] [ 0. 0. 0. 1. ]] SLAMing on 67.554839173 meters Centerline goodness [0,1] 0.6869830957621866 Centerline is valid? [False, False] Translation: X:-6.19, Y:-0.86, Z:3.72 [[ 0.93384526 0.30995158 0.17850223 -6.18853254] [-0.28962502 0.94811647 -0.13112017 -0.85845157] [-0.20988181 0.07074723 0.97516381 3.72173747] [ 0. 0. 0. 1. ]] SLAMing on 67.584839173 meters Centerline goodness [0,1] 0.6840042372881356 Centerline is valid? [False, False] Translation: X:-6.25, Y:-0.83, Z:3.74 [[ 0.93365376 0.30541116 0.18712211 -6.24855121] [-0.2858175 0.95013973 -0.12467097 -0.8325326 ] [-0.21586806 0.06291675 0.97439338 3.741665 ] [ 0. 0. 0. 1. ]] SLAMing on 67.61483917300001 meters Centerline goodness [0,1] 0.6995472254396125 Centerline is valid? [False, False] Translation: X:-6.31, Y:-0.80, Z:3.77 [[ 0.93340849 0.2997506 0.1972262 -6.30916465] [-0.28047704 0.95233293 -0.11997758 -0.80188482] [-0.22378836 0.05667067 0.9729888 3.76635862] [ 0. 0. 0. 1. ]] SLAMing on 67.64483917300001 meters Centerline goodness [0,1] 0.6995472254396125 Centerline is valid? [False, False] Translation: X:-6.36, Y:-0.79, Z:3.78 [[ 0.93400134 0.29433625 0.2025035 -6.36264471] [-0.27659381 0.95448429 -0.11160468 -0.7881994 ] [-0.22613571 0.04822771 0.97290119 3.77979791] [ 0. 0. 0. 1. ]] SLAMing on 67.674839173 meters Centerline goodness [0,1] 0.7226432316542486 Centerline is valid? [False, False] Translation: X:-6.42, Y:-0.77, Z:3.80 [[ 0.93566189 0.28602951 0.20669772 -6.41738688] [-0.26976131 0.95733444 -0.10363212 -0.76728522] [-0.22752069 0.04120558 0.97290104 3.79894028] [ 0. 0. 0. 1. ]] SLAMing on 67.704839173 meters Centerline goodness [0,1] 0.7092222839796485 Centerline is valid? [False, False] Translation: X:-6.46, Y:-0.75, Z:3.81 [[ 0.93907359 0.27363401 0.20800293 -6.45811188] [-0.25901388 0.96118148 -0.09508929 -0.74616344] [-0.22594823 0.0354202 0.97349515 3.81255324] [ 0. 0. 0. 1. ]] SLAMing on 67.734839173 meters Centerline goodness [0,1] 0.7112060758636738 Centerline is valid? [False, False] Translation: X:-6.49, Y:-0.73, Z:3.82 [[ 0.94050287 0.2624698 0.21578683 -6.48788478] [-0.24977383 0.96459767 -0.08464257 -0.72505146] [-0.23036359 0.02570867 0.97276497 3.82396252] [ 0. 0. 0. 1. ]] SLAMing on 67.764839173 meters Centerline goodness [0,1] 0.7160978683188071 Centerline is valid? [False, False] Translation: X:-6.53, Y:-0.71, Z:3.84 [[ 0.94016304 0.25680593 0.22392895 -6.52770568] [-0.24557791 0.9663043 -0.07711999 -0.70929011] [-0.23618838 0.01751336 0.97154945 3.83696392] [ 0. 0. 0. 1. ]] SLAMing on 67.794839173 meters Centerline goodness [0,1] 0.717500783617177 Centerline is valid? [False, False] Translation: X:-6.54, Y:-0.69, Z:3.85 [[ 0.94024315 0.25426154 0.22648152 -6.53631183] [-0.2422763 0.96692703 -0.0797139 -0.69412011] [-0.23925929 0.02007935 0.97074807 3.84808214] [ 0. 0. 0. 1. ]] SLAMing on 67.824839173 meters Centerline goodness [0,1] 0.725093523375619 Centerline is valid? [False, False] Translation: X:-6.55, Y:-0.69, Z:3.86 [[ 0.94064119 0.25089846 0.22856971 -6.54627592] [-0.23897073 0.96781478 -0.07891475 -0.68599349] [-0.24101274 0.01960899 0.97032384 3.85660441] [ 0. 0. 0. 1. ]] SLAMing on 67.854839173 meters Centerline goodness [0,1] 0.7300693150168576 Centerline is valid? [False, False] Translation: X:-6.56, Y:-0.68, Z:3.86 [[ 0.94093297 0.24705361 0.23153761 -6.55775501] [-0.23543856 0.96883619 -0.07697486 -0.67774376] [-0.24333893 0.01791531 0.96977585 3.86447374] [ 0. 0. 0. 1. ]] SLAMing on 67.884839173 meters Centerline goodness [0,1] 0.722340977482619 Centerline is valid? [False, False] Translation: X:-6.57, Y:-0.66, Z:3.87 [[ 0.94123019 0.24298282 0.23461686 -6.56549617] [-0.23065619 0.96981822 -0.07905909 -0.66380187] [-0.24674571 0.02029697 0.96886768 3.87064603] [ 0. 0. 0. 1. ]] SLAMing on 67.914839173 meters Centerline goodness [0,1] 0.7168978299804241 Centerline is valid? [False, False] Translation: X:-6.58, Y:-0.66, Z:3.88 [[ 0.94301562 0.23550362 0.23507356 -6.58197441] [-0.2250129 0.9717732 -0.07089453 -0.65575118] [-0.24513411 0.01396007 0.96938867 3.87858244] [ 0. 0. 0. 1. ]] SLAMing on 67.944839173 meters Centerline goodness [0,1] 0.7045841464933771 Centerline is valid? [False, False] Translation: X:-6.59, Y:-0.65, Z:3.88 [[ 0.94313684 0.23216492 0.23789147 -6.58793393] [-0.22137993 0.97256462 -0.07147719 -0.64642833] [-0.24795932 0.01474838 0.96865818 3.88107961] [ 0. 0. 0. 1. ]] SLAMing on 67.974839173 meters Centerline goodness [0,1] 0.7083099207092465 Centerline is valid? [False, False] Translation: X:-6.60, Y:-0.64, Z:3.89 [[ 0.94483539 0.2341511 0.22904004 -6.59513232] [-0.222397 0.97197151 -0.07622967 -0.63759701] [-0.24046965 0.02108667 0.97042759 3.88655097] [ 0. 0. 0. 1. ]] SLAMing on 68.00483917300001 meters Centerline goodness [0,1] 0.7073524235459759 Centerline is valid? [False, False] Translation: X:-6.59, Y:-0.64, Z:3.88 [[ 0.94407685 0.23637387 0.22988324 -6.5943434 ] [-0.22537209 0.97150509 -0.07338441 -0.63597912] [-0.24067889 0.01747125 0.97044754 3.88479644] [ 0. 0. 0. 1. ]] SLAMing on 68.034839173 meters Centerline goodness [0,1] 0.7129835806297213 Centerline is valid? [False, False] Translation: X:-6.60, Y:-0.63, Z:3.89 [[ 0.94475301 0.24220331 0.22086039 -6.59680975] [-0.23312341 0.97015705 -0.06669918 -0.6254452 ] [-0.23042402 0.01152653 0.97302205 3.88568902] [ 0. 0. 0. 1. ]] SLAMing on 68.064839173 meters Centerline goodness [0,1] 0.7271951371830634 Centerline is valid? [False, False] Translation: X:-6.60, Y:-0.62, Z:3.89 [[ 9.43363859e-01 2.46215505e-01 2.22356820e-01 -6.59693020e+00] [-2.38382979e-01 9.69200449e-01 -6.18388565e-02 -6.20946374e-01] [-2.30734015e-01 5.33046114e-03 9.73002261e-01 3.88717311e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.094839173 meters Centerline goodness [0,1] 0.7318456647759147 Centerline is valid? [False, False] Translation: X:-6.60, Y:-0.61, Z:3.89 [[ 9.41746324e-01 2.51063601e-01 2.23787689e-01 -6.59689028e+00] [-2.44235220e-01 9.67970586e-01 -5.81558360e-02 -6.13047103e-01] [-2.31220714e-01 1.11209341e-04 9.72901315e-01 3.89062269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.124839173 meters Centerline goodness [0,1] 0.7375865870655045 Centerline is valid? [False, False] Translation: X:-6.60, Y:-0.61, Z:3.90 [[ 9.41429272e-01 2.51979198e-01 2.24092414e-01 -6.59874201e+00] [-2.45157319e-01 9.67732644e-01 -5.82358806e-02 -6.10375004e-01] [-2.31535775e-01 -1.12932664e-04 9.72826383e-01 3.89523279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.154839173 meters Centerline goodness [0,1] 0.7340109686198507 Centerline is valid? [False, False] Translation: X:-6.60, Y:-0.61, Z:3.90 [[ 9.41378524e-01 2.52303706e-01 2.23940428e-01 -6.59906370e+00] [-2.45254859e-01 9.67647739e-01 -5.92275952e-02 -6.08537604e-01] [-2.31638790e-01 8.33108075e-04 9.72801509e-01 3.89743125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.184839173 meters Centerline goodness [0,1] 0.7319880542535983 Centerline is valid? [False, False] Translation: X:-6.60, Y:-0.61, Z:3.91 [[ 9.43411262e-01 2.53182291e-01 2.14181974e-01 -6.60296349e+00] [-2.47669757e-01 9.67412710e-01 -5.26530231e-02 -6.05582523e-01] [-2.20533177e-01 -3.37294253e-03 9.75373642e-01 3.90701922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.214839173 meters Centerline goodness [0,1] 0.6959509812039414 Centerline is valid? [False, False] Translation: X:-6.60, Y:-0.61, Z:3.91 [[ 0.94470088 0.25839818 0.20191735 -6.60272178] [-0.25416559 0.96601424 -0.04707802 -0.60630121] [-0.20721991 -0.00684579 0.97827043 3.91258067] [ 0. 0. 0. 1. ]] SLAMing on 68.244839173 meters Centerline goodness [0,1] 0.6907793450671993 Centerline is valid? [False, False] Translation: X:-6.61, Y:-0.61, Z:3.92 [[ 9.45040006e-01 2.63848621e-01 1.93088818e-01 -6.60968860e+00] [-2.59354479e-01 9.64555430e-01 -4.86629006e-02 -6.05634457e-01] [-1.99084507e-01 -4.09006174e-03 9.79973791e-01 3.91596861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.274839173 meters Centerline goodness [0,1] 0.6429348735978571 Centerline is valid? [False, False] Translation: X:-6.62, Y:-0.61, Z:3.91 [[ 0.94360567 0.27962962 0.17724448 -6.61937748] [-0.27609424 0.96008496 -0.04482005 -0.6083278 ] [-0.18270277 -0.00664373 0.98314575 3.91401691] [ 0. 0. 0. 1. ]] SLAMing on 68.304839173 meters Centerline goodness [0,1] 0.6243730456863444 Centerline is valid? [False, False] Translation: X:-6.63, Y:-0.61, Z:3.92 [[ 0.94396729 0.2884626 0.16035925 -6.63069379] [-0.28573845 0.95745961 -0.04030663 -0.60979275] [-0.16516446 -0.00777266 0.98623541 3.92014698] [ 0. 0. 0. 1. ]] SLAMing on 68.334839173 meters Centerline goodness [0,1] 0.5683210719358873 Centerline is valid? [False, False] Translation: X:-6.65, Y:-0.62, Z:3.92 [[ 9.41348267e-01 3.07401667e-01 1.39167724e-01 -6.65032595e+00] [-3.04496513e-01 9.51576271e-01 -4.22430381e-02 -6.16195087e-01] [-1.45414284e-01 -2.61067605e-03 9.89367409e-01 3.92029549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36483917300001 meters Centerline goodness [0,1] 0.5657399974650387 Centerline is valid? [False, False] Translation: X:-6.66, Y:-0.62, Z:3.92 [[ 9.40903657e-01 3.11835892e-01 1.32131318e-01 -6.66279773e+00] [-3.09369056e-01 9.50128115e-01 -3.93364100e-02 -6.19699483e-01] [-1.37808185e-01 -3.86556918e-03 9.90451393e-01 3.92264671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.39483917300001 meters Centerline goodness [0,1] 0.5600101766065257 Centerline is valid? [False, False] Translation: X:-6.70, Y:-0.63, Z:3.93 [[ 0.93971126 0.31735122 0.12740077 -6.6956366 ] [-0.31625679 0.9482219 -0.02927226 -0.62644607] [-0.13009379 -0.01278388 0.99141927 3.93188447] [ 0. 0. 0. 1. ]] SLAMing on 68.424839173 meters Centerline goodness [0,1] 0.5626747388114608 Centerline is valid? [False, False] Translation: X:-6.71, Y:-0.63, Z:3.94 [[ 0.94061112 0.31413604 0.12872164 -6.71075308] [-0.3138312 0.94919585 -0.02317799 -0.62832118] [-0.12946309 -0.01859539 0.99140987 3.94012418] [ 0. 0. 0. 1. ]] SLAMing on 68.454839173 meters Centerline goodness [0,1] 0.5794645669291338 Centerline is valid? [False, False] Translation: X:-6.75, Y:-0.64, Z:3.95 [[ 0.94156335 0.30695467 0.13869852 -6.75205508] [-0.30748141 0.95138094 -0.01815159 -0.6370983 ] [-0.13752685 -0.02555635 0.99016829 3.95374357] [ 0. 0. 0. 1. ]] SLAMing on 68.484839173 meters Centerline goodness [0,1] 0.5870876272298284 Centerline is valid? [False, False] Translation: X:-6.79, Y:-0.64, Z:3.97 [[ 0.94365313 0.30090493 0.13774972 -6.79076651] [-0.30174753 0.95326626 -0.015227 -0.6355939 ] [-0.13589404 -0.02719663 0.99035002 3.97137938] [ 0. 0. 0. 1. ]] SLAMing on 68.514839173 meters Centerline goodness [0,1] 0.5972048132364001 Centerline is valid? [False, False] Translation: X:-6.83, Y:-0.64, Z:3.99 [[ 0.94502101 0.2914483 0.14830099 -6.83276393] [-0.29311954 0.95601307 -0.01095248 -0.64284301] [-0.14496976 -0.03311959 0.98888162 3.98688528] [ 0. 0. 0. 1. ]] SLAMing on 68.544839173 meters Centerline goodness [0,1] 0.6050279796208136 Centerline is valid? [False, False] Translation: X:-6.87, Y:-0.64, Z:4.00 [[ 0.94694365 0.28709298 0.14448305 -6.87038975] [-0.2884584 0.9574189 -0.01186575 -0.63989865] [-0.14173738 -0.03044115 0.98943613 4.00418524] [ 0. 0. 0. 1. ]] SLAMing on 68.574839173 meters Centerline goodness [0,1] 0.6169475143925705 Centerline is valid? [False, False] Translation: X:-6.91, Y:-0.65, Z:4.02 [[ 0.94824203 0.28334607 0.14335989 -6.90959681] [-0.28307641 0.95882851 -0.02270749 -0.64825325] [-0.14389163 -0.01904961 0.98941008 4.01958466] [ 0. 0. 0. 1. ]] SLAMing on 68.604839173 meters Centerline goodness [0,1] 0.6052128620334782 Centerline is valid? [False, False] Translation: X:-6.95, Y:-0.65, Z:4.03 [[ 0.95077247 0.27640735 0.14010952 -6.95043546] [-0.27650524 0.96082139 -0.01916018 -0.65346793] [-0.13991624 -0.02052405 0.98995061 4.03368235] [ 0. 0. 0. 1. ]] SLAMing on 68.634839173 meters Centerline goodness [0,1] 0.6080778177204482 Centerline is valid? [False, False] Translation: X:-6.99, Y:-0.65, Z:4.04 [[ 0.95212889 0.27386255 0.13583032 -6.98547875] [-0.27456434 0.96146811 -0.0139105 -0.64919766] [-0.13440609 -0.02404957 0.99063445 4.04430535] [ 0. 0. 0. 1. ]] SLAMing on 68.664839173 meters Centerline goodness [0,1] 0.6297563879086774 Centerline is valid? [False, False] Translation: X:-7.02, Y:-0.64, Z:4.05 [[ 0.95321422 0.27238287 0.13111151 -7.01914368] [-0.27370166 0.96177963 -0.00820665 -0.64498734] [-0.12833573 -0.02806274 0.99133366 4.05357794] [ 0. 0. 0. 1. ]] SLAMing on 68.694839173 meters Centerline goodness [0,1] 0.6180205475081361 Centerline is valid? [False, False] Translation: X:-7.07, Y:-0.64, Z:4.06 [[ 9.54650413e-01 2.71793424e-01 1.21535689e-01 -7.06685529e+00] [-2.74042445e-01 9.61715789e-01 1.86534582e-03 -6.43848511e-01] [-1.16375802e-01 -3.50866905e-02 9.92585310e-01 4.06352263e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.724839173 meters Centerline goodness [0,1] 0.6129755845052196 Centerline is valid? [False, False] Translation: X:-7.12, Y:-0.64, Z:4.08 [[ 9.56003584e-01 2.71671672e-01 1.10687169e-01 -7.11597835e+00] [-2.72890516e-01 9.62035585e-01 -4.27785673e-03 -6.36599148e-01] [-1.07647168e-01 -2.61158323e-02 9.93846090e-01 4.07607436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.75483917300001 meters Centerline goodness [0,1] 0.584210862212011 Centerline is valid? [False, False] Translation: X:-7.15, Y:-0.65, Z:4.08 [[ 0.95665154 0.27020819 0.10865245 -7.14956535] [-0.27068765 0.96260894 -0.01059397 -0.64613052] [-0.1074524 -0.01927614 0.99402335 4.08111498] [ 0. 0. 0. 1. ]] SLAMing on 68.784839173 meters Centerline goodness [0,1] 0.6065545933095602 Centerline is valid? [False, False] Translation: X:-7.19, Y:-0.65, Z:4.09 [[ 9.56573448e-01 2.70480882e-01 1.08661544e-01 -7.19376839e+00] [-2.71402338e-01 9.62444027e-01 -6.50128427e-03 -6.45576549e-01] [-1.06339127e-01 -2.32720410e-02 9.94057545e-01 4.09060544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.814839173 meters Centerline goodness [0,1] 0.6081922845605292 Centerline is valid? [False, False] Translation: X:-7.25, Y:-0.64, Z:4.11 [[ 9.56694997e-01 2.70477172e-01 1.07595452e-01 -7.25484545e+00] [-2.71841684e-01 9.62339787e-01 -2.05738665e-03 -6.35488652e-01] [-1.04099861e-01 -2.72806374e-02 9.94192630e-01 4.10561333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.844839173 meters Centerline goodness [0,1] 0.6102991018471445 Centerline is valid? [False, False] Translation: X:-7.30, Y:-0.64, Z:4.12 [[ 9.54900386e-01 2.74247206e-01 1.13814423e-01 -7.29997339e+00] [-2.75914226e-01 9.61181575e-01 -1.14889074e-03 -6.38300551e-01] [-1.09711406e-01 -3.03059421e-02 9.93501362e-01 4.12279457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.874839173 meters Centerline goodness [0,1] 0.6079487614523245 Centerline is valid? [False, False] Translation: X:-7.36, Y:-0.63, Z:4.14 [[ 9.54063857e-01 2.75800752e-01 1.17030344e-01 -7.35864398e+00] [-2.77041747e-01 9.60840060e-01 -5.85227766e-03 -6.32089560e-01] [-1.14061505e-01 -2.68388443e-02 9.93111096e-01 4.13955588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.904839173 meters Centerline goodness [0,1] 0.6144496961512491 Centerline is valid? [False, False] Translation: X:-7.42, Y:-0.63, Z:4.15 [[ 9.53161340e-01 2.74314234e-01 1.27417274e-01 -7.42429446e+00] [-2.76134728e-01 9.61112566e-01 -3.49960476e-03 -6.32572003e-01] [-1.23422334e-01 -3.18486462e-02 9.91843027e-01 4.15385320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.934839173 meters Centerline goodness [0,1] 0.6155440414507771 Centerline is valid? [False, False] Translation: X:-7.49, Y:-0.62, Z:4.16 [[ 9.54269982e-01 2.68721591e-01 1.30986671e-01 -7.49169825e+00] [-2.71695967e-01 9.62369877e-01 5.05196735e-03 -6.22682865e-01] [-1.24700053e-01 -4.04094909e-02 9.91371257e-01 4.16333940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.964839173 meters Centerline goodness [0,1] 0.619535519125683 Centerline is valid? [False, False] Translation: X:-7.56, Y:-0.62, Z:4.17 [[ 0.95512457 0.26460601 0.13311918 -7.55685713] [-0.26933773 0.96286692 0.0185601 -0.6164315 ] [-0.12326494 -0.05358123 0.99092624 4.17196968] [ 0. 0. 0. 1. ]] SLAMing on 68.994839173 meters Centerline goodness [0,1] 0.6134506997656893 Centerline is valid? [False, False] Translation: X:-7.61, Y:-0.61, Z:4.18 [[ 0.95516415 0.26294994 0.13608369 -7.6100482 ] [-0.2669221 0.96364968 0.01148404 -0.60742699] [-0.12811727 -0.04729289 0.99063078 4.1819171 ] [ 0. 0. 0. 1. ]] SLAMing on 69.024839173 meters Centerline goodness [0,1] 0.6227582856297924 Centerline is valid? [False, False] Translation: X:-7.67, Y:-0.61, Z:4.20 [[ 9.55416052e-01 2.60501138e-01 1.38993973e-01 -7.67338649e+00] [-2.62726506e-01 9.64867319e-01 -2.41674763e-03 -6.05605844e-01] [-1.34740308e-01 -3.42084014e-02 9.90290278e-01 4.19666137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.054839173 meters Centerline goodness [0,1] 0.628077262971847 Centerline is valid? [False, False] Translation: X:-7.72, Y:-0.60, Z:4.21 [[ 0.9565986 0.25613572 0.1389734 -7.72261089] [-0.2574003 0.96626196 -0.0091056 -0.59771516] [-0.13661698 -0.02706138 0.99025425 4.20685463] [ 0. 0. 0. 1. ]] SLAMing on 69.084839173 meters Centerline goodness [0,1] 0.6469717475892405 Centerline is valid? [False, False] Translation: X:-7.79, Y:-0.59, Z:4.22 [[ 9.59668414e-01 2.43747759e-01 1.40084133e-01 -7.78678822e+00] [-2.45812147e-01 9.69313888e-01 -2.64079903e-03 -5.90284876e-01] [-1.36429184e-01 -3.19000901e-02 9.90136083e-01 4.21763701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.11483917300001 meters Centerline goodness [0,1] 0.6488362853139834 Centerline is valid? [False, False] Translation: X:-7.83, Y:-0.58, Z:4.23 [[ 9.61929803e-01 2.35250394e-01 1.39098190e-01 -7.82509732e+00] [-2.37450711e-01 9.71399259e-01 -7.99022200e-04 -5.84885347e-01] [-1.35307849e-01 -3.22603610e-02 9.90278271e-01 4.22887325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14483917300001 meters Centerline goodness [0,1] 0.6626247473800446 Centerline is valid? [False, False] Translation: X:-7.87, Y:-0.59, Z:4.24 [[ 0.96525937 0.22257628 0.13687272 -7.86758812] [-0.22338929 0.97468214 -0.00958932 -0.58778291] [-0.13554176 -0.02131972 0.99054223 4.23738625] [ 0. 0. 0. 1. ]] SLAMing on 69.174839173 meters Centerline goodness [0,1] 0.6647345815437221 Centerline is valid? [False, False] Translation: X:-7.91, Y:-0.58, Z:4.24 [[ 0.96751274 0.21475772 0.13340999 -7.90569077] [-0.21502821 0.9765272 -0.01254943 -0.58378441] [-0.13297358 -0.01654517 0.99098148 4.24484289] [ 0. 0. 0. 1. ]] SLAMing on 69.204839173 meters Centerline goodness [0,1] 0.6649215751710329 Centerline is valid? [False, False] Translation: X:-7.94, Y:-0.58, Z:4.25 [[ 0.96939856 0.20796415 0.13045057 -7.94191765] [-0.20843971 0.97798254 -0.01015061 -0.58212412] [-0.12968934 -0.01735109 0.99140285 4.25152513] [ 0. 0. 0. 1. ]] SLAMing on 69.234839173 meters Centerline goodness [0,1] 0.6764535124823754 Centerline is valid? [False, False] Translation: X:-7.97, Y:-0.58, Z:4.26 [[ 0.97135338 0.20446851 0.12110013 -7.96716908] [-0.20453651 0.97878534 -0.01200284 -0.57725722] [-0.12098524 -0.0131104 0.99256773 4.26203173] [ 0. 0. 0. 1. ]] SLAMing on 69.264839173 meters Centerline goodness [0,1] 0.6871842650103519 Centerline is valid? [False, False] Translation: X:-8.00, Y:-0.58, Z:4.27 [[ 9.73792548e-01 1.96799056e-01 1.14009671e-01 -7.99738125e+00] [-1.96066296e-01 9.80430576e-01 -1.77170391e-02 -5.75988200e-01] [-1.15265263e-01 -5.10073317e-03 9.93321651e-01 4.27350196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.294839173 meters Centerline goodness [0,1] 0.6968312637568006 Centerline is valid? [False, False] Translation: X:-8.02, Y:-0.57, Z:4.28 [[ 9.74458648e-01 1.91795533e-01 1.16811027e-01 -8.02223595e+00] [-1.90750427e-01 9.81431382e-01 -2.01672068e-02 -5.73209299e-01] [-1.18509988e-01 -2.62964427e-03 9.92949378e-01 4.28194334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.324839173 meters Centerline goodness [0,1] 0.704559585492228 Centerline is valid? [False, False] Translation: X:-8.05, Y:-0.57, Z:4.29 [[ 9.75670454e-01 1.84248033e-01 1.18826882e-01 -8.04631620e+00] [-1.82584814e-01 9.82876524e-01 -2.48298889e-02 -5.71448428e-01] [-1.21367011e-01 2.52980475e-03 9.92604477e-01 4.28984398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.354839173 meters Centerline goodness [0,1] 0.7078871713678596 Centerline is valid? [False, False] Translation: X:-8.07, Y:-0.57, Z:4.30 [[ 9.77794890e-01 1.79213662e-01 1.08626039e-01 -8.07183614e+00] [-1.77644768e-01 9.83801206e-01 -2.40317257e-02 -5.67242745e-01] [-1.11173241e-01 4.20125116e-03 9.93792161e-01 4.30026696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.384839173 meters Centerline goodness [0,1] 0.7028013600050061 Centerline is valid? [False, False] Translation: X:-8.08, Y:-0.57, Z:4.30 [[ 9.80493014e-01 1.75271823e-01 8.89563801e-02 -8.08087078e+00] [-1.74493451e-01 9.84519853e-01 -1.65134819e-02 -5.69438872e-01] [-9.04736704e-02 6.69047936e-04 9.95898623e-01 4.30284846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.414839173 meters Centerline goodness [0,1] 0.6941520467836257 Centerline is valid? [False, False] Translation: X:-8.09, Y:-0.57, Z:4.30 [[ 9.81170214e-01 1.74696557e-01 8.23779314e-02 -8.09111299e+00] [-1.74359856e-01 9.84616934e-01 -1.13196689e-02 -5.67894684e-01] [-8.30882134e-02 -3.25688230e-03 9.96536874e-01 4.30224070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.444839173 meters Centerline goodness [0,1] 0.6898623279098874 Centerline is valid? [False, False] Translation: X:-8.11, Y:-0.56, Z:4.30 [[ 9.81756343e-01 1.71865827e-01 8.13426091e-02 -8.10639588e+00] [-1.72773727e-01 9.84952568e-01 4.20462029e-03 -5.63292563e-01] [-7.93959812e-02 -1.81817784e-02 9.96677330e-01 4.29680898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.474839173 meters Centerline goodness [0,1] 0.685992559461606 Centerline is valid? [False, False] Translation: X:-8.12, Y:-0.56, Z:4.30 [[ 0.98194653 0.17322402 0.07598987 -8.11898059] [-0.17450013 0.98460183 0.0104371 -0.55840535] [-0.07301181 -0.02350892 0.99705396 4.2977377 ] [ 0. 0. 0. 1. ]] SLAMing on 69.50483917300001 meters Centerline goodness [0,1] 0.6854028951552171 Centerline is valid? [False, False] Translation: X:-8.12, Y:-0.56, Z:4.30 [[ 9.82528352e-01 1.73938122e-01 6.62085165e-02 -8.12466663e+00] [-1.74502808e-01 9.84652698e-01 2.79896319e-03 -5.56704657e-01] [-6.47055480e-02 -1.43036327e-02 9.97801883e-01 4.30040557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.534839173 meters Centerline goodness [0,1] 0.6854028951552171 Centerline is valid? [False, False] Translation: X:-8.12, Y:-0.56, Z:4.30 [[ 9.82543606e-01 1.73843368e-01 6.62310001e-02 -8.12478195e+00] [-1.74407895e-01 9.84669526e-01 2.79469907e-03 -5.56638191e-01] [-6.47298076e-02 -1.42971230e-02 9.97800403e-01 4.30040648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.564839173 meters Centerline goodness [0,1] 0.6811506276150627 Centerline is valid? [False, False] Translation: X:-8.13, Y:-0.56, Z:4.30 [[ 9.83092131e-01 1.70372614e-01 6.71046496e-02 -8.13432570e+00] [-1.70142709e-01 9.85376778e-01 -9.16864256e-03 -5.59929093e-01] [-6.76854490e-02 -2.40374654e-03 9.97703815e-01 4.29894138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.594839173 meters Centerline goodness [0,1] 0.6809721872111587 Centerline is valid? [False, False] Translation: X:-8.15, Y:-0.56, Z:4.30 [[ 9.83735205e-01 1.68080456e-01 6.33561932e-02 -8.15228905e+00] [-1.67800459e-01 9.85772735e-01 -9.75298520e-03 -5.56485135e-01] [-6.40940940e-02 -1.03684339e-03 9.97943321e-01 4.30331387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.624839173 meters Centerline goodness [0,1] 0.670997485331098 Centerline is valid? [False, False] Translation: X:-8.16, Y:-0.55, Z:4.31 [[ 9.84227663e-01 1.67370203e-01 5.72985362e-02 -8.16393070e+00] [-1.67381979e-01 9.85881258e-01 -4.62791925e-03 -5.52799622e-01] [-5.72641288e-02 -5.03581621e-03 9.98346363e-01 4.30714330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.654839173 meters Centerline goodness [0,1] 0.6628131021194605 Centerline is valid? [False, False] Translation: X:-8.16, Y:-0.55, Z:4.31 [[ 9.82719527e-01 1.75451964e-01 5.89825401e-02 -8.16416181e+00] [-1.75969973e-01 9.84388710e-01 3.66542303e-03 -5.45323569e-01] [-5.74186409e-02 -1.39812388e-02 9.98252285e-01 4.30887862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.684839173 meters Centerline goodness [0,1] 0.6595091383812011 Centerline is valid? [False, False] Translation: X:-8.16, Y:-0.54, Z:4.31 [[ 9.82110008e-01 1.78663737e-01 5.94911856e-02 -8.16382838e+00] [-1.79372148e-01 9.83758170e-01 6.74504967e-03 -5.43178412e-01] [-5.73198441e-02 -1.72954425e-02 9.98206042e-01 4.30899003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.714839173 meters Centerline goodness [0,1] 0.6651511991657977 Centerline is valid? [False, False] Translation: X:-8.17, Y:-0.54, Z:4.31 [[ 9.81698478e-01 1.80754685e-01 5.99653443e-02 -8.16561363e+00] [-1.81546067e-01 9.83350084e-01 7.97731344e-03 -5.41773639e-01] [-5.75249895e-02 -1.87177889e-02 9.98168583e-01 4.31090107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.744839173 meters Centerline goodness [0,1] 0.6601374068118696 Centerline is valid? [False, False] Translation: X:-8.18, Y:-0.54, Z:4.32 [[ 9.82488706e-01 1.78051924e-01 5.48949382e-02 -8.18190426e+00] [-1.78509825e-01 9.83931853e-01 3.51448434e-03 -5.37711568e-01] [-5.33871176e-02 -1.32522270e-02 9.98485951e-01 4.31640099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.774839173 meters Centerline goodness [0,1] 0.6674509640611336 Centerline is valid? [False, False] Translation: X:-8.19, Y:-0.54, Z:4.32 [[ 9.83317814e-01 1.73520132e-01 5.45604277e-02 -8.18500420e+00] [-1.73761606e-01 9.84787693e-01 -3.22711100e-04 -5.39207875e-01] [-5.37864346e-02 -9.16318000e-03 9.98510418e-01 4.31991389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.804839173 meters Centerline goodness [0,1] 0.6757964176861091 Centerline is valid? [False, False] Translation: X:-8.20, Y:-0.54, Z:4.33 [[ 9.84492224e-01 1.66940322e-01 5.39072275e-02 -8.20362192e+00] [-1.67167703e-01 9.85928431e-01 -2.95073033e-04 -5.37334245e-01] [-5.31979278e-02 -8.72105028e-03 9.98545905e-01 4.32722937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.834839173 meters Centerline goodness [0,1] 0.6791571517542039 Centerline is valid? [False, False] Translation: X:-8.21, Y:-0.54, Z:4.33 [[ 9.85046170e-01 1.63691520e-01 5.37506198e-02 -8.20607316e+00] [-1.63777546e-01 9.86493236e-01 -2.83034885e-03 -5.38212200e-01] [-5.34879270e-02 -6.01512030e-03 9.98550379e-01 4.33029623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86483917300001 meters Centerline goodness [0,1] 0.682010284596007 Centerline is valid? [False, False] Translation: X:-8.22, Y:-0.54, Z:4.34 [[ 9.85902114e-01 1.59795797e-01 4.96218168e-02 -8.21862402e+00] [-1.60149826e-01 9.87087476e-01 3.21677726e-03 -5.38439151e-01] [-4.84670464e-02 -1.11183529e-02 9.98762899e-01 4.33642102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.894839173 meters Centerline goodness [0,1] 0.6954387570456957 Centerline is valid? [False, False] Translation: X:-8.22, Y:-0.54, Z:4.34 [[ 9.86656695e-01 1.54909842e-01 5.01149343e-02 -8.22398686e+00] [-1.55105818e-01 9.87897861e-01 2.17956511e-05 -5.42899302e-01] [-4.95050601e-02 -7.79462272e-03 9.98743457e-01 4.34185424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.924839173 meters Centerline goodness [0,1] 0.7308713189959664 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.55, Z:4.35 [[ 9.88355890e-01 1.42442854e-01 5.35039075e-02 -8.24920717e+00] [-1.42317178e-01 9.89801868e-01 -6.17116556e-03 -5.45955171e-01] [-5.38373060e-02 -1.51521730e-03 9.98548571e-01 4.35374414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.954839173 meters Centerline goodness [0,1] 0.7391331540434048 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.55, Z:4.36 [[ 9.88814123e-01 1.39295835e-01 5.33226042e-02 -8.25118186e+00] [-1.39030918e-01 9.90250140e-01 -8.66394984e-03 -5.47047959e-01] [-5.40095684e-02 1.15354534e-03 9.98539752e-01 4.35629630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.984839173 meters Centerline goodness [0,1] 0.7460732436784975 Centerline is valid? [False, False] Translation: X:-8.26, Y:-0.55, Z:4.36 [[ 9.90360006e-01 1.29807008e-01 4.83445815e-02 -8.25904524e+00] [-1.29871716e-01 9.91529146e-01 -1.81360658e-03 -5.46196248e-01] [-4.81704804e-02 -4.48247034e-03 9.98829071e-01 4.36483523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.014839173 meters Centerline goodness [0,1] 0.746794134259356 Centerline is valid? [False, False] Translation: X:-8.26, Y:-0.55, Z:4.37 [[ 9.90828252e-01 1.26349790e-01 4.79072698e-02 -8.26021209e+00] [-1.26265516e-01 9.91984900e-01 -4.79350230e-03 -5.45877334e-01] [-4.81289462e-02 -1.29949862e-03 9.98840285e-01 4.36695112e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.044839173 meters Centerline goodness [0,1] 0.7262951285210164 Centerline is valid? [False, False] Translation: X:-8.26, Y:-0.55, Z:4.37 [[ 9.91277521e-01 1.22951210e-01 4.74539414e-02 -8.26122667e+00] [-1.22714112e-01 9.92410708e-01 -7.88885530e-03 -5.45855090e-01] [-4.80637439e-02 1.99677665e-03 9.98842275e-01 4.36873294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.074839173 meters Centerline goodness [0,1] 0.7230564452393827 Centerline is valid? [False, False] Translation: X:-8.26, Y:-0.55, Z:4.37 [[ 9.92010893e-01 1.16932048e-01 4.73422069e-02 -8.26267987e+00] [-1.16457494e-01 9.93114852e-01 -1.26705267e-02 -5.46393728e-01] [-4.84978395e-02 7.05594576e-03 9.98798365e-01 4.37037889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.104839173 meters Centerline goodness [0,1] 0.6919912745403553 Centerline is valid? [False, False] Translation: X:-8.28, Y:-0.55, Z:4.38 [[ 0.99297836 0.10457306 0.05530326 -8.27963097] [-0.10386149 0.99446949 -0.01559585 -0.54893552] [-0.05662831 0.00974246 0.99834779 4.37801423] [ 0. 0. 0. 1. ]] SLAMing on 70.134839173 meters Centerline goodness [0,1] 0.7155677349175802 Centerline is valid? [False, False] Translation: X:-8.28, Y:-0.55, Z:4.38 [[ 0.99331048 0.10116001 0.05568619 -8.28461841] [-0.10023545 0.99477924 -0.01916021 -0.54902727] [-0.05733371 0.01345031 0.99826446 4.38367952] [ 0. 0. 0. 1. ]] SLAMing on 70.164839173 meters Centerline goodness [0,1] 0.7131449377301502 Centerline is valid? [False, False] Translation: X:-8.29, Y:-0.55, Z:4.39 [[ 0.99333259 0.10106227 0.05546868 -8.28531398] [-0.100128 0.99478583 -0.01937868 -0.54818346] [-0.05713791 0.01369551 0.99827235 4.38573165] [ 0. 0. 0. 1. ]] SLAMing on 70.194839173 meters Centerline goodness [0,1] 0.7048349228116104 Centerline is valid? [False, False] Translation: X:-8.29, Y:-0.55, Z:4.39 [[ 0.99416903 0.09672558 0.04766661 -8.29056665] [-0.09618815 0.99527232 -0.01344797 -0.54555003] [-0.04874202 0.00878459 0.99877277 4.38905103] [ 0. 0. 0. 1. ]] SLAMing on 70.224839173 meters Centerline goodness [0,1] 0.6932737112648097 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.54, Z:4.39 [[ 9.95042622e-01 9.09435994e-02 4.02422901e-02 -8.29667124e+00] [-9.06700284e-02 9.95844067e-01 -8.57558035e-03 -5.44574596e-01] [-4.08549400e-02 4.88429837e-03 9.99153150e-01 4.39195801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.25483917300001 meters Centerline goodness [0,1] 0.6763552960800667 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.54, Z:4.38 [[ 9.95506614e-01 8.48656053e-02 4.20048771e-02 -8.29857982e+00] [-8.47796440e-02 9.96392376e-01 -3.82683564e-03 -5.44001894e-01] [-4.21781060e-02 2.48481669e-04 9.99110077e-01 4.38329676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.284839173 meters Centerline goodness [0,1] 0.6698278377589728 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.54, Z:4.39 [[ 9.96119304e-01 8.07827935e-02 3.49352489e-02 -8.30415202e+00] [-8.09355078e-02 9.96714894e-01 2.97717376e-03 -5.41020931e-01] [-3.45799785e-02 -5.79312237e-03 9.99385143e-01 4.38606936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.314839173 meters Centerline goodness [0,1] 0.6503656783280896 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.54, Z:4.39 [[ 9.96418725e-01 7.73804730e-02 3.40879420e-02 -8.30433895e+00] [-7.73879400e-02 9.97000447e-01 -1.10225555e-03 -5.38323673e-01] [-3.40709865e-02 -1.53968754e-03 9.99418229e-01 4.38799934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.344839173 meters Centerline goodness [0,1] 0.6511202940382499 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.54, Z:4.39 [[ 9.96691822e-01 7.41481014e-02 3.32786802e-02 -8.30670693e+00] [-7.40104794e-02 9.97243113e-01 -5.35008670e-03 -5.40766071e-01] [-3.35836334e-02 2.86941658e-03 9.99431792e-01 4.39214137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.374839173 meters Centerline goodness [0,1] 0.6616236239152602 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.54, Z:4.39 [[ 9.96568207e-01 7.56916586e-02 3.35049524e-02 -8.30805805e+00] [-7.55802183e-02 9.97129197e-01 -4.58201371e-03 -5.38712339e-01] [-3.37555865e-02 2.03397757e-03 9.99428048e-01 4.39363091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.404839173 meters Centerline goodness [0,1] 0.701288429115584 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.53, Z:4.39 [[ 0.99532801 0.09018395 0.03448202 -8.30702564] [-0.09055687 0.99584685 0.00940727 -0.53141602] [-0.03349043 -0.0124859 0.99936104 4.39364437] [ 0. 0. 0. 1. ]] SLAMing on 70.434839173 meters Centerline goodness [0,1] 0.7224645809963023 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.53, Z:4.39 [[ 0.99489133 0.09492003 0.03437196 -8.30554941] [-0.0953984 0.99536003 0.0125518 -0.52658033] [-0.03302106 -0.01576671 0.99933029 4.39272392] [ 0. 0. 0. 1. ]] SLAMing on 70.464839173 meters Centerline goodness [0,1] 0.7537119717578652 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.52, Z:4.39 [[ 0.99444098 0.09953857 0.03433956 -8.30462614] [-0.10012368 0.99485021 0.01575801 -0.52355866] [-0.03259419 -0.01910861 0.99928598 4.39240803] [ 0. 0. 0. 1. ]] SLAMing on 70.494839173 meters Centerline goodness [0,1] 0.7611785023199684 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.52, Z:4.40 [[ 9.92275951e-01 1.20673964e-01 2.87442413e-02 -8.30099144e+00] [-1.20936324e-01 9.92631445e-01 7.56444633e-03 -5.19020990e-01] [-2.76196060e-02 -1.09822410e-02 9.99558176e-01 4.39905749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.524839173 meters Centerline goodness [0,1] 0.7375260308204914 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.51, Z:4.41 [[ 9.90636029e-01 1.33433579e-01 2.89091270e-02 -8.30091024e+00] [-1.33682252e-01 9.91000652e-01 6.83836637e-03 -5.14117069e-01] [-2.77364960e-02 -1.06389693e-02 9.99558652e-01 4.40965766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.554839173 meters Centerline goodness [0,1] 0.7458145927036481 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.51, Z:4.41 [[ 0.99004368 0.13759711 0.02967414 -8.30357026] [-0.13795732 0.9903831 0.01044433 -0.51084586] [-0.02795166 -0.01443411 0.99950506 4.41332568] [ 0. 0. 0. 1. ]] SLAMing on 70.584839173 meters Centerline goodness [0,1] 0.7403565775222861 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.51, Z:4.42 [[ 0.98887257 0.14549487 0.03102067 -8.30621971] [-0.14609122 0.98910915 0.01790073 -0.50588207] [-0.02807836 -0.02223339 0.99935844 4.41743741] [ 0. 0. 0. 1. ]] SLAMing on 70.61483917300001 meters Centerline goodness [0,1] 0.7361249791978699 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.51, Z:4.42 [[ 0.98883661 0.14573609 0.03103475 -8.30682285] [-0.14633225 0.98907389 0.01788074 -0.50528593] [-0.0280898 -0.02222251 0.99935836 4.41835175] [ 0. 0. 0. 1. ]] SLAMing on 70.644839173 meters Centerline goodness [0,1] 0.7350747044032999 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.51, Z:4.42 [[ 0.98913375 0.14370435 0.03103995 -8.3094556 ] [-0.14424224 0.98941569 0.01583536 -0.51076741] [-0.0284358 -0.02014056 0.9993927 4.42035663] [ 0. 0. 0. 1. ]] SLAMing on 70.674839173 meters Centerline goodness [0,1] 0.7366770508826583 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.51, Z:4.42 [[ 0.9894795 0.14133395 0.03090353 -8.31149886] [-0.1417902 0.98981009 0.01309652 -0.5125169 ] [-0.02873764 -0.01734056 0.99943657 4.42210904] [ 0. 0. 0. 1. ]] SLAMing on 70.704839173 meters Centerline goodness [0,1] 0.7338692924508704 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.52, Z:4.42 [[ 0.98974668 0.13952007 0.03058861 -8.31240714] [-0.13992148 0.99009709 0.01138995 -0.519564 ] [-0.02869656 -0.01555316 0.99946716 4.42231292] [ 0. 0. 0. 1. ]] SLAMing on 70.734839173 meters Centerline goodness [0,1] 0.720169480964546 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.52, Z:4.42 [[ 0.98946409 0.14297329 0.02279166 -8.31963057] [-0.14341537 0.98947818 0.01910393 -0.52024031] [-0.0198205 -0.02217132 0.99955769 4.42024855] [ 0. 0. 0. 1. ]] SLAMing on 70.764839173 meters Centerline goodness [0,1] 0.7158866457367403 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.52, Z:4.42 [[ 0.98899872 0.14607966 0.02328668 -8.31894847] [-0.14660177 0.98893848 0.02255225 -0.51805068] [-0.01973467 -0.02571801 0.99947443 4.41977867] [ 0. 0. 0. 1. ]] SLAMing on 70.794839173 meters Centerline goodness [0,1] 0.7161763483753012 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.52, Z:4.42 [[ 0.98862719 0.14846138 0.02398956 -8.32134438] [-0.14905456 0.9885083 0.02518105 -0.5156784 ] [-0.01997547 -0.02847042 0.99939502 4.42305363] [ 0. 0. 0. 1. ]] SLAMing on 70.824839173 meters Centerline goodness [0,1] 0.7143836327759892 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.52, Z:4.42 [[ 0.98909666 0.14540416 0.02335425 -8.32219789] [-0.14590942 0.98906178 0.02161579 -0.51675041] [-0.01995577 -0.02478771 0.99949354 4.42423914] [ 0. 0. 0. 1. ]] SLAMing on 70.854839173 meters Centerline goodness [0,1] 0.7190032835944968 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.52, Z:4.42 [[ 0.98994959 0.13971337 0.02190839 -8.32190804] [-0.14005144 0.9900346 0.01473393 -0.52177337] [-0.01963153 -0.01765415 0.99965141 4.42366854] [ 0. 0. 0. 1. ]] SLAMing on 70.884839173 meters Centerline goodness [0,1] 0.7243140022416871 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.52, Z:4.42 [[ 0.99048364 0.13599766 0.02113735 -8.32046616] [-0.13623768 0.99062204 0.01035674 -0.52100706] [-0.01953063 -0.01313789 0.99972294 4.42188291] [ 0. 0. 0. 1. ]] SLAMing on 70.914839173 meters Centerline goodness [0,1] 0.7228665684586177 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.52, Z:4.42 [[ 0.99145902 0.1299572 0.01096075 -8.31978117] [-0.13010259 0.99140454 0.01379701 -0.51948786] [-0.00907351 -0.01510519 0.99984474 4.41761102] [ 0. 0. 0. 1. ]] SLAMing on 70.944839173 meters Centerline goodness [0,1] 0.7216985049833887 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.52, Z:4.41 [[ 0.99169166 0.12822926 0.01024209 -8.31556101] [-0.12835271 0.99165015 0.01247218 -0.5180433 ] [-0.00855727 -0.01368315 0.99986976 4.41359945] [ 0. 0. 0. 1. ]] SLAMing on 70.974839173 meters Centerline goodness [0,1] 0.7235782456576196 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.52, Z:4.41 [[ 9.92272139e-01 1.23789787e-01 8.49068457e-03 -8.30873754e+00] [-1.23860048e-01 9.92264836e-01 8.31764943e-03 -5.20316220e-01] [-7.39536768e-03 -9.30502839e-03 9.99929360e-01 4.40685528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00483917300001 meters Centerline goodness [0,1] 0.7177716200008272 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.52, Z:4.41 [[ 9.92675616e-01 1.20549417e-01 7.93468622e-03 -8.30820637e+00] [-1.20588102e-01 9.92692015e-01 4.59058379e-03 -5.21375680e-01] [-7.32330745e-03 -5.51378934e-03 9.99957983e-01 4.40597955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.034839173 meters Centerline goodness [0,1] 0.7144250928943598 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.52, Z:4.40 [[ 9.92939542e-01 1.18382482e-01 7.52684372e-03 -8.30782116e+00] [-1.18395291e-01 9.92965720e-01 1.27795389e-03 -5.23527727e-01] [-7.32261045e-03 -2.16007380e-03 9.99970856e-01 4.40459138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.064839173 meters Centerline goodness [0,1] 0.7215068749609967 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.52, Z:4.40 [[ 9.92856857e-01 1.19083112e-01 7.38064934e-03 -8.30753058e+00] [-1.19097112e-01 9.92881499e-01 1.48573274e-03 -5.23715356e-01] [-7.15118450e-03 -2.35413396e-03 9.99971659e-01 4.40438957e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.094839173 meters Centerline goodness [0,1] 0.6938758580642486 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.52, Z:4.40 [[ 9.91964884e-01 1.26277927e-01 7.71709744e-03 -8.30429057e+00] [-1.26341340e-01 9.91951515e-01 8.37002179e-03 -5.24404716e-01] [-6.59803750e-03 -9.27775613e-03 9.99935192e-01 4.40105264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.124839173 meters Centerline goodness [0,1] 0.681174673930989 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.52, Z:4.40 [[ 9.91443073e-01 1.30298479e-01 7.93338442e-03 -8.30295775e+00] [-1.30389009e-01 9.91387530e-01 1.22258792e-02 -5.24500863e-01] [-6.27204492e-03 -1.31556894e-02 9.99893789e-01 4.39988735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.154839173 meters Centerline goodness [0,1] 0.6600281841919841 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.53, Z:4.40 [[ 9.90664583e-01 1.36043910e-01 8.70283075e-03 -8.30320962e+00] [-1.36179774e-01 9.90527696e-01 1.76054469e-02 -5.26963710e-01] [-6.22528106e-03 -1.86262422e-02 9.99807136e-01 4.39942849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.184839173 meters Centerline goodness [0,1] 0.6451873151155334 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.53, Z:4.40 [[ 9.90612220e-01 1.36444158e-01 8.39174728e-03 -8.30172108e+00] [-1.36573410e-01 9.90475795e-01 1.74757907e-02 -5.26286822e-01] [-5.92735301e-03 -1.84578213e-02 9.99812070e-01 4.39806082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.214839173 meters Centerline goodness [0,1] 0.6481262817724194 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.53, Z:4.40 [[ 9.90420231e-01 1.37831930e-01 8.37403572e-03 -8.30153720e+00] [-1.37966721e-01 9.90263738e-01 1.85178890e-02 -5.26872399e-01] [-5.74014754e-03 -1.94958301e-02 9.99793460e-01 4.39791562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.244839173 meters Centerline goodness [0,1] 0.6393550645553199 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.53, Z:4.40 [[ 9.90336505e-01 1.38420132e-01 8.57174040e-03 -8.30284169e+00] [-1.38564937e-01 9.90159662e-01 1.95857481e-02 -5.29559308e-01] [-5.77632975e-03 -2.05842239e-02 9.99771436e-01 4.39923821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.274839173 meters Centerline goodness [0,1] 0.648690132957209 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.53, Z:4.40 [[ 9.90416646e-01 1.37809801e-01 9.12832813e-03 -8.30776958e+00] [-1.37966559e-01 9.90242069e-01 1.96436508e-02 -5.34565840e-01] [-6.33216694e-03 -2.07148027e-02 9.99765373e-01 4.40369460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.304839173 meters Centerline goodness [0,1] 0.6540114909271277 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.54, Z:4.41 [[ 9.90378293e-01 1.38100684e-01 8.89036813e-03 -8.30816829e+00] [-1.38258119e-01 9.90182346e-01 2.05819079e-02 -5.36680479e-01] [-5.96071001e-03 -2.16130404e-02 9.99748642e-01 4.40503909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.334839173 meters Centerline goodness [0,1] 0.6445416468937628 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.54, Z:4.41 [[ 9.90758449e-01 1.35395319e-01 8.11187244e-03 -8.30750029e+00] [-1.35523031e-01 9.90608977e-01 1.80931543e-02 -5.37367399e-01] [-5.58596525e-03 -1.90252911e-02 9.99803398e-01 4.40515129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.36483917300001 meters Centerline goodness [0,1] 0.652504425700302 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.54, Z:4.40 [[ 9.91374931e-01 1.31056242e-01 -8.63780784e-05 -8.31715295e+00] [-1.31036172e-01 9.91234221e-01 1.68594649e-02 -5.40794043e-01] [ 2.29515902e-03 -1.67027322e-02 9.99857865e-01 4.40218158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.394839173 meters Centerline goodness [0,1] 0.6571428571428571 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.54, Z:4.40 [[ 9.91669100e-01 1.28808989e-01 -7.99706696e-04 -8.31353218e+00] [-1.28784510e-01 9.91569447e-01 1.43031951e-02 -5.42454934e-01] [ 2.63534482e-03 -1.40810468e-02 9.99897384e-01 4.39801469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.424839173 meters Centerline goodness [0,1] 0.6571428571428571 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.54, Z:4.40 [[ 9.91669100e-01 1.28808989e-01 -7.99706696e-04 -8.31353218e+00] [-1.28784510e-01 9.91569447e-01 1.43031951e-02 -5.42454934e-01] [ 2.63534482e-03 -1.40810468e-02 9.99897384e-01 4.39801469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.454839173 meters Centerline goodness [0,1] 0.6528757150286011 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.54, Z:4.39 [[ 9.91999292e-01 1.26230119e-01 -1.83368678e-03 -8.30810479e+00] [-1.26202096e-01 9.91941517e-01 1.11828787e-02 -5.42822670e-01] [ 3.23052616e-03 -1.08619926e-02 9.99935788e-01 4.39208496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.484839173 meters Centerline goodness [0,1] 0.64 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.54, Z:4.38 [[ 0.99239508 0.12251467 -0.01192349 -8.30646084] [-0.12238188 0.99241881 0.01129535 -0.54121531] [ 0.01321695 -0.00975023 0.99986511 4.37979937] [ 0. 0. 0. 1. ]] SLAMing on 71.514839173 meters Centerline goodness [0,1] 0.6354580417375953 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.54, Z:4.37 [[ 0.99249158 0.12164707 -0.01274564 -8.29969285] [-0.12151756 0.99253387 0.01048833 -0.54160524] [ 0.01392635 -0.00886076 0.99986376 4.37275652] [ 0. 0. 0. 1. ]] SLAMing on 71.544839173 meters Centerline goodness [0,1] 0.6348657873667355 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.55, Z:4.37 [[ 9.92816482e-01 1.16711536e-01 -2.63410609e-02 -8.29644112e+00] [-1.16491878e-01 9.93143981e-01 9.73015442e-03 -5.45830537e-01] [ 2.72960874e-02 -6.59173802e-03 9.99605659e-01 4.36814926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.574839173 meters Centerline goodness [0,1] 0.6400953445693673 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.55, Z:4.37 [[ 9.93428623e-01 1.11284393e-01 -2.67461228e-02 -8.29512275e+00] [-1.11155977e-01 9.93783347e-01 6.24568315e-03 -5.49516267e-01] [ 2.72748985e-02 -3.23164901e-03 9.99622747e-01 4.36644290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.604839173 meters Centerline goodness [0,1] 0.6629298718813217 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.55, Z:4.37 [[ 9.93751859e-01 1.08388821e-01 -2.66290504e-02 -8.29742819e+00] [-1.08315348e-01 9.94107753e-01 4.19049213e-03 -5.49561535e-01] [ 2.69263479e-02 -1.27997449e-03 9.99636601e-01 4.36893106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.634839173 meters Centerline goodness [0,1] 0.6549843088523347 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.55, Z:4.37 [[ 9.93972693e-01 1.06441883e-01 -2.62375784e-02 -8.30193808e+00] [-1.06389598e-01 9.94318760e-01 3.38465804e-03 -5.50652888e-01] [ 2.64487858e-02 -5.72852231e-04 9.99650006e-01 4.37401653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.664839173 meters Centerline goodness [0,1] 0.6819644723092999 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.55, Z:4.38 [[ 9.94841451e-01 1.00776535e-01 -1.16007891e-02 -8.31217408e+00] [-1.00812054e-01 9.94902303e-01 -2.51737194e-03 -5.53939663e-01] [ 1.12879598e-02 3.67388533e-03 9.99929540e-01 4.38055393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.694839173 meters Centerline goodness [0,1] 0.6854015057777405 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.56, Z:4.38 [[ 9.95110936e-01 9.80703234e-02 -1.16806263e-02 -8.31487805e+00] [-9.81309243e-02 9.95162264e-01 -4.73184535e-03 -5.57227452e-01] [ 1.11600649e-02 5.85494171e-03 9.99920583e-01 4.38350617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.724839173 meters Centerline goodness [0,1] 0.6838476484967512 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.56, Z:4.38 [[ 9.95466624e-01 9.43473863e-02 -1.20320500e-02 -8.31372457e+00] [-9.44401060e-02 9.95503156e-01 -7.38467020e-03 -5.61605863e-01] [ 1.12812194e-02 8.48750080e-03 9.99900343e-01 4.38194158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.75483917300001 meters Centerline goodness [0,1] 0.6833714897817731 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.56, Z:4.38 [[ 9.96111924e-01 8.69860626e-02 -1.39448579e-02 -8.31574137e+00] [-8.70077762e-02 9.96207173e-01 -9.56906827e-04 -5.64398764e-01] [ 1.38087299e-02 2.16649737e-03 9.99902308e-01 4.37594650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.784839173 meters Centerline goodness [0,1] 0.68948701312292 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.56, Z:4.38 [[ 9.96460976e-01 8.28375676e-02 -1.42639433e-02 -8.31528808e+00] [-8.29128671e-02 9.96545384e-01 -4.77013548e-03 -5.64494524e-01] [ 1.38195205e-02 5.93591830e-03 9.99886886e-01 4.37542609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.814839173 meters Centerline goodness [0,1] 0.6859774522266446 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.57, Z:4.38 [[ 9.97802179e-01 6.60563773e-02 -5.23134559e-03 -8.32264242e+00] [-6.60807028e-02 9.97803576e-01 -4.62207861e-03 -5.65211642e-01] [ 4.91453757e-03 4.95761110e-03 9.99975634e-01 4.37717711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.844839173 meters Centerline goodness [0,1] 0.6909159442140973 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.56, Z:4.38 [[ 9.98277101e-01 5.84393123e-02 -5.26077137e-03 -8.32573306e+00] [-5.84973008e-02 9.98219684e-01 -1.16416499e-02 -5.64770919e-01] [ 4.57107553e-03 1.19293334e-02 9.99918395e-01 4.38067048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.874839173 meters Centerline goodness [0,1] 0.6833291520321124 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.56, Z:4.38 [[ 9.98696881e-01 5.07532857e-02 -5.35202189e-03 -8.32835426e+00] [-5.08462884e-02 9.98526265e-01 -1.89724218e-02 -5.64356788e-01] [ 4.38122168e-03 1.92198290e-02 9.99805683e-01 4.38376426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.904839173 meters Centerline goodness [0,1] 0.655225098892819 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.56, Z:4.39 [[ 9.99239865e-01 3.85646022e-02 -5.69760414e-03 -8.33084864e+00] [-3.87239466e-02 9.98763729e-01 -3.11684118e-02 -5.62332304e-01] [ 4.48856295e-03 3.13653533e-02 9.99497908e-01 4.38715966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.934839173 meters Centerline goodness [0,1] 0.6775528978840846 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.56, Z:4.39 [[ 9.99309394e-01 3.67439287e-02 -5.53351221e-03 -8.33079524e+00] [-3.69034916e-02 9.98799975e-01 -3.21984888e-02 -5.62715333e-01] [ 4.34377288e-03 3.23804583e-02 9.99466176e-01 4.38704321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.964839173 meters Centerline goodness [0,1] 0.6843550821871855 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.56, Z:4.38 [[ 9.99417344e-01 3.38629718e-02 -4.27446534e-03 -8.32967280e+00] [-3.39909614e-02 9.98821428e-01 -3.46463445e-02 -5.55803441e-01] [ 3.09619939e-03 3.47714508e-02 9.99390494e-01 4.38337830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.994839173 meters Centerline goodness [0,1] 0.6407304902084119 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.55, Z:4.38 [[ 9.99443923e-01 3.28686940e-02 -5.61192867e-03 -8.32817574e+00] [-3.29883759e-02 9.99196465e-01 -2.27638274e-02 -5.48522748e-01] [ 4.85920201e-03 2.29362974e-02 9.99725119e-01 4.37676807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.024839173 meters Centerline goodness [0,1] 0.6750858674708888 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.54, Z:4.38 [[ 9.99333970e-01 3.59950830e-02 -5.99750719e-03 -8.32584300e+00] [-3.61111426e-02 9.99137084e-01 -2.05200814e-02 -5.44200130e-01] [ 5.25370981e-03 2.07229913e-02 9.99771452e-01 4.37502478e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.054839173 meters Centerline goodness [0,1] 0.6534239740551329 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.54, Z:4.38 [[ 9.99100639e-01 4.18908119e-02 -6.56293419e-03 -8.32441641e+00] [-4.19904101e-02 9.98992216e-01 -1.58542753e-02 -5.38655783e-01] [ 5.89217171e-03 1.61155969e-02 9.99852774e-01 4.37550322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.084839173 meters Centerline goodness [0,1] 0.6892010352312573 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.54, Z:4.38 [[ 9.99086389e-01 4.22502543e-02 -6.42672450e-03 -8.32741594e+00] [-4.23486724e-02 9.98974166e-01 -1.60376614e-02 -5.36964153e-01] [ 5.74253647e-03 1.62951725e-02 9.99850734e-01 4.37912020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.11483917300001 meters Centerline goodness [0,1] 0.7012634436671191 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.53, Z:4.39 [[ 9.98945914e-01 4.55574715e-02 -5.61934774e-03 -8.33341632e+00] [-4.56281424e-02 9.98871749e-01 -1.31643744e-02 -5.31767308e-01] [ 5.01327209e-03 1.34068984e-02 9.99897556e-01 4.38633114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.144839173 meters Centerline goodness [0,1] 0.7098032670602716 Centerline is valid? [False, False] Translation: X:-8.34, Y:-0.52, Z:4.39 [[ 9.98678798e-01 5.11206211e-02 -5.22884430e-03 -8.33674009e+00] [-5.11592637e-02 9.98662009e-01 -7.54465068e-03 -5.24988945e-01] [ 4.83616093e-03 7.80218650e-03 9.99957868e-01 4.39153473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.174839173 meters Centerline goodness [0,1] 0.7228328753434924 Centerline is valid? [False, False] Translation: X:-8.34, Y:-0.52, Z:4.39 [[ 9.98593963e-01 5.27570980e-02 -5.17546611e-03 -8.33901657e+00] [-5.27918367e-02 9.98582234e-01 -6.82232104e-03 -5.21731731e-01] [ 4.80820265e-03 7.08595097e-03 9.99963335e-01 4.39468620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.204839173 meters Centerline goodness [0,1] 0.7376643368280912 Centerline is valid? [False, False] Translation: X:-8.34, Y:-0.52, Z:4.40 [[ 9.98513144e-01 5.42856893e-02 -4.95627782e-03 -8.34204375e+00] [-5.43161881e-02 9.98504279e-01 -6.24150976e-03 -5.20311084e-01] [ 4.61003995e-03 6.50143566e-03 9.99968239e-01 4.39833269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.234839173 meters Centerline goodness [0,1] 0.7722850326729592 Centerline is valid? [False, False] Translation: X:-8.34, Y:-0.52, Z:4.40 [[ 9.98184837e-01 5.99685730e-02 5.54989235e-03 -8.34414757e+00] [-5.99121359e-02 9.98155244e-01 -9.83081658e-03 -5.20047420e-01] [-6.12919420e-03 9.48046614e-03 9.99936275e-01 4.40487787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.264839173 meters Centerline goodness [0,1] 0.7749704154296511 Centerline is valid? [False, False] Translation: X:-8.35, Y:-0.52, Z:4.41 [[ 9.98167680e-01 6.02486636e-02 5.60182360e-03 -8.34611727e+00] [-6.01910135e-02 9.98137325e-01 -9.94598695e-03 -5.18571993e-01] [-6.19062165e-03 9.59058328e-03 9.99934846e-01 4.40751625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.294839173 meters Centerline goodness [0,1] 0.7891726715256127 Centerline is valid? [False, False] Translation: X:-8.35, Y:-0.51, Z:4.41 [[ 9.98022041e-01 6.26591955e-02 5.08236005e-03 -8.34660845e+00] [-6.26184898e-02 9.98006995e-01 -7.80786780e-03 -5.11696246e-01] [-5.56146560e-03 7.47417445e-03 9.99956602e-01 4.41073465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.324839173 meters Centerline goodness [0,1] 0.7937687609978263 Centerline is valid? [False, False] Translation: X:-8.35, Y:-0.51, Z:4.41 [[ 9.98044232e-01 6.23019812e-02 5.11614215e-03 -8.34921733e+00] [-6.22576920e-02 9.98024739e-01 -8.40244339e-03 -5.08613433e-01] [-5.62952530e-03 8.06749095e-03 9.99951611e-01 4.41428937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.354839173 meters Centerline goodness [0,1] 0.8031677495692608 Centerline is valid? [False, False] Translation: X:-8.35, Y:-0.51, Z:4.42 [[ 9.98101140e-01 6.13893794e-02 5.04569097e-03 -8.35364942e+00] [-6.13376414e-02 9.98068585e-01 -9.83834145e-03 -5.06067444e-01] [-5.63991532e-03 9.51016903e-03 9.99938872e-01 4.42048037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.384839173 meters Centerline goodness [0,1] 0.8094309078078951 Centerline is valid? [False, False] Translation: X:-8.35, Y:-0.50, Z:4.42 [[ 9.98092353e-01 6.15525152e-02 4.78978186e-03 -8.35379734e+00] [-6.14988787e-02 9.98050456e-01 -1.06383449e-02 -5.03337308e-01] [-5.43526086e-03 1.03234845e-02 9.99931939e-01 4.42142726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.414839173 meters Centerline goodness [0,1] 0.8286802293093813 Centerline is valid? [False, False] Translation: X:-8.35, Y:-0.50, Z:4.42 [[ 9.97830845e-01 6.56826513e-02 4.40397826e-03 -8.35339746e+00] [-6.56426728e-02 9.97805446e-01 -8.67933535e-03 -4.96788453e-01] [-4.96439525e-03 8.37141962e-03 9.99952636e-01 4.42268776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.444839173 meters Centerline goodness [0,1] 0.8494975655236714 Centerline is valid? [False, False] Translation: X:-8.35, Y:-0.49, Z:4.42 [[ 9.97814460e-01 6.59358181e-02 4.33265057e-03 -8.35409355e+00] [-6.58929231e-02 9.97782495e-01 -9.39231170e-03 -4.92138489e-01] [-4.94233265e-03 9.08629341e-03 9.99946505e-01 4.42400533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.474839173 meters Centerline goodness [0,1] 0.8327321724709784 Centerline is valid? [False, False] Translation: X:-8.36, Y:-0.49, Z:4.43 [[ 9.97834760e-01 6.56420619e-02 4.11225873e-03 -8.35589965e+00] [-6.55956014e-02 9.97790359e-01 -1.05648291e-02 -4.86698355e-01] [-4.79666929e-03 1.02722077e-02 9.99935735e-01 4.42721831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50483917300001 meters Centerline goodness [0,1] 0.8537519142419602 Centerline is valid? [False, False] Translation: X:-8.36, Y:-0.49, Z:4.43 [[ 9.97870685e-01 6.51166814e-02 3.73002854e-03 -8.35571324e+00] [-6.50720380e-02 9.97819408e-01 -1.10479914e-02 -4.86131806e-01] [-4.44130341e-03 1.07817462e-02 9.99932012e-01 4.42799604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.534839173 meters Centerline goodness [0,1] 0.8304340622929092 Centerline is valid? [False, False] Translation: X:-8.36, Y:-0.49, Z:4.43 [[ 9.98079998e-01 6.18485095e-02 3.32867369e-03 -8.35598454e+00] [-6.17925658e-02 9.97978079e-01 -1.48806271e-02 -4.85602374e-01] [-4.24228798e-03 1.46463690e-02 9.99883737e-01 4.42879583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.564839173 meters Centerline goodness [0,1] 0.8254517572944298 Centerline is valid? [False, False] Translation: X:-8.36, Y:-0.49, Z:4.43 [[ 9.98103655e-01 6.14799197e-02 3.05166339e-03 -8.35543045e+00] [-6.14282013e-02 9.98001053e-01 -1.48483973e-02 -4.86928815e-01] [-3.95844155e-03 1.46327815e-02 9.99885100e-01 4.42873137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.594839173 meters Centerline goodness [0,1] 0.8492540406133444 Centerline is valid? [False, False] Translation: X:-8.35, Y:-0.49, Z:4.43 [[ 9.98129140e-01 6.10873261e-02 2.56076674e-03 -8.35267349e+00] [-6.10421394e-02 9.98021718e-01 -1.50501751e-02 -4.87496024e-01] [-3.47507577e-03 1.48657036e-02 9.99883461e-01 4.42641881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.624839173 meters Centerline goodness [0,1] 0.8442381800853603 Centerline is valid? [False, False] Translation: X:-8.35, Y:-0.49, Z:4.42 [[ 9.97968208e-01 6.36809131e-02 2.04886515e-03 -8.35000181e+00] [-6.36509180e-02 9.97895718e-01 -1.23570687e-02 -4.86040639e-01] [-2.83146318e-03 1.22015495e-02 9.99921549e-01 4.42486571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.654839173 meters Centerline goodness [0,1] 0.8404840711625983 Centerline is valid? [False, False] Translation: X:-8.35, Y:-0.48, Z:4.42 [[ 9.97751628e-01 6.70041306e-02 1.46093954e-03 -8.34752660e+00] [-6.69872923e-02 9.97708426e-01 -9.51836849e-03 -4.82247850e-01] [-2.09536169e-03 9.39910328e-03 9.99953632e-01 4.42393108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.684839173 meters Centerline goodness [0,1] 0.8336638162514975 Centerline is valid? [False, False] Translation: X:-8.35, Y:-0.48, Z:4.42 [[ 9.97741284e-01 6.71625172e-02 1.23558546e-03 -8.34687903e+00] [-6.71470075e-02 9.97693636e-01 -9.93414344e-03 -4.80585510e-01] [-1.89993783e-03 9.82873917e-03 9.99949892e-01 4.42372243e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.714839173 meters Centerline goodness [0,1] 0.8238614045605839 Centerline is valid? [False, False] Translation: X:-8.35, Y:-0.48, Z:4.43 [[ 9.97431614e-01 7.16130950e-02 1.31934769e-03 -8.34792276e+00] [-7.16040234e-02 9.97415266e-01 -5.97088051e-03 -4.80248779e-01] [-1.74353076e-03 5.86107438e-03 9.99981304e-01 4.42580045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.744839173 meters Centerline goodness [0,1] 0.819908940397351 Centerline is valid? [False, False] Translation: X:-8.35, Y:-0.48, Z:4.43 [[ 9.97402525e-01 7.20190880e-02 1.20574268e-03 -8.34803605e+00] [-7.20096431e-02 9.97382133e-01 -6.59483940e-03 -4.77039371e-01] [-1.67754053e-03 6.49088437e-03 9.99977527e-01 4.42637714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.774839173 meters Centerline goodness [0,1] 0.7978016992493607 Centerline is valid? [False, False] Translation: X:-8.35, Y:-0.47, Z:4.42 [[ 9.97137474e-01 7.56049951e-02 8.62343897e-04 -8.34521373e+00] [-7.56010008e-02 9.97130202e-01 -3.98113834e-03 -4.74030779e-01] [-1.16086309e-03 3.90454817e-03 9.99991703e-01 4.42415248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.804839173 meters Centerline goodness [0,1] 0.7883195020746888 Centerline is valid? [False, False] Translation: X:-8.34, Y:-0.47, Z:4.42 [[ 9.97024636e-01 7.70823044e-02 4.39505396e-04 -8.34121130e+00] [-7.70807399e-02 9.97020737e-01 -2.86523259e-03 -4.72448255e-01] [-6.59054724e-04 2.82283008e-03 9.99995799e-01 4.42040232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.834839173 meters Centerline goodness [0,1] 0.7815545027618594 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.47, Z:4.41 [[ 9.97061428e-01 7.66022114e-02 -7.80995106e-04 -8.33284746e+00] [-7.66047720e-02 9.97053209e-01 -4.07518347e-03 -4.70097373e-01] [ 4.66525611e-04 4.12303620e-03 9.99991391e-01 4.41209206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86483917300001 meters Centerline goodness [0,1] 0.7745515417045549 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.47, Z:4.41 [[ 9.97190588e-01 7.48899569e-02 -1.55751863e-03 -8.32882283e+00] [-7.48977866e-02 9.97174399e-01 -5.79138303e-03 -4.70106312e-01] [ 1.11940127e-03 5.89176735e-03 9.99982017e-01 4.40855148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.894839173 meters Centerline goodness [0,1] 0.7646997843755183 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.47, Z:4.40 [[ 9.97435152e-01 7.15132001e-02 -2.99654595e-03 -8.32258049e+00] [-7.15369974e-02 9.97399339e-01 -8.77587068e-03 -4.71190393e-01] [ 2.36116235e-03 8.96772581e-03 9.99957001e-01 4.40345573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.924839173 meters Centerline goodness [0,1] 0.771578336717358 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.47, Z:4.40 [[ 9.97488886e-01 7.07426822e-02 -3.37561021e-03 -8.32261194e+00] [-7.07719705e-02 9.97446964e-01 -9.53323735e-03 -4.69600931e-01] [ 2.69258538e-03 9.74819689e-03 9.99948860e-01 4.40478620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.954839173 meters Centerline goodness [0,1] 0.7716480013248598 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.47, Z:4.41 [[ 9.97522025e-01 7.02585328e-02 -3.68068052e-03 -8.32254693e+00] [-7.02911224e-02 9.97479990e-01 -9.63467119e-03 -4.69787751e-01] [ 2.99448730e-03 9.86951588e-03 9.99946811e-01 4.40574301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.984839173 meters Centerline goodness [0,1] 0.7692817908591564 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.47, Z:4.41 [[ 9.97757278e-01 6.68029509e-02 -4.21660220e-03 -8.32188293e+00] [-6.68539484e-02 9.97672686e-01 -1.34075117e-02 -4.69597435e-01] [ 3.31112750e-03 1.36593389e-02 9.99901225e-01 4.40563013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.014839173 meters Centerline goodness [0,1] 0.7568134603122365 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.47, Z:4.40 [[ 9.97886883e-01 6.47258530e-02 -5.68611245e-03 -8.31519038e+00] [-6.48083905e-02 9.97772917e-01 -1.57822537e-02 -4.73000364e-01] [ 4.65192917e-03 1.61174117e-02 9.99859284e-01 4.39986841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.044839173 meters Centerline goodness [0,1] 0.7511998345055855 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.47, Z:4.40 [[ 9.97879971e-01 6.48125656e-02 -5.90725469e-03 -8.31230584e+00] [-6.48987248e-02 9.97766832e-01 -1.57957264e-02 -4.73028722e-01] [ 4.87030125e-03 1.61456123e-02 9.99857790e-01 4.39685899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.074839173 meters Centerline goodness [0,1] 0.7428789945843152 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.47, Z:4.39 [[ 9.97531265e-01 6.99222315e-02 -6.50046293e-03 -8.30457796e+00] [-6.99925398e-02 9.97483474e-01 -1.13032556e-02 -4.70487309e-01] [ 5.69375549e-03 1.17303348e-02 9.99914987e-01 4.38929038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.104839173 meters Centerline goodness [0,1] 0.7297274876602099 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.47, Z:4.39 [[ 9.97331985e-01 7.26750092e-02 -6.87424168e-03 -8.30066765e+00] [-7.27334972e-02 9.97313644e-01 -8.67947792e-03 -4.69349763e-01] [ 6.22499389e-03 9.15630858e-03 9.99938704e-01 4.38580073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.134839173 meters Centerline goodness [0,1] 0.7181716556949447 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.47, Z:4.38 [[ 9.97011314e-01 7.69214028e-02 -7.17901783e-03 -8.29781531e+00] [-7.69596664e-02 9.97020569e-01 -5.21481801e-03 -4.67959921e-01] [ 6.75649733e-03 5.75172738e-03 9.99960633e-01 4.38351994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.164839173 meters Centerline goodness [0,1] 0.6984222420334626 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.47, Z:4.39 [[ 9.96574596e-01 8.24357648e-02 -6.58926161e-03 -8.30013140e+00] [-8.24405303e-02 9.96595882e-01 -4.54435964e-04 -4.67975863e-01] [ 6.52936921e-03 9.96101559e-04 9.99978187e-01 4.38629939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.194839173 meters Centerline goodness [0,1] 0.6970015023358236 Centerline is valid? [False, False] Translation: X:-8.29, Y:-0.47, Z:4.39 [[ 9.96310363e-01 8.58116253e-02 1.42330826e-03 -8.29165207e+00] [-8.58057137e-02 9.96304663e-01 -3.79444763e-03 -4.66316284e-01] [-1.74365638e-03 3.65831952e-03 9.99991788e-01 4.38621697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.224839173 meters Centerline goodness [0,1] 0.7126391752577319 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.46, Z:4.40 [[ 9.96078630e-01 8.73629107e-02 1.39672451e-02 -8.30785929e+00] [-8.73024320e-02 9.96169882e-01 -4.88382146e-03 -4.63705167e-01] [-1.43404138e-02 3.64529572e-03 9.99890526e-01 4.39743495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.25483917300001 meters Centerline goodness [0,1] 0.6964234148756239 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.46, Z:4.40 [[ 9.96220697e-01 8.57298043e-02 1.39543289e-02 -8.31171090e+00] [-8.56489126e-02 9.96305488e-01 -6.29590188e-03 -4.63282306e-01] [-1.44425209e-02 5.07693466e-03 9.99882812e-01 4.40257699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.284839173 meters Centerline goodness [0,1] 0.7102886965165887 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.46, Z:4.41 [[ 9.96433627e-01 8.32610666e-02 1.36975309e-02 -8.31373188e+00] [-8.31498620e-02 9.96500820e-01 -8.49806909e-03 -4.62874994e-01] [-1.43571591e-02 7.32881400e-03 9.99870072e-01 4.40563723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.314839173 meters Centerline goodness [0,1] 0.74651596847781 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.47, Z:4.41 [[ 0.99694369 0.07686872 0.01394582 -8.31798254] [-0.07668533 0.99696743 -0.01324043 -0.4696162 ] [-0.0149213 0.01213053 0.99981509 4.41024694] [ 0. 0. 0. 1. ]] SLAMing on 73.344839173 meters Centerline goodness [0,1] 0.74651596847781 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.47, Z:4.41 [[ 0.99694369 0.07686872 0.01394582 -8.31798254] [-0.07668533 0.99696743 -0.01324043 -0.4696162 ] [-0.0149213 0.01213053 0.99981509 4.41024694] [ 0. 0. 0. 1. ]] SLAMing on 73.374839173 meters Centerline goodness [0,1] 0.7584071718961742 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.48, Z:4.42 [[ 0.99738622 0.06968967 0.01908087 -8.32919764] [-0.06942137 0.99748377 -0.01438033 -0.48240998] [-0.02003502 0.01301813 0.99971452 4.42007674] [ 0. 0. 0. 1. ]] SLAMing on 73.404839173 meters Centerline goodness [0,1] 0.7653076105752203 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.49, Z:4.42 [[ 0.99753195 0.06748247 0.01939375 -8.33234387] [-0.0671867 0.99761973 -0.01551855 -0.4867092 ] [-0.02039481 0.01417725 0.99969148 4.42338348] [ 0. 0. 0. 1. ]] SLAMing on 73.434839173 meters Centerline goodness [0,1] 0.7709833132204236 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.49, Z:4.43 [[ 0.99747616 0.06821758 0.01968961 -8.33422302] [-0.06798083 0.9976089 -0.01245365 -0.49127641] [-0.02049209 0.0110837 0.99972858 4.42636479] [ 0. 0. 0. 1. ]] SLAMing on 73.464839173 meters Centerline goodness [0,1] 0.7693503908436833 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.49, Z:4.42 [[ 9.97323342e-01 7.05189662e-02 1.93190943e-02 -8.33123445e+00] [-7.03510923e-02 9.97479530e-01 -9.23639677e-03 -4.91825554e-01] [-1.99217422e-02 7.85255471e-03 9.99770704e-01 4.42412773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.494839173 meters Centerline goodness [0,1] 0.7576180749510192 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.49, Z:4.42 [[ 9.97231006e-01 7.42022475e-02 4.93421556e-03 -8.32588806e+00] [-7.41881865e-02 9.97239824e-01 -2.97439141e-03 -4.94885390e-01] [-5.14130278e-03 2.60009483e-03 9.99983403e-01 4.42196786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.524839173 meters Centerline goodness [0,1] 0.749677687668954 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.50, Z:4.42 [[ 9.97197304e-01 7.46977730e-02 4.21660226e-03 -8.32154853e+00] [-7.46869392e-02 9.97203453e-01 -2.67105056e-03 -4.96978411e-01] [-4.40433186e-03 2.34863930e-03 9.99987543e-01 4.41780202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.554839173 meters Centerline goodness [0,1] 0.7233609536269807 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.50, Z:4.41 [[ 9.97201209e-01 7.47217507e-02 2.53172507e-03 -8.31603424e+00] [-7.47077353e-02 9.97191705e-01 -5.23994870e-03 -5.04444256e-01] [-2.91615338e-03 5.03614373e-03 9.99983067e-01 4.41202675e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.584839173 meters Centerline goodness [0,1] 0.6842693374167115 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.51, Z:4.41 [[ 9.96938241e-01 7.81808321e-02 1.37890699e-03 -8.31180175e+00] [-7.81753195e-02 9.96932838e-01 -3.67922738e-03 -5.12116528e-01] [-1.66232272e-03 3.56016598e-03 9.99992281e-01 4.40829158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.61483917300001 meters Centerline goodness [0,1] 0.6756245190007696 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.51, Z:4.41 [[ 9.96842046e-01 7.93936949e-02 1.60545008e-03 -8.31241483e+00] [-7.93892311e-02 9.96840103e-01 -2.67559146e-03 -5.12850708e-01] [-1.81280211e-03 2.53968662e-03 9.99995132e-01 4.40857604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.644839173 meters Centerline goodness [0,1] 0.6568919814446653 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.52, Z:4.41 [[ 9.96399984e-01 8.47432570e-02 2.37729554e-03 -8.31464541e+00] [-8.47527273e-02 9.96393101e-01 4.21463857e-03 -5.15403766e-01] [-2.01155868e-03 -4.40094808e-03 9.99988293e-01 4.41169419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.674839173 meters Centerline goodness [0,1] 0.6567900720443094 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.52, Z:4.41 [[ 9.96350224e-01 8.53214686e-02 2.54515730e-03 -8.31584831e+00] [-8.53343422e-02 9.96337351e-01 5.47115225e-03 -5.16512236e-01] [-2.06902853e-03 -5.66837309e-03 9.99981794e-01 4.41331241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.704839173 meters Centerline goodness [0,1] 0.6602257110731686 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.52, Z:4.41 [[ 9.96319487e-01 8.56776536e-02 2.61151774e-03 -8.31657301e+00] [-8.56930078e-02 9.96300515e-01 6.48020228e-03 -5.18082599e-01] [-2.04664794e-03 -6.68014062e-03 9.99975593e-01 4.41447350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.734839173 meters Centerline goodness [0,1] 0.6650610414417407 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.52, Z:4.42 [[ 9.96476925e-01 8.38074397e-02 3.17032083e-03 -8.32254115e+00] [-8.38211041e-02 9.96470859e-01 4.45529391e-03 -5.24419876e-01] [-2.78574555e-03 -4.70533737e-03 9.99985050e-01 4.41997271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.764839173 meters Centerline goodness [0,1] 0.6456660233663284 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.54, Z:4.42 [[ 9.96582750e-01 8.24433728e-02 5.09046225e-03 -8.33347133e+00] [-8.24321370e-02 9.96593840e-01 -2.37928347e-03 -5.36792520e-01] [-5.26927947e-03 1.95153518e-03 9.99984213e-01 4.42358610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.794839173 meters Centerline goodness [0,1] 0.6487442518570923 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.54, Z:4.42 [[ 9.96788380e-01 7.99146599e-02 5.15490041e-03 -8.33430592e+00] [-7.98896735e-02 9.96791748e-01 -4.88376285e-03 -5.39835663e-01] [-5.52864644e-03 4.45625474e-03 9.99974788e-01 4.42359145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.824839173 meters Centerline goodness [0,1] 0.6494965223710163 Centerline is valid? [False, False] Translation: X:-8.34, Y:-0.54, Z:4.41 [[ 9.97082932e-01 7.59835845e-02 7.21948840e-03 -8.33503220e+00] [-7.60102357e-02 9.97100925e-01 3.49142799e-03 -5.42671267e-01] [-6.93326735e-03 -4.02999827e-03 9.99967844e-01 4.41471753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.854839173 meters Centerline goodness [0,1] 0.6548064140910601 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.54, Z:4.41 [[ 9.97151539e-01 7.51245760e-02 6.71609061e-03 -8.33294795e+00] [-7.51502249e-02 9.97165538e-01 3.65156329e-03 -5.43425686e-01] [-6.42273196e-03 -4.14587767e-03 9.99970780e-01 4.41348993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.884839173 meters Centerline goodness [0,1] 0.6764736351393349 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.55, Z:4.42 [[ 9.97645419e-01 6.83276545e-02 5.91183675e-03 -8.33368410e+00] [-6.83223359e-02 9.97662696e-01 -1.09720616e-03 -5.51502100e-01] [-5.97298851e-03 6.90712202e-04 9.99981923e-01 4.41587995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.914839173 meters Centerline goodness [0,1] 0.6735063367531684 Centerline is valid? [False, False] Translation: X:-8.34, Y:-0.56, Z:4.42 [[ 9.98026200e-01 6.25104880e-02 6.01187600e-03 -8.33645566e+00] [-6.24711109e-02 9.98025418e-01 -6.52881693e-03 -5.57684601e-01] [-6.40812459e-03 6.14036178e-03 9.99960615e-01 4.41792440e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.944839173 meters Centerline goodness [0,1] 0.692503229570363 Centerline is valid? [False, False] Translation: X:-8.34, Y:-0.56, Z:4.42 [[ 9.98300537e-01 5.79562288e-02 6.09215005e-03 -8.33837664e+00] [-5.78881636e-02 9.98264534e-01 -1.08111255e-02 -5.64091033e-01] [-6.70814940e-03 1.04400890e-02 9.99923000e-01 4.41914728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.974839173 meters Centerline goodness [0,1] 0.6808905380333952 Centerline is valid? [False, False] Translation: X:-8.34, Y:-0.57, Z:4.42 [[ 9.98380256e-01 5.64212563e-02 7.31482463e-03 -8.34148452e+00] [-5.63460695e-02 9.98360141e-01 -1.01068875e-02 -5.74718055e-01] [-7.87307264e-03 9.67835534e-03 9.99922169e-01 4.42044084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00483917300001 meters Centerline goodness [0,1] 0.6838581856100104 Centerline is valid? [False, False] Translation: X:-8.35, Y:-0.58, Z:4.42 [[ 9.98338547e-01 5.60210551e-02 1.34828414e-02 -8.34900033e+00] [-5.60213224e-02 9.98429508e-01 -3.58148400e-04 -5.78166131e-01] [-1.34817305e-02 -3.97773251e-04 9.99909038e-01 4.41613192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.034839173 meters Centerline goodness [0,1] 0.6611305361305362 Centerline is valid? [False, False] Translation: X:-8.35, Y:-0.58, Z:4.42 [[ 9.98339438e-01 5.60974982e-02 1.30933954e-02 -8.34823677e+00] [-5.61106813e-02 9.98424349e-01 6.41382382e-04 -5.80599338e-01] [-1.30367848e-02 -1.37499666e-03 9.99914072e-01 4.41644679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.064839173 meters Centerline goodness [0,1] 0.7109259452140402 Centerline is valid? [False, False] Translation: X:-8.35, Y:-0.59, Z:4.42 [[ 9.98614469e-01 5.11699082e-02 1.22793706e-02 -8.34770951e+00] [-5.11276483e-02 9.98685156e-01 -3.73133661e-03 -5.91411022e-01] [-1.24541573e-02 3.09835138e-03 9.99917644e-01 4.41642955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.094839173 meters Centerline goodness [0,1] 0.6713745481896245 Centerline is valid? [False, False] Translation: X:-8.35, Y:-0.60, Z:4.41 [[ 9.98795304e-01 4.76202811e-02 1.18427301e-02 -8.34628215e+00] [-4.75383841e-02 9.98844153e-01 -7.10347603e-03 -5.98124060e-01] [-1.21673113e-02 6.53193424e-03 9.99904641e-01 4.41458409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.124839173 meters Centerline goodness [0,1] 0.7132263605513427 Centerline is valid? [False, False] Translation: X:-8.34, Y:-0.61, Z:4.41 [[ 0.9989832 0.04353804 0.01170534 -8.34455141] [-0.04342235 0.99900713 -0.00996313 -0.60927701] [-0.01212749 0.00944473 0.99988185 4.41181155] [ 0. 0. 0. 1. ]] SLAMing on 74.154839173 meters Centerline goodness [0,1] 0.7159388692060963 Centerline is valid? [False, False] Translation: X:-8.35, Y:-0.61, Z:4.41 [[ 0.99896624 0.0438185 0.01209895 -8.34507759] [-0.04371192 0.9990042 -0.00893755 -0.61106001] [-0.01247853 0.00839945 0.99988686 4.41188442] [ 0. 0. 0. 1. ]] SLAMing on 74.184839173 meters Centerline goodness [0,1] 0.699201810068506 Centerline is valid? [False, False] Translation: X:-8.35, Y:-0.62, Z:4.41 [[ 9.98900128e-01 4.51870557e-02 1.25165886e-02 -8.34669208e+00] [-4.51182551e-02 9.98965244e-01 -5.72579083e-03 -6.15369423e-01] [-1.27623686e-02 5.15476656e-03 9.99905271e-01 4.41409753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.214839173 meters Centerline goodness [0,1] 0.6876128869660184 Centerline is valid? [False, False] Translation: X:-8.35, Y:-0.62, Z:4.41 [[ 9.98912895e-01 4.50264918e-02 1.20682877e-02 -8.34519643e+00] [-4.49708054e-02 9.98976544e-01 -4.84673100e-03 -6.19584812e-01] [-1.22741677e-02 4.29874147e-03 9.99915429e-01 4.41347209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.244839173 meters Centerline goodness [0,1] 0.702173730238816 Centerline is valid? [False, False] Translation: X:-8.34, Y:-0.63, Z:4.41 [[ 9.99083996e-01 4.13392698e-02 1.10559294e-02 -8.34066725e+00] [-4.12651842e-02 9.99124767e-01 -6.84728607e-03 -6.30904780e-01] [-1.13293147e-02 6.38478897e-03 9.99915437e-01 4.40956849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.274839173 meters Centerline goodness [0,1] 0.6921774108182492 Centerline is valid? [False, False] Translation: X:-8.34, Y:-0.64, Z:4.41 [[ 0.99919009 0.03869592 0.01103615 -8.34063979] [-0.03859786 0.99921462 -0.00896416 -0.63537587] [-0.01137436 0.00853093 0.99989892 4.40913591] [ 0. 0. 0. 1. ]] SLAMing on 74.304839173 meters Centerline goodness [0,1] 0.6988943281566509 Centerline is valid? [False, False] Translation: X:-8.34, Y:-0.64, Z:4.41 [[ 9.99156666e-01 3.96842073e-02 1.05413934e-02 -8.33771131e+00] [-3.96129046e-02 9.99191353e-01 -6.88894499e-03 -6.42463238e-01] [-1.08062515e-02 6.46556009e-03 9.99920708e-01 4.40665374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.334839173 meters Centerline goodness [0,1] 0.6912218041116568 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.64, Z:4.40 [[ 9.99103633e-01 4.11393629e-02 9.97410111e-03 -8.33362613e+00] [-4.10871700e-02 9.99141067e-01 -5.38255114e-03 -6.44638787e-01] [-1.01869688e-02 4.96791881e-03 9.99935771e-01 4.40260075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.36483917300001 meters Centerline goodness [0,1] 0.6674441782056447 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.65, Z:4.39 [[ 9.98984008e-01 4.50426613e-02 -1.45251008e-03 -8.31499928e+00] [-4.50446998e-02 9.98983988e-01 -1.40264894e-03 -6.47690198e-01] [ 1.38785527e-03 1.46665175e-03 9.99997961e-01 4.38991140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.394839173 meters Centerline goodness [0,1] 0.6784357153714199 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.66, Z:4.39 [[ 9.99058812e-01 4.06137508e-02 -1.52319627e-02 -8.31095069e+00] [-4.06833452e-02 9.99162892e-01 -4.28715901e-03 -6.59108506e-01] [ 1.50450943e-02 4.90281118e-03 9.99874796e-01 4.38632340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.424839173 meters Centerline goodness [0,1] 0.6791382971736322 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.66, Z:4.38 [[ 0.99926829 0.03479713 -0.0158759 -8.30801381] [-0.03495382 0.99934184 -0.00970143 -0.66497469] [ 0.01552787 0.01024925 0.9998269 4.38332671] [ 0. 0. 0. 1. ]] SLAMing on 74.454839173 meters Centerline goodness [0,1] 0.6820150243040213 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.67, Z:4.38 [[ 0.99938401 0.03125315 -0.01596352 -8.30749252] [-0.03145083 0.99942978 -0.01228642 -0.6700418 ] [ 0.01557042 0.01278092 0.99979708 4.38273547] [ 0. 0. 0. 1. ]] SLAMing on 74.484839173 meters Centerline goodness [0,1] 0.7049426301853486 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.67, Z:4.38 [[ 9.99648488e-01 2.48921425e-02 -9.12582895e-03 -8.31613775e+00] [-2.49353472e-02 9.99678244e-01 -4.65150820e-03 -6.73754399e-01] [ 9.00710666e-03 4.87742885e-03 9.99947540e-01 4.38273035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.514839173 meters Centerline goodness [0,1] 0.7227936479968284 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.67, Z:4.38 [[ 9.99665101e-01 2.42529775e-02 -9.02655024e-03 -8.31695147e+00] [-2.42895955e-02 9.99697084e-01 -3.96939757e-03 -6.73053688e-01] [ 8.92754624e-03 4.18731948e-03 9.99951381e-01 4.38484268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.544839173 meters Centerline goodness [0,1] 0.7352706476925124 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.68, Z:4.40 [[ 9.99823789e-01 1.66759639e-02 -8.61992317e-03 -8.31965205e+00] [-1.67195622e-02 9.99847663e-01 -5.01076929e-03 -6.79804558e-01] [ 8.53505062e-03 5.15400768e-03 9.99950293e-01 4.39505962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.574839173 meters Centerline goodness [0,1] 0.7510255318195064 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.69, Z:4.40 [[ 9.99975123e-01 7.05045716e-03 -2.12832432e-04 -8.31788274e+00] [-7.05336160e-03 9.99757892e-01 -2.08424264e-02 -6.90467770e-01] [ 6.58322697e-05 2.08434090e-02 9.99782750e-01 4.40213171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.604839173 meters Centerline goodness [0,1] 0.7626026843829959 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.70, Z:4.41 [[ 9.99990046e-01 4.45439901e-03 2.58376946e-04 -8.32134395e+00] [-4.44752614e-03 9.99741209e-01 -2.23099724e-02 -6.95162630e-01] [-3.57687599e-04 2.23086012e-02 9.99751068e-01 4.40628097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.634839173 meters Centerline goodness [0,1] 0.7669709134130206 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.70, Z:4.41 [[ 9.99989897e-01 4.49124917e-03 1.83631313e-04 -8.32188669e+00] [-4.48625798e-03 9.99758393e-01 -2.15180944e-02 -6.95896744e-01] [-2.80230070e-04 2.15170531e-02 9.99768442e-01 4.40777480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.664839173 meters Centerline goodness [0,1] 0.77912989212802 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.69, Z:4.41 [[ 9.99993907e-01 3.26987821e-03 -1.22224338e-03 -8.32304479e+00] [-3.27525509e-03 9.99984853e-01 -4.42338470e-03 -6.93089664e-01] [ 1.20776094e-03 4.42736091e-03 9.99989470e-01 4.40892997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.694839173 meters Centerline goodness [0,1] 0.7763181214000886 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.69, Z:4.41 [[ 9.99994832e-01 2.62000187e-03 -1.86317751e-03 -8.32144968e+00] [-2.62908833e-03 9.99984582e-01 -4.89124900e-03 -6.92095631e-01] [ 1.85033370e-03 4.89612218e-03 9.99986302e-01 4.40863859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.724839173 meters Centerline goodness [0,1] 0.7818851087562744 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.69, Z:4.41 [[ 9.99999449e-01 1.64611621e-04 -1.03637682e-03 -8.32612660e+00] [-1.71466735e-04 9.99978087e-01 -6.61788877e-03 -6.94181384e-01] [ 1.03526473e-03 6.61806283e-03 9.99977564e-01 4.41377668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.75483917300001 meters Centerline goodness [0,1] 0.7942009590721535 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.70, Z:4.42 [[ 9.99999373e-01 6.25497248e-04 -9.28541430e-04 -8.32852480e+00] [-6.30346300e-04 9.99986119e-01 -5.23115047e-03 -6.96649088e-01] [ 9.25256470e-04 5.23173249e-03 9.99985886e-01 4.41786272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.784839173 meters Centerline goodness [0,1] 0.7816528008874098 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.70, Z:4.42 [[ 9.99999051e-01 8.60455736e-04 -1.07637874e-03 -8.33314663e+00] [-8.66289141e-04 9.99984878e-01 -5.43079685e-03 -6.95315580e-01] [ 1.07168951e-03 5.43172415e-03 9.99984674e-01 4.42438076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.814839173 meters Centerline goodness [0,1] 0.7720182174209589 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.69, Z:4.43 [[ 9.99982055e-01 5.87466984e-03 -1.17370498e-03 -8.33448987e+00] [-5.87708443e-03 9.99980599e-01 -2.06449630e-03 -6.88801787e-01] [ 1.16155397e-03 2.07135721e-03 9.99997180e-01 4.42585371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.844839173 meters Centerline goodness [0,1] 0.7555623552039166 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.68, Z:4.42 [[ 9.99959318e-01 8.87611510e-03 -1.60540037e-03 -8.33277419e+00] [-8.87554284e-03 9.99960546e-01 3.63231623e-04 -6.84825794e-01] [ 1.60856111e-03 -3.48968047e-04 9.99998645e-01 4.42467449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.874839173 meters Centerline goodness [0,1] 0.7462471949279941 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.68, Z:4.42 [[ 9.99932726e-01 1.13077161e-02 -2.58437301e-03 -8.32884637e+00] [-1.13026467e-02 9.99934187e-01 1.96781761e-03 -6.80593198e-01] [ 2.60645444e-03 -1.93847497e-03 9.99994724e-01 4.42170487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.904839173 meters Centerline goodness [0,1] 0.7451377545464446 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.68, Z:4.42 [[ 9.99935614e-01 1.10327614e-02 -2.65440489e-03 -8.32826752e+00] [-1.10299944e-02 9.99938611e-01 1.05480935e-03 -6.78336681e-01] [ 2.66587940e-03 -1.02546337e-03 9.99995921e-01 4.42088026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.934839173 meters Centerline goodness [0,1] 0.7484499557130204 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.67, Z:4.42 [[ 9.99897885e-01 1.40201793e-02 -2.76656539e-03 -8.32760885e+00] [-1.40121164e-02 9.99897584e-01 2.91257036e-03 -6.72938040e-01] [ 2.80711681e-03 -2.87350751e-03 9.99991931e-01 4.42021784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.964839173 meters Centerline goodness [0,1] 0.7504260965243468 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.67, Z:4.42 [[ 9.99908963e-01 1.30921268e-02 -3.26523151e-03 -8.32520572e+00] [-1.30904711e-02 9.99914177e-01 5.27936258e-04 -6.68303845e-01] [ 3.27186309e-03 -4.85144778e-04 9.99994530e-01 4.41760669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.994839173 meters Centerline goodness [0,1] 0.7239130901057418 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.66, Z:4.41 [[ 9.99885909e-01 1.39932152e-02 -5.68855193e-03 -8.31836278e+00] [-1.40112943e-02 9.99896873e-01 -3.15082765e-03 -6.62762392e-01] [ 5.64387507e-03 3.23017214e-03 9.99978856e-01 4.40965241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.024839173 meters Centerline goodness [0,1] 0.7110356318892592 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.66, Z:4.41 [[ 9.99811133e-01 1.86933454e-02 -5.31573649e-03 -8.32008064e+00] [-1.86929849e-02 9.99825264e-01 1.17495863e-04 -6.56416153e-01] [ 5.31700403e-03 -1.81066902e-05 9.99985864e-01 4.41082235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.054839173 meters Centerline goodness [0,1] 0.7107029093225739 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.65, Z:4.41 [[ 9.99752323e-01 2.15919868e-02 -5.39243950e-03 -8.32010123e+00] [-2.15780579e-02 9.99763713e-01 2.62800269e-03 -6.50300277e-01] [ 5.44790913e-03 -2.51099342e-03 9.99982007e-01 4.41148955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.084839173 meters Centerline goodness [0,1] 0.7186754239614792 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.64, Z:4.41 [[ 9.99757896e-01 2.12839555e-02 -5.58061902e-03 -8.32049613e+00] [-2.12744620e-02 9.99772133e-01 1.75505544e-03 -6.44228363e-01] [ 5.61670190e-03 -1.63590587e-03 9.99982888e-01 4.41259695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.11483917300001 meters Centerline goodness [0,1] 0.71857958148383 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.65, Z:4.42 [[ 9.99880545e-01 1.41662898e-02 -6.18163812e-03 -8.32291549e+00] [-1.41989679e-02 9.99885276e-01 -5.27484161e-03 -6.45267461e-01] [ 6.10620400e-03 5.36198438e-03 9.99966981e-01 4.41723168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.144839173 meters Centerline goodness [0,1] 0.7324578180118152 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.65, Z:4.42 [[ 9.99951252e-01 7.55005859e-03 -6.36321068e-03 -8.32433666e+00] [-7.62377439e-03 9.99903176e-01 -1.16411645e-02 -6.50480980e-01] [ 6.27470310e-03 1.16891087e-02 9.99911993e-01 4.41913299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.174839173 meters Centerline goodness [0,1] 0.7389324725850238 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.66, Z:4.42 [[ 9.99977629e-01 3.84772911e-04 -6.67776331e-03 -8.32421028e+00] [-5.02690411e-04 9.99843826e-01 -1.76655477e-02 -6.57770676e-01] [ 6.66992319e-03 1.76685094e-02 9.99821652e-01 4.41985237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.204839173 meters Centerline goodness [0,1] 0.7640706526387819 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.66, Z:4.42 [[ 9.99997621e-01 -1.60300435e-03 -1.47965190e-03 -8.32708591e+00] [ 1.59684881e-03 9.99990106e-01 -4.15197966e-03 -6.59131856e-01] [ 1.48629291e-03 4.14960700e-03 9.99990286e-01 4.42001655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.234839173 meters Centerline goodness [0,1] 0.7640706526387819 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.66, Z:4.42 [[ 9.99997621e-01 -1.60300435e-03 -1.47965190e-03 -8.32708591e+00] [ 1.59684881e-03 9.99990106e-01 -4.15197966e-03 -6.59131856e-01] [ 1.48629291e-03 4.14960700e-03 9.99990286e-01 4.42001655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.264839173 meters Centerline goodness [0,1] 0.7579421881342534 Centerline is valid? [False, False] Translation: X:-8.33, Y:-0.66, Z:4.42 [[ 9.99997339e-01 1.42351156e-03 -1.81531249e-03 -8.32578470e+00] [-1.42393628e-03 9.99998959e-01 -2.32696955e-04 -6.58902186e-01] [ 1.81497936e-03 2.35281225e-04 9.99998325e-01 4.41976129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.294839173 meters Centerline goodness [0,1] 0.737258178546179 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.66, Z:4.42 [[ 9.99996378e-01 1.23849001e-03 -2.38942004e-03 -8.32449890e+00] [-1.23498899e-03 9.99998163e-01 1.46613753e-03 -6.63749756e-01] [ 2.39123145e-03 -1.46318131e-03 9.99996071e-01 4.42054821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.324839173 meters Centerline goodness [0,1] 0.7526473569564561 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.67, Z:4.42 [[ 9.99993954e-01 -2.12521905e-03 -2.75230752e-03 -8.32415911e+00] [ 2.12189901e-03 9.99997018e-01 -1.20863405e-03 -6.69407251e-01] [ 2.75486792e-03 1.20278662e-03 9.99995482e-01 4.42119262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.354839173 meters Centerline goodness [0,1] 0.7363894967177242 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.68, Z:4.43 [[ 9.99963532e-01 -1.14068088e-03 -8.46366542e-03 -8.31699896e+00] [ 1.08220441e-03 9.99975537e-01 -6.91048478e-03 -6.81003697e-01] [ 8.47134103e-03 6.90107335e-03 9.99940304e-01 4.42569613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.384839173 meters Centerline goodness [0,1] 0.7422888630326447 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.68, Z:4.43 [[ 9.99964877e-01 1.21101982e-05 -8.38119951e-03 -8.31785728e+00] [-6.27970348e-05 9.99981712e-01 -6.04744611e-03 -6.81970022e-01] [ 8.38097300e-03 6.04776002e-03 9.99946591e-01 4.42639803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.414839173 meters Centerline goodness [0,1] 0.702423051735429 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.68, Z:4.43 [[ 9.99928993e-01 8.71581336e-03 -8.12676810e-03 -8.31790018e+00] [-8.70284715e-03 9.99960802e-01 1.62949596e-03 -6.79616277e-01] [ 8.14065193e-03 -1.55865423e-03 9.99965650e-01 4.42541585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.444839173 meters Centerline goodness [0,1] 0.6776432078559738 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.68, Z:4.43 [[ 9.99914070e-01 1.02757724e-02 -8.14003624e-03 -8.31871887e+00] [-1.02588806e-02 9.99945141e-01 2.11419008e-03 -6.77504616e-01] [ 8.16131463e-03 -2.03050075e-03 9.99964634e-01 4.42580610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.474839173 meters Centerline goodness [0,1] 0.6625002741047739 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.68, Z:4.43 [[ 9.99885446e-01 1.33852238e-02 -7.06621396e-03 -8.32299271e+00] [-1.33565462e-02 9.99902432e-01 4.09012366e-03 -6.79430556e-01] [ 7.12027174e-03 -3.99527491e-03 9.99966669e-01 4.42801841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50483917300001 meters Centerline goodness [0,1] 0.6578316960066812 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.68, Z:4.43 [[ 9.99917076e-01 1.08641890e-02 -6.91454708e-03 -8.32426798e+00] [-1.08600669e-02 9.99940827e-01 6.33420115e-04 -6.79345979e-01] [ 6.92101953e-03 -5.58275145e-04 9.99975894e-01 4.42853087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.534839173 meters Centerline goodness [0,1] 0.6494682155677942 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.69, Z:4.43 [[ 9.99945679e-01 7.74360168e-03 -6.97674920e-03 -8.32395407e+00] [-7.76138042e-03 9.99966693e-01 -2.52482357e-03 -6.86676612e-01] [ 6.95696559e-03 2.57883563e-03 9.99972475e-01 4.42777946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.564839173 meters Centerline goodness [0,1] 0.6470852824757107 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.69, Z:4.43 [[ 9.99955830e-01 5.73657868e-03 -7.44513399e-03 -8.32103042e+00] [-5.76838904e-03 9.99974296e-01 -4.25822061e-03 -6.90082572e-01] [ 7.42051500e-03 4.30097896e-03 9.99963218e-01 4.42523521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.594839173 meters Centerline goodness [0,1] 0.6482993504150126 Centerline is valid? [False, False] Translation: X:-8.32, Y:-0.69, Z:4.42 [[ 9.99958477e-01 5.26345068e-03 -7.43906041e-03 -8.31755868e+00] [-5.28979026e-03 9.99979794e-01 -3.52548371e-03 -6.92975924e-01] [ 7.42035389e-03 3.56468839e-03 9.99966115e-01 4.42137420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.624839173 meters Centerline goodness [0,1] 0.6562903847461854 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.70, Z:4.42 [[ 9.99964803e-01 4.05247170e-03 -7.34640992e-03 -8.31400367e+00] [-4.07103563e-03 9.99988554e-01 -2.51374915e-03 -6.97471161e-01] [ 7.33613893e-03 2.54356817e-03 9.99969855e-01 4.41775187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.654839173 meters Centerline goodness [0,1] 0.657943497655267 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.70, Z:4.41 [[ 9.99967981e-01 1.84771522e-03 -7.78610280e-03 -8.30985178e+00] [-1.87969727e-03 9.99989819e-01 -4.10226737e-03 -7.01475980e-01] [ 7.77844371e-03 4.11677153e-03 9.99961273e-01 4.41366521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.684839173 meters Centerline goodness [0,1] 0.6518348096169332 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.71, Z:4.41 [[ 9.99964920e-01 1.63511626e-03 -8.21490533e-03 -8.30669788e+00] [-1.66418184e-03 9.99992376e-01 -3.53256276e-03 -7.06103995e-01] [ 8.20906654e-03 3.54610993e-03 9.99960017e-01 4.41093444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.714839173 meters Centerline goodness [0,1] 0.654066863369189 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.71, Z:4.41 [[ 9.99963407e-01 1.85471578e-03 -8.35127007e-03 -8.30536695e+00] [-1.87521365e-03 9.99995247e-01 -2.44730067e-03 -7.11946884e-01] [ 8.34669133e-03 2.46287153e-03 9.99962133e-01 4.40989487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.744839173 meters Centerline goodness [0,1] 0.6469056586227739 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.71, Z:4.41 [[ 9.99960699e-01 2.41408802e-03 -8.53073482e-03 -8.30567885e+00] [-2.42943915e-03 9.99995448e-01 -1.78960347e-03 -7.13292120e-01] [ 8.52637572e-03 1.81025804e-03 9.99962011e-01 4.41078323e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.774839173 meters Centerline goodness [0,1] 0.6443035909864143 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.71, Z:4.41 [[ 9.99954422e-01 3.91008695e-03 -8.71004675e-03 -8.30527959e+00] [-3.92139292e-03 9.99991490e-01 -1.28133824e-03 -7.13130455e-01] [ 8.70496249e-03 1.31543536e-03 9.99961246e-01 4.40972591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.804839173 meters Centerline goodness [0,1] 0.6299060639880952 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.71, Z:4.41 [[ 9.99953798e-01 4.41071092e-03 -8.54090940e-03 -8.30478132e+00] [-4.42402409e-03 9.99989027e-01 -1.54048854e-03 -7.11335477e-01] [ 8.53402104e-03 1.57820256e-03 9.99962339e-01 4.40812617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.834839173 meters Centerline goodness [0,1] 0.6269408210580548 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.71, Z:4.41 [[ 9.99950883e-01 5.59997623e-03 -8.17757418e-03 -8.30499592e+00] [-5.60839871e-03 9.99983765e-01 -1.00737900e-03 -7.12735386e-01] [ 8.17180012e-03 1.05319262e-03 9.99966056e-01 4.40676991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86483917300001 meters Centerline goodness [0,1] 0.6071144022121198 Centerline is valid? [False, False] Translation: X:-8.31, Y:-0.72, Z:4.41 [[ 9.99950533e-01 6.07182334e-03 -7.87813426e-03 -8.30564720e+00] [-6.07467931e-03 9.99981492e-01 -3.38640047e-04 -7.15063689e-01] [ 7.87593228e-03 3.86480435e-04 9.99968910e-01 4.40695064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.894839173 meters Centerline goodness [0,1] 0.6036305093445951 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.71, Z:4.40 [[ 9.99932437e-01 8.67112699e-03 -7.74162975e-03 -8.30272339e+00] [-8.65535693e-03 9.99960403e-01 2.06823214e-03 -7.11947796e-01] [ 7.75925711e-03 -2.00108584e-03 9.99967894e-01 4.40279535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.924839173 meters Centerline goodness [0,1] 0.6077045659253101 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.71, Z:4.40 [[ 9.99912788e-01 9.81210794e-03 -8.83959896e-03 -8.29671458e+00] [-9.78014544e-03 9.99945505e-01 3.65183216e-03 -7.08713296e-01] [ 8.87494941e-03 -3.56506111e-03 9.99954262e-01 4.39846474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.954839173 meters Centerline goodness [0,1] 0.6215512273827359 Centerline is valid? [False, False] Translation: X:-8.29, Y:-0.71, Z:4.39 [[ 9.99936768e-01 5.31754015e-03 -9.90880608e-03 -8.29022228e+00] [-5.32601142e-03 9.99985473e-01 -8.28731161e-04 -7.06001433e-01] [ 9.90425533e-03 8.81453173e-04 9.99950563e-01 4.39305248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.984839173 meters Centerline goodness [0,1] 0.6243350756279199 Centerline is valid? [False, False] Translation: X:-8.29, Y:-0.71, Z:4.39 [[ 9.99947088e-01 9.15335019e-04 -1.02460975e-02 -8.28924404e+00] [-9.67334204e-04 9.99986673e-01 -5.07121856e-03 -7.07646248e-01] [ 1.02413191e-02 5.08086164e-03 9.99934648e-01 4.39271020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.014839173 meters Centerline goodness [0,1] 0.635203366058906 Centerline is valid? [False, False] Translation: X:-8.29, Y:-0.71, Z:4.40 [[ 9.99946407e-01 -5.03522506e-03 -9.04592451e-03 -8.29476836e+00] [ 4.94261766e-03 9.99935448e-01 -1.02308234e-02 -7.14335643e-01] [ 9.09685507e-03 1.01855645e-02 9.99906746e-01 4.39794204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.044839173 meters Centerline goodness [0,1] 0.6318325342065256 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.72, Z:4.40 [[ 9.99969606e-01 -2.27556228e-03 -7.45715319e-03 -8.30079026e+00] [ 2.23312658e-03 9.99981296e-01 -5.69399697e-03 -7.17655041e-01] [ 7.46997075e-03 5.67717114e-03 9.99955984e-01 4.40424519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.074839173 meters Centerline goodness [0,1] 0.6265651280134554 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.72, Z:4.40 [[ 9.99972684e-01 1.62188817e-03 -7.21121509e-03 -8.30091378e+00] [-1.63283702e-03 9.99997523e-01 -1.51268064e-03 -7.16910422e-01] [ 7.20874383e-03 1.52441405e-03 9.99972855e-01 4.40416261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.104839173 meters Centerline goodness [0,1] 0.6116726442777959 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.72, Z:4.40 [[ 9.99959935e-01 5.29477459e-03 -7.21763606e-03 -8.30016353e+00] [-5.27831407e-03 9.99983430e-01 2.29774108e-03 -7.15384128e-01] [ 7.22968249e-03 -2.25955207e-03 9.99971313e-01 4.40348579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.134839173 meters Centerline goodness [0,1] 0.5853698463553239 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.72, Z:4.40 [[ 9.99957194e-01 6.58419988e-03 -6.50065836e-03 -8.30170706e+00] [-6.55891075e-03 9.99970870e-01 3.90392556e-03 -7.19196960e-01] [ 6.52617322e-03 -3.86112121e-03 9.99971250e-01 4.40389889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.164839173 meters Centerline goodness [0,1] 0.6068892546437809 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.72, Z:4.40 [[ 9.99974495e-01 3.67258479e-03 -6.12546065e-03 -8.30323105e+00] [-3.66449091e-03 9.99992399e-01 1.33205029e-03 -7.23445635e-01] [ 6.13030615e-03 -1.30956962e-03 9.99980352e-01 4.40497280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.194839173 meters Centerline goodness [0,1] 0.6151890916001521 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.73, Z:4.40 [[ 9.99978266e-01 -1.34394142e-03 -6.45455440e-03 -8.30079935e+00] [ 1.33103378e-03 9.99997107e-01 -2.00365192e-03 -7.29980030e-01] [ 6.45722851e-03 1.99501714e-03 9.99977162e-01 4.40381411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.224839173 meters Centerline goodness [0,1] 0.6342855777958247 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.73, Z:4.40 [[ 9.99955609e-01 -6.26094474e-03 -7.04136863e-03 -8.29800539e+00] [ 6.22088222e-03 9.99964421e-01 -5.69717593e-03 -7.32085678e-01] [ 7.07678780e-03 5.65311950e-03 9.99958980e-01 4.40252210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25483917300001 meters Centerline goodness [0,1] 0.6298818057586728 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.74, Z:4.40 [[ 9.99952929e-01 -6.29889510e-03 -7.37993830e-03 -8.29774617e+00] [ 6.26826903e-03 9.99971677e-01 -4.16571469e-03 -7.36240142e-01] [ 7.40596868e-03 4.11925917e-03 9.99964091e-01 4.40412918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.284839173 meters Centerline goodness [0,1] 0.6231684317423474 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.75, Z:4.41 [[ 9.99930181e-01 -9.41630886e-03 -7.13911709e-03 -8.29931766e+00] [ 9.38866906e-03 9.99948339e-01 -3.89527917e-03 -7.46302648e-01] [ 7.17542742e-03 3.82798040e-03 9.99966929e-01 4.40912637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.314839173 meters Centerline goodness [0,1] 0.650296030282442 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.75, Z:4.41 [[ 9.99937897e-01 -8.63841176e-03 -7.04126488e-03 -8.30099262e+00] [ 8.62651983e-03 9.99961316e-01 -1.71751644e-03 -7.52034372e-01] [ 7.05582911e-03 1.65666817e-03 9.99973735e-01 4.41209630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.344839173 meters Centerline goodness [0,1] 0.6362596998224233 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.76, Z:4.41 [[ 9.99944971e-01 -7.80893793e-03 -7.00534348e-03 -8.30223893e+00] [ 7.80785253e-03 9.99969502e-01 -1.82274483e-04 -7.55150171e-01] [ 7.00655320e-03 1.27567764e-04 9.99975446e-01 4.41409450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.374839173 meters Centerline goodness [0,1] 0.6406889701785412 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.75, Z:4.41 [[ 9.99966424e-01 -4.43249674e-03 -6.89232295e-03 -8.30115105e+00] [ 4.45722412e-03 9.99983671e-01 3.57645671e-03 -7.53942499e-01] [ 6.87635777e-03 -3.60705726e-03 9.99969852e-01 4.41280347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.404839173 meters Centerline goodness [0,1] 0.6417044031216881 Centerline is valid? [False, False] Translation: X:-8.29, Y:-0.75, Z:4.41 [[ 9.99963499e-01 -1.99049960e-03 -8.30897765e-03 -8.29145109e+00] [ 2.05016248e-03 9.99972135e-01 7.17820105e-03 -7.48599638e-01] [ 8.29445791e-03 -7.19497379e-03 9.99939715e-01 4.40586812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.434839173 meters Centerline goodness [0,1] 0.6422946318907594 Centerline is valid? [False, False] Translation: X:-8.29, Y:-0.75, Z:4.40 [[ 9.99959505e-01 -2.56156143e-03 -8.62707598e-03 -8.28948999e+00] [ 2.61670135e-03 9.99976184e-01 6.38628405e-03 -7.47697696e-01] [ 8.61051166e-03 -6.40859992e-03 9.99942393e-01 4.40403211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.464839173 meters Centerline goodness [0,1] 0.6237747453392274 Centerline is valid? [False, False] Translation: X:-8.29, Y:-0.75, Z:4.40 [[ 9.99963341e-01 -1.88437366e-03 -8.35261428e-03 -8.29035162e+00] [ 1.92987021e-03 9.99983328e-01 5.44227469e-03 -7.46173726e-01] [ 8.34221975e-03 -5.45819464e-03 9.99950307e-01 4.40337934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.494839173 meters Centerline goodness [0,1] 0.634567901234568 Centerline is valid? [False, False] Translation: X:-8.29, Y:-0.74, Z:4.40 [[ 9.99964800e-01 -1.25862115e-03 -8.29541182e-03 -8.29112793e+00] [ 1.29763884e-03 9.99988114e-01 4.69982329e-03 -7.43934491e-01] [ 8.28939792e-03 -4.71042231e-03 9.99954548e-01 4.40342958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.524839173 meters Centerline goodness [0,1] 0.6325639128255317 Centerline is valid? [False, False] Translation: X:-8.29, Y:-0.74, Z:4.40 [[ 9.99964290e-01 -1.05515080e-03 -8.38486257e-03 -8.29081241e+00] [ 1.08017383e-03 9.99994975e-01 2.98034196e-03 -7.39736280e-01] [ 8.38167573e-03 -2.98929264e-03 9.99960405e-01 4.40200308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.554839173 meters Centerline goodness [0,1] 0.619176406951859 Centerline is valid? [False, False] Translation: X:-8.29, Y:-0.73, Z:4.40 [[ 9.99959949e-01 2.78825320e-03 -8.50450471e-03 -8.29069496e+00] [-2.74892902e-03 9.99985493e-01 4.63211275e-03 -7.33652138e-01] [ 8.51729685e-03 -4.60854895e-03 9.99953107e-01 4.40094365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.584839173 meters Centerline goodness [0,1] 0.6079943899018233 Centerline is valid? [False, False] Translation: X:-8.29, Y:-0.73, Z:4.40 [[ 9.99960070e-01 3.69180689e-03 -8.13806787e-03 -8.29231829e+00] [-3.65592753e-03 9.99983552e-01 4.41930649e-03 -7.30505886e-01] [ 8.15424924e-03 -4.38937784e-03 9.99957120e-01 4.40141194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61483917300001 meters Centerline goodness [0,1] 0.6042953396967996 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.73, Z:4.40 [[ 9.99957340e-01 5.76454207e-03 -7.21723779e-03 -8.29643119e+00] [-5.72343173e-03 9.99967353e-01 5.70388776e-03 -7.28779849e-01] [ 7.24988248e-03 -5.66233707e-03 9.99957688e-01 4.40402035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.644839173 meters Centerline goodness [0,1] 0.6041705716963449 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.73, Z:4.41 [[ 9.99973161e-01 3.67394771e-03 -6.33872111e-03 -8.30000280e+00] [-3.64846593e-03 9.99985236e-01 4.02690985e-03 -7.29746313e-01] [ 6.35342218e-03 -4.00367517e-03 9.99971802e-01 4.40681950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.674839173 meters Centerline goodness [0,1] 0.6095536008278847 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.73, Z:4.41 [[ 9.99980947e-01 -1.67465088e-05 -6.17295228e-03 -8.30042820e+00] [ 2.11416970e-05 9.99999746e-01 7.11942906e-04 -7.30537680e-01] [ 6.17293879e-03 -7.12059848e-04 9.99980694e-01 4.40711615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.704839173 meters Centerline goodness [0,1] 0.6210376350468954 Centerline is valid? [False, False] Translation: X:-8.30, Y:-0.74, Z:4.41 [[ 9.99959812e-01 -5.36600457e-03 -7.18190736e-03 -8.29646963e+00] [ 5.34829502e-03 9.99982616e-01 -2.48279381e-03 -7.36426356e-01] [ 7.19510519e-03 2.44428307e-03 9.99971128e-01 4.40584133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.734839173 meters Centerline goodness [0,1] 0.6299980914209371 Centerline is valid? [False, False] Translation: X:-8.29, Y:-0.74, Z:4.41 [[ 9.99952026e-01 -6.17371078e-03 -7.60464343e-03 -8.29452984e+00] [ 6.15886582e-03 9.99979086e-01 -1.97396500e-03 -7.41608428e-01] [ 7.61667108e-03 1.92703432e-03 9.99969136e-01 4.40517569e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.764839173 meters Centerline goodness [0,1] 0.6470179307699684 Centerline is valid? [False, False] Translation: X:-8.29, Y:-0.75, Z:4.40 [[ 9.99923733e-01 -9.58558804e-03 -7.78745939e-03 -8.29261088e+00] [ 9.55423130e-03 9.99946140e-01 -4.05384238e-03 -7.48356493e-01] [ 7.82589842e-03 3.97913002e-03 9.99961460e-01 4.40391962e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.794839173 meters Centerline goodness [0,1] 0.6278522926314274 Centerline is valid? [False, False] Translation: X:-8.29, Y:-0.75, Z:4.40 [[ 9.99922349e-01 -9.43293315e-03 -8.14348360e-03 -8.29117587e+00] [ 9.40626702e-03 9.99950293e-01 -3.30665061e-03 -7.51047546e-01] [ 8.17427023e-03 3.22979406e-03 9.99961374e-01 4.40323899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.824839173 meters Centerline goodness [0,1] 0.6400743458530462 Centerline is valid? [False, False] Translation: X:-8.29, Y:-0.76, Z:4.40 [[ 9.99920920e-01 -9.04018815e-03 -8.74238676e-03 -8.28670236e+00] [ 9.02199245e-03 9.99957057e-01 -2.11852254e-03 -7.56842195e-01] [ 8.76116318e-03 2.03948126e-03 9.99959540e-01 4.39936081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.854839173 meters Centerline goodness [0,1] 0.6551582804928032 Centerline is valid? [False, False] Translation: X:-8.28, Y:-0.76, Z:4.40 [[ 9.99932570e-01 -6.90556251e-03 -9.33644522e-03 -8.28250766e+00] [ 6.91333414e-03 9.99975782e-01 8.00379475e-04 -7.59339180e-01] [ 9.33069204e-03 -8.64871470e-04 9.99956094e-01 4.39600723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.884839173 meters Centerline goodness [0,1] 0.6524043650317783 Centerline is valid? [False, False] Translation: X:-8.27, Y:-0.75, Z:4.38 [[ 9.99916154e-01 -8.63678398e-04 -1.29204537e-02 -8.26869273e+00] [ 9.35952453e-04 9.99983945e-01 5.58877016e-03 -7.53800782e-01] [ 1.29154194e-02 -5.60039449e-03 9.99900909e-01 4.38367543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.914839173 meters Centerline goodness [0,1] 0.6518560986097177 Centerline is valid? [False, False] Translation: X:-8.26, Y:-0.75, Z:4.38 [[ 9.99904083e-01 1.22059413e-03 -1.37962289e-02 -8.26296086e+00] [-1.12550611e-03 9.99975575e-01 6.89798418e-03 -7.50357309e-01] [ 1.38043115e-02 -6.88179481e-03 9.99881034e-01 4.37799892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.944839173 meters Centerline goodness [0,1] 0.6588302752293578 Centerline is valid? [False, False] Translation: X:-8.26, Y:-0.75, Z:4.37 [[ 9.99889991e-01 1.44727733e-04 -1.48318635e-02 -8.25849921e+00] [-8.55696439e-05 9.99992040e-01 3.98913799e-03 -7.52646952e-01] [ 1.48323228e-02 -3.98742999e-03 9.99882044e-01 4.37320280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.974839173 meters Centerline goodness [0,1] 0.6609383262029516 Centerline is valid? [False, False] Translation: X:-8.26, Y:-0.76, Z:4.37 [[ 9.99891327e-01 -2.50479032e-03 -1.45279076e-02 -8.26026599e+00] [ 2.52022075e-03 9.99996279e-01 1.04391246e-03 -7.55925927e-01] [ 1.45252388e-02 -1.08041255e-03 9.99893919e-01 4.37423974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00483917300001 meters Centerline goodness [0,1] 0.6702009735408936 Centerline is valid? [False, False] Translation: X:-8.26, Y:-0.76, Z:4.38 [[ 9.99895065e-01 -2.09385756e-03 -1.43343958e-02 -8.26233017e+00] [ 2.12984867e-03 9.99994617e-01 2.49601687e-03 -7.58396679e-01] [ 1.43290924e-02 -2.52628505e-03 9.99894142e-01 4.37748745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.034839173 meters Centerline goodness [0,1] 0.6617914592110303 Centerline is valid? [False, False] Translation: X:-8.26, Y:-0.75, Z:4.38 [[ 9.99896067e-01 1.60157278e-03 -1.43279526e-02 -8.26209661e+00] [-1.51397788e-03 9.99980112e-01 6.12232588e-03 -7.51592370e-01] [ 1.43374730e-02 -6.09999737e-03 9.99878606e-01 4.37754340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.064839173 meters Centerline goodness [0,1] 0.6337219043971563 Centerline is valid? [False, False] Translation: X:-8.26, Y:-0.75, Z:4.38 [[ 9.99895871e-01 1.67552943e-03 -1.43331582e-02 -8.26146514e+00] [-1.59862131e-03 9.99984274e-01 5.37552410e-03 -7.49691079e-01] [ 1.43419396e-02 -5.35205106e-03 9.99882825e-01 4.37625656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.094839173 meters Centerline goodness [0,1] 0.6535116095176479 Centerline is valid? [False, False] Translation: X:-8.26, Y:-0.75, Z:4.38 [[ 9.99891388e-01 2.09855103e-03 -1.45879817e-02 -8.26095815e+00] [-2.02210587e-03 9.99984158e-01 5.25305985e-03 -7.50550121e-01] [ 1.45987744e-02 -5.22299086e-03 9.99879791e-01 4.37583329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.124839173 meters Centerline goodness [0,1] 0.6262808777727586 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.75, Z:4.37 [[ 9.99939559e-01 7.41881498e-03 -8.11416596e-03 -8.25328913e+00] [-7.43830932e-03 9.99969515e-01 -2.37497302e-03 -7.48926357e-01] [ 8.09629912e-03 2.43518515e-03 9.99964259e-01 4.37233251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.154839173 meters Centerline goodness [0,1] 0.6262808777727586 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.75, Z:4.37 [[ 9.99939559e-01 7.41881498e-03 -8.11416596e-03 -8.25328913e+00] [-7.43830932e-03 9.99969515e-01 -2.37497302e-03 -7.48926357e-01] [ 8.09629912e-03 2.43518515e-03 9.99964259e-01 4.37233251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.184839173 meters Centerline goodness [0,1] 0.6289519836943641 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.75, Z:4.37 [[ 9.99936577e-01 7.75333374e-03 -8.16876649e-03 -8.25372409e+00] [-7.77494353e-03 9.99966350e-01 -2.61698861e-03 -7.46138347e-01] [ 8.14820122e-03 2.68033433e-03 9.99963211e-01 4.37274799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.214839173 meters Centerline goodness [0,1] 0.6360806121963971 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.75, Z:4.37 [[ 9.99939285e-01 7.09365907e-03 -8.43249932e-03 -8.25357606e+00] [-7.11195886e-03 9.99972415e-01 -2.14214713e-03 -7.46105052e-01] [ 8.41707105e-03 2.20198865e-03 9.99962151e-01 4.37438664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.244839173 meters Centerline goodness [0,1] 0.6536338325652842 Centerline is valid? [False, False] Translation: X:-8.26, Y:-0.75, Z:4.38 [[ 9.99967038e-01 2.94011953e-03 -7.56825115e-03 -8.25610088e+00] [-2.95281891e-03 9.99994250e-01 -1.66735495e-03 -7.53583631e-01] [ 7.56330541e-03 1.68964767e-03 9.99969970e-01 4.38100620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.274839173 meters Centerline goodness [0,1] 0.652809557070257 Centerline is valid? [False, False] Translation: X:-8.26, Y:-0.76, Z:4.38 [[ 9.99967049e-01 2.48110633e-03 -7.72952433e-03 -8.25694024e+00] [-2.48462255e-03 9.99996814e-01 -4.45337190e-04 -7.58473194e-01] [ 7.72839477e-03 4.64527466e-04 9.99970028e-01 4.38388410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.304839173 meters Centerline goodness [0,1] 0.6554632001159812 Centerline is valid? [False, False] Translation: X:-8.26, Y:-0.77, Z:4.39 [[ 9.99968126e-01 -3.37127926e-04 -7.97700145e-03 -8.25972529e+00] [ 3.46028113e-04 9.99999319e-01 1.11437693e-03 -7.65815141e-01] [ 7.97662033e-03 -1.11710168e-03 9.99967562e-01 4.39309002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.334839173 meters Centerline goodness [0,1] 0.6731422196352348 Centerline is valid? [False, False] Translation: X:-8.26, Y:-0.77, Z:4.39 [[ 9.99963778e-01 -2.66490487e-04 -8.50711564e-03 -8.25909921e+00] [ 2.81658851e-04 9.99998373e-01 1.78187259e-03 -7.68151488e-01] [ 8.50662694e-03 -1.78420416e-03 9.99962226e-01 4.39397244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36483917300001 meters Centerline goodness [0,1] 0.6613303488881319 Centerline is valid? [False, False] Translation: X:-8.26, Y:-0.77, Z:4.39 [[ 9.99954608e-01 -1.02883128e-03 -9.47222905e-03 -8.25549001e+00] [ 1.04148695e-03 9.99998572e-01 1.33124493e-03 -7.69833220e-01] [ 9.47084590e-03 -1.34104971e-03 9.99954251e-01 4.39198094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.394839173 meters Centerline goodness [0,1] 0.6533398580866161 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.78, Z:4.39 [[ 9.99929622e-01 -2.80313842e-03 -1.15279836e-02 -8.24937586e+00] [ 2.79261549e-03 9.99995669e-01 -9.28812398e-04 -7.75027048e-01] [ 1.15305372e-02 8.96553804e-04 9.99933119e-01 4.38855327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.424839173 meters Centerline goodness [0,1] 0.6518818532055715 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.78, Z:4.39 [[ 9.99937455e-01 -3.52922342e-03 -1.06127539e-02 -8.25388534e+00] [ 3.52261053e-03 9.99993590e-01 -6.41736844e-04 -7.83121459e-01] [ 1.06149507e-02 6.04312108e-04 9.99943477e-01 4.39242220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.454839173 meters Centerline goodness [0,1] 0.6743727023759591 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.78, Z:4.39 [[ 9.99954201e-01 -2.24457759e-03 -9.30362169e-03 -8.25402986e+00] [ 2.26170990e-03 9.99995765e-01 1.83135447e-03 -7.83636009e-01] [ 9.29947168e-03 -1.85231269e-03 9.99955043e-01 4.39081586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.484839173 meters Centerline goodness [0,1] 0.6859168451369914 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.78, Z:4.39 [[ 9.99962174e-01 6.69699730e-05 -8.69748635e-03 -8.25246667e+00] [-1.60278824e-05 9.99982847e-01 5.85704262e-03 -7.81996658e-01] [ 8.69772941e-03 -5.85668167e-03 9.99945023e-01 4.38906588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.514839173 meters Centerline goodness [0,1] 0.688533477907292 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.78, Z:4.39 [[ 9.99956293e-01 -3.20599104e-03 -8.78252396e-03 -8.25215042e+00] [ 3.22298861e-03 9.99992959e-01 1.92191636e-03 -7.81413431e-01] [ 8.77630048e-03 -1.95013834e-03 9.99959586e-01 4.38832255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.544839173 meters Centerline goodness [0,1] 0.6704719924718934 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.79, Z:4.39 [[ 9.99950872e-01 -3.06376946e-03 -9.42694439e-03 -8.25102188e+00] [ 3.08721062e-03 9.99992177e-01 2.47306704e-03 -7.85758090e-01] [ 9.41929374e-03 -2.50204850e-03 9.99952507e-01 4.38875868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.574839173 meters Centerline goodness [0,1] 0.6696453018046049 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.79, Z:4.39 [[ 9.99926876e-01 -5.45481668e-03 -1.07929024e-02 -8.24918646e+00] [ 5.44351860e-03 9.99984605e-01 -1.07590644e-03 -7.90390667e-01] [ 1.07986051e-02 1.01707640e-03 9.99941176e-01 4.38853462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.604839173 meters Centerline goodness [0,1] 0.6869016753091344 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.79, Z:4.39 [[ 9.99923643e-01 -4.68286213e-03 -1.14358848e-02 -8.24849688e+00] [ 4.67747307e-03 9.99988937e-01 -4.97942603e-04 -7.92932770e-01] [ 1.14380901e-02 4.44413538e-04 9.99934484e-01 4.38909867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.634839173 meters Centerline goodness [0,1] 0.6759321360260327 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.79, Z:4.39 [[ 9.99927808e-01 -1.36945687e-03 -1.19374915e-02 -8.24728511e+00] [ 1.41243342e-03 9.99992550e-01 3.59244493e-03 -7.93940520e-01] [ 1.19324829e-02 -3.60904650e-03 9.99922292e-01 4.38957992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.664839173 meters Centerline goodness [0,1] 0.6764633181728297 Centerline is valid? [False, False] Translation: X:-8.25, Y:-0.79, Z:4.39 [[ 9.99929504e-01 1.77063081e-03 -1.17410254e-02 -8.24626124e+00] [-1.68720889e-03 9.99973291e-01 7.11126798e-03 -7.91326350e-01] [ 1.17533032e-02 -7.09095710e-03 9.99905785e-01 4.38829191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.694839173 meters Centerline goodness [0,1] 0.6628808453903511 Centerline is valid? [False, False] Translation: X:-8.24, Y:-0.79, Z:4.39 [[ 9.99931726e-01 1.39594495e-03 -1.16015173e-02 -8.24458642e+00] [-1.32335399e-03 9.99979516e-01 6.26234574e-03 -7.89641773e-01] [ 1.16100215e-02 -6.24656527e-03 9.99913090e-01 4.38549832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.724839173 meters Centerline goodness [0,1] 0.6572121572121572 Centerline is valid? [False, False] Translation: X:-8.24, Y:-0.79, Z:4.38 [[ 9.99924378e-01 1.27574358e-03 -1.22315791e-02 -8.24054192e+00] [-1.20995063e-03 9.99984770e-01 5.38483399e-03 -7.89936734e-01] [ 1.22382625e-02 -5.36962717e-03 9.99910692e-01 4.38109945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75483917300001 meters Centerline goodness [0,1] 0.6519162288019523 Centerline is valid? [False, False] Translation: X:-8.24, Y:-0.79, Z:4.38 [[ 9.99923051e-01 -1.18402492e-03 -1.23486611e-02 -8.24031275e+00] [ 1.20634281e-03 9.99997652e-01 1.80002067e-03 -7.89258712e-01] [ 1.23465008e-02 -1.81477888e-03 9.99922132e-01 4.38004761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.784839173 meters Centerline goodness [0,1] 0.6498068054343762 Centerline is valid? [False, False] Translation: X:-8.24, Y:-0.79, Z:4.38 [[ 9.99911047e-01 -1.42824233e-03 -1.32611332e-02 -8.23790857e+00] [ 1.45164680e-03 9.99997406e-01 1.75543463e-03 -7.90719149e-01] [ 1.32585916e-02 -1.77452896e-03 9.99910526e-01 4.37946371e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.814839173 meters Centerline goodness [0,1] 0.6510030228084638 Centerline is valid? [False, False] Translation: X:-8.23, Y:-0.79, Z:4.38 [[ 9.99890893e-01 -2.50659395e-03 -1.45574584e-02 -8.23402776e+00] [ 2.53116081e-03 9.99995403e-01 1.66939961e-03 -7.92453338e-01] [ 1.45532070e-02 -1.70606473e-03 9.99892641e-01 4.37859580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.844839173 meters Centerline goodness [0,1] 0.6595144831715776 Centerline is valid? [False, False] Translation: X:-8.24, Y:-0.79, Z:4.38 [[ 9.99897939e-01 -2.35644188e-03 -1.40910808e-02 -8.23613569e+00] [ 2.39365386e-03 9.99993691e-01 2.62453550e-03 -7.91993575e-01] [ 1.40848074e-02 -2.65799681e-03 9.99897271e-01 4.38119711e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.874839173 meters Centerline goodness [0,1] 0.6730999103496365 Centerline is valid? [False, False] Translation: X:-8.24, Y:-0.79, Z:4.38 [[ 9.99906042e-01 -1.96554032e-03 -1.35662416e-02 -8.23788857e+00] [ 2.00904531e-03 9.99992881e-01 3.19397318e-03 -7.91516570e-01] [ 1.35598672e-02 -3.22092828e-03 9.99902873e-01 4.38242792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.904839173 meters Centerline goodness [0,1] 0.6731844269422842 Centerline is valid? [False, False] Translation: X:-8.24, Y:-0.79, Z:4.38 [[ 9.99910121e-01 -1.64576876e-03 -1.33056597e-02 -8.23950147e+00] [ 1.68908861e-03 9.99993308e-01 3.24516484e-03 -7.89223703e-01] [ 1.33002298e-02 -3.26734761e-03 9.99906210e-01 4.38397551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.934839173 meters Centerline goodness [0,1] 0.6720011965300627 Centerline is valid? [False, False] Translation: X:-8.24, Y:-0.79, Z:4.39 [[ 9.99902917e-01 -1.50669821e-03 -1.38523374e-02 -8.23936065e+00] [ 1.55421345e-03 9.99992944e-01 3.41999901e-03 -7.89664867e-01] [ 1.38470868e-02 -3.44119647e-03 9.99898203e-01 4.38534160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.964839173 meters Centerline goodness [0,1] 0.6755456991926643 Centerline is valid? [False, False] Translation: X:-8.24, Y:-0.79, Z:4.39 [[ 9.99875653e-01 -2.11398634e-03 -1.56272358e-02 -8.23643416e+00] [ 2.15425132e-03 9.99994402e-01 2.56020579e-03 -7.90040221e-01] [ 1.56217361e-02 -2.59355243e-03 9.99874610e-01 4.38603334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.994839173 meters Centerline goodness [0,1] 0.6616354081048096 Centerline is valid? [False, False] Translation: X:-8.23, Y:-0.79, Z:4.38 [[ 9.99867075e-01 -2.52213325e-03 -1.61081285e-02 -8.23458487e+00] [ 2.55516148e-03 9.99994675e-01 2.03015631e-03 -7.89027155e-01] [ 1.61029224e-02 -2.07104532e-03 9.99868195e-01 4.38489186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.024839173 meters Centerline goodness [0,1] 0.6626685539745214 Centerline is valid? [False, False] Translation: X:-8.23, Y:-0.79, Z:4.38 [[ 9.99870559e-01 -2.60865693e-03 -1.58763799e-02 -8.23385778e+00] [ 2.63663809e-03 9.99995007e-01 1.74176347e-03 -7.87477285e-01] [ 1.58717570e-02 -1.78339828e-03 9.99872445e-01 4.38326736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.054839173 meters Centerline goodness [0,1] 0.6650623930139671 Centerline is valid? [False, False] Translation: X:-8.23, Y:-0.79, Z:4.38 [[ 9.99876247e-01 -2.49784587e-03 -1.55322595e-02 -8.23445537e+00] [ 2.52974142e-03 9.99994731e-01 2.03419498e-03 -7.87292359e-01] [ 1.55270965e-02 -2.07323585e-03 9.99877298e-01 4.38336509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.084839173 meters Centerline goodness [0,1] 0.6722778659262197 Centerline is valid? [False, False] Translation: X:-8.23, Y:-0.79, Z:4.38 [[ 9.99872803e-01 -3.26072600e-03 -1.56123549e-02 -8.23386750e+00] [ 3.30591629e-03 9.99990418e-01 2.86958835e-03 -7.89291358e-01] [ 1.56028483e-02 -2.92083649e-03 9.99874002e-01 4.38435916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11483917300001 meters Centerline goodness [0,1] 0.7133532635774789 Centerline is valid? [False, False] Translation: X:-8.23, Y:-0.79, Z:4.38 [[ 9.99861399e-01 -4.03603598e-03 -1.61521736e-02 -8.23238251e+00] [ 4.08845426e-03 9.99986479e-01 3.21357326e-03 -7.92907878e-01] [ 1.61389851e-02 -3.27916528e-03 9.99864381e-01 4.38470477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.144839173 meters Centerline goodness [0,1] 0.6824577743096635 Centerline is valid? [False, False] Translation: X:-8.23, Y:-0.80, Z:4.39 [[ 9.99812885e-01 -8.48862166e-03 -1.73821074e-02 -8.23003536e+00] [ 8.49003356e-03 9.99963959e-01 7.43431524e-06 -8.01055522e-01] [ 1.73814178e-02 -1.55007599e-04 9.99848920e-01 4.38570603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.174839173 meters Centerline goodness [0,1] 0.7223378337224647 Centerline is valid? [False, False] Translation: X:-8.23, Y:-0.81, Z:4.39 [[ 9.99803032e-01 -8.41896710e-03 -1.79727096e-02 -8.22910131e+00] [ 8.44187294e-03 9.99963648e-01 1.19899028e-03 -8.06507377e-01] [ 1.79619620e-02 -1.35047744e-03 9.99837759e-01 4.38685697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.204839173 meters Centerline goodness [0,1] 0.6852637962401456 Centerline is valid? [False, False] Translation: X:-8.23, Y:-0.81, Z:4.39 [[ 9.99815805e-01 -5.62242183e-03 -1.83505738e-02 -8.22679704e+00] [ 5.71867637e-03 9.99970143e-01 5.19706141e-03 -8.07120832e-01] [ 1.83208059e-02 -5.30104513e-03 9.99818107e-01 4.38609731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.234839173 meters Centerline goodness [0,1] 0.7202704061117813 Centerline is valid? [False, False] Translation: X:-8.22, Y:-0.80, Z:4.38 [[ 9.99830665e-01 -2.18243607e-03 -1.82723262e-02 -8.22498239e+00] [ 2.32797038e-03 9.99965710e-01 7.94726061e-03 -8.02820625e-01] [ 1.82543553e-02 -7.98845230e-03 9.99801462e-01 4.38327959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.264839173 meters Centerline goodness [0,1] 0.7120177405942091 Centerline is valid? [False, False] Translation: X:-8.22, Y:-0.80, Z:4.38 [[ 9.99933619e-01 -3.38936683e-05 -1.15220263e-02 -8.21854868e+00] [-1.62844321e-06 9.99995248e-01 -3.08295098e-03 -8.01736618e-01] [ 1.15220761e-02 3.08276509e-03 9.99928867e-01 4.37922073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.294839173 meters Centerline goodness [0,1] 0.6945625875461607 Centerline is valid? [False, False] Translation: X:-8.21, Y:-0.81, Z:4.38 [[ 9.99984019e-01 6.33819832e-04 -5.61774669e-03 -8.21148552e+00] [-6.93115090e-04 9.99944008e-01 -1.05593351e-02 -8.10238668e-01] [ 5.61073943e-03 1.05630601e-02 9.99928468e-01 4.38388559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.324839173 meters Centerline goodness [0,1] 0.6953140934121966 Centerline is valid? [False, False] Translation: X:-8.21, Y:-0.81, Z:4.39 [[ 9.99979761e-01 8.79373947e-04 -6.30114360e-03 -8.21050164e+00] [-9.38688708e-04 9.99955223e-01 -9.41656671e-03 -8.12986927e-01] [ 6.29258077e-03 9.42229094e-03 9.99935810e-01 4.38500041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.354839173 meters Centerline goodness [0,1] 0.6996126993833767 Centerline is valid? [False, False] Translation: X:-8.20, Y:-0.81, Z:4.38 [[ 9.99972129e-01 2.07445970e-03 -7.17203383e-03 -8.20452569e+00] [-2.12204928e-03 9.99975742e-01 -6.63420764e-03 -8.12537070e-01] [ 7.15809746e-03 6.64924215e-03 9.99952273e-01 4.38111152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.384839173 meters Centerline goodness [0,1] 0.694122432377466 Centerline is valid? [False, False] Translation: X:-8.20, Y:-0.81, Z:4.38 [[ 9.99971826e-01 1.84488754e-03 -7.27629907e-03 -8.20332844e+00] [-1.89260636e-03 9.99976714e-01 -6.55669203e-03 -8.11958489e-01] [ 7.26403327e-03 6.57027847e-03 9.99952031e-01 4.38011093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.414839173 meters Centerline goodness [0,1] 0.71549489095623 Centerline is valid? [False, False] Translation: X:-8.20, Y:-0.81, Z:4.38 [[ 9.99974091e-01 2.02554535e-03 -6.90754516e-03 -8.20420266e+00] [-2.06365180e-03 9.99982669e-01 -5.51398346e-03 -8.12784169e-01] [ 6.89625662e-03 5.52809537e-03 9.99960940e-01 4.38121872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.444839173 meters Centerline goodness [0,1] 0.7125946248031296 Centerline is valid? [False, False] Translation: X:-8.20, Y:-0.81, Z:4.38 [[ 9.99969715e-01 1.84912863e-03 -7.55969948e-03 -8.20302393e+00] [-1.88615904e-03 9.99986244e-01 -4.89420528e-03 -8.14607650e-01] [ 7.55054548e-03 4.90831585e-03 9.99959448e-01 4.38206881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.474839173 meters Centerline goodness [0,1] 0.7318844272319609 Centerline is valid? [False, False] Translation: X:-8.20, Y:-0.82, Z:4.38 [[ 9.99949265e-01 -3.06026172e-03 -9.59699929e-03 -8.19540455e+00] [ 2.97535405e-03 9.99956419e-01 -8.84914694e-03 -8.16124138e-01] [ 9.62366175e-03 8.82014351e-03 9.99914791e-01 4.37835591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50483917300001 meters Centerline goodness [0,1] 0.7727699530516432 Centerline is valid? [False, False] Translation: X:-8.19, Y:-0.81, Z:4.37 [[ 9.99809736e-01 -8.37500474e-03 -1.76167671e-02 -8.18592995e+00] [ 8.40355805e-03 9.99963492e-01 1.54739915e-03 -8.12096908e-01] [ 1.76031644e-02 -1.69514826e-03 9.99843615e-01 4.37168822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.534839173 meters Centerline goodness [0,1] 0.7622122826414715 Centerline is valid? [False, False] Translation: X:-8.18, Y:-0.81, Z:4.37 [[ 9.99810965e-01 -6.58186422e-03 -1.82951635e-02 -8.18071034e+00] [ 6.63710736e-03 9.99973592e-01 2.96047151e-03 -8.06671271e-01] [ 1.82751949e-02 -3.08133884e-03 9.99828247e-01 4.36692241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.564839173 meters Centerline goodness [0,1] 0.773569762484011 Centerline is valid? [False, False] Translation: X:-8.18, Y:-0.80, Z:4.37 [[ 9.99816534e-01 -6.20223233e-03 -1.81226797e-02 -8.18146153e+00] [ 6.24468509e-03 9.99977887e-01 2.28687074e-03 -8.01218820e-01] [ 1.81080953e-02 -2.39962160e-03 9.99833155e-01 4.36690419e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.594839173 meters Centerline goodness [0,1] 0.7638979725310661 Centerline is valid? [False, False] Translation: X:-8.18, Y:-0.80, Z:4.38 [[ 9.99933430e-01 -4.58950807e-03 -1.05863673e-02 -8.18293486e+00] [ 4.53639565e-03 9.99977032e-01 -5.03562693e-03 -8.01812448e-01] [ 1.06092352e-02 4.98726776e-03 9.99931283e-01 4.37904827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.624839173 meters Centerline goodness [0,1] 0.7699090449722081 Centerline is valid? [False, False] Translation: X:-8.19, Y:-0.81, Z:4.39 [[ 9.99924342e-01 -6.15723320e-03 -1.06488529e-02 -8.18797167e+00] [ 6.09860662e-03 9.99966117e-01 -5.52917342e-03 -8.06434560e-01] [ 1.06825365e-02 5.46381193e-03 9.99928012e-01 4.38680829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.654839173 meters Centerline goodness [0,1] 0.7672768878718536 Centerline is valid? [False, False] Translation: X:-8.19, Y:-0.81, Z:4.39 [[ 9.99919048e-01 -5.44686355e-03 -1.14990883e-02 -8.18811245e+00] [ 5.40928385e-03 9.99979936e-01 -3.29663583e-03 -8.11920268e-01] [ 1.15168139e-02 3.23416713e-03 9.99928449e-01 4.39049135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.684839173 meters Centerline goodness [0,1] 0.7444322838453511 Centerline is valid? [False, False] Translation: X:-8.19, Y:-0.81, Z:4.39 [[ 9.99934375e-01 -2.57259015e-03 -1.11636246e-02 -8.18522072e+00] [ 2.57911188e-03 9.99996512e-01 5.69837641e-04 -8.13013654e-01] [ 1.11621197e-02 -5.98592483e-04 9.99937522e-01 4.38685924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.714839173 meters Centerline goodness [0,1] 0.8016851780926848 Centerline is valid? [False, False] Translation: X:-8.18, Y:-0.82, Z:4.38 [[ 9.99942095e-01 -2.77911809e-03 -1.03963066e-02 -8.18416632e+00] [ 2.79781837e-03 9.99994494e-01 1.78463079e-03 -8.15338373e-01] [ 1.03912896e-02 -1.81361442e-03 9.99944364e-01 4.38482492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.744839173 meters Centerline goodness [0,1] 0.8031878031878033 Centerline is valid? [False, False] Translation: X:-8.18, Y:-0.82, Z:4.38 [[ 9.99936350e-01 -3.55905329e-03 -1.07065331e-02 -8.18224196e+00] [ 3.58356536e-03 9.99991000e-01 2.27113768e-03 -8.17700190e-01] [ 1.06983536e-02 -2.30936069e-03 9.99940104e-01 4.38413490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.774839173 meters Centerline goodness [0,1] 0.8533043972510722 Centerline is valid? [False, False] Translation: X:-8.18, Y:-0.82, Z:4.39 [[ 9.99908515e-01 -7.61463191e-03 -1.11794261e-02 -8.18190810e+00] [ 7.61341046e-03 9.99971006e-01 -1.51813372e-04 -8.21768886e-01] [ 1.11802580e-02 6.66859237e-05 9.99937497e-01 4.38654361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.804839173 meters Centerline goodness [0,1] 0.8527172076825116 Centerline is valid? [False, False] Translation: X:-8.19, Y:-0.83, Z:4.39 [[ 9.99894253e-01 -9.48226631e-03 -1.10258238e-02 -8.18591565e+00] [ 9.46159482e-03 9.99953384e-01 -1.92547986e-03 -8.26492324e-01] [ 1.10435677e-02 1.82095437e-03 9.99937360e-01 4.39126142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.834839173 meters Centerline goodness [0,1] 0.8255533410259099 Centerline is valid? [False, False] Translation: X:-8.18, Y:-0.83, Z:4.40 [[ 9.99940279e-01 -9.90644677e-03 -4.61532056e-03 -8.18151187e+00] [ 9.84936519e-03 9.99876693e-01 -1.22306263e-02 -8.33345555e-01] [ 4.73591351e-03 1.21844379e-02 9.99914552e-01 4.39669575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86483917300001 meters Centerline goodness [0,1] 0.7981569715691921 Centerline is valid? [False, False] Translation: X:-8.18, Y:-0.83, Z:4.40 [[ 9.99969400e-01 -6.04828277e-03 -4.96154141e-03 -8.18019266e+00] [ 6.00812819e-03 9.99949399e-01 -8.06853613e-03 -8.33584815e-01] [ 5.01009114e-03 8.03847966e-03 9.99955140e-01 4.39627348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.894839173 meters Centerline goodness [0,1] 0.7761759062386558 Centerline is valid? [False, False] Translation: X:-8.17, Y:-0.82, Z:4.39 [[ 9.99970071e-01 3.93625744e-03 -6.66059294e-03 -8.16785687e+00] [-3.92415171e-03 9.99990627e-01 1.82960934e-03 -8.24182565e-01] [ 6.66773232e-03 -1.80341740e-03 9.99976144e-01 4.38575462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.924839173 meters Centerline goodness [0,1] 0.7608942585708385 Centerline is valid? [False, False] Translation: X:-8.16, Y:-0.82, Z:4.38 [[ 9.99950496e-01 6.80875287e-03 -7.25585152e-03 -8.16283586e+00] [-6.79566903e-03 9.99975241e-01 1.82634398e-03 -8.18304915e-01] [ 7.26810700e-03 -1.77694520e-03 9.99972008e-01 4.37757824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.954839173 meters Centerline goodness [0,1] 0.7316399494049923 Centerline is valid? [False, False] Translation: X:-8.16, Y:-0.81, Z:4.37 [[ 9.99920266e-01 9.51696058e-03 -8.29994444e-03 -8.15664276e+00] [-9.50670800e-03 9.99953999e-01 1.27383942e-03 -8.13844433e-01] [ 8.31168572e-03 -1.19483270e-03 9.99964744e-01 4.36817217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.984839173 meters Centerline goodness [0,1] 0.7081820288959283 Centerline is valid? [False, False] Translation: X:-8.15, Y:-0.81, Z:4.36 [[ 9.99871319e-01 1.30859498e-02 -9.27922976e-03 -8.15143382e+00] [-1.30758617e-02 9.99913849e-01 1.14701198e-03 -8.10798740e-01] [ 9.29344009e-03 -1.02553046e-03 9.99956289e-01 4.35952083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.014839173 meters Centerline goodness [0,1] 0.7041919257061783 Centerline is valid? [False, False] Translation: X:-8.15, Y:-0.81, Z:4.36 [[ 9.99863849e-01 1.35106602e-02 -9.47341082e-03 -8.15178266e+00] [-1.34985245e-02 9.99907988e-01 1.34379980e-03 -8.10971552e-01] [ 9.49069477e-03 -1.21573978e-03 9.99954223e-01 4.36048884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.044839173 meters Centerline goodness [0,1] 0.7041919257061783 Centerline is valid? [False, False] Translation: X:-8.15, Y:-0.81, Z:4.36 [[ 9.99863849e-01 1.35106602e-02 -9.47341082e-03 -8.15178266e+00] [-1.34985245e-02 9.99907988e-01 1.34379980e-03 -8.10971552e-01] [ 9.49069477e-03 -1.21573978e-03 9.99954223e-01 4.36048884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.074839173 meters Centerline goodness [0,1] 0.6940607377515651 Centerline is valid? [False, False] Translation: X:-8.15, Y:-0.81, Z:4.36 [[ 9.99876531e-01 1.53810860e-02 -3.21623606e-03 -8.14510217e+00] [-1.54048140e-02 9.99853302e-01 -7.48774668e-03 -8.08991555e-01] [ 3.10059456e-03 7.53636769e-03 9.99966794e-01 4.36283433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.104839173 meters Centerline goodness [0,1] 0.6749993503624978 Centerline is valid? [False, False] Translation: X:-8.15, Y:-0.82, Z:4.37 [[ 9.99757006e-01 2.14742234e-02 4.97864067e-03 -8.14582408e+00] [-2.14179101e-02 9.99708977e-01 -1.11010717e-02 -8.15756373e-01] [-5.21557867e-03 1.09917421e-02 9.99925987e-01 4.37078763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.134839173 meters Centerline goodness [0,1] 0.6650700265528193 Centerline is valid? [False, False] Translation: X:-8.15, Y:-0.82, Z:4.37 [[ 9.99701794e-01 2.37516637e-02 5.67283402e-03 -8.14882879e+00] [-2.36984697e-02 9.99676200e-01 -9.26700263e-03 -8.18334798e-01] [-5.89110388e-03 9.12980167e-03 9.99940969e-01 4.37247844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.164839173 meters Centerline goodness [0,1] 0.6541747824957798 Centerline is valid? [False, False] Translation: X:-8.15, Y:-0.82, Z:4.37 [[ 9.99586094e-01 2.80916745e-02 6.20470561e-03 -8.14871051e+00] [-2.80625929e-02 9.99594999e-01 -4.72540323e-03 -8.19931088e-01] [-6.33493718e-03 4.54932723e-03 9.99969586e-01 4.37132416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.194839173 meters Centerline goodness [0,1] 0.6448460022814477 Centerline is valid? [False, False] Translation: X:-8.14, Y:-0.82, Z:4.36 [[ 9.99367399e-01 3.47997667e-02 7.33334074e-03 -8.14293632e+00] [-3.48269850e-02 9.99386811e-01 3.61711373e-03 -8.21138799e-01] [-7.20296930e-03 -3.87022369e-03 9.99966569e-01 4.36379026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.224839173 meters Centerline goodness [0,1] 0.6437020128657398 Centerline is valid? [False, False] Translation: X:-8.14, Y:-0.82, Z:4.36 [[ 9.99391018e-01 3.41068208e-02 7.37007053e-03 -8.14001708e+00] [-3.41299805e-02 9.99412780e-01 3.03977475e-03 -8.21016018e-01] [-7.26206562e-03 -3.28946395e-03 9.99968220e-01 4.35994944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.25483917300001 meters Centerline goodness [0,1] 0.654105015058269 Centerline is valid? [False, False] Translation: X:-8.14, Y:-0.83, Z:4.36 [[ 9.99568864e-01 2.83650413e-02 7.58351852e-03 -8.13966093e+00] [-2.83514617e-02 9.99596225e-01 -1.89224518e-03 -8.29273930e-01] [-7.63413010e-03 1.67642553e-03 9.99969454e-01 4.35891027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.284839173 meters Centerline goodness [0,1] 0.6765471447543161 Centerline is valid? [False, False] Translation: X:-8.13, Y:-0.84, Z:4.37 [[ 0.99965157 0.02197548 0.01462265 -8.13458766] [-0.02176013 0.99965475 -0.01472694 -0.84263518] [-0.01494123 0.01440362 0.99978462 4.36545738] [ 0. 0. 0. 1. ]] SLAMing on 79.314839173 meters Centerline goodness [0,1] 0.6816289496157131 Centerline is valid? [False, False] Translation: X:-8.13, Y:-0.85, Z:4.37 [[ 0.99965654 0.02182562 0.01450677 -8.13477568] [-0.02168802 0.99971893 -0.00957567 -0.85185094] [-0.01471169 0.00925776 0.99984892 4.37266138] [ 0. 0. 0. 1. ]] SLAMing on 79.344839173 meters Centerline goodness [0,1] 0.7042313757985619 Centerline is valid? [False, False] Translation: X:-8.13, Y:-0.85, Z:4.37 [[ 0.99965658 0.02147332 0.0150203 -8.13330263] [-0.02134554 0.99973503 -0.00861606 -0.85395081] [-0.01520133 0.00829248 0.99985007 4.37083309] [ 0. 0. 0. 1. ]] SLAMing on 79.374839173 meters Centerline goodness [0,1] 0.6924838864326426 Centerline is valid? [False, False] Translation: X:-8.13, Y:-0.85, Z:4.37 [[ 9.99620623e-01 2.32292478e-02 1.47990542e-02 -8.12846729e+00] [-2.31471449e-02 9.99715847e-01 -5.69521075e-03 -8.53599898e-01] [-1.49271444e-02 5.35049426e-03 9.99874268e-01 4.36658958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.404839173 meters Centerline goodness [0,1] 0.6823153692614771 Centerline is valid? [False, False] Translation: X:-8.13, Y:-0.85, Z:4.36 [[ 9.99704907e-01 1.99069801e-02 1.39216399e-02 -8.12507671e+00] [-2.00087639e-02 9.99773803e-01 7.21052142e-03 -8.54464444e-01] [-1.37749512e-02 -7.48694844e-03 9.99877091e-01 4.36022561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.434839173 meters Centerline goodness [0,1] 0.708237680849928 Centerline is valid? [False, False] Translation: X:-8.10, Y:-0.86, Z:4.35 [[ 9.99797810e-01 2.00721613e-02 1.20314229e-03 -8.10208420e+00] [-2.00840634e-02 9.99739225e-01 1.08679783e-02 -8.55543355e-01] [-9.84684727e-04 -1.08899449e-02 9.99940218e-01 4.35072473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.464839173 meters Centerline goodness [0,1] 0.7070113276426693 Centerline is valid? [False, False] Translation: X:-8.10, Y:-0.86, Z:4.35 [[ 9.99871276e-01 1.60377273e-02 4.71251468e-04 -8.09917061e+00] [-1.60401124e-02 9.99855724e-01 5.58976621e-03 -8.55073182e-01] [-3.81536332e-04 -5.59660561e-03 9.99984266e-01 4.34723359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.494839173 meters Centerline goodness [0,1] 0.6733396713296211 Centerline is valid? [False, False] Translation: X:-8.10, Y:-0.87, Z:4.35 [[ 9.99943613e-01 1.06193444e-02 1.24569038e-05 -8.10302726e+00] [-1.06193515e-02 9.99943145e-01 9.67714002e-04 -8.66317046e-01] [-2.17970731e-06 -9.67791720e-04 9.99999532e-01 4.35373834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.524839173 meters Centerline goodness [0,1] 0.7255615268017087 Centerline is valid? [False, False] Translation: X:-8.11, Y:-0.88, Z:4.37 [[ 9.99968643e-01 6.34137436e-03 4.74335948e-03 -8.11382993e+00] [-6.35555980e-03 9.99975358e-01 2.98151723e-03 -8.79865583e-01] [-4.72433568e-03 -3.01157044e-03 9.99984305e-01 4.36879556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.554839173 meters Centerline goodness [0,1] 0.7249669166299073 Centerline is valid? [False, False] Translation: X:-8.11, Y:-0.88, Z:4.37 [[ 9.99961267e-01 6.98225411e-03 5.35839460e-03 -8.11471745e+00] [-7.00620906e-03 9.99965488e-01 4.46487282e-03 -8.83676336e-01] [-5.32703480e-03 -4.50224192e-03 9.99975676e-01 4.36896336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.584839173 meters Centerline goodness [0,1] 0.6913742569918098 Centerline is valid? [False, False] Translation: X:-8.10, Y:-0.88, Z:4.36 [[ 9.99920862e-01 1.12100104e-02 5.71006491e-03 -8.10287185e+00] [-1.12807292e-02 9.99858149e-01 1.25070739e-02 -8.81582184e-01] [-5.56905050e-03 -1.25704979e-02 9.99905480e-01 4.35912517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.61483917300001 meters Centerline goodness [0,1] 0.6965249062080674 Centerline is valid? [False, False] Translation: X:-8.10, Y:-0.88, Z:4.35 [[ 9.99934740e-01 9.84561705e-03 5.79472439e-03 -8.09966557e+00] [-9.90951769e-03 9.99889246e-01 1.11039599e-02 -8.78344068e-01] [-5.68475727e-03 -1.11606582e-02 9.99921559e-01 4.35490614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.644839173 meters Centerline goodness [0,1] 0.708716540837337 Centerline is valid? [False, False] Translation: X:-8.10, Y:-0.88, Z:4.35 [[ 9.99968218e-01 5.54274272e-03 5.73070654e-03 -8.09855542e+00] [-5.58134926e-03 9.99961690e-01 6.74288614e-03 -8.77715210e-01] [-5.69311291e-03 -6.77465691e-03 9.99960845e-01 4.35357512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.674839173 meters Centerline goodness [0,1] 0.7351534697508897 Centerline is valid? [False, False] Translation: X:-8.10, Y:-0.89, Z:4.36 [[ 9.99986064e-01 1.02536252e-04 5.27846406e-03 -8.10052214e+00] [-1.04388608e-04 9.99999933e-01 3.50652858e-04 -8.85729392e-01] [-5.27842775e-03 -3.51198983e-04 9.99986007e-01 4.35623831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.704839173 meters Centerline goodness [0,1] 0.7359534699870123 Centerline is valid? [False, False] Translation: X:-8.11, Y:-0.90, Z:4.36 [[ 9.99977338e-01 -1.40814469e-03 6.58338552e-03 -8.11141035e+00] [ 1.43467762e-03 9.99990861e-01 -4.02730240e-03 -8.96701998e-01] [-6.57765433e-03 4.03665617e-03 9.99970219e-01 4.36289845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.734839173 meters Centerline goodness [0,1] 0.7302026302421403 Centerline is valid? [False, False] Translation: X:-8.11, Y:-0.90, Z:4.37 [[ 9.99977096e-01 -2.90413139e-04 6.76194175e-03 -8.11372247e+00] [ 3.05570408e-04 9.99997443e-01 -2.24063036e-03 -8.98878422e-01] [-6.76127375e-03 2.24264529e-03 9.99974628e-01 4.36625490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.764839173 meters Centerline goodness [0,1] 0.7282162344602576 Centerline is valid? [False, False] Translation: X:-8.11, Y:-0.90, Z:4.37 [[ 9.99974776e-01 3.54062694e-04 7.09376685e-03 -8.11424772e+00] [-3.42163766e-04 9.99998533e-01 -1.67852146e-03 -8.96063486e-01] [-7.09435074e-03 1.67605189e-03 9.99973430e-01 4.36624545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.794839173 meters Centerline goodness [0,1] 0.7166108319374651 Centerline is valid? [False, False] Translation: X:-8.10, Y:-0.89, Z:4.36 [[ 9.99977597e-01 3.32108097e-03 5.81164923e-03 -8.10346111e+00] [-3.33975686e-03 9.99989281e-01 3.20677744e-03 -8.90772248e-01] [-5.80093696e-03 -3.22611510e-03 9.99977970e-01 4.35909997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.824839173 meters Centerline goodness [0,1] 0.7155351236194427 Centerline is valid? [False, False] Translation: X:-8.10, Y:-0.89, Z:4.35 [[ 9.99984829e-01 2.13587701e-03 5.07737328e-03 -8.09825488e+00] [-2.14456121e-03 9.99996246e-01 1.70554329e-03 -8.90472707e-01] [-5.07371139e-03 -1.71640615e-03 9.99985656e-01 4.35379234e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.854839173 meters Centerline goodness [0,1] 0.716776892205076 Centerline is valid? [False, False] Translation: X:-8.09, Y:-0.90, Z:4.35 [[ 9.99992003e-01 -1.81083826e-03 3.56586916e-03 -8.09005668e+00] [ 1.81499829e-03 9.99997676e-01 -1.16373471e-03 -8.98716403e-01] [-3.56375354e-03 1.17019745e-03 9.99992965e-01 4.34793516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.884839173 meters Centerline goodness [0,1] 0.7225222637173225 Centerline is valid? [False, False] Translation: X:-8.09, Y:-0.91, Z:4.35 [[ 9.99983935e-01 -3.52884283e-03 4.43584922e-03 -8.09399587e+00] [ 3.53917605e-03 9.99991037e-01 -2.32379086e-03 -9.05873895e-01] [-4.42760917e-03 2.33945278e-03 9.99987462e-01 4.35088169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.914839173 meters Centerline goodness [0,1] 0.7236879921825602 Centerline is valid? [False, False] Translation: X:-8.09, Y:-0.91, Z:4.35 [[ 9.99984385e-01 -3.15534219e-03 4.61238207e-03 -8.09413564e+00] [ 3.16311295e-03 9.99993589e-01 -1.67843804e-03 -9.06168546e-01] [-4.60705645e-03 1.69300132e-03 9.99987954e-01 4.35097287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.944839173 meters Centerline goodness [0,1] 0.7200125991466941 Centerline is valid? [False, False] Translation: X:-8.09, Y:-0.90, Z:4.35 [[ 9.99991107e-01 -1.03743807e-03 4.08782942e-03 -8.09007432e+00] [ 1.03250031e-03 9.99998735e-01 1.20984405e-03 -9.04674984e-01] [-4.08907939e-03 -1.20561260e-03 9.99990913e-01 4.34841025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.974839173 meters Centerline goodness [0,1] 0.7132470803755439 Centerline is valid? [False, False] Translation: X:-8.09, Y:-0.90, Z:4.35 [[ 9.99992856e-01 -1.22172711e-03 3.57708155e-03 -8.08848804e+00] [ 1.21869312e-03 9.99998896e-01 8.50231765e-04 -9.03901264e-01] [-3.57811635e-03 -8.45866327e-04 9.99993241e-01 4.34762387e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00483917300001 meters Centerline goodness [0,1] 0.7182522538091535 Centerline is valid? [False, False] Translation: X:-8.09, Y:-0.91, Z:4.35 [[ 9.99987296e-01 -3.55569832e-03 3.57286501e-03 -8.09124414e+00] [ 3.55752254e-03 9.99993545e-01 -5.04351849e-04 -9.08984320e-01] [-3.57104862e-03 5.17055989e-04 9.99993490e-01 4.35256136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.034839173 meters Centerline goodness [0,1] 0.7217283021053547 Centerline is valid? [False, False] Translation: X:-8.09, Y:-0.91, Z:4.35 [[ 9.99988810e-01 -3.31400930e-03 3.37602054e-03 -8.09151743e+00] [ 3.30998480e-03 9.99993806e-01 1.19697651e-03 -9.13755170e-01] [-3.37996642e-03 -1.18578853e-03 9.99993585e-01 4.35493496e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.064839173 meters Centerline goodness [0,1] 0.7202162412188142 Centerline is valid? [False, False] Translation: X:-8.09, Y:-0.92, Z:4.35 [[ 9.99988568e-01 -3.58391046e-03 3.16548612e-03 -8.08901221e+00] [ 3.57934949e-03 9.99992550e-01 1.44533513e-03 -9.16145174e-01] [-3.17064249e-03 -1.43398822e-03 9.99993945e-01 4.35282266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.094839173 meters Centerline goodness [0,1] 0.7213161989281393 Centerline is valid? [False, False] Translation: X:-8.09, Y:-0.91, Z:4.35 [[ 9.99984515e-01 -4.38227659e-03 3.43018908e-03 -8.08642926e+00] [ 4.38038356e-03 9.99990250e-01 5.59192091e-04 -9.12461475e-01] [-3.43260616e-03 -5.44157888e-04 9.99993961e-01 4.34907244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.124839173 meters Centerline goodness [0,1] 0.7112314628406159 Centerline is valid? [False, False] Translation: X:-8.08, Y:-0.91, Z:4.35 [[ 9.99995594e-01 6.68924183e-04 2.89197806e-03 -8.08085364e+00] [-6.87193300e-04 9.99979787e-01 6.32079809e-03 -9.05574299e-01] [-2.88769148e-03 -6.32275759e-03 9.99975842e-01 4.34532755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.154839173 meters Centerline goodness [0,1] 0.7035057958722081 Centerline is valid? [False, False] Translation: X:-8.08, Y:-0.90, Z:4.35 [[ 9.99995902e-01 1.08352651e-03 2.64994850e-03 -8.08095584e+00] [-1.09836335e-03 9.99983695e-01 5.60388527e-03 -9.02654366e-01] [-2.64383333e-03 -5.60677291e-03 9.99980787e-01 4.34522643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.184839173 meters Centerline goodness [0,1] 0.6854604476336921 Centerline is valid? [False, False] Translation: X:-8.08, Y:-0.91, Z:4.34 [[ 9.99998023e-01 -1.57216932e-03 1.21740848e-03 -8.07960559e+00] [ 1.57092590e-03 9.99998244e-01 1.02164831e-03 -9.05042973e-01] [-1.21901254e-03 -1.01973383e-03 9.99998737e-01 4.34473285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.214839173 meters Centerline goodness [0,1] 0.67925769186778 Centerline is valid? [False, False] Translation: X:-8.08, Y:-0.91, Z:4.34 [[ 9.99997415e-01 -2.26607436e-03 1.86785143e-04 -8.07644594e+00] [ 2.26590202e-03 9.99997012e-01 9.17810717e-04 -9.08483967e-01] [-1.88864412e-04 -9.17385108e-04 9.99999561e-01 4.34376710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.244839173 meters Centerline goodness [0,1] 0.6812721656561034 Centerline is valid? [False, False] Translation: X:-8.07, Y:-0.91, Z:4.34 [[ 9.99996163e-01 -2.76534867e-03 -1.63841086e-04 -8.07438790e+00] [ 2.76552499e-03 9.99995586e-01 1.08589330e-03 -9.09978008e-01] [ 1.60837489e-04 -1.08634224e-03 9.99999397e-01 4.34261981e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.274839173 meters Centerline goodness [0,1] 0.6963649322879544 Centerline is valid? [False, False] Translation: X:-8.07, Y:-0.91, Z:4.34 [[ 9.99996943e-01 -2.44092015e-03 -3.95510611e-04 -8.06735209e+00] [ 2.44227428e-03 9.99991031e-01 3.46021716e-03 -9.06061143e-01] [ 3.87060949e-04 -3.46117253e-03 9.99993935e-01 4.33754543e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.304839173 meters Centerline goodness [0,1] 0.7098593153727858 Centerline is valid? [False, False] Translation: X:-8.07, Y:-0.91, Z:4.34 [[ 9.99993754e-01 -3.50818391e-03 -4.28943619e-04 -8.06549051e+00] [ 3.50980957e-03 9.99986430e-01 3.84981021e-03 -9.06949771e-01] [ 4.15431956e-04 -3.85129167e-03 9.99992497e-01 4.33727513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.334839173 meters Centerline goodness [0,1] 0.7129315988727905 Centerline is valid? [False, False] Translation: X:-8.07, Y:-0.91, Z:4.34 [[ 9.99994409e-01 -3.27557999e-03 -6.73129667e-04 -8.06613234e+00] [ 3.27900488e-03 9.99981355e-01 5.15150850e-03 -9.10139197e-01] [ 6.56242938e-04 -5.15368689e-03 9.99986504e-01 4.34004250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.36483917300001 meters Centerline goodness [0,1] 0.7125475723676623 Centerline is valid? [False, False] Translation: X:-8.07, Y:-0.92, Z:4.34 [[ 9.99986838e-01 -5.05183705e-03 -8.95683448e-04 -8.07016752e+00] [ 5.05446370e-03 9.99982860e-01 2.95496185e-03 -9.16692749e-01] [ 8.80740110e-04 -2.95945016e-03 9.99995233e-01 4.34496117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.394839173 meters Centerline goodness [0,1] 0.7029420248053072 Centerline is valid? [False, False] Translation: X:-8.07, Y:-0.92, Z:4.35 [[ 9.99986239e-01 -4.92027403e-03 -1.81991712e-03 -8.06878828e+00] [ 4.92639886e-03 9.99982165e-01 3.37641694e-03 -9.19649347e-01] [ 1.80327177e-03 -3.38533612e-03 9.99992644e-01 4.34580244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.424839173 meters Centerline goodness [0,1] 0.6862892066420665 Centerline is valid? [False, False] Translation: X:-8.07, Y:-0.92, Z:4.34 [[ 9.99992213e-01 -3.74685031e-03 -1.23874699e-03 -8.06883024e+00] [ 3.74992060e-03 9.99989880e-01 2.48558904e-03 -9.17674395e-01] [ 1.22942133e-03 -2.49021488e-03 9.99996144e-01 4.34203427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.454839173 meters Centerline goodness [0,1] 0.7260889605899977 Centerline is valid? [False, False] Translation: X:-8.07, Y:-0.92, Z:4.34 [[ 9.99989287e-01 -4.48346299e-03 -1.15090867e-03 -8.06724198e+00] [ 4.48546544e-03 9.99988421e-01 1.74324792e-03 -9.15174197e-01] [ 1.14307956e-03 -1.74839160e-03 9.99997818e-01 4.33994970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.484839173 meters Centerline goodness [0,1] 0.7273715528092459 Centerline is valid? [False, False] Translation: X:-8.06, Y:-0.91, Z:4.34 [[ 9.99994740e-01 -2.87936121e-03 -1.49291060e-03 -8.06257711e+00] [ 2.88519415e-03 9.99988155e-01 3.91977619e-03 -9.08959076e-01] [ 1.48160646e-03 -3.92406291e-03 9.99991203e-01 4.33634280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.514839173 meters Centerline goodness [0,1] 0.7375268663132254 Centerline is valid? [False, False] Translation: X:-8.06, Y:-0.91, Z:4.34 [[ 9.99993204e-01 -3.18470817e-03 -1.85724149e-03 -8.06158212e+00] [ 3.19158934e-03 9.99988010e-01 3.71393162e-03 -9.08741485e-01] [ 1.84539144e-03 -3.71983393e-03 9.99991379e-01 4.33616283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.544839173 meters Centerline goodness [0,1] 0.7039704950152712 Centerline is valid? [False, False] Translation: X:-8.05, Y:-0.91, Z:4.34 [[ 9.99976176e-01 -6.55799079e-03 2.15408932e-03 -8.04849510e+00] [ 6.57320218e-03 9.99952962e-01 -7.13214207e-03 -9.13910326e-01] [-2.10721547e-03 7.14613142e-03 9.99972246e-01 4.33894753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.574839173 meters Centerline goodness [0,1] 0.7434547358622294 Centerline is valid? [False, False] Translation: X:-8.05, Y:-0.92, Z:4.34 [[ 9.99979759e-01 -6.20588027e-03 1.40295936e-03 -8.04866196e+00] [ 6.21180372e-03 9.99971641e-01 -4.25793358e-03 -9.22435163e-01] [-1.37649534e-03 4.26656230e-03 9.99989951e-01 4.34369219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.604839173 meters Centerline goodness [0,1] 0.7384225549018466 Centerline is valid? [False, False] Translation: X:-8.05, Y:-0.93, Z:4.34 [[ 9.99978559e-01 -6.35966747e-03 1.56105313e-03 -8.04689088e+00] [ 6.36480429e-03 9.99974273e-01 -3.30799682e-03 -9.25763601e-01] [-1.53997521e-03 3.31786169e-03 9.99993310e-01 4.34229990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.634839173 meters Centerline goodness [0,1] 0.7066127634998556 Centerline is valid? [False, False] Translation: X:-8.04, Y:-0.92, Z:4.34 [[ 9.99990986e-01 -3.92750782e-03 1.61332858e-03 -8.04264119e+00] [ 3.92869631e-03 9.99992013e-01 -7.34161801e-04 -9.20947158e-01] [-1.61043227e-03 7.40493461e-04 9.99998429e-01 4.33737354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.664839173 meters Centerline goodness [0,1] 0.7345591165253031 Centerline is valid? [False, False] Translation: X:-8.03, Y:-0.91, Z:4.33 [[ 9.99998815e-01 1.47992156e-03 4.23338401e-04 -8.03032187e+00] [-1.48254760e-03 9.99979234e-01 6.27162152e-03 -9.11146056e-01] [-4.14048102e-04 -6.27224171e-03 9.99980244e-01 4.32903341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.694839173 meters Centerline goodness [0,1] 0.725328947368421 Centerline is valid? [False, False] Translation: X:-8.03, Y:-0.90, Z:4.33 [[ 9.99998379e-01 1.79595421e-03 1.26068696e-04 -8.02900639e+00] [-1.79643847e-03 9.99990576e-01 3.95237259e-03 -9.04296576e-01] [-1.18969227e-04 -3.95259266e-03 9.99992181e-01 4.32535417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.724839173 meters Centerline goodness [0,1] 0.6999289873597501 Centerline is valid? [False, False] Translation: X:-8.03, Y:-0.91, Z:4.33 [[ 9.99998262e-01 1.71167408e-03 -7.39102106e-04 -8.03321378e+00] [-1.71139789e-03 9.99998466e-01 3.74154161e-04 -9.06563307e-01] [ 7.39741402e-04 -3.72888613e-04 9.99999657e-01 4.32914896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75483917300001 meters Centerline goodness [0,1] 0.6876499485890553 Centerline is valid? [False, False] Translation: X:-8.04, Y:-0.91, Z:4.33 [[ 9.99999161e-01 1.02336708e-03 -7.94276421e-04 -8.03782847e+00] [-1.02462511e-03 9.99998219e-01 -1.58508263e-03 -9.11331388e-01] [ 7.92652885e-04 1.58589513e-03 9.99998428e-01 4.33342804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.784839173 meters Centerline goodness [0,1] 0.6880334536289168 Centerline is valid? [False, False] Translation: X:-8.04, Y:-0.92, Z:4.34 [[ 9.99998981e-01 9.49862757e-04 -1.06606256e-03 -8.03749441e+00] [-9.50553331e-04 9.99999339e-01 -6.47460641e-04 -9.15967141e-01] [ 1.06544685e-03 6.48473330e-04 9.99999222e-01 4.33502259e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.814839173 meters Centerline goodness [0,1] 0.6948549300988013 Centerline is valid? [False, False] Translation: X:-8.03, Y:-0.91, Z:4.33 [[ 9.99995736e-01 2.51378518e-03 -1.48648560e-03 -8.03255820e+00] [-2.51030393e-03 9.99994113e-01 2.33918363e-03 -9.13161186e-01] [ 1.49235706e-03 -2.33544213e-03 9.99996159e-01 4.33198747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.844839173 meters Centerline goodness [0,1] 0.7184276159165628 Centerline is valid? [False, False] Translation: X:-8.02, Y:-0.91, Z:4.33 [[ 9.99988346e-01 -4.62292465e-03 -1.39183714e-03 -8.01601798e+00] [ 4.65351931e-03 9.99728180e-01 2.28453665e-02 -9.09150256e-01] [ 1.28584640e-03 -2.28515772e-02 9.99738042e-01 4.32832418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.874839173 meters Centerline goodness [0,1] 0.7339571813412732 Centerline is valid? [False, False] Translation: X:-8.00, Y:-0.91, Z:4.32 [[ 9.99944674e-01 -9.97504448e-03 -3.33887052e-03 -8.00441646e+00] [ 1.00406917e-02 9.99744348e-01 2.02589060e-02 -9.05999577e-01] [ 3.13593344e-03 -2.02913097e-02 9.99789192e-01 4.32315841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.904839173 meters Centerline goodness [0,1] 0.7464852865843247 Centerline is valid? [False, False] Translation: X:-8.00, Y:-0.91, Z:4.33 [[ 0.9998835 -0.01068952 -0.01089603 -7.99581077] [ 0.0107923 0.99989741 0.00941785 -0.91018681] [ 0.01079424 -0.00953434 0.99989628 4.32922559] [ 0. 0. 0. 1. ]] SLAMing on 80.934839173 meters Centerline goodness [0,1] 0.7998087898716575 Centerline is valid? [False, False] Translation: X:-7.99, Y:-0.92, Z:4.34 [[ 9.99793913e-01 -1.98319692e-02 -4.33882866e-03 -7.99189522e+00] [ 1.97954014e-02 9.99769478e-01 -8.31461775e-03 -9.19868896e-01] [ 4.50272371e-03 8.22701536e-03 9.99956020e-01 4.33712274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.964839173 meters Centerline goodness [0,1] 0.7998087898716575 Centerline is valid? [False, False] Translation: X:-7.99, Y:-0.92, Z:4.34 [[ 9.99793913e-01 -1.98319692e-02 -4.33882866e-03 -7.99189522e+00] [ 1.97954014e-02 9.99769478e-01 -8.31461775e-03 -9.19868896e-01] [ 4.50272371e-03 8.22701536e-03 9.99956020e-01 4.33712274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.994839173 meters Centerline goodness [0,1] 0.7926445751557859 Centerline is valid? [False, False] Translation: X:-7.99, Y:-0.93, Z:4.35 [[ 9.99809318e-01 -1.90824573e-02 -4.14585136e-03 -7.99437697e+00] [ 1.90715363e-02 9.99814589e-01 -2.65797893e-03 -9.29998615e-01] [ 4.19580344e-03 2.57840434e-03 9.99987873e-01 4.34688549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.024839173 meters Centerline goodness [0,1] 0.8380071339500623 Centerline is valid? [False, False] Translation: X:-7.99, Y:-0.93, Z:4.35 [[ 9.99812912e-01 -1.89672286e-02 -3.79279890e-03 -7.99481305e+00] [ 1.89629156e-02 9.99819503e-01 -1.16991089e-03 -9.31526931e-01] [ 3.81430428e-03 1.09776949e-03 9.99992123e-01 4.34854814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.054839173 meters Centerline goodness [0,1] 0.8123863669158178 Centerline is valid? [False, False] Translation: X:-7.99, Y:-0.93, Z:4.34 [[ 9.99843439e-01 -1.70473717e-02 -4.74171448e-03 -7.98858536e+00] [ 1.70546415e-02 9.99853438e-01 1.49697300e-03 -9.29115377e-01] [ 4.71550007e-03 -1.57760688e-03 9.99987638e-01 4.34417812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.084839173 meters Centerline goodness [0,1] 0.8105606182950744 Centerline is valid? [False, False] Translation: X:-7.96, Y:-0.93, Z:4.34 [[ 0.99976262 -0.01291372 -0.01754799 -7.96167556] [ 0.01312179 0.99984434 0.0117943 -0.92802662] [ 0.01739295 -0.01202177 0.99977646 4.33639611] [ 0. 0. 0. 1. ]] SLAMing on 81.11483917300001 meters Centerline goodness [0,1] 0.7565279770444764 Centerline is valid? [False, False] Translation: X:-7.96, Y:-0.93, Z:4.33 [[ 0.99976504 -0.01039614 -0.01902042 -7.95580422] [ 0.010679 0.99983298 0.01483115 -0.9284926 ] [ 0.01886306 -0.01503079 0.99970909 4.33368061] [ 0. 0. 0. 1. ]] SLAMing on 81.144839173 meters Centerline goodness [0,1] 0.728838994545612 Centerline is valid? [False, False] Translation: X:-7.95, Y:-0.93, Z:4.33 [[ 9.99841744e-01 -3.79983783e-03 -1.73795550e-02 -7.95349067e+00] [ 3.81207154e-03 9.99992509e-01 6.70839212e-04 -9.25876265e-01] [ 1.73768757e-02 -7.36985154e-04 9.99848739e-01 4.32895941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.174839173 meters Centerline goodness [0,1] 0.7174593967517402 Centerline is valid? [False, False] Translation: X:-7.96, Y:-0.93, Z:4.33 [[ 9.99846222e-01 -2.44338519e-03 -1.73655510e-02 -7.95622309e+00] [ 2.47422825e-03 9.99995399e-01 1.75484302e-03 -9.27416903e-01] [ 1.73611833e-02 -1.79753950e-03 9.99847667e-01 4.33220541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.204839173 meters Centerline goodness [0,1] 0.6946767402964416 Centerline is valid? [False, False] Translation: X:-7.96, Y:-0.92, Z:4.33 [[ 9.99846303e-01 -6.09529586e-04 -1.75214043e-02 -7.95759495e+00] [ 6.32674752e-04 9.99998935e-01 1.31545251e-03 -9.23369811e-01] [ 1.75205838e-02 -1.32633568e-03 9.99845623e-01 4.33242873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.234839173 meters Centerline goodness [0,1] 0.710735243355195 Centerline is valid? [False, False] Translation: X:-7.96, Y:-0.92, Z:4.33 [[ 9.99843509e-01 -6.14889216e-04 -1.76799332e-02 -7.95582231e+00] [ 6.17386694e-04 9.99999800e-01 1.35802829e-04 -9.19286982e-01] [ 1.76798461e-02 -1.46696932e-04 9.99843689e-01 4.32961471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.264839173 meters Centerline goodness [0,1] 0.6890530751248232 Centerline is valid? [False, False] Translation: X:-7.95, Y:-0.92, Z:4.33 [[ 9.99834837e-01 -1.17556801e-03 -1.81360641e-02 -7.95450524e+00] [ 1.18845296e-03 9.99999049e-01 6.99698565e-04 -9.20984435e-01] [ 1.81352243e-02 -7.21136860e-04 9.99835283e-01 4.33066754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.294839173 meters Centerline goodness [0,1] 0.7306355003652301 Centerline is valid? [False, False] Translation: X:-7.95, Y:-0.93, Z:4.33 [[ 9.99936721e-01 -9.60719620e-03 -5.85277897e-03 -7.95074799e+00] [ 9.60268843e-03 9.99953575e-01 -7.97809433e-04 -9.29343382e-01] [ 5.86017196e-03 7.41556536e-04 9.99982554e-01 4.33271754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.324839173 meters Centerline goodness [0,1] 0.7594037702761947 Centerline is valid? [False, False] Translation: X:-7.95, Y:-0.93, Z:4.34 [[ 9.99930476e-01 -1.03699568e-02 -5.61317900e-03 -7.95010123e+00] [ 1.03780352e-02 9.99945150e-01 1.41198046e-03 -9.34646631e-01] [ 5.59822894e-03 -1.47013606e-03 9.99983249e-01 4.33525772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.354839173 meters Centerline goodness [0,1] 0.8128622445992624 Centerline is valid? [False, False] Translation: X:-7.95, Y:-0.94, Z:4.33 [[ 9.99906386e-01 -1.27775635e-02 -4.89422354e-03 -7.94543702e+00] [ 1.27840457e-02 9.99917442e-01 1.29545990e-03 -9.35257624e-01] [ 4.87726666e-03 -1.35790660e-03 9.99987184e-01 4.33097959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.384839173 meters Centerline goodness [0,1] 0.8224392539859975 Centerline is valid? [False, False] Translation: X:-7.94, Y:-0.94, Z:4.33 [[ 9.99895190e-01 -1.34711574e-02 -5.30450163e-03 -7.94252763e+00] [ 1.34781422e-02 9.99908342e-01 1.28321870e-03 -9.36944630e-01] [ 5.28672900e-03 -1.35457904e-03 9.99985108e-01 4.32907301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.414839173 meters Centerline goodness [0,1] 0.8430836034857092 Centerline is valid? [False, False] Translation: X:-7.93, Y:-0.95, Z:4.34 [[ 9.99847858e-01 -1.15244337e-02 -1.30938422e-02 -7.93378089e+00] [ 1.14520486e-02 9.99918799e-01 -5.58977397e-03 -9.48255681e-01] [ 1.31571980e-02 5.43897222e-03 9.99898648e-01 4.33644391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.444839173 meters Centerline goodness [0,1] 0.8531898309149778 Centerline is valid? [False, False] Translation: X:-7.93, Y:-0.96, Z:4.34 [[ 9.99844015e-01 -1.08587625e-02 -1.39296010e-02 -7.93487408e+00] [ 1.08176011e-02 9.99936907e-01 -3.02691467e-03 -9.56733604e-01] [ 1.39615907e-02 2.87575765e-03 9.99898397e-01 4.34190383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.474839173 meters Centerline goodness [0,1] 0.846281490420878 Centerline is valid? [False, False] Translation: X:-7.93, Y:-0.96, Z:4.34 [[ 9.99837281e-01 -1.06477618e-02 -1.45614707e-02 -7.93415620e+00] [ 1.06269778e-02 9.99942401e-01 -1.50396147e-03 -9.61731625e-01] [ 1.45766458e-02 1.34897232e-03 9.99892845e-01 4.34388668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.50483917300001 meters Centerline goodness [0,1] 0.8818510702441966 Centerline is valid? [False, False] Translation: X:-7.92, Y:-0.96, Z:4.34 [[ 9.99785662e-01 -1.31895446e-02 -1.59582307e-02 -7.92076154e+00] [ 1.31897168e-02 9.99913007e-01 -9.44655710e-05 -9.59429151e-01] [ 1.59580884e-02 -1.16039220e-04 9.99872655e-01 4.33719969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.534839173 meters Centerline goodness [0,1] 0.8762426637920709 Centerline is valid? [False, False] Translation: X:-7.89, Y:-0.96, Z:4.33 [[ 0.99953013 -0.01483258 -0.02682364 -7.88773369] [ 0.01511795 0.99983092 0.01046776 -0.9580898 ] [ 0.02666384 -0.01086836 0.99958537 4.33138324] [ 0. 0. 0. 1. ]] SLAMing on 81.564839173 meters Centerline goodness [0,1] 0.8747077513338529 Centerline is valid? [False, False] Translation: X:-7.88, Y:-0.96, Z:4.33 [[ 0.99948309 -0.0162108 -0.02776263 -7.8826725 ] [ 0.01646508 0.99982434 0.00895498 -0.95774246] [ 0.02761258 -0.00940746 0.99957443 4.32738619] [ 0. 0. 0. 1. ]] SLAMing on 81.594839173 meters Centerline goodness [0,1] 0.8753088651841138 Centerline is valid? [False, False] Translation: X:-7.88, Y:-0.96, Z:4.33 [[ 9.99405979e-01 -1.97573199e-02 -2.82371732e-02 -7.88174172e+00] [ 1.98954072e-02 9.99791403e-01 4.61768285e-03 -9.58294081e-01] [ 2.81400500e-02 -5.17672991e-03 9.99590586e-01 4.32647214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.624839173 meters Centerline goodness [0,1] 0.8789912917271407 Centerline is valid? [False, False] Translation: X:-7.88, Y:-0.96, Z:4.33 [[ 9.99582077e-01 -1.77941039e-02 -2.27824891e-02 -7.87555354e+00] [ 1.76433141e-02 9.99821203e-01 -6.80267508e-03 -9.58801169e-01] [ 2.28994632e-02 6.39787347e-03 9.99717301e-01 4.32635337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.654839173 meters Centerline goodness [0,1] 0.8375097650381588 Centerline is valid? [False, False] Translation: X:-7.87, Y:-0.96, Z:4.33 [[ 0.99978956 -0.01169803 -0.01685212 -7.86869769] [ 0.01150708 0.99986899 -0.01138373 -0.95691157] [ 0.01698308 0.01118741 0.99979319 4.32949193] [ 0. 0. 0. 1. ]] SLAMing on 81.684839173 meters Centerline goodness [0,1] 0.8272735434060507 Centerline is valid? [False, False] Translation: X:-7.87, Y:-0.96, Z:4.33 [[ 9.99823402e-01 -7.19767140e-03 -1.73596801e-02 -7.86971233e+00] [ 7.10312274e-03 9.99959636e-01 -5.50197570e-03 -9.58417970e-01] [ 1.73985808e-02 5.37769613e-03 9.99834171e-01 4.33408649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.714839173 meters Centerline goodness [0,1] 0.8041011700744592 Centerline is valid? [False, False] Translation: X:-7.87, Y:-0.95, Z:4.33 [[ 9.99835916e-01 -6.78066921e-04 -1.81019666e-02 -7.86641650e+00] [ 7.02403671e-04 9.99998858e-01 1.33810166e-03 -9.51833602e-01] [ 1.81010386e-02 -1.35059699e-03 9.99835251e-01 4.33346225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.744839173 meters Centerline goodness [0,1] 0.7864780150569763 Centerline is valid? [False, False] Translation: X:-7.86, Y:-0.95, Z:4.33 [[ 9.99829379e-01 1.94486525e-03 -1.83692802e-02 -7.86262834e+00] [-1.88747360e-03 9.99993285e-01 3.14114837e-03 -9.45899399e-01] [ 1.83752659e-02 -3.10594089e-03 9.99826336e-01 4.32908429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.774839173 meters Centerline goodness [0,1] 0.7659672584735993 Centerline is valid? [False, False] Translation: X:-7.86, Y:-0.94, Z:4.33 [[ 0.99979359 0.00822139 -0.01857919 -7.85934749] [-0.00805453 0.99992672 0.00903774 -0.93747305] [ 0.01865213 -0.00888623 0.99978654 4.32678731] [ 0. 0. 0. 1. ]] SLAMing on 81.804839173 meters Centerline goodness [0,1] 0.7583738247893965 Centerline is valid? [False, False] Translation: X:-7.85, Y:-0.93, Z:4.33 [[ 9.99864190e-01 1.19427439e-02 -1.13565930e-02 -7.85122368e+00] [-1.19096365e-02 9.99924642e-01 2.97843560e-03 -9.34111986e-01] [ 1.13913079e-02 -2.84277820e-03 9.99931076e-01 4.32648244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.834839173 meters Centerline goodness [0,1] 0.7647976878612717 Centerline is valid? [False, False] Translation: X:-7.85, Y:-0.94, Z:4.34 [[ 9.99913567e-01 1.27831087e-02 -3.07425207e-03 -7.85445542e+00] [-1.27989811e-02 9.99904569e-01 -5.19998010e-03 -9.37341621e-01] [ 3.00748678e-03 5.23887794e-03 9.99981754e-01 4.33906113e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.86483917300001 meters Centerline goodness [0,1] 0.7705661694146384 Centerline is valid? [False, False] Translation: X:-7.86, Y:-0.94, Z:4.34 [[ 9.99940365e-01 1.03834972e-02 -3.38381721e-03 -7.85696295e+00] [-1.04084092e-02 9.99918230e-01 -7.42957196e-03 -9.40121873e-01] [ 3.30639557e-03 7.46434905e-03 9.99966675e-01 4.34300129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.894839173 meters Centerline goodness [0,1] 0.769241927529084 Centerline is valid? [False, False] Translation: X:-7.85, Y:-0.94, Z:4.33 [[ 9.99927599e-01 1.07595034e-02 -5.38787296e-03 -7.84687669e+00] [-1.07993825e-02 9.99914095e-01 -7.42806692e-03 -9.38427977e-01] [ 5.30748780e-03 7.48571482e-03 9.99957896e-01 4.33466197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.924839173 meters Centerline goodness [0,1] 0.7709906068115023 Centerline is valid? [False, False] Translation: X:-7.83, Y:-0.93, Z:4.33 [[ 9.99907612e-01 1.18993190e-02 -6.57067703e-03 -7.83410048e+00] [-1.19247626e-02 9.99921498e-01 -3.84678969e-03 -9.34101339e-01] [ 6.52438704e-03 3.92478805e-03 9.99971014e-01 4.32661728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.954839173 meters Centerline goodness [0,1] 0.7559158507692747 Centerline is valid? [False, False] Translation: X:-7.81, Y:-0.93, Z:4.32 [[ 9.99871698e-01 1.32521038e-02 -8.99831116e-03 -7.81311196e+00] [-1.32351947e-02 9.99910537e-01 1.93610394e-03 -9.26890808e-01] [ 9.02316359e-03 -1.81676113e-03 9.99957640e-01 4.31584581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.984839173 meters Centerline goodness [0,1] 0.7527204181304087 Centerline is valid? [False, False] Translation: X:-7.81, Y:-0.93, Z:4.31 [[ 9.99869351e-01 1.28115431e-02 -9.85626400e-03 -7.81040780e+00] [-1.28035902e-02 9.99917653e-01 8.69562035e-04 -9.25728041e-01] [ 9.86659279e-03 -7.43252862e-04 9.99951048e-01 4.31406448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.014839173 meters Centerline goodness [0,1] 0.7033347645627595 Centerline is valid? [False, False] Translation: X:-7.81, Y:-0.92, Z:4.32 [[ 9.99837250e-01 1.43094675e-02 -1.09869469e-02 -7.81099881e+00] [-1.43077503e-02 9.99897611e-01 2.34888014e-04 -9.23983813e-01] [ 1.09891831e-02 -7.76512934e-05 9.99939614e-01 4.31558588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.044839173 meters Centerline goodness [0,1] 0.6909365731234314 Centerline is valid? [False, False] Translation: X:-7.81, Y:-0.92, Z:4.32 [[ 9.99800968e-01 1.62265291e-02 -1.16070653e-02 -7.81265665e+00] [-1.62329531e-02 9.99868131e-01 -4.59452963e-04 -9.18435535e-01] [ 1.15980794e-02 6.47778464e-04 9.99932530e-01 4.31717277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.074839173 meters Centerline goodness [0,1] 0.6772293489649703 Centerline is valid? [False, False] Translation: X:-7.81, Y:-0.92, Z:4.32 [[ 9.99791085e-01 1.66775951e-02 -1.18171393e-02 -7.81238799e+00] [-1.66855141e-02 9.99860624e-01 -5.71852745e-04 -9.15596198e-01] [ 1.18059551e-02 7.68908321e-04 9.99930012e-01 4.31707676e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.104839173 meters Centerline goodness [0,1] 0.6833342771391359 Centerline is valid? [False, False] Translation: X:-7.81, Y:-0.91, Z:4.32 [[ 9.99797162e-01 1.64101371e-02 -1.16765763e-02 -7.81126147e+00] [-1.64239411e-02 9.99864527e-01 -1.08727477e-03 -9.11796120e-01] [ 1.16571522e-02 1.27882963e-03 9.99931235e-01 4.31540118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.134839173 meters Centerline goodness [0,1] 0.6869876619198165 Centerline is valid? [False, False] Translation: X:-7.81, Y:-0.90, Z:4.31 [[ 9.99869132e-01 1.56549620e-02 -4.07936472e-03 -7.81321087e+00] [-1.56228190e-02 9.99847566e-01 7.79561604e-03 -9.02460357e-01] [ 4.20078296e-03 -7.73086466e-03 9.99961293e-01 4.30520624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.164839173 meters Centerline goodness [0,1] 0.6938758482589832 Centerline is valid? [False, False] Translation: X:-7.81, Y:-0.90, Z:4.30 [[ 9.99881426e-01 1.47636193e-02 -4.37830834e-03 -7.81054199e+00] [-1.47369685e-02 9.99873053e-01 6.05804833e-03 -8.96986707e-01] [ 4.46719124e-03 -5.99280701e-03 9.99972065e-01 4.30208077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.194839173 meters Centerline goodness [0,1] 0.6988399720475192 Centerline is valid? [False, False] Translation: X:-7.82, Y:-0.90, Z:4.31 [[ 9.99896824e-01 1.41090110e-02 -2.69755465e-03 -7.81834977e+00] [-1.40986808e-02 9.99893347e-01 3.81087580e-03 -8.99053193e-01] [ 2.75103464e-03 -3.77245065e-03 9.99989100e-01 4.30686217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.224839173 meters Centerline goodness [0,1] 0.7014484601321895 Centerline is valid? [False, False] Translation: X:-7.82, Y:-0.90, Z:4.31 [[ 9.99922963e-01 1.22203058e-02 -2.17534535e-03 -7.82317289e+00] [-1.22158037e-02 9.99923240e-01 2.07101077e-03 -9.04449700e-01] [ 2.20048675e-03 -2.04427764e-03 9.99995489e-01 4.31205591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.25483917300001 meters Centerline goodness [0,1] 0.7024725352712409 Centerline is valid? [False, False] Translation: X:-7.83, Y:-0.91, Z:4.32 [[ 9.99951389e-01 9.67589989e-03 -1.89647817e-03 -7.82655355e+00] [-9.67645237e-03 9.99953142e-01 -2.82360743e-04 -9.08750685e-01] [ 1.89365721e-03 3.00698198e-04 9.99998162e-01 4.31577312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.284839173 meters Centerline goodness [0,1] 0.7077041208088046 Centerline is valid? [False, False] Translation: X:-7.83, Y:-0.91, Z:4.32 [[ 9.99979046e-01 6.02376530e-03 -2.37097612e-03 -7.82560846e+00] [-6.03266123e-03 9.99974723e-01 -3.76291462e-03 -9.10948984e-01] [ 2.34824927e-03 3.77713906e-03 9.99990109e-01 4.31581558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.314839173 meters Centerline goodness [0,1] 0.7059849091116954 Centerline is valid? [False, False] Translation: X:-7.82, Y:-0.91, Z:4.31 [[ 9.99988209e-01 3.72112741e-03 -3.12022553e-03 -7.81881767e+00] [-3.73625115e-03 9.99981233e-01 -4.85526402e-03 -9.14704778e-01] [ 3.10209992e-03 4.86686471e-03 9.99983345e-01 4.31011817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.344839173 meters Centerline goodness [0,1] 0.7051414176113593 Centerline is valid? [False, False] Translation: X:-7.81, Y:-0.92, Z:4.31 [[ 9.99988488e-01 3.04148546e-03 -3.71131637e-03 -7.81283432e+00] [-3.05633975e-03 9.99987316e-01 -4.00334417e-03 -9.17730520e-01] [ 3.69909318e-03 4.01464112e-03 9.99985100e-01 4.30585179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.374839173 meters Centerline goodness [0,1] 0.7476912354068653 Centerline is valid? [False, False] Translation: X:-7.79, Y:-0.92, Z:4.30 [[ 9.99955873e-01 -5.59719022e-03 -7.54471293e-03 -7.79486776e+00] [ 5.56201434e-03 9.99973603e-01 -4.67526874e-03 -9.23539643e-01] [ 7.57068214e-03 4.63309864e-03 9.99960609e-01 4.30127124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.404839173 meters Centerline goodness [0,1] 0.7828970433563165 Centerline is valid? [False, False] Translation: X:-7.79, Y:-0.93, Z:4.30 [[ 9.99909653e-01 -1.05805551e-02 -8.29083513e-03 -7.79093193e+00] [ 1.05155305e-02 9.99913915e-01 -7.84767419e-03 -9.28553291e-01] [ 8.37315416e-03 7.75978264e-03 9.99934836e-01 4.29984708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.434839173 meters Centerline goodness [0,1] 0.8583076969027209 Centerline is valid? [False, False] Translation: X:-7.79, Y:-0.94, Z:4.31 [[ 9.99755843e-01 -2.07893340e-02 -7.48723034e-03 -7.79376137e+00] [ 2.06794463e-02 9.99681488e-01 -1.44666364e-02 -9.42412186e-01] [ 7.78559730e-03 1.43082725e-02 9.99867320e-01 4.30545145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.464839173 meters Centerline goodness [0,1] 0.8840632382336907 Centerline is valid? [False, False] Translation: X:-7.79, Y:-0.95, Z:4.32 [[ 9.99669268e-01 -2.45488982e-02 -7.66194136e-03 -7.79423859e+00] [ 2.44616181e-02 9.99637079e-01 -1.12844820e-02 -9.54980870e-01] [ 7.93618228e-03 1.10933264e-02 9.99906973e-01 4.31647518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.494839173 meters Centerline goodness [0,1] 0.8893915472431382 Centerline is valid? [False, False] Translation: X:-7.79, Y:-0.96, Z:4.32 [[ 0.9996558 -0.02497772 -0.0080242 -7.79260367] [ 0.02489274 0.99963476 -0.01052133 -0.9565772 ] [ 0.00828406 0.01031797 0.99991245 4.31678412] [ 0. 0. 0. 1. ]] SLAMing on 82.524839173 meters Centerline goodness [0,1] 0.8895331279821224 Centerline is valid? [False, False] Translation: X:-7.79, Y:-0.96, Z:4.32 [[ 9.99692912e-01 -2.32193821e-02 -8.65693391e-03 -7.78767052e+00] [ 2.31626320e-02 9.99709930e-01 -6.59908579e-03 -9.57341359e-01] [ 8.80764949e-03 6.39654191e-03 9.99940753e-01 4.31505497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.554839173 meters Centerline goodness [0,1] 0.8864665740684824 Centerline is valid? [False, False] Translation: X:-7.78, Y:-0.96, Z:4.31 [[ 9.99752296e-01 -2.01628790e-02 -9.42364253e-03 -7.78489131e+00] [ 2.01409667e-02 9.99794235e-01 -2.41440235e-03 -9.57785174e-01] [ 9.47038478e-03 2.22400302e-03 9.99952682e-01 4.31494534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.584839173 meters Centerline goodness [0,1] 0.8887919886927496 Centerline is valid? [False, False] Translation: X:-7.78, Y:-0.96, Z:4.32 [[ 9.99809202e-01 -1.66848221e-02 -1.01575414e-02 -7.78299192e+00] [ 1.67031282e-02 9.99859014e-01 1.72005986e-03 -9.57731532e-01] [ 1.01274104e-02 -1.88939439e-03 9.99946931e-01 4.31535439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.61483917300001 meters Centerline goodness [0,1] 0.8750672967637734 Centerline is valid? [False, False] Translation: X:-7.77, Y:-0.95, Z:4.31 [[ 9.99915174e-01 -1.22304542e-02 -4.47902417e-03 -7.77423406e+00] [ 1.21993644e-02 9.99901750e-01 -6.90397482e-03 -9.52683995e-01] [ 4.56302286e-03 6.84874793e-03 9.99966136e-01 4.31246267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.644839173 meters Centerline goodness [0,1] 0.8588920232879179 Centerline is valid? [False, False] Translation: X:-7.78, Y:-0.96, Z:4.32 [[ 9.99935538e-01 -1.04127484e-02 -4.52699932e-03 -7.77794137e+00] [ 1.03934600e-02 9.99936897e-01 -4.26360060e-03 -9.55422043e-01] [ 4.57110945e-03 4.21627458e-03 9.99980664e-01 4.31851472e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.674839173 meters Centerline goodness [0,1] 0.8492726616975235 Centerline is valid? [False, False] Translation: X:-7.78, Y:-0.96, Z:4.32 [[ 9.99944103e-01 -9.32401317e-03 -4.98525065e-03 -7.77968098e+00] [ 9.31218664e-03 9.99953784e-01 -2.39027548e-03 -9.58232421e-01] [ 5.00730721e-03 2.34371829e-03 9.99984717e-01 4.32294585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.704839173 meters Centerline goodness [0,1] 0.8782408239027604 Centerline is valid? [False, False] Translation: X:-7.77, Y:-0.95, Z:4.32 [[ 9.99940584e-01 -9.39717760e-03 -5.52455254e-03 -7.77088480e+00] [ 9.39336315e-03 9.99955625e-01 -7.15997009e-04 -9.53502772e-01] [ 5.53103574e-03 6.64060339e-04 9.99984483e-01 4.31626643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.734839173 meters Centerline goodness [0,1] 0.8823512045347189 Centerline is valid? [False, False] Translation: X:-7.77, Y:-0.95, Z:4.31 [[ 9.99969141e-01 -5.55924392e-03 -5.55090681e-03 -7.76511085e+00] [ 5.59307005e-03 9.99965772e-01 6.09698856e-03 -9.47243412e-01] [ 5.51682216e-03 -6.12784702e-03 9.99966007e-01 4.31462930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.764839173 meters Centerline goodness [0,1] 0.881813625777542 Centerline is valid? [False, False] Translation: X:-7.77, Y:-0.95, Z:4.32 [[ 9.99971944e-01 -5.00095364e-03 -5.57691497e-03 -7.76635718e+00] [ 5.03492891e-03 9.99968751e-01 6.09481770e-03 -9.45153916e-01] [ 5.54626079e-03 -6.12272608e-03 9.99965875e-01 4.31602611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.794839173 meters Centerline goodness [0,1] 0.8659769435412356 Centerline is valid? [False, False] Translation: X:-7.77, Y:-0.95, Z:4.32 [[ 9.99973465e-01 -4.15904562e-03 -5.98100419e-03 -7.76755107e+00] [ 4.19758153e-03 9.99970421e-01 6.44499533e-03 -9.46081330e-01] [ 5.95402224e-03 -6.46993006e-03 9.99961344e-01 4.31817182e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.824839173 meters Centerline goodness [0,1] 0.7751937984496124 Centerline is valid? [False, False] Translation: X:-7.77, Y:-0.95, Z:4.32 [[ 9.99966921e-01 -2.45235567e-03 -7.75512952e-03 -7.76846623e+00] [ 2.49198185e-03 9.99983869e-01 5.10414456e-03 -9.48851945e-01] [ 7.74248724e-03 -5.12330136e-03 9.99956902e-01 4.31987716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.854839173 meters Centerline goodness [0,1] 0.7751937984496124 Centerline is valid? [False, False] Translation: X:-7.77, Y:-0.95, Z:4.32 [[ 9.99966921e-01 -2.45235567e-03 -7.75512952e-03 -7.76846623e+00] [ 2.49198185e-03 9.99983869e-01 5.10414456e-03 -9.48851945e-01] [ 7.74248724e-03 -5.12330136e-03 9.99956902e-01 4.31987716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.884839173 meters Centerline goodness [0,1] 0.7398025537952235 Centerline is valid? [False, False] Translation: X:-7.77, Y:-0.95, Z:4.32 [[ 9.99966099e-01 -1.46157153e-03 -8.10331254e-03 -7.76939870e+00] [ 1.50271710e-03 9.99985999e-01 5.07386195e-03 -9.49320233e-01] [ 8.09578327e-03 -5.08586693e-03 9.99954295e-01 4.32074365e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.914839173 meters Centerline goodness [0,1] 0.7225721012360211 Centerline is valid? [False, False] Translation: X:-7.77, Y:-0.95, Z:4.32 [[ 9.99969088e-01 -4.65577647e-04 -7.84898125e-03 -7.77116559e+00] [ 5.03541485e-04 9.99988182e-01 4.83550323e-03 -9.47813848e-01] [ 7.84663719e-03 -4.83930604e-03 9.99957505e-01 4.32115637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.944839173 meters Centerline goodness [0,1] 0.7253838672600277 Centerline is valid? [False, False] Translation: X:-7.77, Y:-0.95, Z:4.32 [[ 9.99966827e-01 -1.17369486e-03 -8.06020103e-03 -7.76877960e+00] [ 1.20638254e-03 9.99991064e-01 4.05177820e-03 -9.46824672e-01] [ 8.05537345e-03 -4.06136748e-03 9.99959307e-01 4.31859745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.974839173 meters Centerline goodness [0,1] 0.7708019717228962 Centerline is valid? [False, False] Translation: X:-7.75, Y:-0.94, Z:4.31 [[ 9.99938882e-01 -5.41536880e-03 -9.63873315e-03 -7.75237111e+00] [ 5.45351668e-03 9.99977384e-01 3.93589562e-03 -9.43576931e-01] [ 9.61720083e-03 -3.98822006e-03 9.99945800e-01 4.30860491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.00483917300001 meters Centerline goodness [0,1] 0.8696838153340763 Centerline is valid? [False, False] Translation: X:-7.74, Y:-0.94, Z:4.31 [[ 9.99921987e-01 -7.05507493e-03 -1.03075582e-02 -7.74345173e+00] [ 7.12323400e-03 9.99952909e-01 6.59085312e-03 -9.41494715e-01] [ 1.02605738e-02 -6.66376209e-03 9.99925155e-01 4.30573028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.034839173 meters Centerline goodness [0,1] 0.8678345355513029 Centerline is valid? [False, False] Translation: X:-7.75, Y:-0.94, Z:4.31 [[ 9.99926073e-01 -6.69074293e-03 -1.01529230e-02 -7.74519604e+00] [ 6.77763170e-03 9.99940497e-01 8.54786770e-03 -9.44402206e-01] [ 1.00951272e-02 -8.61604856e-03 9.99911922e-01 4.30964346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.064839173 meters Centerline goodness [0,1] 0.887975547510238 Centerline is valid? [False, False] Translation: X:-7.75, Y:-0.95, Z:4.31 [[ 9.99917282e-01 -8.60619190e-03 -9.55836316e-03 -7.75001102e+00] [ 8.66692636e-03 9.99942400e-01 6.33092371e-03 -9.46877251e-01] [ 9.50332746e-03 -6.41324166e-03 9.99934276e-01 4.31373253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.094839173 meters Centerline goodness [0,1] 0.8837368797709924 Centerline is valid? [False, False] Translation: X:-7.74, Y:-0.95, Z:4.31 [[ 9.99951949e-01 -9.04084562e-03 -3.78989700e-03 -7.74220904e+00] [ 9.02032580e-03 9.99944752e-01 -5.39692196e-03 -9.49503895e-01] [ 3.83848035e-03 5.36247652e-03 9.99978255e-01 4.31405590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.124839173 meters Centerline goodness [0,1] 0.8626481042654028 Centerline is valid? [False, False] Translation: X:-7.74, Y:-0.95, Z:4.32 [[ 9.99979515e-01 -5.02029754e-03 -3.97075808e-03 -7.74214087e+00] [ 5.01667631e-03 9.99986992e-01 -9.21409040e-04 -9.49571899e-01] [ 3.97533218e-03 9.01470156e-04 9.99991692e-01 4.31532452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.154839173 meters Centerline goodness [0,1] 0.8629922654543307 Centerline is valid? [False, False] Translation: X:-7.74, Y:-0.95, Z:4.31 [[ 9.99983243e-01 -4.53936655e-03 -3.59277020e-03 -7.74297972e+00] [ 4.53534056e-03 9.99989079e-01 -1.12793806e-03 -9.46994117e-01] [ 3.59785108e-03 1.11162472e-03 9.99992910e-01 4.31486882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.184839173 meters Centerline goodness [0,1] 0.8501854068731933 Centerline is valid? [False, False] Translation: X:-7.74, Y:-0.94, Z:4.31 [[ 9.99990868e-01 -1.76410768e-03 -3.89264896e-03 -7.73916810e+00] [ 1.76648766e-03 9.99998255e-01 6.08051852e-04 -9.40922481e-01] [ 3.89156950e-03 -6.14922616e-04 9.99992239e-01 4.31004292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.214839173 meters Centerline goodness [0,1] 0.8345229805013927 Centerline is valid? [False, False] Translation: X:-7.73, Y:-0.94, Z:4.31 [[ 9.99988778e-01 6.36681326e-04 -4.69457972e-03 -7.73462233e+00] [-6.23430651e-04 9.99995820e-01 2.82347103e-03 -9.37322507e-01] [ 4.69635775e-03 -2.82051260e-03 9.99984994e-01 4.30650809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.244839173 meters Centerline goodness [0,1] 0.7924250728358382 Centerline is valid? [False, False] Translation: X:-7.73, Y:-0.93, Z:4.30 [[ 9.99978383e-01 3.64387461e-03 -5.47318401e-03 -7.73172807e+00] [-3.61798504e-03 9.99982256e-01 4.73273493e-03 -9.32288659e-01] [ 5.49033239e-03 -4.71283073e-03 9.99973822e-01 4.30414111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.274839173 meters Centerline goodness [0,1] 0.8038863109048724 Centerline is valid? [False, False] Translation: X:-7.73, Y:-0.93, Z:4.30 [[ 9.99983266e-01 8.96435058e-04 -5.71518191e-03 -7.73283983e+00] [-8.93509584e-04 9.99999469e-01 5.14410487e-04 -9.30625419e-01] [ 5.71564000e-03 -5.09295310e-04 9.99983536e-01 4.30450704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.304839173 meters Centerline goodness [0,1] 0.7927771003890147 Centerline is valid? [False, False] Translation: X:-7.73, Y:-0.93, Z:4.31 [[ 9.99976919e-01 5.15842615e-04 -6.77455438e-03 -7.73074502e+00] [-5.11418726e-04 9.99999655e-01 6.54731634e-04 -9.33015275e-01] [ 6.77488978e-03 -6.51251888e-04 9.99976838e-01 4.30517855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.334839173 meters Centerline goodness [0,1] 0.7757974006338499 Centerline is valid? [False, False] Translation: X:-7.72, Y:-0.93, Z:4.30 [[ 9.99962574e-01 -1.04065769e-03 -8.58876523e-03 -7.72386605e+00] [ 1.01779538e-03 9.99995929e-01 -2.66582776e-03 -9.29749445e-01] [ 8.59150448e-03 2.65698638e-03 9.99959562e-01 4.29820465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.36483917300001 meters Centerline goodness [0,1] 0.7584777694046722 Centerline is valid? [False, False] Translation: X:-7.72, Y:-0.92, Z:4.29 [[ 9.99956339e-01 2.38688556e-03 -9.03453425e-03 -7.72041669e+00] [-2.40181831e-03 9.99995767e-01 -1.64236274e-03 -9.23506639e-01] [ 9.03057588e-03 1.66399034e-03 9.99957839e-01 4.29214762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.394839173 meters Centerline goodness [0,1] 0.7468978313811898 Centerline is valid? [False, False] Translation: X:-7.72, Y:-0.92, Z:4.29 [[ 9.99955577e-01 2.71053910e-03 -9.02753388e-03 -7.72108155e+00] [-2.72290869e-03 9.99995371e-01 -1.35819836e-03 -9.23402651e-01] [ 9.02381063e-03 1.38271918e-03 9.99958329e-01 4.29311040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.424839173 meters Centerline goodness [0,1] 0.7532898533995152 Centerline is valid? [False, False] Translation: X:-7.71, Y:-0.92, Z:4.29 [[ 9.99992873e-01 2.94650033e-03 -2.36071699e-03 -7.71128300e+00] [-2.96741825e-03 9.99955930e-01 -8.90687768e-03 -9.24619148e-01] [ 2.33436883e-03 8.91381943e-03 9.99957546e-01 4.29421613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.454839173 meters Centerline goodness [0,1] 0.7633096652659035 Centerline is valid? [False, False] Translation: X:-7.71, Y:-0.93, Z:4.30 [[ 9.99991737e-01 3.61334497e-03 -1.86286880e-03 -7.71409586e+00] [-3.62455313e-03 9.99975137e-01 -6.04875775e-03 -9.28275806e-01] [ 1.84096623e-03 6.05545984e-03 9.99979971e-01 4.29941490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.484839173 meters Centerline goodness [0,1] 0.7912841371295758 Centerline is valid? [False, False] Translation: X:-7.72, Y:-0.94, Z:4.31 [[ 9.99995565e-01 2.94792281e-03 -4.23412646e-04 -7.71564553e+00] [-2.94755294e-03 9.99995276e-01 8.71539233e-04 -9.36306336e-01] [ 4.25979877e-04 -8.70287337e-04 9.99999531e-01 4.31063888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.514839173 meters Centerline goodness [0,1] 0.8299472178810485 Centerline is valid? [False, False] Translation: X:-7.72, Y:-0.94, Z:4.32 [[ 9.99999972e-01 -1.61699823e-04 -1.71546534e-04 -7.71808045e+00] [ 1.61719650e-04 9.99999980e-01 1.15569429e-04 -9.43645978e-01] [ 1.71527843e-04 -1.15597168e-04 9.99999979e-01 4.31592952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.544839173 meters Centerline goodness [0,1] 0.8496794110662551 Centerline is valid? [False, False] Translation: X:-7.72, Y:-0.95, Z:4.32 [[ 9.99993813e-01 -3.51281125e-03 -1.86329144e-04 -7.71863566e+00] [ 3.51235007e-03 9.99990903e-01 -2.42020213e-03 -9.47377647e-01] [ 1.94829163e-04 2.41953271e-03 9.99997054e-01 4.31738468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.574839173 meters Centerline goodness [0,1] 0.8749475325298315 Centerline is valid? [False, False] Translation: X:-7.72, Y:-0.95, Z:4.32 [[ 9.99989336e-01 -4.58591361e-03 -5.46094630e-04 -7.71678230e+00] [ 4.58529828e-03 9.99988857e-01 -1.12274584e-03 -9.53468919e-01] [ 5.51237361e-04 1.12022986e-03 9.99999221e-01 4.31849088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.604839173 meters Centerline goodness [0,1] 0.8859770808202654 Centerline is valid? [False, False] Translation: X:-7.71, Y:-0.96, Z:4.31 [[ 9.99958093e-01 -9.12751257e-03 -7.07629516e-04 -7.71062323e+00] [ 9.12513140e-03 9.99952926e-01 -3.29819196e-03 -9.58712379e-01] [ 7.37700493e-04 3.29159653e-03 9.99994311e-01 4.31393537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.634839173 meters Centerline goodness [0,1] 0.8832050427298624 Centerline is valid? [False, False] Translation: X:-7.71, Y:-0.96, Z:4.31 [[ 9.99951324e-01 -9.84028882e-03 -7.19594940e-04 -7.70929383e+00] [ 9.83883004e-03 9.99949591e-01 -2.00342114e-03 -9.62911959e-01] [ 7.39272908e-04 1.99624365e-03 9.99997734e-01 4.31460726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.664839173 meters Centerline goodness [0,1] 0.8850855745721271 Centerline is valid? [False, False] Translation: X:-7.71, Y:-0.97, Z:4.32 [[ 9.99902982e-01 -1.39283194e-02 1.66713244e-04 -7.71051400e+00] [ 1.39285663e-02 9.99901737e-01 -1.58490562e-03 -9.69578599e-01] [-1.44621791e-04 1.58707393e-03 9.99998730e-01 4.32057717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.694839173 meters Centerline goodness [0,1] 0.8852771291630822 Centerline is valid? [False, False] Translation: X:-7.71, Y:-0.97, Z:4.32 [[ 9.99892492e-01 -1.46617489e-02 -1.91327712e-04 -7.70870082e+00] [ 1.46617106e-02 9.99892491e-01 -2.00124223e-04 -9.73374208e-01] [ 1.94241314e-04 1.97297516e-04 9.99999962e-01 4.32172846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.724839173 meters Centerline goodness [0,1] 0.8839880261469851 Centerline is valid? [False, False] Translation: X:-7.69, Y:-0.97, Z:4.31 [[ 9.99871082e-01 -1.54457378e-02 -4.38735773e-03 -7.68875154e+00] [ 1.54481619e-02 9.99880535e-01 5.19169137e-04 -9.65977384e-01] [ 4.37881465e-03 -5.86878819e-04 9.99990241e-01 4.30909790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.75483917300001 meters Centerline goodness [0,1] 0.8726541152448728 Centerline is valid? [False, False] Translation: X:-7.67, Y:-0.96, Z:4.30 [[ 9.99875704e-01 -1.24867064e-02 -9.62596486e-03 -7.67313895e+00] [ 1.24960121e-02 9.99921510e-01 9.07190243e-04 -9.55173100e-01] [ 9.61388150e-03 -1.02736366e-03 9.99953258e-01 4.29716359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.784839173 meters Centerline goodness [0,1] 0.8742168674698795 Centerline is valid? [False, False] Translation: X:-7.67, Y:-0.96, Z:4.30 [[ 9.99866553e-01 -1.25535912e-02 -1.04538632e-02 -7.67205920e+00] [ 1.25596744e-02 9.99920991e-01 5.16464211e-04 -9.55619133e-01] [ 1.04465538e-02 -6.47692409e-04 9.99945224e-01 4.29768650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.814839173 meters Centerline goodness [0,1] 0.8763613262342691 Centerline is valid? [False, False] Translation: X:-7.66, Y:-0.95, Z:4.30 [[ 9.99860591e-01 -1.51626833e-02 -6.99228145e-03 -7.66180755e+00] [ 1.50534872e-02 9.99767882e-01 -1.54134420e-02 -9.54072283e-01] [ 7.22436756e-03 1.53060350e-02 9.99856757e-01 4.29756718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.844839173 meters Centerline goodness [0,1] 0.871584038694075 Centerline is valid? [False, False] Translation: X:-7.66, Y:-0.96, Z:4.30 [[ 0.99990285 -0.01156897 -0.0077749 -7.66158135] [ 0.01149037 0.99988319 -0.01007898 -0.95687456] [ 0.00789059 0.00998866 0.99991898 4.30161775] [ 0. 0. 0. 1. ]] SLAMing on 83.874839173 meters Centerline goodness [0,1] 0.8701535882159217 Centerline is valid? [False, False] Translation: X:-7.66, Y:-0.96, Z:4.30 [[ 9.99934294e-01 -8.04822576e-03 -8.16289896e-03 -7.66084095e+00] [ 8.00330201e-03 9.99952731e-01 -5.52122204e-03 -9.55963679e-01] [ 8.20694915e-03 5.45552912e-03 9.99951440e-01 4.30338616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.904839173 meters Centerline goodness [0,1] 0.8714906613414777 Centerline is valid? [False, False] Translation: X:-7.66, Y:-0.94, Z:4.29 [[ 9.99981196e-01 -6.12452470e-03 3.13775778e-04 -7.66381218e+00] [ 6.12187592e-03 9.99950508e-01 7.84248669e-03 -9.41943152e-01] [-3.61791752e-04 -7.84041832e-03 9.99969198e-01 4.29343051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.934839173 meters Centerline goodness [0,1] 0.8623869071630266 Centerline is valid? [False, False] Translation: X:-7.64, Y:-0.93, Z:4.29 [[ 9.99996318e-01 -1.80740635e-03 -2.02416722e-03 -7.64432785e+00] [ 1.84543886e-03 9.99818774e-01 1.89476765e-02 -9.27404183e-01] [ 1.98955423e-03 -1.89513422e-02 9.99818428e-01 4.28723357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.964839173 meters Centerline goodness [0,1] 0.8607787002576581 Centerline is valid? [False, False] Translation: X:-7.64, Y:-0.92, Z:4.28 [[ 9.99992421e-01 -2.70560832e-03 -2.79967751e-03 -7.64141950e+00] [ 2.74932162e-03 9.99872505e-01 1.57294571e-02 -9.19882119e-01] [ 2.75676281e-03 -1.57370351e-02 9.99872365e-01 4.28317913e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.994839173 meters Centerline goodness [0,1] 0.8509615384615384 Centerline is valid? [False, False] Translation: X:-7.64, Y:-0.91, Z:4.29 [[ 9.99955924e-01 6.92706642e-03 -6.33759160e-03 -7.64014749e+00] [-6.90171193e-03 9.99968127e-01 4.01381250e-03 -9.06502943e-01] [ 6.36519355e-03 -3.96989536e-03 9.99971862e-01 4.28511788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.024839173 meters Centerline goodness [0,1] 0.8192132920743777 Centerline is valid? [False, False] Translation: X:-7.64, Y:-0.90, Z:4.29 [[ 9.99923222e-01 1.03951106e-02 -6.74472339e-03 -7.64456789e+00] [-1.03646912e-02 9.99936026e-01 4.52948644e-03 -9.00640757e-01] [ 6.79137642e-03 -4.45923170e-03 9.99966996e-01 4.28941994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.054839173 meters Centerline goodness [0,1] 0.7922031176454302 Centerline is valid? [False, False] Translation: X:-7.65, Y:-0.89, Z:4.30 [[ 9.99830260e-01 1.76415783e-02 -5.31274262e-03 -7.64984854e+00] [-1.76805834e-02 9.99816401e-01 -7.38657144e-03 -8.90301822e-01] [ 5.18145643e-03 7.47925003e-03 9.99958606e-01 4.29729593e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.084839173 meters Centerline goodness [0,1] 0.7667802432200338 Centerline is valid? [False, False] Translation: X:-7.65, Y:-0.89, Z:4.30 [[ 9.99825820e-01 1.77655452e-02 -5.71970525e-03 -7.65008041e+00] [-1.78088806e-02 9.99812396e-01 -7.61689148e-03 -8.89020480e-01] [ 5.58331398e-03 7.71742632e-03 9.99954633e-01 4.29864653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.11483917300001 meters Centerline goodness [0,1] 0.7739046034387133 Centerline is valid? [False, False] Translation: X:-7.65, Y:-0.89, Z:4.30 [[ 9.99835168e-01 1.69165726e-02 -6.59283820e-03 -7.64688734e+00] [-1.69705417e-02 9.99822218e-01 -8.21789407e-03 -8.89129492e-01] [ 6.45264751e-03 8.32842354e-03 9.99944499e-01 4.29703714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.144839173 meters Centerline goodness [0,1] 0.7924496923332779 Centerline is valid? [False, False] Translation: X:-7.63, Y:-0.89, Z:4.29 [[ 9.99911038e-01 9.81284652e-03 -9.03462948e-03 -7.63444199e+00] [-9.76434537e-03 9.99937764e-01 5.39691138e-03 -8.90622508e-01] [ 9.08702626e-03 -5.30821402e-03 9.99944623e-01 4.28959642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.174839173 meters Centerline goodness [0,1] 0.8634038434950919 Centerline is valid? [False, False] Translation: X:-7.62, Y:-0.89, Z:4.29 [[ 9.99973866e-01 5.26524537e-04 -7.21043202e-03 -7.62409548e+00] [-3.58907609e-04 9.99730128e-01 2.32280415e-02 -8.92085918e-01] [ 7.22071626e-03 -2.32248465e-02 9.99704190e-01 4.28924887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.204839173 meters Centerline goodness [0,1] 0.8629251511956944 Centerline is valid? [False, False] Translation: X:-7.63, Y:-0.89, Z:4.29 [[ 9.99968777e-01 -3.67170993e-03 -6.99746281e-03 -7.62508342e+00] [ 3.81197821e-03 9.99789926e-01 2.01388115e-02 -8.91727054e-01] [ 6.92204895e-03 -2.01648569e-02 9.99772706e-01 4.29136812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.234839173 meters Centerline goodness [0,1] 0.8720133149031002 Centerline is valid? [False, False] Translation: X:-7.62, Y:-0.90, Z:4.30 [[ 9.99922999e-01 -1.24037650e-02 3.78928846e-04 -7.62301416e+00] [ 1.24023005e-02 9.99916428e-01 3.64952726e-03 -8.98931628e-01] [-4.24165057e-04 -3.64454665e-03 9.99993269e-01 4.30055411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.264839173 meters Centerline goodness [0,1] 0.8755499685732244 Centerline is valid? [False, False] Translation: X:-7.63, Y:-0.91, Z:4.31 [[ 9.99863109e-01 -1.64962708e-02 1.27900753e-03 -7.63094836e+00] [ 1.64973164e-02 9.99863581e-01 -8.11342002e-04 -9.05231413e-01] [-1.26544893e-03 8.32331129e-04 9.99998853e-01 4.30773320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.294839173 meters Centerline goodness [0,1] 0.8785022705852112 Centerline is valid? [False, False] Translation: X:-7.63, Y:-0.91, Z:4.31 [[ 9.99891814e-01 -1.46738823e-02 1.01823714e-03 -7.63441493e+00] [ 1.46734005e-02 9.99892225e-01 4.79022581e-04 -9.06187489e-01] [-1.02515652e-03 -4.64029756e-04 9.99999367e-01 4.31271167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.324839173 meters Centerline goodness [0,1] 0.8764482029598308 Centerline is valid? [False, False] Translation: X:-7.63, Y:-0.90, Z:4.31 [[ 9.99967695e-01 -8.03315880e-03 2.77031746e-04 -7.63075512e+00] [ 8.03111422e-03 9.99945131e-01 6.72577287e-03 -9.01461543e-01] [-3.31045747e-04 -6.72333072e-03 9.99977343e-01 4.30970585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.354839173 meters Centerline goodness [0,1] 0.8598843612334801 Centerline is valid? [False, False] Translation: X:-7.62, Y:-0.89, Z:4.30 [[ 9.99978790e-01 6.39470427e-03 -1.23596195e-03 -7.62367023e+00] [-6.37521692e-03 9.99864523e-01 1.51754120e-02 -8.88094145e-01] [ 1.33283678e-03 -1.51672106e-02 9.99884083e-01 4.29630354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.384839173 meters Centerline goodness [0,1] 0.7574183370957652 Centerline is valid? [False, False] Translation: X:-7.62, Y:-0.88, Z:4.29 [[ 9.99736549e-01 2.28597349e-02 -2.06514836e-03 -7.62038101e+00] [-2.28012566e-02 9.99429596e-01 2.49115544e-02 -8.77039839e-01] [ 2.63344192e-03 -2.48579034e-02 9.99687526e-01 4.28631367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.414839173 meters Centerline goodness [0,1] 0.7081186088551925 Centerline is valid? [False, False] Translation: X:-7.62, Y:-0.87, Z:4.28 [[ 9.99618378e-01 2.75155146e-02 -2.44838764e-03 -7.61966883e+00] [-2.74424440e-02 9.99283413e-01 2.60685993e-02 -8.70630046e-01] [ 3.16392408e-03 -2.59914612e-02 9.99657158e-01 4.28295803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.444839173 meters Centerline goodness [0,1] 0.6522391257767302 Centerline is valid? [False, False] Translation: X:-7.62, Y:-0.86, Z:4.28 [[ 9.99456365e-01 3.27642500e-02 -3.67116305e-03 -7.62019246e+00] [-3.26511489e-02 9.99088249e-01 2.75058662e-02 -8.64265885e-01] [ 4.56902494e-03 -2.73710454e-02 9.99614901e-01 4.28369934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.474839173 meters Centerline goodness [0,1] 0.645797070401414 Centerline is valid? [False, False] Translation: X:-7.62, Y:-0.86, Z:4.28 [[ 9.99437794e-01 3.32524876e-02 -4.28585040e-03 -7.62027183e+00] [-3.31252210e-02 9.99087517e-01 2.69602130e-02 -8.62497781e-01] [ 5.17843378e-03 -2.68030861e-02 9.99627320e-01 4.28465445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.504839173 meters Centerline goodness [0,1] 0.6393232298933526 Centerline is valid? [False, False] Translation: X:-7.62, Y:-0.86, Z:4.29 [[ 9.99419292e-01 3.37492472e-02 -4.69763543e-03 -7.62098112e+00] [-3.36110975e-02 9.99072850e-01 2.69023252e-02 -8.61928879e-01] [ 5.60121324e-03 -2.67288101e-02 9.99627029e-01 4.28625256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.534839173 meters Centerline goodness [0,1] 0.6382722007722008 Centerline is valid? [False, False] Translation: X:-7.63, Y:-0.86, Z:4.29 [[ 9.99382463e-01 3.50135334e-02 -2.95723663e-03 -7.63109630e+00] [-3.49241998e-02 9.99046241e-01 2.62089482e-02 -8.64776239e-01] [ 3.87208402e-03 -2.60894841e-02 9.99652112e-01 4.29217147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.564839173 meters Centerline goodness [0,1] 0.6452281041532171 Centerline is valid? [False, False] Translation: X:-7.63, Y:-0.87, Z:4.29 [[ 9.99507189e-01 3.12985197e-02 -2.40443799e-03 -7.63161935e+00] [-3.12315135e-02 9.99220921e-01 2.41276333e-02 -8.67813983e-01] [ 3.15772395e-03 -2.40406487e-02 9.99705995e-01 4.29277749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.594839173 meters Centerline goodness [0,1] 0.6583421173545231 Centerline is valid? [False, False] Translation: X:-7.63, Y:-0.87, Z:4.29 [[ 9.99649695e-01 2.63808681e-02 -2.13000350e-03 -7.62892635e+00] [-2.63331306e-02 9.99453621e-01 1.99756330e-02 -8.67143035e-01] [ 2.65581425e-03 -1.99125458e-02 9.99798198e-01 4.28903591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.624839173 meters Centerline goodness [0,1] 0.7468930557069661 Centerline is valid? [False, False] Translation: X:-7.62, Y:-0.87, Z:4.29 [[ 9.99909647e-01 1.33937468e-02 1.14252291e-03 -7.62100071e+00] [-1.34240189e-02 9.99371845e-01 3.27980397e-02 -8.72673341e-01] [-7.02516586e-04 -3.28104135e-02 9.99461347e-01 4.28625604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.654839173 meters Centerline goodness [0,1] 0.81618446813139 Centerline is valid? [False, False] Translation: X:-7.62, Y:-0.87, Z:4.28 [[ 9.99973006e-01 7.31545286e-03 6.86922177e-04 -7.61611337e+00] [-7.33166312e-03 9.99590060e-01 2.76759737e-02 -8.72434975e-01] [-4.84178299e-04 -2.76802628e-02 9.99616711e-01 4.28176831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.684839173 meters Centerline goodness [0,1] 0.8547781105363463 Centerline is valid? [False, False] Translation: X:-7.61, Y:-0.87, Z:4.28 [[ 9.99998673e-01 1.62664362e-03 8.49786374e-05 -7.61188742e+00] [-1.62813780e-03 9.99748317e-01 2.23752513e-02 -8.73137072e-01] [-4.85606900e-05 -2.23753599e-02 9.99749639e-01 4.27798870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.714839173 meters Centerline goodness [0,1] 0.821312826146663 Centerline is valid? [False, False] Translation: X:-7.61, Y:-0.88, Z:4.28 [[ 9.99997271e-01 1.95569218e-04 -2.32792465e-03 -7.60662977e+00] [-1.92232812e-04 9.99998954e-01 1.43334838e-03 -8.76733863e-01] [ 2.32820253e-03 -1.43289696e-03 9.99996263e-01 4.27645998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.744839173 meters Centerline goodness [0,1] 0.7935234945569795 Centerline is valid? [False, False] Translation: X:-7.61, Y:-0.88, Z:4.28 [[ 9.99994498e-01 1.71599162e-03 -2.83884201e-03 -7.61284843e+00] [-1.71437579e-03 9.99998367e-01 5.71519818e-04 -8.80715985e-01] [ 2.83981809e-03 -5.66649832e-04 9.99995807e-01 4.28225554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.774839173 meters Centerline goodness [0,1] 0.6665375677769172 Centerline is valid? [False, False] Translation: X:-7.64, Y:-0.88, Z:4.29 [[ 9.99912885e-01 1.31516726e-02 1.12095385e-03 -7.63794870e+00] [-1.31506200e-02 9.99913084e-01 -9.41286124e-04 -8.82887748e-01] [-1.13323591e-03 9.26462886e-04 9.99998929e-01 4.28988379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.804839173 meters Centerline goodness [0,1] 0.6665375677769172 Centerline is valid? [False, False] Translation: X:-7.64, Y:-0.88, Z:4.29 [[ 9.99912885e-01 1.31516726e-02 1.12095385e-03 -7.63794870e+00] [-1.31506200e-02 9.99913084e-01 -9.41286124e-04 -8.82887748e-01] [-1.13323591e-03 9.26462886e-04 9.99998929e-01 4.28988379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.834839173 meters Centerline goodness [0,1] 0.6557295687658542 Centerline is valid? [False, False] Translation: X:-7.65, Y:-0.89, Z:4.30 [[ 9.99707648e-01 2.39379133e-02 3.40503072e-03 -7.64947191e+00] [-2.39634301e-02 9.99683477e-01 7.66160726e-03 -8.87779471e-01] [-3.22055006e-03 -7.74096359e-03 9.99964852e-01 4.29617638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.86483917300001 meters Centerline goodness [0,1] 0.6701924935789445 Centerline is valid? [False, False] Translation: X:-7.65, Y:-0.89, Z:4.29 [[ 9.99701215e-01 2.41005740e-02 4.07948177e-03 -7.64766608e+00] [-2.41333352e-02 9.99675269e-01 8.18159234e-03 -8.89549598e-01] [-3.88097596e-03 -8.27759931e-03 9.99958209e-01 4.29221977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.894839173 meters Centerline goodness [0,1] 0.7045339767689804 Centerline is valid? [False, False] Translation: X:-7.63, Y:-0.90, Z:4.28 [[ 9.99962031e-01 8.61825616e-03 1.28914320e-03 -7.62753224e+00] [-8.66201912e-03 9.99200119e-01 3.90396206e-02 -9.02548179e-01] [-9.51658584e-04 -3.90493049e-02 9.99236832e-01 4.28440251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.924839173 meters Centerline goodness [0,1] 0.8298674620817739 Centerline is valid? [False, False] Translation: X:-7.60, Y:-0.91, Z:4.28 [[ 9.99980122e-01 -1.14853568e-03 -6.19967527e-03 -7.60031237e+00] [ 1.41976165e-03 9.99033918e-01 4.39228369e-02 -9.06925444e-01] [ 6.14323893e-03 -4.39307659e-02 9.99015690e-01 4.28109648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.954839173 meters Centerline goodness [0,1] 0.8615459323583181 Centerline is valid? [False, False] Translation: X:-7.59, Y:-0.91, Z:4.28 [[ 9.99724699e-01 -2.21709264e-02 -7.67961639e-03 -7.58665744e+00] [ 2.23928265e-02 9.99295226e-01 3.01266204e-02 -9.08217364e-01] [ 7.00626891e-03 -3.02902948e-02 9.99516588e-01 4.27759414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.984839173 meters Centerline goodness [0,1] 0.870254825354248 Centerline is valid? [False, False] Translation: X:-7.59, Y:-0.91, Z:4.29 [[ 9.99508421e-01 -3.09907356e-02 4.74244842e-03 -7.59083684e+00] [ 3.10225797e-02 9.99495585e-01 -6.79527824e-03 -9.09736292e-01] [-4.52946558e-03 6.93906081e-03 9.99965666e-01 4.28860556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.014839173 meters Centerline goodness [0,1] 0.8745122201684123 Centerline is valid? [False, False] Translation: X:-7.60, Y:-0.91, Z:4.29 [[ 0.99946259 -0.03068433 0.01153227 -7.59771602] [ 0.03096219 0.99921428 -0.02474189 -0.91083736] [-0.01076402 0.02508566 0.99962735 4.29347307] [ 0. 0. 0. 1. ]] SLAMing on 85.044839173 meters Centerline goodness [0,1] 0.8726668822198054 Centerline is valid? [False, False] Translation: X:-7.60, Y:-0.92, Z:4.31 [[ 9.99669458e-01 -2.54352141e-02 3.74500794e-03 -7.59555261e+00] [ 2.55389531e-02 9.99195916e-01 -3.09076453e-02 -9.15215405e-01] [-2.95585406e-03 3.09930726e-02 9.99515229e-01 4.30601298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.074839173 meters Centerline goodness [0,1] 0.8788705418033025 Centerline is valid? [False, False] Translation: X:-7.58, Y:-0.91, Z:4.31 [[ 0.99976796 -0.01642994 -0.0139317 -7.58079606] [ 0.01615947 0.99968296 -0.0193093 -0.91202827] [ 0.01424454 0.01907969 0.99971649 4.30585382] [ 0. 0. 0. 1. ]] SLAMing on 85.104839173 meters Centerline goodness [0,1] 0.8730996500487637 Centerline is valid? [False, False] Translation: X:-7.57, Y:-0.91, Z:4.30 [[ 9.99669956e-01 -1.45029784e-02 -2.12047683e-02 -7.56734350e+00] [ 1.45324863e-02 9.99893631e-01 1.23813093e-03 -9.07923845e-01] [ 2.11845562e-02 -1.54588029e-03 9.99774387e-01 4.29917814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.134839173 meters Centerline goodness [0,1] 0.8623666835957339 Centerline is valid? [False, False] Translation: X:-7.55, Y:-0.90, Z:4.29 [[ 0.99949725 -0.01103208 -0.02972448 -7.55432893] [ 0.01162097 0.99973816 0.01971211 -0.89935407] [ 0.02949923 -0.02004763 0.99936374 4.28718815] [ 0. 0. 0. 1. ]] SLAMing on 85.164839173 meters Centerline goodness [0,1] 0.8612234508894483 Centerline is valid? [False, False] Translation: X:-7.55, Y:-0.90, Z:4.28 [[ 0.99943729 -0.01551853 -0.02973674 -7.55258441] [ 0.01595737 0.99976641 0.01457729 -0.89743724] [ 0.02950358 -0.01504361 0.99945146 4.28417123] [ 0. 0. 0. 1. ]] SLAMing on 85.194839173 meters Centerline goodness [0,1] 0.8626716247139588 Centerline is valid? [False, False] Translation: X:-7.53, Y:-0.90, Z:4.29 [[ 9.99116781e-01 -2.55124653e-02 -3.33882128e-02 -7.52984037e+00] [ 2.54902754e-02 9.99674476e-01 -1.09016110e-03 -9.00056612e-01] [ 3.34051568e-02 2.38123513e-04 9.99441864e-01 4.28580223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.224839173 meters Centerline goodness [0,1] 0.8660102493234295 Centerline is valid? [False, False] Translation: X:-7.53, Y:-0.90, Z:4.29 [[ 9.99000659e-01 -2.91134950e-02 -3.39129414e-02 -7.53051377e+00] [ 2.89875519e-02 9.99570951e-01 -4.19958977e-03 -9.02279812e-01] [ 3.40206558e-02 3.21233980e-03 9.99415967e-01 4.28867581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.254839173 meters Centerline goodness [0,1] 0.8707010772509938 Centerline is valid? [False, False] Translation: X:-7.53, Y:-0.90, Z:4.29 [[ 0.99927293 -0.02657096 -0.02734221 -7.52695964] [ 0.02623917 0.9995785 -0.01242294 -0.9021988 ] [ 0.02766078 0.01169647 0.99954894 4.29384162] [ 0. 0. 0. 1. ]] SLAMing on 85.284839173 meters Centerline goodness [0,1] 0.8727152924998568 Centerline is valid? [False, False] Translation: X:-7.53, Y:-0.90, Z:4.30 [[ 9.99425064e-01 -2.04557026e-02 -2.70389777e-02 -7.53096670e+00] [ 2.02789905e-02 9.99771278e-01 -6.79362006e-03 -9.01890355e-01] [ 2.71717616e-02 6.24139099e-03 9.99611295e-01 4.29774497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.314839173 meters Centerline goodness [0,1] 0.8686404628211672 Centerline is valid? [False, False] Translation: X:-7.52, Y:-0.90, Z:4.30 [[ 9.99782506e-01 -7.61167585e-03 -1.94165841e-02 -7.52406864e+00] [ 7.55759819e-03 9.99967360e-01 -2.85698795e-03 -9.00284243e-01] [ 1.94376968e-02 2.70962383e-03 9.99807398e-01 4.29871816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.344839173 meters Centerline goodness [0,1] 0.8669188543473932 Centerline is valid? [False, False] Translation: X:-7.52, Y:-0.90, Z:4.30 [[ 9.99792393e-01 -6.96162777e-03 -1.91495729e-02 -7.52486617e+00] [ 6.93143953e-03 9.99974629e-01 -1.64236723e-03 -9.03216242e-01] [ 1.91605206e-02 1.50929216e-03 9.99815281e-01 4.29932390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.374839173 meters Centerline goodness [0,1] 0.8671129755200552 Centerline is valid? [False, False] Translation: X:-7.52, Y:-0.91, Z:4.29 [[ 9.99741485e-01 -1.19073523e-02 -1.93695288e-02 -7.51873928e+00] [ 1.18372927e-02 9.99922989e-01 -3.72764367e-03 -9.11066191e-01] [ 1.94124235e-02 3.49739724e-03 9.99805444e-01 4.29473077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.404839173 meters Centerline goodness [0,1] 0.8636415919024615 Centerline is valid? [False, False] Translation: X:-7.51, Y:-0.91, Z:4.29 [[ 9.99710021e-01 -1.37520126e-02 -1.97675619e-02 -7.50999386e+00] [ 1.37184036e-02 9.99904215e-01 -1.83481669e-03 -9.13657868e-01] [ 1.97909009e-02 1.56310524e-03 9.99802919e-01 4.28952148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.434839173 meters Centerline goodness [0,1] 0.8648671931083991 Centerline is valid? [False, False] Translation: X:-7.51, Y:-0.92, Z:4.29 [[ 9.99743076e-01 -1.05928931e-02 -2.00392792e-02 -7.50887370e+00] [ 1.06545270e-02 9.99938824e-01 2.97139177e-03 -9.15888619e-01] [ 2.00065777e-02 -3.18413739e-03 9.99794778e-01 4.29082256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.464839173 meters Centerline goodness [0,1] 0.8660537846894063 Centerline is valid? [False, False] Translation: X:-7.50, Y:-0.91, Z:4.29 [[ 9.99880889e-01 -6.97330286e-03 -1.37688292e-02 -7.49895497e+00] [ 6.91182106e-03 9.99965952e-01 -4.50783833e-03 -9.12738336e-01] [ 1.37997949e-02 4.41213372e-03 9.99895044e-01 4.28728539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.494839173 meters Centerline goodness [0,1] 0.8643956483252906 Centerline is valid? [False, False] Translation: X:-7.50, Y:-0.91, Z:4.29 [[ 9.99906851e-01 5.91710365e-04 -1.36359551e-02 -7.50361924e+00] [-6.04758422e-04 9.99999363e-01 -9.52782663e-04 -9.10458370e-01] [ 1.36353827e-02 9.60940370e-04 9.99906572e-01 4.28836697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.524839173 meters Centerline goodness [0,1] 0.8334898545775349 Centerline is valid? [False, False] Translation: X:-7.50, Y:-0.91, Z:4.29 [[ 9.99884343e-01 5.21969326e-03 -1.42848101e-02 -7.50329043e+00] [-5.18847745e-03 9.99984072e-01 2.22143374e-03 -9.08239759e-01] [ 1.42961778e-02 -2.14706040e-03 9.99895499e-01 4.28824601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.554839173 meters Centerline goodness [0,1] 0.7821068232343384 Centerline is valid? [False, False] Translation: X:-7.50, Y:-0.91, Z:4.29 [[ 9.99865136e-01 6.49647063e-03 -1.50833142e-02 -7.50314176e+00] [-6.48184231e-03 9.99978474e-01 1.01851940e-03 -9.05346585e-01] [ 1.50896063e-02 -9.20614373e-04 9.99885722e-01 4.28720048e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.584839173 meters Centerline goodness [0,1] 0.8347280334728033 Centerline is valid? [False, False] Translation: X:-7.49, Y:-0.91, Z:4.28 [[ 9.99857995e-01 -2.09172525e-03 -1.67216518e-02 -7.48935210e+00] [ 2.06373628e-03 9.99996441e-01 -1.69089641e-03 -9.10483823e-01] [ 1.67251291e-02 1.65614721e-03 9.99858754e-01 4.28291862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.61483917300001 meters Centerline goodness [0,1] 0.8629722486383677 Centerline is valid? [False, False] Translation: X:-7.48, Y:-0.91, Z:4.28 [[ 9.99835996e-01 -6.29771229e-03 -1.69799839e-02 -7.48290551e+00] [ 6.24935129e-03 9.99976268e-01 -2.89967625e-03 -9.12447196e-01] [ 1.69978423e-02 2.79308681e-03 9.99851625e-01 4.27902634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.644839173 meters Centerline goodness [0,1] 0.8647454592705957 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.91, Z:4.28 [[ 9.99649832e-01 -2.23646233e-02 -1.41434588e-02 -7.47485845e+00] [ 2.24496726e-02 9.99730663e-01 5.88340783e-03 -9.14019606e-01] [ 1.40080693e-02 -6.19886367e-03 9.99882667e-01 4.27566947e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.674839173 meters Centerline goodness [0,1] 0.8660146841173568 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.92, Z:4.28 [[ 9.99605665e-01 -2.44856199e-02 -1.37466281e-02 -7.47436927e+00] [ 2.45774841e-02 9.99676444e-01 6.55396572e-03 -9.18310527e-01] [ 1.35817024e-02 -6.88923880e-03 9.99884031e-01 4.27777834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.704839173 meters Centerline goodness [0,1] 0.8726315170060022 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.93, Z:4.29 [[ 9.99559371e-01 -2.90646711e-02 -6.02566856e-03 -7.47443325e+00] [ 2.90207935e-02 9.99552547e-01 -7.24565645e-03 -9.26836915e-01] [ 6.23356498e-03 7.06759412e-03 9.99955595e-01 4.28656511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.734839173 meters Centerline goodness [0,1] 0.8755973803764234 Centerline is valid? [False, False] Translation: X:-7.48, Y:-0.93, Z:4.29 [[ 9.99597068e-01 -2.75953406e-02 -6.64820333e-03 -7.47638309e+00] [ 2.75596965e-02 9.99605602e-01 -5.39473013e-03 -9.30571961e-01] [ 6.79445071e-03 5.20933395e-03 9.99963348e-01 4.29099133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.764839173 meters Centerline goodness [0,1] 0.8753042067446981 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.92, Z:4.29 [[ 9.99846058e-01 -1.53111568e-02 -8.56906456e-03 -7.47271220e+00] [ 1.53468996e-02 9.99873737e-01 4.12104640e-03 -9.24946657e-01] [ 8.50488462e-03 -4.25192057e-03 9.99954793e-01 4.28751770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.794839173 meters Centerline goodness [0,1] 0.8732680636665522 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.92, Z:4.28 [[ 9.99932569e-01 -7.27609275e-03 -9.05078060e-03 -7.47089805e+00] [ 7.36906458e-03 9.99919989e-01 1.02816644e-02 -9.20143138e-01] [ 8.97524610e-03 -1.03476669e-02 9.99906181e-01 4.28428946e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.824839173 meters Centerline goodness [0,1] 0.8078953343171756 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.92, Z:4.28 [[ 9.99933484e-01 7.42845593e-03 -8.82305852e-03 -7.47359757e+00] [-7.22864877e-03 9.99721474e-01 2.24660150e-02 -9.17673296e-01] [ 8.98748887e-03 -2.24007419e-02 9.99708673e-01 4.28452164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.854839173 meters Centerline goodness [0,1] 0.7654951351658015 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.92, Z:4.28 [[ 0.99987995 0.0125536 -0.00908308 -7.47343219] [-0.012313 0.99958412 0.02607638 -0.91623803] [ 0.00940665 -0.02596141 0.99961869 4.28327493] [ 0. 0. 0. 1. ]] SLAMing on 85.884839173 meters Centerline goodness [0,1] 0.7372898233235654 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.91, Z:4.28 [[ 0.99991886 0.00891127 -0.00910343 -7.4735095 ] [-0.00871408 0.99973139 0.02147576 -0.91445202] [ 0.00929236 -0.02139469 0.99972792 4.28205643] [ 0. 0. 0. 1. ]] SLAMing on 85.914839173 meters Centerline goodness [0,1] 0.8080721584746247 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.92, Z:4.28 [[ 9.99987583e-01 4.66286103e-03 -1.75800643e-03 -7.46625022e+00] [-4.64581060e-03 9.99943307e-01 9.58117537e-03 -9.16634972e-01] [ 1.80258245e-03 -9.57288904e-03 9.99952554e-01 4.28459718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.944839173 meters Centerline goodness [0,1] 0.8386586977759899 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.92, Z:4.29 [[ 9.99997161e-01 1.99456139e-03 -1.30368896e-03 -7.47010469e+00] [-1.98341510e-03 9.99961942e-01 8.49590511e-03 -9.21636998e-01] [ 1.32058495e-03 -8.49329523e-03 9.99963059e-01 4.29039905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.974839173 meters Centerline goodness [0,1] 0.8720246755514172 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.93, Z:4.30 [[ 9.99996103e-01 -2.11919514e-03 -1.81742009e-03 -7.47015245e+00] [ 2.13292305e-03 9.99968958e-01 7.58514041e-03 -9.28591264e-01] [ 1.80128928e-03 -7.58898727e-03 9.99969581e-01 4.29547638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.004839173 meters Centerline goodness [0,1] 0.8735659027879141 Centerline is valid? [False, False] Translation: X:-7.47, Y:-0.93, Z:4.29 [[ 9.99991596e-01 -3.07050617e-03 -2.71675667e-03 -7.46656995e+00] [ 3.09092936e-03 9.99966755e-01 7.54550410e-03 -9.30487197e-01] [ 2.69349783e-03 -7.55383799e-03 9.99967842e-01 4.29403752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.034839173 meters Centerline goodness [0,1] 0.8768141488924144 Centerline is valid? [False, False] Translation: X:-7.46, Y:-0.93, Z:4.29 [[ 9.99992106e-01 -3.18641504e-03 -2.37354676e-03 -7.46208560e+00] [ 3.20585384e-03 9.99960982e-01 8.23148995e-03 -9.33598013e-01] [ 2.34722520e-03 -8.23903422e-03 9.99963304e-01 4.28840789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.064839173 meters Centerline goodness [0,1] 0.8746209779504843 Centerline is valid? [False, False] Translation: X:-7.46, Y:-0.93, Z:4.29 [[ 9.99990235e-01 -3.73830469e-03 -2.35691744e-03 -7.45993590e+00] [ 3.75542008e-03 9.99966305e-01 7.29964906e-03 -9.32808470e-01] [ 2.32954971e-03 -7.30842899e-03 9.99970580e-01 4.28508682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.094839173 meters Centerline goodness [0,1] 0.8493004821201455 Centerline is valid? [False, False] Translation: X:-7.46, Y:-0.94, Z:4.28 [[ 9.99990394e-01 -3.44834751e-03 -2.70579435e-03 -7.45855568e+00] [ 3.46980975e-03 9.99962237e-01 7.96776444e-03 -9.37808066e-01] [ 2.67821655e-03 -7.97707649e-03 9.99964596e-01 4.28435196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.124839173 meters Centerline goodness [0,1] 0.8121713671128107 Centerline is valid? [False, False] Translation: X:-7.46, Y:-0.94, Z:4.29 [[ 9.99987826e-01 -4.45596704e-03 -2.11947450e-03 -7.46303845e+00] [ 4.46747635e-03 9.99975132e-01 5.45688688e-03 -9.42288408e-01] [ 2.09510608e-03 -5.46628915e-03 9.99982865e-01 4.28616191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.154839173 meters Centerline goodness [0,1] 0.7329399077347074 Centerline is valid? [False, False] Translation: X:-7.46, Y:-0.95, Z:4.28 [[ 9.99988998e-01 -2.46049920e-03 3.99381663e-03 -7.45675008e+00] [ 2.48159824e-03 9.99982947e-01 -5.28659561e-03 -9.47839101e-01] [-3.98074086e-03 5.29644849e-03 9.99978050e-01 4.28466596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.184839173 meters Centerline goodness [0,1] 0.7261219102471802 Centerline is valid? [False, False] Translation: X:-7.45, Y:-0.95, Z:4.28 [[ 9.99988129e-01 -2.96448166e-03 3.86700658e-03 -7.45489600e+00] [ 2.98687537e-03 9.99978730e-01 -5.79810432e-03 -9.46712087e-01] [-3.84973595e-03 5.80958576e-03 9.99975714e-01 4.28273256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.214839173 meters Centerline goodness [0,1] 0.7015839368780545 Centerline is valid? [False, False] Translation: X:-7.44, Y:-0.94, Z:4.27 [[ 9.99998183e-01 -1.03815530e-04 1.90366548e-03 -7.43585407e+00] [ 1.05357305e-04 9.99999667e-01 -8.09815711e-04 -9.36614899e-01] [-1.90358077e-03 8.10014804e-04 9.99997860e-01 4.26805827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.244839173 meters Centerline goodness [0,1] 0.6717383035374667 Centerline is valid? [False, False] Translation: X:-7.43, Y:-0.93, Z:4.26 [[ 9.99998287e-01 1.46837778e-03 1.12661050e-03 -7.42907480e+00] [-1.46758422e-03 9.99998675e-01 -7.04887536e-04 -9.28886130e-01] [-1.12764404e-03 7.03232933e-04 9.99999117e-01 4.26010928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.274839173 meters Centerline goodness [0,1] 0.6230261436007793 Centerline is valid? [False, False] Translation: X:-7.43, Y:-0.92, Z:4.25 [[ 9.99981670e-01 6.05390084e-03 -1.01407187e-04 -7.42700628e+00] [-6.05401162e-03 9.99981036e-01 -1.13024041e-03 -9.21082602e-01] [ 9.45629003e-05 1.13083361e-03 9.99999356e-01 4.25419382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.304839173 meters Centerline goodness [0,1] 0.5826568479647454 Centerline is valid? [False, False] Translation: X:-7.43, Y:-0.92, Z:4.26 [[ 9.99967178e-01 8.05610273e-03 -8.61890255e-04 -7.42915157e+00] [-8.05683591e-03 9.99967181e-01 -8.50605793e-04 -9.22288067e-01] [ 8.55009402e-04 8.57521982e-04 9.99999267e-01 4.25682804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.334839173 meters Centerline goodness [0,1] 0.5398776563360682 Centerline is valid? [False, False] Translation: X:-7.44, Y:-0.93, Z:4.27 [[ 9.99899604e-01 1.39770928e-02 -2.32850331e-03 -7.44114892e+00] [-1.39825466e-02 9.99899495e-01 -2.34258790e-03 -9.27205944e-01] [ 2.29552671e-03 2.37491112e-03 9.99994545e-01 4.26663123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.36483917300001 meters Centerline goodness [0,1] 0.5581442699243746 Centerline is valid? [False, False] Translation: X:-7.44, Y:-0.93, Z:4.27 [[ 9.99918915e-01 1.25423732e-02 -2.20264321e-03 -7.44428525e+00] [-1.25531965e-02 9.99908850e-01 -4.97071444e-03 -9.26646486e-01] [ 2.14009788e-03 4.99796160e-03 9.99985220e-01 4.26846213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.394839173 meters Centerline goodness [0,1] 0.5388147888147888 Centerline is valid? [False, False] Translation: X:-7.45, Y:-0.93, Z:4.26 [[ 9.99967940e-01 4.93489720e-03 6.30600900e-03 -7.44970527e+00] [-4.93252602e-03 9.99987758e-01 -3.91516914e-04 -9.27877308e-01] [-6.30786390e-03 3.60399809e-04 9.99980040e-01 4.25915274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.424839173 meters Centerline goodness [0,1] 0.5043721580972368 Centerline is valid? [False, False] Translation: X:-7.43, Y:-0.93, Z:4.26 [[ 9.99927587e-01 -7.55394829e-03 9.36794602e-03 -7.43082944e+00] [ 7.39017826e-03 9.99821383e-01 1.73950516e-02 -9.33130131e-01] [-9.49767407e-03 -1.73245612e-02 9.99804808e-01 4.25775287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.454839173 meters Centerline goodness [0,1] 0.49008697689401703 Centerline is valid? [False, False] Translation: X:-7.43, Y:-0.93, Z:4.26 [[ 0.99988278 -0.01156412 0.01003434 -7.4309784 ] [ 0.01142018 0.99983275 0.01428441 -0.93341425] [-0.01019785 -0.01416815 0.99984762 4.25771092] [ 0. 0. 0. 1. ]] SLAMing on 86.484839173 meters Centerline goodness [0,1] 0.5025473392820332 Centerline is valid? [False, False] Translation: X:-7.43, Y:-0.94, Z:4.26 [[ 9.99782048e-01 -1.09669789e-02 1.77646260e-02 -7.42601529e+00] [ 1.08334402e-02 9.99912465e-01 7.59599216e-03 -9.37729245e-01] [-1.78463761e-02 -7.40188459e-03 9.99813342e-01 4.26434084e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.514839173 meters Centerline goodness [0,1] 0.43243562485235054 Centerline is valid? [False, False] Translation: X:-7.42, Y:-0.94, Z:4.27 [[ 9.99924235e-01 -7.28152616e-03 9.92488631e-03 -7.41966477e+00] [ 7.25530709e-03 9.99970101e-01 2.67520012e-03 -9.41045521e-01] [-9.94406911e-03 -2.60298934e-03 9.99947169e-01 4.27292232e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.544839173 meters Centerline goodness [0,1] 0.4144579734072349 Centerline is valid? [False, False] Translation: X:-7.41, Y:-0.94, Z:4.27 [[ 9.99999774e-01 2.11912434e-04 6.38646237e-04 -7.40646056e+00] [-2.08076856e-04 9.99981979e-01 -5.99988863e-03 -9.41486583e-01] [-6.39906179e-04 5.99975438e-03 9.99981797e-01 4.27009610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.574839173 meters Centerline goodness [0,1] 0.3947283548831618 Centerline is valid? [False, False] Translation: X:-7.41, Y:-0.94, Z:4.27 [[ 9.99990942e-01 4.25616586e-03 2.31791984e-06 -7.40523277e+00] [-4.25615455e-03 9.99989280e-01 -1.82352775e-03 -9.42720201e-01] [-1.00791315e-05 1.82350136e-03 9.99998337e-01 4.27047439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.604839173 meters Centerline goodness [0,1] 0.37496383729676563 Centerline is valid? [False, False] Translation: X:-7.40, Y:-0.94, Z:4.27 [[ 9.99971559e-01 7.54035393e-03 -1.55864244e-04 -7.40205669e+00] [-7.54016897e-03 9.99970906e-01 1.15499083e-03 -9.41068786e-01] [ 1.64568749e-04 -1.15378273e-03 9.99999321e-01 4.26765671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.634839173 meters Centerline goodness [0,1] 0.3450411445938584 Centerline is valid? [False, False] Translation: X:-7.39, Y:-0.94, Z:4.26 [[ 9.99963466e-01 8.52957831e-03 -5.60160976e-04 -7.39433917e+00] [-8.52802587e-03 9.99959943e-01 2.71767216e-03 -9.37638709e-01] [ 5.83319135e-04 -2.71279581e-03 9.99996150e-01 4.26069004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.664839173 meters Centerline goodness [0,1] 0.3504880949088798 Centerline is valid? [False, False] Translation: X:-7.37, Y:-0.93, Z:4.25 [[ 9.99907003e-01 1.31463799e-02 -3.62751592e-03 -7.37426488e+00] [-1.30338759e-02 9.99480786e-01 2.94665370e-02 -9.27150617e-01] [ 4.01301075e-03 -2.94165161e-02 9.99559185e-01 4.25106286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.694839173 meters Centerline goodness [0,1] 0.3504880949088798 Centerline is valid? [False, False] Translation: X:-7.37, Y:-0.93, Z:4.25 [[ 9.99907003e-01 1.31463799e-02 -3.62751592e-03 -7.37426488e+00] [-1.30338759e-02 9.99480786e-01 2.94665370e-02 -9.27150617e-01] [ 4.01301075e-03 -2.94165161e-02 9.99559185e-01 4.25106286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.724839173 meters Centerline goodness [0,1] 0.34292268249898794 Centerline is valid? [False, False] Translation: X:-7.37, Y:-0.92, Z:4.25 [[ 9.99810385e-01 1.92284715e-02 -3.07554854e-03 -7.37174268e+00] [-1.91048994e-02 9.99164377e-01 3.61323972e-02 -9.21130025e-01] [ 3.76774931e-03 -3.60667880e-02 9.99342279e-01 4.24926660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.754839173 meters Centerline goodness [0,1] 0.31367648622779964 Centerline is valid? [False, False] Translation: X:-7.37, Y:-0.92, Z:4.25 [[ 9.99777003e-01 2.08082008e-02 3.60047508e-03 -7.37169081e+00] [-2.08748179e-02 9.99590417e-01 1.95765164e-02 -9.15566905e-01] [-3.19164830e-03 -1.96473101e-02 9.99801879e-01 4.25156168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.784839173 meters Centerline goodness [0,1] 0.29272707911830476 Centerline is valid? [False, False] Translation: X:-7.37, Y:-0.92, Z:4.25 [[ 9.99804113e-01 1.87216470e-02 6.42142704e-03 -7.36883321e+00] [-1.87132341e-02 9.99823957e-01 -1.36773919e-03 -9.16075744e-01] [-6.44590292e-03 1.24730560e-03 9.99978447e-01 4.24998329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.814839173 meters Centerline goodness [0,1] 0.2619072932170955 Centerline is valid? [False, False] Translation: X:-7.36, Y:-0.92, Z:4.25 [[ 9.99924785e-01 1.13585968e-02 4.62666247e-03 -7.36324530e+00] [-1.12998251e-02 9.99857561e-01 -1.25368312e-02 -9.17943206e-01] [-4.76840426e-03 1.24836078e-02 9.99910707e-01 4.24814690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.844839173 meters Centerline goodness [0,1] 0.24825533932004318 Centerline is valid? [False, False] Translation: X:-7.35, Y:-0.92, Z:4.25 [[ 9.99938632e-01 9.73931168e-03 5.27989759e-03 -7.35351909e+00] [-9.70091606e-03 9.99926666e-01 -7.24951816e-03 -9.18057134e-01] [-5.35011571e-03 7.19785343e-03 9.99959783e-01 4.24902093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.874839173 meters Centerline goodness [0,1] 0.23350475700694262 Centerline is valid? [False, False] Translation: X:-7.32, Y:-0.92, Z:4.25 [[ 9.99916560e-01 5.42353473e-03 1.17242876e-02 -7.31943004e+00] [-5.54699791e-03 9.99929238e-01 1.05238051e-02 -9.21682494e-01] [-1.16663817e-02 -1.05879616e-02 9.99875888e-01 4.25008892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.904839173 meters Centerline goodness [0,1] 0.22937373840611186 Centerline is valid? [False, False] Translation: X:-7.31, Y:-0.92, Z:4.25 [[ 9.99928176e-01 3.13810991e-03 1.15669410e-02 -7.30743475e+00] [-3.30004364e-03 9.99896447e-01 1.40073047e-02 -9.22472976e-01] [-1.15217867e-02 -1.40444700e-02 9.99834987e-01 4.24623147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.934839173 meters Centerline goodness [0,1] 0.22345632052745024 Centerline is valid? [False, False] Translation: X:-7.28, Y:-0.93, Z:4.24 [[ 9.99939895e-01 -1.73223701e-03 1.08261595e-02 -7.27841271e+00] [ 1.48431738e-03 9.99737431e-01 2.28662818e-02 -9.27407093e-01] [-1.08629267e-02 -2.28488380e-02 9.99679912e-01 4.24236750e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.964839173 meters Centerline goodness [0,1] 0.2229284903518729 Centerline is valid? [False, False] Translation: X:-7.27, Y:-0.93, Z:4.24 [[ 9.99932381e-01 -3.77178044e-03 1.10002930e-02 -7.27311776e+00] [ 3.52469147e-03 9.99742974e-01 2.23955724e-02 -9.28806677e-01] [-1.10819368e-02 -2.23552854e-02 9.99688667e-01 4.23938050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.994839173 meters Centerline goodness [0,1] 0.25274395579668474 Centerline is valid? [False, False] Translation: X:-7.25, Y:-0.93, Z:4.24 [[ 9.99842205e-01 -6.22805501e-03 1.66366075e-02 -7.25101892e+00] [ 6.01069071e-03 9.99896340e-01 1.30836262e-02 -9.31719230e-01] [-1.67163685e-02 -1.29815642e-02 9.99775996e-01 4.23639948e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.024839173 meters Centerline goodness [0,1] 0.24171987230646452 Centerline is valid? [False, False] Translation: X:-7.24, Y:-0.93, Z:4.23 [[ 9.99811471e-01 -3.85477265e-03 1.90306062e-02 -7.23564836e+00] [ 3.77660422e-03 9.99984291e-01 4.14174326e-03 -9.33559316e-01] [-1.90462728e-02 -4.06909135e-03 9.99810323e-01 4.23413854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.054839173 meters Centerline goodness [0,1] 0.251445875840842 Centerline is valid? [False, False] Translation: X:-7.21, Y:-0.94, Z:4.23 [[ 9.99901137e-01 -1.45734856e-03 1.39854323e-02 -7.20684519e+00] [ 1.50096563e-03 9.99994041e-01 -3.10876056e-03 -9.37033605e-01] [-1.39808184e-02 3.12944487e-03 9.99897366e-01 4.22837573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.084839173 meters Centerline goodness [0,1] 0.2710706150341685 Centerline is valid? [False, False] Translation: X:-7.19, Y:-0.94, Z:4.22 [[ 9.99947489e-01 -5.95040462e-04 1.02306435e-02 -7.19018504e+00] [ 6.05964506e-04 9.99999250e-01 -1.06471017e-03 -9.37555061e-01] [-1.02300023e-02 1.07085366e-03 9.99947099e-01 4.22192186e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.11483917300001 meters Centerline goodness [0,1] 0.29751371657357517 Centerline is valid? [False, False] Translation: X:-7.18, Y:-0.94, Z:4.22 [[ 9.99957505e-01 -2.48012420e-03 8.87904133e-03 -7.18337865e+00] [ 2.49612393e-03 9.99995280e-01 -1.79133769e-03 -9.41308647e-01] [-8.87455669e-03 1.81342476e-03 9.99958976e-01 4.21903765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.144839173 meters Centerline goodness [0,1] 0.301383153390716 Centerline is valid? [False, False] Translation: X:-7.17, Y:-0.95, Z:4.22 [[ 9.99902033e-01 -1.26187942e-02 6.05729858e-03 -7.16687466e+00] [ 1.26699293e-02 9.99883782e-01 -8.47909340e-03 -9.54125903e-01] [-5.94959868e-03 8.55500827e-03 9.99945706e-01 4.21940626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.174839173 meters Centerline goodness [0,1] 0.30114856429463166 Centerline is valid? [False, False] Translation: X:-7.16, Y:-0.96, Z:4.22 [[ 9.99814009e-01 -1.87631471e-02 4.46011715e-03 -7.15884565e+00] [ 1.88059350e-02 9.99775579e-01 -9.75334675e-03 -9.63320046e-01] [-4.27611273e-03 9.83540938e-03 9.99942488e-01 4.22210073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.204839173 meters Centerline goodness [0,1] 0.30794677278945404 Centerline is valid? [False, False] Translation: X:-7.13, Y:-0.97, Z:4.23 [[ 9.99646842e-01 -2.59900566e-02 5.54154060e-03 -7.12941648e+00] [ 2.59837518e-02 9.99661637e-01 1.20671979e-03 -9.71579779e-01] [-5.57102827e-03 -1.06230361e-03 9.99983917e-01 4.22547899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.234839173 meters Centerline goodness [0,1] 0.3111455489139793 Centerline is valid? [False, False] Translation: X:-7.12, Y:-0.96, Z:4.22 [[ 9.99670461e-01 -2.49143929e-02 6.18407512e-03 -7.11577388e+00] [ 2.48565179e-02 9.99648090e-01 9.26550192e-03 -9.64906251e-01] [-6.41274323e-03 -9.10873400e-03 9.99937952e-01 4.22327905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.264839173 meters Centerline goodness [0,1] 0.31932693221789143 Centerline is valid? [False, False] Translation: X:-7.08, Y:-0.95, Z:4.22 [[ 0.99963969 -0.02154569 0.01600864 -7.08217951] [ 0.0208745 0.9989422 0.0409723 -0.94512854] [-0.01687449 -0.04062336 0.99903203 4.21651446] [ 0. 0. 0. 1. ]] Total time of SLAM: 6037.40 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%| | 0/2896 [00:00