+ python -m lidar_slam --no-model /working/5153ddea-9b42-49bd-aee0-96d92173aaca Lidar SLAM 0.0.13 ===================================================== The recording path: /working/5153ddea-9b42-49bd-aee0-96d92173aaca 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 0.029649246 Adjusted end_distance from 9.223372036854776e+18 to 120.849649246 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.029649246 meters Centerline goodness [0,1] 0.7581061878310296 Centerline is valid? [0, False] SLAMing on 0.059649246 meters Centerline goodness [0,1] 0.7646982520997503 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:0.00 [[ 9.99999585e-01 -5.06037561e-04 -7.57406649e-04 1.64568750e-03] [ 5.05908005e-04 9.99999857e-01 -1.71234569e-04 -1.35160034e-04] [ 7.57493192e-04 1.70851320e-04 9.99999699e-01 2.63374457e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.089649246 meters Centerline goodness [0,1] 0.7548075364010767 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:0.00 [[ 9.99997019e-01 -1.53199244e-03 -1.90121183e-03 5.07247842e-03] [ 1.53165382e-03 9.99998811e-01 -1.79551812e-04 -7.28881258e-04] [ 1.90148464e-03 1.76639278e-04 9.99998177e-01 2.77122031e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.11964924600000001 meters Centerline goodness [0,1] 0.7362091756133733 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:0.00 [[ 9.99991722e-01 -2.65382025e-03 -3.08426403e-03 8.82518802e-03] [ 2.65371095e-03 9.99996478e-01 -3.95307339e-05 -1.06317028e-03] [ 3.08435807e-03 3.13456615e-05 9.99995243e-01 3.37479787e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.149649246 meters Centerline goodness [0,1] 0.7522799780864298 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:0.00 [[ 9.99988668e-01 -3.06984852e-03 -3.63855102e-03 1.03342451e-02] [ 3.07196763e-03 9.99995115e-01 5.76959096e-04 -2.22157956e-03] [ 3.63676206e-03 -5.88130069e-04 9.99993214e-01 1.12436935e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.179649246 meters Centerline goodness [0,1] 0.7576707141924534 Centerline is valid? [False, False] Translation: X:-0.00, Y:-0.00, Z:0.01 [[ 9.99919460e-01 -9.20365906e-03 -8.73879109e-03 -3.59688153e-04] [ 9.26149837e-03 9.99935321e-01 6.60144716e-03 -2.79333779e-03] [ 8.67746840e-03 -6.68184978e-03 9.99940025e-01 5.87064892e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.209649246 meters Centerline goodness [0,1] 0.7433244107854018 Centerline is valid? [False, False] Translation: X:0.00, Y:-0.00, Z:0.01 [[ 0.99990042 -0.01021691 -0.00973484 0.00269125] [ 0.01028443 0.99992323 0.00691119 -0.00479317] [ 0.00966348 -0.00701062 0.99992873 0.00598796] [ 0. 0. 0. 1. ]] SLAMing on 0.239649246 meters Centerline goodness [0,1] 0.7006904637832204 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:0.00 [[ 0.999792 -0.01690973 -0.01140236 0.00977417] [ 0.01693335 0.99985466 0.00197856 -0.00545085] [ 0.01136725 -0.00217123 0.99993303 0.0036915 ] [ 0. 0. 0. 1. ]] SLAMing on 0.269649246 meters Centerline goodness [0,1] 0.6690220738387734 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.01, Z:0.00 [[ 0.9997684 -0.01776088 -0.01215315 0.01239094] [ 0.01779604 0.99983774 0.00279048 -0.00743792] [ 0.01210162 -0.00300611 0.99992225 0.00434497] [ 0. 0. 0. 1. ]] SLAMing on 0.29964924600000004 meters Centerline goodness [0,1] 0.6164626288659794 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:0.01 [[ 0.99969143 -0.02072718 -0.01369034 0.01870635] [ 0.02077264 0.99977915 0.00318678 -0.00962718] [ 0.01362127 -0.00347019 0.9999012 0.00505645] [ 0. 0. 0. 1. ]] SLAMing on 0.32964924600000006 meters Centerline goodness [0,1] 0.6069093705935136 Centerline is valid? [False, False] Translation: X:0.02, Y:-0.01, Z:0.01 [[ 0.99966483 -0.02147888 -0.01445261 0.02112488] [ 0.021535 0.99976111 0.00373816 -0.01064766] [ 0.01436887 -0.00404814 0.99988857 0.00570449] [ 0. 0. 0. 1. ]] SLAMing on 0.35964924600000003 meters Centerline goodness [0,1] 0.5895337773549001 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:0.01 [[ 0.99955096 -0.02487844 -0.01670129 0.02977481] [ 0.02493691 0.99968357 0.00330174 -0.00943704] [ 0.01661386 -0.00371673 0.99985507 0.00540772] [ 0. 0. 0. 1. ]] SLAMing on 0.38964924600000006 meters Centerline goodness [0,1] 0.5544077351894429 Centerline is valid? [False, False] Translation: X:0.03, Y:-0.01, Z:0.01 [[ 0.99959197 -0.02250557 -0.01758964 0.03296538] [ 0.02264672 0.99971258 0.00786693 -0.01142096] [ 0.01740753 -0.00826206 0.99981434 0.00664623] [ 0. 0. 0. 1. ]] SLAMing on 0.41964924600000003 meters Centerline goodness [0,1] 0.5034728682170543 Centerline is valid? [False, False] Translation: X:0.04, Y:-0.01, Z:0.01 [[ 0.99953984 -0.02323981 -0.01949385 0.04268536] [ 0.02345461 0.99966588 0.01086335 -0.00946816] [ 0.01923487 -0.01131557 0.99975096 0.00623 ] [ 0. 0. 0. 1. ]] SLAMing on 0.44964924600000006 meters Centerline goodness [0,1] 0.4907038105172731 Centerline is valid? [False, False] Translation: X:0.06, Y:-0.01, Z:0.01 [[ 0.99945511 -0.01900733 -0.02698537 0.06047733] [ 0.0192088 0.99978938 0.00722631 -0.01046532] [ 0.02684233 -0.00774073 0.99960971 0.00702841] [ 0. 0. 0. 1. ]] SLAMing on 0.47964924600000003 meters Centerline goodness [0,1] 0.5135990264679038 Centerline is valid? [False, False] Translation: X:0.07, Y:-0.00, Z:0.00 [[ 0.99937249 -0.01995351 -0.02926557 0.07223434] [ 0.0202024 0.99976201 0.00823361 -0.00458083] [ 0.02909432 -0.00881968 0.99953776 0.0033419 ] [ 0. 0. 0. 1. ]] SLAMing on 0.5096492460000001 meters Centerline goodness [0,1] 0.47902024071672045 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.00, Z:0.00 [[ 9.99355323e-01 -2.01965343e-02 -2.96822997e-02 7.71893382e-02] [ 2.04719100e-02 9.99749892e-01 9.00298581e-03 -2.36504734e-03] [ 2.94930468e-02 -9.60483515e-03 9.99518838e-01 9.62227193e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.539649246 meters Centerline goodness [0,1] 0.45993632657919015 Centerline is valid? [False, False] Translation: X:0.09, Y:0.00, Z:-0.00 [[ 0.99923155 -0.02307415 -0.03168443 0.09151262] [ 0.02338972 0.99968008 0.00962548 0.00428642] [ 0.03145219 -0.01035918 0.99945157 -0.00254724] [ 0. 0. 0. 1. ]] SLAMing on 0.569649246 meters Centerline goodness [0,1] 0.43343644130210635 Centerline is valid? [False, False] Translation: X:0.11, Y:0.01, Z:-0.01 [[ 0.9990635 -0.0272438 -0.03361391 0.1086553 ] [ 0.0276105 0.99956368 0.0104937 0.0119778 ] [ 0.03331336 -0.01141197 0.9993798 -0.00656356] [ 0. 0. 0. 1. ]] SLAMing on 0.599649246 meters Centerline goodness [0,1] 0.42898134863701576 Centerline is valid? [False, False] Translation: X:0.13, Y:0.01, Z:-0.01 [[ 0.99907145 -0.02495359 -0.03512204 0.13097835] [ 0.02519575 0.99966161 0.006469 0.012552 ] [ 0.03494873 -0.00734792 0.99936209 -0.00825483] [ 0. 0. 0. 1. ]] SLAMing on 0.629649246 meters Centerline goodness [0,1] 0.40980163360560096 Centerline is valid? [False, False] Translation: X:0.15, Y:0.02, Z:-0.01 [[ 0.99896816 -0.0292651 -0.03473002 0.1514683 ] [ 0.02961486 0.99951529 0.00959938 0.01772751] [ 0.03443226 -0.010618 0.99935063 -0.01343403] [ 0. 0. 0. 1. ]] SLAMing on 0.659649246 meters Centerline goodness [0,1] 0.3709341177142531 Centerline is valid? [False, False] Translation: X:0.18, Y:0.02, Z:-0.01 [[ 0.99890819 -0.02960001 -0.03614219 0.18357299] [ 0.02992566 0.99951596 0.00850259 0.01894926] [ 0.03587302 -0.00957489 0.99931049 -0.01498969] [ 0. 0. 0. 1. ]] SLAMing on 0.689649246 meters Centerline goodness [0,1] 0.37667033030601027 Centerline is valid? [False, False] Translation: X:0.19, Y:0.02, Z:-0.02 [[ 0.99880889 -0.03188953 -0.0369304 0.18929059] [ 0.0321799 0.99945547 0.00729504 0.02194105] [ 0.03667765 -0.00847477 0.99929121 -0.016997 ] [ 0. 0. 0. 1. ]] SLAMing on 0.719649246 meters Centerline goodness [0,1] 0.3611346316680779 Centerline is valid? [False, False] Translation: X:0.21, Y:0.02, Z:-0.02 [[ 0.9988147 -0.0293403 -0.03883742 0.21241273] [ 0.02960161 0.99954273 0.00617048 0.01975878] [ 0.03863861 -0.00731282 0.99922649 -0.01657031] [ 0. 0. 0. 1. ]] SLAMing on 0.749649246 meters Centerline goodness [0,1] 0.35431440403925796 Centerline is valid? [False, False] Translation: X:0.23, Y:0.02, Z:-0.02 [[ 0.99867549 -0.03548124 -0.03726048 0.23373163] [ 0.03581727 0.99932314 0.00838983 0.02303042] [ 0.03693758 -0.00971329 0.99927037 -0.02238311] [ 0. 0. 0. 1. ]] SLAMing on 0.7796492460000001 meters Centerline goodness [0,1] 0.3558775239796065 Centerline is valid? [False, False] Translation: X:0.24, Y:0.03, Z:-0.02 [[ 0.9985569 -0.03793536 -0.03801355 0.23997127] [ 0.03822702 0.99924474 0.00697518 0.02576145] [ 0.03772024 -0.00841826 0.99925288 -0.02498196] [ 0. 0. 0. 1. ]] SLAMing on 0.809649246 meters Centerline goodness [0,1] 0.3515079229851763 Centerline is valid? [False, False] Translation: X:0.27, Y:0.03, Z:-0.03 [[ 0.99859234 -0.03578888 -0.03914703 0.27270906] [ 0.03612469 0.99931603 0.00790441 0.02644402] [ 0.03883736 -0.00930746 0.9992022 -0.02738209] [ 0. 0. 0. 1. ]] SLAMing on 0.839649246 meters Centerline goodness [0,1] 0.35006319337171743 Centerline is valid? [False, False] Translation: X:0.29, Y:0.03, Z:-0.03 [[ 0.99881268 -0.03119664 -0.0374166 0.29198832] [ 0.03143167 0.99948959 0.00570966 0.02685169] [ 0.03721938 -0.00687895 0.99928344 -0.02923396] [ 0. 0. 0. 1. ]] SLAMing on 0.869649246 meters Centerline goodness [0,1] 0.3513536166289498 Centerline is valid? [False, False] Translation: X:0.32, Y:0.03, Z:-0.04 [[ 0.9990403 -0.02636371 -0.03497757 0.3175413 ] [ 0.02649703 0.99964327 0.00335359 0.03386148] [ 0.03487668 -0.00427718 0.99938247 -0.0352395 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8996492460000001 meters Centerline goodness [0,1] 0.3471889452276147 Centerline is valid? [False, False] Translation: X:0.33, Y:0.04, Z:-0.04 [[ 9.99283246e-01 -2.07276873e-02 -3.16758261e-02 3.34456028e-01] [ 2.07507848e-02 9.99784599e-01 4.00590222e-04 3.64339096e-02] [ 3.16606998e-02 -1.05760135e-03 9.99498115e-01 -3.81509199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.929649246 meters Centerline goodness [0,1] 0.3394839067702553 Centerline is valid? [False, False] Translation: X:0.36, Y:0.05, Z:-0.04 [[ 9.99539254e-01 -1.20632600e-02 -2.78524161e-02 3.56942598e-01] [ 1.20624201e-02 9.99927227e-01 -1.98178891e-04 4.52345908e-02] [ 2.78527799e-02 -1.37879962e-04 9.99612027e-01 -4.49836466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.959649246 meters Centerline goodness [0,1] 0.32318908618927955 Centerline is valid? [False, False] Translation: X:0.38, Y:0.05, Z:-0.05 [[ 9.99725098e-01 -2.34198213e-03 -2.33290143e-02 3.77421240e-01] [ 2.35569348e-03 9.99997068e-01 5.60273620e-04 5.48846006e-02] [ 2.33276337e-02 -6.15075607e-04 9.99727685e-01 -4.97665321e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.989649246 meters Centerline goodness [0,1] 0.3139723913702367 Centerline is valid? [False, False] Translation: X:0.38, Y:0.06, Z:-0.05 [[ 9.99730180e-01 6.32317904e-04 -2.32199695e-02 3.80108051e-01] [-5.65229934e-04 9.99995648e-01 2.89568545e-03 6.10915081e-02] [ 2.32216994e-02 -2.88177951e-03 9.99726187e-01 -5.12095403e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.0196492460000002 meters Centerline goodness [0,1] 0.31075271761452317 Centerline is valid? [False, False] Translation: X:0.39, Y:0.07, Z:-0.05 [[ 9.99813859e-01 7.24203701e-03 -1.78829615e-02 3.93793923e-01] [-7.23970992e-03 9.99973774e-01 1.94865420e-04 6.61371882e-02] [ 1.78839037e-02 -6.53616941e-05 9.99840068e-01 -5.35366597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.049649246 meters Centerline goodness [0,1] 0.2921323869353567 Centerline is valid? [False, False] Translation: X:0.41, Y:0.08, Z:-0.06 [[ 0.99972227 0.0199179 -0.0125961 0.4109989 ] [-0.0198847 0.99979848 0.00275536 0.07565446] [ 0.01264844 -0.00250413 0.99991687 -0.05759499] [ 0. 0. 0. 1. ]] SLAMing on 1.079649246 meters Centerline goodness [0,1] 0.27538122808448173 Centerline is valid? [False, False] Translation: X:0.43, Y:0.08, Z:-0.06 [[ 0.9994436 0.03251712 -0.00742541 0.42803473] [-0.03248518 0.99946261 0.00438183 0.08494871] [ 0.0075639 -0.00413818 0.99996283 -0.06220486] [ 0. 0. 0. 1. ]] SLAMing on 1.109649246 meters Centerline goodness [0,1] 0.276492214532872 Centerline is valid? [False, False] Translation: X:0.43, Y:0.09, Z:-0.06 [[ 0.99931768 0.03616692 -0.00749243 0.43073804] [-0.03611964 0.99932729 0.00635189 0.09146894] [ 0.00771712 -0.00607694 0.99995176 -0.06465724] [ 0. 0. 0. 1. ]] SLAMing on 1.139649246 meters Centerline goodness [0,1] 0.27696166248656395 Centerline is valid? [False, False] Translation: X:0.43, Y:0.10, Z:-0.07 [[ 0.99919223 0.03948927 -0.00744824 0.43339619] [-0.03942766 0.99918842 0.00824393 0.09780164] [ 0.00776774 -0.00794361 0.99993828 -0.0669534 ] [ 0. 0. 0. 1. ]] SLAMing on 1.169649246 meters Centerline goodness [0,1] 0.27696166248656395 Centerline is valid? [False, False] Translation: X:0.43, Y:0.10, Z:-0.07 [[ 0.99919223 0.03948927 -0.00744824 0.43339619] [-0.03942766 0.99918842 0.00824393 0.09780164] [ 0.00776774 -0.00794361 0.99993828 -0.0669534 ] [ 0. 0. 0. 1. ]] SLAMing on 1.1996492460000001 meters Centerline goodness [0,1] 0.2560613424050975 Centerline is valid? [False, False] Translation: X:0.45, Y:0.11, Z:-0.07 [[ 0.9987541 0.04976555 -0.00369302 0.45379704] [-0.04973159 0.99872405 0.00877695 0.10575975] [ 0.0041251 -0.00858236 0.99995466 -0.0719444 ] [ 0. 0. 0. 1. ]] SLAMing on 1.2296492460000001 meters Centerline goodness [0,1] 0.252461168234522 Centerline is valid? [False, False] Translation: X:0.46, Y:0.11, Z:-0.07 [[ 0.99863202 0.05210183 -0.00441427 0.45879458] [-0.05205392 0.99859063 0.01035132 0.11069849] [ 0.00494737 -0.01010738 0.99993668 -0.07485732] [ 0. 0. 0. 1. ]] SLAMing on 1.2596492460000002 meters Centerline goodness [0,1] 0.24524546065904507 Centerline is valid? [False, False] Translation: X:0.48, Y:0.12, Z:-0.08 [[ 9.98286182e-01 5.85200484e-02 -3.19256728e-04 4.82864897e-01] [-5.85143148e-02 9.98240624e-01 9.57760830e-03 1.18610059e-01] [ 8.79177136e-04 -9.54251293e-03 9.99954083e-01 -8.01644268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.289649246 meters Centerline goodness [0,1] 0.2480530640743327 Centerline is valid? [False, False] Translation: X:0.49, Y:0.12, Z:-0.08 [[ 9.98225012e-01 5.95509051e-02 -7.17383700e-04 4.89468828e-01] [-5.95378332e-02 9.98152182e-01 1.21436019e-02 1.22215307e-01] [ 1.43922059e-03 -1.20793357e-02 9.99926006e-01 -8.14981430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.319649246 meters Centerline goodness [0,1] 0.28552321848919326 Centerline is valid? [False, False] Translation: X:0.52, Y:0.13, Z:-0.08 [[ 0.99809911 0.06143899 0.00483823 0.52096768] [-0.0614992 0.99801618 0.01347397 0.12673935] [-0.0040008 -0.0137459 0.99989752 -0.08457903] [ 0. 0. 0. 1. ]] SLAMing on 1.349649246 meters Centerline goodness [0,1] 0.3059429712158407 Centerline is valid? [False, False] Translation: X:0.53, Y:0.13, Z:-0.09 [[ 0.99817745 0.06021084 0.00405252 0.53109389] [-0.06026913 0.99804982 0.01625365 0.12944371] [-0.00306597 -0.01646827 0.99985969 -0.08603528] [ 0. 0. 0. 1. ]] SLAMing on 1.379649246 meters Centerline goodness [0,1] 0.5522515777088459 Centerline is valid? [False, False] Translation: X:0.57, Y:0.13, Z:-0.09 [[ 0.99825294 0.05884472 0.00532692 0.56911863] [-0.05893976 0.99806298 0.01990967 0.13025802] [-0.00414502 -0.02018886 0.99978759 -0.08647083] [ 0. 0. 0. 1. ]] SLAMing on 1.409649246 meters Centerline goodness [0,1] 0.6639168055033052 Centerline is valid? [False, False] Translation: X:0.58, Y:0.13, Z:-0.09 [[ 0.99854918 0.05369497 0.00404865 0.58014547] [-0.05376616 0.9983489 0.02021591 0.13198775] [-0.00295648 -0.02040426 0.99978744 -0.0864374 ] [ 0. 0. 0. 1. ]] SLAMing on 1.439649246 meters Centerline goodness [0,1] 0.6634223006507114 Centerline is valid? [False, False] Translation: X:0.61, Y:0.13, Z:-0.09 [[ 0.99908728 0.04160223 0.00968798 0.61348988] [-0.04182699 0.99882968 0.02428525 0.12870963] [-0.00866632 -0.0246683 0.99965813 -0.0887462 ] [ 0. 0. 0. 1. ]] SLAMing on 1.4696492460000001 meters Centerline goodness [0,1] 0.6582113550676425 Centerline is valid? [False, False] Translation: X:0.63, Y:0.13, Z:-0.09 [[ 0.99941289 0.03298333 0.00927201 0.62751529] [-0.03320796 0.99913027 0.02521781 0.12819075] [-0.00843218 -0.02551091 0.99963898 -0.08789199] [ 0. 0. 0. 1. ]] SLAMing on 1.4996492460000002 meters Centerline goodness [0,1] 0.6541241317247392 Centerline is valid? [False, False] Translation: X:0.67, Y:0.12, Z:-0.09 [[ 0.99974614 0.01506148 0.01675723 0.66572869] [-0.01554504 0.99945532 0.02911047 0.12136058] [-0.01630965 -0.02936358 0.99943573 -0.09007699] [ 0. 0. 0. 1. ]] SLAMing on 1.5296492460000002 meters Centerline goodness [0,1] 0.5945546524185756 Centerline is valid? [False, False] Translation: X:0.70, Y:0.11, Z:-0.09 [[ 0.99973762 -0.0042809 0.02250273 0.7041971 ] [ 0.00355321 0.99947258 0.032279 0.11193125] [-0.02262905 -0.03219058 0.99922555 -0.09206473] [ 0. 0. 0. 1. ]] SLAMing on 1.559649246 meters Centerline goodness [0,1] 0.5878658101356173 Centerline is valid? [False, False] Translation: X:0.73, Y:0.11, Z:-0.09 [[ 0.99972253 -0.0105672 0.0210522 0.73244894] [ 0.00991654 0.99947714 0.03077512 0.10578428] [-0.0213664 -0.03055782 0.99930461 -0.09001769] [ 0. 0. 0. 1. ]] SLAMing on 1.589649246 meters Centerline goodness [0,1] 0.5744408400204883 Centerline is valid? [False, False] Translation: X:0.76, Y:0.10, Z:-0.09 [[ 0.99966301 -0.01685846 0.01973995 0.76044663] [ 0.01628201 0.99944657 0.02900781 0.09915497] [-0.02021806 -0.02867663 0.99938425 -0.08801725] [ 0. 0. 0. 1. ]] SLAMing on 1.619649246 meters Centerline goodness [0,1] 0.5933373263740338 Centerline is valid? [False, False] Translation: X:0.80, Y:0.09, Z:-0.09 [[ 0.99931676 -0.03249781 0.01760429 0.80313248] [ 0.03203851 0.9991543 0.02577248 0.08786975] [-0.01842695 -0.02519085 0.99951282 -0.08834495] [ 0. 0. 0. 1. ]] SLAMing on 1.649649246 meters Centerline goodness [0,1] 0.5773316580044549 Centerline is valid? [False, False] Translation: X:0.83, Y:0.08, Z:-0.09 [[ 0.99925222 -0.03674257 0.01204087 0.82670017] [ 0.0365213 0.9991688 0.01810813 0.08246245] [-0.0126962 -0.01765484 0.99976353 -0.08920202] [ 0. 0. 0. 1. ]] SLAMing on 1.679649246 meters Centerline goodness [0,1] 0.5737197116637235 Centerline is valid? [False, False] Translation: X:0.87, Y:0.07, Z:-0.09 [[ 0.99864791 -0.05092084 0.01046063 0.86506504] [ 0.05077565 0.99861603 0.01370592 0.07056277] [-0.01114407 -0.01315625 0.99985135 -0.09017918] [ 0. 0. 0. 1. ]] SLAMing on 1.7096492460000001 meters Centerline goodness [0,1] 0.5649900689332866 Centerline is valid? [False, False] Translation: X:0.89, Y:0.06, Z:-0.09 [[ 0.99853369 -0.05392975 0.00469577 0.88728672] [ 0.05389954 0.99852624 0.00633976 0.06306396] [-0.00503075 -0.00607736 0.99996888 -0.09099884] [ 0. 0. 0. 1. ]] SLAMing on 1.7396492460000001 meters Centerline goodness [0,1] 0.5619310014374701 Centerline is valid? [False, False] Translation: X:0.92, Y:0.05, Z:-0.09 [[ 0.99786955 -0.0651147 0.00405406 0.92107674] [ 0.0651001 0.99787212 0.00363457 0.04792006] [-0.0042821 -0.00336291 0.99998518 -0.09064398] [ 0. 0. 0. 1. ]] SLAMing on 1.7696492460000002 meters Centerline goodness [0,1] 0.5823723478313508 Centerline is valid? [False, False] Translation: X:0.94, Y:0.04, Z:-0.09 [[ 9.97919652e-01 -6.44491305e-02 -1.63640320e-03 9.42940155e-01] [ 6.44492722e-02 9.97920984e-01 3.39843543e-05 4.00670590e-02] [ 1.63081083e-03 -1.39378651e-04 9.99998661e-01 -9.11376746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.7996492460000002 meters Centerline goodness [0,1] 0.5727575160177427 Centerline is valid? [False, False] Translation: X:0.97, Y:0.02, Z:-0.09 [[ 0.99768801 -0.06792403 -0.00222946 0.97275512] [ 0.06793157 0.99768384 0.00350193 0.02492483] [ 0.00198643 -0.00364528 0.99999138 -0.08925544] [ 0. 0. 0. 1. ]] SLAMing on 1.829649246 meters Centerline goodness [0,1] 0.5948160794660873 Centerline is valid? [False, False] Translation: X:0.99, Y:0.02, Z:-0.09 [[ 9.97886967e-01 -6.44791321e-02 -8.00260447e-03 9.92091027e-01] [ 6.44875156e-02 9.97918198e-01 7.93755000e-04 1.70420548e-02] [ 7.93476400e-03 -1.30814585e-03 9.99967664e-01 -8.92403253e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.859649246 meters Centerline goodness [0,1] 0.5777003484320558 Centerline is valid? [False, False] Translation: X:1.02, Y:0.00, Z:-0.09 [[ 0.99795082 -0.06368082 -0.00623858 1.01686187] [ 0.063704 0.99796238 0.00358986 0.00352264] [ 0.00599726 -0.00397992 0.9999741 -0.08668243] [ 0. 0. 0. 1. ]] SLAMing on 1.889649246 meters Centerline goodness [0,1] 0.602224123182207 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.00, Z:-0.09 [[ 0.99826279 -0.05786021 -0.01111704 1.03515941] [ 0.05787843 0.99832276 0.00132374 -0.00302596] [ 0.0110218 -0.00196487 0.99993733 -0.08630163] [ 0. 0. 0. 1. ]] SLAMing on 1.919649246 meters Centerline goodness [0,1] 0.6209509800786621 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.01, Z:-0.09 [[ 0.99865568 -0.05157538 -0.00517739 1.05093229] [ 0.05158359 0.99866761 0.00146541 -0.01107387] [ 0.00509491 -0.00173051 0.99998552 -0.08776732] [ 0. 0. 0. 1. ]] SLAMing on 1.9496492460000001 meters Centerline goodness [0,1] 0.6361663421951298 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.01, Z:-0.09 [[ 9.99158576e-01 -4.10112925e-02 -4.61747289e-04 1.05845983e+00] [ 4.10099976e-02 9.99155529e-01 -2.53148645e-03 -9.30191955e-03] [ 5.65176889e-04 2.51042014e-03 9.99996689e-01 -9.08403636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.9796492460000001 meters Centerline goodness [0,1] 0.6451029537739141 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.01, Z:-0.09 [[ 0.9996471 -0.02608207 0.00503951 1.07007972] [ 0.02606717 0.99965569 0.00300153 -0.00766228] [-0.00511606 -0.00286911 0.9999828 -0.09080859] [ 0. 0. 0. 1. ]] SLAMing on 2.0096492460000004 meters Centerline goodness [0,1] 0.6450119662425998 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.01, Z:-0.09 [[ 0.99980114 -0.01968797 0.00317131 1.07558804] [ 0.01965384 0.99975218 0.01045534 -0.00636859] [-0.00337637 -0.01039093 0.99994031 -0.09144806] [ 0. 0. 0. 1. ]] SLAMing on 2.039649246 meters Centerline goodness [0,1] 0.6340633969799077 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.00, Z:-0.09 [[ 0.99994426 -0.00601872 0.00867431 1.09060509] [ 0.00587934 0.99985464 0.01600407 -0.0020981 ] [-0.00876937 -0.01595218 0.9998343 -0.09319424] [ 0. 0. 0. 1. ]] SLAMing on 2.069649246 meters Centerline goodness [0,1] 0.6265791275126019 Centerline is valid? [False, False] Translation: X:1.09, Y:0.00, Z:-0.09 [[ 9.99968993e-01 -3.06521615e-03 7.25382993e-03 1.09461595e+00] [ 2.92599005e-03 9.99812783e-01 1.91268579e-02 4.15077511e-04] [-7.31109985e-03 -1.91050402e-02 9.99790751e-01 -9.39773632e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.0996492460000002 meters Centerline goodness [0,1] 0.6314436979473048 Centerline is valid? [False, False] Translation: X:1.11, Y:0.00, Z:-0.10 [[ 0.99996302 0.00275152 0.00814743 1.11107643] [-0.00283881 0.99993849 0.01072167 0.00481441] [-0.00811743 -0.0107444 0.99990933 -0.10095346] [ 0. 0. 0. 1. ]] SLAMing on 2.129649246 meters Centerline goodness [0,1] 0.6094648932879678 Centerline is valid? [False, False] Translation: X:1.12, Y:0.01, Z:-0.10 [[ 0.99997536 0.00160489 0.00683467 1.11502836] [-0.00166931 0.99995414 0.00943057 0.00729871] [-0.00681922 -0.00944174 0.99993217 -0.10234963] [ 0. 0. 0. 1. ]] SLAMing on 2.1596492460000003 meters Centerline goodness [0,1] 0.6317752975272861 Centerline is valid? [False, False] Translation: X:1.12, Y:0.01, Z:-0.10 [[ 0.99998611 -0.00163439 0.00501143 1.12380557] [ 0.00159476 0.99996751 0.00790215 0.01137068] [-0.00502418 -0.00789405 0.99995622 -0.10408778] [ 0. 0. 0. 1. ]] SLAMing on 2.189649246 meters Centerline goodness [0,1] 0.6347928044678948 Centerline is valid? [False, False] Translation: X:1.13, Y:0.01, Z:-0.11 [[ 0.99998751 -0.00340522 0.00365743 1.12879413] [ 0.00338052 0.99997157 0.00674078 0.01314377] [-0.00368028 -0.00672833 0.99997059 -0.10575365] [ 0. 0. 0. 1. ]] SLAMing on 2.2196492460000004 meters Centerline goodness [0,1] 0.6501093889624996 Centerline is valid? [False, False] Translation: X:1.13, Y:0.01, Z:-0.11 [[ 0.99998401 -0.00516892 0.00229482 1.13377527] [ 0.0051556 0.99997005 0.00577301 0.01450579] [-0.00232459 -0.00576109 0.9999807 -0.10726851] [ 0. 0. 0. 1. ]] SLAMing on 2.249649246 meters Centerline goodness [0,1] 0.6607383785109775 Centerline is valid? [False, False] Translation: X:1.15, Y:0.02, Z:-0.11 [[ 9.99949157e-01 -1.00815670e-02 -2.12513282e-04 1.14624167e+00] [ 1.00823512e-02 9.99940826e-01 4.08541373e-03 1.94496608e-02] [ 1.71313335e-04 -4.08734865e-03 9.99991632e-01 -1.10275560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.279649246 meters Centerline goodness [0,1] 0.6712657099837138 Centerline is valid? [False, False] Translation: X:1.16, Y:0.02, Z:-0.11 [[ 0.99988123 -0.01510256 -0.00307259 1.15883868] [ 0.01511151 0.99988158 0.00291094 0.02312081] [ 0.00302826 -0.00295703 0.99999104 -0.1116938 ] [ 0. 0. 0. 1. ]] SLAMing on 2.309649246 meters Centerline goodness [0,1] 0.6699963117777231 Centerline is valid? [False, False] Translation: X:1.16, Y:0.02, Z:-0.11 [[ 0.99984835 -0.01679656 -0.00460004 1.16368449] [ 0.01680627 0.9998566 0.00208138 0.02470535] [ 0.00456442 -0.00215838 0.99998725 -0.11239404] [ 0. 0. 0. 1. ]] SLAMing on 2.339649246 meters Centerline goodness [0,1] 0.6803545142296369 Centerline is valid? [False, False] Translation: X:1.17, Y:0.03, Z:-0.11 [[ 9.99805113e-01 -1.87089446e-02 -6.30163519e-03 1.16924860e+00] [ 1.87166149e-02 9.99824155e-01 1.16042157e-03 2.70126451e-02] [ 6.27881682e-03 -1.27814069e-03 9.99979471e-01 -1.13186569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3696492460000003 meters Centerline goodness [0,1] 0.6992107749032513 Centerline is valid? [False, False] Translation: X:1.19, Y:0.03, Z:-0.11 [[ 0.9998181 -0.01900759 -0.00157273 1.19344785] [ 0.01900536 0.99981837 -0.00142458 0.03176512] [ 0.00159952 0.00139443 0.99999775 -0.11412703] [ 0. 0. 0. 1. ]] SLAMing on 2.399649246 meters Centerline goodness [0,1] 0.7273695096727095 Centerline is valid? [False, False] Translation: X:1.20, Y:0.03, Z:-0.11 [[ 0.99983426 -0.01775401 -0.00403161 1.20057167] [ 0.01776349 0.9998395 0.00232954 0.03322286] [ 0.0039896 -0.00240076 0.99998916 -0.11318841] [ 0. 0. 0. 1. ]] SLAMing on 2.4296492460000003 meters Centerline goodness [0,1] 0.7120099150569814 Centerline is valid? [False, False] Translation: X:1.22, Y:0.04, Z:-0.11 [[ 0.99973395 -0.02250922 -0.00503686 1.21805184] [ 0.02255253 0.99970769 0.00871359 0.03761967] [ 0.00483926 -0.00882486 0.99994935 -0.10997411] [ 0. 0. 0. 1. ]] SLAMing on 2.459649246 meters Centerline goodness [0,1] 0.71875 Centerline is valid? [False, False] Translation: X:1.25, Y:0.04, Z:-0.11 [[ 0.99966688 -0.0256762 -0.0026205 1.24990319] [ 0.02569579 0.99963983 0.0077415 0.04126586] [ 0.00242078 -0.00780626 0.9999666 -0.11009177] [ 0. 0. 0. 1. ]] SLAMing on 2.4896492460000004 meters Centerline goodness [0,1] 0.7499849225016586 Centerline is valid? [False, False] Translation: X:1.26, Y:0.04, Z:-0.11 [[ 0.99959114 -0.02819632 -0.004746 1.25687574] [ 0.02822832 0.99957827 0.00681523 0.04359907] [ 0.00455184 -0.00694641 0.99996551 -0.11073447] [ 0. 0. 0. 1. ]] SLAMing on 2.519649246 meters Centerline goodness [0,1] 0.7718708748349934 Centerline is valid? [False, False] Translation: X:1.29, Y:0.05, Z:-0.11 [[ 0.99951574 -0.03094071 -0.00330961 1.29109048] [ 0.03096679 0.99948723 0.00814455 0.04626406] [ 0.00305591 -0.0082431 0.99996136 -0.10967845] [ 0. 0. 0. 1. ]] SLAMing on 2.549649246 meters Centerline goodness [0,1] 0.7718120805369127 Centerline is valid? [False, False] Translation: X:1.30, Y:0.05, Z:-0.11 [[ 0.99942249 -0.03356077 -0.00532563 1.29834826] [ 0.03359662 0.9994124 0.00679101 0.0494159 ] [ 0.00509459 -0.00696601 0.99996276 -0.111337 ] [ 0. 0. 0. 1. ]] SLAMing on 2.5796492460000002 meters Centerline goodness [0,1] 0.7860580515947748 Centerline is valid? [False, False] Translation: X:1.33, Y:0.05, Z:-0.11 [[ 0.99934161 -0.0360252 -0.00430385 1.33354095] [ 0.03606201 0.99931076 0.00880551 0.05249012] [ 0.00398367 -0.00895491 0.99995197 -0.110511 ] [ 0. 0. 0. 1. ]] SLAMing on 2.609649246 meters Centerline goodness [0,1] 0.7983240889843144 Centerline is valid? [False, False] Translation: X:1.34, Y:0.06, Z:-0.11 [[ 0.99923873 -0.03846903 -0.00648862 1.3406231 ] [ 0.03851949 0.9992271 0.00783881 0.05516464] [ 0.00618205 -0.00808278 0.99994822 -0.1112782 ] [ 0. 0. 0. 1. ]] SLAMing on 2.6396492460000003 meters Centerline goodness [0,1] 0.7953341665178837 Centerline is valid? [False, False] Translation: X:1.35, Y:0.06, Z:-0.11 [[ 0.99917107 -0.03976051 -0.00873346 1.34933726] [ 0.0398433 0.99916059 0.0095194 0.05648197] [ 0.00834763 -0.00985948 0.99991655 -0.11195823] [ 0. 0. 0. 1. ]] SLAMing on 2.669649246 meters Centerline goodness [0,1] 0.811082673650378 Centerline is valid? [False, False] Translation: X:1.38, Y:0.06, Z:-0.11 [[ 0.99902393 -0.04376313 -0.00599839 1.38368711] [ 0.04382144 0.99898971 0.00996191 0.05958127] [ 0.00555636 -0.01021504 0.99993239 -0.11132904] [ 0. 0. 0. 1. ]] SLAMing on 2.6996492460000003 meters Centerline goodness [0,1] 0.8178443078202501 Centerline is valid? [False, False] Translation: X:1.42, Y:0.06, Z:-0.11 [[ 0.99882911 -0.04816771 -0.00450247 1.41896402] [ 0.04821594 0.99877304 0.01129783 0.0612561 ] [ 0.00395276 -0.01150169 0.99992604 -0.10929685] [ 0. 0. 0. 1. ]] SLAMing on 2.729649246 meters Centerline goodness [0,1] 0.8235031543863826 Centerline is valid? [False, False] Translation: X:1.43, Y:0.06, Z:-0.11 [[ 0.99869628 -0.05060563 -0.00669333 1.42592788] [ 0.05067608 0.99865662 0.01081181 0.06226534] [ 0.0061372 -0.0111369 0.99991915 -0.10950397] [ 0. 0. 0. 1. ]] SLAMing on 2.7596492460000004 meters Centerline goodness [0,1] 0.8338751528527544 Centerline is valid? [False, False] Translation: X:1.46, Y:0.06, Z:-0.11 [[ 0.99850517 -0.05375221 -0.00990584 1.45897265] [ 0.05385001 0.99850011 0.00988498 0.06157796] [ 0.00935964 -0.01040363 0.99990208 -0.10753664] [ 0. 0. 0. 1. ]] SLAMing on 2.789649246 meters Centerline goodness [0,1] 0.8294996867448313 Centerline is valid? [False, False] Translation: X:1.47, Y:0.06, Z:-0.11 [[ 0.9983403 -0.0563163 -0.01204659 1.46615804] [ 0.05643041 0.99836273 0.00935198 0.06257482] [ 0.0115002 -0.01001625 0.9998837 -0.10805096] [ 0. 0. 0. 1. ]] SLAMing on 2.819649246 meters Centerline goodness [0,1] 0.8307096004770423 Centerline is valid? [False, False] Translation: X:1.49, Y:0.06, Z:-0.10 [[ 0.99822163 -0.05533395 -0.02217494 1.48703603] [ 0.05553 0.99842231 0.00832468 0.06105645] [ 0.02167932 -0.00954125 0.99971945 -0.10410405] [ 0. 0. 0. 1. ]] SLAMing on 2.8496492460000002 meters Centerline goodness [0,1] 0.8392162683687101 Centerline is valid? [False, False] Translation: X:1.51, Y:0.06, Z:-0.10 [[ 0.99830671 -0.05447877 -0.02039058 1.5134309 ] [ 0.05464307 0.99847711 0.00758881 0.06149814] [ 0.0199461 -0.00869016 0.99976329 -0.10437825] [ 0. 0. 0. 1. ]] SLAMing on 2.879649246 meters Centerline goodness [0,1] 0.8463751779781681 Centerline is valid? [False, False] Translation: X:1.52, Y:0.06, Z:-0.10 [[ 0.99835336 -0.05281569 -0.02238467 1.51921125] [ 0.05307398 0.99852883 0.01110552 0.06061519] [ 0.02176519 -0.01227528 0.99968775 -0.10428646] [ 0. 0. 0. 1. ]] SLAMing on 2.9096492460000003 meters Centerline goodness [0,1] 0.8536939822641397 Centerline is valid? [False, False] Translation: X:1.54, Y:0.06, Z:-0.10 [[ 0.99834331 -0.04762055 -0.03229429 1.53626905] [ 0.04795796 0.99880172 0.00975464 0.05774824] [ 0.03179107 -0.01128725 0.9994308 -0.09912265] [ 0. 0. 0. 1. ]] SLAMing on 2.939649246 meters Centerline goodness [0,1] 0.8598610781287105 Centerline is valid? [False, False] Translation: X:1.55, Y:0.06, Z:-0.10 [[ 0.99851292 -0.0452406 -0.03041775 1.55326623] [ 0.04531401 0.9989713 0.00172817 0.05864651] [ 0.03030828 -0.00310395 0.99953578 -0.10296929] [ 0. 0. 0. 1. ]] SLAMing on 2.9696492460000004 meters Centerline goodness [0,1] 0.8653006681514477 Centerline is valid? [False, False] Translation: X:1.56, Y:0.06, Z:-0.10 [[ 0.99856851 -0.04272359 -0.03218108 1.55757616] [ 0.0429298 0.99906158 0.00574383 0.05661936] [ 0.03190548 -0.00711714 0.99946555 -0.10206838] [ 0. 0. 0. 1. ]] SLAMing on 2.999649246 meters Centerline goodness [0,1] 0.8756544115472211 Centerline is valid? [False, False] Translation: X:1.58, Y:0.06, Z:-0.11 [[ 9.98865669e-01 -3.85834427e-02 -2.79050792e-02 1.57501771e+00] [ 3.86405340e-02 9.99252036e-01 1.50937534e-03 5.75730999e-02] [ 2.78259703e-02 -2.58593037e-03 9.99609438e-01 -1.06179446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0296492460000004 meters Centerline goodness [0,1] 0.8755839394476967 Centerline is valid? [False, False] Translation: X:1.60, Y:0.06, Z:-0.11 [[ 0.99897457 -0.03496431 -0.02876306 1.5955809 ] [ 0.0349005 0.9993871 -0.00271759 0.05744082] [ 0.02884045 0.00171096 0.99958256 -0.10769071] [ 0. 0. 0. 1. ]] SLAMing on 3.059649246 meters Centerline goodness [0,1] 0.8844055736732879 Centerline is valid? [False, False] Translation: X:1.60, Y:0.05, Z:-0.11 [[ 0.9990891 -0.03061696 -0.02972492 1.59780185] [ 0.03070553 0.99952528 0.0025274 0.0548543 ] [ 0.02963342 -0.00343782 0.99955492 -0.10645181] [ 0. 0. 0. 1. ]] SLAMing on 3.089649246 meters Centerline goodness [0,1] 0.8844055736732879 Centerline is valid? [False, False] Translation: X:1.60, Y:0.05, Z:-0.11 [[ 0.9990891 -0.03061696 -0.02972492 1.59780185] [ 0.03070553 0.99952528 0.0025274 0.0548543 ] [ 0.02963342 -0.00343782 0.99955492 -0.10645181] [ 0. 0. 0. 1. ]] SLAMing on 3.1196492460000003 meters Centerline goodness [0,1] 0.8907356383136313 Centerline is valid? [False, False] Translation: X:1.61, Y:0.06, Z:-0.11 [[ 0.99927794 -0.02696518 -0.02676728 1.61391991] [ 0.02685165 0.99962888 -0.0045918 0.05600357] [ 0.02688116 0.00386974 0.99963115 -0.11167341] [ 0. 0. 0. 1. ]] SLAMing on 3.149649246 meters Centerline goodness [0,1] 0.8962457337883959 Centerline is valid? [False, False] Translation: X:1.62, Y:0.05, Z:-0.11 [[ 9.99357374e-01 -2.31354927e-02 -2.73785996e-02 1.61607378e+00] [ 2.31652369e-02 9.99731354e-01 7.69685099e-04 5.28938265e-02] [ 2.73534374e-02 -1.40342223e-03 9.99624840e-01 -1.10532162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1796492460000003 meters Centerline goodness [0,1] 0.8970496106918051 Centerline is valid? [False, False] Translation: X:1.62, Y:0.05, Z:-0.11 [[ 9.99281270e-01 -2.45360592e-02 -2.88950882e-02 1.62090951e+00] [ 2.45918505e-02 9.99696331e-01 1.57698999e-03 4.97086750e-02] [ 2.88476206e-02 -2.28644025e-03 9.99581206e-01 -1.10166694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.209649246 meters Centerline goodness [0,1] 0.8929929716737153 Centerline is valid? [False, False] Translation: X:1.63, Y:0.04, Z:-0.11 [[ 9.98963458e-01 -3.40307612e-02 -3.02310745e-02 1.62783895e+00] [ 3.39673280e-02 9.99419537e-01 -2.60950668e-03 3.87719838e-02] [ 3.03023299e-02 1.57993300e-03 9.99539530e-01 -1.09440726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2396492460000004 meters Centerline goodness [0,1] 0.8878429924941553 Centerline is valid? [False, False] Translation: X:1.63, Y:0.03, Z:-0.11 [[ 0.99868144 -0.04038266 -0.03169566 1.63377261] [ 0.04026369 0.99917948 -0.00438303 0.03176991] [ 0.03184665 0.00310107 0.99948796 -0.10737034] [ 0. 0. 0. 1. ]] SLAMing on 3.269649246 meters Centerline goodness [0,1] 0.8154247462208115 Centerline is valid? [False, False] Translation: X:1.64, Y:0.02, Z:-0.10 [[ 0.99807943 -0.05135645 -0.03464056 1.64407616] [ 0.05120533 0.99867442 -0.00523616 0.01670007] [ 0.03486356 0.00345233 0.99938612 -0.10152874] [ 0. 0. 0. 1. ]] SLAMing on 3.2996492460000004 meters Centerline goodness [0,1] 0.8228746215943492 Centerline is valid? [False, False] Translation: X:1.65, Y:0.01, Z:-0.09 [[ 0.99801268 -0.04610263 -0.04295625 1.65222438] [ 0.04584981 0.99892484 -0.00685279 0.01139241] [ 0.04322599 0.00486964 0.99905345 -0.0942989 ] [ 0. 0. 0. 1. ]] SLAMing on 3.3296492460000002 meters Centerline goodness [0,1] 0.8350456801441533 Centerline is valid? [False, False] Translation: X:1.67, Y:0.01, Z:-0.10 [[ 0.99833776 -0.0415992 -0.0398901 1.66787789] [ 0.04114791 0.99908017 -0.01206877 0.01020109] [ 0.04035546 0.01040732 0.99913118 -0.09678623] [ 0. 0. 0. 1. ]] SLAMing on 3.359649246 meters Centerline goodness [0,1] 0.8456130395031369 Centerline is valid? [False, False] Translation: X:1.67, Y:0.01, Z:-0.09 [[ 9.98525149e-01 -3.49960395e-02 -4.15066662e-02 1.67169958e+00] [ 3.49479798e-02 9.99387359e-01 -1.88313459e-03 6.97841384e-03] [ 4.15471397e-02 4.29783117e-04 9.99136452e-01 -9.27804457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3896492460000003 meters Centerline goodness [0,1] 0.8534239709291398 Centerline is valid? [False, False] Translation: X:1.67, Y:0.01, Z:-0.09 [[ 9.98607833e-01 -3.13539801e-02 -4.24184414e-02 1.67484515e+00] [ 3.14477940e-02 9.99504200e-01 1.54599294e-03 9.31213139e-03] [ 4.23489373e-02 -2.87780707e-03 9.99098737e-01 -9.45498071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.419649246 meters Centerline goodness [0,1] 0.8473875454203734 Centerline is valid? [False, False] Translation: X:1.68, Y:0.01, Z:-0.09 [[ 0.99862248 -0.02881368 -0.04385095 1.67861211] [ 0.02909473 0.99955992 0.00578447 0.0081927 ] [ 0.04366498 -0.00705234 0.99902134 -0.09327471] [ 0. 0. 0. 1. ]] SLAMing on 3.4496492460000003 meters Centerline goodness [0,1] 0.8251173339213154 Centerline is valid? [False, False] Translation: X:1.68, Y:0.01, Z:-0.09 [[ 0.99854799 -0.02978159 -0.04488847 1.68111137] [ 0.03009329 0.99952734 0.00628418 0.00611865] [ 0.0446801 -0.00762589 0.99897224 -0.09181782] [ 0. 0. 0. 1. ]] SLAMing on 3.479649246 meters Centerline goodness [0,1] 0.8127741487582442 Centerline is valid? [False, False] Translation: X:1.68, Y:0.00, Z:-0.09 [[ 0.99844494 -0.03117352 -0.04621598 1.68488524] [ 0.03151194 0.99948151 0.00661194 0.00485914] [ 0.0459859 -0.00805802 0.99890959 -0.09083247] [ 0. 0. 0. 1. ]] SLAMing on 3.5096492460000004 meters Centerline goodness [0,1] 0.7812006817751405 Centerline is valid? [False, False] Translation: X:1.69, Y:0.00, Z:-0.09 [[ 0.99823336 -0.03420567 -0.04858124 1.69227884] [ 0.0346145 0.99937185 0.00759894 0.00271255] [ 0.0482908 -0.00926713 0.99879033 -0.08834972] [ 0. 0. 0. 1. ]] SLAMing on 3.539649246 meters Centerline goodness [0,1] 0.773182163668609 Centerline is valid? [False, False] Translation: X:1.70, Y:0.00, Z:-0.09 [[ 0.99814808 -0.03525161 -0.04957545 1.69541148] [ 0.03567244 0.99933441 0.00762954 0.00240469] [ 0.0492735 -0.00938389 0.99874124 -0.08823153] [ 0. 0. 0. 1. ]] SLAMing on 3.5696492460000004 meters Centerline goodness [0,1] 0.7560573908086023 Centerline is valid? [False, False] Translation: X:1.70, Y:0.00, Z:-0.09 [[ 9.98037987e-01 -3.57433834e-02 -5.14061077e-02 1.70348592e+00] [ 3.63473303e-02 9.99280188e-01 1.08617735e-02 1.60929094e-03] [ 5.09808684e-02 -1.27089373e-02 9.98618763e-01 -8.77352590e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5996492460000002 meters Centerline goodness [0,1] 0.7524219590958019 Centerline is valid? [False, False] Translation: X:1.71, Y:0.00, Z:-0.09 [[ 9.98052492e-01 -3.32118456e-02 -5.28033803e-02 1.70748466e+00] [ 3.40621867e-02 9.99302808e-01 1.52861384e-02 2.64399578e-05] [ 5.22588854e-02 -1.70549672e-02 9.98487925e-01 -8.66764046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.629649246 meters Centerline goodness [0,1] 0.753095019472501 Centerline is valid? [False, False] Translation: X:1.73, Y:0.00, Z:-0.09 [[ 9.97985849e-01 -3.03963341e-02 -5.56804034e-02 1.73055386e+00] [ 3.10482472e-02 9.99458664e-01 1.08805217e-02 3.43182886e-04] [ 5.53195336e-02 -1.25873856e-02 9.98389356e-01 -8.90099703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6596492460000003 meters Centerline goodness [0,1] 0.7653580114336249 Centerline is valid? [False, False] Translation: X:1.75, Y:0.00, Z:-0.09 [[ 0.99829887 -0.0252993 -0.05252917 1.745923 ] [ 0.02557094 0.99966286 0.00450553 0.00194662] [ 0.05239747 -0.00584108 0.99860923 -0.09464134] [ 0. 0. 0. 1. ]] SLAMing on 3.689649246 meters Centerline goodness [0,1] 0.7837974523500963 Centerline is valid? [False, False] Translation: X:1.76, Y:0.00, Z:-0.10 [[ 9.98627389e-01 -2.07678800e-02 -4.80835991e-02 1.75904570e+00] [ 2.06782619e-02 9.99783395e-01 -2.36053341e-03 3.49595515e-03] [ 4.81222072e-02 1.36300806e-03 9.98840526e-01 -9.94962265e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7196492460000004 meters Centerline goodness [0,1] 0.8235127121317267 Centerline is valid? [False, False] Translation: X:1.77, Y:0.00, Z:-0.10 [[ 0.99895952 -0.01272562 -0.04379425 1.77143592] [ 0.01251928 0.99990922 -0.00498282 0.00361979] [ 0.04385368 0.00442937 0.99902815 -0.10145304] [ 0. 0. 0. 1. ]] SLAMing on 3.749649246 meters Centerline goodness [0,1] 0.8514545339811952 Centerline is valid? [False, False] Translation: X:1.77, Y:0.00, Z:-0.10 [[ 9.98973206e-01 -8.13008287e-03 -4.45694393e-02 1.77179036e+00] [ 8.15898608e-03 9.99966606e-01 4.66622512e-04 2.00328170e-03] [ 4.45641572e-02 -8.29784821e-04 9.99006180e-01 -9.87135776e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7796492460000004 meters Centerline goodness [0,1] 0.8756027608812128 Centerline is valid? [False, False] Translation: X:1.77, Y:0.00, Z:-0.10 [[ 9.98972873e-01 -3.93173765e-03 -4.51413424e-02 1.77260493e+00] [ 4.18470037e-03 9.99976060e-01 5.51066077e-03 1.95584888e-04] [ 4.51185953e-02 -5.69390361e-03 9.98965411e-01 -9.70185579e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.809649246 meters Centerline goodness [0,1] 0.9166247326707762 Centerline is valid? [False, False] Translation: X:1.79, Y:0.00, Z:-0.10 [[ 9.99150865e-01 1.56991860e-03 -4.11713912e-02 1.78586537e+00] [-1.60385441e-03 9.99998401e-01 -7.91239611e-04 2.12642906e-04] [ 4.11700832e-02 8.56600659e-04 9.99151786e-01 -1.01954238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8396492460000005 meters Centerline goodness [0,1] 0.9239329172183343 Centerline is valid? [False, False] Translation: X:1.79, Y:-0.00, Z:-0.10 [[ 0.99910872 0.00558316 -0.04184022 1.78699319] [-0.00540489 0.99997583 0.00437271 -0.00270299] [ 0.04186362 -0.00414267 0.99911475 -0.10009337] [ 0. 0. 0. 1. ]] SLAMing on 3.8696492460000003 meters Centerline goodness [0,1] 0.9377221400937313 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.00, Z:-0.10 [[ 9.99251201e-01 1.10546124e-02 -3.70787443e-02 1.79839095e+00] [-1.11431186e-02 9.99935535e-01 -2.18116617e-03 -1.73315466e-03] [ 3.70522420e-02 2.59270576e-03 9.99309967e-01 -1.03959428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.899649246 meters Centerline goodness [0,1] 0.9382517790792871 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.00, Z:-0.10 [[ 9.99238350e-01 1.11358704e-02 -3.73993621e-02 1.79878294e+00] [-1.12092006e-02 9.99935641e-01 -1.75161965e-03 -1.78786957e-03] [ 3.73774493e-02 2.16950248e-03 9.99298864e-01 -1.03022434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9296492460000003 meters Centerline goodness [0,1] 0.9351866410893425 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.00, Z:-0.10 [[ 9.99227783e-01 1.10875480e-02 -3.76948684e-02 1.79926976e+00] [-1.11287242e-02 9.99937684e-01 -8.82702396e-04 -2.23005131e-03] [ 3.76827324e-02 1.30151655e-03 9.99288906e-01 -1.01431407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.959649246 meters Centerline goodness [0,1] 0.9319659515657882 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.00, Z:-0.10 [[ 9.99213795e-01 1.06070856e-02 -3.82005466e-02 1.80091944e+00] [-1.06463276e-02 9.99942987e-01 -8.23981282e-04 -1.65925084e-03] [ 3.81896286e-02 1.23002899e-03 9.99269753e-01 -1.01311883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9896492460000004 meters Centerline goodness [0,1] 0.9214121933599271 Centerline is valid? [False, False] Translation: X:1.80, Y:-0.00, Z:-0.10 [[ 9.99197536e-01 9.16127869e-03 -3.89917219e-02 1.80398275e+00] [-9.21087900e-03 9.99956982e-01 -1.09261703e-03 -1.20067012e-03] [ 3.89800348e-02 1.45088828e-03 9.99238936e-01 -1.01385424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.019649246 meters Centerline goodness [0,1] 0.8789820923656928 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.00, Z:-0.10 [[ 9.99164701e-01 6.79416889e-03 -4.02956413e-02 1.80861587e+00] [-6.83962928e-03 9.99976119e-01 -9.90417614e-04 -1.95445550e-03] [ 4.02879500e-02 1.26519757e-03 9.99187310e-01 -1.00505164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.049649246 meters Centerline goodness [0,1] 0.8442689984901862 Centerline is valid? [False, False] Translation: X:1.81, Y:-0.00, Z:-0.10 [[ 9.99128473e-01 5.25733413e-03 -4.14083816e-02 1.81226163e+00] [-5.28875249e-03 9.99985804e-01 -6.49233208e-04 -3.43565772e-03] [ 4.14043805e-02 8.67666065e-04 9.99142094e-01 -9.98959507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.079649246000001 meters Centerline goodness [0,1] 0.8171457356043195 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.00, Z:-0.10 [[ 9.99095102e-01 3.61881766e-03 -4.23778436e-02 1.81570524e+00] [-3.63898039e-03 9.99993299e-01 -3.98653296e-04 -4.64851850e-03] [ 4.23761170e-02 5.52504697e-04 9.99101576e-01 -9.92217650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.109649246 meters Centerline goodness [0,1] 0.7549689834156222 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.00, Z:-0.10 [[ 0.99904234 -0.00294141 -0.04365479 1.82075222] [ 0.0027296 0.99998422 -0.00491061 -0.00468163] [ 0.04366855 0.00478674 0.99903461 -0.09969209] [ 0. 0. 0. 1. ]] SLAMing on 4.139649246 meters Centerline goodness [0,1] 0.7328734613802488 Centerline is valid? [False, False] Translation: X:1.82, Y:-0.01, Z:-0.10 [[ 0.99900235 -0.00424472 -0.04445548 1.82362721] [ 0.00404784 0.9999816 -0.00451775 -0.00600319] [ 0.04447384 0.0043333 0.99900115 -0.09909992] [ 0. 0. 0. 1. ]] SLAMing on 4.1696492460000005 meters Centerline goodness [0,1] 0.780170097062822 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.01, Z:-0.10 [[ 0.99887679 -0.00813445 -0.04667955 1.83228803] [ 0.00793063 0.9999582 -0.00454987 -0.0062455 ] [ 0.04671461 0.00417456 0.99889955 -0.09852817] [ 0. 0. 0. 1. ]] SLAMing on 4.199649246 meters Centerline goodness [0,1] 0.6880085788178893 Centerline is valid? [False, False] Translation: X:1.83, Y:-0.01, Z:-0.10 [[ 0.99883111 -0.00911821 -0.04746872 1.834845 ] [ 0.00891454 0.99995014 -0.00450042 -0.00586716] [ 0.04750739 0.004072 0.99886259 -0.0981269 ] [ 0. 0. 0. 1. ]] SLAMing on 4.229649246 meters Centerline goodness [0,1] 0.7420969773299748 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.00, Z:-0.10 [[ 0.99876769 -0.01044867 -0.04851719 1.83847258] [ 0.01022695 0.99993611 -0.00481582 -0.00473601] [ 0.04856441 0.0043137 0.99881074 -0.09832435] [ 0. 0. 0. 1. ]] SLAMing on 4.259649246 meters Centerline goodness [0,1] 0.7321355526887134 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.00, Z:-0.10 [[ 0.99872647 -0.01122279 -0.04918833 1.84092367] [ 0.01099696 0.99992772 -0.00485953 -0.00417015] [ 0.04923931 0.00431241 0.9987777 -0.09856209] [ 0. 0. 0. 1. ]] SLAMing on 4.289649246000001 meters Centerline goodness [0,1] 0.7235434755253555 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.00, Z:-0.10 [[ 0.99869372 -0.01168018 -0.04974352 1.84265809] [ 0.01146157 0.99992337 -0.00467756 -0.00381291] [ 0.04979434 0.00410131 0.99875107 -0.09834328] [ 0. 0. 0. 1. ]] SLAMing on 4.319649246 meters Centerline goodness [0,1] 0.720428755540188 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.01, Z:-0.10 [[ 9.98701397e-01 -8.33014438e-03 -5.02606040e-02 1.84322422e+00] [ 8.35878383e-03 9.99965000e-01 3.59650640e-04 -5.78841279e-03] [ 5.02558490e-02 -7.79301121e-04 9.98736072e-01 -9.50794600e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.349649246 meters Centerline goodness [0,1] 0.7262833417211878 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.01, Z:-0.09 [[ 9.98733464e-01 -6.78316497e-03 -4.98543465e-02 1.84068287e+00] [ 6.84840539e-03 9.99975902e-01 1.13791742e-03 -5.58268666e-03] [ 4.98454264e-02 -1.47789898e-03 9.98755851e-01 -9.35738148e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3796492460000005 meters Centerline goodness [0,1] 0.7287225643454919 Centerline is valid? [False, False] Translation: X:1.84, Y:-0.01, Z:-0.09 [[ 9.98742389e-01 -5.77876895e-03 -4.98020670e-02 1.83980540e+00] [ 5.85756728e-03 9.99981813e-01 1.43642396e-03 -5.62655672e-03] [ 4.97928605e-02 -1.72633646e-03 9.98758074e-01 -9.34218873e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.409649246000001 meters Centerline goodness [0,1] 0.7526511804065144 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.01, Z:-0.10 [[ 9.98975985e-01 6.80434879e-04 -4.52384519e-02 1.85136283e+00] [-8.34618590e-04 9.99993908e-01 -3.38944392e-03 -7.28874128e-03] [ 4.52358700e-02 3.42372993e-03 9.98970467e-01 -9.67332781e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.439649246 meters Centerline goodness [0,1] 0.7655264242462669 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.01, Z:-0.10 [[ 0.9989752 0.00204083 -0.04521479 1.85056159] [-0.00215374 0.99999468 -0.00244869 -0.00844326] [ 0.04520956 0.00254356 0.99897429 -0.09638531] [ 0. 0. 0. 1. ]] SLAMing on 4.469649246 meters Centerline goodness [0,1] 0.7782818349089524 Centerline is valid? [False, False] Translation: X:1.85, Y:-0.01, Z:-0.10 [[ 9.98992007e-01 3.70520955e-03 -4.47352447e-02 1.84875032e+00] [-3.76956545e-03 9.99991978e-01 -1.35432198e-03 -1.03079214e-02] [ 4.47298678e-02 1.52158926e-03 9.98997960e-01 -9.61665005e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.499649246000001 meters Centerline goodness [0,1] 0.8560558021559924 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.01, Z:-0.10 [[ 0.99909776 0.01451938 -0.03991064 1.85703264] [-0.01469961 0.99988303 -0.00422586 -0.0113178 ] [ 0.03984461 0.00480871 0.99919432 -0.09912415] [ 0. 0. 0. 1. ]] SLAMing on 4.529649246 meters Centerline goodness [0,1] 0.8865462166195662 Centerline is valid? [False, False] Translation: X:1.86, Y:-0.01, Z:-0.10 [[ 9.98999565e-01 1.93633125e-02 -4.03104259e-02 1.85708011e+00] [-1.93403048e-02 9.99812497e-01 9.60686324e-04 -1.40482573e-02] [ 4.03214697e-02 -1.80109295e-04 9.99186743e-01 -9.74987466e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.559649246 meters Centerline goodness [0,1] 0.9350238720080943 Centerline is valid? [False, False] Translation: X:1.87, Y:-0.01, Z:-0.10 [[ 0.99893696 0.02877847 -0.03601053 1.866562 ] [-0.02892745 0.99957495 -0.00362282 -0.01427687] [ 0.03589096 0.00466066 0.99934484 -0.10172594] [ 0. 0. 0. 1. ]] SLAMing on 4.5896492460000005 meters Centerline goodness [0,1] 0.9414249684741488 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.01, Z:-0.11 [[ 0.99881301 0.03712435 -0.03153342 1.87822125] [-0.03736926 0.99927549 -0.00721298 -0.01411588] [ 0.0312428 0.0083828 0.99947667 -0.10523477] [ 0. 0. 0. 1. ]] SLAMing on 4.619649246000001 meters Centerline goodness [0,1] 0.9394206549118388 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.01, Z:-0.10 [[ 0.99876876 0.03842783 -0.03137299 1.87670509] [-0.03866148 0.99922872 -0.00687482 -0.01304904] [ 0.03108461 0.00807929 0.9994841 -0.10454528] [ 0. 0. 0. 1. ]] SLAMing on 4.649649246 meters Centerline goodness [0,1] 0.9370605223505776 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.01, Z:-0.10 [[ 0.99861011 0.0418175 -0.03208023 1.87957021] [-0.0419277 0.99911681 -0.00277004 -0.01380234] [ 0.03193606 0.00411124 0.99948146 -0.10481511] [ 0. 0. 0. 1. ]] SLAMing on 4.679649246 meters Centerline goodness [0,1] 0.9372781808473885 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.01, Z:-0.11 [[ 0.99861023 0.04157292 -0.03239293 1.88093789] [-0.04169772 0.99912519 -0.00318639 -0.01272698] [ 0.03223213 0.00453267 0.99947013 -0.10576666] [ 0. 0. 0. 1. ]] SLAMing on 4.709649246000001 meters Centerline goodness [0,1] 0.9370416797242244 Centerline is valid? [False, False] Translation: X:1.88, Y:-0.01, Z:-0.11 [[ 0.99862241 0.04066777 -0.03315734 1.8839072 ] [-0.0408039 0.99916126 -0.0034389 -0.01283949] [ 0.03298968 0.00478712 0.99944423 -0.10676442] [ 0. 0. 0. 1. ]] SLAMing on 4.739649246 meters Centerline goodness [0,1] 0.9355091302032762 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.01, Z:-0.11 [[ 0.99862673 0.04008225 -0.03373513 1.88575664] [-0.0402144 0.9991858 -0.00324756 -0.01315767] [ 0.03357749 0.00459974 0.99942553 -0.10660458] [ 0. 0. 0. 1. ]] SLAMing on 4.769649246 meters Centerline goodness [0,1] 0.9362671189847971 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.02, Z:-0.10 [[ 0.99862637 0.03909092 -0.03488933 1.88863826] [-0.03918814 0.99922963 -0.00210675 -0.01580132] [ 0.0347801 0.00347111 0.99938896 -0.10474362] [ 0. 0. 0. 1. ]] SLAMing on 4.799649246 meters Centerline goodness [0,1] 0.933557532136908 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.02, Z:-0.10 [[ 0.99863015 0.03842795 -0.03551227 1.89050508] [-0.03851981 0.99925602 -0.00190595 -0.0169968 ] [ 0.03541261 0.00327127 0.99936742 -0.10457831] [ 0. 0. 0. 1. ]] SLAMing on 4.829649246000001 meters Centerline goodness [0,1] 0.9345417925478349 Centerline is valid? [False, False] Translation: X:1.89, Y:-0.02, Z:-0.10 [[ 0.99862948 0.03760887 -0.03639702 1.89309322] [-0.03770378 0.99928711 -0.00192449 -0.01728434] [ 0.0362987 0.00329416 0.99933556 -0.10464336] [ 0. 0. 0. 1. ]] SLAMing on 4.859649246 meters Centerline goodness [0,1] 0.9338642659279779 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.02, Z:-0.11 [[ 0.99862644 0.03695316 -0.03714422 1.89554016] [-0.037062 0.99931044 -0.00224568 -0.01715542] [ 0.03703563 0.00361923 0.99930739 -0.10534961] [ 0. 0. 0. 1. ]] SLAMing on 4.889649246 meters Centerline goodness [0,1] 0.9310507748519592 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.02, Z:-0.10 [[ 0.99862242 0.03666403 -0.0375368 1.89670324] [-0.03676488 0.99932194 -0.0019998 -0.01728601] [ 0.03743803 0.00337708 0.99929324 -0.10498025] [ 0. 0. 0. 1. ]] SLAMing on 4.9196492460000005 meters Centerline goodness [0,1] 0.9321836914185199 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.02, Z:-0.10 [[ 9.98589059e-01 3.71216690e-02 -3.79719986e-02 1.89684103e+00] [-3.71995519e-02 9.99306950e-01 -1.34635216e-03 -1.70608548e-02] [ 3.78957032e-02 2.75699387e-03 9.99277897e-01 -1.03565369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.949649246000001 meters Centerline goodness [0,1] 0.9316209866875489 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.02, Z:-0.10 [[ 9.98579609e-01 3.67438533e-02 -3.85830695e-02 1.89867397e+00] [-3.68275835e-02 9.99320566e-01 -1.46141087e-03 -1.67824760e-02] [ 3.85031570e-02 2.88025631e-03 9.99254327e-01 -1.03928653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.979649246 meters Centerline goodness [0,1] 0.9308528978465975 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.02, Z:-0.10 [[ 9.98551943e-01 3.67715954e-02 -3.92666169e-02 1.90002744e+00] [-3.68349599e-02 9.99320965e-01 -8.91204746e-04 -1.72379593e-02] [ 3.92071825e-02 2.33629849e-03 9.99228372e-01 -1.03073004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.009649246 meters Centerline goodness [0,1] 0.9308528978465975 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.02, Z:-0.10 [[ 9.98551943e-01 3.67715954e-02 -3.92666169e-02 1.90002744e+00] [-3.68349599e-02 9.99320965e-01 -8.91204746e-04 -1.72379593e-02] [ 3.92071825e-02 2.33629849e-03 9.99228372e-01 -1.03073004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.039649246000001 meters Centerline goodness [0,1] 0.9296013570822731 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.02, Z:-0.10 [[ 9.98548480e-01 3.63734887e-02 -3.97228279e-02 1.90134496e+00] [-3.64273280e-02 9.99336105e-01 -6.32191801e-04 -1.83856008e-02] [ 3.96734611e-02 2.07827064e-03 9.99210537e-01 -1.02887864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.069649246 meters Centerline goodness [0,1] 0.925508538422903 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.02, Z:-0.10 [[ 9.98533586e-01 3.58555066e-02 -4.05593366e-02 1.90400690e+00] [-3.59051596e-02 9.99355079e-01 -4.96190324e-04 -1.94940512e-02] [ 4.05153878e-02 1.95175216e-03 9.99177008e-01 -1.03415516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.099649246 meters Centerline goodness [0,1] 0.9266918476550204 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.02, Z:-0.10 [[ 9.98511020e-01 3.60272488e-02 -4.09607263e-02 1.90468388e+00] [-3.60458599e-02 9.99350096e-01 2.84328326e-04 -2.17236560e-02] [ 4.09443493e-02 1.19255963e-03 9.99160717e-01 -1.02666642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.1296492460000005 meters Centerline goodness [0,1] 0.9294295238694258 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.02, Z:-0.10 [[ 9.98482947e-01 3.62671344e-02 -4.14306648e-02 1.90522414e+00] [-3.62658957e-02 9.99341870e-01 7.81727799e-04 -2.25224018e-02] [ 4.14317491e-02 7.21978293e-04 9.99141076e-01 -1.01883869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.159649246000001 meters Centerline goodness [0,1] 0.932315505674337 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.02, Z:-0.10 [[ 9.98456202e-01 3.65990016e-02 -4.17818842e-02 1.90556719e+00] [-3.65805724e-02 9.99329979e-01 1.20579030e-03 -2.27280387e-02] [ 4.17980202e-02 3.24476438e-04 9.99126028e-01 -1.01200180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.189649246 meters Centerline goodness [0,1] 0.9393197022519552 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.02, Z:-0.10 [[ 9.98420590e-01 3.76608191e-02 -4.16891735e-02 1.90428424e+00] [-3.76200235e-02 9.99290561e-01 1.76292739e-03 -2.26326519e-02] [ 4.17259909e-02 -1.91795322e-04 9.99129073e-01 -1.00294414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.219649246 meters Centerline goodness [0,1] 0.9399261207112447 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.02, Z:-0.10 [[ 9.98393076e-01 3.80545173e-02 -4.19895200e-02 1.90465826e+00] [-3.80194350e-02 9.99275664e-01 1.63403585e-03 -2.13741487e-02] [ 4.20212880e-02 -3.49922468e-05 9.99116715e-01 -1.00455209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.249649246000001 meters Centerline goodness [0,1] 0.9387231913962358 Centerline is valid? [False, False] Translation: X:1.90, Y:-0.02, Z:-0.10 [[ 9.98367087e-01 3.87678685e-02 -4.19548726e-02 1.90455985e+00] [-3.87348678e-02 9.99248243e-01 1.59951280e-03 -2.02511794e-02] [ 4.19853425e-02 2.82155078e-05 9.99118226e-01 -1.01058478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.279649246 meters Centerline goodness [0,1] 0.9358181931697571 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.02, Z:-0.10 [[ 9.98336793e-01 3.88060777e-02 -4.26349105e-02 1.90613649e+00] [-3.87661386e-02 9.99246755e-01 1.76345286e-03 -2.03628723e-02] [ 4.26712286e-02 -1.07729027e-04 9.99089163e-01 -1.01106782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.309649246 meters Centerline goodness [0,1] 0.9365411654428996 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.02, Z:-0.10 [[ 9.98313842e-01 3.88888627e-02 -4.30944144e-02 1.90675790e+00] [-3.88314936e-02 9.99243422e-01 2.16785947e-03 -2.11904433e-02] [ 4.31461157e-02 -4.90783640e-04 9.99068652e-01 -1.00371985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3396492460000005 meters Centerline goodness [0,1] 0.9398129320862139 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.02, Z:-0.10 [[ 9.98278297e-01 3.86851689e-02 -4.40896738e-02 1.90854482e+00] [-3.86108352e-02 9.99251104e-01 2.53662301e-03 -2.24712863e-02] [ 4.41547849e-02 -8.29916566e-04 9.99024357e-01 -9.94741107e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.369649246000001 meters Centerline goodness [0,1] 0.9392697349895185 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.02, Z:-0.10 [[ 9.98246819e-01 3.85080905e-02 -4.49490361e-02 1.91057072e+00] [-3.84258611e-02 9.99257827e-01 2.69232157e-03 -2.21546798e-02] [ 4.50193523e-02 -9.60396028e-04 9.98985653e-01 -9.92767154e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.399649246 meters Centerline goodness [0,1] 0.9408089957832266 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.02, Z:-0.10 [[ 9.98240754e-01 3.81033469e-02 -4.54261135e-02 1.91221638e+00] [-3.80335625e-02 9.99273581e-01 2.39984887e-03 -2.16393145e-02] [ 4.54845573e-02 -6.67910022e-04 9.98964819e-01 -9.99128494e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.429649246 meters Centerline goodness [0,1] 0.9383685989733317 Centerline is valid? [False, False] Translation: X:1.91, Y:-0.02, Z:-0.10 [[ 9.98235183e-01 3.78041701e-02 -4.57969927e-02 1.91351357e+00] [-3.77331176e-02 9.99284933e-01 2.41527036e-03 -2.16524575e-02] [ 4.58555521e-02 -6.82944543e-04 9.98947847e-01 -1.00195450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.459649246000001 meters Centerline goodness [0,1] 0.9408540193727225 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.02, Z:-0.10 [[ 9.98208268e-01 3.76813963e-02 -4.64797475e-02 1.91502238e+00] [-3.75940414e-02 9.99289303e-01 2.75245266e-03 -2.17998807e-02] [ 4.65504308e-02 -1.00015945e-03 9.98915440e-01 -9.97117568e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.489649246000001 meters Centerline goodness [0,1] 0.9384217254388426 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.02, Z:-0.10 [[ 9.98198505e-01 3.74361105e-02 -4.68858525e-02 1.91610531e+00] [-3.73436338e-02 9.99298428e-01 2.84706264e-03 -2.20614794e-02] [ 4.69595416e-02 -1.09104556e-03 9.98896196e-01 -9.96037884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.519649246 meters Centerline goodness [0,1] 0.940701820228936 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.02, Z:-0.10 [[ 9.98191567e-01 3.69717184e-02 -4.73992348e-02 1.91720281e+00] [-3.68504560e-02 9.99314905e-01 3.42990471e-03 -2.42095044e-02] [ 4.74935713e-02 -1.67701853e-03 9.98870136e-01 -9.84927012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.549649246 meters Centerline goodness [0,1] 0.9392050615466533 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.03, Z:-0.10 [[ 0.99818448 0.0364928 -0.04791675 1.91813903] [-0.03631244 0.99932976 0.00462934 -0.02714623] [ 0.04805357 -0.00288097 0.99884061 -0.09637349] [ 0. 0. 0. 1. ]] SLAMing on 5.579649246000001 meters Centerline goodness [0,1] 0.93946321756287 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.03, Z:-0.10 [[ 0.99817416 0.0359055 -0.04857108 1.91987698] [-0.03572593 0.99935122 0.00456041 -0.02760724] [ 0.04870332 -0.00281683 0.99880932 -0.09632126] [ 0. 0. 0. 1. ]] SLAMing on 5.609649246 meters Centerline goodness [0,1] 0.940744920993228 Centerline is valid? [False, False] Translation: X:1.92, Y:-0.03, Z:-0.10 [[ 0.99816598 0.03538493 -0.04911811 1.92170541] [-0.03521212 0.99937027 0.00437943 -0.02790996] [ 0.04924214 -0.00264185 0.99878338 -0.09687134] [ 0. 0. 0. 1. ]] SLAMing on 5.639649246 meters Centerline goodness [0,1] 0.9388183013081305 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.03, Z:-0.10 [[ 0.99815448 0.03426315 -0.05013654 1.92521164] [-0.03411352 0.9994106 0.00383728 -0.02815632] [ 0.05023846 -0.00211986 0.998735 -0.09808734] [ 0. 0. 0. 1. ]] SLAMing on 5.6696492460000005 meters Centerline goodness [0,1] 0.9401220084467387 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.03, Z:-0.10 [[ 0.99813416 0.03358279 -0.05099403 1.92773746] [-0.03343357 0.99943381 0.00377661 -0.02851141] [ 0.05109198 -0.00206465 0.99869182 -0.09839768] [ 0. 0. 0. 1. ]] SLAMing on 5.699649246000001 meters Centerline goodness [0,1] 0.942060287350925 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.03, Z:-0.10 [[ 0.99811397 0.0327959 -0.05189337 1.93032835] [-0.03263886 0.99945971 0.00387112 -0.03000846] [ 0.05199229 -0.00217008 0.99864513 -0.09845396] [ 0. 0. 0. 1. ]] SLAMing on 5.729649246 meters Centerline goodness [0,1] 0.9432752743988242 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.03, Z:-0.10 [[ 0.99809044 0.03246947 -0.05254711 1.93178828] [-0.03231186 0.99947043 0.00384629 -0.03014237] [ 0.05264417 -0.00214105 0.99861104 -0.09830294] [ 0. 0. 0. 1. ]] SLAMing on 5.759649246 meters Centerline goodness [0,1] 0.9425888245421818 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.03, Z:-0.10 [[ 0.99807431 0.03249179 -0.05283901 1.93244806] [-0.03233291 0.9994697 0.00385913 -0.03033922] [ 0.05293638 -0.00214325 0.99859559 -0.09845211] [ 0. 0. 0. 1. ]] SLAMing on 5.789649246000001 meters Centerline goodness [0,1] 0.9431038782890635 Centerline is valid? [False, False] Translation: X:1.93, Y:-0.03, Z:-0.10 [[ 9.98035860e-01 3.23447090e-02 -5.36492542e-02 1.93481187e+00] [-3.22059158e-02 9.99475301e-01 3.44979556e-03 -2.89060976e-02] [ 5.37326871e-02 -1.71519632e-03 9.98553883e-01 -9.96570309e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.819649246 meters Centerline goodness [0,1] 0.9420072958563277 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.03, Z:-0.10 [[ 9.98015890e-01 3.22064574e-02 -5.41020045e-02 1.93632032e+00] [-3.20834290e-02 9.99480258e-01 3.14122073e-03 -2.82939110e-02] [ 5.41750530e-02 -1.39921038e-03 9.98530473e-01 -1.00594737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.849649246 meters Centerline goodness [0,1] 0.9408307941048443 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.03, Z:-0.10 [[ 9.97966797e-01 3.24066020e-02 -5.48824617e-02 1.93853516e+00] [-3.23186019e-02 9.99474515e-01 2.49043582e-03 -2.70434094e-02] [ 5.49343284e-02 -7.11647829e-04 9.98489716e-01 -1.02456222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.8796492460000005 meters Centerline goodness [0,1] 0.9433358199676738 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.03, Z:-0.10 [[ 9.97914149e-01 3.28430407e-02 -5.55759556e-02 1.93979766e+00] [-3.27409453e-02 9.99460097e-01 2.74680007e-03 -2.73363225e-02] [ 5.56361633e-02 -9.21461331e-04 9.98450684e-01 -1.02586582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.909649246000001 meters Centerline goodness [0,1] 0.9441266090417263 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.03, Z:-0.10 [[ 9.97890656e-01 3.29566607e-02 -5.59293985e-02 1.94057537e+00] [-3.28504998e-02 9.99456308e-01 2.81668730e-03 -2.76159916e-02] [ 5.59918187e-02 -9.73437239e-04 9.98430753e-01 -1.02768280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.939649246 meters Centerline goodness [0,1] 0.9436264591439689 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.03, Z:-0.10 [[ 9.97832651e-01 3.39887491e-02 -5.63450526e-02 1.94022053e+00] [-3.38304176e-02 9.99420508e-01 3.76177883e-03 -2.95016769e-02] [ 5.64402592e-02 -1.84744909e-03 9.98404269e-01 -1.01581604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.969649246 meters Centerline goodness [0,1] 0.9445171339563863 Centerline is valid? [False, False] Translation: X:1.94, Y:-0.03, Z:-0.10 [[ 0.99779486 0.03458186 -0.05665263 1.9402738 ] [-0.03440668 0.99939965 0.00406492 -0.03016022] [ 0.05675919 -0.00210673 0.99838567 -0.10134758] [ 0. 0. 0. 1. ]] SLAMing on 5.999649246000001 meters Centerline goodness [0,1] 0.9443600632342457 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.03, Z:-0.10 [[ 9.97850103e-01 3.95236794e-02 -5.22785853e-02 1.95389942e+00] [-3.96636057e-02 9.99211741e-01 -1.64137133e-03 -2.94750224e-02] [ 5.21725032e-02 3.71139975e-03 9.98631191e-01 -1.04819664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.029649246000001 meters Centerline goodness [0,1] 0.9441053446940356 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.03, Z:-0.10 [[ 9.97809542e-01 4.02525087e-02 -5.24962156e-02 1.95369547e+00] [-4.03730837e-02 9.99183908e-01 -1.23797989e-03 -2.88668467e-02] [ 5.24035421e-02 3.35470225e-03 9.98620356e-01 -1.04369490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.059649246 meters Centerline goodness [0,1] 0.944189933758435 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.03, Z:-0.10 [[ 9.97752999e-01 4.13709581e-02 -5.27010098e-02 1.95313070e+00] [-4.14708468e-02 9.99139392e-01 -8.02789170e-04 -2.76672591e-02] [ 5.26224428e-02 2.98654081e-03 9.98610014e-01 -1.03830211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0896492460000005 meters Centerline goodness [0,1] 0.9424338035139816 Centerline is valid? [False, False] Translation: X:1.95, Y:-0.03, Z:-0.10 [[ 9.97729339e-01 4.13586359e-02 -5.31566455e-02 1.95412485e+00] [-4.14528409e-02 9.99140237e-01 -6.70438547e-04 -2.72435379e-02] [ 5.30832149e-02 2.87241018e-03 9.98585961e-01 -1.03671278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.119649246000001 meters Centerline goodness [0,1] 0.9456450962760845 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.03, Z:-0.10 [[ 9.97702601e-01 4.12899890e-02 -5.37090096e-02 1.95511523e+00] [-4.13588514e-02 9.99144342e-01 -1.70821571e-04 -2.79764783e-02] [ 5.36559999e-02 2.39177207e-03 9.98556615e-01 -1.02807285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.149649246 meters Centerline goodness [0,1] 0.9451438848920863 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.03, Z:-0.10 [[ 9.97676505e-01 4.12694960e-02 -5.42071926e-02 1.95586977e+00] [-4.13071900e-02 9.99146403e-01 4.25324134e-04 -2.90502152e-02] [ 5.41784744e-02 1.81481090e-03 9.98529619e-01 -1.01864265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.179649246 meters Centerline goodness [0,1] 0.9443220943577655 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.03, Z:-0.10 [[ 9.97643303e-01 4.12519544e-02 -5.48280646e-02 1.95671842e+00] [-4.12374683e-02 9.99148399e-01 1.39600234e-03 -3.10601089e-02] [ 5.48389607e-02 8.68258191e-04 9.98494834e-01 -1.00286355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.209649246000001 meters Centerline goodness [0,1] 0.9480918399007137 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.03, Z:-0.10 [[ 9.97622138e-01 4.14612418e-02 -5.50548419e-02 1.95672358e+00] [-4.14032899e-02 9.99140109e-01 2.19328704e-03 -3.21411506e-02] [ 5.50984372e-02 9.13798725e-05 9.98480923e-01 -9.90615968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.239649246000001 meters Centerline goodness [0,1] 0.9481405663596042 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.03, Z:-0.10 [[ 9.97606849e-01 4.12982122e-02 -5.54529710e-02 1.95770611e+00] [-4.12340758e-02 9.99146865e-01 2.30073844e-03 -3.28616323e-02] [ 5.55006785e-02 -8.68041668e-06 9.98458649e-01 -9.89850248e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.269649246 meters Centerline goodness [0,1] 0.9487585350713842 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.03, Z:-0.10 [[ 9.97586018e-01 4.13959334e-02 -5.57540456e-02 1.95845060e+00] [-4.13212056e-02 9.99142804e-01 2.49294963e-03 -3.32922828e-02] [ 5.58094515e-02 -1.83107313e-04 9.98441421e-01 -9.91452503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.299649246 meters Centerline goodness [0,1] 0.9468593042723383 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.03, Z:-0.10 [[ 9.97551376e-01 4.10518459e-02 -5.66215418e-02 1.96078831e+00] [-4.09950635e-02 9.99157005e-01 2.16450099e-03 -3.33429319e-02] [ 5.66626668e-02 1.62002756e-04 9.98393367e-01 -9.98823997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.329649246000001 meters Centerline goodness [0,1] 0.9460145488314502 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.03, Z:-0.10 [[ 9.97531821e-01 4.06095528e-02 -5.72811572e-02 1.96266944e+00] [-4.05625964e-02 9.99175032e-01 1.98268708e-03 -3.32936238e-02] [ 5.73144181e-02 3.45679009e-04 9.98356118e-01 -1.00255201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.359649246 meters Centerline goodness [0,1] 0.9458291894579811 Centerline is valid? [False, False] Translation: X:1.96, Y:-0.03, Z:-0.10 [[ 9.97509586e-01 4.02889445e-02 -5.78915142e-02 1.96441567e+00] [-4.02493822e-02 9.99187953e-01 1.84972533e-03 -3.38338549e-02] [ 5.79190270e-02 4.84978931e-04 9.98321166e-01 -1.00758501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.389649246 meters Centerline goodness [0,1] 0.9485886783057915 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.03, Z:-0.10 [[ 9.97484074e-01 4.00721009e-02 -5.84786244e-02 1.96567528e+00] [-4.00188641e-02 9.99196756e-01 2.08167791e-03 -3.42388806e-02] [ 5.85150690e-02 2.63807559e-04 9.98286490e-01 -1.00366766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.4196492460000005 meters Centerline goodness [0,1] 0.9435356690064628 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.03, Z:-0.10 [[ 9.97446314e-01 3.94538310e-02 -5.95335661e-02 1.96861075e+00] [-3.94206093e-02 9.99221203e-01 1.73285388e-03 -3.34440687e-02] [ 5.95555693e-02 6.18420732e-04 9.98224800e-01 -1.00948850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.449649246000001 meters Centerline goodness [0,1] 0.9459375678105335 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.03, Z:-0.10 [[ 9.97433839e-01 3.93742117e-02 -5.97947220e-02 1.96935087e+00] [-3.93399984e-02 9.99224351e-01 1.74974409e-03 -3.32409627e-02] [ 5.98172371e-02 6.07070304e-04 9.98209161e-01 -1.01074534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.479649246 meters Centerline goodness [0,1] 0.9458103672508825 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.03, Z:-0.10 [[ 9.97400720e-01 3.92643152e-02 -6.04162066e-02 1.97050596e+00] [-3.92092060e-02 9.99228821e-01 2.09786512e-03 -3.32332452e-02] [ 6.04519862e-02 2.76459314e-04 9.98171068e-01 -1.00331054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.509649246 meters Centerline goodness [0,1] 0.9459877977020038 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.03, Z:-0.10 [[ 9.97374907e-01 3.91610232e-02 -6.09073845e-02 1.97145849e+00] [-3.90877174e-02 9.99232913e-01 2.39502661e-03 -3.35704960e-02] [ 6.09544550e-02 -8.00881054e-06 9.98140548e-01 -9.97966120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.539649246000001 meters Centerline goodness [0,1] 0.9472296333064466 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.03, Z:-0.10 [[ 9.97349834e-01 3.91111898e-02 -6.13483698e-02 1.97209564e+00] [-3.90081990e-02 9.99234752e-01 2.87602136e-03 -3.43376935e-02] [ 6.14139077e-02 -4.75310008e-04 9.98112271e-01 -9.88209754e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.569649246000001 meters Centerline goodness [0,1] 0.9487179487179487 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.04, Z:-0.10 [[ 9.97331452e-01 3.88823490e-02 -6.17910788e-02 1.97308020e+00] [-3.87660236e-02 9.99243566e-01 3.08074219e-03 -3.52434380e-02] [ 6.18641244e-02 -6.77126664e-04 9.98084351e-01 -9.85093322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.599649246 meters Centerline goodness [0,1] 0.9477823019301899 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.04, Z:-0.10 [[ 9.97306945e-01 3.88578476e-02 -6.22006792e-02 1.97369006e+00] [-3.87093857e-02 9.99244060e-01 3.59054130e-03 -3.66616076e-02] [ 6.22931800e-02 -1.17312169e-03 9.98057205e-01 -9.77119780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.6296492460000005 meters Centerline goodness [0,1] 0.9482517916421059 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.04, Z:-0.10 [[ 9.97282912e-01 3.87282691e-02 -6.26650992e-02 1.97476536e+00] [-3.85739521e-02 9.99249005e-01 3.67095960e-03 -3.67969641e-02] [ 6.27602079e-02 -1.24374474e-03 9.98027860e-01 -9.76479701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.659649246000001 meters Centerline goodness [0,1] 0.9499193748449516 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.04, Z:-0.10 [[ 9.97256012e-01 3.86389859e-02 -6.31464634e-02 1.97569947e+00] [-3.84748649e-02 9.99252292e-01 3.81343375e-03 -3.67872460e-02] [ 6.32465955e-02 -1.37341808e-03 9.97996985e-01 -9.73089977e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.689649246 meters Centerline goodness [0,1] 0.9511551360079493 Centerline is valid? [False, True] Translation: X:1.98, Y:-0.04, Z:-0.10 [[ 9.97235312e-01 3.87199608e-02 -6.34231568e-02 1.97622931e+00] [-3.85416973e-02 9.99248857e-01 4.03220244e-03 -3.73340535e-02] [ 6.35316437e-02 -1.57661855e-03 9.97978579e-01 -9.71290765e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.719649246 meters Centerline goodness [0,1] 0.9488706875155125 Centerline is valid? [True, False] Translation: X:1.98, Y:-0.04, Z:-0.10 [[ 9.97221053e-01 3.84060604e-02 -6.38368770e-02 1.97765582e+00] [-3.82465924e-02 9.99261412e-01 3.71864976e-03 -3.71775791e-02] [ 6.39325466e-02 -1.26677282e-03 9.97953418e-01 -9.78728152e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.749649246000001 meters Centerline goodness [0,1] 0.9492203242707009 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.04, Z:-0.10 [[ 9.97196505e-01 3.84093348e-02 -6.42172295e-02 1.97853646e+00] [-3.82416218e-02 9.99261146e-01 3.83922440e-03 -3.74862238e-02] [ 6.43172444e-02 -1.37269016e-03 9.97928558e-01 -9.78526808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.779649246000001 meters Centerline goodness [0,1] 0.9480209527942225 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.04, Z:-0.10 [[ 9.97167022e-01 3.82266596e-02 -6.47815844e-02 1.97959946e+00] [-3.80402067e-02 9.99267759e-01 4.10963851e-03 -3.82520633e-02] [ 6.48912464e-02 -1.63369114e-03 9.97891005e-01 -9.72694571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.809649246 meters Centerline goodness [0,1] 0.9501382459846531 Centerline is valid? [False, True] Translation: X:1.98, Y:-0.04, Z:-0.10 [[ 0.99713068 0.03827281 -0.06531152 1.98020809] [-0.0380429 0.99926477 0.00476077 -0.03992845] [ 0.06544571 -0.00226247 0.99785357 -0.09613487] [ 0. 0. 0. 1. ]] SLAMing on 6.8396492460000005 meters Centerline goodness [0,1] 0.9493737762998415 Centerline is valid? [True, False] Translation: X:1.98, Y:-0.04, Z:-0.10 [[ 0.99710481 0.03830395 -0.06568725 1.98115752] [-0.03808012 0.99926384 0.00465663 -0.0397325 ] [ 0.06581726 -0.00214177 0.99782939 -0.09649811] [ 0. 0. 0. 1. ]] SLAMing on 6.869649246000001 meters Centerline goodness [0,1] 0.9471905234433143 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.04, Z:-0.10 [[ 9.97095304e-01 3.80026624e-02 -6.60057071e-02 1.98238404e+00] [-3.78028192e-02 9.99276076e-01 4.27444608e-03 -3.91954488e-02] [ 6.61203644e-02 -1.76682829e-03 9.97810090e-01 -9.72799196e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.899649246 meters Centerline goodness [0,1] 0.9498253315608867 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.04, Z:-0.10 [[ 9.97055167e-01 3.75809525e-02 -6.68480867e-02 1.98465745e+00] [-3.73990429e-02 9.99292521e-01 3.97103021e-03 -3.86570576e-02] [ 6.69500282e-02 -1.45928172e-03 9.97755263e-01 -9.78002063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.929649246 meters Centerline goodness [0,1] 0.9498253315608867 Centerline is valid? [False, False] Translation: X:1.98, Y:-0.04, Z:-0.10 [[ 9.97055167e-01 3.75809525e-02 -6.68480867e-02 1.98465745e+00] [-3.73990429e-02 9.99292521e-01 3.97103021e-03 -3.86570576e-02] [ 6.69500282e-02 -1.45928172e-03 9.97755263e-01 -9.78002063e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.959649246000001 meters Centerline goodness [0,1] 0.9478611283323001 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.04, Z:-0.10 [[ 9.97037756e-01 3.75111907e-02 -6.71462817e-02 1.98535698e+00] [-3.73250800e-02 9.99295072e-01 4.02455767e-03 -3.88729457e-02] [ 6.72499144e-02 -1.50639561e-03 9.97735025e-01 -9.77953749e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.989649246000001 meters Centerline goodness [0,1] 0.9474695509343912 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.04, Z:-0.10 [[ 9.97010775e-01 3.73809596e-02 -6.76178859e-02 1.98629499e+00] [-3.71794946e-02 9.99299626e-01 4.23589370e-03 -3.91144139e-02] [ 6.77288699e-02 -1.70923284e-03 9.97702300e-01 -9.73631722e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.019649246 meters Centerline goodness [0,1] 0.9484015008217309 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.04, Z:-0.10 [[ 9.96983890e-01 3.74665888e-02 -6.79659980e-02 1.98681095e+00] [-3.72489106e-02 9.99296032e-01 4.46767081e-03 -3.95211257e-02] [ 6.80855405e-02 -1.92253644e-03 9.97677635e-01 -9.69707819e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.049649246 meters Centerline goodness [0,1] 0.9487227240276872 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.04, Z:-0.10 [[ 9.96957992e-01 3.71990153e-02 -6.84908410e-02 1.98825291e+00] [-3.69945445e-02 9.99306422e-01 4.25178293e-03 -3.93148694e-02] [ 6.86014994e-02 -1.70506151e-03 9.97642685e-01 -9.73859041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.079649246000001 meters Centerline goodness [0,1] 0.9483541783336444 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.04, Z:-0.10 [[ 0.99693895 0.03712976 -0.06880485 1.98893129] [-0.0369036 0.99930845 0.00455558 -0.04021763] [ 0.06892641 -0.00200248 0.99761974 -0.09711506] [ 0. 0. 0. 1. ]] SLAMing on 7.109649246000001 meters Centerline goodness [0,1] 0.9499968864811009 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.04, Z:-0.10 [[ 0.99692417 0.03671217 -0.0692417 1.98960119] [-0.03640965 0.99932111 0.00562642 -0.04282657] [ 0.06940125 -0.00308805 0.99758405 -0.09512915] [ 0. 0. 0. 1. ]] SLAMing on 7.139649246 meters Centerline goodness [0,1] 0.9492767177952364 Centerline is valid? [False, False] Translation: X:1.99, Y:-0.04, Z:-0.09 [[ 0.99690799 0.03666238 -0.06950053 1.98992399] [-0.03632633 0.9993214 0.00609334 -0.04405498] [ 0.06967676 -0.0035498 0.99756331 -0.09437015] [ 0. 0. 0. 1. ]] SLAMing on 7.1696492460000005 meters Centerline goodness [0,1] 0.9519416567973571 Centerline is valid? [False, True] Translation: X:1.99, Y:-0.05, Z:-0.09 [[ 0.99688801 0.03639594 -0.06992585 1.9905731 ] [-0.03601582 0.99932883 0.00668951 -0.04522996] [ 0.07012239 -0.00415025 0.99752976 -0.09306289] [ 0. 0. 0. 1. ]] SLAMing on 7.199649246000001 meters Centerline goodness [0,1] 0.9520294053515248 Centerline is valid? [True, True] Translation: X:2.02, Y:-0.05, Z:-0.09 [[ 9.96894908e-01 3.60292926e-02 -7.00173725e-02 2.01842629e+00] [-3.58686510e-02 9.99350205e-01 3.55062479e-03 -4.53307173e-02] [ 7.00998021e-02 -1.02817107e-03 9.97539453e-01 -9.38156044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.229649246 meters Centerline goodness [0,1] 0.9499519066679077 Centerline is valid? [True, False] Translation: X:2.02, Y:-0.04, Z:-0.09 [[ 9.96882043e-01 3.60084858e-02 -7.02109784e-02 2.01942652e+00] [-3.58827490e-02 9.99351347e-01 3.05166864e-03 -4.36107929e-02] [ 7.02753218e-02 -5.22790752e-04 9.97527496e-01 -9.49111875e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.259649246 meters Centerline goodness [0,1] 0.9504864327230907 Centerline is valid? [False, True] Translation: X:2.02, Y:-0.04, Z:-0.09 [[ 9.96860526e-01 3.61475211e-02 -7.04446542e-02 2.01988118e+00] [-3.60167433e-02 9.99346297e-01 3.12616647e-03 -4.35214638e-02] [ 7.05116075e-02 -5.79164919e-04 9.97510791e-01 -9.49803976e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.289649246000001 meters Centerline goodness [0,1] 0.9510504724017902 Centerline is valid? [True, True] Translation: X:2.05, Y:-0.05, Z:-0.09 [[ 9.96790802e-01 3.68736833e-02 -7.10522964e-02 2.04720991e+00] [-3.67165647e-02 9.99319532e-01 3.51653694e-03 -4.57957170e-02] [ 7.11336153e-02 -8.96455444e-04 9.97466393e-01 -9.26629729e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.319649246000001 meters Centerline goodness [0,1] 0.9509139517532952 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.05, Z:-0.09 [[ 9.96757215e-01 3.73680136e-02 -7.12649021e-02 2.07642108e+00] [-3.72116114e-02 9.99301203e-01 3.52149350e-03 -4.69653623e-02] [ 7.13466936e-02 -8.58192214e-04 9.97451208e-01 -9.09305296e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.349649246 meters Centerline goodness [0,1] 0.9508069280761218 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.05, Z:-0.09 [[ 9.96682442e-01 3.77404057e-02 -7.21094425e-02 2.10552497e+00] [-3.75815866e-02 9.99287227e-01 3.55845070e-03 -4.73433683e-02] [ 7.21923422e-02 -8.36658077e-04 9.97390378e-01 -8.92679507e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.3796492460000005 meters Centerline goodness [0,1] 0.9487266869074912 Centerline is valid? [True, False] Translation: X:2.11, Y:-0.05, Z:-0.09 [[ 9.96644676e-01 3.78281409e-02 -7.25838937e-02 2.10678483e+00] [-3.76855419e-02 9.99284087e-01 3.33358487e-03 -4.67338741e-02] [ 7.26580333e-02 -5.87036241e-04 9.97356739e-01 -8.99816241e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.409649246000001 meters Centerline goodness [0,1] 0.9487577158100438 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.05, Z:-0.09 [[ 9.96622721e-01 3.81216092e-02 -7.27316585e-02 2.10673562e+00] [-3.79670061e-02 9.99272837e-01 3.50751869e-03 -4.67733095e-02] [ 7.28124830e-02 -7.34269500e-04 9.97345378e-01 -8.97319089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.439649246 meters Centerline goodness [0,1] 0.9460398188922657 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.05, Z:-0.09 [[ 9.96581445e-01 3.82901204e-02 -7.32071767e-02 2.10742382e+00] [-3.81067806e-02 9.99266062e-01 3.89999210e-03 -4.72391909e-02] [ 7.33027784e-02 -1.09696994e-03 9.97309129e-01 -8.91768772e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.469649246 meters Centerline goodness [0,1] 0.9474483314225514 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.05, Z:-0.09 [[ 9.96555909e-01 3.85809377e-02 -7.34018536e-02 2.10776112e+00] [-3.83886297e-02 9.99254761e-01 4.02946198e-03 -4.71636635e-02] [ 7.35026121e-02 -1.19778757e-03 9.97294305e-01 -8.93015584e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.499649246000001 meters Centerline goodness [0,1] 0.9477958955917912 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.05, Z:-0.09 [[ 9.96543190e-01 3.85806627e-02 -7.35744762e-02 2.10817531e+00] [-3.83884166e-02 9.99254784e-01 4.02580605e-03 -4.70948306e-02] [ 7.36749655e-02 -1.18748196e-03 9.97281600e-01 -8.93897038e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.529649246000001 meters Centerline goodness [0,1] 0.9463660855293717 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.05, Z:-0.09 [[ 9.96518266e-01 3.82853763e-02 -7.40646727e-02 2.10941378e+00] [-3.80768186e-02 9.99265877e-01 4.22637185e-03 -4.75140824e-02] [ 7.41721084e-02 -1.39150964e-03 9.97244485e-01 -8.90434975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.559649246 meters Centerline goodness [0,1] 0.9467680608365019 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.05, Z:-0.09 [[ 9.96487933e-01 3.77812926e-02 -7.47286601e-02 2.11113562e+00] [-3.75787704e-02 9.99285197e-01 4.11482286e-03 -4.75303994e-02] [ 7.48307071e-02 -1.29216017e-03 9.97195415e-01 -8.90141469e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.5896492460000005 meters Centerline goodness [0,1] 0.9479018161532263 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.05, Z:-0.09 [[ 9.96460966e-01 3.74358336e-02 -7.52602208e-02 2.11269447e+00] [-3.72278631e-02 9.99298124e-01 4.16482750e-03 -4.82095665e-02] [ 7.53633112e-02 -1.34831084e-03 9.97155230e-01 -8.92215229e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.619649246000001 meters Centerline goodness [0,1] 0.9472357900631553 Centerline is valid? [False, False] Translation: X:2.11, Y:-0.05, Z:-0.09 [[ 9.96431333e-01 3.71711632e-02 -7.57819460e-02 2.11374313e+00] [-3.69465896e-02 9.99307714e-01 4.36371263e-03 -4.87236794e-02] [ 7.58916875e-02 -1.54825553e-03 9.97114865e-01 -8.87034452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.649649246000001 meters Centerline goodness [0,1] 0.9480495298389349 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.05, Z:-0.09 [[ 9.96410039e-01 3.65803332e-02 -7.63473207e-02 2.11557546e+00] [-3.63731735e-02 9.99329856e-01 4.10261749e-03 -4.85513363e-02] [ 7.64462321e-02 -1.31089491e-03 9.97072843e-01 -8.90361733e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.679649246 meters Centerline goodness [0,1] 0.9480878560999099 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.05, Z:-0.09 [[ 9.96394137e-01 3.62501663e-02 -7.67114713e-02 2.11691876e+00] [-3.60703958e-02 9.99342297e-01 3.72817252e-03 -4.80578374e-02] [ 7.67961648e-02 -9.47716109e-04 9.97046363e-01 -8.97781149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.709649246000001 meters Centerline goodness [0,1] 0.944308274642425 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.05, Z:-0.09 [[ 9.96379295e-01 3.57200074e-02 -7.71516733e-02 2.11859479e+00] [-3.55667344e-02 9.99361654e-01 3.36023793e-03 -4.77434740e-02] [ 7.72224516e-02 -6.04038429e-04 9.97013705e-01 -9.05277813e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.739649246000001 meters Centerline goodness [0,1] 0.9474222332383195 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.05, Z:-0.09 [[ 9.96352684e-01 3.52882142e-02 -7.76921528e-02 2.11999596e+00] [-3.51275614e-02 9.99376937e-01 3.43390334e-03 -4.78855210e-02] [ 7.77649221e-02 -6.92242939e-04 9.96971483e-01 -9.02887471e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.769649246 meters Centerline goodness [0,1] 0.9469706394625529 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.05, Z:-0.09 [[ 9.96466106e-01 3.16503767e-02 -7.78045809e-02 2.11935615e+00] [-3.17985540e-02 9.99494076e-01 -6.65992796e-04 -4.67911247e-02] [ 7.77441387e-02 3.13771241e-03 9.96968407e-01 -9.04776291e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.799649246 meters Centerline goodness [0,1] 0.9476469123505976 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.05, Z:-0.09 [[ 9.96436609e-01 3.15975236e-02 -7.82028131e-02 2.11973474e+00] [-3.16877228e-02 9.99497814e-01 8.75764180e-05 -4.80012908e-02] [ 7.81663080e-02 2.39080471e-03 9.96937467e-01 -8.90850303e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.829649246000001 meters Centerline goodness [0,1] 0.9495361434530851 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.05, Z:-0.09 [[ 9.96392892e-01 3.12681824e-02 -7.88891985e-02 2.12054434e+00] [-3.11868581e-02 9.99511010e-01 2.26303278e-03 -5.16233952e-02] [ 7.89213834e-02 2.05436465e-04 9.96880822e-01 -8.53376396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.859649246000001 meters Centerline goodness [0,1] 0.9499860122470548 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.05, Z:-0.08 [[ 9.96351834e-01 3.11647807e-02 -7.94467024e-02 2.12140329e+00] [-3.10415054e-02 9.99514212e-01 2.78652718e-03 -5.24555501e-02] [ 7.94949496e-02 -3.10216222e-04 9.96835220e-01 -8.43239322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.889649246 meters Centerline goodness [0,1] 0.9466787026084791 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.05, Z:-0.08 [[ 9.96338392e-01 3.11553829e-02 -7.96187898e-02 2.12206067e+00] [-3.10533424e-02 9.99514553e-01 2.51977337e-03 -5.15999163e-02] [ 7.96586436e-02 -3.81174065e-05 9.96822200e-01 -8.49442388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9196492460000005 meters Centerline goodness [0,1] 0.9482559770580717 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.05, Z:-0.09 [[ 9.96327245e-01 3.11005987e-02 -7.97795271e-02 2.12264955e+00] [-3.10195913e-02 9.99516233e-01 2.25483151e-03 -5.08197148e-02] [ 7.98110591e-02 2.28178253e-04 9.96809983e-01 -8.54436668e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.949649246000001 meters Centerline goodness [0,1] 0.9467459304678016 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.05, Z:-0.09 [[ 9.96304144e-01 3.09444070e-02 -8.01279981e-02 2.12369517e+00] [-3.08822135e-02 9.99520998e-01 2.01561589e-03 -5.00392995e-02] [ 8.01519887e-02 4.66363480e-04 9.96782545e-01 -8.58852770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.979649246000001 meters Centerline goodness [0,1] 0.946724374143729 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.05, Z:-0.09 [[ 9.96275885e-01 3.06392444e-02 -8.05952677e-02 2.12522418e+00] [-3.06069811e-02 9.99530158e-01 1.63597156e-03 -4.93987417e-02] [ 8.06075256e-02 8.36898829e-04 9.96745568e-01 -8.66749687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.009649246 meters Centerline goodness [0,1] 0.9462111801242236 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.05, Z:-0.09 [[ 9.96229092e-01 3.01635363e-02 -8.13496028e-02 2.12736495e+00] [-3.01356994e-02 9.99544583e-01 1.57024571e-03 -4.93388430e-02] [ 8.13599190e-02 8.87202721e-04 9.96684392e-01 -8.68722644e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.039649246 meters Centerline goodness [0,1] 0.9449746634749899 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.05, Z:-0.09 [[ 9.96208839e-01 3.01589179e-02 -8.15989517e-02 2.12768370e+00] [-3.01195233e-02 9.99544835e-01 1.71393418e-03 -4.97934938e-02] [ 8.16135011e-02 7.50285147e-04 9.96663772e-01 -8.65375645e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.069649246 meters Centerline goodness [0,1] 0.946350262805959 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.05, Z:-0.09 [[ 9.96192641e-01 3.03897940e-02 -8.17109746e-02 2.12759469e+00] [-3.03258181e-02 9.99538017e-01 2.02417914e-03 -5.05653957e-02] [ 8.17347399e-02 4.61479793e-04 9.96654012e-01 -8.61750589e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.099649246 meters Centerline goodness [0,1] 0.9461665472444625 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.05, Z:-0.09 [[ 9.96171876e-01 3.03397095e-02 -8.19822914e-02 2.12798096e+00] [-3.02509969e-02 9.99539631e-01 2.32427963e-03 -5.10494051e-02] [ 8.20150673e-02 1.64664038e-04 9.96631076e-01 -8.56119271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.129649246000001 meters Centerline goodness [0,1] 0.9470052528517701 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.05, Z:-0.08 [[ 9.96151924e-01 3.05654716e-02 -8.21407090e-02 2.12786115e+00] [-3.04358093e-02 9.99532716e-01 2.83049470e-03 -5.14341646e-02] [ 8.21888414e-02 -3.19583788e-04 9.96616723e-01 -8.47114816e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.159649246 meters Centerline goodness [0,1] 0.9485232330148454 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.05, Z:-0.08 [[ 9.96153653e-01 3.22703607e-02 -8.14648657e-02 2.12375264e+00] [-3.20312102e-02 9.99477871e-01 4.24114549e-03 -5.16032610e-02] [ 8.15591938e-02 -1.61541433e-03 9.96667190e-01 -8.16827430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.189649246 meters Centerline goodness [0,1] 0.9476314645806171 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.05, Z:-0.08 [[ 0.99613228 0.03359106 -0.08119185 2.12112498] [-0.03326052 0.99943202 0.00542064 -0.05131862] [ 0.08132782 -0.00269919 0.99668375 -0.07920773] [ 0. 0. 0. 1. ]] SLAMing on 8.219649246000001 meters Centerline goodness [0,1] 0.949395418233813 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.05, Z:-0.08 [[ 0.99612704 0.03364945 -0.08123199 2.1210259 ] [-0.03331627 0.99942998 0.00545389 -0.05120126] [ 0.08136921 -0.00272642 0.9966803 -0.0789929 ] [ 0. 0. 0. 1. ]] SLAMing on 8.249649246 meters Centerline goodness [0,1] 0.9490713374607224 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.05, Z:-0.08 [[ 0.99611715 0.03342106 -0.0814473 2.12173758] [-0.03308523 0.99943757 0.00546988 -0.05155903] [ 0.0815843 -0.00275394 0.99666264 -0.0790201 ] [ 0. 0. 0. 1. ]] SLAMing on 8.279649246 meters Centerline goodness [0,1] 0.9469172744841344 Centerline is valid? [False, False] Translation: X:2.12, Y:-0.05, Z:-0.08 [[ 0.9960836 0.03259114 -0.08219055 2.12397787] [-0.03225142 0.99946489 0.00545791 -0.05291639] [ 0.08232444 -0.00278577 0.99660169 -0.07911036] [ 0. 0. 0. 1. ]] SLAMing on 8.309649246000001 meters Centerline goodness [0,1] 0.9495981558781385 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.05, Z:-0.08 [[ 0.9960722 0.03219996 -0.08248238 2.12507171] [-0.03187097 0.99947793 0.00530252 -0.05334627] [ 0.08261006 -0.0026529 0.99657842 -0.07943674] [ 0. 0. 0. 1. ]] SLAMing on 8.339649246 meters Centerline goodness [0,1] 0.9499766245909304 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.05, Z:-0.08 [[ 0.99605275 0.03176429 -0.08288513 2.12640775] [-0.03144427 0.99949217 0.0051639 -0.05376128] [ 0.08300706 -0.00253725 0.99654573 -0.0797282 ] [ 0. 0. 0. 1. ]] SLAMing on 8.369649246 meters Centerline goodness [0,1] 0.9464985994397759 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.05, Z:-0.08 [[ 9.96024385e-01 3.12616029e-02 -8.34154412e-02 2.12853931e+00] [-3.10130183e-02 9.99509841e-01 4.27447422e-03 -5.20773660e-02] [ 8.35081812e-02 -1.67051595e-03 9.96505691e-01 -8.13610660e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.399649246000001 meters Centerline goodness [0,1] 0.9448468832581999 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.05, Z:-0.08 [[ 9.96008494e-01 3.09244496e-02 -8.37302660e-02 2.12980582e+00] [-3.07172840e-02 9.99521035e-01 3.76162661e-03 -5.11864121e-02] [ 8.38064884e-02 -1.17464570e-03 9.96481356e-01 -8.22436240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.429649246 meters Centerline goodness [0,1] 0.9439493214917865 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.05, Z:-0.08 [[ 9.95961002e-01 3.01990852e-02 -8.45558854e-02 2.13222320e+00] [-3.00285639e-02 9.99543633e-01 3.28805894e-03 -5.03062805e-02] [ 8.46165933e-02 -7.35686666e-04 9.96413313e-01 -8.26988957e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.459649246000001 meters Centerline goodness [0,1] 0.9446113813078901 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.05, Z:-0.08 [[ 9.95939983e-01 3.03447530e-02 -8.47510873e-02 2.13222346e+00] [-3.01402624e-02 9.99538862e-01 3.69160411e-03 -5.10414208e-02] [ 8.48240262e-02 -1.12219612e-03 9.96395316e-01 -8.19803550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.489649246 meters Centerline goodness [0,1] 0.9446012593442724 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.05, Z:-0.08 [[ 9.95924842e-01 3.04752601e-02 -8.48820859e-02 2.13204218e+00] [-3.02425093e-02 9.99534479e-01 4.02684423e-03 -5.12540901e-02] [ 8.49652907e-02 -1.44338693e-03 9.96382866e-01 -8.11934240e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.519649246 meters Centerline goodness [0,1] 0.9421907951867015 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.05, Z:-0.08 [[ 9.95907940e-01 3.02630746e-02 -8.51558670e-02 2.13290510e+00] [-3.00457417e-02 9.99541176e-01 3.83292986e-03 -5.08134461e-02] [ 8.52327917e-02 -1.25867410e-03 9.96360270e-01 -8.14704198e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.549649246000001 meters Centerline goodness [0,1] 0.941492166899333 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.05, Z:-0.08 [[ 9.95890033e-01 3.01902924e-02 -8.53907940e-02 2.13345293e+00] [-2.99904611e-02 9.99543621e-01 3.62232165e-03 -5.01002057e-02] [ 8.54611824e-02 -1.04652475e-03 9.96340951e-01 -8.16449367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.579649246 meters Centerline goodness [0,1] 0.941499426160861 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.05, Z:-0.08 [[ 9.95884620e-01 3.03966373e-02 -8.53807242e-02 2.13327733e+00] [-3.02036024e-02 9.99537456e-01 3.55202483e-03 -4.94973662e-02] [ 8.54492014e-02 -9.58601449e-04 9.96342067e-01 -8.16945952e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.609649246 meters Centerline goodness [0,1] 0.942475412878085 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.05, Z:-0.08 [[ 9.95873484e-01 3.09199612e-02 -8.53226769e-02 2.13257512e+00] [-3.07082270e-02 9.99521194e-01 3.79321765e-03 -4.85267978e-02] [ 8.53991100e-02 -1.15745674e-03 9.96346151e-01 -8.11624539e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.639649246000001 meters Centerline goodness [0,1] 0.9441582081263691 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.05, Z:-0.08 [[ 0.99584874 0.0311133 -0.08554094 2.13201537] [-0.03079779 0.9995131 0.00500591 -0.04980661] [ 0.08565504 -0.00235066 0.99632208 -0.07868075] [ 0. 0. 0. 1. ]] SLAMing on 8.669649246 meters Centerline goodness [0,1] 0.9459308807134894 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.05, Z:-0.08 [[ 0.99584255 0.03132643 -0.08553522 2.13148486] [-0.03097944 0.99950554 0.0053813 -0.05011369] [ 0.0856615 -0.0027091 0.99632062 -0.07788587] [ 0. 0. 0. 1. ]] SLAMing on 8.699649246 meters Centerline goodness [0,1] 0.9472494114731755 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.05, Z:-0.08 [[ 0.99583298 0.0313826 -0.08562597 2.13145856] [-0.03102404 0.99950342 0.00551529 -0.04990327] [ 0.08575653 -0.00283585 0.99631209 -0.07748181] [ 0. 0. 0. 1. ]] SLAMing on 8.729649246000001 meters Centerline goodness [0,1] 0.9449427776059387 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.05, Z:-0.08 [[ 0.99581538 0.03082676 -0.08603162 2.13315311] [-0.03051289 0.99952206 0.00496118 -0.0492233 ] [ 0.08614344 -0.00231535 0.99628005 -0.07840921] [ 0. 0. 0. 1. ]] SLAMing on 8.759649246 meters Centerline goodness [0,1] 0.9439873809229247 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.05, Z:-0.08 [[ 9.95806985e-01 3.05869127e-02 -8.62142030e-02 2.13395451e+00] [-3.02913622e-02 9.99529898e-01 4.73453001e-03 -4.90351500e-02] [ 8.63184883e-02 -2.10313241e-03 9.96265374e-01 -7.88569187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.789649246000002 meters Centerline goodness [0,1] 0.9450399653014437 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.05, Z:-0.08 [[ 0.99577922 0.03033208 -0.08662393 2.13471186] [-0.03001345 0.9995371 0.00497859 -0.04992787] [ 0.08673484 -0.00235769 0.99622864 -0.07824608] [ 0. 0. 0. 1. ]] SLAMing on 8.819649246 meters Centerline goodness [0,1] 0.9450399653014437 Centerline is valid? [False, False] Translation: X:2.13, Y:-0.05, Z:-0.08 [[ 0.99577922 0.03033208 -0.08662393 2.13471186] [-0.03001345 0.9995371 0.00497859 -0.04992787] [ 0.08673484 -0.00235769 0.99622864 -0.07824608] [ 0. 0. 0. 1. ]] SLAMing on 8.849649246 meters Centerline goodness [0,1] 0.9462505016825662 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.05, Z:-0.08 [[ 0.99574284 0.0299248 -0.08718196 2.13586605] [-0.02958369 0.99954877 0.00520237 -0.05011272] [ 0.0872983 -0.00260106 0.99617882 -0.07740685] [ 0. 0. 0. 1. ]] SLAMing on 8.879649246000001 meters Centerline goodness [0,1] 0.9472253960411327 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.05, Z:-0.08 [[ 0.99573477 0.02970125 -0.08735046 2.13652574] [-0.02937801 0.99955595 0.00498409 -0.04970446] [ 0.08745971 -0.00239665 0.99616517 -0.07772602] [ 0. 0. 0. 1. ]] SLAMing on 8.909649246 meters Centerline goodness [0,1] 0.9459668201056567 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.05, Z:-0.08 [[ 9.95731296e-01 2.91869255e-02 -8.75631705e-02 2.13799072e+00] [-2.89253967e-02 9.99572520e-01 4.25436694e-03 -4.85983398e-02] [ 8.76499109e-02 -1.70340687e-03 9.96149884e-01 -7.91142548e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.939649246 meters Centerline goodness [0,1] 0.944145814025332 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.05, Z:-0.08 [[ 9.95714228e-01 2.88729959e-02 -8.78608383e-02 2.13909826e+00] [-2.86267795e-02 9.99581919e-01 4.06134293e-03 -4.86142626e-02] [ 8.79413685e-02 -1.52876409e-03 9.96124479e-01 -7.96089281e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.969649246000001 meters Centerline goodness [0,1] 0.9454134966289355 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.05, Z:-0.08 [[ 0.99566438 0.02828213 -0.08861473 2.14090949] [-0.02797837 0.99959763 0.00466825 -0.05089434] [ 0.08871111 -0.00216871 0.99605504 -0.07863944] [ 0. 0. 0. 1. ]] SLAMing on 8.999649246 meters Centerline goodness [0,1] 0.946315397042376 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.05, Z:-0.08 [[ 0.99563875 0.0284438 -0.08885063 2.14071699] [-0.02808233 0.99959148 0.00531599 -0.05211059] [ 0.08896553 -0.00279767 0.99603078 -0.07733973] [ 0. 0. 0. 1. ]] SLAMing on 9.029649246 meters Centerline goodness [0,1] 0.9455085558684284 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.05, Z:-0.08 [[ 0.995586 0.02809394 -0.08955021 2.14219249] [-0.02773959 0.99960166 0.00519934 -0.05208882] [ 0.08966061 -0.00269231 0.99596874 -0.07717492] [ 0. 0. 0. 1. ]] SLAMing on 9.059649246000001 meters Centerline goodness [0,1] 0.9439695223936071 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.05, Z:-0.08 [[ 0.99556635 0.02804316 -0.08978429 2.14292522] [-0.02770163 0.99960349 0.00504793 -0.05181052] [ 0.08989025 -0.00253838 0.99594844 -0.07763161] [ 0. 0. 0. 1. ]] SLAMing on 9.089649246 meters Centerline goodness [0,1] 0.9453190239074629 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.05, Z:-0.08 [[ 0.99554879 0.02790758 -0.09002097 2.14338578] [-0.02757117 0.99960744 0.00497864 -0.05149604] [ 0.09012458 -0.00247449 0.99592743 -0.07749553] [ 0. 0. 0. 1. ]] SLAMing on 9.119649246 meters Centerline goodness [0,1] 0.943724960402497 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.05, Z:-0.08 [[ 0.99554704 0.02796933 -0.0900211 2.14329785] [-0.02762088 0.99960539 0.00511448 -0.05127521] [ 0.09012863 -0.00260525 0.99592673 -0.07724742] [ 0. 0. 0. 1. ]] SLAMing on 9.149649246000001 meters Centerline goodness [0,1] 0.9474859642048451 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.05, Z:-0.08 [[ 0.99554245 0.02829589 -0.08996982 2.14230901] [-0.02788762 0.99959428 0.00579205 -0.05085543] [ 0.09009721 -0.00325719 0.99592765 -0.07559718] [ 0. 0. 0. 1. ]] SLAMing on 9.179649246 meters Centerline goodness [0,1] 0.9488565746955009 Centerline is valid? [False, False] Translation: X:2.14, Y:-0.05, Z:-0.07 [[ 0.99553567 0.02871506 -0.08991209 2.14113568] [-0.02824989 0.99958013 0.00644228 -0.05157333] [ 0.09005933 -0.00387351 0.99592887 -0.07412827] [ 0. 0. 0. 1. ]] SLAMing on 9.209649246000001 meters Centerline goodness [0,1] 0.9519505528637098 Centerline is valid? [False, True] Translation: X:2.14, Y:-0.05, Z:-0.07 [[ 0.99550676 0.02941657 -0.0900053 2.13950015] [-0.02880412 0.99955229 0.00809631 -0.05308422] [ 0.09020317 -0.00546741 0.99590838 -0.07080516] [ 0. 0. 0. 1. ]] SLAMing on 9.239649246 meters Centerline goodness [0,1] 0.953717212478659 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.05, Z:-0.07 [[ 9.95540249e-01 2.89747906e-02 -8.97779133e-02 2.16849484e+00] [-2.87686590e-02 9.99579652e-01 3.58944799e-03 -5.09385678e-02] [ 8.98441788e-02 -9.90649773e-04 9.95955341e-01 -6.92300900e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.269649246 meters Centerline goodness [0,1] 0.9508491384653527 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.05, Z:-0.07 [[ 9.95411238e-01 2.82484518e-02 -9.14247881e-02 2.19770344e+00] [-2.80325174e-02 9.99600365e-01 3.64539973e-03 -5.13660523e-02] [ 9.14912285e-02 -1.06580490e-03 9.95805312e-01 -7.01855429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.299649246000001 meters Centerline goodness [0,1] 0.9512263013020753 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.05, Z:-0.07 [[ 9.95336908e-01 2.76692177e-02 -9.24059214e-02 2.22509878e+00] [-2.74478980e-02 9.99616515e-01 3.66536138e-03 -5.31644700e-02] [ 9.24719029e-02 -1.11192116e-03 9.95714673e-01 -7.02418268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.329649246 meters Centerline goodness [0,1] 0.9476177208135971 Centerline is valid? [True, False] Translation: X:2.23, Y:-0.05, Z:-0.07 [[ 9.95314147e-01 2.71229315e-02 -9.28121469e-02 2.22702424e+00] [-2.69479849e-02 9.99631912e-01 3.13792140e-03 -5.32705307e-02] [ 9.28630935e-02 -6.22117233e-04 9.95678693e-01 -7.15524085e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.359649246 meters Centerline goodness [0,1] 0.9483090288551039 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.05, Z:-0.07 [[ 9.95306690e-01 2.71257479e-02 -9.28912673e-02 2.22713603e+00] [-2.69348840e-02 9.99631717e-01 3.30803636e-03 -5.37809002e-02] [ 9.29467900e-02 -7.90495202e-04 9.95670764e-01 -7.13191663e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.389649246000001 meters Centerline goodness [0,1] 0.9484070522734303 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.05, Z:-0.07 [[ 9.95276874e-01 2.70240738e-02 -9.32397076e-02 2.22787329e+00] [-2.68126402e-02 9.99634280e-01 3.51984999e-03 -5.39352042e-02] [ 9.33007287e-02 -1.00322256e-03 9.95637468e-01 -7.09358408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.419649246 meters Centerline goodness [0,1] 0.9493051901829098 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.05, Z:-0.07 [[ 9.95267229e-01 2.69678450e-02 -9.33588637e-02 2.22828681e+00] [-2.67486880e-02 9.99635714e-01 3.59824905e-03 -5.39769881e-02] [ 9.34218914e-02 -1.08399224e-03 9.95626022e-01 -7.09332872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.449649246 meters Centerline goodness [0,1] 0.9497743710205848 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.05, Z:-0.07 [[ 9.95231317e-01 2.66223228e-02 -9.38396395e-02 2.22950993e+00] [-2.63999923e-02 9.99644941e-01 3.61010811e-03 -5.40822332e-02] [ 9.39024304e-02 -1.11552689e-03 9.95580780e-01 -7.07519700e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.479649246000001 meters Centerline goodness [0,1] 0.9474956607984131 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.05, Z:-0.07 [[ 9.95209420e-01 2.66775970e-02 -9.40559224e-02 2.22990483e+00] [-2.64498431e-02 9.99643414e-01 3.66751121e-03 -5.44656788e-02] [ 9.41202238e-02 -1.16217731e-03 9.95560160e-01 -7.07566524e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.509649246 meters Centerline goodness [0,1] 0.9468302658486708 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.05, Z:-0.07 [[ 9.95189300e-01 2.66357276e-02 -9.42804084e-02 2.23031336e+00] [-2.63894785e-02 9.99644293e-01 3.85792166e-03 -5.48532603e-02] [ 9.43496307e-02 -1.35135155e-03 9.95538207e-01 -7.03891610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.539649246000002 meters Centerline goodness [0,1] 0.9475137264633806 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.06, Z:-0.07 [[ 9.95172336e-01 2.65789165e-02 -9.44753064e-02 2.23066236e+00] [-2.63204822e-02 9.99645630e-01 3.98074334e-03 -5.52016103e-02] [ 9.45476311e-02 -1.47489002e-03 9.95519247e-01 -7.01093967e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.569649246 meters Centerline goodness [0,1] 0.9475287534970469 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.06, Z:-0.07 [[ 9.95164896e-01 2.67827829e-02 -9.44960996e-02 2.23028477e+00] [-2.64933999e-02 9.99639672e-01 4.31584703e-03 -5.55438796e-02] [ 9.45776404e-02 -1.79145650e-03 9.95515877e-01 -6.94818252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.599649246 meters Centerline goodness [0,1] 0.9485995786342794 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.06, Z:-0.07 [[ 0.99517477 0.02728839 -0.09424714 2.2291453 ] [-0.02695293 0.99962503 0.00483081 -0.05541156] [ 0.09434362 -0.00226726 0.99553711 -0.06862728] [ 0. 0. 0. 1. ]] SLAMing on 9.629649246000001 meters Centerline goodness [0,1] 0.9486671413975665 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.05, Z:-0.07 [[ 9.95186386e-01 2.74518182e-02 -9.40768596e-02 2.22903510e+00] [-2.71479622e-02 9.99621259e-01 4.50842742e-03 -5.45778078e-02] [ 9.41649934e-02 -1.93273055e-03 9.95554729e-01 -6.94189302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.659649246 meters Centerline goodness [0,1] 0.948905109489051 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.05, Z:-0.07 [[ 9.95169512e-01 2.73707273e-02 -9.42787651e-02 2.22945409e+00] [-2.70617158e-02 9.99623388e-01 4.55483956e-03 -5.42909141e-02] [ 9.43679278e-02 -1.98149231e-03 9.95535418e-01 -6.91941514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.689649246 meters Centerline goodness [0,1] 0.9491210695716762 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.05, Z:-0.07 [[ 9.95165785e-01 2.74442393e-02 -9.42967388e-02 2.22948079e+00] [-2.71316331e-02 9.99621305e-01 4.59584678e-03 -5.39725202e-02] [ 9.43871586e-02 -2.01520494e-03 9.95533527e-01 -6.91611209e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.719649246000001 meters Centerline goodness [0,1] 0.9481241315423807 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.05, Z:-0.07 [[ 9.95141851e-01 2.73642353e-02 -9.45721654e-02 2.22996554e+00] [-2.70398214e-02 9.99623259e-01 4.71035250e-03 -5.39863959e-02] [ 9.46654314e-02 -2.13025445e-03 9.95506865e-01 -6.88562327e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.749649246 meters Centerline goodness [0,1] 0.9482161627403698 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.05, Z:-0.07 [[ 0.99511678 0.02741634 -0.09482059 2.23001195] [-0.02704745 0.99962076 0.0051737 -0.05496914] [ 0.09492647 -0.00258378 0.99548093 -0.0678553 ] [ 0. 0. 0. 1. ]] SLAMing on 9.779649246 meters Centerline goodness [0,1] 0.9471929878707447 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.05, Z:-0.07 [[ 0.99509874 0.02734929 -0.09502897 2.23052237] [-0.02697478 0.99962247 0.00522362 -0.05483423] [ 0.09513595 -0.00263463 0.9954608 -0.06775021] [ 0. 0. 0. 1. ]] SLAMing on 9.809649246000001 meters Centerline goodness [0,1] 0.9467514037144443 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.05, Z:-0.07 [[ 0.99510192 0.02754823 -0.09493825 2.2307131 ] [-0.02720285 0.99961777 0.00493049 -0.05410995] [ 0.09503779 -0.00232375 0.99547095 -0.06872113] [ 0. 0. 0. 1. ]] SLAMing on 9.839649246 meters Centerline goodness [0,1] 0.946725860155383 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.05, Z:-0.07 [[ 9.95087159e-01 2.73693314e-02 -9.51444438e-02 2.23143831e+00] [-2.70517565e-02 9.99623329e-01 4.62629880e-03 -5.36527801e-02] [ 9.52352244e-02 -2.02974621e-03 9.95452727e-01 -6.91984992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.869649246000002 meters Centerline goodness [0,1] 0.9455874641413986 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.05, Z:-0.07 [[ 9.95080689e-01 2.74390898e-02 -9.51920090e-02 2.23166295e+00] [-2.71247527e-02 9.99621496e-01 4.59478018e-03 -5.36310032e-02] [ 9.52820551e-02 -1.99011732e-03 9.95448326e-01 -6.94297349e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.899649246000001 meters Centerline goodness [0,1] 0.9441361450240473 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.05, Z:-0.07 [[ 9.95071420e-01 2.77077356e-02 -9.52110845e-02 2.23145453e+00] [-2.73747053e-02 9.99613706e-01 4.80243884e-03 -5.40353887e-02] [ 9.53073698e-02 -2.17239426e-03 9.95445521e-01 -6.92603287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.929649246 meters Centerline goodness [0,1] 0.9433664957053698 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.06, Z:-0.07 [[ 0.99505342 0.02798371 -0.0953184 2.2310199 ] [-0.02760427 0.99960489 0.00529737 -0.05515478] [ 0.09542898 -0.00263997 0.99543274 -0.06834172] [ 0. 0. 0. 1. ]] SLAMing on 9.959649246000001 meters Centerline goodness [0,1] 0.9454809864166589 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.06, Z:-0.07 [[ 0.99505123 0.02831967 -0.09524199 2.23030211] [-0.02789679 0.99959416 0.0057689 -0.05577289] [ 0.09536671 -0.00308341 0.99543743 -0.06756752] [ 0. 0. 0. 1. ]] SLAMing on 9.989649246 meters Centerline goodness [0,1] 0.9473456923409111 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.06, Z:-0.07 [[ 0.99503113 0.02849978 -0.09539823 2.23017089] [-0.02802085 0.99958713 0.00635649 -0.05611088] [ 0.09554 -0.00365176 0.99541889 -0.06650438] [ 0. 0. 0. 1. ]] SLAMing on 10.019649246 meters Centerline goodness [0,1] 0.9477795546807726 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.06, Z:-0.07 [[ 0.9950092 0.02836552 -0.09566659 2.23078757] [-0.02788957 0.9995911 0.00630882 -0.05523138] [ 0.09580642 -0.00360923 0.99539344 -0.06631386] [ 0. 0. 0. 1. ]] SLAMing on 10.049649246000001 meters Centerline goodness [0,1] 0.9482753306001664 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.06, Z:-0.07 [[ 0.99500359 0.02844799 -0.09570044 2.23079077] [-0.02796814 0.99958863 0.00635204 -0.05512909] [ 0.09584177 -0.00364374 0.99538991 -0.06629549] [ 0. 0. 0. 1. ]] SLAMing on 10.079649246 meters Centerline goodness [0,1] 0.9495526072199938 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.06, Z:-0.07 [[ 0.995001 0.02834094 -0.09575909 2.2310623 ] [-0.02787126 0.99959205 0.00623914 -0.0550033 ] [ 0.09589685 -0.00353902 0.99538499 -0.06641958] [ 0. 0. 0. 1. ]] SLAMing on 10.109649246 meters Centerline goodness [0,1] 0.9480334909012266 Centerline is valid? [False, False] Translation: X:2.23, Y:-0.06, Z:-0.07 [[ 0.99498494 0.02856287 -0.09585991 2.23056671] [-0.02805083 0.99958414 0.00668515 -0.05573308] [ 0.09601099 -0.00396268 0.99537239 -0.06537797] [ 0. 0. 0. 1. ]] SLAMing on 10.139649246000001 meters Centerline goodness [0,1] 0.9507697044334975 Centerline is valid? [False, True] Translation: X:2.23, Y:-0.06, Z:-0.06 [[ 0.99495719 0.02897026 -0.09602559 2.22987359] [-0.02838694 0.99956935 0.00743554 -0.05628865] [ 0.09619964 -0.00467217 0.99535109 -0.06375133] [ 0. 0. 0. 1. ]] SLAMing on 10.169649246 meters Centerline goodness [0,1] 0.9510610653962754 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.05, Z:-0.06 [[ 9.94943904e-01 2.84798356e-02 -9.63095396e-02 2.25829580e+00] [-2.82633132e-02 9.99593987e-01 3.61190801e-03 -5.49170504e-02] [ 9.63733033e-02 -8.71619169e-04 9.95344878e-01 -6.27200384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.199649246 meters Centerline goodness [0,1] 0.9511074094638781 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.06, Z:-0.06 [[ 9.94917794e-01 2.86838634e-02 -9.65184956e-02 2.28592952e+00] [-2.84699250e-02 9.99588191e-01 3.59326054e-03 -5.55358489e-02] [ 9.65818170e-02 -8.27124513e-04 9.95324705e-01 -6.09790452e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.229649246000001 meters Centerline goodness [0,1] 0.9506073625320681 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.06, Z:-0.06 [[ 9.94868072e-01 2.81545438e-02 -9.71845709e-02 2.31519483e+00] [-2.79376475e-02 9.99603214e-01 3.59212299e-03 -5.60631730e-02] [ 9.72471440e-02 -8.58580184e-04 9.95259894e-01 -5.91336204e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.259649246 meters Centerline goodness [0,1] 0.9505183351384806 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.06, Z:-0.06 [[ 9.94865266e-01 2.78148085e-02 -9.73110400e-02 2.34353109e+00] [-2.75980817e-02 9.99612716e-01 3.57270161e-03 -5.62581197e-02] [ 9.73727269e-02 -8.68758710e-04 9.95247606e-01 -5.67833028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.289649246000002 meters Centerline goodness [0,1] 0.9486410438761943 Centerline is valid? [True, False] Translation: X:2.34, Y:-0.06, Z:-0.06 [[ 9.94852479e-01 2.76952773e-02 -9.74757191e-02 2.34423515e+00] [-2.75123309e-02 9.99616276e-01 3.22069277e-03 -5.57214581e-02] [ 9.75275133e-02 -5.22329946e-04 9.95232692e-01 -5.74791324e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.319649246 meters Centerline goodness [0,1] 0.9490085860769658 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.06, Z:-0.06 [[ 9.94844608e-01 2.76153591e-02 -9.75786780e-02 2.34479412e+00] [-2.74379966e-02 9.99618515e-01 3.15931041e-03 -5.56683949e-02] [ 9.76286986e-02 -4.65659491e-04 9.95222799e-01 -5.78514356e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.349649246 meters Centerline goodness [0,1] 0.9481431089396704 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.06, Z:-0.06 [[ 9.94824760e-01 2.76372879e-02 -9.77746218e-02 2.34521288e+00] [-2.74624152e-02 9.99617924e-01 3.13412334e-03 -5.57637691e-02] [ 9.78238831e-02 -4.32776236e-04 9.95203648e-01 -5.79596014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.379649246000001 meters Centerline goodness [0,1] 0.948940776248647 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.06, Z:-0.06 [[ 9.94811127e-01 2.78328343e-02 -9.78578313e-02 2.34510641e+00] [-2.76238378e-02 9.99612296e-01 3.49018749e-03 -5.62870864e-02] [ 9.79170332e-02 -7.68868489e-04 9.95194284e-01 -5.74784017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.409649246 meters Centerline goodness [0,1] 0.9487582909147 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.06, Z:-0.06 [[ 9.94803131e-01 2.80555681e-02 -9.78755151e-02 2.34485998e+00] [-2.78193228e-02 9.99605829e-01 3.77785995e-03 -5.64409198e-02] [ 9.79429254e-02 -1.03539635e-03 9.95191495e-01 -5.70341412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.439649246 meters Centerline goodness [0,1] 0.9486910023799957 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.06, Z:-0.06 [[ 9.94800221e-01 2.81271622e-02 -9.78845369e-02 2.34488908e+00] [-2.78900204e-02 9.99603811e-01 3.79038496e-03 -5.61311649e-02] [ 9.79523690e-02 -1.04067407e-03 9.95190560e-01 -5.70627961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.469649246000001 meters Centerline goodness [0,1] 0.9484876543209877 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.06, Z:-0.06 [[ 9.94811829e-01 2.84714234e-02 -9.76667954e-02 2.34417521e+00] [-2.82206690e-02 9.99593920e-01 3.94818297e-03 -5.58964322e-02] [ 9.77395453e-02 -1.17147682e-03 9.95211339e-01 -5.69198052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.499649246 meters Centerline goodness [0,1] 0.94922934648582 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.06, Z:-0.06 [[ 9.94801561e-01 2.85157655e-02 -9.77584020e-02 2.34430823e+00] [-2.82562121e-02 9.99592554e-01 4.03876218e-03 -5.59153479e-02] [ 9.78337392e-02 -1.25548478e-03 9.95201981e-01 -5.67937762e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.529649246 meters Centerline goodness [0,1] 0.948691842527459 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.06, Z:-0.06 [[ 9.94801680e-01 2.86777104e-02 -9.77098031e-02 2.34422505e+00] [-2.84049499e-02 9.99587751e-01 4.18173175e-03 -5.64115661e-02] [ 9.77894449e-02 -1.38455171e-03 9.95206163e-01 -5.68866911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.559649246000001 meters Centerline goodness [0,1] 0.9495666121718745 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.06, Z:-0.06 [[ 9.94788007e-01 2.86033947e-02 -9.78706665e-02 2.34465318e+00] [-2.83254624e-02 9.99589810e-01 4.22835175e-03 -5.66160365e-02] [ 9.79514662e-02 -1.43408173e-03 9.95190160e-01 -5.68640677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.589649246 meters Centerline goodness [0,1] 0.9493299573889953 Centerline is valid? [False, False] Translation: X:2.34, Y:-0.06, Z:-0.06 [[ 9.94779157e-01 2.86724955e-02 -9.79403689e-02 2.34481933e+00] [-2.83885666e-02 9.99587751e-01 4.29160036e-03 -5.68490038e-02] [ 9.80230440e-02 -1.48880790e-03 9.95183032e-01 -5.69410208e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.619649246000002 meters Centerline goodness [0,1] 0.9492456264848353 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.06, Z:-0.06 [[ 9.94757868e-01 2.85458319e-02 -9.81932740e-02 2.34565184e+00] [-2.82896538e-02 9.99591762e-01 4.00050527e-03 -5.66811090e-02] [ 9.82673856e-02 -1.20168037e-03 9.95159322e-01 -5.74951950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.649649246000001 meters Centerline goodness [0,1] 0.9483481262327416 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.06, Z:-0.06 [[ 9.94725317e-01 2.82236719e-02 -9.86152543e-02 2.34697813e+00] [-2.79849785e-02 9.99601109e-01 3.80313450e-03 -5.64443745e-02] [ 9.86832560e-02 -1.02332840e-03 9.95118369e-01 -5.78131024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.679649246 meters Centerline goodness [0,1] 0.946881574062616 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.06, Z:-0.06 [[ 9.94695766e-01 2.79946792e-02 -9.89779275e-02 2.34790682e+00] [-2.77591862e-02 9.99607584e-01 3.75587440e-03 -5.66507548e-02] [ 9.90442314e-02 -9.88405655e-04 9.95082541e-01 -5.78518345e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.709649246000001 meters Centerline goodness [0,1] 0.9461127742970896 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.06, Z:-0.06 [[ 9.94675229e-01 2.78122826e-02 -9.92354080e-02 2.34866113e+00] [-2.75759213e-02 9.99612667e-01 3.75293592e-03 -5.61451863e-02] [ 9.93013486e-02 -9.96444589e-04 9.95056908e-01 -5.78135199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.739649246 meters Centerline goodness [0,1] 0.9461127742970896 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.06, Z:-0.06 [[ 9.94675229e-01 2.78122826e-02 -9.92354080e-02 2.34866113e+00] [-2.75759213e-02 9.99612667e-01 3.75293592e-03 -5.61451863e-02] [ 9.93013486e-02 -9.96444589e-04 9.95056908e-01 -5.78135199e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.769649246 meters Centerline goodness [0,1] 0.9473716721230465 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.06, Z:-0.06 [[ 9.94677247e-01 2.78897603e-02 -9.91934242e-02 2.34841436e+00] [-2.76537838e-02 9.99610514e-01 3.75335494e-03 -5.57304578e-02] [ 9.92594700e-02 -9.90303251e-04 9.95061092e-01 -5.76525979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.799649246000001 meters Centerline goodness [0,1] 0.947956193120469 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.06, Z:-0.06 [[ 9.94672389e-01 2.85863068e-02 -9.90437365e-02 2.34668832e+00] [-2.82702630e-02 9.99589763e-01 4.59321897e-03 -5.59114707e-02] [ 9.91344083e-02 -1.76875560e-03 9.95072480e-01 -5.58538690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.829649246 meters Centerline goodness [0,1] 0.9491750602484088 Centerline is valid? [False, False] Translation: X:2.35, Y:-0.06, Z:-0.06 [[ 9.94672238e-01 2.87910969e-02 -9.89859177e-02 2.34619887e+00] [-2.84477832e-02 9.99583376e-01 4.87828692e-03 -5.60049392e-02] [ 9.90851291e-02 -2.03636664e-03 9.95076877e-01 -5.53349817e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.859649246 meters Centerline goodness [0,1] 0.9504458638032646 Centerline is valid? [False, True] Translation: X:2.34, Y:-0.06, Z:-0.05 [[ 0.99467264 0.02934306 -0.09881968 2.34488476] [-0.02891968 0.9995654 0.00571436 -0.05640423] [ 0.09894441 -0.00282608 0.99508895 -0.05381012] [ 0. 0. 0. 1. ]] SLAMing on 10.889649246000001 meters Centerline goodness [0,1] 0.9503849707422236 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.06, Z:-0.05 [[ 9.94732266e-01 2.86978001e-02 -9.84081083e-02 2.37279457e+00] [-2.84821949e-02 9.99587834e-01 3.59537030e-03 -5.70566848e-02] [ 9.84707271e-02 -7.73551926e-04 9.95139647e-01 -5.21659535e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.919649246 meters Centerline goodness [0,1] 0.9493472584856397 Centerline is valid? [True, False] Translation: X:2.37, Y:-0.06, Z:-0.05 [[ 9.94708251e-01 2.85361802e-02 -9.86974248e-02 2.37348770e+00] [-2.83123431e-02 9.99592395e-01 3.66805409e-03 -5.71557072e-02] [ 9.87618675e-02 -8.54288319e-04 9.95110729e-01 -5.19997659e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.949649246000002 meters Centerline goodness [0,1] 0.9488992496989532 Centerline is valid? [False, False] Translation: X:2.37, Y:-0.06, Z:-0.05 [[ 9.94706980e-01 2.87321588e-02 -9.86533679e-02 2.37324323e+00] [-2.84941973e-02 9.99586657e-01 3.82050434e-03 -5.77164346e-02] [ 9.87223616e-02 -9.89233806e-04 9.95114524e-01 -5.19506310e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.979649246000001 meters Centerline goodness [0,1] 0.9503128563942915 Centerline is valid? [False, True] Translation: X:2.37, Y:-0.06, Z:-0.05 [[ 9.94695827e-01 2.86905045e-02 -9.87778639e-02 2.37366137e+00] [-2.84513068e-02 9.99587844e-01 3.82963694e-03 -5.77063275e-02] [ 9.88470262e-02 -9.98964569e-04 9.95102139e-01 -5.20616681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.009649246 meters Centerline goodness [0,1] 0.9513240235518974 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.06, Z:-0.05 [[ 9.94699794e-01 2.88520102e-02 -9.86908417e-02 2.40082760e+00] [-2.86412818e-02 9.99583445e-01 3.55164332e-03 -5.86868355e-02] [ 9.87522036e-02 -7.06186669e-04 9.95111805e-01 -5.00872052e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.039649246000002 meters Centerline goodness [0,1] 0.9507287461867933 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.06, Z:-0.05 [[ 9.94762726e-01 2.84011660e-02 -9.81860090e-02 2.42883749e+00] [-2.81918662e-02 9.99596337e-01 3.51866693e-03 -5.99364026e-02] [ 9.82463093e-02 -7.32191878e-04 9.95161860e-01 -4.70360510e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.069649246 meters Centerline goodness [0,1] 0.9524689646674676 Centerline is valid? [True, True] Translation: X:2.46, Y:-0.06, Z:-0.04 [[ 9.94702026e-01 2.81257738e-02 -9.88778055e-02 2.45733292e+00] [-2.79148482e-02 9.99604120e-01 3.51629281e-03 -6.13028958e-02] [ 9.89375603e-02 -7.37504652e-04 9.95093370e-01 -4.28009521e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.099649246 meters Centerline goodness [0,1] 0.9519014626635873 Centerline is valid? [True, True] Translation: X:2.49, Y:-0.06, Z:-0.04 [[ 9.94582463e-01 2.80337086e-02 -1.00099130e-01 2.48502942e+00] [-2.78192976e-02 9.99606709e-01 3.53746972e-03 -6.21816934e-02] [ 1.00158930e-01 -7.33617874e-04 9.94971181e-01 -4.30185317e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.129649246000001 meters Centerline goodness [0,1] 0.9511488942278076 Centerline is valid? [True, True] Translation: X:2.51, Y:-0.06, Z:-0.04 [[ 9.94538123e-01 2.79078290e-02 -1.00573730e-01 2.51310770e+00] [-2.76916326e-02 9.99610226e-01 3.54532869e-03 -6.35030313e-02] [ 1.00633472e-01 -7.40913760e-04 9.94923291e-01 -4.24387061e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.159649246 meters Centerline goodness [0,1] 0.949715690794529 Centerline is valid? [True, False] Translation: X:2.51, Y:-0.06, Z:-0.04 [[ 9.94518113e-01 2.75819859e-02 -1.00861082e-01 2.51421451e+00] [-2.73905399e-02 9.99619419e-01 3.28274034e-03 -6.31280520e-02] [ 1.00913241e-01 -5.02105240e-04 9.94895103e-01 -4.29018483e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.189649246 meters Centerline goodness [0,1] 0.9502035027133695 Centerline is valid? [False, True] Translation: X:2.51, Y:-0.06, Z:-0.04 [[ 9.94500428e-01 2.75651340e-02 -1.01039905e-01 2.51453699e+00] [-2.73707906e-02 9.99619871e-01 3.30951213e-03 -6.31228723e-02] [ 1.01092724e-01 -5.25769141e-04 9.94876869e-01 -4.28244991e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.219649246000001 meters Centerline goodness [0,1] 0.9519874186684758 Centerline is valid? [True, True] Translation: X:2.54, Y:-0.06, Z:-0.04 [[ 9.94570661e-01 2.78696637e-02 -1.00262064e-01 2.54258841e+00] [-2.76571741e-02 9.99611308e-01 3.50897442e-03 -6.39430881e-02] [ 1.00320886e-01 -7.16957665e-04 9.94954876e-01 -4.01880023e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.249649246 meters Centerline goodness [0,1] 0.9522751812432516 Centerline is valid? [True, True] Translation: X:2.57, Y:-0.07, Z:-0.04 [[ 9.94683669e-01 2.67155305e-02 -9.94518951e-02 2.57099609e+00] [-2.65019646e-02 9.99642745e-01 3.46815856e-03 -6.50512124e-02] [ 9.95090192e-02 -8.14050077e-04 9.95036327e-01 -3.73860805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.279649246 meters Centerline goodness [0,1] 0.9550631344392176 Centerline is valid? [True, True] Translation: X:2.60, Y:-0.07, Z:-0.03 [[ 9.94889794e-01 2.59673822e-02 -9.75704495e-02 2.59906868e+00] [-2.57605663e-02 9.99662431e-01 3.37901379e-03 -6.80343660e-02] [ 9.76252568e-02 -8.48276298e-04 9.95222884e-01 -3.44459742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.309649246000001 meters Centerline goodness [0,1] 0.9539974030792061 Centerline is valid? [True, True] Translation: X:2.63, Y:-0.07, Z:-0.03 [[ 9.94868991e-01 2.56380548e-02 -9.78691991e-02 2.62764324e+00] [-2.54295566e-02 9.99670911e-01 3.37736777e-03 -6.84362713e-02] [ 9.79235806e-02 -8.71268131e-04 9.95193556e-01 -3.23091825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.339649246 meters Centerline goodness [0,1] 0.9543822728398118 Centerline is valid? [True, True] Translation: X:2.66, Y:-0.07, Z:-0.03 [[ 9.94855248e-01 2.39632959e-02 -9.84316810e-02 2.65551506e+00] [-2.37466577e-02 9.99712321e-01 3.37203608e-03 -7.07229826e-02] [ 9.84841694e-02 -1.01726435e-03 9.95138098e-01 -3.08922845e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.369649246000002 meters Centerline goodness [0,1] 0.9541769801980198 Centerline is valid? [True, True] Translation: X:2.68, Y:-0.07, Z:-0.03 [[ 9.94820437e-01 2.43004550e-02 -9.87004819e-02 2.68313558e+00] [-2.40858224e-02 9.99704229e-01 3.36573038e-03 -7.15978308e-02] [ 9.87530779e-02 -9.71015084e-04 9.95111495e-01 -2.90061679e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.399649246000001 meters Centerline goodness [0,1] 0.9548960688950157 Centerline is valid? [True, True] Translation: X:2.71, Y:-0.07, Z:-0.03 [[ 9.94968618e-01 2.25457399e-02 -9.76173054e-02 2.71034557e+00] [-2.23297149e-02 9.99745198e-01 3.30504515e-03 -7.35941500e-02] [ 9.76669469e-02 -1.10864960e-03 9.95218538e-01 -2.74430036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.429649246 meters Centerline goodness [0,1] 0.9549205758252668 Centerline is valid? [True, True] Translation: X:2.74, Y:-0.08, Z:-0.03 [[ 9.95025416e-01 2.20125267e-02 -9.71589945e-02 2.73820772e+00] [-2.17973722e-02 9.99757043e-01 3.27544848e-03 -7.51368008e-02] [ 9.72074900e-02 -1.14134372e-03 9.95263483e-01 -2.51729943e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.459649246000001 meters Centerline goodness [0,1] 0.9553325279558901 Centerline is valid? [True, True] Translation: X:2.77, Y:-0.08, Z:-0.02 [[ 9.95043035e-01 2.08436209e-02 -9.72363184e-02 2.76731733e+00] [-2.06250597e-02 9.99781991e-01 3.25243446e-03 -7.62027812e-02] [ 9.72829125e-02 -1.23080738e-03 9.95256007e-01 -2.38391582e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.489649246 meters Centerline goodness [0,1] 0.9552428478442798 Centerline is valid? [True, True] Translation: X:2.80, Y:-0.08, Z:-0.02 [[ 9.94924164e-01 2.04599917e-02 -9.85256143e-02 2.79544937e+00] [-2.02357378e-02 9.99789873e-01 3.27496529e-03 -7.73725275e-02] [ 9.85719172e-02 -1.26460360e-03 9.95129126e-01 -2.34256790e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.519649246 meters Centerline goodness [0,1] 0.9533673943334882 Centerline is valid? [True, True] Translation: X:2.82, Y:-0.08, Z:-0.02 [[ 9.94910306e-01 2.00298593e-02 -9.87536771e-02 2.82387161e+00] [-1.98036064e-02 9.99798539e-01 3.27088566e-03 -7.80960161e-02] [ 9.87992975e-02 -1.29855890e-03 9.95106533e-01 -2.22641122e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.549649246000001 meters Centerline goodness [0,1] 0.9530124578812328 Centerline is valid? [True, True] Translation: X:2.85, Y:-0.08, Z:-0.02 [[ 9.94842609e-01 2.07620181e-02 -9.92830430e-02 2.85090999e+00] [-2.05393085e-02 9.99783715e-01 3.26489146e-03 -7.85012142e-02] [ 9.93293553e-02 -1.20884809e-03 9.95053877e-01 -2.04569995e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.579649246 meters Centerline goodness [0,1] 0.9511780347535712 Centerline is valid? [True, True] Translation: X:2.88, Y:-0.08, Z:-0.02 [[ 9.94688583e-01 2.23754036e-02 -1.00468727e-01 2.87888419e+00] [-2.21570144e-02 9.99749093e-01 3.28918463e-03 -7.74220366e-02] [ 1.00517116e-01 -1.04562736e-03 9.94934780e-01 -1.90678965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.609649246 meters Centerline goodness [0,1] 0.9506039689387403 Centerline is valid? [True, True] Translation: X:2.91, Y:-0.08, Z:-0.02 [[ 9.94664769e-01 2.34381025e-02 -1.00462191e-01 2.90759792e+00] [-2.32277297e-02 9.99724874e-01 3.26341305e-03 -7.66679432e-02] [ 1.00511039e-01 -9.12493371e-04 9.94935525e-01 -1.75060975e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.639649246000001 meters Centerline goodness [0,1] 0.9501418352244697 Centerline is valid? [True, True] Translation: X:2.94, Y:-0.08, Z:-0.01 [[ 9.94628751e-01 2.45014324e-02 -1.00565038e-01 2.93553353e+00] [-2.42980585e-02 9.99699486e-01 3.24687111e-03 -7.75679326e-02] [ 1.00614370e-01 -7.85896179e-04 9.94925189e-01 -1.41323266e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.669649246 meters Centerline goodness [0,1] 0.9496707577209633 Centerline is valid? [True, False] Translation: X:2.94, Y:-0.08, Z:-0.01 [[ 9.94604194e-01 2.45655980e-02 -1.00792005e-01 2.93573244e+00] [-2.43459633e-02 9.99697782e-01 3.40876850e-03 -7.76578494e-02] [ 1.00845282e-01 -9.36497001e-04 9.94901680e-01 -1.37357055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.699649246000002 meters Centerline goodness [0,1] 0.9505372360133383 Centerline is valid? [False, True] Translation: X:2.94, Y:-0.08, Z:-0.01 [[ 9.94586536e-01 2.42108063e-02 -1.01051763e-01 2.93675252e+00] [-2.39989728e-02 9.99706498e-01 3.31162157e-03 -7.79089082e-02] [ 1.01102281e-01 -8.68555713e-04 9.94875658e-01 -1.40011606e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.729649246000001 meters Centerline goodness [0,1] 0.9506378772433818 Centerline is valid? [True, True] Translation: X:2.96, Y:-0.08, Z:-0.01 [[ 9.94679172e-01 2.30451548e-02 -1.00410488e-01 2.96418450e+00] [-2.28389686e-02 9.99734027e-01 3.20264421e-03 -7.98878874e-02] [ 1.00457587e-01 -8.92331517e-04 9.94940941e-01 -1.26590966e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.759649246 meters Centerline goodness [0,1] 0.9529375386518244 Centerline is valid? [True, True] Translation: X:2.99, Y:-0.08, Z:-0.01 [[ 9.94794372e-01 2.22349426e-02 -9.94472963e-02 2.99281525e+00] [-2.20306761e-02 9.99752327e-01 3.15185062e-03 -8.07533959e-02] [ 9.94927471e-02 -9.44552080e-04 9.95037839e-01 -7.25706613e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.789649246000002 meters Centerline goodness [0,1] 0.9529622647340606 Centerline is valid? [True, True] Translation: X:3.02, Y:-0.08, Z:-0.00 [[ 9.94812626e-01 2.20559399e-02 -9.93044584e-02 3.01938468e+00] [-2.18536911e-02 9.99756298e-01 3.12409941e-03 -8.15577264e-02] [ 9.93491627e-02 -9.37724571e-04 9.95052192e-01 -4.62350868e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.819649246 meters Centerline goodness [0,1] 0.9520575432963911 Centerline is valid? [True, True] Translation: X:3.05, Y:-0.08, Z:-0.00 [[ 9.94772734e-01 2.23667819e-02 -9.96340049e-02 3.04668490e+00] [-2.21666294e-02 9.99749435e-01 3.11559400e-03 -8.15846597e-02] [ 9.96787259e-02 -8.90757898e-04 9.95019275e-01 -4.87141949e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.849649246 meters Centerline goodness [0,1] 0.9519082557494297 Centerline is valid? [True, True] Translation: X:3.08, Y:-0.08, Z:-0.00 [[ 9.94896179e-01 2.15687659e-02 -9.85717035e-02 3.07558319e+00] [-2.13708773e-02 9.99766924e-01 3.06309617e-03 -8.20811930e-02] [ 9.86147961e-02 -9.40898903e-04 9.95125237e-01 -2.23664268e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.879649246000001 meters Centerline goodness [0,1] 0.9523102616440898 Centerline is valid? [True, True] Translation: X:3.10, Y:-0.08, Z:0.00 [[ 9.94938957e-01 2.09841868e-02 -9.82656428e-02 3.10310248e+00] [-2.07870633e-02 9.99779336e-01 3.02951550e-03 -8.22523744e-02] [ 9.83075310e-02 -9.71528854e-04 9.95155609e-01 1.97747808e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.909649246 meters Centerline goodness [0,1] 0.9535945695772909 Centerline is valid? [True, True] Translation: X:3.13, Y:-0.08, Z:0.00 [[ 9.95049467e-01 2.13998215e-02 -9.70495004e-02 3.13126485e+00] [-2.12118381e-02 9.99770597e-01 2.96842446e-03 -8.33305235e-02] [ 9.70907607e-02 -8.95130888e-04 9.95275129e-01 4.83702085e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.939649246 meters Centerline goodness [0,1] 0.9545048788746268 Centerline is valid? [True, True] Translation: X:3.16, Y:-0.08, Z:0.01 [[ 9.95114710e-01 2.13354758e-02 -9.63924814e-02 3.16038005e+00] [-2.11508053e-02 9.99771982e-01 2.93729831e-03 -8.41486137e-02] [ 9.64331708e-02 -8.84170145e-04 9.95339069e-01 7.38458508e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.969649246000001 meters Centerline goodness [0,1] 0.9540095067596766 Centerline is valid? [True, True] Translation: X:3.19, Y:-0.09, Z:0.01 [[ 9.95080858e-01 2.08752832e-02 -9.68416713e-02 3.18928628e+00] [-2.06890040e-02 9.99781674e-01 2.92739444e-03 -8.51730473e-02] [ 9.68816384e-02 -9.09436445e-04 9.95295494e-01 9.30366569e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.999649246 meters Centerline goodness [0,1] 0.9517554703918902 Centerline is valid? [True, True] Translation: X:3.22, Y:-0.09, Z:0.01 [[ 9.94945599e-01 2.03766870e-02 -9.83262206e-02 3.21807880e+00] [-2.01845793e-02 9.99791924e-01 2.94823393e-03 -8.64604537e-02] [ 9.83658365e-02 -9.48658971e-04 9.95149869e-01 9.64995190e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.029649246000002 meters Centerline goodness [0,1] 0.9507841742196925 Centerline is valid? [True, True] Translation: X:3.25, Y:-0.09, Z:0.01 [[ 9.94827257e-01 1.98222860e-02 -9.96283415e-02 3.24721520e+00] [-1.96246924e-02 9.99803027e-01 2.96303808e-03 -8.75764136e-02] [ 9.96674516e-02 -9.92535481e-04 9.95020308e-01 1.01524487e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.059649246000001 meters Centerline goodness [0,1] 0.9479234313634536 Centerline is valid? [True, False] Translation: X:3.25, Y:-0.09, Z:0.01 [[ 9.94769471e-01 1.89015215e-02 -1.00381435e-01 3.25017779e+00] [-1.87852556e-02 9.99821329e-01 2.10343294e-03 -8.72907813e-02] [ 1.00403258e-01 -2.06739972e-04 9.94946804e-01 8.59171746e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.089649246 meters Centerline goodness [0,1] 0.9467007420636142 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.09, Z:0.01 [[ 9.94730875e-01 1.84183075e-02 -1.00852623e-01 3.25188084e+00] [-1.83307915e-02 9.99830367e-01 1.79448885e-03 -8.69785707e-02] [ 1.00868567e-01 6.36749391e-05 9.94899758e-01 8.02165432e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.119649246000002 meters Centerline goodness [0,1] 0.9449711268258036 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.09, Z:0.01 [[ 9.94700851e-01 1.79480429e-02 -1.01232822e-01 3.25344410e+00] [-1.79179422e-02 9.99838733e-01 1.20668456e-03 -8.62224041e-02] [ 1.01238154e-01 6.13593684e-04 9.94862031e-01 7.05141915e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.149649246000001 meters Centerline goodness [0,1] 0.9435314469294452 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.09, Z:0.01 [[ 9.94681606e-01 1.77255301e-02 -1.01460872e-01 3.25424156e+00] [-1.77135314e-02 9.99842584e-01 1.01926874e-03 -8.58099864e-02] [ 1.01462967e-01 7.83382478e-04 9.94839008e-01 6.77135894e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.179649246 meters Centerline goodness [0,1] 0.943714012993811 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.09, Z:0.01 [[ 9.94674726e-01 1.76462448e-02 -1.01542110e-01 3.25466116e+00] [-1.76374569e-02 9.99843963e-01 9.84406841e-04 -8.50366812e-02] [ 1.01543637e-01 8.11779989e-04 9.94830755e-01 6.69852748e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.209649246000001 meters Centerline goodness [0,1] 0.9446686589235651 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.09, Z:0.01 [[ 9.94672199e-01 1.78759356e-02 -1.01526681e-01 3.25399906e+00] [-1.78252103e-02 9.99840128e-01 1.40688764e-03 -8.51840613e-02] [ 1.01535599e-01 4.10342414e-04 9.94831822e-01 7.67119367e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.239649246 meters Centerline goodness [0,1] 0.9471604938271605 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.09, Z:0.01 [[ 9.94676193e-01 1.89407431e-02 -1.01294222e-01 3.25124837e+00] [-1.86811451e-02 9.99819328e-01 3.51086863e-03 -8.71933663e-02] [ 1.01342419e-01 -1.59988538e-03 9.94850318e-01 1.15259826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.269649246 meters Centerline goodness [0,1] 0.9497852353141126 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.09, Z:0.01 [[ 9.94664293e-01 1.90462540e-02 -1.01391244e-01 3.25084103e+00] [-1.87401827e-02 9.99816504e-01 3.97044675e-03 -8.75609929e-02] [ 1.01448261e-01 -2.04917118e-03 9.94838706e-01 1.26331958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.299649246000001 meters Centerline goodness [0,1] 0.9488357748650732 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.09, Z:0.01 [[ 9.94653173e-01 1.86700379e-02 -1.01570148e-01 3.25187255e+00] [-1.84090402e-02 9.99824391e-01 3.50643439e-03 -8.67213525e-02] [ 1.01617776e-01 -1.61787716e-03 9.94822200e-01 1.18590074e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.329649246 meters Centerline goodness [0,1] 0.9490316630802337 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.09, Z:0.01 [[ 9.94626156e-01 1.83981577e-02 -1.01883842e-01 3.25295661e+00] [-1.81530565e-02 9.99829666e-01 3.33241336e-03 -8.63377487e-02] [ 1.01927798e-01 -1.46500236e-03 9.94790721e-01 1.15441160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.359649246000002 meters Centerline goodness [0,1] 0.9487882240630677 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.09, Z:0.01 [[ 9.94616685e-01 1.82285660e-02 -1.02006709e-01 3.25349163e+00] [-1.79991313e-02 9.99832980e-01 3.16925293e-03 -8.63663687e-02] [ 1.02047443e-01 -1.31615969e-03 9.94778662e-01 1.12274681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.389649246000001 meters Centerline goodness [0,1] 0.9478486006657625 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.09, Z:0.01 [[ 9.94600712e-01 1.80886173e-02 -1.02187211e-01 3.25403420e+00] [-1.78543546e-02 9.99835456e-01 3.20673359e-03 -8.66604422e-02] [ 1.02228403e-01 -1.36493281e-03 9.94760017e-01 1.12579015e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.419649246 meters Centerline goodness [0,1] 0.9465281844238296 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.09, Z:0.01 [[ 9.94586947e-01 1.79302325e-02 -1.02348973e-01 3.25484182e+00] [-1.77185007e-02 9.99838581e-01 2.97754535e-03 -8.67888439e-02] [ 1.02385840e-01 -1.14795739e-03 9.94744099e-01 1.05947909e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.449649246000002 meters Centerline goodness [0,1] 0.9453454377596553 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.09, Z:0.01 [[ 9.94572704e-01 1.79078741e-02 -1.02491195e-01 3.25489042e+00] [-1.76805569e-02 9.99838800e-01 3.12600596e-03 -8.68512605e-02] [ 1.02530654e-01 -1.29693878e-03 9.94729000e-01 1.11023035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.479649246000001 meters Centerline goodness [0,1] 0.9477958593533701 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.09, Z:0.01 [[ 9.94586745e-01 1.81484975e-02 -1.02312457e-01 3.25408798e+00] [-1.78904756e-02 9.99834038e-01 3.43903117e-03 -8.68860267e-02] [ 1.02357891e-01 -1.58999630e-03 9.94746367e-01 1.17539562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.509649246 meters Centerline goodness [0,1] 0.9472888779223984 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.09, Z:0.01 [[ 9.94587408e-01 1.81494882e-02 -1.02305835e-01 3.25415887e+00] [-1.78966985e-02 9.99834100e-01 3.38833261e-03 -8.65203429e-02] [ 1.02350359e-01 -1.53905627e-03 9.94747222e-01 1.16501328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.539649246000002 meters Centerline goodness [0,1] 0.9467944175729381 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.09, Z:0.01 [[ 9.94591925e-01 1.80284119e-02 -1.02283330e-01 3.25422606e+00] [-1.77814777e-02 9.99836367e-01 3.32554400e-03 -8.61670677e-02] [ 1.02326547e-01 -1.48881046e-03 9.94749748e-01 1.17178618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.569649246 meters Centerline goodness [0,1] 0.9465159959355852 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.09, Z:0.01 [[ 9.94584246e-01 1.82089175e-02 -1.02326012e-01 3.25386259e+00] [-1.79217356e-02 9.99832453e-01 3.72525797e-03 -8.67004530e-02] [ 1.02376700e-01 -1.87122316e-03 9.94743942e-01 1.24848690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.599649246 meters Centerline goodness [0,1] 0.9465159959355852 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.09, Z:0.01 [[ 9.94584246e-01 1.82089175e-02 -1.02326012e-01 3.25386259e+00] [-1.79217356e-02 9.99832453e-01 3.72525797e-03 -8.67004530e-02] [ 1.02376700e-01 -1.87122316e-03 9.94743942e-01 1.24848690e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.629649246000001 meters Centerline goodness [0,1] 0.9477023530861155 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.09, Z:0.01 [[ 9.94582584e-01 1.83937977e-02 -1.02309104e-01 3.25329879e+00] [-1.80568630e-02 9.99828062e-01 4.21852643e-03 -8.76672937e-02] [ 1.02369108e-01 -2.34829143e-03 9.94743711e-01 1.33980810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.659649246 meters Centerline goodness [0,1] 0.9470857001728822 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.09, Z:0.01 [[ 9.94596138e-01 1.86319129e-02 -1.02134096e-01 3.25273992e+00] [-1.82703502e-02 9.99823071e-01 4.47447675e-03 -8.79366102e-02] [ 1.02199394e-01 -2.58427159e-03 9.94760577e-01 1.36506884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.689649246 meters Centerline goodness [0,1] 0.9498580597383363 Centerline is valid? [False, False] Translation: X:3.25, Y:-0.09, Z:0.01 [[ 9.94622850e-01 1.89627424e-02 -1.01812575e-01 3.25151659e+00] [-1.85626416e-02 9.99815810e-01 4.87584339e-03 -8.78881743e-02] [ 1.01886281e-01 -2.95971491e-03 9.94791649e-01 1.44506091e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.719649246000001 meters Centerline goodness [0,1] 0.9512413537549407 Centerline is valid? [False, True] Translation: X:3.25, Y:-0.09, Z:0.01 [[ 9.94631902e-01 1.89109478e-02 -1.01733752e-01 3.25139162e+00] [-1.85165154e-02 9.99816936e-01 4.82012116e-03 -8.79584282e-02] [ 1.01806281e-01 -2.91049170e-03 9.94799985e-01 1.44446715e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.749649246 meters Centerline goodness [0,1] 0.9516408132995489 Centerline is valid? [True, True] Translation: X:3.28, Y:-0.09, Z:0.02 [[ 9.94599095e-01 1.83973295e-02 -1.02147824e-01 3.28086153e+00] [-1.81753198e-02 9.99829998e-01 3.10378943e-03 -8.86359559e-02] [ 1.02187560e-01 -1.23045679e-03 9.94764388e-01 1.54030728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.779649246000002 meters Centerline goodness [0,1] 0.9498024203507038 Centerline is valid? [True, False] Translation: X:3.28, Y:-0.09, Z:0.01 [[ 9.94596080e-01 1.83005967e-02 -1.02194549e-01 3.28128027e+00] [-1.81021531e-02 9.99832026e-01 2.86896113e-03 -8.85902921e-02] [ 1.02229887e-01 -1.00351613e-03 9.94760294e-01 1.48309388e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.809649246000001 meters Centerline goodness [0,1] 0.9480988065500972 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.09, Z:0.01 [[ 9.94590898e-01 1.77621441e-02 -1.02339881e-01 3.28286076e+00] [-1.76598589e-02 9.99842237e-01 1.90548343e-03 -8.69756225e-02] [ 1.02357581e-01 -8.78686102e-05 9.94747665e-01 1.30011705e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.839649246 meters Centerline goodness [0,1] 0.9488801135311902 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.09, Z:0.01 [[ 9.94574187e-01 1.75173920e-02 -1.02544275e-01 3.28383207e+00] [-1.74466236e-02 9.99846537e-01 1.58704318e-03 -8.67490015e-02] [ 1.02556339e-01 2.10619187e-04 9.94727175e-01 1.22801244e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.869649246000002 meters Centerline goodness [0,1] 0.9476338365978906 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.09, Z:0.01 [[ 9.94554189e-01 1.72118001e-02 -1.02789686e-01 3.28495446e+00] [-1.71791202e-02 9.99851704e-01 1.20325065e-03 -8.67566553e-02] [ 1.02795153e-01 5.69138395e-04 9.94702384e-01 1.14434364e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.899649246000001 meters Centerline goodness [0,1] 0.9462203023758099 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.09, Z:0.01 [[ 9.94556106e-01 1.73664645e-02 -1.02745115e-01 3.28468940e+00] [-1.73239877e-02 9.99849076e-01 1.30581052e-03 -8.65264512e-02] [ 1.02752286e-01 4.81253289e-04 9.94706859e-01 1.16384463e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.929649246 meters Centerline goodness [0,1] 0.9460158994268811 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.09, Z:0.01 [[ 9.94537968e-01 1.72953002e-02 -1.02932513e-01 3.28521451e+00] [-1.72577678e-02 9.99850286e-01 1.25524488e-03 -8.60616355e-02] [ 1.02938813e-01 5.27996725e-04 9.94687550e-01 1.15625985e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.959649246000001 meters Centerline goodness [0,1] 0.9455748807141757 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.09, Z:0.01 [[ 9.94531745e-01 1.73002442e-02 -1.02991796e-01 3.28554685e+00] [-1.72677886e-02 9.99850172e-01 1.20677794e-03 -8.57759104e-02] [ 1.02997242e-01 5.78261581e-04 9.94681473e-01 1.13177738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.989649246 meters Centerline goodness [0,1] 0.9441175564523582 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.08, Z:0.01 [[ 9.94527415e-01 1.71893478e-02 -1.03052157e-01 3.28623063e+00] [-1.72161288e-02 9.99851593e-01 6.29630673e-04 -8.46041048e-02] [ 1.03047686e-01 1.14797424e-03 9.94675754e-01 1.02251852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.019649246 meters Centerline goodness [0,1] 0.9460240371315279 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.08, Z:0.01 [[ 9.94515835e-01 1.74069083e-02 -1.03127369e-01 3.28607299e+00] [-1.74061786e-02 9.99848090e-01 9.07070781e-04 -8.45906092e-02] [ 1.03127492e-01 8.92957137e-04 9.94667745e-01 1.06940447e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.049649246000001 meters Centerline goodness [0,1] 0.943918898098789 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.08, Z:0.01 [[ 9.94543849e-01 1.86720446e-02 -1.02634726e-01 3.28323901e+00] [-1.85850132e-02 9.99825656e-01 1.80425045e-03 -8.49989941e-02] [ 1.02650521e-01 1.13061546e-04 9.94717476e-01 1.23116939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.079649246 meters Centerline goodness [0,1] 0.9440615139539871 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.09, Z:0.01 [[ 0.99437321 0.02266876 -0.10347969 3.28467288] [-0.02205579 0.99973178 0.0070641 -0.08734851] [ 0.10361207 -0.00474203 0.99460648 0.01475773] [ 0. 0. 0. 1. ]] SLAMing on 13.109649246000002 meters Centerline goodness [0,1] 0.9435939743942311 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.09, Z:0.01 [[ 0.99439792 0.02417484 -0.10289971 3.2821029 ] [-0.02357835 0.99969742 0.00700933 -0.08557766] [ 0.10303803 -0.00454385 0.99466704 0.01455786] [ 0. 0. 0. 1. ]] SLAMing on 13.139649246000001 meters Centerline goodness [0,1] 0.9412249633610161 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.08, Z:0.01 [[ 0.99442401 0.02475307 -0.10250943 3.28107386] [-0.02419396 0.99968487 0.00669413 -0.08405083] [ 0.10264283 -0.0041767 0.99470951 0.01393915] [ 0. 0. 0. 1. ]] SLAMing on 13.169649246 meters Centerline goodness [0,1] 0.9417455054299881 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.08, Z:0.01 [[ 0.9944665 0.02633852 -0.10169884 3.27837265] [-0.02577657 0.99964436 0.00683602 -0.08159778] [ 0.10184272 -0.00417675 0.99479174 0.01364248] [ 0. 0. 0. 1. ]] SLAMing on 13.199649246000002 meters Centerline goodness [0,1] 0.9430387446019098 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.08, Z:0.02 [[ 0.99445488 0.026591 -0.10174675 3.27755965] [-0.02592038 0.99963273 0.00790772 -0.08313713] [ 0.10191965 -0.00522656 0.9947789 0.01559494] [ 0. 0. 0. 1. ]] SLAMing on 13.229649246000001 meters Centerline goodness [0,1] 0.9453051285953432 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.08, Z:0.02 [[ 0.99444811 0.02662673 -0.10180361 3.27751729] [-0.02592254 0.99963004 0.00823407 -0.0841262 ] [ 0.10198519 -0.00554935 0.99477044 0.01604341] [ 0. 0. 0. 1. ]] SLAMing on 13.259649246 meters Centerline goodness [0,1] 0.946197509765625 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.09, Z:0.02 [[ 0.99444267 0.02677328 -0.1018183 3.27722591] [-0.02603937 0.99962452 0.00853056 -0.08502133] [ 0.10200846 -0.00583187 0.99476644 0.01648912] [ 0. 0. 0. 1. ]] SLAMing on 13.289649246000002 meters Centerline goodness [0,1] 0.9475376699742741 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.09, Z:0.02 [[ 0.99443687 0.02687984 -0.10184684 3.27697031] [-0.0260952 0.99961869 0.00902886 -0.08637152] [ 0.1020507 -0.00632092 0.99475912 0.01719779] [ 0. 0. 0. 1. ]] SLAMing on 13.319649246 meters Centerline goodness [0,1] 0.9465466568699485 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.09, Z:0.02 [[ 0.99442983 0.0268252 -0.10192998 3.27715192] [-0.02602014 0.9996189 0.00921977 -0.0870552 ] [ 0.10213846 -0.00651619 0.99474885 0.01744655] [ 0. 0. 0. 1. ]] SLAMing on 13.349649246 meters Centerline goodness [0,1] 0.9474858627540883 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.09, Z:0.02 [[ 0.99444653 0.02669 -0.10180249 3.27729375] [-0.02590494 0.99962366 0.00902603 -0.0869754 ] [ 0.10200508 -0.00633871 0.99476368 0.01697088] [ 0. 0. 0. 1. ]] SLAMing on 13.379649246000001 meters Centerline goodness [0,1] 0.9466307607564722 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.09, Z:0.02 [[ 0.99444199 0.02657178 -0.10187776 3.27782146] [-0.02580708 0.99962806 0.00881703 -0.08672556] [ 0.10207415 -0.00613886 0.99475785 0.01644599] [ 0. 0. 0. 1. ]] SLAMing on 13.409649246 meters Centerline goodness [0,1] 0.946579424323411 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.09, Z:0.01 [[ 0.9944467 0.02610891 -0.1019514 3.27934314] [-0.0254194 0.99964441 0.00805665 -0.08638794] [ 0.1021255 -0.00542036 0.99475676 0.01450909] [ 0. 0. 0. 1. ]] SLAMing on 13.439649246000002 meters Centerline goodness [0,1] 0.9434476423759951 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.09, Z:0.01 [[ 0.99440823 0.02550892 -0.10247713 3.2811237 ] [-0.02483032 0.99966053 0.00789236 -0.08695148] [ 0.10264366 -0.00530369 0.99470405 0.01419567] [ 0. 0. 0. 1. ]] SLAMing on 13.469649246000001 meters Centerline goodness [0,1] 0.9429309390566386 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.09, Z:0.01 [[ 0.99437113 0.02444543 -0.10309449 3.284075 ] [-0.02376929 0.99968718 0.00778198 -0.08944096] [ 0.10325247 -0.0052877 0.99464112 0.0132129 ] [ 0. 0. 0. 1. ]] SLAMing on 13.499649246 meters Centerline goodness [0,1] 0.9430660988705796 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.09, Z:0.01 [[ 0.99433864 0.02399973 -0.10351175 3.28561135] [-0.02330041 0.99969682 0.00796009 -0.09122632] [ 0.10367141 -0.00550315 0.99459638 0.01299997] [ 0. 0. 0. 1. ]] SLAMing on 13.529649246000002 meters Centerline goodness [0,1] 0.9438474439406175 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.09, Z:0.01 [[ 9.94448309e-01 1.97798671e-02 -1.03350457e-01 3.28579919e+00] [-1.94866011e-02 9.99802719e-01 3.84659601e-03 -9.23923131e-02] [ 1.03406153e-01 -1.81129177e-03 9.94637565e-01 1.17117595e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.559649246000001 meters Centerline goodness [0,1] 0.9425936849948772 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.09, Z:0.01 [[ 9.94439184e-01 2.00197624e-02 -1.03392061e-01 3.28539583e+00] [-1.96818605e-02 9.99797101e-01 4.28743835e-03 -9.31596971e-02] [ 1.03456916e-01 -2.22864857e-03 9.94631439e-01 1.24312131e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.589649246 meters Centerline goodness [0,1] 0.943423702556158 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.09, Z:0.01 [[ 9.94445172e-01 2.01742045e-02 -1.03304412e-01 3.28496309e+00] [-1.98115108e-02 9.99793444e-01 4.53587760e-03 -9.33619577e-02] [ 1.03374581e-01 -2.46406511e-03 9.94639444e-01 1.28783950e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.619649246000002 meters Centerline goodness [0,1] 0.9444737250038754 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.09, Z:0.01 [[ 9.94466526e-01 2.05471393e-02 -1.03024969e-01 3.28398174e+00] [-2.01477925e-02 9.99784929e-01 4.91545843e-03 -9.34771111e-02] [ 1.03103810e-01 -2.81253317e-03 9.94666625e-01 1.33679417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.649649246000001 meters Centerline goodness [0,1] 0.9445803275643209 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.09, Z:0.01 [[ 9.94472228e-01 2.05670467e-02 -1.02965938e-01 3.28397566e+00] [-2.01577165e-02 9.99784237e-01 5.01447266e-03 -9.30654377e-02] [ 1.03046854e-01 -2.91119562e-03 9.94672243e-01 1.34418667e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.679649246 meters Centerline goodness [0,1] 0.9443236864985716 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.09, Z:0.01 [[ 9.94476254e-01 2.07516397e-02 -1.02889987e-01 3.28354974e+00] [-2.03262494e-02 9.99779975e-01 5.18127606e-03 -9.31179603e-02] [ 1.02974869e-01 -3.06128846e-03 9.94679247e-01 1.37437243e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.709649246000001 meters Centerline goodness [0,1] 0.9468685990937868 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.09, Z:0.01 [[ 0.99447774 0.02088763 -0.10284812 3.28321342] [-0.02043381 0.99977628 0.00546424 -0.09344058] [ 0.10293925 -0.00333249 0.99468206 0.01425278] [ 0. 0. 0. 1. ]] SLAMing on 13.739649246 meters Centerline goodness [0,1] 0.9466766104222989 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.09, Z:0.02 [[ 0.99449033 0.02122918 -0.10265628 3.28241132] [-0.02071633 0.99976703 0.00605949 -0.09457264] [ 0.102761 -0.00389944 0.99469843 0.01500174] [ 0. 0. 0. 1. ]] SLAMing on 13.769649246 meters Centerline goodness [0,1] 0.9476969904028325 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.09, Z:0.01 [[ 0.99447529 0.02103132 -0.10284248 3.28321019] [-0.02052694 0.99977153 0.00596044 -0.09464895] [ 0.10294433 -0.00381647 0.9946798 0.01466847] [ 0. 0. 0. 1. ]] SLAMing on 13.799649246000001 meters Centerline goodness [0,1] 0.946032139207976 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.09, Z:0.01 [[ 0.99447824 0.02096272 -0.10282803 3.28341401] [-0.02046712 0.99977328 0.00587252 -0.09430975] [ 0.10292782 -0.0037355 0.99468181 0.01446721] [ 0. 0. 0. 1. ]] SLAMing on 13.829649246 meters Centerline goodness [0,1] 0.9460697811213276 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.09, Z:0.01 [[ 0.9944849 0.02089192 -0.10277794 3.28380552] [-0.02041158 0.99977528 0.00572326 -0.09420265] [ 0.10287441 -0.00359384 0.99468786 0.01386319] [ 0. 0. 0. 1. ]] SLAMing on 13.859649246000002 meters Centerline goodness [0,1] 0.9457736234485747 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.09, Z:0.01 [[ 0.99447282 0.02078176 -0.10291706 3.28428983] [-0.02030011 0.99977754 0.00572531 -0.09429267] [ 0.10301314 -0.00360444 0.99467346 0.01380373] [ 0. 0. 0. 1. ]] SLAMing on 13.889649246000001 meters Centerline goodness [0,1] 0.945943428447232 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.10, Z:0.01 [[ 0.99445693 0.02093752 -0.103039 3.28409393] [-0.02040467 0.99977244 0.00622281 -0.09535016] [ 0.10314584 -0.00408584 0.99465785 0.01467312] [ 0. 0. 0. 1. ]] SLAMing on 13.919649246 meters Centerline goodness [0,1] 0.9451094709421324 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.10, Z:0.02 [[ 0.99445799 0.0210441 -0.10300703 3.28387233] [-0.0204886 0.99976929 0.00644803 -0.09576657] [ 0.10311896 -0.00430183 0.99465973 0.01503285] [ 0. 0. 0. 1. ]] SLAMing on 13.949649246000002 meters Centerline goodness [0,1] 0.9453958798709358 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.10, Z:0.02 [[ 0.99446741 0.02141821 -0.10283885 3.28307814] [-0.02084954 0.99976083 0.00660159 -0.09533497] [ 0.10295565 -0.00442092 0.99467612 0.01537637] [ 0. 0. 0. 1. ]] SLAMing on 13.979649246000001 meters Centerline goodness [0,1] 0.9446132853687279 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.09, Z:0.02 [[ 0.99448023 0.02165608 -0.10266495 3.28270865] [-0.02110633 0.99975651 0.00643823 -0.09450956] [ 0.10277938 -0.00423581 0.99469516 0.01503845] [ 0. 0. 0. 1. ]] SLAMing on 14.009649246 meters Centerline goodness [0,1] 0.9427699704142012 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.09, Z:0.01 [[ 0.99431057 0.02483106 -0.10358525 3.28618506] [-0.02389967 0.99966209 0.01022325 -0.09485701] [ 0.1038041 -0.00768944 0.99456804 0.01482074] [ 0. 0. 0. 1. ]] SLAMing on 14.039649246000002 meters Centerline goodness [0,1] 0.9433502099283774 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.09, Z:0.01 [[ 0.99430815 0.02460183 -0.10366319 3.2868657 ] [-0.0237132 0.9996708 0.00979623 -0.09421072] [ 0.10387007 -0.00728228 0.99456421 0.01403319] [ 0. 0. 0. 1. ]] SLAMing on 14.069649246 meters Centerline goodness [0,1] 0.942706242085431 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.09, Z:0.01 [[ 0.99428761 0.02419723 -0.10395499 3.28816609] [-0.0233329 0.9996824 0.00952269 -0.09429524] [ 0.10415239 -0.00704273 0.99453641 0.01344013] [ 0. 0. 0. 1. ]] SLAMing on 14.099649246 meters Centerline goodness [0,1] 0.942861562258314 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.09, Z:0.01 [[ 0.99427897 0.02416883 -0.10404422 3.28828784] [-0.02328446 0.99968176 0.0097064 -0.09479265] [ 0.1042457 -0.00722825 0.99452531 0.01378018] [ 0. 0. 0. 1. ]] SLAMing on 14.129649246000001 meters Centerline goodness [0,1] 0.9415963659961064 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.10, Z:0.01 [[ 0.99427313 0.02405667 -0.10412594 3.28852618] [-0.02315057 0.99968295 0.00990201 -0.09582078] [ 0.10433114 -0.00743472 0.99451483 0.01403836] [ 0. 0. 0. 1. ]] SLAMing on 14.159649246 meters Centerline goodness [0,1] 0.9435735707881149 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.10, Z:0.01 [[ 0.99426739 0.02415052 -0.10415909 3.28835853] [-0.02322557 0.99967939 0.01008403 -0.09612433] [ 0.10436923 -0.00760707 0.99450953 0.01443824] [ 0. 0. 0. 1. ]] SLAMing on 14.189649246000002 meters Centerline goodness [0,1] 0.942629285029829 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.10, Z:0.01 [[ 0.99425876 0.02417088 -0.10423671 3.28841504] [-0.02322498 0.99967742 0.0102789 -0.09655562] [ 0.10445153 -0.00779899 0.9944994 0.01479903] [ 0. 0. 0. 1. ]] SLAMing on 14.219649246000001 meters Centerline goodness [0,1] 0.9417883268002099 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.10, Z:0.01 [[ 0.99427268 0.0239053 -0.10416517 3.28911822] [-0.02300879 0.99968723 0.00979998 -0.09586992] [ 0.10436686 -0.00734714 0.99451173 0.01371 ] [ 0. 0. 0. 1. ]] SLAMing on 14.249649246 meters Centerline goodness [0,1] 0.9410600531881996 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.09, Z:0.01 [[ 0.99427824 0.02335544 -0.10423682 3.29074964] [-0.02253841 0.99970538 0.00900931 -0.09499326] [ 0.10441652 -0.00660843 0.9945117 0.01187094] [ 0. 0. 0. 1. ]] SLAMing on 14.279649246000002 meters Centerline goodness [0,1] 0.9418777022853614 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.09, Z:0.01 [[ 0.99425868 0.02298209 -0.10450601 3.29189339] [-0.02219526 0.99971592 0.00868593 -0.0949375 ] [ 0.10467594 -0.00631652 0.99448632 0.01129873] [ 0. 0. 0. 1. ]] SLAMing on 14.309649246000001 meters Centerline goodness [0,1] 0.9415005571375511 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.10, Z:0.01 [[ 0.99425379 0.02294111 -0.10456152 3.29210083] [-0.02215183 0.99971673 0.00870367 -0.09525673] [ 0.10473157 -0.00633743 0.99448033 0.0112791 ] [ 0. 0. 0. 1. ]] SLAMing on 14.339649246 meters Centerline goodness [0,1] 0.9414806328761185 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.10, Z:0.01 [[ 0.99425345 0.02299025 -0.10455392 3.29188772] [-0.02217548 0.99971404 0.00894871 -0.09580121] [ 0.10472975 -0.00657875 0.99447896 0.01173792] [ 0. 0. 0. 1. ]] SLAMing on 14.369649246000002 meters Centerline goodness [0,1] 0.9409821897089237 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.10, Z:0.01 [[ 0.99426575 0.02300458 -0.10443378 3.29177061] [-0.02219267 0.99971383 0.00892995 -0.09560688] [ 0.10460932 -0.00656108 0.99449175 0.01163564] [ 0. 0. 0. 1. ]] SLAMing on 14.399649246000001 meters Centerline goodness [0,1] 0.9420213913633141 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.10, Z:0.01 [[ 0.99425824 0.02281993 -0.10454573 3.29222647] [-0.02202231 0.99971895 0.00877757 -0.09560628] [ 0.10471666 -0.00642484 0.99448134 0.01143428] [ 0. 0. 0. 1. ]] SLAMing on 14.429649246 meters Centerline goodness [0,1] 0.9429943363703521 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.10, Z:0.01 [[ 0.99425365 0.02278852 -0.10459615 3.29237736] [-0.02199304 0.99971981 0.00875251 -0.09584926] [ 0.1047663 -0.00640183 0.99447626 0.01136567] [ 0. 0. 0. 1. ]] SLAMing on 14.459649246000001 meters Centerline goodness [0,1] 0.9430766382821177 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.10, Z:0.01 [[ 0.99424278 0.02237002 -0.10478966 3.29374195] [-0.02165404 0.99973379 0.00796538 -0.09542549] [ 0.10493995 -0.00565041 0.99446251 0.00983355] [ 0. 0. 0. 1. ]] SLAMing on 14.489649246 meters Centerline goodness [0,1] 0.9413991566895448 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.09, Z:0.01 [[ 0.99417241 0.02114374 -0.10570792 3.29755409] [-0.02054746 0.99976625 0.00672689 -0.09440583] [ 0.10582544 -0.00451566 0.99437447 0.00773016] [ 0. 0. 0. 1. ]] SLAMing on 14.519649246000002 meters Centerline goodness [0,1] 0.9396708759146624 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.09, Z:0.01 [[ 0.99413266 0.02064919 -0.10617848 3.29935753] [-0.0200899 0.99977811 0.00633439 -0.094338 ] [ 0.10628572 -0.00416411 0.99432691 0.00694192] [ 0. 0. 0. 1. ]] SLAMing on 14.549649246000001 meters Centerline goodness [0,1] 0.9396708759146624 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.09, Z:0.01 [[ 0.99413266 0.02064919 -0.10617848 3.29935753] [-0.0200899 0.99977811 0.00633439 -0.094338 ] [ 0.10628572 -0.00416411 0.99432691 0.00694192] [ 0. 0. 0. 1. ]] SLAMing on 14.579649246 meters Centerline goodness [0,1] 0.941163719691574 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.10, Z:0.01 [[ 0.99410063 0.01996734 -0.10660788 3.30138592] [-0.01943387 0.9997929 0.00604068 -0.09521329] [ 0.10670642 -0.00393324 0.99428279 0.0060619 ] [ 0. 0. 0. 1. ]] SLAMing on 14.609649246000002 meters Centerline goodness [0,1] 0.9392974209907848 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.10, Z:0.01 [[ 0.99408369 0.01982106 -0.10679299 3.30191313] [-0.01928565 0.99979575 0.00604401 -0.09531224] [ 0.10689098 -0.00394868 0.99426291 0.00609222] [ 0. 0. 0. 1. ]] SLAMing on 14.639649246000001 meters Centerline goodness [0,1] 0.9417415747690977 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.10, Z:0.01 [[ 0.99406282 0.01967092 -0.10701476 3.30247054] [-0.0191381 0.99979882 0.00600371 -0.09524566] [ 0.10711133 -0.00392001 0.99423931 0.00615636] [ 0. 0. 0. 1. ]] SLAMing on 14.669649246 meters Centerline goodness [0,1] 0.9415662837147369 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.10, Z:0.01 [[ 0.99405501 0.01992284 -0.10704075 3.30178237] [-0.01931348 0.99979085 0.00672652 -0.09609795] [ 0.10715237 -0.0046192 0.99423188 0.00763892] [ 0. 0. 0. 1. ]] SLAMing on 14.699649246000002 meters Centerline goodness [0,1] 0.9425215932392966 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.10, Z:0.01 [[ 0.994029 0.02002376 -0.1072632 3.30155199] [-0.01934089 0.99978554 0.00740295 -0.0966814 ] [ 0.10738844 -0.00528418 0.9942031 0.00922517] [ 0. 0. 0. 1. ]] SLAMing on 14.729649246000001 meters Centerline goodness [0,1] 0.9430295114594023 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.10, Z:0.01 [[ 0.99401352 0.01997902 -0.10741492 3.30174027] [-0.01929557 0.99978645 0.00739841 -0.09649589] [ 0.1075398 -0.00528149 0.99418675 0.00945209] [ 0. 0. 0. 1. ]] SLAMing on 14.759649246 meters Centerline goodness [0,1] 0.9422503725782414 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.10, Z:0.01 [[ 0.99401649 0.01974591 -0.10743048 3.30254023] [-0.01913762 0.99979447 0.00669035 -0.09518666] [ 0.10754051 -0.00459436 0.99419009 0.00813924] [ 0. 0. 0. 1. ]] SLAMing on 14.789649246000002 meters Centerline goodness [0,1] 0.943707065369432 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.09, Z:0.01 [[ 0.99400743 0.01947103 -0.10756445 3.30328737] [-0.01889916 0.99980133 0.00633352 -0.09462523] [ 0.10766641 -0.00426269 0.99417794 0.00757394] [ 0. 0. 0. 1. ]] SLAMing on 14.819649246 meters Centerline goodness [0,1] 0.9430140215907681 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.09, Z:0.01 [[ 0.99399911 0.01949613 -0.10763679 3.30338338] [-0.01892068 0.99980073 0.00636501 -0.09432538] [ 0.10773943 -0.00429025 0.99416991 0.00772612] [ 0. 0. 0. 1. ]] SLAMing on 14.849649246 meters Centerline goodness [0,1] 0.9433681534980317 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.09, Z:0.01 [[ 0.99400316 0.01977627 -0.10754817 3.30263831] [-0.01914594 0.99979296 0.0068904 -0.09448381] [ 0.10766217 -0.00478997 0.994176 0.00876725] [ 0. 0. 0. 1. ]] SLAMing on 14.879649246000001 meters Centerline goodness [0,1] 0.9457121597321263 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.09, Z:0.01 [[ 0.99399109 0.01956208 -0.10769886 3.30308583] [-0.01894626 0.9997978 0.0067383 -0.09414895] [ 0.1078089 -0.00465732 0.99416073 0.00878196] [ 0. 0. 0. 1. ]] SLAMing on 14.909649246 meters Centerline goodness [0,1] 0.9447287615148413 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.09, Z:0.01 [[ 0.99398009 0.0193465 -0.10783917 3.30373466] [-0.01875807 0.99980313 0.00646836 -0.09388606] [ 0.10794308 -0.00440656 0.99414731 0.00836148] [ 0. 0. 0. 1. ]] SLAMing on 14.939649246000002 meters Centerline goodness [0,1] 0.9444083124283812 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.09, Z:0.01 [[ 9.93949668e-01 1.86291967e-02 -1.08245139e-01 3.30615422e+00] [-1.81662964e-02 9.99821138e-01 5.26102482e-03 -9.20759165e-02] [ 1.08323786e-01 -3.26278060e-03 9.94110312e-01 6.14912332e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.969649246000001 meters Centerline goodness [0,1] 0.9437641442167591 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.09, Z:0.00 [[ 9.93939788e-01 1.83131841e-02 -1.08389693e-01 3.30727287e+00] [-1.79248220e-02 9.99828956e-01 4.55631800e-03 -9.12979203e-02] [ 1.08454595e-01 -2.58583979e-03 9.94098041e-01 4.80209955e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.999649246 meters Centerline goodness [0,1] 0.9431326492767956 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.09, Z:0.00 [[ 9.93904314e-01 1.78718168e-02 -1.08787925e-01 3.30871834e+00] [-1.75058802e-02 9.99837436e-01 4.31795719e-03 -9.09651046e-02] [ 1.08847409e-01 -2.38720791e-03 9.94055603e-01 4.44505785e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.029649246000002 meters Centerline goodness [0,1] 0.943055341452135 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.09, Z:0.00 [[ 9.93869421e-01 1.72921154e-02 -1.09199618e-01 3.31041823e+00] [-1.69633736e-02 9.99848353e-01 3.93879412e-03 -9.08257285e-02] [ 1.09251168e-01 -2.06225312e-03 9.94012037e-01 3.81940363e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.059649246000001 meters Centerline goodness [0,1] 0.9454046046540338 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.09, Z:0.00 [[ 9.93846000e-01 1.71583743e-02 -1.09433623e-01 3.31100188e+00] [-1.68269344e-02 9.99850609e-01 3.95152389e-03 -9.12026884e-02] [ 1.09485077e-01 -2.08577381e-03 9.93986251e-01 3.88291520e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.089649246 meters Centerline goodness [0,1] 0.9467829409589548 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.09, Z:0.00 [[ 9.93802094e-01 1.67504499e-02 -1.09894591e-01 3.31234087e+00] [-1.64171872e-02 9.99857479e-01 3.93675057e-03 -9.11083960e-02] [ 1.09944871e-01 -2.10819089e-03 9.93935451e-01 4.03478065e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.119649246000002 meters Centerline goodness [0,1] 0.9461184961292909 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.09, Z:0.00 [[ 9.93783565e-01 1.65210306e-02 -1.10096689e-01 3.31300684e+00] [-1.62039543e-02 9.99861584e-01 3.77414047e-03 -9.02734598e-02] [ 1.10143803e-01 -1.96667705e-03 9.93913716e-01 3.94602232e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.149649246000001 meters Centerline goodness [0,1] 0.9456575376264496 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.09, Z:0.00 [[ 9.93729753e-01 1.59226687e-02 -1.10669085e-01 3.31460653e+00] [-1.56130647e-02 9.99871397e-01 3.66366109e-03 -8.99493301e-02] [ 1.10713188e-01 -1.91280544e-03 9.93850558e-01 4.24956841e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.179649246 meters Centerline goodness [0,1] 0.9444855662472242 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.09, Z:0.00 [[ 9.93708725e-01 1.58022527e-02 -1.10874970e-01 3.31508720e+00] [-1.54873988e-02 9.99873216e-01 3.70043779e-03 -8.97362000e-02] [ 1.10919388e-01 -1.95999244e-03 9.93827474e-01 4.48972962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.209649246000001 meters Centerline goodness [0,1] 0.9445525592314583 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.09, Z:0.00 [[ 9.93693683e-01 1.56946571e-02 -1.11024964e-01 3.31553654e+00] [-1.53831723e-02 9.99874967e-01 3.66164196e-03 -8.94690271e-02] [ 1.11068550e-01 -1.93063434e-03 9.93810872e-01 4.50181573e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.239649246 meters Centerline goodness [0,1] 0.9443088803088803 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.09, Z:0.00 [[ 9.93671600e-01 1.54799169e-02 -1.11252518e-01 3.31629224e+00] [-1.51787995e-02 9.99878482e-01 3.55312274e-03 -8.92024525e-02] [ 1.11294001e-01 -1.84195750e-03 9.93785818e-01 4.42265450e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.269649246000002 meters Centerline goodness [0,1] 0.9438576987215119 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.09, Z:0.00 [[ 9.93654956e-01 1.52880954e-02 -1.11427567e-01 3.31698532e+00] [-1.49942910e-02 9.99881543e-01 3.47430045e-03 -8.89716963e-02] [ 1.11467483e-01 -1.78147850e-03 9.93766485e-01 4.30359038e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.299649246000001 meters Centerline goodness [0,1] 0.9460244837393348 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.09, Z:0.00 [[ 9.93609912e-01 1.48424409e-02 -1.11888537e-01 3.31842014e+00] [-1.45668390e-02 9.99888517e-01 3.28032361e-03 -8.83283662e-02] [ 1.11924752e-01 -1.62949974e-03 9.93715349e-01 4.22890513e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.329649246 meters Centerline goodness [0,1] 0.9461800185586143 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.09, Z:0.01 [[ 9.93549265e-01 1.43994065e-02 -1.12483403e-01 3.31964409e+00] [-1.40285107e-02 9.99893238e-01 4.08818235e-03 -8.97812636e-02] [ 1.12530261e-01 -2.48383595e-03 9.93645194e-01 5.84569468e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.359649246000002 meters Centerline goodness [0,1] 0.9447539461467038 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.09, Z:0.01 [[ 9.93521002e-01 1.43454498e-02 -1.12739642e-01 3.31991627e+00] [-1.39493568e-02 9.99893451e-01 4.30143622e-03 -9.01165200e-02] [ 1.12789336e-01 -2.70092173e-03 9.93615253e-01 6.48371190e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.389649246000001 meters Centerline goodness [0,1] 0.9446694074371735 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.09, Z:0.00 [[ 9.93472132e-01 1.38379028e-02 -1.13232664e-01 3.32208086e+00] [-1.35440947e-02 9.99902617e-01 3.36364584e-03 -8.84045573e-02] [ 1.13268182e-01 -1.80805448e-03 9.93562806e-01 4.84112786e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.419649246 meters Centerline goodness [0,1] 0.9463369397217929 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.09, Z:0.00 [[ 9.93424857e-01 1.31777778e-02 -1.13725106e-01 3.32401943e+00] [-1.29118647e-02 9.99911912e-01 3.07451585e-03 -8.88029186e-02] [ 1.13755604e-01 -1.58589728e-03 9.93507497e-01 4.26980804e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.449649246000002 meters Centerline goodness [0,1] 0.9453589108910891 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.09, Z:0.00 [[ 9.93383393e-01 1.29443712e-02 -1.14113441e-01 3.32495830e+00] [-1.26573985e-02 9.99914646e-01 3.23903009e-03 -8.87314999e-02] [ 1.14145628e-01 -1.77321941e-03 9.93462446e-01 4.71081536e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.479649246000001 meters Centerline goodness [0,1] 0.9465460272365129 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.09, Z:0.00 [[ 9.93359255e-01 1.27797829e-02 -1.14341886e-01 3.32554389e+00] [-1.24929050e-02 9.99916759e-01 3.22520714e-03 -8.80555967e-02] [ 1.14373586e-01 -1.77532704e-03 9.93436224e-01 4.93633675e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.509649246 meters Centerline goodness [0,1] 0.9449970743124634 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.09, Z:0.00 [[ 9.93323946e-01 1.23761309e-02 -1.14692501e-01 3.32670398e+00] [-1.21125142e-02 9.99922155e-01 2.99511329e-03 -8.73652693e-02] [ 1.14720641e-01 -1.58590321e-03 9.93396527e-01 4.81796736e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.539649246000002 meters Centerline goodness [0,1] 0.9459058452598065 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.09, Z:0.01 [[ 9.93286994e-01 1.23331919e-02 -1.15016695e-01 3.32690398e+00] [-1.20101488e-02 9.99921746e-01 3.50125025e-03 -8.77481656e-02] [ 1.15050876e-01 -2.09637872e-03 9.93357388e-01 6.10965204e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.569649246 meters Centerline goodness [0,1] 0.9440919172005914 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.09, Z:0.01 [[ 9.93219967e-01 1.16895661e-02 -1.15660932e-01 3.32896489e+00] [-1.13794727e-02 9.99929670e-01 3.34101113e-03 -8.75474985e-02] [ 1.15691853e-01 -2.00219854e-03 9.93283135e-01 6.04096912e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.599649246000002 meters Centerline goodness [0,1] 0.9437952828734392 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.09, Z:0.01 [[ 9.93199428e-01 1.14137445e-02 -1.15864675e-01 3.32977309e+00] [-1.11332475e-02 9.99933318e-01 3.06778874e-03 -8.70627606e-02] [ 1.15891964e-01 -1.75697592e-03 9.93260271e-01 5.68324756e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.629649246000001 meters Centerline goodness [0,1] 0.9463335077084039 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.09, Z:0.01 [[ 0.9930322 0.01416656 -0.11698871 3.33342615] [-0.01334543 0.99988053 0.00779919 -0.08919588] [ 0.11708522 -0.00618358 0.99310262 0.00754879] [ 0. 0. 0. 1. ]] SLAMing on 15.659649246 meters Centerline goodness [0,1] 0.9465314801688804 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.09, Z:0.01 [[ 0.99302026 0.01407459 -0.11710108 3.33383869] [-0.01327374 0.99988289 0.00761606 -0.08880091] [ 0.11719456 -0.00600853 0.9930908 0.00732402] [ 0. 0. 0. 1. ]] SLAMing on 15.689649246000002 meters Centerline goodness [0,1] 0.9458420469922499 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.09, Z:0.01 [[ 0.99296398 0.01317634 -0.11768143 3.33652033] [-0.01248461 0.99990019 0.00661331 -0.08734535] [ 0.11775682 -0.00509758 0.99302938 0.00573774] [ 0. 0. 0. 1. ]] SLAMing on 15.719649246000001 meters Centerline goodness [0,1] 0.9458867109121778 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.09, Z:0.00 [[ 0.99292821 0.01257883 -0.11804804 3.33830391] [-0.01195984 0.99991077 0.00595047 -0.08674504] [ 0.11811236 -0.00449656 0.99299006 0.00464321] [ 0. 0. 0. 1. ]] SLAMing on 15.749649246 meters Centerline goodness [0,1] 0.9437809405940594 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.09, Z:0.00 [[ 0.99289083 0.01225417 -0.11839607 3.33935178] [-0.01165842 0.99991566 0.00572322 -0.08669546] [ 0.11845622 -0.00430222 0.99294996 0.00445751] [ 0. 0. 0. 1. ]] SLAMing on 15.779649246000002 meters Centerline goodness [0,1] 0.9431382254671452 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.09, Z:0.00 [[ 0.99280804 0.01165211 -0.11914874 3.34122589] [-0.0110474 0.99992253 0.00573451 -0.08718288] [ 0.11920633 -0.00437698 0.99285986 0.00494247] [ 0. 0. 0. 1. ]] SLAMing on 15.809649246000001 meters Centerline goodness [0,1] 0.9443928416620224 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.09, Z:0.01 [[ 0.99278484 0.01149778 -0.11935687 3.34172504] [-0.01088016 0.99992384 0.00582499 -0.08754143] [ 0.11941475 -0.00448434 0.99283433 0.00521976] [ 0. 0. 0. 1. ]] SLAMing on 15.839649246 meters Centerline goodness [0,1] 0.9455079635070357 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.09, Z:0.01 [[ 0.99273623 0.01116787 -0.11979173 3.34291544] [-0.01053723 0.9999271 0.00589666 -0.08764401] [ 0.11984885 -0.00459155 0.99278153 0.00548381] [ 0. 0. 0. 1. ]] SLAMing on 15.869649246000002 meters Centerline goodness [0,1] 0.9446509322926345 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.09, Z:0.00 [[ 0.99271322 0.01070971 -0.12002403 3.34416316] [-0.01012513 0.99993373 0.0054793 -0.08697027] [ 0.12007476 -0.00422412 0.99275587 0.00483953] [ 0. 0. 0. 1. ]] SLAMing on 15.899649246000001 meters Centerline goodness [0,1] 0.9434009050895791 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.09, Z:0.00 [[ 0.99268898 0.01043305 -0.12024865 3.34509464] [-0.00987496 0.99993753 0.0052361 -0.08656009] [ 0.12029577 -0.00401037 0.99273 0.00449089] [ 0. 0. 0. 1. ]] SLAMing on 15.929649246000002 meters Centerline goodness [0,1] 0.9439821140231027 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.09, Z:0.00 [[ 0.99264142 0.00989462 -0.12068598 3.34664376] [-0.00937374 0.99994414 0.00488302 -0.08613061] [ 0.12072755 -0.00371581 0.99267872 0.0041034 ] [ 0. 0. 0. 1. ]] SLAMing on 15.959649246000001 meters Centerline goodness [0,1] 0.9433348815606131 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.09, Z:0.00 [[ 0.99258531 0.00944072 -0.12118284 3.34806596] [-0.00891806 0.99994845 0.00485469 -0.08555742] [ 0.12122243 -0.00373798 0.99261833 0.00440798] [ 0. 0. 0. 1. ]] SLAMing on 15.989649246 meters Centerline goodness [0,1] 0.9421736031485326 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.09, Z:0.00 [[ 0.99256047 0.00943362 -0.12138667 3.34832223] [-0.00889439 0.99994803 0.00498332 -0.08565217] [ 0.12142737 -0.00386659 0.99259279 0.00480214] [ 0. 0. 0. 1. ]] SLAMing on 16.019649246000004 meters Centerline goodness [0,1] 0.9419058838117677 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.09, Z:0.01 [[ 0.99251985 0.00923995 -0.12173318 3.34916404] [-0.00869039 0.99994951 0.00504458 -0.08579574] [ 0.12177364 -0.00394894 0.99255004 0.00504707] [ 0. 0. 0. 1. ]] SLAMing on 16.049649246 meters Centerline goodness [0,1] 0.940648039154947 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.09, Z:0.00 [[ 0.99247356 0.00840899 -0.12217007 3.35127511] [-0.00792015 0.99995857 0.00448631 -0.08529694] [ 0.12220274 -0.00348494 0.99249904 0.00419073] [ 0. 0. 0. 1. ]] SLAMing on 16.079649246000002 meters Centerline goodness [0,1] 0.9412220603279908 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.09, Z:0.00 [[ 9.92431383e-01 7.95423531e-03 -1.22542563e-01 3.35265879e+00] [-7.48574961e-03 9.99962809e-01 4.28297429e-03 -8.50823098e-02] [ 1.22572073e-01 -3.33323515e-03 9.92454017e-01 3.91307823e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.109649246000004 meters Centerline goodness [0,1] 0.941295106891309 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.08, Z:0.00 [[ 9.92360954e-01 7.43852323e-03 -1.23143840e-01 3.35423644e+00] [-6.97404145e-03 9.99966850e-01 4.20248568e-03 -8.46247659e-02] [ 1.23171018e-01 -3.31157245e-03 9.92379934e-01 4.24997134e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.139649246000005 meters Centerline goodness [0,1] 0.9400457383027381 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.09, Z:0.01 [[ 0.99224977 0.01121005 -0.12375267 3.35571815] [-0.01018917 0.99990867 0.00887925 -0.08544717] [ 0.1238409 -0.0075495 0.99227337 0.00599278] [ 0. 0. 0. 1. ]] SLAMing on 16.169649246000002 meters Centerline goodness [0,1] 0.9401777997283616 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.08, Z:0.01 [[ 0.99225178 0.01119492 -0.12373795 3.35575892] [-0.0102305 0.99991216 0.00842677 -0.08384823] [ 0.12382142 -0.00709557 0.99227915 0.0055913 ] [ 0. 0. 0. 1. ]] SLAMing on 16.199649246000003 meters Centerline goodness [0,1] 0.9394406586290894 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.08, Z:0.01 [[ 0.99224666 0.01108315 -0.12378905 3.35598313] [-0.01016708 0.99991608 0.00802949 -0.08235453] [ 0.12386766 -0.00670866 0.99227607 0.00535028] [ 0. 0. 0. 1. ]] SLAMing on 16.229649246000005 meters Centerline goodness [0,1] 0.9429451632778805 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.08, Z:0.01 [[ 0.99227546 0.01170654 -0.12350048 3.35455479] [-0.01081503 0.99991041 0.00788662 -0.08070923] [ 0.12358175 -0.00649004 0.99231317 0.00556237] [ 0. 0. 0. 1. ]] SLAMing on 16.259649246000002 meters Centerline goodness [0,1] 0.942650676506765 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.08, Z:0.01 [[ 0.99225109 0.0115311 -0.12371263 3.35512998] [-0.01065104 0.99991307 0.00777279 -0.08024319] [ 0.1237915 -0.00639489 0.99228764 0.00562172] [ 0. 0. 0. 1. ]] SLAMing on 16.289649246000003 meters Centerline goodness [0,1] 0.9444136145024047 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.08, Z:0.00 [[ 0.99219501 0.01049401 -0.12425349 3.35783337] [-0.00973288 0.99992998 0.00673108 -0.078586 ] [ 0.12431543 -0.0054692 0.99222768 0.00414287] [ 0. 0. 0. 1. ]] SLAMing on 16.319649246000004 meters Centerline goodness [0,1] 0.9434491690049643 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.08, Z:0.00 [[ 0.99214827 0.00980927 -0.12468191 3.35987854] [-0.00908096 0.99993823 0.0064084 -0.07854544] [ 0.12473707 -0.00522585 0.99217607 0.00342983] [ 0. 0. 0. 1. ]] SLAMing on 16.349649246000002 meters Centerline goodness [0,1] 0.9410506741050674 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.08, Z:0.00 [[ 9.92195963e-01 5.29603033e-03 -1.24575769e-01 3.36388861e+00] [-4.86622340e-03 9.99981113e-01 3.75420591e-03 -8.01059673e-02] [ 1.24593298e-01 -3.11869443e-03 9.92202995e-01 1.34006434e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.379649246000003 meters Centerline goodness [0,1] 0.9421518513901009 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.08, Z:0.00 [[ 9.92130681e-01 -5.30588045e-04 -1.25205553e-01 3.36652796e+00] [ 4.72350747e-04 9.99999766e-01 -4.94820327e-04 -8.12573529e-02] [ 1.25205787e-01 4.31785491e-04 9.92130699e-01 1.23017280e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.409649246000004 meters Centerline goodness [0,1] 0.9433509810028029 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.08, Z:0.00 [[ 9.92088735e-01 -9.85891813e-04 -1.25534734e-01 3.36791883e+00] [ 8.98526978e-04 9.99999313e-01 -7.52561778e-04 -8.07732930e-02] [ 1.25535390e-01 6.33811717e-04 9.92088940e-01 8.14026468e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.439649246000002 meters Centerline goodness [0,1] 0.9433509810028029 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.08, Z:0.00 [[ 9.92088735e-01 -9.85891813e-04 -1.25534734e-01 3.36791883e+00] [ 8.98526978e-04 9.99999313e-01 -7.52561778e-04 -8.07732930e-02] [ 1.25535390e-01 6.33811717e-04 9.92088940e-01 8.14026468e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.469649246000003 meters Centerline goodness [0,1] 0.943157436487453 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.08, Z:0.00 [[ 9.91954679e-01 2.42467936e-03 -1.26570283e-01 3.37121670e+00] [-2.06549191e-03 9.99993459e-01 2.96901554e-03 -8.02628574e-02] [ 1.26576654e-01 -2.68369896e-03 9.91953199e-01 7.78056510e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.499649246000004 meters Centerline goodness [0,1] 0.9429772656493304 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.08, Z:0.00 [[ 9.91910379e-01 2.27937119e-03 -1.26919675e-01 3.37179508e+00] [-1.88497688e-03 9.99993015e-01 3.22745182e-03 -8.01116807e-02] [ 1.26926145e-01 -2.96210231e-03 9.91907748e-01 1.55746617e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.529649246 meters Centerline goodness [0,1] 0.9442647424732521 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.08, Z:0.00 [[ 9.91912164e-01 2.46289776e-03 -1.26902300e-01 3.37109416e+00] [-2.00389323e-03 9.99990981e-01 3.74453007e-03 -7.97581859e-02] [ 1.26910378e-01 -3.45994627e-03 9.91908153e-01 2.92009379e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.559649246000003 meters Centerline goodness [0,1] 0.9454183762277757 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.08, Z:0.00 [[ 9.91878874e-01 2.40835573e-03 -1.27163281e-01 3.37130475e+00] [-1.90654063e-03 9.99989909e-01 4.06779421e-03 -7.95341826e-02] [ 1.27171794e-01 -3.79231718e-03 9.91873456e-01 3.85970777e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.589649246000004 meters Centerline goodness [0,1] 0.9433381044246686 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.08, Z:0.00 [[ 9.91883748e-01 2.45323523e-03 -1.27124398e-01 3.37111754e+00] [-1.93786675e-03 9.99989396e-01 4.17756694e-03 -7.91645214e-02] [ 1.27133298e-01 -3.89731061e-03 9.91877984e-01 4.19783188e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.619649246 meters Centerline goodness [0,1] 0.9444012078572985 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.08, Z:0.00 [[ 9.91877674e-01 2.34846619e-03 -1.27173755e-01 3.37134867e+00] [-1.83927547e-03 9.99989816e-01 4.12118053e-03 -7.87108835e-02] [ 1.27182138e-01 -3.85379940e-03 9.91871893e-01 4.24680640e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.649649246000003 meters Centerline goodness [0,1] 0.9430651484039574 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.08, Z:0.00 [[ 9.91874099e-01 2.12580292e-03 -1.27205550e-01 3.37185976e+00] [-1.66358323e-03 9.99991623e-01 3.73977388e-03 -7.73168574e-02] [ 1.27212434e-01 -3.49776783e-03 9.91869327e-01 3.77851048e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.679649246000004 meters Centerline goodness [0,1] 0.943518288131376 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.08, Z:0.00 [[ 9.91853531e-01 1.97159970e-03 -1.27368305e-01 3.37251779e+00] [-1.53096969e-03 9.99992501e-01 3.55729961e-03 -7.68991790e-02] [ 1.27374364e-01 -3.33332316e-03 9.91849112e-01 3.50696465e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.709649246 meters Centerline goodness [0,1] 0.9421672519344915 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.08, Z:0.00 [[ 9.91762478e-01 1.10072494e-03 -1.28085813e-01 3.37521155e+00] [-7.59818437e-04 9.99996038e-01 2.71037950e-03 -7.56492991e-02] [ 1.28088289e-01 -2.59073072e-03 9.91759385e-01 2.47697884e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.739649246000003 meters Centerline goodness [0,1] 0.9421620950726076 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.07, Z:0.00 [[ 9.91723957e-01 7.02908147e-04 -1.28386525e-01 3.37663468e+00] [-4.21231381e-04 9.99997445e-01 2.22111394e-03 -7.46707951e-02] [ 1.28387758e-01 -2.14865147e-03 9.91721719e-01 1.64798602e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.769649246000004 meters Centerline goodness [0,1] 0.939283828690332 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.07, Z:-0.00 [[ 9.91649177e-01 -3.69346340e-04 -1.28964230e-01 3.37969865e+00] [ 4.94991384e-04 9.99999434e-01 9.42212170e-04 -7.26316400e-02] [ 1.28963809e-01 -9.98180106e-04 9.91648798e-01 -3.67196121e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.799649246 meters Centerline goodness [0,1] 0.9388053207359522 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.07, Z:-0.00 [[ 9.91598383e-01 -9.02920002e-04 -1.29351578e-01 3.38142461e+00] [ 9.73147563e-04 9.99999411e-01 4.79716448e-04 -7.21860181e-02] [ 1.29351069e-01 -6.01564227e-04 9.91598678e-01 -1.15331781e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.829649246000002 meters Centerline goodness [0,1] 0.9393169280357032 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.07, Z:-0.00 [[ 9.91532565e-01 -1.68905082e-03 -1.29847291e-01 3.38367659e+00] [ 1.71880950e-03 9.99998516e-01 1.17116652e-04 -7.16128960e-02] [ 1.29846900e-01 -3.39307731e-04 9.91533997e-01 -1.73376277e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.859649246000004 meters Centerline goodness [0,1] 0.9367618339068167 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.07, Z:-0.00 [[ 9.91520878e-01 -1.77427737e-03 -1.29935368e-01 3.38393830e+00] [ 1.81310133e-03 9.99998340e-01 1.80500499e-04 -7.13221222e-02] [ 1.29934832e-01 -4.14556001e-04 9.91522449e-01 -1.53040627e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.889649246000005 meters Centerline goodness [0,1] 0.940733191265944 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.07, Z:0.00 [[ 9.91391683e-01 2.28059493e-03 -1.30909622e-01 3.38517062e+00] [-1.47761322e-03 9.99979497e-01 6.23067047e-03 -7.37011413e-02] [ 1.30921147e-01 -5.98360110e-03 9.91374727e-01 2.73967354e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.919649246000002 meters Centerline goodness [0,1] 0.940157771477875 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.07, Z:0.00 [[ 9.91444697e-01 3.20449149e-03 -1.30488102e-01 3.38293360e+00] [-2.37884858e-03 9.99976157e-01 6.48272340e-03 -7.18399029e-02] [ 1.30505764e-01 -6.11685030e-03 9.91428681e-01 3.60171164e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.949649246000003 meters Centerline goodness [0,1] 0.9405949684764645 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.07, Z:0.01 [[ 0.99130399 0.00714835 -0.13139749 3.38447064] [-0.00571294 0.99991986 0.01129792 -0.07278913] [ 0.13146772 -0.010449 0.99126538 0.005854 ] [ 0. 0. 0. 1. ]] SLAMing on 16.979649246000005 meters Centerline goodness [0,1] 0.9409013997846485 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.07, Z:0.01 [[ 0.99134899 0.00752934 -0.13103623 3.38330721] [-0.00614634 0.9999211 0.01095557 -0.07099676] [ 0.13110838 -0.0100554 0.99131704 0.00565521] [ 0. 0. 0. 1. ]] SLAMing on 17.009649246000002 meters Centerline goodness [0,1] 0.9413154181238113 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.07, Z:0.01 [[ 0.99136184 0.00749033 -0.1309412 3.38328617] [-0.00617667 0.99992647 0.01043571 -0.06809976] [ 0.13100974 -0.00953678 0.99133521 0.00524844] [ 0. 0. 0. 1. ]] SLAMing on 17.039649246000003 meters Centerline goodness [0,1] 0.9393447145002605 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.07, Z:0.00 [[ 0.99137688 0.00728093 -0.13083909 3.38353671] [-0.00601671 0.99993134 0.01005513 -0.06684912] [ 0.13090332 -0.0091812 0.99135262 0.00473618] [ 0. 0. 0. 1. ]] SLAMing on 17.069649246000004 meters Centerline goodness [0,1] 0.9433321087435709 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.07, Z:0.01 [[ 0.99132663 0.00687446 -0.13124119 3.38453084] [-0.00556657 0.99993115 0.01032982 -0.06702253] [ 0.13130317 -0.00950966 0.99129665 0.00557452] [ 0. 0. 0. 1. ]] SLAMing on 17.099649246000002 meters Centerline goodness [0,1] 0.9421188313282592 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.07, Z:0.01 [[ 0.99129672 0.00660101 -0.13148093 3.38522862] [-0.00530975 0.9999342 0.01016906 -0.06693654] [ 0.1315394 -0.00938242 0.99126654 0.00559616] [ 0. 0. 0. 1. ]] SLAMing on 17.129649246000003 meters Centerline goodness [0,1] 0.9417008761718032 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.07, Z:0.00 [[ 0.99122521 0.00574051 -0.13205916 3.38773587] [-0.00455212 0.9999464 0.00929905 -0.06597933] [ 0.13210546 -0.0086163 0.99119822 0.0043787 ] [ 0. 0. 0. 1. ]] SLAMing on 17.159649246000004 meters Centerline goodness [0,1] 0.9435014400392181 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.07, Z:0.00 [[ 0.99119864 0.00541471 -0.13227222 3.38871927] [-0.00426842 0.99995085 0.00894812 -0.06544215] [ 0.13231417 -0.00830477 0.99117304 0.00392268] [ 0. 0. 0. 1. ]] SLAMing on 17.189649246000002 meters Centerline goodness [0,1] 0.941962780145323 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.07, Z:0.00 [[ 0.99114615 0.00463469 -0.13269447 3.39067592] [-0.00353375 0.99995737 0.00853109 -0.0652229 ] [ 0.13272835 -0.00798665 0.99112027 0.00339404] [ 0. 0. 0. 1. ]] SLAMing on 17.219649246000003 meters Centerline goodness [0,1] 0.9441888991107023 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.06, Z:0.00 [[ 9.91111503e-01 4.16883934e-03 -1.32968451e-01 3.39198542e+00] [-3.09014659e-03 9.99960632e-01 8.31772782e-03 -6.47697433e-02] [ 1.32997892e-01 -7.83290371e-03 9.91085368e-01 3.09921252e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.249649246000004 meters Centerline goodness [0,1] 0.9445006592463128 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.06, Z:0.00 [[ 9.91056050e-01 3.65858250e-03 -1.33396106e-01 3.39320059e+00] [-2.55414974e-03 9.99961040e-01 8.44953010e-03 -6.47763759e-02] [ 1.33421822e-01 -8.03324429e-03 9.91026783e-01 3.73612920e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.279649246 meters Centerline goodness [0,1] 0.9451242006886375 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.06, Z:0.00 [[ 9.91015377e-01 3.30925406e-03 -1.33707033e-01 3.39413694e+00] [-2.20861303e-03 9.99962455e-01 8.37921774e-03 -6.48750773e-02] [ 1.33729742e-01 -8.00862653e-03 9.90985478e-01 3.86315897e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.309649246000003 meters Centerline goodness [0,1] 0.9451311611849204 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.06, Z:0.00 [[ 9.90981848e-01 2.70272611e-03 -1.33968926e-01 3.39577802e+00] [-1.67969197e-03 9.99968567e-01 7.74878871e-03 -6.36887127e-02] [ 1.33985658e-01 -7.45388242e-03 9.90955238e-01 2.94513079e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.339649246000004 meters Centerline goodness [0,1] 0.9438909281594127 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.06, Z:0.00 [[ 9.90935174e-01 2.25911668e-03 -1.34321918e-01 3.39675587e+00] [-1.23150779e-03 9.99969342e-01 7.73293773e-03 -6.28831724e-02] [ 1.34335270e-01 -7.49742150e-03 9.90907576e-01 3.48547831e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.369649246 meters Centerline goodness [0,1] 0.9464555285128932 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.06, Z:0.00 [[ 9.90865772e-01 1.80351751e-03 -1.34839789e-01 3.39815196e+00] [-7.55679336e-04 9.99969124e-01 7.82176424e-03 -6.30214288e-02] [ 1.34849732e-01 -7.64842282e-03 9.90836541e-01 3.96485971e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.399649246000003 meters Centerline goodness [0,1] 0.9432650412533605 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.06, Z:0.00 [[ 9.90814123e-01 1.51900898e-03 -1.35222287e-01 3.39893598e+00] [-4.38001699e-04 9.99967714e-01 8.02368965e-03 -6.36685180e-02] [ 1.35230110e-01 -7.89075743e-03 9.90782798e-01 4.62292189e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.429649246000004 meters Centerline goodness [0,1] 0.9437422934648582 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.06, Z:0.01 [[ 9.90721367e-01 7.69927815e-04 -1.35906511e-01 3.40096609e+00] [ 3.61766467e-04 9.99965471e-01 8.30211142e-03 -6.39262048e-02] [ 1.35908211e-01 -8.27424559e-03 9.90686880e-01 5.50965279e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.459649246 meters Centerline goodness [0,1] 0.9430461938037227 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.06, Z:0.01 [[ 9.90690083e-01 3.06333194e-04 -1.36136204e-01 3.40214579e+00] [ 7.86406383e-04 9.99967906e-01 7.97295897e-03 -6.36006905e-02] [ 1.36134277e-01 -8.00578976e-03 9.90658047e-01 5.05610885e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.489649246000003 meters Centerline goodness [0,1] 0.940156356642055 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.06, Z:0.01 [[ 9.90514971e-01 -1.33239852e-03 -1.37398389e-01 3.40660839e+00] [ 2.41741817e-03 9.99967199e-01 7.73032405e-03 -6.41353310e-02] [ 1.37383582e-01 -7.98915106e-03 9.90485701e-01 5.16745545e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.519649246000004 meters Centerline goodness [0,1] 0.9371568597040851 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.06, Z:0.01 [[ 9.90406706e-01 -2.19832221e-03 -1.38165570e-01 3.40920272e+00] [ 3.26602902e-03 9.99966530e-01 7.50149555e-03 -6.42878600e-02] [ 1.38144455e-01 -7.88078426e-03 9.90380736e-01 5.05660326e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.549649246000005 meters Centerline goodness [0,1] 0.9287635249233849 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.06, Z:0.00 [[ 0.99023564 -0.00379587 -0.13935197 3.41366948] [ 0.0047873 0.99996556 0.00678008 -0.06351277] [ 0.13932144 -0.007381 0.9902197 0.00450597] [ 0. 0. 0. 1. ]] SLAMing on 17.579649246000002 meters Centerline goodness [0,1] 0.9220533518319984 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.06, Z:0.01 [[ 9.89948937e-01 -1.91094015e-03 -1.41412343e-01 3.42065374e+00] [ 3.52935786e-03 9.99931108e-01 1.11947481e-02 -6.44479999e-02] [ 1.41381209e-01 -1.15813237e-02 9.89887482e-01 6.43549572e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.609649246000004 meters Centerline goodness [0,1] 0.9205126586274386 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.07, Z:0.01 [[ 9.89742514e-01 1.05857216e-03 -1.42858795e-01 3.42493891e+00] [ 1.15599473e-03 9.99880469e-01 1.54179010e-02 -6.53089694e-02] [ 1.42858040e-01 -1.54248961e-02 9.89622985e-01 7.75279886e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.639649246000005 meters Centerline goodness [0,1] 0.915536687365353 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.07, Z:0.01 [[ 9.89391722e-01 1.93546515e-03 -1.45259335e-01 3.43369805e+00] [ 1.07578928e-03 9.99786212e-01 2.06487823e-02 -6.59800657e-02] [ 1.45268245e-01 -2.05860027e-02 9.89178120e-01 1.18133410e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.669649246000002 meters Centerline goodness [0,1] 0.9137374121223637 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.07, Z:0.01 [[ 9.89301112e-01 9.59126556e-04 -1.45884850e-01 3.43637393e+00] [ 2.01671780e-03 9.99792927e-01 2.02493206e-02 -6.50516308e-02] [ 1.45874063e-01 -2.03268840e-02 9.89094321e-01 1.15788430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.699649246000003 meters Centerline goodness [0,1] 0.9116914246065537 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.06, Z:0.01 [[ 9.89037178e-01 -2.19265084e-03 -1.47650440e-01 3.44388566e+00] [ 5.18538508e-03 9.99788784e-01 1.98871802e-02 -6.42393099e-02] [ 1.47575648e-01 -2.04347850e-02 9.88839647e-01 1.23209564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.729649246000005 meters Centerline goodness [0,1] 0.9074244394405506 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.06, Z:0.01 [[ 0.98894969 -0.00349745 -0.14821026 3.44692231] [ 0.00640876 0.9997957 0.01917012 -0.06303597] [ 0.14811294 -0.01990813 0.98877006 0.01162721] [ 0. 0. 0. 1. ]] SLAMing on 17.759649246000002 meters Centerline goodness [0,1] 0.9086743561384105 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.06, Z:0.01 [[ 9.88669433e-01 -2.23446621e-03 -1.50092503e-01 3.45418376e+00] [ 5.82910745e-03 9.99706518e-01 2.35138321e-02 -6.30180535e-02] [ 1.49995913e-01 -2.41223124e-02 9.88392301e-01 1.41418386e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.789649246000003 meters Centerline goodness [0,1] 0.9098524512137077 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.06, Z:0.01 [[ 9.88589201e-01 -3.19004130e-03 -1.50602843e-01 3.45639743e+00] [ 6.76425915e-03 9.99707346e-01 2.32264263e-02 -6.22188571e-02] [ 1.50484675e-01 -2.39801108e-02 9.88321464e-01 1.42876359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.819649246000004 meters Centerline goodness [0,1] 0.9101332308480656 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.06, Z:0.01 [[ 0.98929671 -0.00518058 -0.14582585 3.47464816] [ 0.00730632 0.99987466 0.01404541 -0.05991974] [ 0.14573481 -0.01496053 0.98921057 0.01161185] [ 0. 0. 0. 1. ]] SLAMing on 17.849649246000002 meters Centerline goodness [0,1] 0.9089317545199898 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.06, Z:0.01 [[ 0.98922722 -0.00596459 -0.14626667 3.47663293] [ 0.00809071 0.99987003 0.01394526 -0.05927786] [ 0.14616448 -0.01497843 0.9891469 0.01188199] [ 0. 0. 0. 1. ]] SLAMing on 17.879649246000003 meters Centerline goodness [0,1] 0.9108901454984434 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.06, Z:0.01 [[ 0.98910205 -0.00781892 -0.1470238 3.48103546] [ 0.0099068 0.99986014 0.01347405 -0.05712459] [ 0.14689788 -0.01478375 0.98904118 0.01178197] [ 0. 0. 0. 1. ]] SLAMing on 17.909649246000004 meters Centerline goodness [0,1] 0.9094434379072502 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.06, Z:0.01 [[ 0.98903247 -0.00899587 -0.14742401 3.4838787 ] [ 0.01101044 0.99985675 0.01285478 -0.05603182] [ 0.14728725 -0.014337 0.98898985 0.01091476] [ 0. 0. 0. 1. ]] SLAMing on 17.939649246000002 meters Centerline goodness [0,1] 0.9077737619681694 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.05, Z:0.01 [[ 0.98877401 -0.01196904 -0.14893855 3.49155173] [ 0.01391139 0.99983115 0.01200626 -0.05423623] [ 0.1487697 -0.01394342 0.98877356 0.01019372] [ 0. 0. 0. 1. ]] SLAMing on 17.969649246000003 meters Centerline goodness [0,1] 0.9083899510191183 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.05, Z:0.01 [[ 0.98858649 -0.01380806 -0.15002027 3.49619783] [ 0.01569366 0.99981194 0.01139232 -0.05322146] [ 0.14983475 -0.01361666 0.98861728 0.00993588] [ 0. 0. 0. 1. ]] SLAMing on 17.999649246000004 meters Centerline goodness [0,1] 0.9076675907258065 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.05, Z:0.01 [[ 0.9883794 -0.01599036 -0.15116373 3.5015105 ] [ 0.01791999 0.9997743 0.01141147 -0.05219503] [ 0.15094714 -0.01398772 0.98844287 0.01085884] [ 0. 0. 0. 1. ]] SLAMing on 18.029649246 meters Centerline goodness [0,1] 0.90889917209683 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.05, Z:0.01 [[ 0.9882374 -0.01720323 -0.15195689 3.50476662] [ 0.01912073 0.99975482 0.01116641 -0.05161242] [ 0.15172754 -0.01394059 0.98832404 0.0110178 ] [ 0. 0. 0. 1. ]] SLAMing on 18.059649246000003 meters Centerline goodness [0,1] 0.9103534956794972 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.05, Z:0.01 [[ 0.98810232 -0.01832016 -0.15270289 3.50775729] [ 0.02022211 0.99973597 0.01091128 -0.05093444] [ 0.15246268 -0.01386944 0.98821191 0.01116968] [ 0. 0. 0. 1. ]] SLAMing on 18.089649246000004 meters Centerline goodness [0,1] 0.9106257453084793 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.05, Z:0.01 [[ 0.98790906 -0.02037496 -0.15368978 3.51265481] [ 0.02223173 0.99969904 0.01037224 -0.04856817] [ 0.15343219 -0.01366362 0.98806471 0.01135335] [ 0. 0. 0. 1. ]] SLAMing on 18.119649246 meters Centerline goodness [0,1] 0.9152452358637926 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.05, Z:0.01 [[ 0.98756207 -0.01974399 -0.15598506 3.52182199] [ 0.02227101 0.99964726 0.01446924 -0.04774154] [ 0.15564436 -0.01776322 0.98765343 0.01360136] [ 0. 0. 0. 1. ]] SLAMing on 18.149649246000003 meters Centerline goodness [0,1] 0.9162079319404479 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.05, Z:0.01 [[ 0.98742907 -0.02098566 -0.15666347 3.52495035] [ 0.02340684 0.99963316 0.01362561 -0.04626988] [ 0.15632005 -0.01712132 0.98755805 0.01287706] [ 0. 0. 0. 1. ]] SLAMing on 18.179649246000004 meters Centerline goodness [0,1] 0.9179076693968726 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.04, Z:0.02 [[ 0.98703296 -0.02024715 -0.15923567 3.53447106] [ 0.02335651 0.99957086 0.01767935 -0.04463466] [ 0.15880938 -0.02116929 0.98708229 0.01533744] [ 0. 0. 0. 1. ]] SLAMing on 18.209649246 meters Centerline goodness [0,1] 0.9189641804930997 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.04, Z:0.01 [[ 0.98688968 -0.02136728 -0.15997564 3.53754607] [ 0.02438482 0.9995594 0.01692291 -0.04311098] [ 0.15954356 -0.02060203 0.98697589 0.01473433] [ 0. 0. 0. 1. ]] SLAMing on 18.239649246000003 meters Centerline goodness [0,1] 0.9202925498946325 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.04, Z:0.01 [[ 0.98675586 -0.02251609 -0.16064215 3.54045106] [ 0.02544023 0.99954558 0.01616905 -0.0415677 ] [ 0.16020509 -0.02004168 0.98688027 0.01415711] [ 0. 0. 0. 1. ]] SLAMing on 18.269649246000004 meters Centerline goodness [0,1] 0.9211345768459998 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.04, Z:0.02 [[ 0.98631519 -0.02206282 -0.16338781 3.55068824] [ 0.02582237 0.99944759 0.02092176 -0.04112284] [ 0.16283596 -0.02485451 0.98634005 0.01769167] [ 0. 0. 0. 1. ]] SLAMing on 18.299649246000005 meters Centerline goodness [0,1] 0.9213230769230769 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.04, Z:0.01 [[ 0.98699494 -0.02443412 -0.15888348 3.57277098] [ 0.02676208 0.99956332 0.0125286 -0.03575221] [ 0.15850797 -0.01661772 0.98721785 0.01476186] [ 0. 0. 0. 1. ]] SLAMing on 18.329649246000002 meters Centerline goodness [0,1] 0.9213292641573415 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.03, Z:0.01 [[ 0.98685483 -0.02547735 -0.15958838 3.5754629 ] [ 0.02774213 0.99954333 0.01197923 -0.03417606] [ 0.1592103 -0.01624908 0.98711096 0.01465242] [ 0. 0. 0. 1. ]] SLAMing on 18.359649246000004 meters Centerline goodness [0,1] 0.9213292641573415 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.03, Z:0.01 [[ 0.98685483 -0.02547735 -0.15958838 3.5754629 ] [ 0.02774213 0.99954333 0.01197923 -0.03417606] [ 0.1592103 -0.01624908 0.98711096 0.01465242] [ 0. 0. 0. 1. ]] SLAMing on 18.389649246000005 meters Centerline goodness [0,1] 0.9235265165497724 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.03, Z:0.01 [[ 0.98749984 -0.02640704 -0.15539218 3.59848105] [ 0.0276212 0.99960244 0.00565916 -0.02905772] [ 0.15518097 -0.00988053 0.98783665 0.01285986] [ 0. 0. 0. 1. ]] SLAMing on 18.419649246000002 meters Centerline goodness [0,1] 0.9235692307692308 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.03, Z:0.01 [[ 0.9873765 -0.02732621 -0.15601577 3.60089827] [ 0.02847619 0.99958126 0.00514017 -0.02721109] [ 0.15580998 -0.00951802 0.98774119 0.01275423] [ 0. 0. 0. 1. ]] SLAMing on 18.449649246000003 meters Centerline goodness [0,1] 0.9260307692307692 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.03, Z:0.01 [[ 0.98724198 -0.02827801 -0.15669597 3.60345021] [ 0.02937328 0.99955756 0.00467811 -0.02584974] [ 0.15649436 -0.0092211 0.98763581 0.01270557] [ 0. 0. 0. 1. ]] SLAMing on 18.479649246000005 meters Centerline goodness [0,1] 0.9285386240470286 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.03, Z:0.02 [[ 0.98714951 -0.02786293 -0.15735155 3.61742045] [ 0.03078929 0.99939476 0.01619027 -0.02703222] [ 0.15680521 -0.02082696 0.98740993 0.02273369] [ 0. 0. 0. 1. ]] SLAMing on 18.509649246000002 meters Centerline goodness [0,1] 0.9326458167574515 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.02, Z:0.02 [[ 0.98777597 -0.03099327 -0.15276793 3.64045655] [ 0.03261527 0.99943498 0.00812224 -0.02312312] [ 0.15242988 -0.01300552 0.98822871 0.02045659] [ 0. 0. 0. 1. ]] SLAMing on 18.539649246000003 meters Centerline goodness [0,1] 0.9303669104541823 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.02, Z:0.02 [[ 0.98756428 -0.032362 -0.15384895 3.64448404] [ 0.03396987 0.99939216 0.00783302 -0.02302646] [ 0.15350195 -0.01296184 0.98806333 0.02037757] [ 0. 0. 0. 1. ]] SLAMing on 18.569649246000004 meters Centerline goodness [0,1] 0.9295327851181127 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.02, Z:0.02 [[ 0.98714491 -0.03618183 -0.15567854 3.65994528] [ 0.03850566 0.99918709 0.0119364 -0.02422013] [ 0.15512011 -0.01777746 0.98773565 0.0233933 ] [ 0. 0. 0. 1. ]] SLAMing on 18.599649246000002 meters Centerline goodness [0,1] 0.9281061892267325 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.02, Z:0.02 [[ 0.98689853 -0.03769473 -0.15687702 3.66443086] [ 0.03995855 0.99913743 0.01130072 -0.02384028] [ 0.15631573 -0.01742125 0.98755349 0.02286064] [ 0. 0. 0. 1. ]] SLAMing on 18.629649246000003 meters Centerline goodness [0,1] 0.9276354330465884 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.02, Z:0.02 [[ 0.9866631 -0.03894084 -0.15804916 3.66809626] [ 0.04115111 0.99909526 0.01073511 -0.02327578] [ 0.15748814 -0.01709584 0.98737289 0.02286033] [ 0. 0. 0. 1. ]] SLAMing on 18.659649246000004 meters Centerline goodness [0,1] 0.9286551150027749 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.02, Z:0.02 [[ 0.98623788 -0.03929199 -0.16059569 3.67879775] [ 0.04208558 0.9990155 0.01402957 -0.02293645] [ 0.15988633 -0.02059526 0.98692056 0.02423389] [ 0. 0. 0. 1. ]] SLAMing on 18.689649246000002 meters Centerline goodness [0,1] 0.9313930593157765 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.02, Z:0.03 [[ 0.98579766 -0.03802364 -0.16357621 3.68774244] [ 0.04171272 0.99894561 0.01917612 -0.02263518] [ 0.16267459 -0.02572698 0.98634431 0.02848671] [ 0. 0. 0. 1. ]] SLAMing on 18.719649246000003 meters Centerline goodness [0,1] 0.9309591233686284 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.02, Z:0.02 [[ 0.98655551 -0.03999995 -0.15845578 3.70409375] [ 0.04185485 0.99908852 0.00838497 -0.01901326] [ 0.15797595 -0.01490438 0.98733047 0.02405393] [ 0. 0. 0. 1. ]] SLAMing on 18.749649246000004 meters Centerline goodness [0,1] 0.9310174919931018 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.02, Z:0.03 [[ 0.98612547 -0.03859506 -0.16145271 3.71258819] [ 0.04152197 0.99902808 0.01479268 -0.019722 ] [ 0.16072486 -0.02129128 0.98676958 0.0305916 ] [ 0. 0. 0. 1. ]] SLAMing on 18.779649246 meters Centerline goodness [0,1] 0.9300574659660121 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.02, Z:0.03 [[ 0.98596802 -0.03569568 -0.16307323 3.7169952 ] [ 0.03931475 0.99904586 0.01901883 -0.02034053] [ 0.16223875 -0.02516314 0.98643064 0.03213208] [ 0. 0. 0. 1. ]] SLAMing on 18.809649246000003 meters Centerline goodness [0,1] 0.9326367547633682 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.02, Z:0.03 [[ 0.98658264 -0.0383659 -0.15869075 3.73986023] [ 0.04061692 0.99911463 0.01096478 -0.01546683] [ 0.15812958 -0.01726319 0.98726745 0.02989549] [ 0. 0. 0. 1. ]] SLAMing on 18.839649246000004 meters Centerline goodness [0,1] 0.9339645843580915 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.01, Z:0.03 [[ 0.98644274 -0.03904839 -0.15939245 3.7417659 ] [ 0.04125531 0.99909284 0.01055908 -0.01414558] [ 0.15883554 -0.01699171 0.98715883 0.03015577] [ 0. 0. 0. 1. ]] SLAMing on 18.869649246 meters Centerline goodness [0,1] 0.934399117971334 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.02, Z:0.03 [[ 0.98626406 -0.03587739 -0.16123282 3.74591699] [ 0.03886396 0.99912573 0.01540698 -0.0152951 ] [ 0.16053909 -0.0214615 0.98679613 0.03286379] [ 0. 0. 0. 1. ]] SLAMing on 18.899649246000003 meters Centerline goodness [0,1] 0.9344222106456654 Centerline is valid? [False, False] Translation: X:3.75, Y:-0.01, Z:0.03 [[ 0.98606211 -0.03695219 -0.16222222 3.74902965] [ 0.03988873 0.99909331 0.01488129 -0.01376356] [ 0.16152523 -0.02114472 0.98664203 0.03301712] [ 0. 0. 0. 1. ]] SLAMing on 18.929649246000004 meters Centerline goodness [0,1] 0.9349005424954792 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.01, Z:0.04 [[ 0.98570142 -0.03764806 -0.16424172 3.75818049] [ 0.04125177 0.99897592 0.01858496 -0.0148323 ] [ 0.16337384 -0.02509448 0.98624503 0.03585853] [ 0. 0. 0. 1. ]] SLAMing on 18.959649246 meters Centerline goodness [0,1] 0.9361140119171939 Centerline is valid? [False, False] Translation: X:3.76, Y:-0.01, Z:0.04 [[ 0.98548638 -0.03893641 -0.16522876 3.76174329] [ 0.04246093 0.99893863 0.01785152 -0.01417404] [ 0.16435832 -0.0246082 0.9860937 0.03533628] [ 0. 0. 0. 1. ]] SLAMing on 18.989649246000003 meters Centerline goodness [0,1] 0.9350039874854303 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.01, Z:0.04 [[ 0.98514036 -0.03780571 -0.16753863 3.76995575] [ 0.04199547 0.9988857 0.02153445 -0.01480321] [ 0.16653782 -0.02825032 0.98563029 0.03673482] [ 0. 0. 0. 1. ]] SLAMing on 19.019649246000004 meters Centerline goodness [0,1] 0.9352868978214176 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.01, Z:0.04 [[ 0.98496236 -0.03880354 -0.16835509 3.7728692 ] [ 0.04291761 0.9988607 0.02086602 -0.01417498] [ 0.16735361 -0.02777764 0.98550554 0.03622437] [ 0. 0. 0. 1. ]] SLAMing on 19.049649246000005 meters Centerline goodness [0,1] 0.9356257497001199 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.01, Z:0.04 [[ 0.98471879 -0.03985706 -0.16952969 3.77620931] [ 0.04396081 0.99882248 0.02052094 -0.0133037 ] [ 0.16851216 -0.02766001 0.98531141 0.03674424] [ 0. 0. 0. 1. ]] SLAMing on 19.079649246000002 meters Centerline goodness [0,1] 0.93426899151166 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.01, Z:0.04 [[ 0.98434525 -0.03825548 -0.17204924 3.78397536] [ 0.04310015 0.99877005 0.02451043 -0.01321075] [ 0.17089997 -0.03154208 0.98478338 0.03878147] [ 0. 0. 0. 1. ]] SLAMing on 19.109649246000004 meters Centerline goodness [0,1] 0.933639987733824 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.01, Z:0.04 [[ 0.98414228 -0.03937755 -0.17295484 3.78713296] [ 0.04413288 0.9987437 0.02373424 -0.0120707 ] [ 0.17180296 -0.03099087 0.98464375 0.03829643] [ 0. 0. 0. 1. ]] SLAMing on 19.139649246000005 meters Centerline goodness [0,1] 0.9325622066087811 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.01, Z:0.04 [[ 0.98393675 -0.04037887 -0.17389082 3.79006589] [ 0.04506463 0.99871739 0.02308148 -0.01099016] [ 0.17273578 -0.03054704 0.9844944 0.0380985 ] [ 0. 0. 0. 1. ]] SLAMing on 19.169649246000002 meters Centerline goodness [0,1] 0.9356755597757834 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.01, Z:0.04 [[ 0.98356219 -0.03833948 -0.17645253 3.79681904] [ 0.04387563 0.99865625 0.02757936 -0.01068787] [ 0.17515805 -0.03486798 0.9839227 0.04129625] [ 0. 0. 0. 1. ]] SLAMing on 19.199649246000003 meters Centerline goodness [0,1] 0.9359253023113424 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.01, Z:0.04 [[ 0.98331947 -0.03535216 -0.17841815 3.80127441] [ 0.04175306 0.9986074 0.03224824 -0.01170121] [ 0.17702964 -0.03915982 0.98342616 0.04402593] [ 0. 0. 0. 1. ]] SLAMing on 19.229649246000005 meters Centerline goodness [0,1] 0.935094316548962 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.01, Z:0.04 [[ 0.98400488 -0.03789213 -0.17406488 3.82060088] [ 0.04241915 0.99884966 0.02236012 -0.00759782] [ 0.17301737 -0.02938615 0.98448029 0.04108095] [ 0. 0. 0. 1. ]] SLAMing on 19.259649246000002 meters Centerline goodness [0,1] 0.9360484685291148 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.01, Z:0.04 [[ 0.98380919 -0.03892802 -0.17494022 3.823399 ] [ 0.04338367 0.99882243 0.02171642 -0.00647538] [ 0.17388884 -0.02895437 0.98433953 0.04092536] [ 0. 0. 0. 1. ]] SLAMing on 19.289649246000003 meters Centerline goodness [0,1] 0.9346375354237133 Centerline is valid? [False, False] Translation: X:3.83, Y:-0.01, Z:0.04 [[ 0.9834903 -0.03697833 -0.17714239 3.83009855] [ 0.04216281 0.99878294 0.02559177 -0.00628424] [ 0.17598045 -0.03263808 0.98385245 0.04265183] [ 0. 0. 0. 1. ]] SLAMing on 19.319649246000004 meters Centerline goodness [0,1] 0.9368398624174352 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.01, Z:0.05 [[ 0.98310282 -0.03472934 -0.17972955 3.83688037] [ 0.04084349 0.99870208 0.03042953 -0.00703205] [ 0.17843948 -0.03725613 0.98324531 0.04615324] [ 0. 0. 0. 1. ]] SLAMing on 19.349649246000002 meters Centerline goodness [0,1] 0.939588924127836 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.01, Z:0.05 [[ 0.98291459 -0.03565618 -0.18057559 3.83955605] [ 0.04171414 0.99868325 0.02986125 -0.00642253] [ 0.17927308 -0.03688361 0.98310771 0.04604856] [ 0. 0. 0. 1. ]] SLAMing on 19.379649246000003 meters Centerline goodness [0,1] 0.9392781835406289 Centerline is valid? [False, False] Translation: X:3.84, Y:-0.01, Z:0.05 [[ 0.98261115 -0.03694391 -0.18196284 3.84372619] [ 0.04295267 0.99865056 0.02919119 -0.00576293] [ 0.18063886 -0.03649938 0.98287202 0.04608978] [ 0. 0. 0. 1. ]] SLAMing on 19.409649246000004 meters Centerline goodness [0,1] 0.9405336101105074 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.00, Z:0.05 [[ 0.98240907 -0.0379745 -0.18283967 3.84686109] [ 0.04389714 0.99863078 0.02845356 -0.00469794] [ 0.18150882 -0.03597918 0.98273091 0.04552274] [ 0. 0. 0. 1. ]] SLAMing on 19.439649246000002 meters Centerline goodness [0,1] 0.9394031761514311 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.00, Z:0.04 [[ 9.82159492e-01 -3.94189539e-02 -1.83871909e-01 3.85095901e+00] [ 4.51511866e-02 9.98612744e-01 2.70916684e-02 -2.09091658e-03] [ 1.82548906e-01 -3.49103741e-02 9.82576797e-01 4.42474669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.469649246000003 meters Centerline goodness [0,1] 0.9424635086335084 Centerline is valid? [False, False] Translation: X:3.85, Y:-0.00, Z:0.04 [[ 9.81998804e-01 -4.01716915e-02 -1.84565934e-01 3.85324337e+00] [ 4.58249358e-02 9.98598845e-01 2.64654875e-02 -7.50161994e-04] [ 1.83244165e-01 -3.44467991e-02 9.82463737e-01 4.39054230e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.499649246000004 meters Centerline goodness [0,1] 0.9440835407686237 Centerline is valid? [False, False] Translation: X:3.87, Y:0.00, Z:0.04 [[ 9.83829950e-01 -4.28397696e-02 -1.73906249e-01 3.86703924e+00] [ 4.80620326e-02 9.98507779e-01 2.59279008e-02 3.54952231e-03] [ 1.72535997e-01 -3.38669332e-02 9.84420825e-01 3.89077149e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.529649246 meters Centerline goodness [0,1] 0.9462714641101875 Centerline is valid? [False, False] Translation: X:3.88, Y:0.01, Z:0.04 [[ 0.98458215 -0.04274607 -0.16961946 3.88341228] [ 0.04628433 0.99878433 0.01695924 0.00749629] [ 0.16868832 -0.02454849 0.9853637 0.03555973] [ 0. 0. 0. 1. ]] SLAMing on 19.559649246000003 meters Centerline goodness [0,1] 0.9484570424881136 Centerline is valid? [False, False] Translation: X:3.89, Y:0.01, Z:0.04 [[ 0.9843571 -0.03967667 -0.17165913 3.88796186] [ 0.04401538 0.99879858 0.02154183 0.00729477] [ 0.17059819 -0.02876049 0.98492086 0.03834841] [ 0. 0. 0. 1. ]] SLAMing on 19.589649246000004 meters Centerline goodness [0,1] 0.9470764754023825 Centerline is valid? [False, False] Translation: X:3.89, Y:0.01, Z:0.04 [[ 0.98418844 -0.04043697 -0.17244698 3.89027816] [ 0.04472148 0.99877809 0.02103139 0.00831331] [ 0.17138582 -0.02841094 0.98479425 0.03830891] [ 0. 0. 0. 1. ]] SLAMing on 19.619649246 meters Centerline goodness [0,1] 0.9478611245758604 Centerline is valid? [False, False] Translation: X:3.89, Y:0.01, Z:0.04 [[ 0.98388735 -0.04180437 -0.17383349 3.89463728] [ 0.04607332 0.99872577 0.02059358 0.00863252] [ 0.17275108 -0.02827085 0.98455971 0.03840735] [ 0. 0. 0. 1. ]] SLAMing on 19.649649246000003 meters Centerline goodness [0,1] 0.9456538239669673 Centerline is valid? [False, False] Translation: X:3.90, Y:0.01, Z:0.04 [[ 0.98367853 -0.04285676 -0.17475655 3.89780942] [ 0.04706824 0.99869095 0.0200242 0.00926136] [ 0.17366961 -0.02792286 0.98440804 0.03808202] [ 0. 0. 0. 1. ]] SLAMing on 19.679649246000004 meters Centerline goodness [0,1] 0.9481456772902326 Centerline is valid? [False, False] Translation: X:3.90, Y:0.01, Z:0.04 [[ 0.98336708 -0.04404192 -0.17620864 3.9018137 ] [ 0.0482604 0.99864001 0.01972474 0.00918413] [ 0.17510029 -0.02790056 0.9841552 0.03866313] [ 0. 0. 0. 1. ]] SLAMing on 19.709649246000005 meters Centerline goodness [0,1] 0.9479074856396074 Centerline is valid? [False, False] Translation: X:3.91, Y:0.01, Z:0.04 [[ 0.98307654 -0.04530374 -0.17750517 3.90585048] [ 0.04945207 0.9985955 0.01901383 0.01015145] [ 0.17639447 -0.02747005 0.98393617 0.03851841] [ 0. 0. 0. 1. ]] SLAMing on 19.739649246000003 meters Centerline goodness [0,1] 0.9479157165009577 Centerline is valid? [False, False] Translation: X:3.91, Y:0.01, Z:0.04 [[ 0.98289956 -0.04623611 -0.17824328 3.90856964] [ 0.05028766 0.99856752 0.0182775 0.01163979] [ 0.17714287 -0.02692839 0.98381668 0.03797637] [ 0. 0. 0. 1. ]] SLAMing on 19.769649246000004 meters Centerline goodness [0,1] 0.9499271225555691 Centerline is valid? [False, False] Translation: X:3.91, Y:0.01, Z:0.04 [[ 0.98259631 -0.04392832 -0.18048489 3.91472974] [ 0.04880389 0.9985513 0.02266028 0.01133898] [ 0.17922799 -0.03107427 0.98331669 0.04047717] [ 0. 0. 0. 1. ]] SLAMing on 19.799649246000005 meters Centerline goodness [0,1] 0.9506731908944474 Centerline is valid? [False, True] Translation: X:3.92, Y:0.01, Z:0.04 [[ 0.98243388 -0.04485507 -0.18114001 3.91707281] [ 0.04964762 0.99852428 0.02200853 0.0127556 ] [ 0.1798855 -0.03061509 0.98321103 0.04019318] [ 0. 0. 0. 1. ]] SLAMing on 19.829649246000002 meters Centerline goodness [0,1] 0.9503511598917637 Centerline is valid? [True, True] Translation: X:3.95, Y:0.02, Z:0.03 [[ 9.82426581e-01 -5.02485881e-02 -1.79758428e-01 3.94764975e+00] [ 5.01152291e-02 9.98729454e-01 -5.28604829e-03 2.49419099e-02] [ 1.79795654e-01 -3.81548047e-03 9.83696582e-01 2.56603114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.859649246000004 meters Centerline goodness [0,1] 0.9517823525839558 Centerline is valid? [True, True] Translation: X:3.97, Y:0.03, Z:0.03 [[ 9.82487054e-01 -5.05477165e-02 -1.79343572e-01 3.97386614e+00] [ 5.04105501e-02 9.98714384e-01 -5.32507886e-03 2.53442632e-02] [ 1.79382175e-01 -3.80898706e-03 9.83772091e-01 3.12574635e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.889649246000005 meters Centerline goodness [0,1] 0.9535604656110385 Centerline is valid? [True, True] Translation: X:4.00, Y:0.03, Z:0.04 [[ 9.82521001e-01 -5.06503217e-02 -1.79128521e-01 4.00125156e+00] [ 5.05110300e-02 9.98709220e-01 -5.34139091e-03 2.59344831e-02] [ 1.79167849e-01 -3.79993738e-03 9.83811182e-01 3.63173557e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.919649246000002 meters Centerline goodness [0,1] 0.9537468408391949 Centerline is valid? [True, True] Translation: X:4.03, Y:0.03, Z:0.04 [[ 9.82412648e-01 -5.08209553e-02 -1.79673646e-01 4.02874674e+00] [ 5.06743446e-02 9.98700584e-01 -5.40869885e-03 2.71374107e-02] [ 1.79715050e-01 -3.79127009e-03 9.83711404e-01 4.10302328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.949649246000003 meters Centerline goodness [0,1] 0.9538405289296487 Centerline is valid? [True, True] Translation: X:4.06, Y:0.03, Z:0.05 [[ 9.82479310e-01 -5.12959790e-02 -1.79173455e-01 4.05620265e+00] [ 5.11486823e-02 9.98676207e-01 -5.44473314e-03 2.81780716e-02] [ 1.79215560e-01 -3.81514848e-03 9.83802433e-01 4.55369544e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.979649246000005 meters Centerline goodness [0,1] 0.9526695702494442 Centerline is valid? [True, True] Translation: X:4.08, Y:0.03, Z:0.05 [[ 9.82465928e-01 -5.12668319e-02 -1.79255159e-01 4.08441820e+00] [ 5.11095308e-02 9.98677916e-01 -5.49875492e-03 2.92422011e-02] [ 1.79300072e-01 -3.75930771e-03 9.83787249e-01 4.99821633e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.009649246000002 meters Centerline goodness [0,1] 0.9542954906513503 Centerline is valid? [True, True] Translation: X:4.11, Y:0.03, Z:0.05 [[ 9.82292912e-01 -5.15788732e-02 -1.80111785e-01 4.11258264e+00] [ 5.14158224e-02 9.98661761e-01 -5.57681667e-03 3.06314210e-02] [ 1.80158398e-01 -3.78252805e-03 9.83630339e-01 5.46482883e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.039649246000003 meters Centerline goodness [0,1] 0.953066390168034 Centerline is valid? [True, True] Translation: X:4.14, Y:0.03, Z:0.06 [[ 9.82173057e-01 -5.14553286e-02 -1.80799432e-01 4.13891459e+00] [ 5.12795696e-02 9.98668359e-01 -5.64933712e-03 3.04031017e-02] [ 1.80849360e-01 -3.72269033e-03 9.83503762e-01 5.90274932e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.069649246000004 meters Centerline goodness [0,1] 0.955473381822627 Centerline is valid? [True, True] Translation: X:4.17, Y:0.03, Z:0.06 [[ 9.82120393e-01 -5.18021849e-02 -1.80986375e-01 4.16657673e+00] [ 5.16276851e-02 9.98650260e-01 -5.67812397e-03 3.10290917e-02] [ 1.81036230e-01 -3.76730623e-03 9.83469212e-01 6.42124435e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.099649246000002 meters Centerline goodness [0,1] 0.9550582408511419 Centerline is valid? [True, True] Translation: X:4.19, Y:0.03, Z:0.07 [[ 9.81875021e-01 -5.15978654e-02 -1.82370784e-01 4.19301090e+00] [ 5.14078031e-02 9.98661061e-01 -5.77253266e-03 3.18474138e-02] [ 1.82424451e-01 -3.70737573e-03 9.83212884e-01 6.78356872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.129649246000003 meters Centerline goodness [0,1] 0.9540896126598584 Centerline is valid? [True, True] Translation: X:4.22, Y:0.04, Z:0.07 [[ 9.81733691e-01 -5.14731928e-02 -1.83165145e-01 4.22066394e+00] [ 5.12749790e-02 9.98667608e-01 -5.82117216e-03 3.51795666e-02] [ 1.83220731e-01 -3.67694813e-03 9.83064923e-01 7.10771684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.159649246000004 meters Centerline goodness [0,1] 0.9547781831560229 Centerline is valid? [True, True] Translation: X:4.25, Y:0.04, Z:0.08 [[ 9.81682675e-01 -5.12308997e-02 -1.83506189e-01 4.24856512e+00] [ 5.10179423e-02 9.98680400e-01 -5.88462615e-03 3.76753407e-02] [ 1.83565508e-01 -3.58527261e-03 9.83000941e-01 7.60162514e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.189649246000002 meters Centerline goodness [0,1] 0.9542064393358092 Centerline is valid? [True, True] Translation: X:4.28, Y:0.04, Z:0.08 [[ 9.81702928e-01 -5.15492903e-02 -1.83308571e-01 4.27637241e+00] [ 5.13325550e-02 9.98664007e-01 -5.93044420e-03 3.83850092e-02] [ 1.83369382e-01 -3.58776286e-03 9.83037536e-01 8.05643800e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.219649246000003 meters Centerline goodness [0,1] 0.9544419835117509 Centerline is valid? [True, True] Translation: X:4.30, Y:0.04, Z:0.09 [[ 9.81706942e-01 -5.17571364e-02 -1.83228490e-01 4.30378531e+00] [ 5.15408797e-02 9.98653187e-01 -5.94552657e-03 3.89876671e-02] [ 1.83289439e-01 -3.60699286e-03 9.83052375e-01 8.58339096e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.249649246000004 meters Centerline goodness [0,1] 0.9544419835117509 Centerline is valid? [True, True] Translation: X:4.33, Y:0.04, Z:0.09 [[ 9.81692223e-01 -5.20415900e-02 -1.83226780e-01 4.33101999e+00] [ 5.18204919e-02 9.98638405e-01 -5.99779425e-03 4.00730632e-02] [ 1.83289434e-01 -3.60691387e-03 9.83052376e-01 9.07100114e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.279649246 meters Centerline goodness [0,1] 0.9559926244622003 Centerline is valid? [True, True] Translation: X:4.36, Y:0.04, Z:0.10 [[ 9.81887782e-01 -5.13330450e-02 -1.82376815e-01 4.35929658e+00] [ 5.10922696e-02 9.98675784e-01 -6.02156444e-03 4.15942399e-02] [ 1.82444414e-01 -3.40554484e-03 9.83210272e-01 9.77035672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.309649246000003 meters Centerline goodness [0,1] 0.9571065289990502 Centerline is valid? [True, True] Translation: X:4.39, Y:0.04, Z:0.10 [[ 9.81946240e-01 -5.08955100e-02 -1.82184603e-01 4.38682535e+00] [ 5.06394117e-02 9.98698615e-01 -6.06031122e-03 4.11887962e-02] [ 1.82255953e-01 -3.27482129e-03 9.83245668e-01 1.02820160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.339649246000004 meters Centerline goodness [0,1] 0.9587799350768665 Centerline is valid? [True, True] Translation: X:4.41, Y:0.04, Z:0.11 [[ 9.82002708e-01 -5.15562094e-02 -1.81693805e-01 4.41388310e+00] [ 5.13080856e-02 9.98664433e-01 -6.06885663e-03 4.41490026e-02] [ 1.81764028e-01 -3.36272764e-03 9.83336428e-01 1.08525108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.369649246 meters Centerline goodness [0,1] 0.9583397245145259 Centerline is valid? [True, True] Translation: X:4.44, Y:0.04, Z:0.11 [[ 9.81726059e-01 -5.01954895e-02 -1.83560232e-01 4.44127978e+00] [ 4.99091807e-02 9.98734626e-01 -6.18233118e-03 4.49904566e-02] [ 1.83638285e-01 -3.09198516e-03 9.82989023e-01 1.11505517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.399649246000003 meters Centerline goodness [0,1] 0.9578352131288608 Centerline is valid? [True, True] Translation: X:4.47, Y:0.05, Z:0.12 [[ 9.81585142e-01 -5.04385293e-02 -1.84245932e-01 4.46934740e+00] [ 5.01513119e-02 9.98722253e-01 -6.22156980e-03 4.59974413e-02] [ 1.84324319e-01 -3.13317473e-03 9.82860483e-01 1.15665173e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.429649246000004 meters Centerline goodness [0,1] 0.9560639182240832 Centerline is valid? [True, True] Translation: X:4.50, Y:0.05, Z:0.12 [[ 9.81231173e-01 -5.03742801e-02 -1.86139241e-01 4.49752809e+00] [ 5.00769458e-02 9.98725481e-01 -6.30182451e-03 4.78591853e-02] [ 1.86219453e-01 -3.13773804e-03 9.82503165e-01 1.17736070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.459649246000005 meters Centerline goodness [0,1] 0.9551465828169796 Centerline is valid? [True, True] Translation: X:4.53, Y:0.05, Z:0.12 [[ 9.81020195e-01 -5.01590406e-02 -1.87305762e-01 4.52509220e+00] [ 4.98506585e-02 9.98736436e-01 -6.35943484e-03 4.92752939e-02] [ 1.87388072e-01 -3.09858157e-03 9.82281074e-01 1.21348800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.489649246000003 meters Centerline goodness [0,1] 0.9547233780243489 Centerline is valid? [True, True] Translation: X:4.55, Y:0.05, Z:0.13 [[ 9.80809150e-01 -5.01612186e-02 -1.88407173e-01 4.55394912e+00] [ 4.98393691e-02 9.98736429e-01 -6.44841231e-03 4.96315970e-02] [ 1.88492568e-01 -3.06543284e-03 9.82069832e-01 1.25585423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.519649246000004 meters Centerline goodness [0,1] 0.9556151876869929 Centerline is valid? [True, True] Translation: X:4.58, Y:0.05, Z:0.13 [[ 9.80728104e-01 -5.09599317e-02 -1.88614610e-01 4.58281769e+00] [ 5.06433927e-02 9.98695645e-01 -6.50036267e-03 4.99907017e-02] [ 1.88699847e-01 -3.17699539e-03 9.82029671e-01 1.30577480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.549649246000005 meters Centerline goodness [0,1] 0.956105987229711 Centerline is valid? [True, True] Translation: X:4.61, Y:0.05, Z:0.14 [[ 9.80819814e-01 -5.00698766e-02 -1.88375954e-01 4.61060010e+00] [ 4.97295414e-02 9.98741338e-01 -6.53552625e-03 5.11060216e-02] [ 1.88466085e-01 -2.95767614e-03 9.82075245e-01 1.36047606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.579649246000002 meters Centerline goodness [0,1] 0.9564371719666563 Centerline is valid? [True, True] Translation: X:4.64, Y:0.05, Z:0.14 [[ 9.80869940e-01 -5.03316434e-02 -1.88044907e-01 4.63812623e+00] [ 4.99924397e-02 9.98728123e-01 -6.54921452e-03 5.18506313e-02] [ 1.88135370e-01 -2.97689605e-03 9.82138595e-01 1.41743108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.609649246000004 meters Centerline goodness [0,1] 0.9566037735849057 Centerline is valid? [True, True] Translation: X:4.67, Y:0.05, Z:0.15 [[ 9.80955953e-01 -4.95743446e-02 -1.87797241e-01 4.66561148e+00] [ 4.92130695e-02 9.98766571e-01 -6.58872685e-03 5.34898841e-02] [ 1.87892238e-01 -2.77882783e-03 9.82185718e-01 1.46772854e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.639649246000005 meters Centerline goodness [0,1] 0.9567281020772976 Centerline is valid? [True, True] Translation: X:4.69, Y:0.05, Z:0.15 [[ 9.81168883e-01 -5.02237988e-02 -1.86507889e-01 4.69321176e+00] [ 4.98758550e-02 9.98733878e-01 -6.56043271e-03 5.44799037e-02] [ 1.86601238e-01 -2.86534801e-03 9.82431559e-01 1.52459649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.669649246000002 meters Centerline goodness [0,1] 0.9565726253541948 Centerline is valid? [True, True] Translation: X:4.72, Y:0.06, Z:0.16 [[ 9.81019373e-01 -4.95051107e-02 -1.87483955e-01 4.72044702e+00] [ 4.91313615e-02 9.98770235e-01 -6.64277410e-03 5.64369059e-02] [ 1.87582245e-01 -2.69465188e-03 9.82245204e-01 1.56233338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.699649246000003 meters Centerline goodness [0,1] 0.9559493047865141 Centerline is valid? [True, True] Translation: X:4.75, Y:0.06, Z:0.16 [[ 9.80872001e-01 -4.94712473e-02 -1.88262350e-01 4.74863557e+00] [ 4.90893471e-02 9.98771963e-01 -6.69347135e-03 5.74183125e-02] [ 1.88362292e-01 -2.67623722e-03 9.82095965e-01 1.60400727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.729649246000005 meters Centerline goodness [0,1] 0.9557318085400719 Centerline is valid? [True, True] Translation: X:4.78, Y:0.06, Z:0.16 [[ 9.80620391e-01 -5.04059090e-02 -1.89322195e-01 4.77605850e+00] [ 5.00278706e-02 9.98724820e-01 -6.77829906e-03 5.69011973e-02] [ 1.89422442e-01 -2.82444801e-03 9.81891624e-01 1.64364656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.759649246000002 meters Centerline goodness [0,1] 0.9544894691464466 Centerline is valid? [True, True] Translation: X:4.80, Y:0.06, Z:0.17 [[ 9.80619295e-01 -5.10559799e-02 -1.89153601e-01 4.80347272e+00] [ 5.06872708e-02 9.98691496e-01 -6.78949314e-03 5.78118462e-02] [ 1.89252737e-01 -2.92977181e-03 9.81924039e-01 1.68437681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.789649246000003 meters Centerline goodness [0,1] 0.952575153705935 Centerline is valid? [True, True] Translation: X:4.83, Y:0.06, Z:0.17 [[ 9.80194158e-01 -4.88710772e-02 -1.91914123e-01 4.83078186e+00] [ 4.84407998e-02 9.98801972e-01 -6.93611972e-03 5.92453803e-02] [ 1.92023180e-01 -2.49772958e-03 9.81387212e-01 1.73094624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.819649246000004 meters Centerline goodness [0,1] 0.9524088040634139 Centerline is valid? [True, True] Translation: X:4.86, Y:0.06, Z:0.18 [[ 9.80383125e-01 -5.04485208e-02 -1.90535758e-01 4.85777827e+00] [ 5.00495797e-02 9.98722840e-01 -6.90855441e-03 5.98330918e-02] [ 1.90640940e-01 -2.76320447e-03 9.81655946e-01 1.77219756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.849649246000002 meters Centerline goodness [0,1] 0.9517736149860502 Centerline is valid? [True, True] Translation: X:4.89, Y:0.06, Z:0.18 [[ 9.80219963e-01 -4.96572209e-02 -1.91580229e-01 4.88521298e+00] [ 4.92322693e-02 9.98762962e-01 -6.98057309e-03 6.16138683e-02] [ 1.91689873e-01 -2.58943233e-03 9.81452132e-01 1.81498674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.879649246000003 meters Centerline goodness [0,1] 0.953702852590618 Centerline is valid? [True, True] Translation: X:4.91, Y:0.06, Z:0.19 [[ 9.80224192e-01 -4.99346084e-02 -1.91486469e-01 4.91246257e+00] [ 4.95060165e-02 9.98749121e-01 -7.02478498e-03 6.25990028e-02] [ 1.91597722e-01 -2.59386810e-03 9.81470114e-01 1.86301850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.909649246000004 meters Centerline goodness [0,1] 0.9544299145560898 Centerline is valid? [True, True] Translation: X:4.94, Y:0.06, Z:0.19 [[ 9.80223736e-01 -4.99557680e-02 -1.91483287e-01 4.93947982e+00] [ 4.95187274e-02 9.98748171e-01 -7.07006870e-03 6.33414721e-02] [ 1.91596774e-01 -2.55175956e-03 9.81470410e-01 1.91143150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.939649246000002 meters Centerline goodness [0,1] 0.9557297247650246 Centerline is valid? [True, True] Translation: X:4.97, Y:0.06, Z:0.20 [[ 9.80439232e-01 -5.01791591e-02 -1.90318063e-01 4.96799899e+00] [ 4.97473641e-02 9.98736959e-01 -7.04879697e-03 6.47609338e-02] [ 1.90431386e-01 -2.55690487e-03 9.81697178e-01 1.97372503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.969649246000003 meters Centerline goodness [0,1] 0.9546222099413588 Centerline is valid? [True, True] Translation: X:5.00, Y:0.07, Z:0.20 [[ 9.80316686e-01 -4.95575801e-02 -1.91110549e-01 4.99505247e+00] [ 4.91026060e-02 9.98768371e-01 -7.11860016e-03 6.53528472e-02] [ 1.91227953e-01 -2.40554348e-03 9.81542706e-01 2.01824803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.999649246000004 meters Centerline goodness [0,1] 0.9536456412148039 Centerline is valid? [True, True] Translation: X:5.02, Y:0.07, Z:0.21 [[ 9.80293176e-01 -4.80008657e-02 -1.91627780e-01 5.02287943e+00] [ 4.75079729e-02 9.98845135e-01 -7.16853012e-03 6.75361769e-02] [ 1.91750571e-01 -2.07658621e-03 9.81441494e-01 2.06496240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.029649246 meters Centerline goodness [0,1] 0.9540767644433501 Centerline is valid? [True, True] Translation: X:5.05, Y:0.07, Z:0.21 [[ 9.80246254e-01 -4.73306709e-02 -1.92034082e-01 5.05094231e+00] [ 4.68196379e-02 9.98877406e-01 -7.20061281e-03 7.00446247e-02] [ 1.92159316e-01 -1.93259245e-03 9.81361841e-01 2.10112148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.059649246000003 meters Centerline goodness [0,1] 0.9524364082133007 Centerline is valid? [True, True] Translation: X:5.08, Y:0.07, Z:0.21 [[ 9.80264388e-01 -4.65171824e-02 -1.92140266e-01 5.07877804e+00] [ 4.59815855e-02 9.98915992e-01 -7.24807271e-03 7.34421943e-02] [ 1.92269144e-01 -1.72988650e-03 9.81340707e-01 2.13892408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.089649246000004 meters Centerline goodness [0,1] 0.9501150483202945 Centerline is valid? [True, True] Translation: X:5.11, Y:0.08, Z:0.22 [[ 9.80118468e-01 -4.54628145e-02 -1.93134465e-01 5.10632121e+00] [ 4.48980138e-02 9.98964884e-01 -7.30259485e-03 7.58320828e-02] [ 1.93266545e-01 -1.51394581e-03 9.81145122e-01 2.17935969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.119649246000005 meters Centerline goodness [0,1] 0.9491925351637912 Centerline is valid? [True, False] Translation: X:5.11, Y:0.07, Z:0.22 [[ 9.79914576e-01 -4.23588428e-02 -1.94867010e-01 5.11056841e+00] [ 4.27612678e-02 9.99083020e-01 -2.14305682e-03 7.43893786e-02] [ 1.94779099e-01 -6.23274779e-03 9.80827332e-01 2.21055254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.149649246000003 meters Centerline goodness [0,1] 0.9489896198022234 Centerline is valid? [False, False] Translation: X:5.11, Y:0.07, Z:0.22 [[ 9.79821173e-01 -4.26898368e-02 -1.95264043e-01 5.11175818e+00] [ 4.31011123e-02 9.99068414e-01 -2.14420031e-03 7.45222533e-02] [ 1.95173674e-01 -6.31516460e-03 9.80748365e-01 2.21286033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.179649246000004 meters Centerline goodness [0,1] 0.9497316967865294 Centerline is valid? [False, False] Translation: X:5.11, Y:0.07, Z:0.22 [[ 9.79665969e-01 -4.29984917e-02 -1.95973769e-01 5.11315145e+00] [ 4.35961952e-02 9.99048433e-01 -1.26479687e-03 7.27983143e-02] [ 1.95841671e-01 -7.30463224e-03 9.80608322e-01 2.23074407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.209649246000005 meters Centerline goodness [0,1] 0.9493983338475779 Centerline is valid? [False, False] Translation: X:5.11, Y:0.07, Z:0.22 [[ 9.79555731e-01 -4.30353961e-02 -1.96515966e-01 5.11386945e+00] [ 4.37439648e-02 9.99042504e-01 -7.35504856e-04 7.20951785e-02] [ 1.96359456e-01 -7.87591951e-03 9.80500349e-01 2.24306331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.239649246000003 meters Centerline goodness [0,1] 0.9498901234950013 Centerline is valid? [False, False] Translation: X:5.11, Y:0.07, Z:0.22 [[ 9.79478223e-01 -4.31822404e-02 -1.96869768e-01 5.11465791e+00] [ 4.39308437e-02 9.99034415e-01 -5.65041334e-04 7.24349817e-02] [ 1.96704073e-01 -8.09520930e-03 9.80429485e-01 2.24868238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.269649246000004 meters Centerline goodness [0,1] 0.9491347342398022 Centerline is valid? [False, False] Translation: X:5.12, Y:0.07, Z:0.23 [[ 9.79431128e-01 -3.95351928e-02 -1.97867719e-01 5.11700242e+00] [ 4.11700062e-02 9.99143523e-01 4.15355137e-03 7.09808355e-02] [ 1.97534039e-01 -1.22143327e-02 9.80219931e-01 2.26794296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.299649246000005 meters Centerline goodness [0,1] 0.9489792776426395 Centerline is valid? [False, False] Translation: X:5.12, Y:0.07, Z:0.23 [[ 0.97923848 -0.03679942 -0.19934343 5.12159002] [ 0.03925439 0.99919415 0.00837574 0.07060019] [ 0.19887457 -0.01602696 0.97989389 0.2283975 ] [ 0. 0. 0. 1. ]] SLAMing on 21.329649246000002 meters Centerline goodness [0,1] 0.9493705949339817 Centerline is valid? [False, False] Translation: X:5.12, Y:0.07, Z:0.23 [[ 0.97916503 -0.03716323 -0.19963653 5.12267382] [ 0.03958642 0.99918284 0.00815875 0.07164532] [ 0.19917019 -0.01589165 0.97983605 0.22836221] [ 0. 0. 0. 1. ]] SLAMing on 21.359649246000004 meters Centerline goodness [0,1] 0.9483839101040348 Centerline is valid? [False, False] Translation: X:5.12, Y:0.07, Z:0.23 [[ 0.97905311 -0.03773119 -0.2000784 5.12419656] [ 0.04010198 0.99916508 0.00780836 0.07322668] [ 0.19961673 -0.01566834 0.97974878 0.22838597] [ 0. 0. 0. 1. ]] SLAMing on 21.389649246000005 meters Centerline goodness [0,1] 0.9519066679077849 Centerline is valid? [False, True] Translation: X:5.13, Y:0.07, Z:0.23 [[ 0.9789568 -0.0381254 -0.20047455 5.12544269] [ 0.04046381 0.99915227 0.00757822 0.07385778] [ 0.20001568 -0.01553071 0.9796696 0.228424 ] [ 0. 0. 0. 1. ]] SLAMing on 21.419649246000002 meters Centerline goodness [0,1] 0.9526227782250573 Centerline is valid? [True, True] Translation: X:5.15, Y:0.08, Z:0.22 [[ 9.79012289e-01 -4.06322654e-02 -1.99709682e-01 5.15460160e+00] [ 4.00320332e-02 9.99173565e-01 -7.04439042e-03 8.07333526e-02] [ 1.99830865e-01 -1.09823984e-03 9.79829791e-01 2.23386247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.449649246000003 meters Centerline goodness [0,1] 0.9506896017356269 Centerline is valid? [True, True] Translation: X:5.18, Y:0.08, Z:0.23 [[ 9.78968686e-01 -4.07374536e-02 -1.99901903e-01 5.18252248e+00] [ 4.01339561e-02 9.99169280e-01 -7.07209848e-03 8.11551540e-02] [ 2.00023940e-01 -1.09949125e-03 9.79790393e-01 2.28983993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.479649246000005 meters Centerline goodness [0,1] 0.950678480698928 Centerline is valid? [True, True] Translation: X:5.21, Y:0.08, Z:0.23 [[ 9.79012601e-01 -4.09566480e-02 -1.99641880e-01 5.21025626e+00] [ 4.03480208e-02 9.99160334e-01 -7.11793173e-03 8.24953039e-02] [ 1.99765775e-01 -1.08660989e-03 9.79843077e-01 2.33480739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.509649246000002 meters Centerline goodness [0,1] 0.9527148063499907 Centerline is valid? [True, True] Translation: X:5.24, Y:0.08, Z:0.24 [[ 9.79148734e-01 -4.12480318e-02 -1.98912935e-01 5.23826438e+00] [ 4.06389240e-02 9.99148346e-01 -7.14559768e-03 8.41998241e-02] [ 1.99038272e-01 -1.08700473e-03 9.79991115e-01 2.39109381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.539649246000003 meters Centerline goodness [0,1] 0.9514870345336119 Centerline is valid? [True, True] Translation: X:5.27, Y:0.09, Z:0.24 [[ 9.79268887e-01 -4.08606479e-02 -1.98400740e-01 5.26655810e+00] [ 4.02372431e-02 9.99164396e-01 -7.17449099e-03 8.72793169e-02] [ 1.98528110e-01 -9.57342987e-04 9.80094727e-01 2.43089604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.569649246000004 meters Centerline goodness [0,1] 0.9520282624190399 Centerline is valid? [True, True] Translation: X:5.29, Y:0.09, Z:0.25 [[ 9.79235540e-01 -4.06450770e-02 -1.98609505e-01 5.29305127e+00] [ 4.00067974e-02 9.99173270e-01 -7.22723075e-03 8.89206339e-02] [ 1.98739060e-01 -8.68569024e-04 9.80052056e-01 2.46734905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.599649246000002 meters Centerline goodness [0,1] 0.9521998577744798 Centerline is valid? [True, True] Translation: X:5.32, Y:0.09, Z:0.25 [[ 9.79108924e-01 -4.06749083e-02 -1.99226674e-01 5.32131475e+00] [ 4.00279714e-02 9.99172071e-01 -7.27557415e-03 8.92521555e-02] [ 1.99357661e-01 -8.51060009e-04 9.79926425e-01 2.53470585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.629649246000003 meters Centerline goodness [0,1] 0.9519511135926546 Centerline is valid? [True, True] Translation: X:5.35, Y:0.09, Z:0.26 [[ 9.79122605e-01 -4.14615772e-02 -1.98997141e-01 5.34889927e+00] [ 4.08222671e-02 9.99139638e-01 -7.31618925e-03 8.96288310e-02] [ 1.99129273e-01 -9.60068181e-04 9.79972760e-01 2.58348826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.659649246000004 meters Centerline goodness [0,1] 0.9509040722017182 Centerline is valid? [True, True] Translation: X:5.38, Y:0.09, Z:0.26 [[ 9.78870467e-01 -4.23270413e-02 -2.00052567e-01 5.37661773e+00] [ 4.16881914e-02 9.99103215e-01 -7.40677169e-03 8.89250021e-02] [ 2.00186670e-01 -1.08955965e-03 9.79757169e-01 2.62234168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.689649246000002 meters Centerline goodness [0,1] 0.9494924486258975 Centerline is valid? [True, False] Translation: X:5.38, Y:0.09, Z:0.26 [[ 9.78639641e-01 -3.97148232e-02 -2.01710647e-01 5.38173237e+00] [ 3.99562883e-02 9.99197289e-01 -2.87608068e-03 8.79312118e-02] [ 2.01662955e-01 -5.24496220e-03 9.79440934e-01 2.64273633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.719649246000003 meters Centerline goodness [0,1] 0.9503469210754554 Centerline is valid? [False, True] Translation: X:5.38, Y:0.09, Z:0.26 [[ 9.78584818e-01 -4.00088816e-02 -2.01918406e-01 5.38247252e+00] [ 4.02212919e-02 9.99186133e-01 -3.05258972e-03 8.85834644e-02] [ 2.01876202e-01 -5.13420117e-03 9.79397590e-01 2.64273085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.749649246000004 meters Centerline goodness [0,1] 0.9508257561699759 Centerline is valid? [True, True] Translation: X:5.41, Y:0.09, Z:0.27 [[ 9.78806463e-01 -4.15568452e-02 -2.00526649e-01 5.40990322e+00] [ 4.09670426e-02 9.99135330e-01 -7.09185609e-03 9.09948901e-02] [ 2.00647975e-01 -1.27342919e-03 9.79662579e-01 2.67089171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.779649246 meters Centerline goodness [0,1] 0.9518512780790085 Centerline is valid? [True, True] Translation: X:5.44, Y:0.09, Z:0.27 [[ 9.79184344e-01 -4.13278457e-02 -1.98720983e-01 5.43756509e+00] [ 4.07406616e-02 9.99144921e-01 -7.04449614e-03 9.16048836e-02] [ 1.98842195e-01 -1.19816398e-03 9.80030788e-01 2.73111948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.809649246000003 meters Centerline goodness [0,1] 0.952707312534888 Centerline is valid? [True, True] Translation: X:5.47, Y:0.09, Z:0.28 [[ 9.79332255e-01 -4.18434904e-02 -1.97882430e-01 5.46569048e+00] [ 4.12679298e-02 9.99123360e-01 -7.03343837e-03 9.18172957e-02] [ 1.98003262e-01 -1.27812517e-03 9.80200528e-01 2.79832935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.839649246000004 meters Centerline goodness [0,1] 0.9532846715328467 Centerline is valid? [True, True] Translation: X:5.49, Y:0.09, Z:0.28 [[ 9.79265943e-01 -4.17065709e-02 -1.98239184e-01 5.49200676e+00] [ 4.11169019e-02 9.99129174e-01 -7.09178699e-03 9.23626497e-02] [ 1.98362326e-01 -1.20623558e-03 9.80128018e-01 2.83988973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.869649246000005 meters Centerline goodness [0,1] 0.9510908357384477 Centerline is valid? [True, True] Translation: X:5.52, Y:0.09, Z:0.29 [[ 9.79311432e-01 -4.20393128e-02 -1.97943969e-01 5.51998232e+00] [ 4.14497628e-02 9.99115201e-01 -7.12267143e-03 9.41405532e-02] [ 1.98068261e-01 -1.22941703e-03 9.80187458e-01 2.88788242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.899649246000003 meters Centerline goodness [0,1] 0.952423809819378 Centerline is valid? [True, True] Translation: X:5.55, Y:0.10, Z:0.30 [[ 9.79340660e-01 -4.18276865e-02 -1.97844170e-01 5.54741144e+00] [ 4.12238932e-02 9.99124197e-01 -7.17139596e-03 9.69828097e-02] [ 1.97970861e-01 -1.13266730e-03 9.80207251e-01 2.96617305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.929649246000004 meters Centerline goodness [0,1] 0.9533967938978636 Centerline is valid? [True, True] Translation: X:5.57, Y:0.10, Z:0.30 [[ 9.79288641e-01 -4.26653722e-02 -1.97922772e-01 5.57389526e+00] [ 4.20666258e-02 9.99088643e-01 -7.23069879e-03 9.77977965e-02] [ 1.98050894e-01 -1.24500198e-03 9.80190947e-01 3.01357579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.959649246000005 meters Centerline goodness [0,1] 0.9507724697359051 Centerline is valid? [True, True] Translation: X:5.60, Y:0.10, Z:0.30 [[ 9.79266393e-01 -4.26597112e-02 -1.98034038e-01 5.60098698e+00] [ 4.20524214e-02 9.99088933e-01 -7.27310469e-03 9.77673790e-02] [ 1.98163884e-01 -1.20550383e-03 9.80168160e-01 3.01614109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.989649246000003 meters Centerline goodness [0,1] 0.950628338530892 Centerline is valid? [True, True] Translation: X:5.63, Y:0.10, Z:0.31 [[ 9.79280184e-01 -4.32680104e-02 -1.97833768e-01 5.62809574e+00] [ 4.26692762e-02 9.99062653e-01 -7.29034608e-03 9.89637395e-02] [ 1.97963768e-01 -1.30213224e-03 9.80208473e-01 3.05488759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.019649246000004 meters Centerline goodness [0,1] 0.9534926983536415 Centerline is valid? [True, True] Translation: X:5.66, Y:0.10, Z:0.32 [[ 9.79159840e-01 -4.52474358e-02 -1.97986559e-01 5.65590446e+00] [ 4.46829625e-02 9.98974399e-01 -7.32003006e-03 9.89068948e-02] [ 1.98114716e-01 -1.67914652e-03 9.80177402e-01 3.15222057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.049649246000005 meters Centerline goodness [0,1] 0.9518497862056144 Centerline is valid? [True, True] Translation: X:5.68, Y:0.10, Z:0.32 [[ 9.79089674e-01 -4.61393941e-02 -1.98127654e-01 5.68335164e+00] [ 4.55819915e-02 9.98933372e-01 -7.37566546e-03 9.95125180e-02] [ 1.98256634e-01 -1.80961515e-03 9.80148475e-01 3.20911528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.079649246000002 meters Centerline goodness [0,1] 0.9526970439529762 Centerline is valid? [True, True] Translation: X:5.71, Y:0.10, Z:0.33 [[ 9.79247325e-01 -4.63072362e-02 -1.97307668e-01 5.71105833e+00] [ 4.57468574e-02 9.98925658e-01 -7.39960418e-03 1.01047234e-01] [ 1.97438347e-01 -1.78016316e-03 9.80313690e-01 3.26168258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.109649246000004 meters Centerline goodness [0,1] 0.951878585970757 Centerline is valid? [True, True] Translation: X:5.74, Y:0.10, Z:0.33 [[ 9.79360130e-01 -4.59509097e-02 -1.96830512e-01 5.73922932e+00] [ 4.53824194e-02 9.98942278e-01 -7.40014459e-03 1.03051109e-01] [ 1.96962363e-01 -1.68523826e-03 9.80409602e-01 3.28683592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.139649246000005 meters Centerline goodness [0,1] 0.9524927410885278 Centerline is valid? [True, True] Translation: X:5.77, Y:0.11, Z:0.33 [[ 9.79377967e-01 -4.64476996e-02 -1.96625049e-01 5.76689245e+00] [ 4.58845670e-02 9.98919183e-01 -7.42104947e-03 1.05288916e-01] [ 1.96757224e-01 -1.75404288e-03 9.80450671e-01 3.34567139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.169649246000002 meters Centerline goodness [0,1] 0.9524927410885278 Centerline is valid? [True, True] Translation: X:5.79, Y:0.11, Z:0.34 [[ 9.79365159e-01 -4.67257015e-02 -1.96622972e-01 5.79408702e+00] [ 4.61571491e-02 9.98906218e-01 -7.47567803e-03 1.06528157e-01] [ 1.96757216e-01 -1.75413725e-03 9.80450672e-01 3.39583469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.199649246000003 meters Centerline goodness [0,1] 0.9528008138853779 Centerline is valid? [True, True] Translation: X:5.82, Y:0.11, Z:0.34 [[ 9.79555204e-01 -4.67588996e-02 -1.95666063e-01 5.82249568e+00] [ 4.61857885e-02 9.98904763e-01 -7.49316449e-03 1.08555818e-01] [ 1.95802135e-01 -1.69702315e-03 9.80641955e-01 3.44884607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.229649246000005 meters Centerline goodness [0,1] 0.9533542976939203 Centerline is valid? [True, True] Translation: X:5.85, Y:0.11, Z:0.35 [[ 9.79653444e-01 -4.66136337e-02 -1.95208347e-01 5.85028930e+00] [ 4.60306491e-02 9.98911689e-01 -7.52436879e-03 1.10024509e-01] [ 1.95346638e-01 -1.61429312e-03 9.80732933e-01 3.51586879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.259649246000002 meters Centerline goodness [0,1] 0.9528546712802768 Centerline is valid? [True, True] Translation: X:5.88, Y:0.11, Z:0.36 [[ 9.79723502e-01 -4.69082750e-02 -1.94785712e-01 5.87678871e+00] [ 4.63224650e-02 9.98897900e-01 -7.56405424e-03 1.10102432e-01] [ 1.94925855e-01 -1.61227263e-03 9.80816655e-01 3.57309960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.289649246000003 meters Centerline goodness [0,1] 0.9536017275952491 Centerline is valid? [True, True] Translation: X:5.90, Y:0.11, Z:0.36 [[ 9.79690879e-01 -4.77258342e-02 -1.94751190e-01 5.90455829e+00] [ 4.71487393e-02 9.98858964e-01 -7.60040262e-03 1.10151467e-01] [ 1.94891708e-01 -1.73622797e-03 9.80823230e-01 3.61481188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.319649246000004 meters Centerline goodness [0,1] 0.9534020492054728 Centerline is valid? [True, True] Translation: X:5.93, Y:0.11, Z:0.37 [[ 9.79625465e-01 -4.80227825e-02 -1.95007080e-01 5.93252594e+00] [ 4.74465004e-02 9.98844655e-01 -7.62792574e-03 1.11585784e-01] [ 1.95148094e-01 -1.77989323e-03 9.80772172e-01 3.66179712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.349649246000002 meters Centerline goodness [0,1] 0.9533220286727301 Centerline is valid? [True, True] Translation: X:5.96, Y:0.11, Z:0.37 [[ 9.79588351e-01 -4.80654193e-02 -1.95182934e-01 5.95960621e+00] [ 4.74853578e-02 9.98842618e-01 -7.65274824e-03 1.13067093e-01] [ 1.95324866e-01 -1.77178845e-03 9.80736997e-01 3.69079817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.379649246000003 meters Centerline goodness [0,1] 0.9527478963104522 Centerline is valid? [True, True] Translation: X:5.99, Y:0.11, Z:0.37 [[ 9.79531025e-01 -4.87401012e-02 -1.95303286e-01 5.98758645e+00] [ 4.81673373e-02 9.98809724e-01 -7.68387349e-03 1.14722521e-01] [ 1.95445334e-01 -1.88064675e-03 9.80712794e-01 3.74069836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.409649246000004 meters Centerline goodness [0,1] 0.9527874510770747 Centerline is valid? [True, True] Translation: X:6.02, Y:0.11, Z:0.38 [[ 9.79511258e-01 -5.14104116e-02 -1.94716883e-01 6.01542675e+00] [ 5.08828323e-02 9.98674840e-01 -7.71364812e-03 1.11900137e-01] [ 1.94855414e-01 -2.35214134e-03 9.80829157e-01 3.78258788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.439649246000002 meters Centerline goodness [0,1] 0.9524075626338828 Centerline is valid? [True, True] Translation: X:6.04, Y:0.11, Z:0.39 [[ 9.79260388e-01 -5.39196844e-02 -1.95299154e-01 6.04313392e+00] [ 5.34349106e-02 9.98541229e-01 -7.75393365e-03 1.09274850e-01] [ 1.95432347e-01 -2.84267273e-03 9.80713066e-01 3.85508901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.469649246000003 meters Centerline goodness [0,1] 0.9495190077020632 Centerline is valid? [True, False] Translation: X:6.05, Y:0.11, Z:0.39 [[ 9.78769577e-01 -5.33760826e-02 -1.97891659e-01 6.05313564e+00] [ 5.35631747e-02 9.98554720e-01 -4.41116802e-03 1.09703728e-01] [ 1.97841101e-01 -6.28218843e-03 9.80213973e-01 3.86499792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.499649246000004 meters Centerline goodness [0,1] 0.9482081568287932 Centerline is valid? [False, False] Translation: X:6.06, Y:0.11, Z:0.39 [[ 9.78629616e-01 -5.02898978e-02 -1.99386560e-01 6.05701975e+00] [ 5.13244932e-02 9.98682029e-01 2.03216323e-05 1.07975746e-01] [ 1.99122752e-01 -1.02533015e-02 9.79920915e-01 3.88343168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.529649246 meters Centerline goodness [0,1] 0.9483309053714781 Centerline is valid? [False, False] Translation: X:6.06, Y:0.11, Z:0.39 [[ 9.78381536e-01 -5.14130257e-02 -2.00315430e-01 6.06046659e+00] [ 5.24085516e-02 9.98625672e-01 -3.33514648e-04 1.08145043e-01] [ 2.00057278e-01 -1.01719370e-02 9.79731400e-01 3.88240206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.559649246000003 meters Centerline goodness [0,1] 0.948 Centerline is valid? [False, False] Translation: X:6.06, Y:0.11, Z:0.39 [[ 9.78205823e-01 -5.20583135e-02 -2.01005723e-01 6.06281697e+00] [ 5.30932101e-02 9.98589531e-01 -2.42777272e-04 1.07679018e-01] [ 2.00734850e-01 -1.04345530e-02 9.79590037e-01 3.88534820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.589649246000004 meters Centerline goodness [0,1] 0.9494373265999564 Centerline is valid? [False, False] Translation: X:6.07, Y:0.11, Z:0.39 [[ 9.78022363e-01 -5.28092013e-02 -2.01701376e-01 6.06511272e+00] [ 5.38076912e-02 9.98551174e-01 -5.33286601e-04 1.08271999e-01] [ 2.01437309e-01 -1.03315191e-02 9.79446921e-01 3.88609113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.619649246000005 meters Centerline goodness [0,1] 0.9486645315755107 Centerline is valid? [False, False] Translation: X:6.07, Y:0.11, Z:0.39 [[ 9.77930072e-01 -4.87319998e-02 -2.03169799e-01 6.06713597e+00] [ 5.08500068e-02 9.98692688e-01 5.21464809e-03 1.05804526e-01] [ 2.02650072e-01 -1.54307468e-02 9.79129634e-01 3.92622602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.649649246000003 meters Centerline goodness [0,1] 0.9499627282892285 Centerline is valid? [False, False] Translation: X:6.07, Y:0.11, Z:0.39 [[ 9.77861835e-01 -4.87604936e-02 -2.03491145e-01 6.06730580e+00] [ 5.09530325e-02 9.98685650e-01 5.54628860e-03 1.06243007e-01] [ 2.02953247e-01 -1.57919949e-02 9.79061077e-01 3.93786189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.679649246000004 meters Centerline goodness [0,1] 0.9521256817055033 Centerline is valid? [False, True] Translation: X:6.07, Y:0.11, Z:0.40 [[ 0.9777952 -0.04863159 -0.20384191 6.06717461] [ 0.05096224 0.99868136 0.0061968 0.10640685] [ 0.20327175 -0.01644744 0.97898421 0.39547459] [ 0. 0. 0. 1. ]] SLAMing on 22.709649246000005 meters Centerline goodness [0,1] 0.9522424992267244 Centerline is valid? [True, True] Translation: X:6.10, Y:0.11, Z:0.39 [[ 9.77819537e-01 -5.12259761e-02 -2.03088288e-01 6.09623803e+00] [ 5.08678918e-02 9.98680956e-01 -6.98606739e-03 1.14001300e-01] [ 2.03178273e-01 -3.49955986e-03 9.79135508e-01 3.91118257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.739649246000003 meters Centerline goodness [0,1] 0.9510623799789383 Centerline is valid? [True, True] Translation: X:6.12, Y:0.12, Z:0.40 [[ 9.77841535e-01 -5.09105976e-02 -2.03061674e-01 6.12382208e+00] [ 5.05342733e-02 9.98697507e-01 -7.04108984e-03 1.15540204e-01] [ 2.03155653e-01 -3.37650403e-03 9.79140633e-01 3.95112820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.769649246000004 meters Centerline goodness [0,1] 0.9519055981760484 Centerline is valid? [True, True] Translation: X:6.15, Y:0.12, Z:0.40 [[ 9.78015822e-01 -5.12453266e-02 -2.02136013e-01 6.15279928e+00] [ 5.08752292e-02 9.98680278e-01 -7.02951394e-03 1.18862635e-01] [ 2.02229480e-01 -3.40874015e-03 9.79332231e-01 4.00018966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.799649246000005 meters Centerline goodness [0,1] 0.9518299080417206 Centerline is valid? [True, True] Translation: X:6.18, Y:0.12, Z:0.40 [[ 9.78118008e-01 -5.13571991e-02 -2.01612501e-01 6.18042197e+00] [ 5.09819035e-02 9.98674643e-01 -7.05717418e-03 1.19046027e-01] [ 2.01707729e-01 -3.37583993e-03 9.79439940e-01 4.04563083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.829649246000002 meters Centerline goodness [0,1] 0.9495342093898451 Centerline is valid? [True, False] Translation: X:6.18, Y:0.12, Z:0.41 [[ 9.78036154e-01 -4.75338478e-02 -2.02942884e-01 6.18298830e+00] [ 4.81284252e-02 9.98839139e-01 -2.00710506e-03 1.17757098e-01] [ 2.02802701e-01 -7.80430010e-03 9.79188520e-01 4.07280040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.859649246000004 meters Centerline goodness [0,1] 0.9505997279584518 Centerline is valid? [False, True] Translation: X:6.18, Y:0.12, Z:0.41 [[ 9.77975419e-01 -4.32301249e-02 -2.04194116e-01 6.18466661e+00] [ 4.48739538e-02 9.98986787e-01 3.42468353e-03 1.16020030e-01] [ 2.03839174e-01 -1.25122536e-02 9.78924427e-01 4.10583455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.889649246000005 meters Centerline goodness [0,1] 0.9522677452221433 Centerline is valid? [True, True] Translation: X:6.21, Y:0.12, Z:0.41 [[ 9.77877585e-01 -4.40976899e-02 -2.04476948e-01 6.21277707e+00] [ 4.37111168e-02 9.99023654e-01 -6.40910359e-03 1.20709984e-01] [ 2.04559935e-01 -2.67059703e-03 9.78850398e-01 4.09514452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.919649246000002 meters Centerline goodness [0,1] 0.9524836681868606 Centerline is valid? [True, True] Translation: X:6.24, Y:0.12, Z:0.42 [[ 9.78050827e-01 -4.23249485e-02 -2.04022494e-01 6.24094657e+00] [ 4.18936108e-02 9.99101356e-01 -6.43474500e-03 1.23713895e-01] [ 2.04111500e-01 -2.25373128e-03 9.78945053e-01 4.16418140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.949649246000003 meters Centerline goodness [0,1] 0.9516833877023451 Centerline is valid? [True, True] Translation: X:6.27, Y:0.13, Z:0.42 [[ 9.78063099e-01 -4.15355712e-02 -2.04125869e-01 6.26866443e+00] [ 4.10759975e-02 9.99134949e-01 -6.48973785e-03 1.26778604e-01] [ 2.04218845e-01 -2.03730059e-03 9.78923139e-01 4.20882519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.979649246000005 meters Centerline goodness [0,1] 0.9497425839666584 Centerline is valid? [True, False] Translation: X:6.27, Y:0.13, Z:0.42 [[ 9.78015984e-01 -3.74045662e-02 -2.05147833e-01 6.27086390e+00] [ 3.76972997e-02 9.99286120e-01 -2.48261078e-03 1.27994775e-01] [ 2.05094243e-01 -5.30548631e-03 9.78727849e-01 4.21756611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.009649246000002 meters Centerline goodness [0,1] 0.9509384759998787 Centerline is valid? [False, True] Translation: X:6.27, Y:0.13, Z:0.42 [[ 9.77811963e-01 -3.37970240e-02 -2.06740238e-01 6.27445660e+00] [ 3.49601174e-02 9.99386759e-01 1.97408463e-03 1.27529736e-01] [ 2.06546738e-01 -9.15794655e-03 9.78393876e-01 4.23703542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.039649246000003 meters Centerline goodness [0,1] 0.9487734267865305 Centerline is valid? [True, False] Translation: X:6.28, Y:0.13, Z:0.42 [[ 9.77702390e-01 -3.47203095e-02 -2.07105134e-01 6.27667604e+00] [ 3.55810349e-02 9.99366701e-01 4.31383455e-04 1.31026645e-01] [ 2.06958997e-01 -7.79077963e-03 9.78318597e-01 4.21895683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.069649246000004 meters Centerline goodness [0,1] 0.950351145038168 Centerline is valid? [False, True] Translation: X:6.28, Y:0.13, Z:0.43 [[ 9.77409070e-01 -3.53516967e-02 -2.08378905e-01 6.27854958e+00] [ 3.67160155e-02 9.99322141e-01 2.68181301e-03 1.27555596e-01] [ 2.08142847e-01 -1.02720715e-02 9.78044498e-01 4.26633896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.099649246000002 meters Centerline goodness [0,1] 0.9503500368459837 Centerline is valid? [True, True] Translation: X:6.31, Y:0.13, Z:0.43 [[ 9.76909675e-01 -4.21400644e-02 -2.09455728e-01 6.30784797e+00] [ 4.17706120e-02 9.99108057e-01 -6.18919725e-03 1.28240018e-01] [ 2.09529718e-01 -2.70280727e-03 9.77798544e-01 4.27016974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.129649246000003 meters Centerline goodness [0,1] 0.9449961568024596 Centerline is valid? [True, False] Translation: X:6.31, Y:0.13, Z:0.43 [[ 9.76637164e-01 -3.99628583e-02 -2.11146441e-01 6.31452954e+00] [ 4.03928866e-02 9.99181278e-01 -2.27778207e-03 1.26971308e-01] [ 2.11064598e-01 -6.30424763e-03 9.77451785e-01 4.27474801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.159649246000004 meters Centerline goodness [0,1] 0.9443058250931831 Centerline is valid? [False, False] Translation: X:6.32, Y:0.12, Z:0.43 [[ 9.76573072e-01 -3.61548317e-02 -2.12126997e-01 6.31702022e+00] [ 3.75752316e-02 9.99290242e-01 2.66721727e-03 1.24342884e-01] [ 2.11880006e-01 -1.05754536e-02 9.77238468e-01 4.29334555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.189649246000002 meters Centerline goodness [0,1] 0.9478944274265911 Centerline is valid? [False, False] Translation: X:6.31, Y:0.12, Z:0.44 [[ 9.76593483e-01 -3.44605640e-02 -2.12314952e-01 6.31358729e+00] [ 3.66103669e-02 9.99310374e-01 6.20138421e-03 1.20035433e-01] [ 2.11954831e-01 -1.38291597e-02 9.77181613e-01 4.35453648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.219649246000003 meters Centerline goodness [0,1] 0.9494952613218905 Centerline is valid? [False, False] Translation: X:6.31, Y:0.12, Z:0.44 [[ 0.9765514 -0.03422352 -0.21254675 6.31323898] [ 0.03652639 0.99930875 0.0069163 0.11950024] [ 0.21216313 -0.01451769 0.97712642 0.4369172 ] [ 0. 0. 0. 1. ]] SLAMing on 23.249649246000004 meters Centerline goodness [0,1] 0.9512594147425608 Centerline is valid? [False, True] Translation: X:6.31, Y:0.12, Z:0.44 [[ 0.97657206 -0.03386267 -0.2125096 6.31247742] [ 0.03636145 0.99930779 0.00786012 0.11857429] [ 0.21209633 -0.01540313 0.97712737 0.43832686] [ 0. 0. 0. 1. ]] SLAMing on 23.279649246000005 meters Centerline goodness [0,1] 0.9516914165999137 Centerline is valid? [True, True] Translation: X:6.34, Y:0.13, Z:0.44 [[ 9.76791476e-01 -3.66492407e-02 -2.11033755e-01 6.34262993e+00] [ 3.64034207e-02 9.99324411e-01 -5.05099221e-03 1.25146884e-01] [ 2.11076298e-01 -2.74858443e-03 9.77465724e-01 4.36256306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.309649246000003 meters Centerline goodness [0,1] 0.9506130895388701 Centerline is valid? [True, True] Translation: X:6.37, Y:0.13, Z:0.44 [[ 9.76386575e-01 -3.70407778e-02 -2.12831474e-01 6.37178055e+00] [ 3.67882763e-02 9.99309823e-01 -5.14789449e-03 1.25291532e-01] [ 2.12875265e-01 -2.80336800e-03 9.77075362e-01 4.39217300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.339649246000004 meters Centerline goodness [0,1] 0.9491326625100315 Centerline is valid? [True, False] Translation: X:6.38, Y:0.12, Z:0.44 [[ 9.76166732e-01 -3.36696447e-02 -2.14394184e-01 6.37560248e+00] [ 3.44434086e-02 9.99406642e-01 -1.26667867e-04 1.23177217e-01] [ 2.14271236e-01 -7.26081753e-03 9.76747213e-01 4.41918238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.369649246000005 meters Centerline goodness [0,1] 0.947563575688286 Centerline is valid? [False, False] Translation: X:6.38, Y:0.12, Z:0.44 [[ 9.75917908e-01 -3.16603494e-02 -2.15828310e-01 6.38118227e+00] [ 3.31522308e-02 9.99444883e-01 3.29466304e-03 1.22494523e-01] [ 2.15604190e-01 -1.03705106e-02 9.76425771e-01 4.42578970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.399649246000003 meters Centerline goodness [0,1] 0.9472626043922053 Centerline is valid? [False, False] Translation: X:6.39, Y:0.12, Z:0.44 [[ 0.97571272 -0.02881433 -0.21715069 6.3855362 ] [ 0.03113194 0.99948893 0.00725867 0.12114125] [ 0.21683056 -0.0138427 0.9761111 0.44366939] [ 0. 0. 0. 1. ]] SLAMing on 23.429649246000004 meters Centerline goodness [0,1] 0.9442348138067549 Centerline is valid? [False, False] Translation: X:6.39, Y:0.12, Z:0.45 [[ 0.97543912 -0.02611856 -0.2187152 6.39025496] [ 0.02934171 0.99950327 0.01150112 0.12014306] [ 0.21830617 -0.01763612 0.97572096 0.44561359] [ 0. 0. 0. 1. ]] SLAMing on 23.459649246000005 meters Centerline goodness [0,1] 0.9451093175000773 Centerline is valid? [False, False] Translation: X:6.39, Y:0.12, Z:0.45 [[ 0.97531809 -0.02660131 -0.21919624 6.39162438] [ 0.02980748 0.99949142 0.01133227 0.12099252] [ 0.21878331 -0.01758626 0.97561498 0.44591415] [ 0. 0. 0. 1. ]] SLAMing on 23.489649246000003 meters Centerline goodness [0,1] 0.9442985572615774 Centerline is valid? [False, False] Translation: X:6.39, Y:0.12, Z:0.45 [[ 0.9751938 -0.02695054 -0.21970599 6.39285063] [ 0.03011858 0.9994849 0.01108209 0.12255117] [ 0.21929415 -0.01742442 0.97550319 0.44625111] [ 0. 0. 0. 1. ]] SLAMing on 23.519649246000004 meters Centerline goodness [0,1] 0.9439044709802833 Centerline is valid? [False, False] Translation: X:6.39, Y:0.12, Z:0.45 [[ 0.97505664 -0.02751423 -0.22024423 6.39430261] [ 0.03073239 0.99946492 0.01119809 0.12267947] [ 0.21981828 -0.0176874 0.97538048 0.4470171 ] [ 0. 0. 0. 1. ]] SLAMing on 23.549649246000005 meters Centerline goodness [0,1] 0.9436624075735545 Centerline is valid? [False, False] Translation: X:6.40, Y:0.12, Z:0.45 [[ 0.97486192 -0.02842578 -0.22098916 6.39664882] [ 0.03173317 0.99943102 0.01142976 0.12205293] [ 0.22053853 -0.01815513 0.97520929 0.4479945 ] [ 0. 0. 0. 1. ]] SLAMing on 23.579649246000002 meters Centerline goodness [0,1] 0.9427537576544813 Centerline is valid? [False, False] Translation: X:6.40, Y:0.12, Z:0.45 [[ 0.97472961 -0.02903703 -0.22149273 6.3987601 ] [ 0.03228783 0.99941731 0.01106939 0.12288332] [ 0.22104225 -0.01794118 0.97509919 0.44756485] [ 0. 0. 0. 1. ]] SLAMing on 23.609649246000004 meters Centerline goodness [0,1] 0.9426879920649681 Centerline is valid? [False, False] Translation: X:6.40, Y:0.12, Z:0.45 [[ 0.97460315 -0.02943457 -0.22199619 6.40009336] [ 0.03271479 0.99940295 0.01111252 0.12311705] [ 0.22153655 -0.01809286 0.97498421 0.44817654] [ 0. 0. 0. 1. ]] SLAMing on 23.639649246000005 meters Centerline goodness [0,1] 0.9423739332816137 Centerline is valid? [False, False] Translation: X:6.40, Y:0.12, Z:0.45 [[ 0.97451764 -0.02964591 -0.2223432 6.40091942] [ 0.03298254 0.99939196 0.01130766 0.12312146] [ 0.22187278 -0.01835296 0.97490289 0.44879164] [ 0. 0. 0. 1. ]] SLAMing on 23.669649246000002 meters Centerline goodness [0,1] 0.9432223635630294 Centerline is valid? [False, False] Translation: X:6.40, Y:0.12, Z:0.45 [[ 0.97435 -0.03000423 -0.22302876 6.40213582] [ 0.03342623 0.99937406 0.01158325 0.12305809] [ 0.22254161 -0.01874115 0.97474304 0.45010155] [ 0. 0. 0. 1. ]] SLAMing on 23.699649246000003 meters Centerline goodness [0,1] 0.9443653250773993 Centerline is valid? [False, False] Translation: X:6.40, Y:0.12, Z:0.45 [[ 0.97424734 -0.03031592 -0.22343471 6.40324706] [ 0.03376592 0.99936204 0.01163551 0.12330574] [ 0.22293943 -0.01888035 0.97464945 0.4505437 ] [ 0. 0. 0. 1. ]] SLAMing on 23.729649246000005 meters Centerline goodness [0,1] 0.9439856484488571 Centerline is valid? [False, False] Translation: X:6.40, Y:0.12, Z:0.45 [[ 0.97419818 -0.03066555 -0.22360126 6.40409032] [ 0.03408692 0.99935321 0.01145655 0.12423272] [ 0.22310531 -0.01878282 0.97461337 0.45048926] [ 0. 0. 0. 1. ]] SLAMing on 23.759649246000002 meters Centerline goodness [0,1] 0.9424233033777503 Centerline is valid? [False, False] Translation: X:6.40, Y:0.12, Z:0.45 [[ 0.97409381 -0.03082104 -0.22403417 6.4046538 ] [ 0.03429365 0.99934419 0.01162506 0.12491262] [ 0.22352895 -0.01900684 0.97451195 0.45148199] [ 0. 0. 0. 1. ]] SLAMing on 23.789649246000003 meters Centerline goodness [0,1] 0.9420806346648486 Centerline is valid? [False, False] Translation: X:6.41, Y:0.13, Z:0.45 [[ 0.97402636 -0.03102651 -0.22429894 6.4053076 ] [ 0.03447119 0.99934002 0.0114571 0.12586917] [ 0.22379543 -0.01889137 0.97445304 0.45163464] [ 0. 0. 0. 1. ]] SLAMing on 23.819649246000004 meters Centerline goodness [0,1] 0.9406412478336221 Centerline is valid? [False, False] Translation: X:6.41, Y:0.13, Z:0.45 [[ 0.97397977 -0.03112789 -0.2244871 6.40582892] [ 0.0345061 0.9993424 0.01114016 0.12772153] [ 0.2239927 -0.01859647 0.97441338 0.45154541] [ 0. 0. 0. 1. ]] SLAMing on 23.849649246000002 meters Centerline goodness [0,1] 0.9408442880947973 Centerline is valid? [False, False] Translation: X:6.41, Y:0.13, Z:0.45 [[ 0.97371484 -0.02790985 -0.22605411 6.41005112] [ 0.03223611 0.99936057 0.01546874 0.12694463] [ 0.22547783 -0.02234924 0.97399192 0.45338101] [ 0. 0. 0. 1. ]] SLAMing on 23.879649246000003 meters Centerline goodness [0,1] 0.9403788204907447 Centerline is valid? [False, False] Translation: X:6.41, Y:0.13, Z:0.45 [[ 0.97361367 -0.02868597 -0.22639245 6.41192212] [ 0.03273581 0.99936382 0.0141538 0.13046679] [ 0.2258424 -0.02119147 0.97393333 0.45197226] [ 0. 0. 0. 1. ]] SLAMing on 23.909649246000004 meters Centerline goodness [0,1] 0.9395418816015721 Centerline is valid? [False, False] Translation: X:6.41, Y:0.13, Z:0.45 [[ 0.97355028 -0.02896393 -0.22662952 6.41268097] [ 0.03293776 0.99936252 0.01377183 0.13197507] [ 0.22608616 -0.02087224 0.97388367 0.45181391] [ 0. 0. 0. 1. ]] SLAMing on 23.939649246000002 meters Centerline goodness [0,1] 0.9393540486759528 Centerline is valid? [False, False] Translation: X:6.41, Y:0.13, Z:0.45 [[ 0.97342301 -0.02920116 -0.22714519 6.41347934] [ 0.03303605 0.99936832 0.01309885 0.13456245] [ 0.2266192 -0.0202547 0.97377281 0.45187195] [ 0. 0. 0. 1. ]] SLAMing on 23.969649246000003 meters Centerline goodness [0,1] 0.9404335993639727 Centerline is valid? [False, False] Translation: X:6.41, Y:0.14, Z:0.45 [[ 0.97340689 -0.02838081 -0.22731819 6.4120986 ] [ 0.03221988 0.9993937 0.01319492 0.13673283] [ 0.22680588 -0.02016819 0.97373114 0.45280845] [ 0. 0. 0. 1. ]] SLAMing on 23.999649246000004 meters Centerline goodness [0,1] 0.9396828306902557 Centerline is valid? [False, False] Translation: X:6.41, Y:0.14, Z:0.45 [[ 0.9733769 -0.02836172 -0.22744896 6.41194626] [ 0.03219151 0.99939527 0.01314537 0.13816136] [ 0.22693859 -0.02011732 0.97370127 0.45330472] [ 0. 0. 0. 1. ]] SLAMing on 24.029649246000005 meters Centerline goodness [0,1] 0.9395770392749244 Centerline is valid? [False, False] Translation: X:6.41, Y:0.14, Z:0.45 [[ 0.97328619 -0.02853481 -0.22781517 6.41258483] [ 0.03231227 0.99939498 0.01286808 0.1398594 ] [ 0.22731015 -0.01988555 0.97361936 0.45353244] [ 0. 0. 0. 1. ]] SLAMing on 24.059649246000003 meters Centerline goodness [0,1] 0.9395770392749244 Centerline is valid? [False, False] Translation: X:6.41, Y:0.14, Z:0.45 [[ 0.97328619 -0.02853481 -0.22781517 6.41258483] [ 0.03231227 0.99939498 0.01286808 0.1398594 ] [ 0.22731015 -0.01988555 0.97361936 0.45353244] [ 0. 0. 0. 1. ]] SLAMing on 24.089649246000004 meters Centerline goodness [0,1] 0.9407069903981408 Centerline is valid? [False, False] Translation: X:6.41, Y:0.14, Z:0.45 [[ 0.97325574 -0.02813737 -0.22799463 6.41169672] [ 0.03195093 0.99940421 0.01305213 0.14199149] [ 0.22749154 -0.01998771 0.9735749 0.45467011] [ 0. 0. 0. 1. ]] SLAMing on 24.119649246000005 meters Centerline goodness [0,1] 0.9391889833348567 Centerline is valid? [False, False] Translation: X:6.41, Y:0.14, Z:0.46 [[ 0.97320516 -0.02817747 -0.2282055 6.41182791] [ 0.03199512 0.99940288 0.01304599 0.14307999] [ 0.22770163 -0.01999788 0.97352558 0.45519481] [ 0. 0. 0. 1. ]] SLAMing on 24.149649246000003 meters Centerline goodness [0,1] 0.9392996583699366 Centerline is valid? [False, False] Translation: X:6.41, Y:0.14, Z:0.46 [[ 0.97322723 -0.02766523 -0.22817403 6.41049203] [ 0.03152257 0.99941485 0.0132775 0.14456441] [ 0.22767318 -0.02011465 0.97352983 0.45617141] [ 0. 0. 0. 1. ]] SLAMing on 24.179649246000004 meters Centerline goodness [0,1] 0.9392250045695485 Centerline is valid? [False, False] Translation: X:6.41, Y:0.15, Z:0.46 [[ 0.97316716 -0.02743694 -0.22845765 6.41051748] [ 0.03124738 0.99942612 0.01307783 0.1457141 ] [ 0.22796773 -0.01986561 0.97346601 0.45642893] [ 0. 0. 0. 1. ]] SLAMing on 24.209649246000005 meters Centerline goodness [0,1] 0.9391401959891994 Centerline is valid? [False, False] Translation: X:6.41, Y:0.15, Z:0.46 [[ 0.97309687 -0.02757898 -0.22873977 6.41139075] [ 0.03129971 0.99942994 0.01265366 0.14702006] [ 0.2282604 -0.01947272 0.97340536 0.45608445] [ 0. 0. 0. 1. ]] SLAMing on 24.239649246000003 meters Centerline goodness [0,1] 0.9385611815623014 Centerline is valid? [False, False] Translation: X:6.41, Y:0.15, Z:0.46 [[ 0.97287593 -0.0239013 -0.23008945 6.41444924] [ 0.02851078 0.99945349 0.01672921 0.14690119] [ 0.22956385 -0.02283548 0.97302568 0.45768674] [ 0. 0. 0. 1. ]] SLAMing on 24.269649246000004 meters Centerline goodness [0,1] 0.9392302088392424 Centerline is valid? [False, False] Translation: X:6.42, Y:0.15, Z:0.46 [[ 0.97279586 -0.02425279 -0.23039099 6.41536431] [ 0.028896 0.99944123 0.01680043 0.1463606 ] [ 0.2298548 -0.02300077 0.9729531 0.45807922] [ 0. 0. 0. 1. ]] SLAMing on 24.299649246000005 meters Centerline goodness [0,1] 0.9375721840617591 Centerline is valid? [False, False] Translation: X:6.42, Y:0.15, Z:0.46 [[ 0.97264994 -0.02515508 -0.23090977 6.41801588] [ 0.02976742 0.99942046 0.01651198 0.14593563] [ 0.23036059 -0.02293396 0.97283505 0.45757633] [ 0. 0. 0. 1. ]] SLAMing on 24.329649246000002 meters Centerline goodness [0,1] 0.936161800486618 Centerline is valid? [False, False] Translation: X:6.42, Y:0.15, Z:0.46 [[ 0.9725526 -0.02579208 -0.23124922 6.41985886] [ 0.03032383 0.99941104 0.01606334 0.14662349] [ 0.23069872 -0.0226348 0.97276193 0.45703405] [ 0. 0. 0. 1. ]] SLAMing on 24.359649246000004 meters Centerline goodness [0,1] 0.9352673147023086 Centerline is valid? [False, False] Translation: X:6.42, Y:0.15, Z:0.46 [[ 0.97232598 -0.02676422 -0.23209019 6.42271746] [ 0.03128308 0.9993855 0.01581103 0.14677785] [ 0.2315244 -0.02263397 0.97256576 0.45729748] [ 0. 0. 0. 1. ]] SLAMing on 24.389649246000005 meters Centerline goodness [0,1] 0.9388331338428014 Centerline is valid? [False, False] Translation: X:6.43, Y:0.14, Z:0.46 [[ 0.97194327 -0.03323391 -0.23285572 6.42630143] [ 0.03698419 0.99924669 0.01175688 0.14452521] [ 0.23228958 -0.020039 0.97244022 0.45787388] [ 0. 0. 0. 1. ]] SLAMing on 24.419649246000002 meters Centerline goodness [0,1] 0.9397278827802746 Centerline is valid? [False, False] Translation: X:6.43, Y:0.14, Z:0.46 [[ 0.97151116 -0.03506074 -0.23438604 6.43124474] [ 0.03902285 0.99916278 0.01228637 0.14220166] [ 0.23375904 -0.02108276 0.97206596 0.45973859] [ 0. 0. 0. 1. ]] SLAMing on 24.449649246000003 meters Centerline goodness [0,1] 0.9385856843661451 Centerline is valid? [False, False] Translation: X:6.43, Y:0.14, Z:0.46 [[ 0.97135024 -0.03574463 -0.23494901 6.43370983] [ 0.03964352 0.99914313 0.01189085 0.14260875] [ 0.23432265 -0.02086439 0.97193496 0.4592316 ] [ 0. 0. 0. 1. ]] SLAMing on 24.479649246000005 meters Centerline goodness [0,1] 0.9377272447155974 Centerline is valid? [False, False] Translation: X:6.43, Y:0.14, Z:0.46 [[ 0.97124671 -0.03545708 -0.23542009 6.43367166] [ 0.03945207 0.99914601 0.0122797 0.1426131 ] [ 0.23478364 -0.02121443 0.97181613 0.46055227] [ 0. 0. 0. 1. ]] SLAMing on 24.509649246000002 meters Centerline goodness [0,1] 0.9379310344827586 Centerline is valid? [False, False] Translation: X:6.43, Y:0.14, Z:0.46 [[ 0.97116155 -0.03562615 -0.23574568 6.43446245] [ 0.0396392 0.9991383 0.012304 0.14330284] [ 0.2351042 -0.02129394 0.97173689 0.4609214 ] [ 0. 0. 0. 1. ]] SLAMing on 24.539649246000003 meters Centerline goodness [0,1] 0.9350252867891945 Centerline is valid? [False, False] Translation: X:6.44, Y:0.14, Z:0.46 [[ 0.97095518 -0.03641983 -0.23647331 6.43719516] [ 0.04040128 0.99911134 0.01201136 0.14399005] [ 0.23582572 -0.02121632 0.97156374 0.46080423] [ 0. 0. 0. 1. ]] SLAMing on 24.569649246000004 meters Centerline goodness [0,1] 0.9369945573629347 Centerline is valid? [False, False] Translation: X:6.44, Y:0.14, Z:0.46 [[ 0.97082051 -0.03670676 -0.23698132 6.43830143] [ 0.04073944 0.99909604 0.01214065 0.14420248] [ 0.23632146 -0.02144088 0.97143834 0.46152561] [ 0. 0. 0. 1. ]] SLAMing on 24.599649246000002 meters Centerline goodness [0,1] 0.937968244180669 Centerline is valid? [False, False] Translation: X:6.44, Y:0.14, Z:0.46 [[ 0.97064394 -0.03714357 -0.23763565 6.43967541] [ 0.0412899 0.9990691 0.01249306 0.14315498] [ 0.23695039 -0.02193827 0.97127402 0.46272906] [ 0. 0. 0. 1. ]] SLAMing on 24.629649246000003 meters Centerline goodness [0,1] 0.9355067109961828 Centerline is valid? [False, False] Translation: X:6.44, Y:0.14, Z:0.46 [[ 0.97047626 -0.03773246 -0.23822698 6.44145233] [ 0.04190791 0.99904347 0.01248501 0.14364355] [ 0.23752801 -0.0221 0.97112926 0.46330006] [ 0. 0. 0. 1. ]] SLAMing on 24.659649246000004 meters Centerline goodness [0,1] 0.9353376503237743 Centerline is valid? [False, False] Translation: X:6.44, Y:0.14, Z:0.46 [[ 0.97041155 -0.037663 -0.23850141 6.44135403] [ 0.04198628 0.99903269 0.0130708 0.14340954] [ 0.23777842 -0.02269784 0.97105419 0.46472051] [ 0. 0. 0. 1. ]] SLAMing on 24.689649246000005 meters Centerline goodness [0,1] 0.9365265037246814 Centerline is valid? [False, False] Translation: X:6.44, Y:0.14, Z:0.47 [[ 0.97024687 -0.03785022 -0.23914089 6.44220691] [ 0.04231702 0.99901208 0.01356991 0.14345585] [ 0.23839101 -0.0232859 0.97089005 0.46628412] [ 0. 0. 0. 1. ]] SLAMing on 24.719649246000003 meters Centerline goodness [0,1] 0.9370831412325188 Centerline is valid? [False, False] Translation: X:6.44, Y:0.14, Z:0.47 [[ 0.97008476 -0.03819232 -0.23974342 6.44353755] [ 0.04267615 0.99899724 0.01353722 0.14450202] [ 0.238986 -0.02336358 0.9707419 0.46692008] [ 0. 0. 0. 1. ]] SLAMing on 24.749649246000004 meters Centerline goodness [0,1] 0.9378765523177179 Centerline is valid? [False, False] Translation: X:6.44, Y:0.15, Z:0.47 [[ 0.97002041 -0.03838019 -0.23997369 6.44406284] [ 0.04290669 0.99898564 0.01366441 0.14517167] [ 0.23920582 -0.02355124 0.97068322 0.46746301] [ 0. 0. 0. 1. ]] SLAMing on 24.779649246000005 meters Centerline goodness [0,1] 0.9412126429713442 Centerline is valid? [False, False] Translation: X:6.44, Y:0.15, Z:0.47 [[ 0.96988609 -0.03822152 -0.24054122 6.44367327] [ 0.04293897 0.99897393 0.01439924 0.14543863] [ 0.23974405 -0.02429421 0.97053211 0.46986362] [ 0. 0. 0. 1. ]] SLAMing on 24.809649246000003 meters Centerline goodness [0,1] 0.9408342311836232 Centerline is valid? [False, False] Translation: X:6.44, Y:0.15, Z:0.47 [[ 0.96981273 -0.03799634 -0.24087246 6.44346676] [ 0.04287355 0.99896733 0.01503786 0.14529351] [ 0.24005233 -0.02491096 0.97044027 0.47135054] [ 0. 0. 0. 1. ]] SLAMing on 24.839649246000004 meters Centerline goodness [0,1] 0.9431902066929134 Centerline is valid? [False, False] Translation: X:6.44, Y:0.15, Z:0.47 [[ 0.96967887 -0.03832194 -0.2413593 6.4445852 ] [ 0.04324944 0.99894944 0.01514915 0.14568947] [ 0.24052519 -0.02512847 0.97031757 0.47204644] [ 0. 0. 0. 1. ]] SLAMing on 24.869649246000005 meters Centerline goodness [0,1] 0.9418926397343663 Centerline is valid? [False, False] Translation: X:6.45, Y:0.15, Z:0.47 [[ 0.96959341 -0.0384986 -0.24167431 6.44534699] [ 0.04351611 0.99893316 0.01545635 0.14541336] [ 0.24082143 -0.0255031 0.97023432 0.47272339] [ 0. 0. 0. 1. ]] SLAMing on 24.899649246000003 meters Centerline goodness [0,1] 0.940169887972424 Centerline is valid? [False, False] Translation: X:6.45, Y:0.14, Z:0.47 [[ 0.96932568 -0.03900353 -0.24266532 6.44740053] [ 0.04426062 0.99888788 0.0162479 0.1438133 ] [ 0.24176173 -0.02649003 0.96997399 0.47471329] [ 0. 0. 0. 1. ]] SLAMing on 24.929649246000004 meters Centerline goodness [0,1] 0.942274466247069 Centerline is valid? [False, False] Translation: X:6.45, Y:0.14, Z:0.48 [[ 0.96911206 -0.03954577 -0.24342954 6.4490788 ] [ 0.04492696 0.99885249 0.01659152 0.14333545] [ 0.24249408 -0.02701559 0.96977667 0.47603343] [ 0. 0. 0. 1. ]] SLAMing on 24.959649246000005 meters Centerline goodness [0,1] 0.9417502701034111 Centerline is valid? [False, False] Translation: X:6.45, Y:0.14, Z:0.48 [[ 0.96882872 -0.04058363 -0.24438471 6.45189964] [ 0.04607868 0.9987964 0.01680779 0.1426694 ] [ 0.24340845 -0.0275448 0.96953268 0.47725147] [ 0. 0. 0. 1. ]] SLAMing on 24.989649246000003 meters Centerline goodness [0,1] 0.9405836527760604 Centerline is valid? [False, False] Translation: X:6.45, Y:0.14, Z:0.48 [[ 0.96862324 -0.04122058 -0.24509159 6.45388278] [ 0.04680433 0.99875942 0.01699903 0.14214688] [ 0.24408682 -0.027937 0.96935089 0.47809579] [ 0. 0. 0. 1. ]] SLAMing on 25.019649246000004 meters Centerline goodness [0,1] 0.9419688477378999 Centerline is valid? [False, False] Translation: X:6.45, Y:0.14, Z:0.48 [[ 0.96853777 -0.04138837 -0.24540087 6.45445391] [ 0.0470076 0.99874845 0.01708252 0.14264392] [ 0.24438673 -0.02808077 0.96927117 0.47863476] [ 0. 0. 0. 1. ]] SLAMing on 25.049649246000005 meters Centerline goodness [0,1] 0.9412674357467603 Centerline is valid? [False, False] Translation: X:6.46, Y:0.14, Z:0.48 [[ 0.96839291 -0.04173023 -0.24591413 6.45546943] [ 0.04736595 0.99873217 0.01704469 0.14353546] [ 0.24489107 -0.02815392 0.96914174 0.47935682] [ 0. 0. 0. 1. ]] SLAMing on 25.079649246000002 meters Centerline goodness [0,1] 0.9428032294985615 Centerline is valid? [False, False] Translation: X:6.46, Y:0.14, Z:0.48 [[ 0.96823826 -0.04184572 -0.24650277 6.45584396] [ 0.04753069 0.99872245 0.01715507 0.14433462] [ 0.24546999 -0.02832664 0.96899024 0.48070466] [ 0. 0. 0. 1. ]] SLAMing on 25.109649246000004 meters Centerline goodness [0,1] 0.9428977536075147 Centerline is valid? [False, False] Translation: X:6.46, Y:0.15, Z:0.48 [[ 0.9680602 -0.04236734 -0.24711224 6.45737203] [ 0.04802303 0.99870321 0.01690239 0.14553926] [ 0.24607567 -0.02822961 0.96883944 0.48115229] [ 0. 0. 0. 1. ]] SLAMing on 25.139649246000005 meters Centerline goodness [0,1] 0.9402519607237695 Centerline is valid? [False, False] Translation: X:6.46, Y:0.15, Z:0.48 [[ 0.96791928 -0.04312738 -0.2475324 6.45916448] [ 0.04852696 0.99869767 0.01575135 0.14887257] [ 0.24653071 -0.02725803 0.96875157 0.48014843] [ 0. 0. 0. 1. ]] SLAMing on 25.169649246000002 meters Centerline goodness [0,1] 0.9374150080356038 Centerline is valid? [False, False] Translation: X:6.46, Y:0.15, Z:0.48 [[ 0.96775468 -0.04352663 -0.24810546 6.46024276] [ 0.04886837 0.99868635 0.01540934 0.15099172] [ 0.24710882 -0.02703697 0.96861046 0.4806322 ] [ 0. 0. 0. 1. ]] SLAMing on 25.199649246000003 meters Centerline goodness [0,1] 0.9365694789081886 Centerline is valid? [False, False] Translation: X:6.46, Y:0.15, Z:0.48 [[ 0.96754938 -0.04387949 -0.24884291 6.46149458] [ 0.04935199 0.99865658 0.01579286 0.15100683] [ 0.24781562 -0.02756127 0.96841509 0.48215296] [ 0. 0. 0. 1. ]] SLAMing on 25.229649246000005 meters Centerline goodness [0,1] 0.9392126472411655 Centerline is valid? [False, False] Translation: X:6.46, Y:0.15, Z:0.48 [[ 0.96735739 -0.04429643 -0.24951456 6.4626623 ] [ 0.04982895 0.99863124 0.01589726 0.15150757] [ 0.24846884 -0.02781138 0.96824055 0.48333667] [ 0. 0. 0. 1. ]] SLAMing on 25.259649246000002 meters Centerline goodness [0,1] 0.941751793088459 Centerline is valid? [False, False] Translation: X:6.46, Y:0.15, Z:0.49 [[ 0.96713692 -0.04433265 -0.25036134 6.46289033] [ 0.0501606 0.99859745 0.01694227 0.15070377] [ 0.2492591 -0.02894377 0.96800421 0.48640484] [ 0. 0. 0. 1. ]] SLAMing on 25.289649246000003 meters Centerline goodness [0,1] 0.9386944651278233 Centerline is valid? [False, False] Translation: X:6.46, Y:0.15, Z:0.49 [[ 0.96698657 -0.04461239 -0.25089182 6.46390193] [ 0.05054908 0.99857234 0.01726476 0.15058394] [ 0.24976341 -0.02937714 0.96786116 0.48751164] [ 0. 0. 0. 1. ]] SLAMing on 25.319649246000004 meters Centerline goodness [0,1] 0.9450945094509451 Centerline is valid? [False, False] Translation: X:6.46, Y:0.15, Z:0.49 [[ 0.96661514 -0.04941241 -0.25142314 6.46301076] [ 0.05518398 0.99834876 0.0159526 0.14735707] [ 0.25021972 -0.02929455 0.96774579 0.49322094] [ 0. 0. 0. 1. ]] SLAMing on 25.349649246000002 meters Centerline goodness [0,1] 0.9446524146892306 Centerline is valid? [False, False] Translation: X:6.47, Y:0.15, Z:0.50 [[ 0.96608344 -0.0503995 -0.25326406 6.47238336] [ 0.05701189 0.99819586 0.01883281 0.14785739] [ 0.25185797 -0.03263313 0.96721386 0.49536396] [ 0. 0. 0. 1. ]] SLAMing on 25.379649246000003 meters Centerline goodness [0,1] 0.9403239292682172 Centerline is valid? [False, False] Translation: X:6.48, Y:0.15, Z:0.49 [[ 0.96577953 -0.05190603 -0.25411742 6.47663636] [ 0.05837996 0.99813222 0.01799596 0.1491563 ] [ 0.25270869 -0.03221549 0.96700594 0.49447852] [ 0. 0. 0. 1. ]] SLAMing on 25.409649246000004 meters Centerline goodness [0,1] 0.9375971160420162 Centerline is valid? [False, False] Translation: X:6.49, Y:0.15, Z:0.50 [[ 0.96494274 -0.05766847 -0.25604661 6.48584835] [ 0.06435268 0.99776851 0.01779706 0.14896001] [ 0.25444891 -0.03365043 0.9665006 0.49871872] [ 0. 0. 0. 1. ]] SLAMing on 25.439649246000005 meters Centerline goodness [0,1] 0.9354348298222208 Centerline is valid? [False, False] Translation: X:6.49, Y:0.15, Z:0.50 [[ 0.96461614 -0.05885794 -0.25700476 6.48897919] [ 0.06550785 0.99770065 0.01738225 0.15029791] [ 0.25539074 -0.03360303 0.9662538 0.49923928] [ 0. 0. 0. 1. ]] SLAMing on 25.469649246000003 meters Centerline goodness [0,1] 0.9346870550362162 Centerline is valid? [False, False] Translation: X:6.49, Y:0.15, Z:0.50 [[ 0.96441561 -0.05556677 -0.25848572 6.4934438 ] [ 0.06291333 0.99781393 0.02023051 0.15291971] [ 0.25679651 -0.03577282 0.96580322 0.49890684] [ 0. 0. 0. 1. ]] SLAMing on 25.499649246000004 meters Centerline goodness [0,1] 0.932598152781639 Centerline is valid? [False, False] Translation: X:6.50, Y:0.15, Z:0.50 [[ 0.96408339 -0.05227441 -0.26040469 6.49749403] [ 0.06073732 0.99785176 0.02455303 0.15282687] [ 0.25856178 -0.03948745 0.96518731 0.50171446] [ 0. 0. 0. 1. ]] SLAMing on 25.529649246000005 meters Centerline goodness [0,1] 0.9338310145911096 Centerline is valid? [False, False] Translation: X:6.50, Y:0.15, Z:0.50 [[ 0.96390615 -0.05258598 -0.26099741 6.49808826] [ 0.06109981 0.99782826 0.02460832 0.15372142] [ 0.25913654 -0.03966701 0.96502579 0.50308766] [ 0. 0. 0. 1. ]] SLAMing on 25.559649246000003 meters Centerline goodness [0,1] 0.9357733321041148 Centerline is valid? [False, False] Translation: X:6.50, Y:0.15, Z:0.51 [[ 0.9635693 -0.04925049 -0.26288515 6.50129822] [ 0.05888257 0.99784698 0.02888331 0.15460688] [ 0.26089663 -0.04331042 0.96439471 0.50652413] [ 0. 0. 0. 1. ]] SLAMing on 25.589649246000004 meters Centerline goodness [0,1] 0.9339917796454206 Centerline is valid? [False, False] Translation: X:6.50, Y:0.16, Z:0.51 [[ 0.96338851 -0.04978208 -0.26344699 6.50228936] [ 0.05916695 0.99786079 0.0278051 0.1588283 ] [ 0.26149922 -0.04237447 0.96427307 0.50635314] [ 0. 0. 0. 1. ]] SLAMing on 25.619649246000005 meters Centerline goodness [0,1] 0.9348602840128264 Centerline is valid? [False, False] Translation: X:6.50, Y:0.16, Z:0.51 [[ 0.96321461 -0.05017385 -0.26400796 6.50369479] [ 0.05945664 0.99785796 0.02728375 0.16085704] [ 0.26207351 -0.04197714 0.96413453 0.50638705] [ 0. 0. 0. 1. ]] SLAMing on 25.649649246000003 meters Centerline goodness [0,1] 0.9352038633168287 Centerline is valid? [False, False] Translation: X:6.50, Y:0.16, Z:0.51 [[ 0.96297387 -0.05051676 -0.26481953 6.50478964] [ 0.05969159 0.99785951 0.02670808 0.16425728] [ 0.26290348 -0.04152668 0.96392806 0.50712338] [ 0. 0. 0. 1. ]] SLAMing on 25.679649246000004 meters Centerline goodness [0,1] 0.9372060350619998 Centerline is valid? [False, False] Translation: X:6.51, Y:0.17, Z:0.51 [[ 0.96282252 -0.0508715 -0.26530148 6.50569082] [ 0.05997851 0.99785225 0.0263339 0.16575853] [ 0.26339203 -0.04126726 0.96380582 0.50750053] [ 0. 0. 0. 1. ]] SLAMing on 25.709649246000005 meters Centerline goodness [0,1] 0.9368601204119679 Centerline is valid? [False, False] Translation: X:6.51, Y:0.17, Z:0.51 [[ 0.96260605 -0.05132546 -0.26599866 6.50681473] [ 0.06028845 0.99785177 0.02563479 0.16866592] [ 0.26411152 -0.04071285 0.96363249 0.50793502] [ 0. 0. 0. 1. ]] SLAMing on 25.739649246000003 meters Centerline goodness [0,1] 0.9381562528532733 Centerline is valid? [False, False] Translation: X:6.51, Y:0.17, Z:0.51 [[ 0.96240857 -0.04759339 -0.26740346 6.50945913] [ 0.05754227 0.99790746 0.0294887 0.16954362] [ 0.26544044 -0.04376718 0.96313333 0.50980203] [ 0. 0. 0. 1. ]] SLAMing on 25.769649246000004 meters Centerline goodness [0,1] 0.9382128124241689 Centerline is valid? [False, False] Translation: X:6.51, Y:0.17, Z:0.51 [[ 0.96228541 -0.04801509 -0.26777105 6.51084286] [ 0.05783915 0.99790703 0.02891714 0.17143422] [ 0.26582216 -0.0433142 0.96304852 0.50940124] [ 0. 0. 0. 1. ]] SLAMing on 25.799649246000005 meters Centerline goodness [0,1] 0.9366885086761315 Centerline is valid? [False, False] Translation: X:6.51, Y:0.17, Z:0.51 [[ 0.96216162 -0.04839393 -0.26814742 6.51197374] [ 0.05809309 0.99790852 0.02835092 0.17331485] [ 0.26621459 -0.04285568 0.96296064 0.50917622] [ 0. 0. 0. 1. ]] SLAMing on 25.829649246000002 meters Centerline goodness [0,1] 0.9351899345261443 Centerline is valid? [False, False] Translation: X:6.52, Y:0.17, Z:0.51 [[ 0.96191421 -0.04464961 -0.2696803 6.51511291] [ 0.05532784 0.99795143 0.03212131 0.17360517] [ 0.26769364 -0.04581877 0.96241402 0.51077913] [ 0. 0. 0. 1. ]] SLAMing on 25.859649246000004 meters Centerline goodness [0,1] 0.9350359234438206 Centerline is valid? [False, False] Translation: X:6.52, Y:0.17, Z:0.51 [[ 0.96180226 -0.04476302 -0.27006054 6.51576018] [ 0.05538188 0.99795791 0.03182547 0.17482809] [ 0.26808444 -0.04556627 0.96231723 0.5109864 ] [ 0. 0. 0. 1. ]] SLAMing on 25.889649246000005 meters Centerline goodness [0,1] 0.9350078303818817 Centerline is valid? [False, False] Translation: X:6.52, Y:0.18, Z:0.51 [[ 0.9617204 -0.0446424 -0.27037185 6.51581827] [ 0.05511649 0.99799022 0.03126795 0.1773495 ] [ 0.26843258 -0.04497297 0.96224809 0.51099365] [ 0. 0. 0. 1. ]] SLAMing on 25.919649246000002 meters Centerline goodness [0,1] 0.9357880826525709 Centerline is valid? [False, False] Translation: X:6.52, Y:0.18, Z:0.51 [[ 0.96163541 -0.04462925 -0.27067612 6.51648923] [ 0.05496218 0.99801601 0.03071153 0.17950175] [ 0.26876847 -0.04441025 0.96218046 0.51055748] [ 0. 0. 0. 1. ]] SLAMing on 25.949649246000003 meters Centerline goodness [0,1] 0.933786535697173 Centerline is valid? [False, False] Translation: X:6.52, Y:0.18, Z:0.51 [[ 0.96163964 -0.04006036 -0.27137497 6.51736095] [ 0.05114917 0.99811517 0.0339096 0.18216633] [ 0.26950504 -0.04648942 0.96187617 0.51060691] [ 0. 0. 0. 1. ]] SLAMing on 25.979649246000005 meters Centerline goodness [0,1] 0.933786535697173 Centerline is valid? [False, False] Translation: X:6.52, Y:0.18, Z:0.51 [[ 0.96163964 -0.04006036 -0.27137497 6.51736095] [ 0.05114917 0.99811517 0.0339096 0.18216633] [ 0.26950504 -0.04648942 0.96187617 0.51060691] [ 0. 0. 0. 1. ]] SLAMing on 26.009649246000002 meters Centerline goodness [0,1] 0.932996282527881 Centerline is valid? [False, False] Translation: X:6.52, Y:0.19, Z:0.51 [[ 0.9616592 -0.03867653 -0.27150638 6.5161656 ] [ 0.04955296 0.99821568 0.03331612 0.18613957] [ 0.26973338 -0.0454927 0.96185982 0.50976454] [ 0. 0. 0. 1. ]] SLAMing on 26.039649246000003 meters Centerline goodness [0,1] 0.9343321739647433 Centerline is valid? [False, False] Translation: X:6.52, Y:0.19, Z:0.51 [[ 0.96156673 -0.03878073 -0.27181884 6.51713532] [ 0.04945007 0.99824736 0.03250983 0.18854288] [ 0.27008168 -0.04470183 0.96179916 0.50896769] [ 0. 0. 0. 1. ]] SLAMing on 26.069649246000004 meters Centerline goodness [0,1] 0.9319802361016598 Centerline is valid? [False, False] Translation: X:6.52, Y:0.19, Z:0.51 [[ 0.96155895 -0.03766702 -0.27200289 6.51654946] [ 0.04823477 0.99831467 0.03226816 0.19158448] [ 0.27032903 -0.04414774 0.96175527 0.50849395] [ 0. 0. 0. 1. ]] SLAMing on 26.099649246000002 meters Centerline goodness [0,1] 0.9333924611973392 Centerline is valid? [False, False] Translation: X:6.52, Y:0.19, Z:0.51 [[ 0.96148892 -0.03781047 -0.27223045 6.51725106] [ 0.04830474 0.99832155 0.03194889 0.19270546] [ 0.27056553 -0.04386853 0.96170154 0.50838051] [ 0. 0. 0. 1. ]] SLAMing on 26.129649246000003 meters Centerline goodness [0,1] 0.9327323777153835 Centerline is valid? [False, False] Translation: X:6.52, Y:0.19, Z:0.51 [[ 0.96136845 -0.03818103 -0.27260395 6.5187921 ] [ 0.0485745 0.99832343 0.0314778 0.19392898] [ 0.27094506 -0.04350337 0.96161127 0.50798765] [ 0. 0. 0. 1. ]] SLAMing on 26.159649246000004 meters Centerline goodness [0,1] 0.9304563433496664 Centerline is valid? [False, False] Translation: X:6.52, Y:0.20, Z:0.51 [[ 0.961316 -0.03807015 -0.27280436 6.51985546] [ 0.04826545 0.99836089 0.03075682 0.19559054] [ 0.27118628 -0.04273404 0.96157777 0.50675059] [ 0. 0. 0. 1. ]] SLAMing on 26.189649246000005 meters Centerline goodness [0,1] 0.9297530426562685 Centerline is valid? [False, False] Translation: X:6.52, Y:0.19, Z:0.51 [[ 0.96125627 -0.03776369 -0.2730573 6.52015681] [ 0.04800064 0.99836908 0.03090492 0.19477655] [ 0.27144488 -0.04281448 0.96150122 0.50704316] [ 0. 0. 0. 1. ]] SLAMing on 26.219649246000003 meters Centerline goodness [0,1] 0.9296694850115296 Centerline is valid? [False, False] Translation: X:6.52, Y:0.19, Z:0.51 [[ 0.96112889 -0.03788985 -0.27348786 6.52121373] [ 0.04814448 0.99836294 0.03087972 0.19442907] [ 0.27187012 -0.04284632 0.96137965 0.50734508] [ 0. 0. 0. 1. ]] SLAMing on 26.249649246000004 meters Centerline goodness [0,1] 0.932132309509746 Centerline is valid? [False, False] Translation: X:6.52, Y:0.19, Z:0.51 [[ 0.96101386 -0.03805069 -0.27386951 6.52226045] [ 0.04830948 0.99835712 0.03080996 0.19403328] [ 0.27224723 -0.04283929 0.96127324 0.50758513] [ 0. 0. 0. 1. ]] SLAMing on 26.279649246000005 meters Centerline goodness [0,1] 0.9315789473684211 Centerline is valid? [False, False] Translation: X:6.52, Y:0.19, Z:0.51 [[ 0.96091979 -0.0384648 -0.2741416 6.52342292] [ 0.0486841 0.99834632 0.03056932 0.19414854] [ 0.27251241 -0.042721 0.96120336 0.5075269 ] [ 0. 0. 0. 1. ]] SLAMing on 26.309649246000003 meters Centerline goodness [0,1] 0.9307986141956116 Centerline is valid? [False, False] Translation: X:6.52, Y:0.19, Z:0.51 [[ 0.96089006 -0.03836741 -0.27425944 6.5243378 ] [ 0.04848557 0.99836701 0.03020698 0.19481423] [ 0.27265261 -0.04232322 0.9611812 0.50663499] [ 0. 0. 0. 1. ]] SLAMing on 26.339649246000004 meters Centerline goodness [0,1] 0.9325872556546388 Centerline is valid? [False, False] Translation: X:6.53, Y:0.20, Z:0.51 [[ 0.96073055 -0.03870744 -0.27476998 6.52613873] [ 0.04879821 0.99835857 0.02998154 0.19537676] [ 0.27315846 -0.04221246 0.96104244 0.50652762] [ 0. 0. 0. 1. ]] SLAMing on 26.369649246000005 meters Centerline goodness [0,1] 0.9314779612688606 Centerline is valid? [False, False] Translation: X:6.53, Y:0.19, Z:0.51 [[ 0.96066656 -0.03835941 -0.2750424 6.52629822] [ 0.04858057 0.99835519 0.03044406 0.19386352] [ 0.27342219 -0.0426083 0.96094997 0.50727617] [ 0. 0. 0. 1. ]] SLAMing on 26.399649246000003 meters Centerline goodness [0,1] 0.9325162477371873 Centerline is valid? [False, False] Translation: X:6.53, Y:0.19, Z:0.51 [[ 0.96048071 -0.03833134 -0.2756946 6.52740471] [ 0.0487417 0.99833005 0.03100579 0.19238974] [ 0.27404571 -0.04321829 0.96074509 0.50858332] [ 0. 0. 0. 1. ]] SLAMing on 26.429649246000004 meters Centerline goodness [0,1] 0.9322245693374193 Centerline is valid? [False, False] Translation: X:6.53, Y:0.19, Z:0.51 [[ 0.96041325 -0.03836848 -0.27592435 6.52827338] [ 0.04882959 0.99832155 0.0311408 0.19164118] [ 0.2742664 -0.04338131 0.96067476 0.5086941 ] [ 0. 0. 0. 1. ]] SLAMing on 26.459649246000005 meters Centerline goodness [0,1] 0.9326213707758211 Centerline is valid? [False, False] Translation: X:6.53, Y:0.19, Z:0.51 [[ 0.96016317 -0.03914672 -0.27668433 6.53140815] [ 0.04960483 0.99829088 0.03089774 0.19060871] [ 0.2750019 -0.04339175 0.96046401 0.50857344] [ 0. 0. 0. 1. ]] SLAMing on 26.489649246000003 meters Centerline goodness [0,1] 0.9307831880781701 Centerline is valid? [False, False] Translation: X:6.53, Y:0.19, Z:0.51 [[ 0.96005378 -0.03943182 -0.27702325 6.53307649] [ 0.04990259 0.99827762 0.03084673 0.1902232 ] [ 0.27532977 -0.0434387 0.96036795 0.50835369] [ 0. 0. 0. 1. ]] SLAMing on 26.519649246000004 meters Centerline goodness [0,1] 0.9315882159806584 Centerline is valid? [False, False] Translation: X:6.54, Y:0.19, Z:0.51 [[ 0.9598005 -0.0400866 -0.27780579 6.53562809] [ 0.05063974 0.99823842 0.03091389 0.18813751] [ 0.27607718 -0.04373918 0.96013972 0.50898401] [ 0. 0. 0. 1. ]] SLAMing on 26.549649246000005 meters Centerline goodness [0,1] 0.9334410242603728 Centerline is valid? [False, False] Translation: X:6.54, Y:0.19, Z:0.51 [[ 0.95968426 -0.0398596 -0.27823971 6.53648896] [ 0.0505484 0.9982296 0.03134518 0.18651682] [ 0.27649771 -0.04414604 0.96000007 0.50969247] [ 0. 0. 0. 1. ]] SLAMing on 26.579649246000002 meters Centerline goodness [0,1] 0.9341199017787627 Centerline is valid? [False, False] Translation: X:6.54, Y:0.19, Z:0.51 [[ 0.95957169 -0.04010187 -0.2785929 6.53760847] [ 0.05080563 0.99821782 0.0313046 0.18688927] [ 0.27684102 -0.0441931 0.95989896 0.50994475] [ 0. 0. 0. 1. ]] SLAMing on 26.609649246000004 meters Centerline goodness [0,1] 0.9344115004492363 Centerline is valid? [False, False] Translation: X:6.54, Y:0.19, Z:0.51 [[ 0.95948833 -0.04011392 -0.27887814 6.53818622] [ 0.0508921 0.99820684 0.03151338 0.18703249] [ 0.27711394 -0.04442941 0.9598093 0.51049755] [ 0. 0. 0. 1. ]] SLAMing on 26.639649246000005 meters Centerline goodness [0,1] 0.9358460064662915 Centerline is valid? [False, False] Translation: X:6.54, Y:0.19, Z:0.51 [[ 0.95932089 -0.04011072 -0.27945403 6.53946012] [ 0.05104576 0.9981848 0.03196 0.1859818 ] [ 0.27766482 -0.04492484 0.95962701 0.51147245] [ 0. 0. 0. 1. ]] SLAMing on 26.669649246000002 meters Centerline goodness [0,1] 0.9345318352059925 Centerline is valid? [False, False] Translation: X:6.54, Y:0.19, Z:0.51 [[ 0.95919798 -0.03992703 -0.2799019 6.54039038] [ 0.05092629 0.99818538 0.03213202 0.18557241] [ 0.27811105 -0.04507533 0.95949073 0.51195215] [ 0. 0. 0. 1. ]] SLAMing on 26.699649246000003 meters Centerline goodness [0,1] 0.936152944359275 Centerline is valid? [False, False] Translation: X:6.54, Y:0.19, Z:0.51 [[ 0.95903322 -0.04011128 -0.28043959 6.54175078] [ 0.05120151 0.99816494 0.03232878 0.18501208] [ 0.27862822 -0.04536331 0.9593271 0.51257367] [ 0. 0. 0. 1. ]] SLAMing on 26.729649246000005 meters Centerline goodness [0,1] 0.9351481425778313 Centerline is valid? [False, False] Translation: X:6.54, Y:0.18, Z:0.51 [[ 0.95884575 -0.04022797 -0.28106323 6.54356163] [ 0.0514971 0.99813366 0.03282137 0.18260943] [ 0.27921833 -0.04594457 0.95912784 0.51339131] [ 0. 0. 0. 1. ]] SLAMing on 26.759649246000002 meters Centerline goodness [0,1] 0.9341355288157062 Centerline is valid? [False, False] Translation: X:6.55, Y:0.18, Z:0.51 [[ 0.95865315 -0.04072483 -0.28164805 6.54595143] [ 0.05202938 0.99810766 0.03277267 0.18167646] [ 0.27978042 -0.04607159 0.95895794 0.51339008] [ 0. 0. 0. 1. ]] SLAMing on 26.789649246000003 meters Centerline goodness [0,1] 0.9335424899695315 Centerline is valid? [False, False] Translation: X:6.55, Y:0.18, Z:0.51 [[ 0.95845595 -0.04112643 -0.28226019 6.5481883 ] [ 0.0524943 0.99808151 0.03282766 0.18050224] [ 0.28036859 -0.04628091 0.95877606 0.51354911] [ 0. 0. 0. 1. ]] SLAMing on 26.819649246000004 meters Centerline goodness [0,1] 0.9298500681508405 Centerline is valid? [False, False] Translation: X:6.55, Y:0.18, Z:0.51 [[ 0.95821611 -0.04546024 -0.28240972 6.54991491] [ 0.05593194 0.9980097 0.02912481 0.17859687] [ 0.28052362 -0.04370359 0.95885165 0.51276135] [ 0. 0. 0. 1. ]] SLAMing on 26.849649246000006 meters Centerline goodness [0,1] 0.9308720753570343 Centerline is valid? [False, False] Translation: X:6.55, Y:0.18, Z:0.51 [[ 0.95804233 -0.04575269 -0.28295156 6.55185286] [ 0.05634622 0.99797801 0.02941097 0.17706577] [ 0.28103381 -0.04412021 0.95868316 0.51314114] [ 0. 0. 0. 1. ]] SLAMing on 26.879649246000003 meters Centerline goodness [0,1] 0.9312170922482271 Centerline is valid? [False, False] Translation: X:6.56, Y:0.17, Z:0.51 [[ 0.95775284 -0.04655311 -0.28379978 6.55514575] [ 0.05743446 0.9978943 0.03013721 0.17341059] [ 0.2817992 -0.04516389 0.95840985 0.51441587] [ 0. 0. 0. 1. ]] SLAMing on 26.909649246000004 meters Centerline goodness [0,1] 0.9296528521180609 Centerline is valid? [False, False] Translation: X:6.55, Y:0.17, Z:0.51 [[ 0.95760657 -0.04997141 -0.28371202 6.55494114] [ 0.06010145 0.99782412 0.02710799 0.17132779] [ 0.28174008 -0.04301029 0.95852629 0.51439344] [ 0. 0. 0. 1. ]] SLAMing on 26.939649246000005 meters Centerline goodness [0,1] 0.9307567451688972 Centerline is valid? [False, False] Translation: X:6.56, Y:0.17, Z:0.52 [[ 0.95741484 -0.04991166 -0.28436885 6.55620328] [ 0.06029642 0.99779118 0.02787672 0.1698868 ] [ 0.28234936 -0.04383601 0.95830958 0.51579145] [ 0. 0. 0. 1. ]] SLAMing on 26.969649246000003 meters Centerline goodness [0,1] 0.9304783263186999 Centerline is valid? [False, False] Translation: X:6.56, Y:0.17, Z:0.52 [[ 0.95731583 -0.0494909 -0.28477543 6.55702847] [ 0.06007072 0.99778626 0.02853236 0.16820243] [ 0.28273292 -0.04442115 0.95816954 0.51657092] [ 0. 0. 0. 1. ]] SLAMing on 26.999649246000004 meters Centerline goodness [0,1] 0.9259885096316323 Centerline is valid? [False, False] Translation: X:6.56, Y:0.17, Z:0.52 [[ 0.95708909 -0.05005133 -0.28543885 6.55975296] [ 0.06061415 0.99776041 0.02828595 0.16856804] [ 0.28338383 -0.04437381 0.95797942 0.51640847] [ 0. 0. 0. 1. ]] SLAMing on 27.029649246000005 meters Centerline goodness [0,1] 0.9285364959041448 Centerline is valid? [False, False] Translation: X:6.56, Y:0.17, Z:0.52 [[ 0.95694946 -0.04979274 -0.28595177 6.56173968] [ 0.06038521 0.99777277 0.02833957 0.16897718] [ 0.28390379 -0.04438679 0.95782485 0.51594027] [ 0. 0. 0. 1. ]] SLAMing on 27.059649246000003 meters Centerline goodness [0,1] 0.9273205171307192 Centerline is valid? [False, False] Translation: X:6.56, Y:0.17, Z:0.52 [[ 0.95686468 -0.04967957 -0.286255 6.5624068 ] [ 0.06037242 0.99776483 0.02864476 0.16904231] [ 0.28419211 -0.04469106 0.9577252 0.51648578] [ 0. 0. 0. 1. ]] SLAMing on 27.089649246000004 meters Centerline goodness [0,1] 0.9300729169844708 Centerline is valid? [False, False] Translation: X:6.56, Y:0.17, Z:0.52 [[ 0.9566368 -0.0491392 -0.28710865 6.56296421] [ 0.06020165 0.99774057 0.02982472 0.16768123] [ 0.28499439 -0.04581584 0.95743361 0.51902689] [ 0. 0. 0. 1. ]] SLAMing on 27.119649246000005 meters Centerline goodness [0,1] 0.9293024961046104 Centerline is valid? [False, False] Translation: X:6.56, Y:0.17, Z:0.52 [[ 0.95646978 -0.04904502 -0.28768064 6.56406933] [ 0.06025441 0.99772503 0.03023519 0.16727663] [ 0.28554329 -0.04625307 0.95724902 0.51992275] [ 0. 0. 0. 1. ]] SLAMing on 27.149649246000003 meters Centerline goodness [0,1] 0.9297623053626602 Centerline is valid? [False, False] Translation: X:6.57, Y:0.17, Z:0.52 [[ 0.95632 -0.0487446 -0.28822912 6.5650532 ] [ 0.06007843 0.99772445 0.03060248 0.16625555] [ 0.28608153 -0.04658212 0.95707234 0.520672 ] [ 0. 0. 0. 1. ]] SLAMing on 27.179649246000004 meters Centerline goodness [0,1] 0.9291608092414889 Centerline is valid? [False, False] Translation: X:6.57, Y:0.17, Z:0.52 [[ 0.95610762 -0.04905705 -0.28887996 6.56719423] [ 0.06042666 0.99770453 0.03056615 0.16631486] [ 0.28671736 -0.04668057 0.95687725 0.52089147] [ 0. 0. 0. 1. ]] SLAMing on 27.209649246000005 meters Centerline goodness [0,1] 0.9282941589999083 Centerline is valid? [False, False] Translation: X:6.57, Y:0.16, Z:0.52 [[ 0.95589083 -0.04865621 -0.28966411 6.56850972] [ 0.06026456 0.99769202 0.03128601 0.1647599 ] [ 0.28747331 -0.04736249 0.9566169 0.52224527] [ 0. 0. 0. 1. ]] SLAMing on 27.239649246000003 meters Centerline goodness [0,1] 0.9287770224753507 Centerline is valid? [False, False] Translation: X:6.57, Y:0.16, Z:0.52 [[ 0.95566129 -0.04882105 -0.29039284 6.57032526] [ 0.06055223 0.99766646 0.03154452 0.16409489] [ 0.28817516 -0.04772982 0.95638744 0.52299193] [ 0. 0. 0. 1. ]] SLAMing on 27.269649246000004 meters Centerline goodness [0,1] 0.9283788751378508 Centerline is valid? [False, False] Translation: X:6.57, Y:0.16, Z:0.52 [[ 0.95550273 -0.04862172 -0.29094751 6.57199432] [ 0.06039034 0.99767446 0.03160188 0.16379805] [ 0.28873437 -0.0477661 0.95621696 0.52303899] [ 0. 0. 0. 1. ]] SLAMing on 27.299649246000005 meters Centerline goodness [0,1] 0.9284337423125172 Centerline is valid? [False, False] Translation: X:6.57, Y:0.16, Z:0.52 [[ 0.95523123 -0.0488551 -0.29179869 6.57487976] [ 0.06059939 0.99767002 0.03134066 0.16417202] [ 0.28958766 -0.0476204 0.95596615 0.52281241] [ 0. 0. 0. 1. ]] SLAMing on 27.329649246000002 meters Centerline goodness [0,1] 0.9283836654847781 Centerline is valid? [False, False] Translation: X:6.58, Y:0.16, Z:0.52 [[ 0.95498084 -0.04906844 -0.29258143 6.5770899 ] [ 0.06088162 0.99765092 0.03140189 0.16422162] [ 0.29035329 -0.04780103 0.95572487 0.52321028] [ 0. 0. 0. 1. ]] SLAMing on 27.359649246000004 meters Centerline goodness [0,1] 0.9275937375042294 Centerline is valid? [False, False] Translation: X:6.58, Y:0.16, Z:0.52 [[ 0.9547893 -0.04921302 -0.29318164 6.57884141] [ 0.06117526 0.99762139 0.03176705 0.16233069] [ 0.29092092 -0.0482663 0.95552885 0.52395643] [ 0. 0. 0. 1. ]] SLAMing on 27.389649246000005 meters Centerline goodness [0,1] 0.9285406403940887 Centerline is valid? [False, False] Translation: X:6.58, Y:0.16, Z:0.52 [[ 0.95449707 -0.04965654 -0.29405708 6.58138636] [ 0.06173532 0.99758163 0.03193167 0.16153296] [ 0.29176032 -0.04863239 0.95525431 0.52469963] [ 0. 0. 0. 1. ]] SLAMing on 27.419649246000002 meters Centerline goodness [0,1] 0.9254830657339209 Centerline is valid? [False, False] Translation: X:6.58, Y:0.16, Z:0.53 [[ 0.95424661 -0.05009854 -0.29479408 6.58370299] [ 0.06232302 0.99753602 0.03221378 0.16010369] [ 0.29245385 -0.04911235 0.95501765 0.52544072] [ 0. 0. 0. 1. ]] SLAMing on 27.449649246000003 meters Centerline goodness [0,1] 0.9275545420929373 Centerline is valid? [False, False] Translation: X:6.59, Y:0.16, Z:0.53 [[ 0.95395048 -0.04989956 -0.29578459 6.58549836] [ 0.06244998 0.99749806 0.03313044 0.15841046] [ 0.29339136 -0.05007655 0.95467997 0.5273375 ] [ 0. 0. 0. 1. ]] SLAMing on 27.479649246000005 meters Centerline goodness [0,1] 0.9272631968426246 Centerline is valid? [False, False] Translation: X:6.59, Y:0.16, Z:0.53 [[ 0.95379247 -0.04979055 -0.29631205 6.58629221] [ 0.06246697 0.99748593 0.03346186 0.15771941] [ 0.29390102 -0.05042538 0.95450483 0.52836996] [ 0. 0. 0. 1. ]] SLAMing on 27.509649246000002 meters Centerline goodness [0,1] 0.925484397621908 Centerline is valid? [False, False] Translation: X:6.59, Y:0.16, Z:0.53 [[ 0.95360312 -0.04984373 -0.29691192 6.58822258] [ 0.06250879 0.9974884 0.03330967 0.15821661] [ 0.29450592 -0.05032381 0.95432373 0.52817606] [ 0. 0. 0. 1. ]] SLAMing on 27.539649246000003 meters Centerline goodness [0,1] 0.9258652151053104 Centerline is valid? [False, False] Translation: X:6.59, Y:0.16, Z:0.53 [[ 0.95330101 -0.04991864 -0.29786794 6.59034902] [ 0.06279254 0.99745401 0.03380237 0.15599387] [ 0.29542221 -0.05092772 0.95400843 0.52952372] [ 0. 0. 0. 1. ]] SLAMing on 27.569649246000004 meters Centerline goodness [0,1] 0.9272805906521269 Centerline is valid? [False, False] Translation: X:6.59, Y:0.16, Z:0.53 [[ 0.95300632 -0.05029898 -0.29874565 6.59280951] [ 0.06329079 0.99741693 0.03396692 0.1557538 ] [ 0.29626546 -0.05127853 0.9537281 0.53024627] [ 0. 0. 0. 1. ]] SLAMing on 27.599649246000006 meters Centerline goodness [0,1] 0.9252134776041185 Centerline is valid? [False, False] Translation: X:6.60, Y:0.16, Z:0.53 [[ 0.95274006 -0.05071381 -0.29952377 6.59525244] [ 0.06375353 0.99738913 0.03391764 0.15602191] [ 0.29702166 -0.05141039 0.95348576 0.53053833] [ 0. 0. 0. 1. ]] SLAMing on 27.629649246000003 meters Centerline goodness [0,1] 0.9258078494490529 Centerline is valid? [False, False] Translation: X:6.60, Y:0.16, Z:0.53 [[ 0.95251543 -0.05033481 -0.30030112 6.59658694] [ 0.06355009 0.99738573 0.03439622 0.15502863] [ 0.29778472 -0.05184709 0.95322408 0.53154874] [ 0. 0. 0. 1. ]] SLAMing on 27.659649246000004 meters Centerline goodness [0,1] 0.9263655754428267 Centerline is valid? [False, False] Translation: X:6.60, Y:0.16, Z:0.53 [[ 0.95231642 -0.05040234 -0.30092031 6.59798413] [ 0.06371415 0.99736885 0.03458159 0.1551798 ] [ 0.29838555 -0.0521055 0.95302208 0.53219271] [ 0. 0. 0. 1. ]] SLAMing on 27.689649246000005 meters Centerline goodness [0,1] 0.9267125613558485 Centerline is valid? [False, False] Translation: X:6.60, Y:0.15, Z:0.54 [[ 0.95221034 -0.04890031 -0.30150328 6.59610734] [ 0.06305372 0.99730968 0.03738484 0.15241771] [ 0.29886401 -0.05460913 0.95273194 0.53703043] [ 0. 0. 0. 1. ]] SLAMing on 27.719649246000003 meters Centerline goodness [0,1] 0.9243999010146003 Centerline is valid? [False, False] Translation: X:6.60, Y:0.15, Z:0.54 [[ 0.95181945 -0.04932542 -0.30266606 6.59843966] [ 0.06368523 0.99725566 0.0377538 0.15183636] [ 0.29997322 -0.05521016 0.95234863 0.53895372] [ 0. 0. 0. 1. ]] SLAMing on 27.749649246000004 meters Centerline goodness [0,1] 0.9273378850134388 Centerline is valid? [False, False] Translation: X:6.60, Y:0.15, Z:0.54 [[ 0.95152656 -0.05007193 -0.30346334 6.60109388] [ 0.06437727 0.99722776 0.03731443 0.15266917] [ 0.30075366 -0.05504181 0.9521122 0.53905607] [ 0. 0. 0. 1. ]] SLAMing on 27.779649246000005 meters Centerline goodness [0,1] 0.926060568717459 Centerline is valid? [False, False] Translation: X:6.61, Y:0.15, Z:0.54 [[ 0.95112898 -0.04708471 -0.30518304 6.60679748] [ 0.06248042 0.99720891 0.04087269 0.15251939] [ 0.30240677 -0.05794317 0.95141617 0.53999845] [ 0. 0. 0. 1. ]] SLAMing on 27.809649246000003 meters Centerline goodness [0,1] 0.9255348622441126 Centerline is valid? [False, False] Translation: X:6.61, Y:0.15, Z:0.54 [[ 0.95085593 -0.04795981 -0.30589682 6.61014502] [ 0.06322228 0.9971904 0.04017765 0.15349036] [ 0.30311046 -0.05754265 0.95121653 0.53925142] [ 0. 0. 0. 1. ]] SLAMing on 27.839649246000004 meters Centerline goodness [0,1] 0.9223970683336926 Centerline is valid? [False, False] Translation: X:6.61, Y:0.15, Z:0.54 [[ 0.95053875 -0.0483372 -0.30682176 6.61276201] [ 0.06357174 0.99718139 0.03984869 0.15378023] [ 0.30403078 -0.05738291 0.95093243 0.5395214 ] [ 0. 0. 0. 1. ]] SLAMing on 27.869649246000005 meters Centerline goodness [0,1] 0.9223970683336926 Centerline is valid? [False, False] Translation: X:6.61, Y:0.15, Z:0.54 [[ 0.95053875 -0.0483372 -0.30682176 6.61276201] [ 0.06357174 0.99718139 0.03984869 0.15378023] [ 0.30403078 -0.05738291 0.95093243 0.5395214 ] [ 0. 0. 0. 1. ]] SLAMing on 27.899649246000003 meters Centerline goodness [0,1] 0.9241078289736575 Centerline is valid? [False, False] Translation: X:6.61, Y:0.15, Z:0.54 [[ 0.95028855 -0.04851374 -0.30756803 6.6146277 ] [ 0.0638055 0.9971663 0.03985254 0.15385702] [ 0.30476308 -0.05749595 0.95069116 0.54002037] [ 0. 0. 0. 1. ]] SLAMing on 27.929649246000004 meters Centerline goodness [0,1] 0.9258098223615465 Centerline is valid? [False, False] Translation: X:6.62, Y:0.15, Z:0.54 [[ 0.94998406 -0.04845576 -0.30851633 6.61650584] [ 0.06378615 0.99716986 0.03979433 0.15399104] [ 0.30571492 -0.05748305 0.95038628 0.54071914] [ 0. 0. 0. 1. ]] SLAMing on 27.959649246000005 meters Centerline goodness [0,1] 0.9223044559776433 Centerline is valid? [False, False] Translation: X:6.62, Y:0.15, Z:0.54 [[ 0.94971847 -0.04859974 -0.30931035 6.61825131] [ 0.06399849 0.99715493 0.03982756 0.15414915] [ 0.30649473 -0.05762037 0.95012677 0.54143757] [ 0. 0. 0. 1. ]] SLAMing on 27.989649246000003 meters Centerline goodness [0,1] 0.9257041063914739 Centerline is valid? [False, False] Translation: X:6.62, Y:0.15, Z:0.54 [[ 0.94937582 -0.04847493 -0.31037997 6.62041816] [ 0.06392045 0.9971618 0.03978086 0.15481919] [ 0.30757068 -0.05760661 0.94977985 0.54218977] [ 0. 0. 0. 1. ]] SLAMing on 28.019649246000004 meters Centerline goodness [0,1] 0.9259907296558922 Centerline is valid? [False, False] Translation: X:6.62, Y:0.16, Z:0.54 [[ 0.94913071 -0.04875702 -0.31108464 6.62225107] [ 0.06422602 0.99714655 0.03967083 0.15545521] [ 0.30826275 -0.05763253 0.94955388 0.5426018 ] [ 0. 0. 0. 1. ]] SLAMing on 28.049649246000005 meters Centerline goodness [0,1] 0.9231264170598689 Centerline is valid? [False, False] Translation: X:6.62, Y:0.15, Z:0.55 [[ 0.94874561 -0.04387071 -0.31298103 6.62447182] [ 0.06117844 0.99708054 0.04569015 0.15287763] [ 0.31006283 -0.06249602 0.94865973 0.54765525] [ 0. 0. 0. 1. ]] SLAMing on 28.079649246000002 meters Centerline goodness [0,1] 0.9226225092589758 Centerline is valid? [False, False] Translation: X:6.63, Y:0.15, Z:0.55 [[ 0.94849705 -0.04404816 -0.31370862 6.62633143] [ 0.06143581 0.99706186 0.04575249 0.15317172] [ 0.31077159 -0.06266905 0.94841637 0.54825502] [ 0. 0. 0. 1. ]] SLAMing on 28.109649246000004 meters Centerline goodness [0,1] 0.9254392666157372 Centerline is valid? [False, False] Translation: X:6.63, Y:0.15, Z:0.55 [[ 0.94823433 -0.0443044 -0.31446586 6.62869701] [ 0.06158466 0.99707673 0.04522528 0.15449158] [ 0.31154291 -0.06225044 0.94819086 0.54801183] [ 0. 0. 0. 1. ]] SLAMing on 28.139649246000005 meters Centerline goodness [0,1] 0.9246516744072354 Centerline is valid? [False, False] Translation: X:6.63, Y:0.16, Z:0.55 [[ 0.94797607 -0.04466899 -0.31519209 6.63071761] [ 0.0619529 0.9970629 0.04502675 0.15536454] [ 0.31225504 -0.06221134 0.94795915 0.54836599] [ 0. 0. 0. 1. ]] SLAMing on 28.169649246000002 meters Centerline goodness [0,1] 0.9246313990048536 Centerline is valid? [False, False] Translation: X:6.63, Y:0.16, Z:0.55 [[ 0.9476521 -0.04484028 -0.31614056 6.63319932] [ 0.06198913 0.99708908 0.04439283 0.15694461] [ 0.31322971 -0.06166624 0.94767316 0.54818773] [ 0. 0. 0. 1. ]] SLAMing on 28.199649246000003 meters Centerline goodness [0,1] 0.9235717334308884 Centerline is valid? [False, False] Translation: X:6.64, Y:0.16, Z:0.55 [[ 0.94744659 -0.04510144 -0.31671883 6.63528748] [ 0.06217921 0.99709389 0.04401732 0.15789818] [ 0.31381317 -0.06139739 0.94749758 0.54782369] [ 0. 0. 0. 1. ]] SLAMing on 28.229649246000005 meters Centerline goodness [0,1] 0.9254622437479059 Centerline is valid? [False, False] Translation: X:6.64, Y:0.16, Z:0.55 [[ 0.94719973 -0.04510015 -0.31745653 6.63705154] [ 0.06209013 0.99711771 0.04360153 0.15948969] [ 0.31457509 -0.06101027 0.9472699 0.54776975] [ 0. 0. 0. 1. ]] SLAMing on 28.259649246000006 meters Centerline goodness [0,1] 0.9276163850735384 Centerline is valid? [False, False] Translation: X:6.64, Y:0.16, Z:0.55 [[ 0.94700625 -0.04509936 -0.31803335 6.63831678] [ 0.06211496 0.99711793 0.04356108 0.16004186] [ 0.31515218 -0.06100725 0.94707826 0.54812524] [ 0. 0. 0. 1. ]] SLAMing on 28.289649246000003 meters Centerline goodness [0,1] 0.9253821704253065 Centerline is valid? [False, False] Translation: X:6.64, Y:0.16, Z:0.55 [[ 0.94681381 -0.04025802 -0.31925368 6.6400706 ] [ 0.0586311 0.99711803 0.04814583 0.15908616] [ 0.31639534 -0.06430333 0.94644549 0.55032149] [ 0. 0. 0. 1. ]] SLAMing on 28.319649246000004 meters Centerline goodness [0,1] 0.9254803321413418 Centerline is valid? [False, False] Translation: X:6.64, Y:0.16, Z:0.55 [[ 0.94666219 -0.04045194 -0.31967848 6.64141766] [ 0.05869938 0.99713789 0.0476489 0.16043939] [ 0.31683603 -0.06387234 0.94632724 0.54991379] [ 0. 0. 0. 1. ]] SLAMing on 28.349649246000006 meters Centerline goodness [0,1] 0.9263361781974457 Centerline is valid? [False, False] Translation: X:6.64, Y:0.16, Z:0.55 [[ 0.94641184 -0.04026319 -0.32044266 6.64361263] [ 0.05825153 0.99720692 0.04674534 0.16262933] [ 0.31766552 -0.06290662 0.94611383 0.54884567] [ 0. 0. 0. 1. ]] SLAMing on 28.379649246000003 meters Centerline goodness [0,1] 0.9271270968716941 Centerline is valid? [False, False] Translation: X:6.66, Y:0.17, Z:0.55 [[ 0.94795105 -0.03855679 -0.31607307 6.65928733] [ 0.05398772 0.99773179 0.0402071 0.1660809 ] [ 0.3138059 -0.05517842 0.94788248 0.54826722] [ 0. 0. 0. 1. ]] SLAMing on 28.409649246000004 meters Centerline goodness [0,1] 0.9281466050780425 Centerline is valid? [False, False] Translation: X:6.67, Y:0.17, Z:0.55 [[ 0.94955232 -0.04040768 -0.31099456 6.67422707] [ 0.05268868 0.9981239 0.03118634 0.16932304] [ 0.30915094 -0.04599896 0.94989989 0.54737512] [ 0. 0. 0. 1. ]] SLAMing on 28.439649246000005 meters Centerline goodness [0,1] 0.9284980356603203 Centerline is valid? [False, False] Translation: X:6.68, Y:0.17, Z:0.55 [[ 0.94926777 -0.04045083 -0.31185642 6.67565441] [ 0.05290896 0.99809963 0.03158765 0.16891873] [ 0.30998603 -0.04648514 0.94960402 0.54876126] [ 0. 0. 0. 1. ]] SLAMing on 28.469649246000003 meters Centerline goodness [0,1] 0.9284571014405218 Centerline is valid? [False, False] Translation: X:6.68, Y:0.17, Z:0.55 [[ 0.94897376 -0.04043769 -0.31275165 6.67832621] [ 0.05303909 0.99808322 0.0318864 0.16799599] [ 0.31086276 -0.04684742 0.94929956 0.54915189] [ 0. 0. 0. 1. ]] SLAMing on 28.499649246000004 meters Centerline goodness [0,1] 0.9241865247369058 Centerline is valid? [False, False] Translation: X:6.68, Y:0.17, Z:0.55 [[ 0.94874305 -0.0406348 -0.31342532 6.68111456] [ 0.05338298 0.99805495 0.03219577 0.16668836] [ 0.31150742 -0.04727709 0.94906691 0.54918778] [ 0. 0. 0. 1. ]] SLAMing on 28.529649246000005 meters Centerline goodness [0,1] 0.9261533807290879 Centerline is valid? [False, False] Translation: X:6.68, Y:0.17, Z:0.55 [[ 0.94841165 -0.04119111 -0.31435431 6.68390379] [ 0.05407608 0.99801185 0.03237485 0.16577129] [ 0.31239577 -0.04770374 0.94875352 0.54999907] [ 0. 0. 0. 1. ]] SLAMing on 28.559649246000003 meters Centerline goodness [0,1] 0.9259405579529569 Centerline is valid? [False, False] Translation: X:6.69, Y:0.16, Z:0.55 [[ 0.94802678 -0.04101296 -0.31553631 6.68565196] [ 0.05431093 0.9979632 0.03346299 0.16265117] [ 0.31352121 -0.04886088 0.94832329 0.55258284] [ 0. 0. 0. 1. ]] SLAMing on 28.589649246000004 meters Centerline goodness [0,1] 0.9264665549291482 Centerline is valid? [False, False] Translation: X:6.69, Y:0.16, Z:0.55 [[ 0.9477803 -0.04115428 -0.31625753 6.68719836] [ 0.05465852 0.99792796 0.03394469 0.16116188] [ 0.31420526 -0.04945828 0.94806589 0.55378575] [ 0. 0. 0. 1. ]] SLAMing on 28.619649246000005 meters Centerline goodness [0,1] 0.9262372757007917 Centerline is valid? [False, False] Translation: X:6.69, Y:0.16, Z:0.56 [[ 0.94746479 -0.04143 -0.31716563 6.68928997] [ 0.05518863 0.9978792 0.03451558 0.15922058] [ 0.315063 -0.05020623 0.94774186 0.55532718] [ 0. 0. 0. 1. ]] SLAMing on 28.649649246000003 meters Centerline goodness [0,1] 0.9257519370386188 Centerline is valid? [False, False] Translation: X:6.69, Y:0.16, Z:0.56 [[ 0.94714231 -0.04238071 -0.31800208 6.69285578] [ 0.05613237 0.99783735 0.03420195 0.1593337 ] [ 0.31586485 -0.05024432 0.9474729 0.55530293] [ 0. 0. 0. 1. ]] SLAMing on 28.679649246000004 meters Centerline goodness [0,1] 0.9244273174909013 Centerline is valid? [False, False] Translation: X:6.70, Y:0.16, Z:0.56 [[ 0.94682113 -0.04277954 -0.31890384 6.69606039] [ 0.05652827 0.99782265 0.03397816 0.15955738] [ 0.31675591 -0.05019832 0.94717782 0.55515859] [ 0. 0. 0. 1. ]] SLAMing on 28.709649246000005 meters Centerline goodness [0,1] 0.9254418037781841 Centerline is valid? [False, False] Translation: X:6.70, Y:0.16, Z:0.56 [[ 0.94651257 -0.04316441 -0.31976677 6.69863089] [ 0.05699133 0.99779539 0.03400526 0.15947878] [ 0.31759399 -0.05041034 0.94688587 0.55567087] [ 0. 0. 0. 1. ]] SLAMing on 28.739649246000003 meters Centerline goodness [0,1] 0.9232454138906635 Centerline is valid? [False, False] Translation: X:6.70, Y:0.16, Z:0.56 [[ 0.94608969 -0.04344737 -0.32097761 6.70130828] [ 0.0575408 0.99774518 0.03454866 0.15813296] [ 0.31875282 -0.05115544 0.94645642 0.55747314] [ 0. 0. 0. 1. ]] SLAMing on 28.769649246000004 meters Centerline goodness [0,1] 0.9254144486692015 Centerline is valid? [False, False] Translation: X:6.70, Y:0.16, Z:0.56 [[ 0.94581695 -0.04365486 -0.3217523 6.70334929] [ 0.05790193 0.99771419 0.03483907 0.15750364] [ 0.31949594 -0.05158147 0.9461827 0.55828793] [ 0. 0. 0. 1. ]] SLAMing on 28.799649246000005 meters Centerline goodness [0,1] 0.9257719351880159 Centerline is valid? [False, False] Translation: X:6.71, Y:0.16, Z:0.56 [[ 0.94556777 -0.04353546 -0.32250001 6.70530456] [ 0.05791067 0.99770419 0.03510992 0.15703026] [ 0.32023108 -0.051875 0.94591809 0.558822 ] [ 0. 0. 0. 1. ]] SLAMing on 28.829649246000002 meters Centerline goodness [0,1] 0.9238921296154903 Centerline is valid? [False, False] Translation: X:6.71, Y:0.16, Z:0.56 [[ 0.94534073 -0.04378579 -0.3231311 6.70728539] [ 0.05821863 0.99768552 0.03513123 0.15723973] [ 0.32084497 -0.05202324 0.9457019 0.55916201] [ 0. 0. 0. 1. ]] SLAMing on 28.859649246000004 meters Centerline goodness [0,1] 0.925174439955931 Centerline is valid? [False, False] Translation: X:6.71, Y:0.16, Z:0.56 [[ 0.94499313 -0.0438274 -0.32414063 6.70932407] [ 0.05844749 0.997659 0.03550212 0.15642067] [ 0.32182586 -0.05249446 0.9453425 0.56048448] [ 0. 0. 0. 1. ]] SLAMing on 28.889649246000005 meters Centerline goodness [0,1] 0.9250398724082934 Centerline is valid? [False, False] Translation: X:6.71, Y:0.16, Z:0.56 [[ 0.94469547 -0.04389014 -0.32499866 6.71091561] [ 0.05873503 0.99762418 0.03600278 0.15559498] [ 0.32264635 -0.05310047 0.94502893 0.56192525] [ 0. 0. 0. 1. ]] SLAMing on 28.919649246000002 meters Centerline goodness [0,1] 0.9267357703631011 Centerline is valid? [False, False] Translation: X:6.71, Y:0.15, Z:0.56 [[ 0.94437515 -0.0436104 -0.3259658 6.71236273] [ 0.05872022 0.99760131 0.03665454 0.15438323] [ 0.32358539 -0.05375642 0.94467071 0.5635964 ] [ 0. 0. 0. 1. ]] SLAMing on 28.949649246000003 meters Centerline goodness [0,1] 0.9277274396963389 Centerline is valid? [False, False] Translation: X:6.71, Y:0.15, Z:0.56 [[ 0.94414778 -0.04365115 -0.32661834 6.71369484] [ 0.05892327 0.99757636 0.03700625 0.15414256] [ 0.32421137 -0.05418479 0.94443157 0.56457228] [ 0. 0. 0. 1. ]] SLAMing on 28.979649246000005 meters Centerline goodness [0,1] 0.9256022891603335 Centerline is valid? [False, False] Translation: X:6.72, Y:0.15, Z:0.57 [[ 0.94394015 -0.04356148 -0.32722988 6.71516131] [ 0.05899933 0.99755736 0.03739501 0.153582 ] [ 0.3248016 -0.054605 0.94420454 0.56538534] [ 0. 0. 0. 1. ]] SLAMing on 29.009649246000006 meters Centerline goodness [0,1] 0.9277888599048643 Centerline is valid? [False, False] Translation: X:6.72, Y:0.15, Z:0.57 [[ 0.94361818 -0.04402043 -0.32809592 6.71746706] [ 0.05954469 0.99752417 0.03741592 0.15363394] [ 0.32563655 -0.05484271 0.94390313 0.5661492 ] [ 0. 0. 0. 1. ]] SLAMing on 29.039649246000003 meters Centerline goodness [0,1] 0.9304556354916067 Centerline is valid? [False, False] Translation: X:6.72, Y:0.15, Z:0.57 [[ 0.94316636 -0.04472194 -0.329298 6.72103133] [ 0.06039167 0.99746988 0.03750586 0.15266307] [ 0.3267875 -0.05526112 0.94348086 0.56719553] [ 0. 0. 0. 1. ]] SLAMing on 29.069649246000004 meters Centerline goodness [0,1] 0.9289769221276071 Centerline is valid? [False, False] Translation: X:6.72, Y:0.15, Z:0.57 [[ 0.9427995 -0.04513229 -0.33029105 6.7235355 ] [ 0.06107769 0.99740736 0.03805352 0.15055964] [ 0.32771728 -0.05605025 0.94311174 0.56879721] [ 0. 0. 0. 1. ]] SLAMing on 29.099649246000006 meters Centerline goodness [0,1] 0.9276196337898138 Centerline is valid? [False, False] Translation: X:6.73, Y:0.15, Z:0.57 [[ 0.94247421 -0.04576155 -0.33113176 6.72630145] [ 0.06178374 0.99736527 0.0380169 0.15023718] [ 0.3285196 -0.05628851 0.94281837 0.56934478] [ 0. 0. 0. 1. ]] SLAMing on 29.129649246000003 meters Centerline goodness [0,1] 0.9281795203748228 Centerline is valid? [False, False] Translation: X:6.73, Y:0.15, Z:0.57 [[ 0.94202719 -0.0465 -0.33229884 6.73022994] [ 0.0626752 0.99730574 0.03811935 0.14872182] [ 0.32963099 -0.05673636 0.94240352 0.5701079 ] [ 0. 0. 0. 1. ]] SLAMing on 29.159649246000004 meters Centerline goodness [0,1] 0.928428134934107 Centerline is valid? [False, False] Translation: X:6.73, Y:0.15, Z:0.57 [[ 0.94167031 -0.04702751 -0.3332348 6.7327663 ] [ 0.06330479 0.99726475 0.03815137 0.14797651] [ 0.33052916 -0.05702137 0.94207167 0.57102288] [ 0. 0. 0. 1. ]] SLAMing on 29.189649246000005 meters Centerline goodness [0,1] 0.926817243398145 Centerline is valid? [False, False] Translation: X:6.74, Y:0.15, Z:0.57 [[ 0.94123358 -0.04781782 -0.3343543 6.73591889] [ 0.06416279 0.99721546 0.0380061 0.14782912] [ 0.33160591 -0.05722572 0.94168081 0.57196375] [ 0. 0. 0. 1. ]] SLAMing on 29.219649246000003 meters Centerline goodness [0,1] 0.9271631644004944 Centerline is valid? [False, False] Translation: X:6.74, Y:0.15, Z:0.57 [[ 0.94088556 -0.04833783 -0.33525785 6.7389588 ] [ 0.064703 0.997188 0.03781031 0.14779115] [ 0.33248743 -0.05726737 0.94136739 0.57220877] [ 0. 0. 0. 1. ]] SLAMing on 29.249649246000004 meters Centerline goodness [0,1] 0.9244478764478764 Centerline is valid? [False, False] Translation: X:6.74, Y:0.15, Z:0.57 [[ 0.94064298 -0.04875937 -0.33587691 6.74083586] [ 0.06516603 0.99716039 0.03774315 0.14845921] [ 0.33308282 -0.0573906 0.94114938 0.57273232] [ 0. 0. 0. 1. ]] SLAMing on 29.279649246000005 meters Centerline goodness [0,1] 0.9289319790704832 Centerline is valid? [False, False] Translation: X:6.74, Y:0.15, Z:0.57 [[ 0.94025428 -0.04882193 -0.33695445 6.74276072] [ 0.0654233 0.99713057 0.0380844 0.14861456] [ 0.33412823 -0.0578537 0.94075038 0.57439548] [ 0. 0. 0. 1. ]] SLAMing on 29.309649246000003 meters Centerline goodness [0,1] 0.9264320305993399 Centerline is valid? [False, False] Translation: X:6.75, Y:0.15, Z:0.57 [[ 0.93973278 -0.04989209 -0.33825003 6.74688026] [ 0.06644092 0.9970848 0.03751682 0.14935639] [ 0.33539217 -0.05772943 0.94030814 0.57491773] [ 0. 0. 0. 1. ]] SLAMing on 29.339649246000004 meters Centerline goodness [0,1] 0.926318727323472 Centerline is valid? [False, False] Translation: X:6.75, Y:0.15, Z:0.58 [[ 0.93937938 -0.05023928 -0.33917901 6.74778506] [ 0.06728493 0.99698388 0.03867672 0.14735199] [ 0.33621291 -0.05915375 0.93992644 0.57825016] [ 0. 0. 0. 1. ]] SLAMing on 29.369649246000005 meters Centerline goodness [0,1] 0.9260527216706608 Centerline is valid? [False, False] Translation: X:6.75, Y:0.15, Z:0.58 [[ 0.93860925 -0.05635585 -0.34034791 6.74974062] [ 0.07270118 0.9967234 0.03545432 0.14706466] [ 0.33723467 -0.05802145 0.93963093 0.58208555] [ 0. 0. 0. 1. ]] SLAMing on 29.399649246000003 meters Centerline goodness [0,1] 0.926709037358549 Centerline is valid? [False, False] Translation: X:6.76, Y:0.15, Z:0.58 [[ 0.93792637 -0.05504791 -0.34243811 6.7586176 ] [ 0.07243321 0.99664226 0.03817898 0.14837627] [ 0.33918662 -0.06061297 0.93876435 0.58298225] [ 0. 0. 0. 1. ]] SLAMing on 29.429649246000004 meters Centerline goodness [0,1] 0.9240745326234988 Centerline is valid? [False, False] Translation: X:6.77, Y:0.15, Z:0.58 [[ 0.93733052 -0.05333755 -0.34433503 6.76688227] [ 0.07172916 0.9965858 0.04088601 0.14938714] [ 0.34097864 -0.06302256 0.93795614 0.58334729] [ 0. 0. 0. 1. ]] SLAMing on 29.459649246000005 meters Centerline goodness [0,1] 0.921509480423541 Centerline is valid? [False, False] Translation: X:6.78, Y:0.15, Z:0.58 [[ 0.93642265 -0.05315961 -0.3468237 6.77859099] [ 0.07255991 0.99642876 0.04318326 0.15130835] [ 0.3432895 -0.06560328 0.93693571 0.58427889] [ 0. 0. 0. 1. ]] SLAMing on 29.489649246000003 meters Centerline goodness [0,1] 0.9219737856592136 Centerline is valid? [False, False] Translation: X:6.78, Y:0.15, Z:0.59 [[ 0.93599399 -0.05397048 -0.34785405 6.78157963] [ 0.07344914 0.99636958 0.04304509 0.15107839] [ 0.34426803 -0.06583952 0.93656003 0.58524628] [ 0. 0. 0. 1. ]] SLAMing on 29.519649246000004 meters Centerline goodness [0,1] 0.9243632542037586 Centerline is valid? [False, False] Translation: X:6.80, Y:0.15, Z:0.59 [[ 0.93755488 -0.05680464 -0.34316772 6.79536601] [ 0.07310995 0.99671817 0.03475378 0.15195386] [ 0.34006732 -0.05767255 0.93863097 0.58895587] [ 0. 0. 0. 1. ]] SLAMing on 29.549649246000005 meters Centerline goodness [0,1] 0.9265554150343934 Centerline is valid? [False, False] Translation: X:6.81, Y:0.15, Z:0.59 [[ 0.93939018 -0.05757748 -0.33798065 6.80785922] [ 0.07098774 0.99709965 0.02744149 0.1534544 ] [ 0.33542037 -0.04977075 0.94075291 0.59160546] [ 0. 0. 0. 1. ]] SLAMing on 29.579649246000002 meters Centerline goodness [0,1] 0.928692490216018 Centerline is valid? [False, False] Translation: X:6.81, Y:0.15, Z:0.59 [[ 0.9390735 -0.05356459 -0.33951699 6.81080882] [ 0.06844379 0.99714186 0.03199325 0.15234654] [ 0.3368329 -0.05328184 0.94005566 0.59443691] [ 0. 0. 0. 1. ]] SLAMing on 29.609649246000004 meters Centerline goodness [0,1] 0.9268833769835156 Centerline is valid? [False, False] Translation: X:6.81, Y:0.15, Z:0.59 [[ 0.93880096 -0.05399891 -0.34020123 6.81268012] [ 0.06885116 0.99712227 0.03172835 0.15392161] [ 0.33750893 -0.05320985 0.93981724 0.59482465] [ 0. 0. 0. 1. ]] SLAMing on 29.639649246000005 meters Centerline goodness [0,1] 0.9275513331290224 Centerline is valid? [False, False] Translation: X:6.82, Y:0.15, Z:0.60 [[ 0.93833017 -0.05055542 -0.34202431 6.81769585] [ 0.06664822 0.99714636 0.03545619 0.15470909] [ 0.3392558 -0.05606493 0.93902195 0.59657271] [ 0. 0. 0. 1. ]] SLAMing on 29.669649246000002 meters Centerline goodness [0,1] 0.9260753920939191 Centerline is valid? [False, False] Translation: X:6.82, Y:0.16, Z:0.60 [[ 0.93782928 -0.05138622 -0.34327205 6.82179976] [ 0.06716252 0.99715503 0.03422053 0.15783925] [ 0.34053699 -0.05514804 0.93861241 0.59583802] [ 0. 0. 0. 1. ]] SLAMing on 29.699649246000003 meters Centerline goodness [0,1] 0.9260364034820722 Centerline is valid? [False, False] Translation: X:6.82, Y:0.16, Z:0.60 [[ 0.93751902 -0.0518516 -0.3440487 6.82386986] [ 0.06751736 0.99714873 0.03370179 0.15930827] [ 0.34132023 -0.05482533 0.93834678 0.59602839] [ 0. 0. 0. 1. ]] SLAMing on 29.729649246000005 meters Centerline goodness [0,1] 0.925248110716562 Centerline is valid? [False, False] Translation: X:6.83, Y:0.16, Z:0.60 [[ 0.93719239 -0.05201811 -0.34491237 6.82587101] [ 0.0675103 0.99717104 0.03304954 0.16145264] [ 0.34221745 -0.05425891 0.93805287 0.59602824] [ 0. 0. 0. 1. ]] SLAMing on 29.759649246000006 meters Centerline goodness [0,1] 0.923265528514348 Centerline is valid? [False, False] Translation: X:6.83, Y:0.16, Z:0.60 [[ 0.93690891 -0.0481988 -0.34623484 6.8292403 ] [ 0.06491678 0.99721026 0.03684429 0.16134249] [ 0.34349309 -0.05699619 0.93742409 0.59745619] [ 0. 0. 0. 1. ]] SLAMing on 29.789649246000003 meters Centerline goodness [0,1] 0.923265528514348 Centerline is valid? [False, False] Translation: X:6.83, Y:0.16, Z:0.60 [[ 0.93690891 -0.0481988 -0.34623484 6.8292403 ] [ 0.06491678 0.99721026 0.03684429 0.16134249] [ 0.34349309 -0.05699619 0.93742409 0.59745619] [ 0. 0. 0. 1. ]] SLAMing on 29.819649246000004 meters Centerline goodness [0,1] 0.9254628371236145 Centerline is valid? [False, False] Translation: X:6.83, Y:0.16, Z:0.60 [[ 0.93666866 -0.04392285 -0.3474516 6.83161025] [ 0.06175553 0.99727282 0.04041257 0.16303038] [ 0.344729 -0.05931025 0.93682667 0.5986341 ] [ 0. 0. 0. 1. ]] SLAMing on 29.849649246000006 meters Centerline goodness [0,1] 0.923861852433281 Centerline is valid? [False, False] Translation: X:6.83, Y:0.17, Z:0.60 [[ 0.93651182 -0.04402857 -0.34786074 6.83256225] [ 0.06169238 0.99729894 0.03986079 0.16501048] [ 0.34516614 -0.05879045 0.93669847 0.5983726 ] [ 0. 0. 0. 1. ]] SLAMing on 29.879649246000003 meters Centerline goodness [0,1] 0.9237356891733526 Centerline is valid? [False, False] Translation: X:6.83, Y:0.17, Z:0.60 [[ 0.93625268 -0.03949936 -0.34909986 6.83453367] [ 0.05820977 0.99736642 0.04326475 0.16758355] [ 0.34647155 -0.06082776 0.93608624 0.59948381] [ 0. 0. 0. 1. ]] SLAMing on 29.909649246000004 meters Centerline goodness [0,1] 0.9238703487151809 Centerline is valid? [False, False] Translation: X:6.84, Y:0.17, Z:0.60 [[ 0.93604438 -0.03973999 -0.34963075 6.83569566] [ 0.05825919 0.99739184 0.04260736 0.17013136] [ 0.34702564 -0.06025159 0.93591824 0.59933186] [ 0. 0. 0. 1. ]] SLAMing on 29.939649246000005 meters Centerline goodness [0,1] 0.9247131931166348 Centerline is valid? [False, False] Translation: X:6.84, Y:0.17, Z:0.60 [[ 0.93576693 -0.03907569 -0.35044734 6.83629733] [ 0.05742772 0.99746056 0.04212475 0.17250092] [ 0.34791134 -0.05954434 0.93563463 0.59948377] [ 0. 0. 0. 1. ]] SLAMing on 29.969649246000003 meters Centerline goodness [0,1] 0.9282576866764275 Centerline is valid? [False, False] Translation: X:6.84, Y:0.17, Z:0.60 [[ 0.93557642 -0.03909349 -0.35095364 6.83726014] [ 0.05737214 0.99747606 0.04183231 0.17394329] [ 0.34843249 -0.05927228 0.93545796 0.59962819] [ 0. 0. 0. 1. ]] SLAMing on 29.999649246000004 meters Centerline goodness [0,1] 0.9299568002383435 Centerline is valid? [False, False] Translation: X:6.85, Y:0.18, Z:0.60 [[ 0.93746244 -0.03803836 -0.34600182 6.8525481 ] [ 0.05364492 0.99792393 0.0356377 0.17816764] [ 0.3439279 -0.05197025 0.93755677 0.60027824] [ 0. 0. 0. 1. ]] SLAMing on 30.029649246000005 meters Centerline goodness [0,1] 0.9280363830925629 Centerline is valid? [False, False] Translation: X:6.85, Y:0.18, Z:0.60 [[ 0.93725718 -0.03830673 -0.34652789 6.8539848 ] [ 0.05393431 0.997911 0.0355631 0.17866425] [ 0.34444169 -0.05202151 0.93736529 0.60069761] [ 0. 0. 0. 1. ]] SLAMing on 30.059649246000003 meters Centerline goodness [0,1] 0.9268161595652563 Centerline is valid? [False, False] Translation: X:6.86, Y:0.18, Z:0.60 [[ 0.93700478 -0.03901532 -0.34713087 6.85647121] [ 0.05459623 0.99788736 0.03521449 0.17845623] [ 0.3450236 -0.05194818 0.93715532 0.60071249] [ 0. 0. 0. 1. ]] SLAMing on 30.089649246000004 meters Centerline goodness [0,1] 0.9269068426371797 Centerline is valid? [False, False] Translation: X:6.86, Y:0.18, Z:0.60 [[ 0.93672519 -0.03945426 -0.34783512 6.85864558] [ 0.05512403 0.99785657 0.03526489 0.17834005] [ 0.34569821 -0.05220759 0.93689226 0.60131292] [ 0. 0. 0. 1. ]] SLAMing on 30.119649246000005 meters Centerline goodness [0,1] 0.9303354661244991 Centerline is valid? [False, False] Translation: X:6.86, Y:0.18, Z:0.60 [[ 0.93638868 -0.04006003 -0.34867097 6.86152022] [ 0.05582801 0.99781659 0.0352887 0.17685629] [ 0.34649601 -0.05250955 0.93658062 0.60186339] [ 0. 0. 0. 1. ]] SLAMing on 30.149649246000003 meters Centerline goodness [0,1] 0.9288162087416582 Centerline is valid? [False, False] Translation: X:6.86, Y:0.17, Z:0.60 [[ 0.93593138 -0.04559823 -0.34921805 6.86448325] [ 0.06026776 0.99769292 0.03125114 0.17487425] [ 0.34698738 -0.05029551 0.93652022 0.60182429] [ 0. 0. 0. 1. ]] SLAMing on 30.179649246000004 meters Centerline goodness [0,1] 0.9303061347474991 Centerline is valid? [False, False] Translation: X:6.87, Y:0.17, Z:0.60 [[ 0.93556724 -0.04622399 -0.35011039 6.86701024] [ 0.06103021 0.99764285 0.03136965 0.17369028] [ 0.3478351 -0.05071572 0.93618303 0.60284418] [ 0. 0. 0. 1. ]] SLAMing on 30.209649246000005 meters Centerline goodness [0,1] 0.9303803185883345 Centerline is valid? [False, False] Translation: X:6.87, Y:0.17, Z:0.60 [[ 0.9352345 -0.04676691 -0.35092632 6.86942928] [ 0.06168188 0.99760063 0.03143773 0.17314972] [ 0.34861407 -0.05104745 0.9358752 0.60366697] [ 0. 0. 0. 1. ]] SLAMing on 30.239649246000003 meters Centerline goodness [0,1] 0.9324144601620119 Centerline is valid? [False, False] Translation: X:6.87, Y:0.17, Z:0.61 [[ 0.93489551 -0.04697736 -0.3518004 6.87098856] [ 0.06229234 0.99753403 0.03233454 0.17119574] [ 0.34941388 -0.05214389 0.93551641 0.6058976 ] [ 0. 0. 0. 1. ]] SLAMing on 30.269649246000004 meters Centerline goodness [0,1] 0.9309510853135015 Centerline is valid? [False, False] Translation: X:6.87, Y:0.17, Z:0.61 [[ 0.934701 -0.04751538 -0.3522447 6.87289578] [ 0.06280881 0.99750891 0.03210962 0.17099123] [ 0.34984152 -0.05213696 0.93535696 0.60597531] [ 0. 0. 0. 1. ]] SLAMing on 30.299649246000005 meters Centerline goodness [0,1] 0.9308576427644876 Centerline is valid? [False, False] Translation: X:6.88, Y:0.17, Z:0.61 [[ 0.93436047 -0.04814714 -0.35306141 6.87561803] [ 0.06351116 0.99746621 0.03205441 0.17114211] [ 0.3506235 -0.05237372 0.93505088 0.60658873] [ 0. 0. 0. 1. ]] SLAMing on 30.329649246000002 meters Centerline goodness [0,1] 0.9302910092965508 Centerline is valid? [False, False] Translation: X:6.88, Y:0.17, Z:0.61 [[ 0.93392775 -0.05361627 -0.35341797 6.87708306] [ 0.06804751 0.99727421 0.02852525 0.16954243] [ 0.35092521 -0.05068973 0.93503051 0.60777894] [ 0. 0. 0. 1. ]] SLAMing on 30.359649246000004 meters Centerline goodness [0,1] 0.9323242128253352 Centerline is valid? [False, False] Translation: X:6.88, Y:0.17, Z:0.61 [[ 0.93363516 -0.05398631 -0.35413397 6.87897685] [ 0.06857073 0.99723177 0.02875517 0.16885653] [ 0.35160126 -0.05113006 0.93475252 0.60877015] [ 0. 0. 0. 1. ]] SLAMing on 30.389649246000005 meters Centerline goodness [0,1] 0.9321483818132185 Centerline is valid? [False, False] Translation: X:6.88, Y:0.17, Z:0.61 [[ 0.93318849 -0.05499344 -0.35515485 6.88219799] [ 0.06975345 0.99714615 0.0288793 0.16789275] [ 0.35255312 -0.05172311 0.93436129 0.61015662] [ 0. 0. 0. 1. ]] SLAMing on 30.419649246000006 meters Centerline goodness [0,1] 0.9334163225649745 Centerline is valid? [False, False] Translation: X:6.88, Y:0.17, Z:0.61 [[ 0.93301447 -0.05525453 -0.35557127 6.88362445] [ 0.07009709 0.99711898 0.02898507 0.16753352] [ 0.35294531 -0.051968 0.93419962 0.61057529] [ 0. 0. 0. 1. ]] SLAMing on 30.449649246000003 meters Centerline goodness [0,1] 0.9331103678929766 Centerline is valid? [False, False] Translation: X:6.89, Y:0.17, Z:0.61 [[ 0.93260435 -0.05584743 -0.3565532 6.88678834] [ 0.07078306 0.99707101 0.02896828 0.16672728] [ 0.35389106 -0.05225387 0.93382582 0.61126494] [ 0. 0. 0. 1. ]] SLAMing on 30.479649246000005 meters Centerline goodness [0,1] 0.93106483729966 Centerline is valid? [False, False] Translation: X:6.89, Y:0.17, Z:0.61 [[ 0.93222363 -0.05658085 -0.35743212 6.88958727] [ 0.07152219 0.99702571 0.02871067 0.16685032] [ 0.35474454 -0.05232909 0.93349771 0.61182477] [ 0. 0. 0. 1. ]] SLAMing on 30.509649246000006 meters Centerline goodness [0,1] 0.9309424115540992 Centerline is valid? [False, False] Translation: X:6.89, Y:0.17, Z:0.61 [[ 0.93190712 -0.05714917 -0.35816629 6.89232647] [ 0.07209802 0.99698998 0.02851054 0.16694179] [ 0.35545885 -0.05239225 0.93322241 0.61201481] [ 0. 0. 0. 1. ]] SLAMing on 30.539649246000003 meters Centerline goodness [0,1] 0.9327899762788152 Centerline is valid? [False, False] Translation: X:6.89, Y:0.17, Z:0.61 [[ 0.93173031 -0.05731582 -0.35859938 6.8935316 ] [ 0.07233212 0.99697079 0.02858853 0.16694603] [ 0.35587454 -0.05257505 0.93305368 0.61248145] [ 0. 0. 0. 1. ]] SLAMing on 30.569649246000004 meters Centerline goodness [0,1] 0.9319075038844713 Centerline is valid? [False, False] Translation: X:6.89, Y:0.17, Z:0.61 [[ 0.93151424 -0.05736373 -0.35915264 6.89472499] [ 0.07253024 0.99694784 0.0288855 0.16659093] [ 0.35639947 -0.05295668 0.93283172 0.61339328] [ 0. 0. 0. 1. ]] SLAMing on 30.599649246000006 meters Centerline goodness [0,1] 0.9326024059692402 Centerline is valid? [False, False] Translation: X:6.90, Y:0.17, Z:0.61 [[ 0.93130082 -0.05774935 -0.35964398 6.89616123] [ 0.07296414 0.99691684 0.02886262 0.16722302] [ 0.35686834 -0.05312089 0.9326431 0.61399083] [ 0. 0. 0. 1. ]] SLAMing on 30.629649246000003 meters Centerline goodness [0,1] 0.9356106777181863 Centerline is valid? [False, False] Translation: X:6.90, Y:0.17, Z:0.61 [[ 0.93122354 -0.0577372 -0.35984599 6.89717666] [ 0.07299771 0.99691179 0.02895209 0.16719915] [ 0.3570631 -0.0532288 0.93256241 0.61397201] [ 0. 0. 0. 1. ]] SLAMing on 30.659649246000004 meters Centerline goodness [0,1] 0.9331810567991472 Centerline is valid? [False, False] Translation: X:6.90, Y:0.17, Z:0.61 [[ 0.93095904 -0.05813779 -0.36046535 6.89910441] [ 0.07346415 0.99687755 0.02895105 0.16695438] [ 0.35765666 -0.05343352 0.93232321 0.61453934] [ 0. 0. 0. 1. ]] SLAMing on 30.689649246000005 meters Centerline goodness [0,1] 0.9325822112301915 Centerline is valid? [False, False] Translation: X:6.90, Y:0.16, Z:0.62 [[ 0.93059061 -0.05823798 -0.36139929 6.90063751] [ 0.07386888 0.99682933 0.02957493 0.1649806 ] [ 0.35853103 -0.05421832 0.93194199 0.61655652] [ 0. 0. 0. 1. ]] SLAMing on 30.719649246000003 meters Centerline goodness [0,1] 0.9351447171368318 Centerline is valid? [False, False] Translation: X:6.90, Y:0.16, Z:0.62 [[ 0.93034169 -0.05862632 -0.36197694 6.90280175] [ 0.07427685 0.9968024 0.02946041 0.16444882] [ 0.35909233 -0.05429475 0.93172141 0.61676208] [ 0. 0. 0. 1. ]] SLAMing on 30.749649246000004 meters Centerline goodness [0,1] 0.934260391198044 Centerline is valid? [False, False] Translation: X:6.90, Y:0.16, Z:0.62 [[ 0.9301288 -0.05889693 -0.36247976 6.9043611 ] [ 0.07460154 0.99677791 0.0294689 0.16452648] [ 0.35957618 -0.05445142 0.93152564 0.61722288] [ 0. 0. 0. 1. ]] SLAMing on 30.779649246000005 meters Centerline goodness [0,1] 0.9319400606747771 Centerline is valid? [False, False] Translation: X:6.91, Y:0.16, Z:0.62 [[ 0.92996145 -0.05909041 -0.36287743 6.90560006] [ 0.07482243 0.99676222 0.02943938 0.16442226] [ 0.35996293 -0.05452886 0.93137172 0.61751566] [ 0. 0. 0. 1. ]] SLAMing on 30.809649246000003 meters Centerline goodness [0,1] 0.929473426101882 Centerline is valid? [False, False] Translation: X:6.91, Y:0.17, Z:0.62 [[ 0.92968098 -0.059442 -0.36353806 6.90776991] [ 0.0751632 0.99674249 0.02923883 0.16506973] [ 0.36061582 -0.05450747 0.93112038 0.61779358] [ 0. 0. 0. 1. ]] SLAMing on 30.839649246000004 meters Centerline goodness [0,1] 0.9301314056421723 Centerline is valid? [False, False] Translation: X:6.91, Y:0.17, Z:0.62 [[ 0.92946889 -0.05969623 -0.36403837 6.90903602] [ 0.07550719 0.99671346 0.02934183 0.16539571] [ 0.36109035 -0.05475983 0.93092165 0.61848978] [ 0. 0. 0. 1. ]] SLAMing on 30.869649246000005 meters Centerline goodness [0,1] 0.9337935266145114 Centerline is valid? [False, False] Translation: X:6.91, Y:0.16, Z:0.62 [[ 0.92915517 -0.06013698 -0.36476597 6.91077211] [ 0.07618528 0.9966497 0.02975179 0.16426573] [ 0.36175471 -0.05543383 0.93062378 0.62000737] [ 0. 0. 0. 1. ]] SLAMing on 30.899649246000003 meters Centerline goodness [0,1] 0.9318607148335635 Centerline is valid? [False, False] Translation: X:6.91, Y:0.16, Z:0.62 [[ 0.9289469 -0.06039552 -0.36525339 6.91210309] [ 0.07656908 0.9966145 0.02994512 0.16369425] [ 0.36220827 -0.05578455 0.93042638 0.6207472 ] [ 0. 0. 0. 1. ]] SLAMing on 30.929649246000004 meters Centerline goodness [0,1] 0.9321398962139589 Centerline is valid? [False, False] Translation: X:6.91, Y:0.16, Z:0.62 [[ 0.92848827 -0.06134646 -0.36625966 6.91498517] [ 0.0777227 0.99651994 0.03011975 0.16288503] [ 0.36313731 -0.05643252 0.93002509 0.62240198] [ 0. 0. 0. 1. ]] SLAMing on 30.959649246000005 meters Centerline goodness [0,1] 0.9327782727579956 Centerline is valid? [False, False] Translation: X:6.92, Y:0.16, Z:0.62 [[ 0.92813254 -0.06201119 -0.3670485 6.91696512] [ 0.07853769 0.99645217 0.03024723 0.1621223 ] [ 0.36387061 -0.05690058 0.9297099 0.62375334] [ 0. 0. 0. 1. ]] SLAMing on 30.989649246000003 meters Centerline goodness [0,1] 0.9330492248780187 Centerline is valid? [False, False] Translation: X:6.92, Y:0.16, Z:0.63 [[ 0.92768917 -0.06690988 -0.36730897 6.91743494] [ 0.08249963 0.99622829 0.02688879 0.16086543] [ 0.36412446 -0.05524729 0.92971023 0.6250895 ] [ 0. 0. 0. 1. ]] SLAMing on 31.019649246000004 meters Centerline goodness [0,1] 0.9338537006756549 Centerline is valid? [False, False] Translation: X:6.92, Y:0.16, Z:0.63 [[ 0.92744863 -0.06719061 -0.36786472 6.91931034] [ 0.08290526 0.99618988 0.02706366 0.16080037] [ 0.36464469 -0.05559807 0.9294854 0.6256602 ] [ 0. 0. 0. 1. ]] SLAMing on 31.049649246000005 meters Centerline goodness [0,1] 0.9348416568924007 Centerline is valid? [False, False] Translation: X:6.92, Y:0.16, Z:0.63 [[ 0.92714247 -0.06764086 -0.36855332 6.92143265] [ 0.08361771 0.99611748 0.02753275 0.15952077] [ 0.36526007 -0.05634436 0.92919879 0.62698562] [ 0. 0. 0. 1. ]] SLAMing on 31.079649246000002 meters Centerline goodness [0,1] 0.9360210071053444 Centerline is valid? [False, False] Translation: X:6.92, Y:0.16, Z:0.63 [[ 0.92690787 -0.06794068 -0.36908787 6.9225431 ] [ 0.08404191 0.99607705 0.02770329 0.15952912] [ 0.36575778 -0.05669725 0.92898152 0.62807279] [ 0. 0. 0. 1. ]] SLAMing on 31.109649246000004 meters Centerline goodness [0,1] 0.9370412808522499 Centerline is valid? [False, False] Translation: X:6.92, Y:0.16, Z:0.63 [[ 0.92669927 -0.06832082 -0.36954124 6.92357845] [ 0.08443381 0.99604717 0.02758552 0.15969046] [ 0.36619584 -0.05676526 0.92880478 0.62874501] [ 0. 0. 0. 1. ]] SLAMing on 31.139649246000005 meters Centerline goodness [0,1] 0.9350665428659858 Centerline is valid? [False, False] Translation: X:6.93, Y:0.16, Z:0.63 [[ 0.92629994 -0.06887941 -0.37043764 6.92599463] [ 0.08504839 0.99599803 0.02747172 0.16028652] [ 0.36706293 -0.05695218 0.928451 0.62965776] [ 0. 0. 0. 1. ]] SLAMing on 31.169649246000006 meters Centerline goodness [0,1] 0.9363838596057591 Centerline is valid? [False, False] Translation: X:6.93, Y:0.16, Z:0.63 [[ 0.92604612 -0.06931857 -0.37098991 6.92778155] [ 0.08548519 0.99596563 0.02728998 0.16099496] [ 0.36760149 -0.05698593 0.92823582 0.63001032] [ 0. 0. 0. 1. ]] SLAMing on 31.199649246000003 meters Centerline goodness [0,1] 0.9374749003737913 Centerline is valid? [False, False] Translation: X:6.93, Y:0.16, Z:0.63 [[ 0.92585312 -0.06961579 -0.37141574 6.92902893] [ 0.0858342 0.99593553 0.02729293 0.16138459] [ 0.36800611 -0.05714942 0.92806543 0.63053624] [ 0. 0. 0. 1. ]] SLAMing on 31.229649246000005 meters Centerline goodness [0,1] 0.9375425564840607 Centerline is valid? [False, False] Translation: X:6.93, Y:0.16, Z:0.63 [[ 0.92552353 -0.0699929 -0.37216555 6.93058185] [ 0.08632336 0.99589093 0.0273776 0.16156378] [ 0.36872006 -0.0574652 0.92776251 0.63176079] [ 0. 0. 0. 1. ]] SLAMing on 31.259649246000006 meters Centerline goodness [0,1] 0.9368430814888092 Centerline is valid? [False, False] Translation: X:6.93, Y:0.16, Z:0.63 [[ 0.92529839 -0.07045024 -0.37263876 6.93215599] [ 0.08679564 0.99585343 0.02724823 0.16217691] [ 0.36917394 -0.05755616 0.92757635 0.63220745] [ 0. 0. 0. 1. ]] SLAMing on 31.289649246000003 meters Centerline goodness [0,1] 0.9365398287533615 Centerline is valid? [False, False] Translation: X:6.93, Y:0.16, Z:0.63 [[ 0.92516287 -0.07061093 -0.37294471 6.93299364] [ 0.08697683 0.99583846 0.02721758 0.1625419 ] [ 0.36947083 -0.05761824 0.92745428 0.63257256] [ 0. 0. 0. 1. ]] SLAMing on 31.319649246000004 meters Centerline goodness [0,1] 0.9365894398218317 Centerline is valid? [False, False] Translation: X:6.93, Y:0.16, Z:0.63 [[ 0.92505317 -0.07083003 -0.37317521 6.93421939] [ 0.08718664 0.99582295 0.02711356 0.16274378] [ 0.36969598 -0.05761737 0.92736461 0.63248719] [ 0. 0. 0. 1. ]] SLAMing on 31.349649246000006 meters Centerline goodness [0,1] 0.9370003395376115 Centerline is valid? [False, False] Translation: X:6.94, Y:0.16, Z:0.63 [[ 0.92473748 -0.07152045 -0.37382538 6.93676566] [ 0.08778599 0.99578297 0.02664387 0.16367775] [ 0.37034337 -0.05745522 0.92711633 0.63257204] [ 0. 0. 0. 1. ]] SLAMing on 31.379649246000003 meters Centerline goodness [0,1] 0.936389206565079 Centerline is valid? [False, False] Translation: X:6.94, Y:0.16, Z:0.63 [[ 0.92463664 -0.07177783 -0.37402543 6.93774569] [ 0.08800376 0.9957686 0.0264618 0.16439913] [ 0.37054341 -0.0573832 0.92704086 0.63255323] [ 0. 0. 0. 1. ]] SLAMing on 31.409649246000004 meters Centerline goodness [0,1] 0.9391117258337175 Centerline is valid? [False, False] Translation: X:6.94, Y:0.16, Z:0.63 [[ 0.92435446 -0.07180184 -0.37471766 6.93876264] [ 0.08812708 0.99575429 0.02658981 0.16479255] [ 0.37121752 -0.05760118 0.9267576 0.63373326] [ 0. 0. 0. 1. ]] SLAMing on 31.439649246000005 meters Centerline goodness [0,1] 0.9373323880274961 Centerline is valid? [False, False] Translation: X:6.94, Y:0.17, Z:0.63 [[ 0.9242685 -0.07167168 -0.37495455 6.93894394] [ 0.088043 0.99575904 0.02669028 0.16515062] [ 0.37145144 -0.05768111 0.9266589 0.63416221] [ 0. 0. 0. 1. ]] SLAMing on 31.469649246000003 meters Centerline goodness [0,1] 0.9365293720459149 Centerline is valid? [False, False] Translation: X:6.94, Y:0.17, Z:0.64 [[ 0.92391124 -0.06791921 -0.37653021 6.94260711] [ 0.08554467 0.99587448 0.03026763 0.16629846] [ 0.37292108 -0.06017475 0.92590975 0.63584971] [ 0. 0. 0. 1. ]] SLAMing on 31.499649246000004 meters Centerline goodness [0,1] 0.9353099730458221 Centerline is valid? [False, False] Translation: X:6.95, Y:0.17, Z:0.64 [[ 0.92360152 -0.0687823 -0.37713291 6.94573164] [ 0.08618019 0.99584474 0.02943168 0.16868663] [ 0.37354144 -0.05968453 0.92569139 0.63514455] [ 0. 0. 0. 1. ]] SLAMing on 31.529649246000005 meters Centerline goodness [0,1] 0.9338582194718461 Centerline is valid? [False, False] Translation: X:6.95, Y:0.17, Z:0.64 [[ 0.92332554 -0.06946447 -0.37768326 6.9479617 ] [ 0.08679588 0.99580277 0.02904004 0.16950893] [ 0.37408078 -0.05959476 0.92547935 0.63525566] [ 0. 0. 0. 1. ]] SLAMing on 31.559649246000003 meters Centerline goodness [0,1] 0.9327556113543803 Centerline is valid? [False, False] Translation: X:6.95, Y:0.17, Z:0.64 [[ 0.92302215 -0.0699403 -0.37833645 6.94999559] [ 0.08731159 0.99576077 0.02893383 0.16964833] [ 0.37470896 -0.05973972 0.92521585 0.63582308] [ 0. 0. 0. 1. ]] SLAMing on 31.589649246000004 meters Centerline goodness [0,1] 0.9340433368117366 Centerline is valid? [False, False] Translation: X:6.95, Y:0.17, Z:0.64 [[ 0.92282243 -0.06993425 -0.37882446 6.95030303] [ 0.08746561 0.99573814 0.02924581 0.16890866] [ 0.37516468 -0.0601228 0.92500633 0.63722325] [ 0. 0. 0. 1. ]] SLAMing on 31.619649246000005 meters Centerline goodness [0,1] 0.9341752656707223 Centerline is valid? [False, False] Translation: X:6.95, Y:0.17, Z:0.64 [[ 0.92273509 -0.06949189 -0.37911849 6.94990572] [ 0.08729944 0.99573145 0.02996159 0.16794466] [ 0.37541811 -0.06074344 0.92486295 0.63857623] [ 0. 0. 0. 1. ]] SLAMing on 31.649649246000003 meters Centerline goodness [0,1] 0.9355575445202309 Centerline is valid? [False, False] Translation: X:6.95, Y:0.17, Z:0.64 [[ 0.9225617 -0.06930028 -0.37957527 6.94974077] [ 0.08741283 0.99569994 0.03066966 0.16707543] [ 0.37581766 -0.06147441 0.92465236 0.64043266] [ 0. 0. 0. 1. ]] SLAMing on 31.679649246000004 meters Centerline goodness [0,1] 0.9355575445202309 Centerline is valid? [False, False] Translation: X:6.95, Y:0.17, Z:0.64 [[ 0.9225617 -0.06930028 -0.37957527 6.94974077] [ 0.08741283 0.99569994 0.03066966 0.16707543] [ 0.37581766 -0.06147441 0.92465236 0.64043266] [ 0. 0. 0. 1. ]] SLAMing on 31.709649246000005 meters Centerline goodness [0,1] 0.9354928273947247 Centerline is valid? [False, False] Translation: X:6.95, Y:0.17, Z:0.64 [[ 0.92236101 -0.06958077 -0.38001142 6.95107902] [ 0.08772525 0.9956741 0.03061638 0.16769493] [ 0.37623722 -0.06157595 0.92447496 0.64084508] [ 0. 0. 0. 1. ]] SLAMing on 31.739649246000003 meters Centerline goodness [0,1] 0.9350385208012326 Centerline is valid? [False, False] Translation: X:6.95, Y:0.17, Z:0.64 [[ 0.92218658 -0.06947486 -0.38045388 6.95183961] [ 0.087696 0.99567265 0.03074711 0.16858158] [ 0.37667137 -0.06171885 0.92428862 0.64143204] [ 0. 0. 0. 1. ]] SLAMing on 31.769649246000004 meters Centerline goodness [0,1] 0.9366132017273288 Centerline is valid? [False, False] Translation: X:6.95, Y:0.17, Z:0.64 [[ 0.92210024 -0.06965581 -0.38063003 6.95249006] [ 0.08787051 0.9956598 0.03066475 0.16861584] [ 0.37684204 -0.06172213 0.92421883 0.64160654] [ 0. 0. 0. 1. ]] SLAMing on 31.799649246000005 meters Centerline goodness [0,1] 0.9373145400593472 Centerline is valid? [False, False] Translation: X:6.95, Y:0.17, Z:0.64 [[ 0.92194841 -0.06960368 -0.38100716 6.95312031] [ 0.08798971 0.99563802 0.03102804 0.16779558] [ 0.37718555 -0.06213097 0.9240513 0.64254623] [ 0. 0. 0. 1. ]] SLAMing on 31.829649246000006 meters Centerline goodness [0,1] 0.937386093349396 Centerline is valid? [False, False] Translation: X:6.95, Y:0.17, Z:0.64 [[ 0.92174454 -0.06973236 -0.38147661 6.95399355] [ 0.08825076 0.99560819 0.03124321 0.16754358] [ 0.37762257 -0.06246386 0.92385034 0.64345039] [ 0. 0. 0. 1. ]] SLAMing on 31.859649246000004 meters Centerline goodness [0,1] 0.937796390958921 Centerline is valid? [False, False] Translation: X:6.95, Y:0.17, Z:0.64 [[ 0.92168791 -0.06976528 -0.38160738 6.95469458] [ 0.08834546 0.99559598 0.03136445 0.16756144] [ 0.37773862 -0.06262151 0.92379223 0.6435854 ] [ 0. 0. 0. 1. ]] SLAMing on 31.889649246000005 meters Centerline goodness [0,1] 0.9373266777592901 Centerline is valid? [False, False] Translation: X:6.96, Y:0.17, Z:0.64 [[ 0.92150803 -0.07005165 -0.38198917 6.9561444 ] [ 0.08866715 0.99556858 0.03132619 0.16703942] [ 0.37810196 -0.06273722 0.92363572 0.6438228 ] [ 0. 0. 0. 1. ]] SLAMing on 31.919649246000006 meters Centerline goodness [0,1] 0.9357453234306142 Centerline is valid? [False, False] Translation: X:6.96, Y:0.17, Z:0.64 [[ 0.92131571 -0.07039623 -0.38238951 6.95788573] [ 0.08901792 0.99554119 0.03120187 0.16688548] [ 0.37848801 -0.0627863 0.92347426 0.64389584] [ 0. 0. 0. 1. ]] SLAMing on 31.949649246000003 meters Centerline goodness [0,1] 0.9359923499290518 Centerline is valid? [False, False] Translation: X:6.96, Y:0.17, Z:0.64 [[ 0.92099923 -0.07120451 -0.38300175 6.96053287] [ 0.08972231 0.99549417 0.03068001 0.16770382] [ 0.37909145 -0.06262007 0.923238 0.64390128] [ 0. 0. 0. 1. ]] SLAMing on 31.979649246000005 meters Centerline goodness [0,1] 0.9349570908192875 Centerline is valid? [False, False] Translation: X:6.96, Y:0.17, Z:0.64 [[ 0.92086723 -0.07152843 -0.38325869 6.96215366] [ 0.08993392 0.99548681 0.03029702 0.16796382] [ 0.37936187 -0.06236749 0.92314401 0.64341702] [ 0. 0. 0. 1. ]] SLAMing on 32.009649246 meters Centerline goodness [0,1] 0.936641244943959 Centerline is valid? [False, False] Translation: X:6.96, Y:0.17, Z:0.64 [[ 0.92069158 -0.07184138 -0.38362199 6.96334368] [ 0.09024812 0.99546212 0.03017374 0.16837932] [ 0.37971344 -0.06240187 0.92299714 0.64370713] [ 0. 0. 0. 1. ]] SLAMing on 32.039649246 meters Centerline goodness [0,1] 0.9356330343105521 Centerline is valid? [False, False] Translation: X:6.96, Y:0.17, Z:0.64 [[ 0.92066011 -0.07208627 -0.38365158 6.96419021] [ 0.09045568 0.99544764 0.03002939 0.16917402] [ 0.37974035 -0.06235033 0.92298955 0.64346165] [ 0. 0. 0. 1. ]] SLAMing on 32.069649246 meters Centerline goodness [0,1] 0.9360294344989643 Centerline is valid? [False, False] Translation: X:6.96, Y:0.17, Z:0.65 [[ 0.92040981 -0.07214876 -0.38423994 6.96469446] [ 0.0907662 0.99540462 0.0305145 0.16903867] [ 0.38027263 -0.06296185 0.92272885 0.64519689] [ 0. 0. 0. 1. ]] SLAMing on 32.099649246 meters Centerline goodness [0,1] 0.9366419294990723 Centerline is valid? [False, False] Translation: X:6.97, Y:0.17, Z:0.65 [[ 0.9201792 -0.07217777 -0.38478644 6.96541237] [ 0.09098613 0.99537347 0.03087351 0.16857286] [ 0.38077783 -0.06341939 0.92248915 0.64647453] [ 0. 0. 0. 1. ]] SLAMing on 32.129649246 meters Centerline goodness [0,1] 0.936768439957887 Centerline is valid? [False, False] Translation: X:6.97, Y:0.17, Z:0.65 [[ 0.91999687 -0.07206964 -0.38524242 6.96569968] [ 0.09106911 0.99535334 0.03127521 0.16831081] [ 0.38119834 -0.06385678 0.92228528 0.64767751] [ 0. 0. 0. 1. ]] SLAMing on 32.159649246 meters Centerline goodness [0,1] 0.9378350739099446 Centerline is valid? [False, False] Translation: X:6.97, Y:0.17, Z:0.65 [[ 0.91979806 -0.07238165 -0.38565842 6.96719972] [ 0.0913841 0.99532855 0.03114515 0.16893758] [ 0.3816025 -0.06389029 0.92211581 0.64790869] [ 0. 0. 0. 1. ]] SLAMing on 32.189649246 meters Centerline goodness [0,1] 0.936581138382494 Centerline is valid? [False, False] Translation: X:6.97, Y:0.17, Z:0.65 [[ 0.91962061 -0.07265633 -0.38602977 6.96857148] [ 0.09163617 0.99531088 0.0309688 0.16941948] [ 0.38196955 -0.06385383 0.92196635 0.64800555] [ 0. 0. 0. 1. ]] SLAMing on 32.219649246 meters Centerline goodness [0,1] 0.936480367222877 Centerline is valid? [False, False] Translation: X:6.97, Y:0.17, Z:0.65 [[ 0.91934416 -0.07302764 -0.38661775 6.97049786] [ 0.09208574 0.99526912 0.03097719 0.16844098] [ 0.38252652 -0.06408068 0.92171966 0.64858216] [ 0. 0. 0. 1. ]] SLAMing on 32.249649246000004 meters Centerline goodness [0,1] 0.9359605911330049 Centerline is valid? [False, False] Translation: X:6.97, Y:0.17, Z:0.65 [[ 0.91899714 -0.07367608 -0.38731911 6.97297781] [ 0.09277554 0.99520993 0.03082028 0.16847172] [ 0.38319311 -0.06425749 0.92143042 0.64916462] [ 0. 0. 0. 1. ]] SLAMing on 32.279649246 meters Centerline goodness [0,1] 0.9353759410142817 Centerline is valid? [False, False] Translation: X:6.97, Y:0.17, Z:0.65 [[ 0.91866218 -0.07394561 -0.38806165 6.9749963 ] [ 0.09323273 0.99515907 0.03108201 0.16771028] [ 0.3838847 -0.06473392 0.92110915 0.65027925] [ 0. 0. 0. 1. ]] SLAMing on 32.309649246 meters Centerline goodness [0,1] 0.9370651093439364 Centerline is valid? [False, False] Translation: X:6.98, Y:0.17, Z:0.65 [[ 0.91862537 -0.07394799 -0.38814832 6.97555148] [ 0.09322418 0.99516119 0.03103949 0.16789148] [ 0.38397484 -0.06469847 0.92107406 0.65013805] [ 0. 0. 0. 1. ]] SLAMing on 32.339649246 meters Centerline goodness [0,1] 0.9346808444678675 Centerline is valid? [False, False] Translation: X:6.98, Y:0.17, Z:0.65 [[ 0.9184161 -0.07441221 -0.38855462 6.97739757] [ 0.09367036 0.99512583 0.03082926 0.16895057] [ 0.38436667 -0.06471014 0.9209098 0.65025579] [ 0. 0. 0. 1. ]] SLAMing on 32.369649246 meters Centerline goodness [0,1] 0.9332464388790616 Centerline is valid? [False, False] Translation: X:6.98, Y:0.17, Z:0.65 [[ 0.9182374 -0.07484209 -0.38889426 6.97897029] [ 0.09404634 0.99509891 0.03055223 0.16950129] [ 0.38470166 -0.06462828 0.92077566 0.65022524] [ 0. 0. 0. 1. ]] SLAMing on 32.399649246 meters Centerline goodness [0,1] 0.933198945572957 Centerline is valid? [False, False] Translation: X:6.98, Y:0.17, Z:0.65 [[ 0.91783039 -0.07522877 -0.38977943 6.9809844 ] [ 0.09462236 0.99503773 0.03076564 0.16921457] [ 0.38553078 -0.06511949 0.92039419 0.65173271] [ 0. 0. 0. 1. ]] SLAMing on 32.429649246000004 meters Centerline goodness [0,1] 0.9345655275072877 Centerline is valid? [False, False] Translation: X:6.98, Y:0.17, Z:0.65 [[ 0.91772001 -0.07539914 -0.39000635 6.98172265] [ 0.09486281 0.995012 0.03085706 0.16911064] [ 0.38573441 -0.06531524 0.920295 0.65213966] [ 0. 0. 0. 1. ]] SLAMing on 32.459649246 meters Centerline goodness [0,1] 0.9334326875310481 Centerline is valid? [False, False] Translation: X:6.98, Y:0.17, Z:0.65 [[ 0.91749014 -0.07553972 -0.39051964 6.98247009] [ 0.09531688 0.99494905 0.03148144 0.16802389] [ 0.38616904 -0.06610703 0.92005616 0.65388907] [ 0. 0. 0. 1. ]] SLAMing on 32.489649246 meters Centerline goodness [0,1] 0.9344910216910964 Centerline is valid? [False, False] Translation: X:6.98, Y:0.17, Z:0.66 [[ 0.91739614 -0.07534288 -0.39077841 6.98230397] [ 0.09540325 0.99491948 0.03214729 0.16670647] [ 0.38637099 -0.06677333 0.91992325 0.65526392] [ 0. 0. 0. 1. ]] SLAMing on 32.519649246 meters Centerline goodness [0,1] 0.9361144070442765 Centerline is valid? [False, False] Translation: X:6.98, Y:0.17, Z:0.66 [[ 0.91710937 -0.07552663 -0.39141554 6.983607 ] [ 0.09575133 0.99487844 0.03238151 0.16633419] [ 0.38696522 -0.06717595 0.91964412 0.65640696] [ 0. 0. 0. 1. ]] SLAMing on 32.549649246 meters Centerline goodness [0,1] 0.9368971311220362 Centerline is valid? [False, False] Translation: X:6.99, Y:0.17, Z:0.66 [[ 0.91682477 -0.07576951 -0.39203484 6.98524167] [ 0.09602856 0.99485446 0.03229745 0.1666022 ] [ 0.38757045 -0.06725764 0.91938325 0.6570264 ] [ 0. 0. 0. 1. ]] SLAMing on 32.579649246 meters Centerline goodness [0,1] 0.9362092560338393 Centerline is valid? [False, False] Translation: X:6.99, Y:0.17, Z:0.66 [[ 0.91673616 -0.07577447 -0.39224106 6.98586688] [ 0.09602822 0.99485619 0.03224507 0.16732029] [ 0.38778009 -0.06722643 0.91929713 0.65710574] [ 0. 0. 0. 1. ]] SLAMing on 32.609649246000004 meters Centerline goodness [0,1] 0.9345933384972889 Centerline is valid? [False, False] Translation: X:6.99, Y:0.17, Z:0.66 [[ 0.91641761 -0.07637028 -0.39286938 6.98824931] [ 0.09651357 0.9948253 0.03174501 0.16897365] [ 0.38841203 -0.06700891 0.91904619 0.65713646] [ 0. 0. 0. 1. ]] SLAMing on 32.639649246 meters Centerline goodness [0,1] 0.9337926347009392 Centerline is valid? [False, False] Translation: X:6.99, Y:0.17, Z:0.66 [[ 0.9162542 -0.0768157 -0.39316358 6.9897547 ] [ 0.09686045 0.99480359 0.03136674 0.16982113] [ 0.38871108 -0.0668219 0.91893337 0.65696014] [ 0. 0. 0. 1. ]] SLAMing on 32.669649246 meters Centerline goodness [0,1] 0.9348396456462018 Centerline is valid? [False, False] Translation: X:6.99, Y:0.17, Z:0.66 [[ 0.91616828 -0.07689084 -0.39334905 6.99048058] [ 0.09682334 0.99481709 0.03105168 0.17114775] [ 0.38892276 -0.06653393 0.91886469 0.65669799] [ 0. 0. 0. 1. ]] SLAMing on 32.699649246 meters Centerline goodness [0,1] 0.9345860937403256 Centerline is valid? [False, False] Translation: X:6.99, Y:0.17, Z:0.66 [[ 0.9160998 -0.07675472 -0.3935351 6.99058763] [ 0.0967252 0.99482405 0.03113443 0.17157661] [ 0.38910847 -0.06658701 0.91878222 0.65700181] [ 0. 0. 0. 1. ]] SLAMing on 32.729649246 meters Centerline goodness [0,1] 0.9351613203738782 Centerline is valid? [False, False] Translation: X:6.99, Y:0.17, Z:0.66 [[ 0.91580368 -0.07673987 -0.39422659 6.9909961 ] [ 0.09693388 0.99479109 0.03153582 0.17120503] [ 0.38975304 -0.06709453 0.91847204 0.65886109] [ 0. 0. 0. 1. ]] SLAMing on 32.759649246 meters Centerline goodness [0,1] 0.9351889286269631 Centerline is valid? [False, False] Translation: X:6.99, Y:0.17, Z:0.66 [[ 0.91542571 -0.07747703 -0.39495959 6.99283451] [ 0.09784356 0.99469826 0.03165448 0.17013548] [ 0.39041312 -0.06762157 0.91815299 0.66035142] [ 0. 0. 0. 1. ]] SLAMing on 32.789649246 meters Centerline goodness [0,1] 0.9363905786928717 Centerline is valid? [False, False] Translation: X:6.99, Y:0.17, Z:0.66 [[ 0.91515733 -0.07791439 -0.39549514 6.99408995] [ 0.09841256 0.99463833 0.03177369 0.1697874 ] [ 0.39089899 -0.06799961 0.91791831 0.66141169] [ 0. 0. 0. 1. ]] SLAMing on 32.819649246 meters Centerline goodness [0,1] 0.9341067140674213 Centerline is valid? [False, False] Translation: X:7.00, Y:0.17, Z:0.66 [[ 0.91474836 -0.07926313 -0.39617268 6.99739977] [ 0.09964995 0.99453613 0.03110913 0.17017714] [ 0.39154224 -0.06793561 0.91764886 0.66162624] [ 0. 0. 0. 1. ]] SLAMing on 32.849649246 meters Centerline goodness [0,1] 0.9328012918051113 Centerline is valid? [False, False] Translation: X:7.00, Y:0.17, Z:0.66 [[ 0.91437641 -0.0801593 -0.39685044 7.0013551 ] [ 0.10026784 0.99450366 0.03014696 0.17150152] [ 0.39225265 -0.067357 0.91738808 0.66057028] [ 0. 0. 0. 1. ]] SLAMing on 32.879649246 meters Centerline goodness [0,1] 0.9322538619021031 Centerline is valid? [False, False] Translation: X:7.00, Y:0.17, Z:0.66 [[ 0.91418961 -0.0801719 -0.39727801 7.00236843] [ 0.10037243 0.99448908 0.03027943 0.17142929] [ 0.39266108 -0.0675569 0.91719864 0.66112803] [ 0. 0. 0. 1. ]] SLAMing on 32.909649246 meters Centerline goodness [0,1] 0.9326450649916039 Centerline is valid? [False, False] Translation: X:7.00, Y:0.17, Z:0.66 [[ 0.91382153 -0.08062249 -0.39803294 7.00433804] [ 0.10093937 0.99443056 0.03031684 0.17121489] [ 0.3933719 -0.06788137 0.91687004 0.66225569] [ 0. 0. 0. 1. ]] SLAMing on 32.939649246 meters Centerline goodness [0,1] 0.9324905025845426 Centerline is valid? [False, False] Translation: X:7.01, Y:0.17, Z:0.66 [[ 0.91352371 -0.08095397 -0.39864882 7.00619421] [ 0.10139826 0.99438043 0.03042949 0.17080749] [ 0.3939452 -0.06822036 0.91659869 0.66308574] [ 0. 0. 0. 1. ]] SLAMing on 32.969649246 meters Centerline goodness [0,1] 0.934542734243501 Centerline is valid? [False, False] Translation: X:7.01, Y:0.17, Z:0.66 [[ 0.91307274 -0.08159397 -0.39955049 7.00867647] [ 0.10213701 0.99430704 0.03035678 0.17101536] [ 0.39479893 -0.06852684 0.91620842 0.6642522 ] [ 0. 0. 0. 1. ]] SLAMing on 32.999649246000004 meters Centerline goodness [0,1] 0.9324383118901113 Centerline is valid? [False, False] Translation: X:7.01, Y:0.17, Z:0.66 [[ 0.91286981 -0.08178488 -0.39997493 7.01000509] [ 0.1023467 0.9942878 0.03028066 0.17139078] [ 0.39521369 -0.06857841 0.91602573 0.66452693] [ 0. 0. 0. 1. ]] SLAMing on 33.029649246 meters Centerline goodness [0,1] 0.9311340078207436 Centerline is valid? [False, False] Translation: X:7.01, Y:0.17, Z:0.66 [[ 0.91269503 -0.08168909 -0.40039315 7.0108414 ] [ 0.10229393 0.994292 0.03032108 0.1726849 ] [ 0.3956308 -0.06863169 0.91584167 0.66498204] [ 0. 0. 0. 1. ]] SLAMing on 33.059649246 meters Centerline goodness [0,1] 0.9326833509283985 Centerline is valid? [False, False] Translation: X:7.01, Y:0.17, Z:0.67 [[ 0.91260323 -0.08142573 -0.40065595 7.01089022] [ 0.10213507 0.99430078 0.03056771 0.17321896] [ 0.39588352 -0.06881721 0.91571853 0.66563786] [ 0. 0. 0. 1. ]] SLAMing on 33.089649246 meters Centerline goodness [0,1] 0.9325787097173254 Centerline is valid? [False, False] Translation: X:7.01, Y:0.18, Z:0.67 [[ 0.91245799 -0.08104951 -0.40106282 7.0109381 ] [ 0.10171335 0.9943472 0.03046358 0.17500442] [ 0.39632664 -0.06859019 0.91554387 0.66608688] [ 0. 0. 0. 1. ]] SLAMing on 33.119649246 meters Centerline goodness [0,1] 0.932171440931986 Centerline is valid? [False, False] Translation: X:7.01, Y:0.18, Z:0.67 [[ 0.91227958 -0.0810922 -0.40145986 7.01198537] [ 0.1017376 0.99434859 0.03033731 0.17610117] [ 0.39673093 -0.06851967 0.91537404 0.66628993] [ 0. 0. 0. 1. ]] SLAMing on 33.149649246 meters Centerline goodness [0,1] 0.9338380716934487 Centerline is valid? [False, False] Translation: X:7.01, Y:0.18, Z:0.67 [[ 0.91206924 -0.08090029 -0.40197618 7.012882 ] [ 0.101458 0.99438503 0.03007811 0.17772276] [ 0.39728577 -0.06821701 0.91515597 0.66647837] [ 0. 0. 0. 1. ]] SLAMing on 33.179649246000004 meters Centerline goodness [0,1] 0.9328385899814471 Centerline is valid? [False, False] Translation: X:7.01, Y:0.18, Z:0.67 [[ 0.91208564 -0.08059315 -0.40200065 7.01287569] [ 0.10113153 0.99441784 0.03009286 0.1786981 ] [ 0.39733134 -0.0681022 0.91514474 0.66631437] [ 0. 0. 0. 1. ]] SLAMing on 33.209649246 meters Centerline goodness [0,1] 0.9314630244862803 Centerline is valid? [False, False] Translation: X:7.02, Y:0.18, Z:0.67 [[ 0.91187443 -0.07644757 -0.40328748 7.01628492] [ 0.09810898 0.9946186 0.03329361 0.18043531] [ 0.39857202 -0.06992572 0.91446746 0.666792 ] [ 0. 0. 0. 1. ]] SLAMing on 33.239649246 meters Centerline goodness [0,1] 0.9316115956270729 Centerline is valid? [False, False] Translation: X:7.02, Y:0.18, Z:0.67 [[ 0.91174243 -0.07584253 -0.40369995 7.01701813] [ 0.09731652 0.99470917 0.03291144 0.18286041] [ 0.39906795 -0.06929343 0.91429929 0.66615507] [ 0. 0. 0. 1. ]] SLAMing on 33.269649246 meters Centerline goodness [0,1] 0.9307318266613658 Centerline is valid? [False, False] Translation: X:7.02, Y:0.18, Z:0.67 [[ 0.91156098 -0.07572601 -0.40413136 7.01775424] [ 0.09724356 0.9947149 0.03295375 0.18379523] [ 0.39950003 -0.06933853 0.91410716 0.66668413] [ 0. 0. 0. 1. ]] SLAMing on 33.299649246 meters Centerline goodness [0,1] 0.9307302478935157 Centerline is valid? [False, False] Translation: X:7.02, Y:0.18, Z:0.67 [[ 0.91134268 -0.07563879 -0.40463972 7.01848128] [ 0.09719657 0.99471903 0.03296771 0.184824 ] [ 0.40000919 -0.06937447 0.91388174 0.66736735] [ 0. 0. 0. 1. ]] SLAMing on 33.329649246 meters Centerline goodness [0,1] 0.9335328061551613 Centerline is valid? [False, False] Translation: X:7.02, Y:0.19, Z:0.67 [[ 0.91163101 -0.07414812 -0.40426596 7.01545835] [ 0.09573247 0.99484624 0.03341045 0.1857346 ] [ 0.39970515 -0.06915938 0.91403106 0.66748684] [ 0. 0. 0. 1. ]] SLAMing on 33.359649246000004 meters Centerline goodness [0,1] 0.9332784184514004 Centerline is valid? [False, False] Translation: X:7.02, Y:0.19, Z:0.67 [[ 0.91144498 -0.07404687 -0.40470373 7.01615054] [ 0.09575899 0.99483592 0.03364084 0.18581281] [ 0.40012281 -0.06941579 0.91382886 0.66832167] [ 0. 0. 0. 1. ]] SLAMing on 33.389649246 meters Centerline goodness [0,1] 0.9337373366388149 Centerline is valid? [False, False] Translation: X:7.02, Y:0.18, Z:0.67 [[ 0.91109589 -0.07428994 -0.40544456 7.01802122] [ 0.09619547 0.99478533 0.0338906 0.18484871] [ 0.40081257 -0.06987952 0.91349118 0.66950947] [ 0. 0. 0. 1. ]] SLAMing on 33.419649246 meters Centerline goodness [0,1] 0.9349932540169263 Centerline is valid? [False, False] Translation: X:7.02, Y:0.18, Z:0.67 [[ 0.91075257 -0.07491322 -0.40610068 7.02029215] [ 0.0968675 0.99472504 0.03374599 0.18476615] [ 0.40143049 -0.07007221 0.91320504 0.67015517] [ 0. 0. 0. 1. ]] SLAMing on 33.449649246 meters Centerline goodness [0,1] 0.9347592598275386 Centerline is valid? [False, False] Translation: X:7.02, Y:0.18, Z:0.67 [[ 0.91038863 -0.075242 -0.40685524 7.02243922] [ 0.09740611 0.99466346 0.0340095 0.18376423] [ 0.4021251 -0.07059205 0.91285933 0.67145644] [ 0. 0. 0. 1. ]] SLAMing on 33.479649246 meters Centerline goodness [0,1] 0.9347532116294793 Centerline is valid? [False, False] Translation: X:7.02, Y:0.18, Z:0.67 [[ 0.91007379 -0.07531017 -0.40754642 7.02372456] [ 0.09766923 0.99462753 0.03430441 0.18321221] [ 0.40277342 -0.07102429 0.91253993 0.67277667] [ 0. 0. 0. 1. ]] SLAMing on 33.509649246 meters Centerline goodness [0,1] 0.9347075861218956 Centerline is valid? [False, False] Translation: X:7.03, Y:0.18, Z:0.67 [[ 0.90965148 -0.07570464 -0.40841521 7.02641825] [ 0.09819206 0.99457469 0.03434405 0.18290773] [ 0.40359943 -0.07134425 0.91214993 0.67373178] [ 0. 0. 0. 1. ]] SLAMing on 33.539649246 meters Centerline goodness [0,1] 0.9321359133413573 Centerline is valid? [False, False] Translation: X:7.03, Y:0.18, Z:0.67 [[ 0.90947989 -0.07567222 -0.40880318 7.02736105] [ 0.09830557 0.99455441 0.03460541 0.18234592] [ 0.40395834 -0.07166055 0.91196624 0.67440766] [ 0. 0. 0. 1. ]] SLAMing on 33.569649246 meters Centerline goodness [0,1] 0.9321359133413573 Centerline is valid? [False, False] Translation: X:7.03, Y:0.18, Z:0.67 [[ 0.90947989 -0.07567222 -0.40880318 7.02736105] [ 0.09830557 0.99455441 0.03460541 0.18234592] [ 0.40395834 -0.07166055 0.91196624 0.67440766] [ 0. 0. 0. 1. ]] SLAMing on 33.599649246 meters Centerline goodness [0,1] 0.9346526680913004 Centerline is valid? [False, False] Translation: X:7.03, Y:0.18, Z:0.68 [[ 0.909058 -0.07644162 -0.40959765 7.02970141] [ 0.09939209 0.9944325 0.03500301 0.18025011] [ 0.40464153 -0.07253053 0.91159451 0.67632494] [ 0. 0. 0. 1. ]] SLAMing on 33.629649246 meters Centerline goodness [0,1] 0.9339085792045525 Centerline is valid? [False, False] Translation: X:7.03, Y:0.18, Z:0.68 [[ 0.90871529 -0.07676645 -0.41029675 7.03170843] [ 0.09977649 0.99439653 0.03493112 0.1809662 ] [ 0.40531613 -0.07268042 0.91128283 0.6769917 ] [ 0. 0. 0. 1. ]] SLAMing on 33.659649246 meters Centerline goodness [0,1] 0.9339859359995044 Centerline is valid? [False, False] Translation: X:7.03, Y:0.18, Z:0.68 [[ 0.90845755 -0.07724902 -0.41077666 7.03379015] [ 0.10025572 0.99435548 0.03472709 0.18132469] [ 0.40577539 -0.07273079 0.9110744 0.67728068] [ 0. 0. 0. 1. ]] SLAMing on 33.689649246 meters Centerline goodness [0,1] 0.9331618740704016 Centerline is valid? [False, False] Translation: X:7.04, Y:0.18, Z:0.68 [[ 0.90802247 -0.07822577 -0.41155307 7.03659771] [ 0.10130709 0.99425563 0.03453431 0.18113888] [ 0.40648748 -0.07305117 0.91073127 0.67827717] [ 0. 0. 0. 1. ]] SLAMing on 33.719649246 meters Centerline goodness [0,1] 0.9349209799111995 Centerline is valid? [False, False] Translation: X:7.04, Y:0.18, Z:0.68 [[ 0.90742345 -0.07952955 -0.41262299 7.04028447] [ 0.1027824 0.99410785 0.03442905 0.18000265] [ 0.40745362 -0.07365211 0.91025102 0.67997432] [ 0. 0. 0. 1. ]] SLAMing on 33.749649246000004 meters Centerline goodness [0,1] 0.9337557066989658 Centerline is valid? [False, False] Translation: X:7.04, Y:0.18, Z:0.68 [[ 0.90719319 -0.07969726 -0.41309667 7.04196274] [ 0.1031059 0.99406678 0.03464704 0.17974109] [ 0.4078844 -0.07402426 0.91002787 0.6806249 ] [ 0. 0. 0. 1. ]] SLAMing on 33.779649246 meters Centerline goodness [0,1] 0.9350366778565212 Centerline is valid? [False, False] Translation: X:7.04, Y:0.18, Z:0.68 [[ 0.90667386 -0.07988365 -0.41419936 7.0440239 ] [ 0.10357262 0.99400548 0.03501165 0.17826397] [ 0.40891957 -0.07464386 0.90951255 0.68271845] [ 0. 0. 0. 1. ]] SLAMing on 33.809649246 meters Centerline goodness [0,1] 0.9346575896048991 Centerline is valid? [False, False] Translation: X:7.05, Y:0.18, Z:0.68 [[ 0.90627601 -0.08031925 -0.41498507 7.04601856] [ 0.10413468 0.9939457 0.03504172 0.17807911] [ 0.4096581 -0.07497181 0.90915316 0.68389343] [ 0. 0. 0. 1. ]] SLAMing on 33.839649246 meters Centerline goodness [0,1] 0.9342329765782534 Centerline is valid? [False, False] Translation: X:7.05, Y:0.18, Z:0.69 [[ 0.90576797 -0.08059807 -0.41603886 7.04846552] [ 0.10465079 0.99388251 0.03529556 0.17776595] [ 0.41064899 -0.07550838 0.90866159 0.68564725] [ 0. 0. 0. 1. ]] SLAMing on 33.869649246 meters Centerline goodness [0,1] 0.9350834287837043 Centerline is valid? [False, False] Translation: X:7.05, Y:0.18, Z:0.69 [[ 0.90539695 -0.08089561 -0.41678804 7.05013954] [ 0.10508596 0.99383343 0.03538429 0.17778562] [ 0.41135545 -0.0758354 0.90831475 0.68682214] [ 0. 0. 0. 1. ]] SLAMing on 33.899649246 meters Centerline goodness [0,1] 0.9335973760752522 Centerline is valid? [False, False] Translation: X:7.05, Y:0.18, Z:0.69 [[ 0.90480945 -0.08180296 -0.41788531 7.05379157] [ 0.10604084 0.99374311 0.03507092 0.1781191 ] [ 0.41240174 -0.07604541 0.90782261 0.68792503] [ 0. 0. 0. 1. ]] SLAMing on 33.929649246000004 meters Centerline goodness [0,1] 0.9337578436524373 Centerline is valid? [False, False] Translation: X:7.06, Y:0.18, Z:0.69 [[ 0.90447444 -0.08244908 -0.41848314 7.0562473 ] [ 0.1065676 0.99370509 0.03454763 0.17955177] [ 0.41300041 -0.07584419 0.90756725 0.68792703] [ 0. 0. 0. 1. ]] SLAMing on 33.959649246 meters Centerline goodness [0,1] 0.9322771910320549 Centerline is valid? [False, False] Translation: X:7.06, Y:0.18, Z:0.69 [[ 0.9041474 -0.08306591 -0.41906745 7.05897733] [ 0.10693662 0.99369278 0.03375225 0.18170065] [ 0.41362064 -0.07533067 0.90732754 0.68745149] [ 0. 0. 0. 1. ]] SLAMing on 33.989649246 meters Centerline goodness [0,1] 0.9324019410873798 Centerline is valid? [False, False] Translation: X:7.06, Y:0.18, Z:0.69 [[ 0.90380456 -0.08356652 -0.41970698 7.06096376] [ 0.10738287 0.99365668 0.03339638 0.1824847 ] [ 0.41425383 -0.07525314 0.90704505 0.68790766] [ 0. 0. 0. 1. ]] SLAMing on 34.019649246 meters Centerline goodness [0,1] 0.93623017839445 Centerline is valid? [False, False] Translation: X:7.06, Y:0.18, Z:0.69 [[ 0.90350626 -0.08365314 -0.42033153 7.06240566] [ 0.10756902 0.99363406 0.03347041 0.18269764] [ 0.41485582 -0.07545538 0.90675307 0.68868027] [ 0. 0. 0. 1. ]] SLAMing on 34.049649246 meters Centerline goodness [0,1] 0.9324583075972823 Centerline is valid? [False, False] Translation: X:7.06, Y:0.18, Z:0.69 [[ 0.90311329 -0.08397116 -0.42111189 7.06449844] [ 0.10777872 0.99362677 0.03300881 0.1841163 ] [ 0.41565627 -0.07519759 0.90640785 0.68907681] [ 0. 0. 0. 1. ]] SLAMing on 34.079649246 meters Centerline goodness [0,1] 0.9326466415839141 Centerline is valid? [False, False] Translation: X:7.07, Y:0.19, Z:0.69 [[ 0.90277944 -0.08415632 -0.42179023 7.06615631] [ 0.10797014 0.99361135 0.03284701 0.18534413] [ 0.41633128 -0.07519436 0.90609827 0.6897747 ] [ 0. 0. 0. 1. ]] SLAMing on 34.109649246000004 meters Centerline goodness [0,1] 0.9341902472104062 Centerline is valid? [False, False] Translation: X:7.07, Y:0.19, Z:0.69 [[ 0.90238208 -0.08445683 -0.42257972 7.06812009] [ 0.10840808 0.99356116 0.03292275 0.18559973] [ 0.41707825 -0.07551995 0.90572759 0.69086411] [ 0. 0. 0. 1. ]] SLAMing on 34.139649246 meters Centerline goodness [0,1] 0.931655229713512 Centerline is valid? [False, False] Translation: X:7.07, Y:0.19, Z:0.69 [[ 0.90176818 -0.08486604 -0.42380644 7.07111917] [ 0.10891225 0.99351028 0.03279403 0.18587957] [ 0.41827296 -0.07573033 0.90515891 0.69219679] [ 0. 0. 0. 1. ]] SLAMing on 34.169649246 meters Centerline goodness [0,1] 0.9354253749692648 Centerline is valid? [False, False] Translation: X:7.07, Y:0.18, Z:0.69 [[ 0.90139017 -0.08104772 -0.42535518 7.07498183] [ 0.10670421 0.99360963 0.03679825 0.18469441] [ 0.41965459 -0.07855676 0.90427809 0.69444631] [ 0. 0. 0. 1. ]] SLAMing on 34.199649246 meters Centerline goodness [0,1] 0.9348835778659531 Centerline is valid? [False, False] Translation: X:7.08, Y:0.19, Z:0.70 [[ 0.90077181 -0.081886 -0.42650303 7.07863441] [ 0.10749537 0.99354358 0.03627521 0.18525399] [ 0.42077891 -0.07852279 0.90375842 0.69531646] [ 0. 0. 0. 1. ]] SLAMing on 34.229649246 meters Centerline goodness [0,1] 0.9329161143139008 Centerline is valid? [False, False] Translation: X:7.08, Y:0.19, Z:0.70 [[ 0.90040077 -0.08245114 -0.42717709 7.08100692] [ 0.10809431 0.99348557 0.03608382 0.18509712] [ 0.42141912 -0.07866532 0.90344767 0.69590769] [ 0. 0. 0. 1. ]] SLAMing on 34.259649246 meters Centerline goodness [0,1] 0.9343065693430657 Centerline is valid? [False, False] Translation: X:7.08, Y:0.18, Z:0.70 [[ 0.89963464 -0.08356443 -0.42857264 7.08470984] [ 0.10970038 0.99329056 0.03660172 0.18343745] [ 0.42263856 -0.07994275 0.90276564 0.69897425] [ 0. 0. 0. 1. ]] SLAMing on 34.289649246 meters Centerline goodness [0,1] 0.935377095836169 Centerline is valid? [False, False] Translation: X:7.09, Y:0.18, Z:0.70 [[ 0.89920387 -0.08407488 -0.42937607 7.0869487 ] [ 0.1104192 0.9932049 0.03676448 0.18286297] [ 0.42336745 -0.08047013 0.90237717 0.70025425] [ 0. 0. 0. 1. ]] SLAMing on 34.319649246 meters Centerline goodness [0,1] 0.9356320412153565 Centerline is valid? [False, False] Translation: X:7.09, Y:0.18, Z:0.70 [[ 0.89847171 -0.08314561 -0.43108629 7.09379146] [ 0.11114304 0.99299421 0.04012136 0.181627 ] [ 0.42473027 -0.08396015 0.90141827 0.70433285] [ 0. 0. 0. 1. ]] SLAMing on 34.349649246 meters Centerline goodness [0,1] 0.9357240352401043 Centerline is valid? [False, False] Translation: X:7.09, Y:0.18, Z:0.71 [[ 0.8981853 -0.08315354 -0.43168119 7.09477512] [ 0.11130809 0.99296757 0.04032262 0.1814371 ] [ 0.42529245 -0.08426679 0.90112454 0.70544322] [ 0. 0. 0. 1. ]] SLAMing on 34.379649246 meters Centerline goodness [0,1] 0.9369885179077077 Centerline is valid? [False, False] Translation: X:7.10, Y:0.18, Z:0.71 [[ 0.89766953 -0.08315053 -0.43275328 7.09605867] [ 0.11175723 0.99288756 0.04104401 0.18060525] [ 0.42626252 -0.08520726 0.90057759 0.70815837] [ 0. 0. 0. 1. ]] SLAMing on 34.409649246 meters Centerline goodness [0,1] 0.9380305338764342 Centerline is valid? [False, False] Translation: X:7.10, Y:0.18, Z:0.71 [[ 0.89727393 -0.08379884 -0.4334481 7.09828037] [ 0.11237894 0.992832 0.04068888 0.1809665 ] [ 0.42693146 -0.08521951 0.9002595 0.70876364] [ 0. 0. 0. 1. ]] SLAMing on 34.439649246 meters Centerline goodness [0,1] 0.9369784531074854 Centerline is valid? [False, False] Translation: X:7.10, Y:0.18, Z:0.71 [[ 0.89688802 -0.08428043 -0.43415284 7.10067179] [ 0.11283676 0.99279289 0.040375 0.18057277] [ 0.42762103 -0.08520026 0.89993398 0.70923348] [ 0. 0. 0. 1. ]] SLAMing on 34.469649246 meters Centerline goodness [0,1] 0.9368476640159046 Centerline is valid? [False, False] Translation: X:7.10, Y:0.18, Z:0.71 [[ 0.89649109 -0.0848423 -0.43486262 7.10316325] [ 0.11334979 0.99275006 0.03998936 0.18104438] [ 0.42831711 -0.0851417 0.89960844 0.70955348] [ 0. 0. 0. 1. ]] SLAMing on 34.499649246000004 meters Centerline goodness [0,1] 0.9367281077390927 Centerline is valid? [False, False] Translation: X:7.11, Y:0.18, Z:0.71 [[ 0.8959934 -0.08576304 -0.43570693 7.10640646] [ 0.11411176 0.99269176 0.03926289 0.18204948] [ 0.42915538 -0.08489858 0.89923184 0.70981638] [ 0. 0. 0. 1. ]] SLAMing on 34.529649246 meters Centerline goodness [0,1] 0.9357484620642516 Centerline is valid? [False, False] Translation: X:7.11, Y:0.18, Z:0.71 [[ 0.89564223 -0.08647564 -0.4362877 7.10885592] [ 0.11473038 0.99263953 0.03877771 0.18265397] [ 0.42972309 -0.08478641 0.89897126 0.71001563] [ 0. 0. 0. 1. ]] SLAMing on 34.559649246 meters Centerline goodness [0,1] 0.934680553396549 Centerline is valid? [False, False] Translation: X:7.11, Y:0.18, Z:0.71 [[ 0.89515365 -0.0870009 -0.43718507 7.11156223] [ 0.11528833 0.9925845 0.03853064 0.18278695] [ 0.43059092 -0.08489318 0.89854583 0.71090783] [ 0. 0. 0. 1. ]] SLAMing on 34.589649246 meters Centerline goodness [0,1] 0.9331679330128702 Centerline is valid? [False, False] Translation: X:7.12, Y:0.18, Z:0.71 [[ 0.89458834 -0.08784 -0.4381733 7.11504594] [ 0.11601471 0.99252456 0.03788923 0.18382694] [ 0.43156957 -0.08472981 0.89809162 0.71138979] [ 0. 0. 0. 1. ]] SLAMing on 34.619649246 meters Centerline goodness [0,1] 0.9338529859321139 Centerline is valid? [False, False] Translation: X:7.12, Y:0.18, Z:0.71 [[ 0.89433145 -0.08812969 -0.43863927 7.11669292] [ 0.11628269 0.99250129 0.03767661 0.18421384] [ 0.43202962 -0.08470154 0.89787308 0.71163158] [ 0. 0. 0. 1. ]] SLAMing on 34.649649246 meters Centerline goodness [0,1] 0.9353758372612255 Centerline is valid? [False, False] Translation: X:7.12, Y:0.18, Z:0.71 [[ 0.893951 -0.0885377 -0.43933209 7.11859938] [ 0.11670808 0.99245922 0.03746882 0.18484095] [ 0.43270179 -0.08476889 0.89754298 0.71231731] [ 0. 0. 0. 1. ]] SLAMing on 34.679649246000004 meters Centerline goodness [0,1] 0.9365590731677096 Centerline is valid? [False, False] Translation: X:7.12, Y:0.19, Z:0.71 [[ 0.89349299 -0.08879148 -0.44021171 7.12003371] [ 0.11714743 0.99240236 0.03760358 0.18508592] [ 0.43352826 -0.08516821 0.89710625 0.71406688] [ 0. 0. 0. 1. ]] SLAMing on 34.709649246 meters Centerline goodness [0,1] 0.9362361029388994 Centerline is valid? [False, False] Translation: X:7.12, Y:0.19, Z:0.72 [[ 0.89316076 -0.0889765 -0.4408481 7.12140141] [ 0.11745334 0.9923636 0.03767211 0.18518952] [ 0.43412967 -0.08542633 0.89679082 0.71506279] [ 0. 0. 0. 1. ]] SLAMing on 34.739649246 meters Centerline goodness [0,1] 0.936851237876863 Centerline is valid? [False, False] Translation: X:7.12, Y:0.19, Z:0.72 [[ 0.89277819 -0.08878248 -0.44166139 7.12229689] [ 0.11745245 0.99235361 0.03793714 0.18549765] [ 0.43491612 -0.08574366 0.89637938 0.71663023] [ 0. 0. 0. 1. ]] SLAMing on 34.769649246 meters Centerline goodness [0,1] 0.9346188424217999 Centerline is valid? [False, False] Translation: X:7.12, Y:0.19, Z:0.72 [[ 0.89241944 -0.08915531 -0.44231083 7.12409059] [ 0.11786113 0.99231105 0.03778285 0.18616642] [ 0.43554138 -0.08584941 0.89606561 0.71732414] [ 0. 0. 0. 1. ]] SLAMing on 34.799649246 meters Centerline goodness [0,1] 0.9387100790636868 Centerline is valid? [False, False] Translation: X:7.13, Y:0.18, Z:0.72 [[ 0.89193464 -0.08974549 -0.44316853 7.12643292] [ 0.11875147 0.99219372 0.038075 0.1849394 ] [ 0.43629197 -0.08658732 0.89562936 0.71909203] [ 0. 0. 0. 1. ]] SLAMing on 34.829649246 meters Centerline goodness [0,1] 0.9369551681195517 Centerline is valid? [False, False] Translation: X:7.13, Y:0.18, Z:0.72 [[ 0.89132977 -0.09035125 -0.44426107 7.12865744] [ 0.11973913 0.99205956 0.03847565 0.18455866] [ 0.43725712 -0.08748993 0.89507079 0.72158083] [ 0. 0. 0. 1. ]] SLAMing on 34.859649246000004 meters Centerline goodness [0,1] 0.9376261920293232 Centerline is valid? [False, False] Translation: X:7.13, Y:0.18, Z:0.72 [[ 0.89107244 -0.09053958 -0.44473867 7.12976345] [ 0.12005562 0.99201695 0.03858771 0.18489136] [ 0.43769458 -0.08777782 0.89482876 0.72242745] [ 0. 0. 0. 1. ]] SLAMing on 34.889649246 meters Centerline goodness [0,1] 0.9373388424617105 Centerline is valid? [False, False] Translation: X:7.13, Y:0.19, Z:0.72 [[ 0.89074554 -0.09081661 -0.44533665 7.13167137] [ 0.12035181 0.99198722 0.03842918 0.1854784 ] [ 0.43827826 -0.08782769 0.89453813 0.72294721] [ 0. 0. 0. 1. ]] SLAMing on 34.919649246 meters Centerline goodness [0,1] 0.9367862462760675 Centerline is valid? [False, False] Translation: X:7.13, Y:0.19, Z:0.72 [[ 0.89042791 -0.09127965 -0.44587685 7.13374772] [ 0.12078575 0.99194556 0.03814183 0.18595597] [ 0.438804 -0.08781812 0.89428129 0.72319839] [ 0. 0. 0. 1. ]] SLAMing on 34.949649246 meters Centerline goodness [0,1] 0.9371481884621365 Centerline is valid? [False, False] Translation: X:7.14, Y:0.18, Z:0.73 [[ 0.89005842 -0.08734666 -0.44739979 7.13725594] [ 0.11859192 0.99204386 0.04224859 0.18431308] [ 0.44014994 -0.09066171 0.8933356 0.72575229] [ 0. 0. 0. 1. ]] SLAMing on 34.979649246 meters Centerline goodness [0,1] 0.9351719420434053 Centerline is valid? [False, False] Translation: X:7.14, Y:0.18, Z:0.73 [[ 0.88936383 -0.08841203 -0.44857027 7.1416729 ] [ 0.11957356 0.991955 0.04156238 0.18456595] [ 0.44128691 -0.09060122 0.89278065 0.72637727] [ 0. 0. 0. 1. ]] SLAMing on 35.009649246 meters Centerline goodness [0,1] 0.9371734262254292 Centerline is valid? [False, False] Translation: X:7.15, Y:0.18, Z:0.73 [[ 0.88853846 -0.08931676 -0.45002436 7.14571335] [ 0.1206764 0.99182751 0.04141732 0.1839452 ] [ 0.44264728 -0.09110821 0.89205531 0.72841361] [ 0. 0. 0. 1. ]] SLAMing on 35.039649246 meters Centerline goodness [0,1] 0.9355574297941461 Centerline is valid? [False, False] Translation: X:7.15, Y:0.18, Z:0.73 [[ 0.88810778 -0.08976561 -0.45078454 7.147734 ] [ 0.12125442 0.99175785 0.04139725 0.18348002] [ 0.44335306 -0.09142484 0.89167234 0.72951438] [ 0. 0. 0. 1. ]] SLAMing on 35.069649246000004 meters Centerline goodness [0,1] 0.9343862392494136 Centerline is valid? [False, False] Translation: X:7.15, Y:0.18, Z:0.73 [[ 0.88741624 -0.09104553 -0.4518884 7.15176306] [ 0.12249948 0.99163073 0.0407722 0.18402532] [ 0.4443943 -0.091538 0.89114225 0.73052509] [ 0. 0. 0. 1. ]] SLAMing on 35.099649246 meters Centerline goodness [0,1] 0.9369045759800094 Centerline is valid? [False, False] Translation: X:7.15, Y:0.18, Z:0.73 [[ 0.88701694 -0.0916484 -0.45255002 7.1541266 ] [ 0.12312531 0.9915634 0.04052378 0.18442099] [ 0.4450181 -0.09166564 0.89081777 0.73111915] [ 0. 0. 0. 1. ]] SLAMing on 35.129649246 meters Centerline goodness [0,1] 0.9358746768818711 Centerline is valid? [False, False] Translation: X:7.16, Y:0.19, Z:0.73 [[ 0.88646193 -0.09243744 -0.4534761 7.15689924] [ 0.12384464 0.99149569 0.03998497 0.18604714] [ 0.44592349 -0.09160573 0.89037106 0.73195654] [ 0. 0. 0. 1. ]] SLAMing on 35.159649246 meters Centerline goodness [0,1] 0.9358890447249494 Centerline is valid? [False, False] Translation: X:7.16, Y:0.19, Z:0.73 [[ 0.88612268 -0.09264048 -0.45409727 7.15825731] [ 0.12410459 0.9914663 0.0399077 0.18680226] [ 0.44652507 -0.09171868 0.89005789 0.7327669 ] [ 0. 0. 0. 1. ]] SLAMing on 35.189649246 meters Centerline goodness [0,1] 0.9368000748666439 Centerline is valid? [False, False] Translation: X:7.16, Y:0.19, Z:0.74 [[ 0.88566028 -0.08672137 -0.45616365 7.15796889] [ 0.12114537 0.99153527 0.04670767 0.18563314] [ 0.44825179 -0.09662924 0.8886693 0.74010823] [ 0. 0. 0. 1. ]] SLAMing on 35.219649246 meters Centerline goodness [0,1] 0.9354828670131649 Centerline is valid? [False, False] Translation: X:7.16, Y:0.19, Z:0.74 [[ 0.88548311 -0.08675497 -0.45650108 7.15826174] [ 0.12114209 0.99154331 0.04654528 0.18714495] [ 0.44860256 -0.09651655 0.88850453 0.74058771] [ 0. 0. 0. 1. ]] SLAMing on 35.249649246000004 meters Centerline goodness [0,1] 0.9367440138237473 Centerline is valid? [False, False] Translation: X:7.16, Y:0.19, Z:0.74 [[ 0.88522174 -0.08177029 -0.45792587 7.15964221] [ 0.11777794 0.99175077 0.05058427 0.18861491] [ 0.45001204 -0.09871186 0.88755007 0.74293537] [ 0. 0. 0. 1. ]] SLAMing on 35.279649246 meters Centerline goodness [0,1] 0.9370883348722684 Centerline is valid? [False, False] Translation: X:7.16, Y:0.19, Z:0.74 [[ 0.88492998 -0.0822758 -0.45839899 7.16116167] [ 0.11794365 0.99177685 0.04967864 0.19103944] [ 0.45054216 -0.09802737 0.88735698 0.74257528] [ 0. 0. 0. 1. ]] SLAMing on 35.309649246 meters Centerline goodness [0,1] 0.9365011196662474 Centerline is valid? [False, False] Translation: X:7.16, Y:0.20, Z:0.74 [[ 0.88467742 -0.08190798 -0.45895201 7.16156387] [ 0.11699551 0.99194794 0.04849053 0.19530017] [ 0.45128474 -0.0965938 0.88713681 0.74163929] [ 0. 0. 0. 1. ]] SLAMing on 35.339649246 meters Centerline goodness [0,1] 0.9361799816345271 Centerline is valid? [False, False] Translation: X:7.16, Y:0.20, Z:0.74 [[ 0.88436747 -0.08225622 -0.45948677 7.1630593 ] [ 0.11707048 0.99197537 0.04774279 0.19730844] [ 0.45187241 -0.09601451 0.88690052 0.74144569] [ 0. 0. 0. 1. ]] SLAMing on 35.369649246 meters Centerline goodness [0,1] 0.9351488788138709 Centerline is valid? [False, False] Translation: X:7.16, Y:0.20, Z:0.74 [[ 0.88400223 -0.08278082 -0.46009499 7.16480752] [ 0.11725143 0.99199897 0.0467991 0.19978793] [ 0.45253968 -0.0953173 0.88663546 0.74132609] [ 0. 0. 0. 1. ]] SLAMing on 35.399649246 meters Centerline goodness [0,1] 0.934954128440367 Centerline is valid? [False, False] Translation: X:7.17, Y:0.20, Z:0.74 [[ 0.88341466 -0.0836091 -0.46107273 7.1675236 ] [ 0.1179371 0.99195084 0.04609087 0.20167565] [ 0.45350787 -0.09509493 0.88616453 0.74208661] [ 0. 0. 0. 1. ]] SLAMing on 35.429649246000004 meters Centerline goodness [0,1] 0.9354042189976832 Centerline is valid? [False, False] Translation: X:7.17, Y:0.20, Z:0.74 [[ 0.8831481 -0.08406144 -0.46150093 7.16931831] [ 0.11834001 0.99191702 0.04578491 0.2020197 ] [ 0.45392188 -0.09504889 0.88595747 0.74225145] [ 0. 0. 0. 1. ]] SLAMing on 35.459649246 meters Centerline goodness [0,1] 0.9354042189976832 Centerline is valid? [False, False] Translation: X:7.17, Y:0.20, Z:0.74 [[ 0.8831481 -0.08406144 -0.46150093 7.16931831] [ 0.11834001 0.99191702 0.04578491 0.2020197 ] [ 0.45392188 -0.09504889 0.88595747 0.74225145] [ 0. 0. 0. 1. ]] SLAMing on 35.489649246 meters Centerline goodness [0,1] 0.9348463559166718 Centerline is valid? [False, False] Translation: X:7.17, Y:0.20, Z:0.74 [[ 0.88285789 -0.08466484 -0.46194568 7.17105398] [ 0.11891018 0.9918633 0.04547036 0.20192739] [ 0.45433723 -0.09507391 0.88574186 0.74264376] [ 0. 0. 0. 1. ]] SLAMing on 35.519649246 meters Centerline goodness [0,1] 0.9359210203581064 Centerline is valid? [False, False] Translation: X:7.17, Y:0.20, Z:0.75 [[ 0.88209679 -0.0855186 -0.46324056 7.17428354] [ 0.12022262 0.99168753 0.04585146 0.19975408] [ 0.45546874 -0.09613742 0.88504566 0.7454027 ] [ 0. 0. 0. 1. ]] SLAMing on 35.549649246 meters Centerline goodness [0,1] 0.9383212575217978 Centerline is valid? [False, False] Translation: X:7.18, Y:0.20, Z:0.75 [[ 0.88149284 -0.08638328 -0.46422871 7.17699065] [ 0.12132272 0.99155296 0.04586427 0.19861493] [ 0.45634544 -0.09675052 0.88452709 0.74717644] [ 0. 0. 0. 1. ]] SLAMing on 35.579649246 meters Centerline goodness [0,1] 0.9383654378730999 Centerline is valid? [False, False] Translation: X:7.18, Y:0.20, Z:0.75 [[ 0.88082524 -0.08782016 -0.46522523 7.1817601 ] [ 0.12283166 0.99138773 0.04541756 0.19743306] [ 0.45723001 -0.09714932 0.88402643 0.74804843] [ 0. 0. 0. 1. ]] SLAMing on 35.609649246000004 meters Centerline goodness [0,1] 0.9388182406010407 Centerline is valid? [False, False] Translation: X:7.19, Y:0.20, Z:0.75 [[ 0.88019465 -0.08911282 -0.46617194 7.18607639] [ 0.12408955 0.99125873 0.04480985 0.19752927] [ 0.45810387 -0.09728846 0.8835586 0.74860871] [ 0. 0. 0. 1. ]] SLAMing on 35.639649246 meters Centerline goodness [0,1] 0.9366232000494407 Centerline is valid? [False, False] Translation: X:7.19, Y:0.20, Z:0.75 [[ 0.87930037 -0.09108454 -0.4674767 7.19197578] [ 0.12603419 0.9910512 0.0439647 0.19662875] [ 0.45928884 -0.09757623 0.88291146 0.74971389] [ 0. 0. 0. 1. ]] SLAMing on 35.669649246 meters Centerline goodness [0,1] 0.935007568035091 Centerline is valid? [False, False] Translation: X:7.20, Y:0.20, Z:0.75 [[ 0.87858396 -0.09209782 -0.46862375 7.19522133] [ 0.12721937 0.99090831 0.04377158 0.19649959] [ 0.4603319 -0.09807503 0.88231277 0.75158072] [ 0. 0. 0. 1. ]] SLAMing on 35.699649246 meters Centerline goodness [0,1] 0.9370239643321567 Centerline is valid? [False, False] Translation: X:7.20, Y:0.20, Z:0.75 [[ 0.87826325 -0.09254605 -0.46913633 7.19681855] [ 0.12764573 0.99086559 0.04349665 0.19679546] [ 0.4608256 -0.09808475 0.88205393 0.75205803] [ 0. 0. 0. 1. ]] SLAMing on 35.729649246 meters Centerline goodness [0,1] 0.9320715101738352 Centerline is valid? [False, False] Translation: X:7.20, Y:0.20, Z:0.75 [[ 0.87765152 -0.09366164 -0.47005884 7.19975654] [ 0.12860049 0.99077704 0.04269385 0.1985726 ] [ 0.46172473 -0.09792012 0.88160191 0.75285213] [ 0. 0. 0. 1. ]] SLAMing on 35.759649246 meters Centerline goodness [0,1] 0.9335103099148043 Centerline is valid? [False, False] Translation: X:7.20, Y:0.20, Z:0.75 [[ 0.87727739 -0.09447804 -0.47059355 7.20195678] [ 0.12924703 0.99072084 0.04204081 0.19991965] [ 0.4622549 -0.09770427 0.88134799 0.7529597 ] [ 0. 0. 0. 1. ]] SLAMing on 35.789649246 meters Centerline goodness [0,1] 0.9342072794571252 Centerline is valid? [False, False] Translation: X:7.20, Y:0.20, Z:0.75 [[ 0.87680451 -0.09546835 -0.47127449 7.20463154] [ 0.13007399 0.99064281 0.0413229 0.20167676] [ 0.46291965 -0.09753266 0.88101803 0.75334327] [ 0. 0. 0. 1. ]] SLAMing on 35.819649246000004 meters Centerline goodness [0,1] 0.9330798714144412 Centerline is valid? [False, False] Translation: X:7.21, Y:0.20, Z:0.75 [[ 0.87649417 -0.09564866 -0.4718149 7.20543447] [ 0.13034808 0.99060657 0.04132794 0.20176177] [ 0.46342998 -0.09772387 0.8807285 0.75435379] [ 0. 0. 0. 1. ]] SLAMing on 35.849649246 meters Centerline goodness [0,1] 0.9340713711423093 Centerline is valid? [False, False] Translation: X:7.21, Y:0.20, Z:0.76 [[ 0.8761207 -0.09576761 -0.47248395 7.20610686] [ 0.13065431 0.99055927 0.04149444 0.20188629] [ 0.46404953 -0.0980862 0.88036193 0.75590481] [ 0. 0. 0. 1. ]] SLAMing on 35.879649246 meters Centerline goodness [0,1] 0.9358044504799234 Centerline is valid? [False, False] Translation: X:7.21, Y:0.20, Z:0.76 [[ 0.87569694 -0.09648214 -0.47312372 7.20826739] [ 0.13130289 0.99049246 0.04103939 0.20276093] [ 0.46466591 -0.09806058 0.88003961 0.75641922] [ 0. 0. 0. 1. ]] SLAMing on 35.909649246 meters Centerline goodness [0,1] 0.9354030736881165 Centerline is valid? [False, False] Translation: X:7.21, Y:0.20, Z:0.76 [[ 0.87535108 -0.097402 -0.47357506 7.21055631] [ 0.13198654 0.99043374 0.0402562 0.20451641] [ 0.46512368 -0.09774385 0.879833 0.75628462] [ 0. 0. 0. 1. ]] SLAMing on 35.939649246 meters Centerline goodness [0,1] 0.9353097235932872 Centerline is valid? [False, False] Translation: X:7.21, Y:0.21, Z:0.76 [[ 0.87494699 -0.09838498 -0.47411829 7.21299173] [ 0.1327909 0.99035488 0.03954488 0.20564726] [ 0.46565474 -0.09755827 0.87957265 0.75646301] [ 0. 0. 0. 1. ]] SLAMing on 35.969649246 meters Centerline goodness [0,1] 0.9356761263625977 Centerline is valid? [False, False] Translation: X:7.21, Y:0.21, Z:0.76 [[ 0.87463867 -0.09885162 -0.47458988 7.21437252] [ 0.13330322 0.99029171 0.0394029 0.20551939] [ 0.46608738 -0.09772766 0.87932466 0.75715345] [ 0. 0. 0. 1. ]] SLAMing on 35.999649246000004 meters Centerline goodness [0,1] 0.935948361469712 Centerline is valid? [False, False] Translation: X:7.22, Y:0.21, Z:0.76 [[ 0.87415852 -0.09960057 -0.47531738 7.21634343] [ 0.13405726 0.99020379 0.0390527 0.20539508] [ 0.4667714 -0.097858 0.87894725 0.75825001] [ 0. 0. 0. 1. ]] SLAMing on 36.029649246 meters Centerline goodness [0,1] 0.9379229002421007 Centerline is valid? [False, False] Translation: X:7.22, Y:0.21, Z:0.76 [[ 0.87378009 -0.09987227 -0.47595576 7.2172861 ] [ 0.13445012 0.99015019 0.03906095 0.20533149] [ 0.46736658 -0.09812299 0.87860136 0.75961734] [ 0. 0. 0. 1. ]] SLAMing on 36.059649246 meters Centerline goodness [0,1] 0.9364842608992884 Centerline is valid? [False, False] Translation: X:7.22, Y:0.21, Z:0.76 [[ 0.87354776 -0.10004946 -0.47634485 7.21806247] [ 0.13457804 0.99014184 0.03883152 0.20588225] [ 0.4677639 -0.09802674 0.87840065 0.75994754] [ 0. 0. 0. 1. ]] SLAMing on 36.089649246 meters Centerline goodness [0,1] 0.9367178788254243 Centerline is valid? [False, False] Translation: X:7.22, Y:0.21, Z:0.76 [[ 0.87309198 -0.10137748 -0.47689936 7.22119834] [ 0.13541502 0.9900811 0.03744571 0.20856224] [ 0.46837289 -0.09727288 0.87815991 0.75932336] [ 0. 0. 0. 1. ]] SLAMing on 36.119649246 meters Centerline goodness [0,1] 0.93476848844762 Centerline is valid? [False, False] Translation: X:7.22, Y:0.21, Z:0.76 [[ 0.87283729 -0.10207076 -0.47721759 7.22316069] [ 0.13586515 0.99004584 0.03674097 0.2097176 ] [ 0.46871711 -0.09690613 0.87801679 0.7589084 ] [ 0. 0. 0. 1. ]] SLAMing on 36.149649246 meters Centerline goodness [0,1] 0.9349585930957477 Centerline is valid? [False, False] Translation: X:7.23, Y:0.21, Z:0.76 [[ 0.87241151 -0.10336316 -0.47771771 7.22656728] [ 0.13675116 0.98996777 0.0355379 0.21145742] [ 0.46925182 -0.09633212 0.87779431 0.75821299] [ 0. 0. 0. 1. ]] SLAMing on 36.179649246000004 meters Centerline goodness [0,1] 0.9342741935483871 Centerline is valid? [False, False] Translation: X:7.23, Y:0.21, Z:0.76 [[ 0.87217701 -0.10374872 -0.47806219 7.22788673] [ 0.13711496 0.98992525 0.03531977 0.21169149] [ 0.46958145 -0.09635457 0.87761555 0.75850685] [ 0. 0. 0. 1. ]] SLAMing on 36.209649246 meters Centerline goodness [0,1] 0.9343360576773673 Centerline is valid? [False, False] Translation: X:7.23, Y:0.21, Z:0.76 [[ 0.87167471 -0.10446323 -0.47882213 7.23026756] [ 0.13785125 0.98983424 0.0350029 0.21170528] [ 0.47029802 -0.09651737 0.87721387 0.75944039] [ 0. 0. 0. 1. ]] SLAMing on 36.239649246 meters Centerline goodness [0,1] 0.933950253082011 Centerline is valid? [False, False] Translation: X:7.23, Y:0.21, Z:0.76 [[ 0.8713651 -0.10499774 -0.47926855 7.23176807] [ 0.13836826 0.98977168 0.034731 0.212037 ] [ 0.47071976 -0.09657893 0.87698085 0.75999177] [ 0. 0. 0. 1. ]] SLAMing on 36.269649246 meters Centerline goodness [0,1] 0.9355972261094008 Centerline is valid? [False, False] Translation: X:7.23, Y:0.21, Z:0.76 [[ 0.87109878 -0.10498322 -0.4797556 7.23193018] [ 0.13861852 0.98972315 0.03511393 0.2115264 ] [ 0.47113885 -0.09709071 0.87669925 0.76154175] [ 0. 0. 0. 1. ]] SLAMing on 36.299649246 meters Centerline goodness [0,1] 0.9355409347650674 Centerline is valid? [False, False] Translation: X:7.23, Y:0.21, Z:0.76 [[ 0.87095491 -0.10490084 -0.48003475 7.23208787] [ 0.13867698 0.98970722 0.03533136 0.21129703] [ 0.47138757 -0.09734179 0.8765377 0.76231258] [ 0. 0. 0. 1. ]] SLAMing on 36.329649246 meters Centerline goodness [0,1] 0.9357593761604159 Centerline is valid? [False, False] Translation: X:7.23, Y:0.21, Z:0.76 [[ 0.87063073 -0.10542565 -0.48050761 7.23326394] [ 0.13903977 0.98967563 0.03478635 0.21296571] [ 0.4718793 -0.09709573 0.87630037 0.76265449] [ 0. 0. 0. 1. ]] SLAMing on 36.359649246000004 meters Centerline goodness [0,1] 0.9347605113198829 Centerline is valid? [False, False] Translation: X:7.23, Y:0.22, Z:0.76 [[ 0.87045925 -0.10585326 -0.48072423 7.23439747] [ 0.13900129 0.98971651 0.03376208 0.21640587] [ 0.47220688 -0.0962098 0.87622163 0.761628 ] [ 0. 0. 0. 1. ]] SLAMing on 36.389649246 meters Centerline goodness [0,1] 0.9328867309937926 Centerline is valid? [False, False] Translation: X:7.23, Y:0.22, Z:0.76 [[ 0.87037417 -0.1059727 -0.48085195 7.23479003] [ 0.13887198 0.98975231 0.03324071 0.2179915 ] [ 0.47240172 -0.09570872 0.87617148 0.76116821] [ 0. 0. 0. 1. ]] SLAMing on 36.419649246 meters Centerline goodness [0,1] 0.935324300242726 Centerline is valid? [False, False] Translation: X:7.23, Y:0.22, Z:0.76 [[ 0.87027951 -0.10538088 -0.48115325 7.23328514] [ 0.13830071 0.98982828 0.03336004 0.21989246] [ 0.47274358 -0.09557639 0.87600152 0.76210697] [ 0. 0. 0. 1. ]] SLAMing on 36.449649246 meters Centerline goodness [0,1] 0.9346313046144412 Centerline is valid? [False, False] Translation: X:7.23, Y:0.22, Z:0.76 [[ 0.87021915 -0.1052284 -0.48129577 7.23258594] [ 0.13818049 0.98984285 0.03342586 0.2205233 ] [ 0.47288982 -0.09559351 0.87592071 0.76269363] [ 0. 0. 0. 1. ]] SLAMing on 36.479649246 meters Centerline goodness [0,1] 0.9380745189361441 Centerline is valid? [False, False] Translation: X:7.23, Y:0.22, Z:0.76 [[ 0.86985932 -0.10565422 -0.48185262 7.23339959] [ 0.13863909 0.98978464 0.03324996 0.22125618] [ 0.47341733 -0.0957264 0.8756212 0.76377425] [ 0. 0. 0. 1. ]] SLAMing on 36.509649246 meters Centerline goodness [0,1] 0.9365487674169346 Centerline is valid? [False, False] Translation: X:7.23, Y:0.22, Z:0.76 [[ 0.86964211 -0.10608289 -0.48215042 7.23479766] [ 0.13892043 0.98976022 0.0327998 0.2220889 ] [ 0.4737338 -0.09550464 0.87547424 0.76366002] [ 0. 0. 0. 1. ]] SLAMing on 36.539649246 meters Centerline goodness [0,1] 0.9365929826709938 Centerline is valid? [False, False] Translation: X:7.24, Y:0.22, Z:0.76 [[ 0.86932676 -0.10671266 -0.48257994 7.23653749] [ 0.1394016 0.98971011 0.03226604 0.22275161] [ 0.47417105 -0.09532215 0.87525739 0.76380433] [ 0. 0. 0. 1. ]] SLAMing on 36.569649246000004 meters Centerline goodness [0,1] 0.9358314964486897 Centerline is valid? [False, False] Translation: X:7.24, Y:0.22, Z:0.76 [[ 0.86907294 -0.10701771 -0.4829694 7.23785943] [ 0.13969196 0.98967548 0.03207181 0.22276965] [ 0.47455072 -0.09533968 0.87504969 0.76412989] [ 0. 0. 0. 1. ]] SLAMing on 36.599649246 meters Centerline goodness [0,1] 0.9368711656441717 Centerline is valid? [False, False] Translation: X:7.24, Y:0.22, Z:0.77 [[ 0.86860027 -0.10779619 -0.48364611 7.24037046] [ 0.14054391 0.98956193 0.03185279 0.22204568] [ 0.47516417 -0.09564085 0.87468385 0.76507648] [ 0. 0. 0. 1. ]] SLAMing on 36.629649246 meters Centerline goodness [0,1] 0.9326550685436774 Centerline is valid? [False, False] Translation: X:7.24, Y:0.22, Z:0.76 [[ 0.86862101 -0.11121185 -0.48283482 7.24014006] [ 0.14305665 0.9892748 0.02949857 0.22248244] [ 0.47437573 -0.09469581 0.87521447 0.76443517] [ 0. 0. 0. 1. ]] SLAMing on 36.659649246 meters Centerline goodness [0,1] 0.9405167911020985 Centerline is valid? [False, False] Translation: X:7.24, Y:0.22, Z:0.77 [[ 0.86812949 -0.11143379 -0.48366694 7.24128268] [ 0.14396476 0.98911219 0.0305159 0.21998199] [ 0.47500036 -0.09612275 0.87472 0.76743065] [ 0. 0. 0. 1. ]] SLAMing on 36.689649246 meters Centerline goodness [0,1] 0.9423337022009098 Centerline is valid? [False, False] Translation: X:7.24, Y:0.22, Z:0.77 [[ 0.86791891 -0.11137159 -0.48405902 7.24153259] [ 0.14432368 0.98903803 0.03121626 0.21813105] [ 0.47527618 -0.09695436 0.87447836 0.76915966] [ 0. 0. 0. 1. ]] SLAMing on 36.719649246 meters Centerline goodness [0,1] 0.942379239307567 Centerline is valid? [False, False] Translation: X:7.24, Y:0.22, Z:0.77 [[ 0.86782325 -0.11118911 -0.48427243 7.24129811] [ 0.14429014 0.98903433 0.03148743 0.21775862] [ 0.47546099 -0.09720126 0.87435048 0.76992727] [ 0. 0. 0. 1. ]] SLAMing on 36.749649246000004 meters Centerline goodness [0,1] 0.942366306456082 Centerline is valid? [False, False] Translation: X:7.24, Y:0.22, Z:0.77 [[ 0.86764075 -0.11146427 -0.48453611 7.24189292] [ 0.14449912 0.98901186 0.03123367 0.21878702] [ 0.47573053 -0.09711465 0.87421348 0.77020029] [ 0. 0. 0. 1. ]] SLAMing on 36.779649246 meters Centerline goodness [0,1] 0.941746080541039 Centerline is valid? [False, False] Translation: X:7.24, Y:0.22, Z:0.77 [[ 0.86737819 -0.11215689 -0.48484628 7.24390206] [ 0.14496585 0.98896434 0.03056855 0.21970669] [ 0.47606721 -0.09680064 0.87406502 0.76986152] [ 0. 0. 0. 1. ]] SLAMing on 36.809649246 meters Centerline goodness [0,1] 0.9418278276425773 Centerline is valid? [False, False] Translation: X:7.25, Y:0.22, Z:0.77 [[ 0.86716509 -0.11269663 -0.48510223 7.24546104] [ 0.14534585 0.98892363 0.03007713 0.22037142] [ 0.47633946 -0.09658943 0.87394004 0.76967086] [ 0. 0. 0. 1. ]] SLAMing on 36.839649246 meters Centerline goodness [0,1] 0.9422424952228318 Centerline is valid? [False, False] Translation: X:7.25, Y:0.22, Z:0.77 [[ 0.86689708 -0.11304248 -0.48550062 7.24645949] [ 0.14567403 0.98888182 0.02986348 0.2208043 ] [ 0.4767269 -0.0966134 0.87372611 0.77021714] [ 0. 0. 0. 1. ]] SLAMing on 36.869649246 meters Centerline goodness [0,1] 0.9409477971121807 Centerline is valid? [False, False] Translation: X:7.25, Y:0.22, Z:0.77 [[ 0.86667111 -0.11323419 -0.48585925 7.24723346] [ 0.14588089 0.98885448 0.02975886 0.22100937] [ 0.47707437 -0.09666872 0.87353031 0.77077944] [ 0. 0. 0. 1. ]] SLAMing on 36.899649246 meters Centerline goodness [0,1] 0.9422720533728688 Centerline is valid? [False, False] Translation: X:7.25, Y:0.22, Z:0.77 [[ 0.86643053 -0.11363955 -0.48619357 7.24850267] [ 0.14621495 0.98881449 0.02944642 0.22140343] [ 0.47740897 -0.09660205 0.87335487 0.77098295] [ 0. 0. 0. 1. ]] SLAMing on 36.929649246000004 meters Centerline goodness [0,1] 0.9419328974959911 Centerline is valid? [False, False] Translation: X:7.25, Y:0.22, Z:0.77 [[ 0.86603204 -0.11446432 -0.4867098 7.25088079] [ 0.14688268 0.98873378 0.02882695 0.22223096] [ 0.47792676 -0.0964543 0.87308796 0.77110888] [ 0. 0. 0. 1. ]] SLAMing on 36.959649246 meters Centerline goodness [0,1] 0.9404314329738058 Centerline is valid? [False, False] Translation: X:7.25, Y:0.22, Z:0.77 [[ 0.86580181 -0.11457298 -0.48709369 7.25155747] [ 0.14706926 0.9887053 0.02885259 0.22218977] [ 0.47828638 -0.09661713 0.872873 0.77181916] [ 0. 0. 0. 1. ]] SLAMing on 36.989649246 meters Centerline goodness [0,1] 0.942415033490449 Centerline is valid? [False, False] Translation: X:7.25, Y:0.22, Z:0.77 [[ 0.86558938 -0.11871245 -0.48647957 7.24912105] [ 0.14982655 0.98838609 0.02539581 0.2225864 ] [ 0.47781484 -0.0948699 0.87332278 0.77181352] [ 0. 0. 0. 1. ]] SLAMing on 37.019649246 meters Centerline goodness [0,1] 0.9426986488161646 Centerline is valid? [False, False] Translation: X:7.25, Y:0.22, Z:0.77 [[ 0.86550035 -0.11845926 -0.48669964 7.24884577] [ 0.14976388 0.98838617 0.02575963 0.22207692] [ 0.47799573 -0.095185 0.8731895 0.77264005] [ 0. 0. 0. 1. ]] SLAMing on 37.049649246 meters Centerline goodness [0,1] 0.9427987109568666 Centerline is valid? [False, False] Translation: X:7.25, Y:0.22, Z:0.77 [[ 0.86537751 -0.11845106 -0.48692002 7.24879244] [ 0.14981688 0.98837648 0.02582337 0.22262667] [ 0.47820149 -0.0952958 0.87306474 0.77323912] [ 0. 0. 0. 1. ]] SLAMing on 37.079649246 meters Centerline goodness [0,1] 0.9436471607076581 Centerline is valid? [False, False] Translation: X:7.25, Y:0.22, Z:0.77 [[ 0.86526211 -0.1186873 -0.48706755 7.24959381] [ 0.14996788 0.98836009 0.02557292 0.22349601] [ 0.47836295 -0.09517177 0.87298982 0.77312685] [ 0. 0. 0. 1. ]] SLAMing on 37.109649246000004 meters Centerline goodness [0,1] 0.941992277992278 Centerline is valid? [False, False] Translation: X:7.25, Y:0.22, Z:0.77 [[ 0.86508201 -0.1192329 -0.48725418 7.25080758] [ 0.15032896 0.98831857 0.02505218 0.22470791] [ 0.47857531 -0.09492061 0.87290077 0.77292841] [ 0. 0. 0. 1. ]] SLAMing on 37.139649246 meters Centerline goodness [0,1] 0.9413817597825751 Centerline is valid? [False, False] Translation: X:7.25, Y:0.22, Z:0.77 [[ 0.86488282 -0.11926939 -0.48759873 7.2514538 ] [ 0.15042183 0.98830405 0.02506741 0.22490196] [ 0.47890603 -0.09502586 0.87270791 0.77345379] [ 0. 0. 0. 1. ]] SLAMing on 37.169649246 meters Centerline goodness [0,1] 0.9433968096945715 Centerline is valid? [False, False] Translation: X:7.25, Y:0.22, Z:0.77 [[ 0.86477029 -0.1191784 -0.48782051 7.25151227] [ 0.15043224 0.98829845 0.02522547 0.22464988] [ 0.47910592 -0.09519817 0.87257941 0.77402951] [ 0. 0. 0. 1. ]] SLAMing on 37.199649246 meters Centerline goodness [0,1] 0.9442738859428784 Centerline is valid? [False, False] Translation: X:7.25, Y:0.22, Z:0.78 [[ 0.86450303 -0.11891184 -0.48835897 7.25152551] [ 0.15052542 0.98826872 0.02582697 0.22351281] [ 0.47955876 -0.09583793 0.87226056 0.77574387] [ 0. 0. 0. 1. ]] SLAMing on 37.229649246 meters Centerline goodness [0,1] 0.9420519021486373 Centerline is valid? [False, False] Translation: X:7.25, Y:0.22, Z:0.78 [[ 0.86437214 -0.11894857 -0.48858166 7.25192338] [ 0.15067839 0.98824146 0.02597784 0.22285747] [ 0.47974662 -0.09607322 0.87213136 0.77638083] [ 0. 0. 0. 1. ]] SLAMing on 37.259649246 meters Centerline goodness [0,1] 0.9413246268656716 Centerline is valid? [False, False] Translation: X:7.25, Y:0.22, Z:0.78 [[ 0.86429337 -0.11856277 -0.48881473 7.25142606] [ 0.15058288 0.98824074 0.02655246 0.22170416] [ 0.4799185 -0.09655624 0.87198344 0.77751159] [ 0. 0. 0. 1. ]] SLAMing on 37.289649246 meters Centerline goodness [0,1] 0.942795232936078 Centerline is valid? [False, False] Translation: X:7.25, Y:0.22, Z:0.78 [[ 0.86401973 -0.11894241 -0.4892061 7.25264391] [ 0.15098538 0.98818328 0.02640492 0.22235774] [ 0.48028462 -0.09667734 0.87176842 0.77804484] [ 0. 0. 0. 1. ]] SLAMing on 37.319649246000004 meters Centerline goodness [0,1] 0.9414519180078768 Centerline is valid? [False, False] Translation: X:7.25, Y:0.22, Z:0.78 [[ 0.8638777 -0.11921878 -0.48938961 7.25355271] [ 0.15120175 0.98815614 0.02618169 0.22292535] [ 0.480472 -0.09661434 0.87167214 0.77807567] [ 0. 0. 0. 1. ]] SLAMing on 37.349649246 meters Centerline goodness [0,1] 0.9400216751819167 Centerline is valid? [False, False] Translation: X:7.25, Y:0.22, Z:0.78 [[ 0.86371234 -0.11940844 -0.48963519 7.25382884] [ 0.15148871 0.98811032 0.02625212 0.22325773] [ 0.48067886 -0.09684848 0.8715321 0.77882031] [ 0. 0. 0. 1. ]] SLAMing on 37.379649246 meters Centerline goodness [0,1] 0.9400216751819167 Centerline is valid? [False, False] Translation: X:7.25, Y:0.22, Z:0.78 [[ 0.86371234 -0.11940844 -0.48963519 7.25382884] [ 0.15148871 0.98811032 0.02625212 0.22325773] [ 0.48067886 -0.09684848 0.8715321 0.77882031] [ 0. 0. 0. 1. ]] SLAMing on 37.409649246 meters Centerline goodness [0,1] 0.9438938767902079 Centerline is valid? [False, False] Translation: X:7.25, Y:0.22, Z:0.78 [[ 0.86363438 -0.11914173 -0.48983764 7.25358555] [ 0.15140634 0.98811339 0.02660919 0.22318219] [ 0.48084486 -0.09714514 0.8714075 0.77957188] [ 0. 0. 0. 1. ]] SLAMing on 37.439649246 meters Centerline goodness [0,1] 0.942153635968453 Centerline is valid? [False, False] Translation: X:7.25, Y:0.22, Z:0.78 [[ 0.86344885 -0.11896818 -0.49020674 7.25319325] [ 0.15143715 0.98809972 0.02693927 0.22300637] [ 0.48116823 -0.0974962 0.87118977 0.78086398] [ 0. 0. 0. 1. ]] SLAMing on 37.469649246 meters Centerline goodness [0,1] 0.941714179474467 Centerline is valid? [False, False] Translation: X:7.25, Y:0.22, Z:0.78 [[ 0.8632107 -0.1189549 -0.49062921 7.2536598 ] [ 0.1515519 0.98807838 0.02707636 0.22315667] [ 0.48155925 -0.09772839 0.87094767 0.78175513] [ 0. 0. 0. 1. ]] SLAMing on 37.499649246000004 meters Centerline goodness [0,1] 0.9415544105779378 Centerline is valid? [False, False] Translation: X:7.25, Y:0.22, Z:0.78 [[ 0.86320116 -0.11865469 -0.49071868 7.25307054] [ 0.15141153 0.98809034 0.02742315 0.22276386] [ 0.4816205 -0.09797217 0.87088642 0.78240518] [ 0. 0. 0. 1. ]] SLAMing on 37.529649246 meters Centerline goodness [0,1] 0.9425672530950386 Centerline is valid? [False, False] Translation: X:7.25, Y:0.22, Z:0.78 [[ 0.86307484 -0.11862574 -0.49094781 7.25357083] [ 0.15144884 0.98808256 0.02749715 0.22274423] [ 0.4818351 -0.09808557 0.87075493 0.78279143] [ 0. 0. 0. 1. ]] SLAMing on 37.559649246 meters Centerline goodness [0,1] 0.9410943173706589 Centerline is valid? [False, False] Translation: X:7.25, Y:0.22, Z:0.78 [[ 0.86287565 -0.1189518 -0.49121898 7.25494693] [ 0.15160629 0.98807092 0.02704407 0.22404637] [ 0.48214225 -0.09780756 0.87061618 0.78255469] [ 0. 0. 0. 1. ]] SLAMing on 37.589649246 meters Centerline goodness [0,1] 0.9410742005588326 Centerline is valid? [False, False] Translation: X:7.26, Y:0.22, Z:0.78 [[ 0.86272114 -0.11916716 -0.49143812 7.25606411] [ 0.15177144 0.98805097 0.02684611 0.2245455 ] [ 0.48236673 -0.09774698 0.87049863 0.78255686] [ 0. 0. 0. 1. ]] SLAMing on 37.619649246 meters Centerline goodness [0,1] 0.9412222049447987 Centerline is valid? [False, False] Translation: X:7.26, Y:0.22, Z:0.78 [[ 0.86258792 -0.11891149 -0.49173381 7.25626361] [ 0.15169359 0.9880542 0.02716523 0.22362016] [ 0.4826294 -0.09802526 0.87032173 0.783379 ] [ 0. 0. 0. 1. ]] SLAMing on 37.649649246 meters Centerline goodness [0,1] 0.9423333851172907 Centerline is valid? [False, False] Translation: X:7.26, Y:0.22, Z:0.78 [[ 0.8626122 -0.11833785 -0.49182959 7.25553962] [ 0.15132341 0.98809723 0.02766023 0.22309371] [ 0.4827022 -0.09828538 0.87025201 0.78395869] [ 0. 0. 0. 1. ]] SLAMing on 37.679649246000004 meters Centerline goodness [0,1] 0.9417707397192352 Centerline is valid? [False, False] Translation: X:7.26, Y:0.22, Z:0.78 [[ 0.86258357 -0.1183947 -0.49186613 7.25608009] [ 0.15120236 0.98812533 0.02731611 0.22422456] [ 0.4827913 -0.09793375 0.87024223 0.78344455] [ 0. 0. 0. 1. ]] SLAMing on 37.709649246 meters Centerline goodness [0,1] 0.9420711873857687 Centerline is valid? [False, False] Translation: X:7.26, Y:0.23, Z:0.78 [[ 0.86250993 -0.11864751 -0.49193433 7.25699838] [ 0.15130869 0.98811857 0.02696994 0.22513267] [ 0.48288953 -0.09769578 0.87021448 0.78303416] [ 0. 0. 0. 1. ]] SLAMing on 37.739649246 meters Centerline goodness [0,1] 0.9409656791572704 Centerline is valid? [False, False] Translation: X:7.26, Y:0.23, Z:0.78 [[ 0.86228449 -0.11903763 -0.4922352 7.25872854] [ 0.15146075 0.98811149 0.02636912 0.22652079] [ 0.48324434 -0.097292 0.87006274 0.78261995] [ 0. 0. 0. 1. ]] SLAMing on 37.769649246 meters Centerline goodness [0,1] 0.940158259149357 Centerline is valid? [False, False] Translation: X:7.26, Y:0.23, Z:0.78 [[ 0.8622463 -0.11903207 -0.49230345 7.25926091] [ 0.151415 0.98812081 0.02628247 0.22665387] [ 0.48332683 -0.09720409 0.87002675 0.78247582] [ 0. 0. 0. 1. ]] SLAMing on 37.799649246 meters Centerline goodness [0,1] 0.9396631501017954 Centerline is valid? [False, False] Translation: X:7.26, Y:0.23, Z:0.78 [[ 0.86208385 -0.11918503 -0.49255088 7.26035344] [ 0.15151559 0.98811046 0.02609105 0.22691309] [ 0.48358501 -0.09712181 0.86989246 0.78248473] [ 0. 0. 0. 1. ]] SLAMing on 37.829649246 meters Centerline goodness [0,1] 0.9413981650242501 Centerline is valid? [False, False] Translation: X:7.26, Y:0.23, Z:0.78 [[ 0.86203142 -0.11895775 -0.49269756 7.26049136] [ 0.15136379 0.98812944 0.02625279 0.22635125] [ 0.48372599 -0.09720729 0.86980452 0.78282773] [ 0. 0. 0. 1. ]] SLAMing on 37.859649246000004 meters Centerline goodness [0,1] 0.9401630233419785 Centerline is valid? [False, False] Translation: X:7.26, Y:0.23, Z:0.78 [[ 0.86196618 -0.11870117 -0.49287356 7.26045674] [ 0.15125174 0.98813894 0.02653953 0.2258392 ] [ 0.48387728 -0.09742416 0.8696961 0.78337926] [ 0. 0. 0. 1. ]] SLAMing on 37.889649246 meters Centerline goodness [0,1] 0.9398819274874046 Centerline is valid? [False, False] Translation: X:7.26, Y:0.23, Z:0.78 [[ 0.86183402 -0.11880185 -0.49308036 7.26123489] [ 0.15132964 0.9881301 0.02642439 0.22613859] [ 0.48408827 -0.09739111 0.86958238 0.78352839] [ 0. 0. 0. 1. ]] SLAMing on 37.919649246 meters Centerline goodness [0,1] 0.9385355919651949 Centerline is valid? [False, False] Translation: X:7.26, Y:0.23, Z:0.78 [[ 0.8616861 -0.11905514 -0.49327775 7.26237485] [ 0.15148275 0.98811441 0.0261323 0.22676863] [ 0.48430367 -0.09724091 0.86947925 0.78337272] [ 0. 0. 0. 1. ]] SLAMing on 37.949649246 meters Centerline goodness [0,1] 0.9371755253399259 Centerline is valid? [False, False] Translation: X:7.26, Y:0.23, Z:0.78 [[ 0.86152613 -0.11936435 -0.4934824 7.2636256 ] [ 0.15164016 0.98810078 0.02573133 0.22755151] [ 0.48453894 -0.09699996 0.86937508 0.78313573] [ 0. 0. 0. 1. ]] SLAMing on 37.979649246 meters Centerline goodness [0,1] 0.9373337457469842 Centerline is valid? [False, False] Translation: X:7.26, Y:0.23, Z:0.78 [[ 0.86139246 -0.11935453 -0.49371807 7.26404315] [ 0.15165067 0.98809956 0.02571627 0.22792632] [ 0.48477326 -0.09702448 0.8692417 0.78346055] [ 0. 0. 0. 1. ]] SLAMing on 38.009649246 meters Centerline goodness [0,1] 0.9362378805656766 Centerline is valid? [False, False] Translation: X:7.26, Y:0.23, Z:0.78 [[ 0.86137897 -0.11919541 -0.49378003 7.26388997] [ 0.1514737 0.98812682 0.02571201 0.22898495] [ 0.48485254 -0.09694247 0.86920663 0.78350353] [ 0. 0. 0. 1. ]] SLAMing on 38.039649246 meters Centerline goodness [0,1] 0.9367511841738646 Centerline is valid? [False, False] Translation: X:7.26, Y:0.23, Z:0.78 [[ 0.86131804 -0.11891364 -0.49395422 7.26354667] [ 0.1512332 0.98816083 0.02582038 0.22950806] [ 0.48503582 -0.09694184 0.86910444 0.78391126] [ 0. 0. 0. 1. ]] SLAMing on 38.069649246000004 meters Centerline goodness [0,1] 0.9328090165964825 Centerline is valid? [False, False] Translation: X:7.26, Y:0.23, Z:0.78 [[ 0.86126069 -0.11865434 -0.49411656 7.26344921] [ 0.1510545 0.98818356 0.02599596 0.2295824 ] [ 0.48519333 -0.09702783 0.86900692 0.78426037] [ 0. 0. 0. 1. ]] SLAMing on 38.099649246 meters Centerline goodness [0,1] 0.93194349792454 Centerline is valid? [False, False] Translation: X:7.26, Y:0.23, Z:0.78 [[ 0.86122327 -0.11827893 -0.49427176 7.26290371] [ 0.15083152 0.98820871 0.02633237 0.22947525] [ 0.4853291 -0.09722981 0.86890853 0.78494972] [ 0. 0. 0. 1. ]] SLAMing on 38.129649246 meters Centerline goodness [0,1] 0.9312567797923447 Centerline is valid? [False, False] Translation: X:7.26, Y:0.23, Z:0.79 [[ 0.86118939 -0.11795418 -0.49440838 7.26240823] [ 0.15066234 0.9882256 0.02666513 0.22927408] [ 0.48544176 -0.09745245 0.86882065 0.78555816] [ 0. 0. 0. 1. ]] SLAMing on 38.159649246 meters Centerline goodness [0,1] 0.9339163333023227 Centerline is valid? [False, False] Translation: X:7.26, Y:0.23, Z:0.79 [[ 0.86117502 -0.11757943 -0.49452266 7.26196766] [ 0.15043996 0.9882501 0.0270104 0.22902507] [ 0.4855362 -0.09765665 0.86874494 0.78604298] [ 0. 0. 0. 1. ]] SLAMing on 38.189649246 meters Centerline goodness [0,1] 0.9330939038360321 Centerline is valid? [False, False] Translation: X:7.26, Y:0.23, Z:0.79 [[ 0.86124612 -0.11723706 -0.49448012 7.26132829] [ 0.15023471 0.98827182 0.02735597 0.22881787] [ 0.48547363 -0.0978483 0.86875835 0.78638905] [ 0. 0. 0. 1. ]] SLAMing on 38.219649246 meters Centerline goodness [0,1] 0.9356318987969738 Centerline is valid? [False, False] Translation: X:7.26, Y:0.23, Z:0.79 [[ 0.86127696 -0.11684547 -0.4945191 7.26092781] [ 0.15002813 0.98829133 0.02778135 0.22801178] [ 0.48548281 -0.09811921 0.86872266 0.78686653] [ 0. 0. 0. 1. ]] SLAMing on 38.249649246000004 meters Centerline goodness [0,1] 0.9341371187701463 Centerline is valid? [False, False] Translation: X:7.26, Y:0.23, Z:0.79 [[ 0.86115967 -0.11686921 -0.49471771 7.26162193] [ 0.15007664 0.98828419 0.02777332 0.22802654] [ 0.48567585 -0.09816284 0.86860982 0.78702548] [ 0. 0. 0. 1. ]] SLAMing on 38.279649246 meters Centerline goodness [0,1] 0.9355579698898029 Centerline is valid? [False, False] Translation: X:7.26, Y:0.23, Z:0.79 [[ 0.86105559 -0.11674036 -0.49492925 7.26210383] [ 0.15013273 0.98826675 0.02808888 0.22691521] [ 0.48584301 -0.09849117 0.86847916 0.78768644] [ 0. 0. 0. 1. ]] SLAMing on 38.309649246 meters Centerline goodness [0,1] 0.9373037829100743 Centerline is valid? [False, False] Translation: X:7.26, Y:0.23, Z:0.79 [[ 0.86093984 -0.11646246 -0.49519601 7.26214004] [ 0.15011722 0.98825535 0.028569 0.22553626] [ 0.48605289 -0.09893364 0.86831142 0.78861821] [ 0. 0. 0. 1. ]] SLAMing on 38.339649246 meters Centerline goodness [0,1] 0.9341536931729902 Centerline is valid? [False, False] Translation: X:7.26, Y:0.22, Z:0.79 [[ 0.860842 -0.11630237 -0.49540368 7.2626688 ] [ 0.15013878 0.98824282 0.02888712 0.22432355] [ 0.48621949 -0.09924655 0.86818243 0.78915313] [ 0. 0. 0. 1. ]] SLAMing on 38.369649246 meters Centerline goodness [0,1] 0.935713840981259 Centerline is valid? [False, False] Translation: X:7.26, Y:0.22, Z:0.79 [[ 0.86069672 -0.11658429 -0.49558981 7.26384433] [ 0.15034091 0.98821968 0.02862657 0.22440005] [ 0.4864142 -0.09914622 0.86808482 0.78907185] [ 0. 0. 0. 1. ]] SLAMing on 38.399649246 meters Centerline goodness [0,1] 0.9328669154228856 Centerline is valid? [False, False] Translation: X:7.27, Y:0.23, Z:0.79 [[ 0.86038169 -0.11721963 -0.49598681 7.26625275] [ 0.15078711 0.98816884 0.02802834 0.22507419] [ 0.48683324 -0.09890349 0.86787758 0.78881857] [ 0. 0. 0. 1. ]] SLAMing on 38.429649246000004 meters Centerline goodness [0,1] 0.932756635653608 Centerline is valid? [False, False] Translation: X:7.27, Y:0.23, Z:0.79 [[ 0.86021287 -0.11736405 -0.49624539 7.26741703] [ 0.1509049 0.98815499 0.02788231 0.22510011] [ 0.48709498 -0.09887059 0.86773446 0.78886395] [ 0. 0. 0. 1. ]] SLAMing on 38.459649246 meters Centerline goodness [0,1] 0.9313981706178831 Centerline is valid? [False, False] Translation: X:7.27, Y:0.23, Z:0.79 [[ 0.85976866 -0.11822749 -0.49680993 7.27007132] [ 0.15162021 0.98806291 0.02725814 0.22560978] [ 0.48765681 -0.09876212 0.8674312 0.78912715] [ 0. 0. 0. 1. ]] SLAMing on 38.489649246 meters Centerline goodness [0,1] 0.9312453439284827 Centerline is valid? [False, False] Translation: X:7.27, Y:0.23, Z:0.79 [[ 0.85955975 -0.11843294 -0.4971224 7.2712601 ] [ 0.15184625 0.98803069 0.02716745 0.22570841] [ 0.48795466 -0.09883822 0.86725501 0.78940612] [ 0. 0. 0. 1. ]] SLAMing on 38.519649246 meters Centerline goodness [0,1] 0.9325437533028692 Centerline is valid? [False, False] Translation: X:7.27, Y:0.23, Z:0.79 [[ 0.85941104 -0.11853621 -0.49735484 7.27216591] [ 0.15193382 0.98802023 0.02705801 0.22582576] [ 0.48818929 -0.09881897 0.86712515 0.78952842] [ 0. 0. 0. 1. ]] SLAMing on 38.549649246 meters Centerline goodness [0,1] 0.9335280773175052 Centerline is valid? [False, False] Translation: X:7.27, Y:0.23, Z:0.79 [[ 0.85920094 -0.11895463 -0.49761787 7.2735076 ] [ 0.15218579 0.98799416 0.02659006 0.22692616] [ 0.48848054 -0.09857657 0.86698871 0.78934503] [ 0. 0. 0. 1. ]] SLAMing on 38.579649246 meters Centerline goodness [0,1] 0.9346168154761905 Centerline is valid? [False, False] Translation: X:7.27, Y:0.23, Z:0.79 [[ 0.85907546 -0.11907473 -0.49780576 7.27415012] [ 0.15221479 0.98799604 0.02635291 0.22826185] [ 0.48869215 -0.09841253 0.86688809 0.78928105] [ 0. 0. 0. 1. ]] SLAMing on 38.609649246000004 meters Centerline goodness [0,1] 0.9341798876090533 Centerline is valid? [False, False] Translation: X:7.27, Y:0.23, Z:0.79 [[ 0.85901992 -0.11867395 -0.49799726 7.27370911] [ 0.1520488 0.98800872 0.02683157 0.22764585] [ 0.48884142 -0.09876874 0.8667634 0.79012512] [ 0. 0. 0. 1. ]] SLAMing on 38.639649246000005 meters Centerline goodness [0,1] 0.9372244644520336 Centerline is valid? [False, False] Translation: X:7.27, Y:0.23, Z:0.79 [[ 0.85897369 -0.11810201 -0.49821291 7.27270061] [ 0.15178441 0.98803158 0.02747881 0.22701975] [ 0.48900479 -0.09922453 0.86661918 0.79135112] [ 0. 0. 0. 1. ]] SLAMing on 38.669649246 meters Centerline goodness [0,1] 0.9364366070598444 Centerline is valid? [False, False] Translation: X:7.27, Y:0.23, Z:0.79 [[ 0.85896979 -0.1179242 -0.49826177 7.27247151] [ 0.15165244 0.98804858 0.02759599 0.22763472] [ 0.4890526 -0.09926674 0.86658737 0.79150717] [ 0. 0. 0. 1. ]] SLAMing on 38.699649246 meters Centerline goodness [0,1] 0.9367088607594937 Centerline is valid? [False, False] Translation: X:7.27, Y:0.23, Z:0.79 [[ 0.8591086 -0.11737852 -0.49815128 7.27131844] [ 0.15119609 0.98810926 0.02792536 0.22783041] [ 0.48895006 -0.09930944 0.86664034 0.79164971] [ 0. 0. 0. 1. ]] SLAMing on 38.729649246 meters Centerline goodness [0,1] 0.9370903919871398 Centerline is valid? [False, False] Translation: X:7.27, Y:0.23, Z:0.79 [[ 0.85898709 -0.11709176 -0.49842822 7.27118363] [ 0.15104846 0.98812451 0.02818349 0.22765706] [ 0.48920909 -0.09949607 0.86647273 0.79235724] [ 0. 0. 0. 1. ]] SLAMing on 38.759649246 meters Centerline goodness [0,1] 0.9374420759962929 Centerline is valid? [False, False] Translation: X:7.27, Y:0.23, Z:0.79 [[ 0.85911582 -0.11655285 -0.49833266 7.27024342] [ 0.15056231 0.98819128 0.02844277 0.22745941] [ 0.4891329 -0.09946575 0.86651923 0.79244588] [ 0. 0. 0. 1. ]] SLAMing on 38.789649246 meters Centerline goodness [0,1] 0.9365584094838232 Centerline is valid? [False, False] Translation: X:7.27, Y:0.23, Z:0.79 [[ 0.8591688 -0.11609776 -0.49834756 7.26975723] [ 0.15017057 0.98824424 0.02867261 0.22758524] [ 0.48916028 -0.09947175 0.86650308 0.79256579] [ 0. 0. 0. 1. ]] SLAMing on 38.819649246000004 meters Centerline goodness [0,1] 0.9378590400889493 Centerline is valid? [False, False] Translation: X:7.27, Y:0.23, Z:0.79 [[ 0.85911481 -0.11600796 -0.49846154 7.2700053 ] [ 0.15005077 0.98826406 0.02861674 0.22791794] [ 0.48929185 -0.0993796 0.86643937 0.79255686] [ 0. 0. 0. 1. ]] SLAMing on 38.849649246 meters Centerline goodness [0,1] 0.9382540369980821 Centerline is valid? [False, False] Translation: X:7.27, Y:0.23, Z:0.79 [[ 0.85906174 -0.11608554 -0.49853492 7.27067181] [ 0.15002049 0.98827525 0.02838799 0.2283901 ] [ 0.48939429 -0.09917749 0.86640467 0.79222355] [ 0. 0. 0. 1. ]] SLAMing on 38.879649246 meters Centerline goodness [0,1] 0.9374129445630978 Centerline is valid? [False, False] Translation: X:7.27, Y:0.23, Z:0.79 [[ 0.85896494 -0.11634582 -0.49864103 7.27203275] [ 0.15001766 0.9882916 0.02782826 0.22928315] [ 0.48956504 -0.09870846 0.86636177 0.79145661] [ 0. 0. 0. 1. ]] SLAMing on 38.909649246 meters Centerline goodness [0,1] 0.9345133290087418 Centerline is valid? [False, False] Translation: X:7.27, Y:0.23, Z:0.79 [[ 0.85878076 -0.11653899 -0.4989131 7.27309783] [ 0.15011366 0.98828505 0.02754182 0.22982416] [ 0.48985866 -0.09854606 0.86621428 0.79142856] [ 0. 0. 0. 1. ]] SLAMing on 38.939649246 meters Centerline goodness [0,1] 0.9356106315170643 Centerline is valid? [False, False] Translation: X:7.28, Y:0.23, Z:0.79 [[ 0.8583369 -0.11732845 -0.49949155 7.27607237] [ 0.15066061 0.98822305 0.02676899 0.23070719] [ 0.4904683 -0.09823051 0.86590508 0.79127693] [ 0. 0. 0. 1. ]] SLAMing on 38.969649246 meters Centerline goodness [0,1] 0.9333250674188649 Centerline is valid? [False, False] Translation: X:7.28, Y:0.23, Z:0.79 [[ 0.85809467 -0.11764903 -0.49983222 7.27749675] [ 0.15091817 0.98819117 0.02649358 0.23095257] [ 0.49081284 -0.09816776 0.86571695 0.79139309] [ 0. 0. 0. 1. ]] SLAMing on 38.999649246000004 meters Centerline goodness [0,1] 0.9324043969654745 Centerline is valid? [False, False] Translation: X:7.28, Y:0.23, Z:0.79 [[ 0.85795142 -0.11773647 -0.50005748 7.27853868] [ 0.15092346 0.98819624 0.02627351 0.23123049] [ 0.49106157 -0.0980118 0.86559357 0.7912681 ] [ 0. 0. 0. 1. ]] SLAMing on 39.029649246 meters Centerline goodness [0,1] 0.9345131651970154 Centerline is valid? [False, False] Translation: X:7.28, Y:0.23, Z:0.79 [[ 0.85782293 -0.11772266 -0.50028112 7.27868876] [ 0.15082959 0.98821557 0.02608475 0.23275385] [ 0.49131483 -0.09783329 0.86547004 0.79139624] [ 0. 0. 0. 1. ]] SLAMing on 39.059649246 meters Centerline goodness [0,1] 0.9351714321079342 Centerline is valid? [False, False] Translation: X:7.28, Y:0.23, Z:0.79 [[ 0.85777603 -0.11757562 -0.50039609 7.27869144] [ 0.15069373 0.98823544 0.02611746 0.23302588] [ 0.49143838 -0.09780948 0.86540258 0.79148659] [ 0. 0. 0. 1. ]] SLAMing on 39.089649246 meters Centerline goodness [0,1] 0.9360439967867515 Centerline is valid? [False, False] Translation: X:7.28, Y:0.23, Z:0.79 [[ 0.85767366 -0.11727651 -0.5006417 7.2781534 ] [ 0.15059403 0.98824066 0.02649223 0.23306921] [ 0.49164757 -0.09811534 0.86524913 0.79240321] [ 0. 0. 0. 1. ]] SLAMing on 39.119649246 meters Centerline goodness [0,1] 0.9348893211077152 Centerline is valid? [False, False] Translation: X:7.28, Y:0.23, Z:0.79 [[ 0.85751616 -0.1172147 -0.5009259 7.27821699] [ 0.1506754 0.98822279 0.02669527 0.23312213] [ 0.49189731 -0.09836884 0.86507838 0.79317339] [ 0. 0. 0. 1. ]] SLAMing on 39.149649246 meters Centerline goodness [0,1] 0.9366438885625058 Centerline is valid? [False, False] Translation: X:7.28, Y:0.23, Z:0.79 [[ 0.85753889 -0.11693681 -0.50095193 7.27779368] [ 0.15046877 0.98824902 0.02688908 0.23361154] [ 0.49192093 -0.09843605 0.86505731 0.79335293] [ 0. 0. 0. 1. ]] SLAMing on 39.179649246000004 meters Centerline goodness [0,1] 0.935689527110671 Centerline is valid? [False, False] Translation: X:7.28, Y:0.23, Z:0.79 [[ 0.85751717 -0.11647312 -0.50109712 7.27683145] [ 0.150426 0.98823258 0.02771989 0.23207665] [ 0.49197187 -0.09914832 0.86494698 0.79474625] [ 0. 0. 0. 1. ]] SLAMing on 39.209649246 meters Centerline goodness [0,1] 0.935955716362062 Centerline is valid? [False, False] Translation: X:7.28, Y:0.23, Z:0.80 [[ 0.85729225 -0.11601416 -0.50158819 7.27638567] [ 0.15044777 0.98820496 0.02857311 0.23046771] [ 0.49235705 -0.09995833 0.86463453 0.79661935] [ 0. 0. 0. 1. ]] SLAMing on 39.239649246 meters Centerline goodness [0,1] 0.9364419916909531 Centerline is valid? [False, False] Translation: X:7.28, Y:0.23, Z:0.80 [[ 0.85732106 -0.1156466 -0.50162383 7.27615978] [ 0.1502636 0.98822098 0.02898538 0.22948316] [ 0.49236313 -0.10022558 0.86460013 0.79697159] [ 0. 0. 0. 1. ]] SLAMing on 39.269649246 meters Centerline goodness [0,1] 0.9364419916909531 Centerline is valid? [False, False] Translation: X:7.28, Y:0.23, Z:0.80 [[ 0.85732106 -0.1156466 -0.50162383 7.27615978] [ 0.1502636 0.98822098 0.02898538 0.22948316] [ 0.49236313 -0.10022558 0.86460013 0.79697159] [ 0. 0. 0. 1. ]] SLAMing on 39.299649246 meters Centerline goodness [0,1] 0.9372864508914704 Centerline is valid? [False, False] Translation: X:7.28, Y:0.23, Z:0.80 [[ 0.85728344 -0.11549579 -0.50172286 7.27640671] [ 0.15029486 0.98820629 0.02932221 0.22893489] [ 0.49241909 -0.10054381 0.86453131 0.79740681] [ 0. 0. 0. 1. ]] SLAMing on 39.329649246 meters Centerline goodness [0,1] 0.9367237953303527 Centerline is valid? [False, False] Translation: X:7.28, Y:0.23, Z:0.80 [[ 0.85707101 -0.11570963 -0.50203641 7.27762553] [ 0.15060038 0.98815889 0.0293519 0.22903768] [ 0.49269544 -0.10076354 0.86434826 0.79784906] [ 0. 0. 0. 1. ]] SLAMing on 39.359649246000004 meters Centerline goodness [0,1] 0.9369501010415048 Centerline is valid? [False, False] Translation: X:7.28, Y:0.23, Z:0.80 [[ 0.85674484 -0.11602774 -0.5025195 7.27928706] [ 0.15094972 0.98810987 0.02920731 0.22890738] [ 0.49315562 -0.10087839 0.86407238 0.79835953] [ 0. 0. 0. 1. ]] SLAMing on 39.389649246000005 meters Centerline goodness [0,1] 0.9381109519955171 Centerline is valid? [False, False] Translation: X:7.28, Y:0.23, Z:0.80 [[ 0.85637987 -0.11630334 -0.50307758 7.28074048] [ 0.15134006 0.98805031 0.02920232 0.22909039] [ 0.49366963 -0.10114407 0.86374775 0.79924095] [ 0. 0. 0. 1. ]] SLAMing on 39.419649246 meters Centerline goodness [0,1] 0.9363460578842315 Centerline is valid? [False, False] Translation: X:7.28, Y:0.23, Z:0.80 [[ 0.8562651 -0.11636628 -0.50325835 7.2814483 ] [ 0.15137603 0.98804795 0.0290955 0.22922868] [ 0.49385764 -0.10109472 0.86364604 0.79929841] [ 0. 0. 0. 1. ]] SLAMing on 39.449649246 meters Centerline goodness [0,1] 0.937371214486419 Centerline is valid? [False, False] Translation: X:7.28, Y:0.23, Z:0.80 [[ 0.85615797 -0.11608664 -0.50350514 7.28136306] [ 0.15130665 0.98804718 0.02947996 0.22907803] [ 0.4940646 -0.10142318 0.86348915 0.80005735] [ 0. 0. 0. 1. ]] SLAMing on 39.479649246 meters Centerline goodness [0,1] 0.9370281023841599 Centerline is valid? [False, False] Translation: X:7.28, Y:0.23, Z:0.80 [[ 0.85574916 -0.11602871 -0.50421297 7.28224433] [ 0.15185022 0.9879366 0.03037742 0.22699934] [ 0.49460579 -0.10256031 0.8630449 0.802407 ] [ 0. 0. 0. 1. ]] SLAMing on 39.509649246 meters Centerline goodness [0,1] 0.9322993214296882 Centerline is valid? [False, False] Translation: X:7.29, Y:0.23, Z:0.80 [[ 0.85537177 -0.11703071 -0.50462158 7.28505417] [ 0.15271878 0.987821 0.02977666 0.22770766] [ 0.49499101 -0.10253531 0.86282699 0.80238816] [ 0. 0. 0. 1. ]] SLAMing on 39.539649246 meters Centerline goodness [0,1] 0.9323784559695438 Centerline is valid? [False, False] Translation: X:7.29, Y:0.23, Z:0.80 [[ 0.85512855 -0.11726396 -0.50497953 7.28612266] [ 0.153007 0.98777799 0.02972377 0.22794518] [ 0.49532214 -0.10268304 0.86261937 0.80288165] [ 0. 0. 0. 1. ]] SLAMing on 39.569649246000004 meters Centerline goodness [0,1] 0.9328628528603548 Centerline is valid? [False, False] Translation: X:7.29, Y:0.23, Z:0.80 [[ 0.85471252 -0.11778167 -0.50556303 7.28777497] [ 0.15366717 0.98767647 0.02969177 0.2277452 ] [ 0.49583556 -0.10306637 0.86227862 0.80399499] [ 0. 0. 0. 1. ]] SLAMing on 39.599649246 meters Centerline goodness [0,1] 0.9351083088832012 Centerline is valid? [False, False] Translation: X:7.29, Y:0.23, Z:0.80 [[ 0.8544902 -0.1178624 -0.50591991 7.28823107] [ 0.15385303 0.98764527 0.0297669 0.2280297 ] [ 0.49616101 -0.10327284 0.86206669 0.80475121] [ 0. 0. 0. 1. ]] SLAMing on 39.629649246 meters Centerline goodness [0,1] 0.9349499374217772 Centerline is valid? [False, False] Translation: X:7.29, Y:0.23, Z:0.80 [[ 0.8544595 -0.11785846 -0.50597267 7.28831087] [ 0.15388177 0.98763943 0.02981204 0.22799128] [ 0.49620496 -0.10333315 0.86203416 0.80493216] [ 0. 0. 0. 1. ]] SLAMing on 39.659649246 meters Centerline goodness [0,1] 0.9341772151898734 Centerline is valid? [False, False] Translation: X:7.29, Y:0.23, Z:0.81 [[ 0.85432076 -0.11796997 -0.50618093 7.2887339 ] [ 0.15401443 0.98762007 0.02976844 0.2286756 ] [ 0.49640266 -0.10339096 0.8619134 0.80523137] [ 0. 0. 0. 1. ]] SLAMing on 39.689649246 meters Centerline goodness [0,1] 0.9353390491036633 Centerline is valid? [False, False] Translation: X:7.29, Y:0.23, Z:0.81 [[ 0.85437153 -0.11773614 -0.50614968 7.28798008] [ 0.15386799 0.98763616 0.02999105 0.22923518] [ 0.49636069 -0.10350374 0.86192404 0.80552408] [ 0. 0. 0. 1. ]] SLAMing on 39.719649246 meters Centerline goodness [0,1] 0.9351336216283483 Centerline is valid? [False, False] Translation: X:7.29, Y:0.23, Z:0.81 [[ 0.85454046 -0.11661022 -0.50612514 7.28519453] [ 0.15330055 0.98768468 0.03127172 0.22829497] [ 0.49624544 -0.10431221 0.86189293 0.80718617] [ 0. 0. 0. 1. ]] SLAMing on 39.749649246000004 meters Centerline goodness [0,1] 0.9365207659786123 Centerline is valid? [False, False] Translation: X:7.28, Y:0.23, Z:0.81 [[ 0.85457613 -0.11632098 -0.50613147 7.28442701] [ 0.15309554 0.98770939 0.03149473 0.22835946] [ 0.49624731 -0.10440112 0.86188109 0.80750403] [ 0. 0. 0. 1. ]] SLAMing on 39.779649246 meters Centerline goodness [0,1] 0.9382750582750583 Centerline is valid? [False, False] Translation: X:7.28, Y:0.23, Z:0.81 [[ 0.85467878 -0.11627878 -0.50596781 7.28381939] [ 0.1530118 0.98772303 0.03147375 0.22900782] [ 0.49609633 -0.10431899 0.86197795 0.80735792] [ 0. 0. 0. 1. ]] SLAMing on 39.809649246 meters Centerline goodness [0,1] 0.9391153081510935 Centerline is valid? [False, False] Translation: X:7.28, Y:0.23, Z:0.81 [[ 0.85452524 -0.11634101 -0.50621279 7.28390188] [ 0.15312424 0.98770526 0.03148458 0.22949354] [ 0.49632609 -0.10441782 0.8618337 0.80792559] [ 0. 0. 0. 1. ]] SLAMing on 39.839649246 meters Centerline goodness [0,1] 0.9375561963228227 Centerline is valid? [False, False] Translation: X:7.29, Y:0.23, Z:0.81 [[ 0.85437495 -0.11239884 -0.50735583 7.28742219] [ 0.15065709 0.98797236 0.03482899 0.22988999] [ 0.4973388 -0.10619377 0.86103252 0.80887103] [ 0. 0. 0. 1. ]] SLAMing on 39.869649246 meters Centerline goodness [0,1] 0.9363300530841585 Centerline is valid? [False, False] Translation: X:7.29, Y:0.23, Z:0.81 [[ 0.85416386 -0.11314958 -0.50754436 7.28923498] [ 0.15109176 0.98793375 0.03403216 0.23150592] [ 0.49756947 -0.10575481 0.86095327 0.80824993] [ 0. 0. 0. 1. ]] SLAMing on 39.899649246 meters Centerline goodness [0,1] 0.9370748827530515 Centerline is valid? [False, False] Translation: X:7.29, Y:0.23, Z:0.81 [[ 0.85391133 -0.1136618 -0.50785474 7.29108197] [ 0.15139973 0.98790602 0.03346383 0.23180497] [ 0.4979092 -0.10546421 0.8607925 0.80801144] [ 0. 0. 0. 1. ]] SLAMing on 39.929649246000004 meters Centerline goodness [0,1] 0.9365597413900286 Centerline is valid? [False, False] Translation: X:7.29, Y:0.23, Z:0.81 [[ 0.8537829 -0.11371722 -0.50805822 7.29178447] [ 0.15147951 0.98789456 0.03344102 0.23135154] [ 0.49810513 -0.10551178 0.86067331 0.80824099] [ 0. 0. 0. 1. ]] SLAMing on 39.959649246 meters Centerline goodness [0,1] 0.9339294585196225 Centerline is valid? [False, False] Translation: X:7.29, Y:0.23, Z:0.81 [[ 0.85358323 -0.11416463 -0.50829332 7.29318825] [ 0.15184466 0.98784932 0.03311987 0.23166635] [ 0.4983361 -0.1054522 0.8605469 0.80827086] [ 0. 0. 0. 1. ]] SLAMing on 39.989649246 meters Centerline goodness [0,1] 0.9344450299104237 Centerline is valid? [False, False] Translation: X:7.29, Y:0.23, Z:0.81 [[ 0.85349752 -0.11443426 -0.50837662 7.29402899] [ 0.15201549 0.98783187 0.03285564 0.23226455] [ 0.49843082 -0.10532332 0.86050782 0.80805406] [ 0. 0. 0. 1. ]] SLAMing on 40.019649246 meters Centerline goodness [0,1] 0.9354138230549696 Centerline is valid? [False, False] Translation: X:7.29, Y:0.23, Z:0.81 [[ 0.85340813 -0.11465852 -0.50847615 7.29475311] [ 0.15216924 0.98781506 0.03264863 0.23273299] [ 0.49853695 -0.10523703 0.8604569 0.80794802] [ 0. 0. 0. 1. ]] SLAMing on 40.049649246 meters Centerline goodness [0,1] 0.9354376789938986 Centerline is valid? [False, False] Translation: X:7.30, Y:0.23, Z:0.81 [[ 0.85319659 -0.1146946 -0.50882288 7.29503391] [ 0.15235678 0.98778063 0.0328153 0.23242691] [ 0.49884164 -0.10552052 0.86024557 0.80888929] [ 0. 0. 0. 1. ]] SLAMing on 40.079649246 meters Centerline goodness [0,1] 0.9355370358853162 Centerline is valid? [False, False] Translation: X:7.29, Y:0.23, Z:0.81 [[ 0.85309594 -0.11427454 -0.50908609 7.29421132] [ 0.1523914 0.98774724 0.03364878 0.2316732 ] [ 0.49900318 -0.10628598 0.86005762 0.81054703] [ 0. 0. 0. 1. ]] SLAMing on 40.109649246000004 meters Centerline goodness [0,1] 0.935526969922943 Centerline is valid? [False, False] Translation: X:7.29, Y:0.23, Z:0.81 [[ 0.85306641 -0.11426372 -0.50913801 7.29420532] [ 0.15242264 0.98774029 0.03371139 0.2318669 ] [ 0.49904413 -0.10636221 0.86002444 0.81074478] [ 0. 0. 0. 1. ]] SLAMing on 40.139649246000005 meters Centerline goodness [0,1] 0.9371499688861232 Centerline is valid? [False, False] Translation: X:7.29, Y:0.23, Z:0.81 [[ 0.85299801 -0.11425331 -0.50925492 7.29382125] [ 0.15249858 0.98772437 0.03383414 0.23227683] [ 0.49913784 -0.1065211 0.85995039 0.81136211] [ 0. 0. 0. 1. ]] SLAMing on 40.169649246 meters Centerline goodness [0,1] 0.9368352304534429 Centerline is valid? [False, False] Translation: X:7.29, Y:0.23, Z:0.81 [[ 0.85298727 -0.11403087 -0.50932277 7.2931035 ] [ 0.15239123 0.98773262 0.03407618 0.23234126] [ 0.49918898 -0.10668287 0.85990065 0.81191927] [ 0. 0. 0. 1. ]] SLAMing on 40.199649246 meters Centerline goodness [0,1] 0.9380074030296432 Centerline is valid? [False, False] Translation: X:7.29, Y:0.23, Z:0.81 [[ 0.85305795 -0.11394546 -0.50922349 7.29244069] [ 0.15227691 0.98775032 0.03407415 0.23323359] [ 0.49910307 -0.1066102 0.85995953 0.81186974] [ 0. 0. 0. 1. ]] SLAMing on 40.229649246 meters Centerline goodness [0,1] 0.936523710443775 Centerline is valid? [False, False] Translation: X:7.29, Y:0.23, Z:0.81 [[ 0.85302602 -0.11398725 -0.50926762 7.29251747] [ 0.15233592 0.98774097 0.03408154 0.23377532] [ 0.49913963 -0.1066522 0.8599331 0.81197673] [ 0. 0. 0. 1. ]] SLAMing on 40.259649246 meters Centerline goodness [0,1] 0.9343755793116233 Centerline is valid? [False, False] Translation: X:7.29, Y:0.24, Z:0.81 [[ 0.85307835 -0.11416538 -0.50914006 7.29265397] [ 0.15230294 0.98775911 0.03370084 0.23527361] [ 0.49906027 -0.10629299 0.86002363 0.81133077] [ 0. 0. 0. 1. ]] SLAMing on 40.289649246 meters Centerline goodness [0,1] 0.9333868874745103 Centerline is valid? [False, False] Translation: X:7.29, Y:0.24, Z:0.81 [[ 0.85294218 -0.11461726 -0.50926665 7.29360475] [ 0.15259929 0.98772769 0.0332787 0.23609875] [ 0.49920246 -0.10609854 0.85996512 0.81114957] [ 0. 0. 0. 1. ]] SLAMing on 40.319649246000004 meters Centerline goodness [0,1] 0.9355396928401472 Centerline is valid? [False, False] Translation: X:7.29, Y:0.24, Z:0.81 [[ 0.85267555 -0.11514683 -0.50959357 7.2949921 ] [ 0.15305808 0.98766831 0.03293214 0.23653485] [ 0.49951739 -0.10607785 0.85978478 0.81143866] [ 0. 0. 0. 1. ]] SLAMing on 40.349649246 meters Centerline goodness [0,1] 0.9352988342687967 Centerline is valid? [False, False] Translation: X:7.30, Y:0.24, Z:0.81 [[ 0.85246771 -0.11553296 -0.50985384 7.29627933] [ 0.15339047 0.98762544 0.0326704 0.23667723] [ 0.49977011 -0.10605718 0.85964045 0.81158973] [ 0. 0. 0. 1. ]] SLAMing on 40.379649246 meters Centerline goodness [0,1] 0.9358420727945712 Centerline is valid? [False, False] Translation: X:7.30, Y:0.24, Z:0.81 [[ 0.85202374 -0.11691821 -0.51028 7.30007169] [ 0.15440841 0.98750303 0.03155629 0.23739893] [ 0.50021355 -0.10567823 0.85942918 0.81104432] [ 0. 0. 0. 1. ]] SLAMing on 40.409649246 meters Centerline goodness [0,1] 0.9335988145952954 Centerline is valid? [False, False] Translation: X:7.30, Y:0.24, Z:0.81 [[ 0.85180275 -0.11745814 -0.51052488 7.30198493] [ 0.15485888 0.98744397 0.03119514 0.23737838] [ 0.50045059 -0.10563142 0.85929693 0.81095229] [ 0. 0. 0. 1. ]] SLAMing on 40.439649246 meters Centerline goodness [0,1] 0.9336929229052358 Centerline is valid? [False, False] Translation: X:7.30, Y:0.24, Z:0.81 [[ 0.85140841 -0.11815851 -0.51102083 7.30458278] [ 0.15565592 0.98732328 0.03104787 0.23640142] [ 0.50087419 -0.10597783 0.85900742 0.81163359] [ 0. 0. 0. 1. ]] SLAMing on 40.469649246 meters Centerline goodness [0,1] 0.9332198669348599 Centerline is valid? [False, False] Translation: X:7.31, Y:0.24, Z:0.81 [[ 0.85111283 -0.1182607 -0.51148935 7.30550761] [ 0.15595024 0.98727096 0.03123409 0.23535653] [ 0.50128482 -0.10635062 0.85872177 0.81272666] [ 0. 0. 0. 1. ]] SLAMing on 40.499649246000004 meters Centerline goodness [0,1] 0.9371625395643269 Centerline is valid? [False, False] Translation: X:7.31, Y:0.24, Z:0.81 [[ 0.85070018 -0.1234267 -0.51095504 7.30560077] [ 0.15917789 0.98689084 0.02662461 0.23701087] [ 0.50097067 -0.1039823 0.85919501 0.8113121 ] [ 0. 0. 0. 1. ]] SLAMing on 40.529649246 meters Centerline goodness [0,1] 0.9371734223788765 Centerline is valid? [False, False] Translation: X:7.30, Y:0.24, Z:0.81 [[ 0.85079586 -0.12333379 -0.51081814 7.30485869] [ 0.15904529 0.98691248 0.026615 0.23831239] [ 0.50085027 -0.10388715 0.85927671 0.81120151] [ 0. 0. 0. 1. ]] SLAMing on 40.559649246 meters Centerline goodness [0,1] 0.935778683463011 Centerline is valid? [False, False] Translation: X:7.30, Y:0.24, Z:0.81 [[ 0.85073472 -0.12322854 -0.51094537 7.30487211] [ 0.15898269 0.98692063 0.02668643 0.23856525] [ 0.50097399 -0.10393454 0.85919885 0.81144588] [ 0. 0. 0. 1. ]] SLAMing on 40.589649246 meters Centerline goodness [0,1] 0.9373817572806501 Centerline is valid? [False, False] Translation: X:7.31, Y:0.24, Z:0.81 [[ 0.85068522 -0.12348449 -0.51096598 7.30557897] [ 0.15909608 0.98691096 0.02636671 0.23959572] [ 0.50102204 -0.10372246 0.85919646 0.81115187] [ 0. 0. 0. 1. ]] SLAMing on 40.619649246 meters Centerline goodness [0,1] 0.938501515807709 Centerline is valid? [False, False] Translation: X:7.31, Y:0.24, Z:0.81 [[ 0.85070862 -0.12346537 -0.51093165 7.30542334] [ 0.15899692 0.98693023 0.02624294 0.24044858] [ 0.5010138 -0.10356166 0.85922067 0.81096304] [ 0. 0. 0. 1. ]] SLAMing on 40.649649246 meters Centerline goodness [0,1] 0.9371719666563754 Centerline is valid? [False, False] Translation: X:7.30, Y:0.24, Z:0.81 [[ 0.85080958 -0.12313633 -0.51084293 7.30469701] [ 0.15865869 0.98698211 0.02633876 0.24106987] [ 0.50094958 -0.10345894 0.85927049 0.81087669] [ 0. 0. 0. 1. ]] SLAMing on 40.679649246000004 meters Centerline goodness [0,1] 0.9372684613484811 Centerline is valid? [False, False] Translation: X:7.30, Y:0.24, Z:0.81 [[ 0.85074308 -0.12289923 -0.51101076 7.30448277] [ 0.15850492 0.98700233 0.02650656 0.24104855] [ 0.50111117 -0.10354799 0.85916553 0.81133062] [ 0. 0. 0. 1. ]] SLAMing on 40.709649246 meters Centerline goodness [0,1] 0.9397731475773641 Centerline is valid? [False, False] Translation: X:7.30, Y:0.24, Z:0.81 [[ 0.85081935 -0.12280956 -0.51090531 7.30422633] [ 0.15830206 0.98703875 0.02636234 0.24205069] [ 0.50104579 -0.10330695 0.85923267 0.81093673] [ 0. 0. 0. 1. ]] SLAMing on 40.739649246 meters Centerline goodness [0,1] 0.9389714707783214 Centerline is valid? [False, False] Translation: X:7.30, Y:0.24, Z:0.81 [[ 0.8508339 -0.12284967 -0.51087145 7.30440498] [ 0.15827124 0.98704701 0.02623778 0.24280526] [ 0.50103083 -0.10318025 0.85925662 0.81067377] [ 0. 0. 0. 1. ]] SLAMing on 40.769649246 meters Centerline goodness [0,1] 0.9408962380132776 Centerline is valid? [False, False] Translation: X:7.30, Y:0.24, Z:0.81 [[ 0.85074985 -0.12303958 -0.51096571 7.30463935] [ 0.15835505 0.98704035 0.02598121 0.24407852] [ 0.50114706 -0.10301751 0.85920837 0.81064367] [ 0. 0. 0. 1. ]] SLAMing on 40.799649246 meters Centerline goodness [0,1] 0.9396014370374919 Centerline is valid? [False, False] Translation: X:7.31, Y:0.24, Z:0.81 [[ 0.85068981 -0.12328001 -0.51100772 7.30546299] [ 0.15848696 0.98702604 0.02571911 0.24489596] [ 0.50120727 -0.10286704 0.85919127 0.81031514] [ 0. 0. 0. 1. ]] SLAMing on 40.829649246 meters Centerline goodness [0,1] 0.9410951752096066 Centerline is valid? [False, False] Translation: X:7.31, Y:0.25, Z:0.81 [[ 0.85057334 -0.12361382 -0.51112094 7.30652541] [ 0.15861719 0.9870172 0.02525153 0.24617601] [ 0.50136372 -0.10255085 0.85913779 0.809866 ] [ 0. 0. 0. 1. ]] SLAMing on 40.859649246000004 meters Centerline goodness [0,1] 0.9397120667955919 Centerline is valid? [False, False] Translation: X:7.31, Y:0.25, Z:0.81 [[ 0.85053268 -0.12358082 -0.51119659 7.30678493] [ 0.15858848 0.98702185 0.02524999 0.2464527 ] [ 0.50144178 -0.10254583 0.85909283 0.80992835] [ 0. 0. 0. 1. ]] SLAMing on 40.889649246000005 meters Centerline goodness [0,1] 0.9414497569380346 Centerline is valid? [False, False] Translation: X:7.31, Y:0.25, Z:0.81 [[ 0.85060999 -0.12324285 -0.51114953 7.30658122] [ 0.15825506 0.9870725 0.02536187 0.24614466] [ 0.50141597 -0.10246506 0.85911753 0.80977637] [ 0. 0. 0. 1. ]] SLAMing on 40.919649246 meters Centerline goodness [0,1] 0.9419486041782215 Centerline is valid? [False, False] Translation: X:7.31, Y:0.25, Z:0.81 [[ 0.85058348 -0.12320611 -0.5112025 7.30688323] [ 0.15823145 0.98707577 0.02538191 0.24591717] [ 0.50146839 -0.10247774 0.85908542 0.80980579] [ 0. 0. 0. 1. ]] SLAMing on 40.949649246 meters Centerline goodness [0,1] 0.9405282275441729 Centerline is valid? [False, False] Translation: X:7.31, Y:0.25, Z:0.81 [[ 0.85053736 -0.12316845 -0.5112883 7.30747604] [ 0.15827856 0.98706473 0.0255171 0.24511542] [ 0.50153174 -0.10262922 0.85903036 0.80996173] [ 0. 0. 0. 1. ]] SLAMing on 40.979649246 meters Centerline goodness [0,1] 0.9418440152540288 Centerline is valid? [False, False] Translation: X:7.31, Y:0.24, Z:0.81 [[ 0.85046785 -0.12310634 -0.51141887 7.30783067] [ 0.15832638 0.98705254 0.02569141 0.24457044] [ 0.50163452 -0.10282082 0.85894743 0.81032242] [ 0. 0. 0. 1. ]] SLAMing on 41.009649246 meters Centerline goodness [0,1] 0.9433172203577697 Centerline is valid? [False, False] Translation: X:7.31, Y:0.24, Z:0.81 [[ 0.85039823 -0.12286515 -0.51159261 7.30789162] [ 0.15824255 0.98705827 0.02598576 0.24401383] [ 0.50177897 -0.10305396 0.85883511 0.81083294] [ 0. 0. 0. 1. ]] SLAMing on 41.039649246 meters Centerline goodness [0,1] 0.9425846153846154 Centerline is valid? [False, False] Translation: X:7.31, Y:0.24, Z:0.81 [[ 0.8503273 -0.12295764 -0.51168829 7.30854755] [ 0.15843879 0.98702338 0.02611506 0.24324246] [ 0.50183726 -0.10327762 0.85877418 0.81116294] [ 0. 0. 0. 1. ]] SLAMing on 41.069649246000004 meters Centerline goodness [0,1] 0.9450251287269139 Centerline is valid? [False, False] Translation: X:7.31, Y:0.24, Z:0.81 [[ 0.8502214 -0.12305239 -0.51184146 7.30944744] [ 0.15852155 0.98701229 0.02603188 0.24306487] [ 0.50199053 -0.10327077 0.85868543 0.81121582] [ 0. 0. 0. 1. ]] SLAMing on 41.099649246 meters Centerline goodness [0,1] 0.9446943554350505 Centerline is valid? [False, False] Translation: X:7.31, Y:0.24, Z:0.81 [[ 0.85001242 -0.12309144 -0.51217906 7.3101899 ] [ 0.15869289 0.98698119 0.02616661 0.24326786] [ 0.50229021 -0.10352112 0.85848001 0.81189117] [ 0. 0. 0. 1. ]] SLAMing on 41.129649246 meters Centerline goodness [0,1] 0.942990539378302 Centerline is valid? [False, False] Translation: X:7.31, Y:0.24, Z:0.81 [[ 0.849912 -0.12320482 -0.51231842 7.31095548] [ 0.15879109 0.98696779 0.02607609 0.24338943] [ 0.50242908 -0.10351398 0.8583996 0.81192734] [ 0. 0. 0. 1. ]] SLAMing on 41.159649246 meters Centerline goodness [0,1] 0.9439065621638236 Centerline is valid? [False, False] Translation: X:7.31, Y:0.24, Z:0.81 [[ 0.84978953 -0.12333978 -0.51248908 7.31175397] [ 0.15892772 0.98694779 0.02600093 0.24355308] [ 0.50259302 -0.10354404 0.8583 0.81204738] [ 0. 0. 0. 1. ]] SLAMing on 41.189649246 meters Centerline goodness [0,1] 0.9466933867735471 Centerline is valid? [False, False] Translation: X:7.31, Y:0.24, Z:0.81 [[ 0.84928711 -0.12452819 -0.51303425 7.31472195] [ 0.1602334 0.98674342 0.02574251 0.24276789] [ 0.5030275 -0.10406801 0.85798204 0.81312807] [ 0. 0. 0. 1. ]] SLAMing on 41.219649246 meters Centerline goodness [0,1] 0.9466933867735471 Centerline is valid? [False, False] Translation: X:7.31, Y:0.24, Z:0.81 [[ 0.84928711 -0.12452819 -0.51303425 7.31472195] [ 0.1602334 0.98674342 0.02574251 0.24276789] [ 0.5030275 -0.10406801 0.85798204 0.81312807] [ 0. 0. 0. 1. ]] SLAMing on 41.249649246000004 meters Centerline goodness [0,1] 0.944734162372327 Centerline is valid? [False, False] Translation: X:7.32, Y:0.24, Z:0.81 [[ 0.84906563 -0.12503143 -0.51327838 7.31634649] [ 0.16063971 0.98668676 0.0253796 0.24327122] [ 0.50327174 -0.10400184 0.85784683 0.81308697] [ 0. 0. 0. 1. ]] SLAMing on 41.279649246 meters Centerline goodness [0,1] 0.9435099870137901 Centerline is valid? [False, False] Translation: X:7.32, Y:0.24, Z:0.81 [[ 0.84868493 -0.12581494 -0.51371635 7.31870837] [ 0.16141988 0.9865678 0.02505206 0.24315326] [ 0.50366408 -0.10418533 0.85759426 0.81358445] [ 0. 0. 0. 1. ]] SLAMing on 41.309649246 meters Centerline goodness [0,1] 0.9425745634368722 Centerline is valid? [False, False] Translation: X:7.32, Y:0.24, Z:0.81 [[ 0.84858625 -0.12588295 -0.51386268 7.31931581] [ 0.16150411 0.98655468 0.02502565 0.24312377] [ 0.50380333 -0.10422736 0.85750735 0.81377248] [ 0. 0. 0. 1. ]] SLAMing on 41.339649246 meters Centerline goodness [0,1] 0.9428932835590658 Centerline is valid? [False, False] Translation: X:7.32, Y:0.24, Z:0.81 [[ 0.84861098 -0.12575408 -0.5138534 7.31924261] [ 0.1613944 0.98657084 0.02509616 0.24359277] [ 0.50379684 -0.10422993 0.85751086 0.81372782] [ 0. 0. 0. 1. ]] SLAMing on 41.369649246 meters Centerline goodness [0,1] 0.9433863250501621 Centerline is valid? [False, False] Translation: X:7.32, Y:0.24, Z:0.81 [[ 0.84851648 -0.12577765 -0.51400367 7.31977797] [ 0.16142005 0.98656764 0.02505704 0.24391297] [ 0.50394777 -0.10423181 0.85742194 0.81381595] [ 0. 0. 0. 1. ]] SLAMing on 41.399649246 meters Centerline goodness [0,1] 0.9428898302464364 Centerline is valid? [False, False] Translation: X:7.32, Y:0.24, Z:0.81 [[ 0.84831388 -0.12626127 -0.51421945 7.32136546] [ 0.16166855 0.98654165 0.02447142 0.24475796] [ 0.50420912 -0.10389256 0.85730946 0.81345058] [ 0. 0. 0. 1. ]] SLAMing on 41.429649246000004 meters Centerline goodness [0,1] 0.9438946946576652 Centerline is valid? [False, False] Translation: X:7.32, Y:0.25, Z:0.81 [[ 0.8480823 -0.12659178 -0.5145201 7.3225862 ] [ 0.16192826 0.98650606 0.02418745 0.24589167] [ 0.50451526 -0.10382829 0.85713712 0.81356636] [ 0. 0. 0. 1. ]] SLAMing on 41.459649246 meters Centerline goodness [0,1] 0.9417072119233849 Centerline is valid? [False, False] Translation: X:7.32, Y:0.25, Z:0.81 [[ 0.8482333 -0.12616853 -0.51437512 7.32188761] [ 0.16137141 0.98659914 0.02411245 0.24724993] [ 0.50443982 -0.10345843 0.85722624 0.81295344] [ 0. 0. 0. 1. ]] SLAMing on 41.489649246 meters Centerline goodness [0,1] 0.943701054449035 Centerline is valid? [False, False] Translation: X:7.32, Y:0.25, Z:0.81 [[ 0.84835285 -0.12550924 -0.51433926 7.3203682 ] [ 0.16082493 0.98667893 0.02449544 0.24720044] [ 0.5044133 -0.10349935 0.8572369 0.81328673] [ 0. 0. 0. 1. ]] SLAMing on 41.519649246 meters Centerline goodness [0,1] 0.944259669869426 Centerline is valid? [False, False] Translation: X:7.32, Y:0.25, Z:0.81 [[ 0.84878379 -0.12414271 -0.51395978 7.3171914 ] [ 0.15962573 0.98685466 0.02524889 0.24742293] [ 0.50406914 -0.10347205 0.85744261 0.81329132] [ 0. 0. 0. 1. ]] SLAMing on 41.549649246 meters Centerline goodness [0,1] 0.944119997541034 Centerline is valid? [False, False] Translation: X:7.32, Y:0.25, Z:0.82 [[ 0.84879909 -0.11881345 -0.51519265 7.3179369 ] [ 0.15630136 0.98725882 0.02983121 0.24752042] [ 0.50508414 -0.10584602 0.85655509 0.8156847 ] [ 0. 0. 0. 1. ]] SLAMing on 41.579649246 meters Centerline goodness [0,1] 0.943492571287951 Centerline is valid? [False, False] Translation: X:7.32, Y:0.25, Z:0.82 [[ 0.84865612 -0.11392676 -0.51653023 7.31970065] [ 0.15329216 0.9875947 0.03403259 0.24675065] [ 0.50624529 -0.108062 0.85559237 0.81792019] [ 0. 0. 0. 1. ]] SLAMing on 41.609649246000004 meters Centerline goodness [0,1] 0.9433164905833716 Centerline is valid? [False, False] Translation: X:7.32, Y:0.25, Z:0.82 [[ 0.84877664 -0.11369816 -0.51638256 7.31927983] [ 0.15272513 0.98769871 0.03356038 0.24948698] [ 0.50621463 -0.10734986 0.85570016 0.81681142] [ 0. 0. 0. 1. ]] SLAMing on 41.639649246000005 meters Centerline goodness [0,1] 0.9424013228404324 Centerline is valid? [False, False] Translation: X:7.32, Y:0.25, Z:0.82 [[ 0.84882115 -0.1134921 -0.51635472 7.31905928] [ 0.15249914 0.9877326 0.03359057 0.24981926] [ 0.50620812 -0.10725604 0.85571577 0.81666808] [ 0. 0. 0. 1. ]] SLAMing on 41.669649246 meters Centerline goodness [0,1] 0.9427328964292276 Centerline is valid? [False, False] Translation: X:7.32, Y:0.25, Z:0.82 [[ 0.84878324 -0.11341188 -0.51643465 7.3194772 ] [ 0.15238957 0.98775111 0.03354345 0.24967059] [ 0.50630468 -0.10717038 0.85566938 0.81658746] [ 0. 0. 0. 1. ]] SLAMing on 41.699649246 meters Centerline goodness [0,1] 0.9427257396903266 Centerline is valid? [False, False] Translation: X:7.32, Y:0.25, Z:0.82 [[ 0.84865877 -0.11371118 -0.51657339 7.32057958] [ 0.15258667 0.98773048 0.03325379 0.24977114] [ 0.50645395 -0.10704333 0.85559694 0.81641008] [ 0. 0. 0. 1. ]] SLAMing on 41.729649246 meters Centerline goodness [0,1] 0.9415262028807846 Centerline is valid? [False, False] Translation: X:7.32, Y:0.25, Z:0.82 [[ 0.84836436 -0.11462457 -0.51685502 7.32315363] [ 0.1533548 0.98763046 0.03268621 0.24997571] [ 0.50671512 -0.10699201 0.85544871 0.81628376] [ 0. 0. 0. 1. ]] SLAMing on 41.759649246 meters Centerline goodness [0,1] 0.9393159249724163 Centerline is valid? [False, False] Translation: X:7.32, Y:0.25, Z:0.82 [[ 0.84817323 -0.11498162 -0.51708935 7.32451863] [ 0.15367107 0.98758873 0.03246081 0.24991982] [ 0.50693921 -0.10699406 0.85531567 0.81635496] [ 0. 0. 0. 1. ]] SLAMing on 41.789649246 meters Centerline goodness [0,1] 0.9401506996770721 Centerline is valid? [False, False] Translation: X:7.33, Y:0.25, Z:0.82 [[ 0.84794946 -0.11512443 -0.51742447 7.32574178] [ 0.15394193 0.98754345 0.0325547 0.24896123] [ 0.5072313 -0.10725806 0.85510942 0.81693054] [ 0. 0. 0. 1. ]] SLAMing on 41.819649246000004 meters Centerline goodness [0,1] 0.9402004626060139 Centerline is valid? [False, False] Translation: X:7.33, Y:0.25, Z:0.82 [[ 0.84757234 -0.11536427 -0.51798863 7.32766512] [ 0.15448855 0.98744779 0.03286565 0.24688607] [ 0.5076952 -0.10787933 0.85475589 0.8181672 ] [ 0. 0. 0. 1. ]] SLAMing on 41.849649246 meters Centerline goodness [0,1] 0.9375771795505063 Centerline is valid? [False, False] Translation: X:7.33, Y:0.25, Z:0.82 [[ 0.84734761 -0.11568478 -0.51828474 7.32919374] [ 0.15490933 0.98738166 0.03287194 0.24605535] [ 0.50794206 -0.1081411 0.85457613 0.81860862] [ 0. 0. 0. 1. ]] SLAMing on 41.879649246 meters Centerline goodness [0,1] 0.940226471134212 Centerline is valid? [False, False] Translation: X:7.33, Y:0.24, Z:0.82 [[ 0.84676065 -0.11651783 -0.51905684 7.33239098] [ 0.15592721 0.98722519 0.03275881 0.24401708] [ 0.508609 -0.10867396 0.85411174 0.81995289] [ 0. 0. 0. 1. ]] SLAMing on 41.909649246 meters Centerline goodness [0,1] 0.9393008901709003 Centerline is valid? [False, False] Translation: X:7.33, Y:0.24, Z:0.82 [[ 0.84660738 -0.11653646 -0.5193026 7.33320405] [ 0.15603935 0.98720446 0.03284936 0.2431277 ] [ 0.50882969 -0.10884215 0.85395886 0.82034614] [ 0. 0. 0. 1. ]] SLAMing on 41.939649246 meters Centerline goodness [0,1] 0.9387755102040817 Centerline is valid? [False, False] Translation: X:7.33, Y:0.24, Z:0.82 [[ 0.84650874 -0.11658083 -0.51945343 7.33401141] [ 0.15610114 0.98719538 0.03282859 0.24264019] [ 0.50897484 -0.10887697 0.85386792 0.82041963] [ 0. 0. 0. 1. ]] SLAMing on 41.969649246 meters Centerline goodness [0,1] 0.938870164806283 Centerline is valid? [False, False] Translation: X:7.33, Y:0.24, Z:0.82 [[ 0.84648477 -0.11681947 -0.51943888 7.33474263] [ 0.15618624 0.98719253 0.03250808 0.24306898] [ 0.50898861 -0.1086468 0.85388903 0.8199499 ] [ 0. 0. 0. 1. ]] SLAMing on 41.999649246000004 meters Centerline goodness [0,1] 0.9381392330748076 Centerline is valid? [False, False] Translation: X:7.34, Y:0.24, Z:0.82 [[ 0.84641782 -0.11704762 -0.51949661 7.33542579] [ 0.15622599 0.98719913 0.03211407 0.24406062] [ 0.50908773 -0.10834079 0.85386882 0.8194992 ] [ 0. 0. 0. 1. ]] SLAMing on 42.029649246 meters Centerline goodness [0,1] 0.9378845499799029 Centerline is valid? [False, False] Translation: X:7.34, Y:0.24, Z:0.82 [[ 0.84612367 -0.11748796 -0.51987626 7.33664472] [ 0.15668468 0.98713248 0.03192766 0.24473 ] [ 0.50943562 -0.1084714 0.85364472 0.82007015] [ 0. 0. 0. 1. ]] SLAMing on 42.059649246 meters Centerline goodness [0,1] 0.9363540634291377 Centerline is valid? [False, False] Translation: X:7.34, Y:0.24, Z:0.82 [[ 0.84588567 -0.11781877 -0.52018859 7.33766503] [ 0.157063 0.98707528 0.0318372 0.24457469] [ 0.50971428 -0.10863301 0.8534578 0.82062267] [ 0. 0. 0. 1. ]] SLAMing on 42.089649246 meters Centerline goodness [0,1] 0.9346716570261994 Centerline is valid? [False, False] Translation: X:7.34, Y:0.24, Z:0.82 [[ 0.84573513 -0.11800235 -0.52039171 7.33833966] [ 0.15728763 0.98704058 0.03180406 0.24468193] [ 0.50989478 -0.10874899 0.8533352 0.82098534] [ 0. 0. 0. 1. ]] SLAMing on 42.119649246 meters Centerline goodness [0,1] 0.9334015440424146 Centerline is valid? [False, False] Translation: X:7.34, Y:0.24, Z:0.82 [[ 0.84569622 -0.11798479 -0.52045893 7.33839675] [ 0.15732853 0.98703129 0.03189005 0.2449617 ] [ 0.5099467 -0.10885234 0.853291 0.82122594] [ 0. 0. 0. 1. ]] SLAMing on 42.149649246 meters Centerline goodness [0,1] 0.9357681840672935 Centerline is valid? [False, False] Translation: X:7.34, Y:0.24, Z:0.82 [[ 0.84566943 -0.11790587 -0.52052033 7.33834735] [ 0.15729397 0.98703417 0.03197106 0.24494456] [ 0.51000178 -0.10891166 0.85325051 0.82141642] [ 0. 0. 0. 1. ]] SLAMing on 42.179649246000004 meters Centerline goodness [0,1] 0.9365182436611008 Centerline is valid? [False, False] Translation: X:7.34, Y:0.24, Z:0.82 [[ 0.84565425 -0.11761538 -0.52061072 7.33786059] [ 0.15710578 0.98705667 0.03220087 0.24466888] [ 0.51008497 -0.10902175 0.85318672 0.82183538] [ 0. 0. 0. 1. ]] SLAMing on 42.209649246000005 meters Centerline goodness [0,1] 0.9345620979713013 Centerline is valid? [False, False] Translation: X:7.34, Y:0.24, Z:0.82 [[ 0.84556201 -0.11778624 -0.5207219 7.33841169] [ 0.15721599 0.98704488 0.03202394 0.24483544] [ 0.5102039 -0.10894403 0.85312553 0.8218484 ] [ 0. 0. 0. 1. ]] SLAMing on 42.239649246 meters Centerline goodness [0,1] 0.935270274451561 Centerline is valid? [False, False] Translation: X:7.34, Y:0.24, Z:0.82 [[ 0.84547039 -0.11784215 -0.52085799 7.3388007 ] [ 0.15726597 0.98703885 0.03196445 0.2448743 ] [ 0.51034031 -0.10893823 0.85304468 0.82198757] [ 0. 0. 0. 1. ]] SLAMing on 42.269649246 meters Centerline goodness [0,1] 0.9348971244422409 Centerline is valid? [False, False] Translation: X:7.34, Y:0.24, Z:0.82 [[ 0.84499571 -0.11820651 -0.52154528 7.34015211] [ 0.15787708 0.98693679 0.03210287 0.24400364] [ 0.51093746 -0.10946683 0.85261945 0.82365224] [ 0. 0. 0. 1. ]] SLAMing on 42.299649246 meters Centerline goodness [0,1] 0.9362158465698921 Centerline is valid? [False, False] Translation: X:7.34, Y:0.24, Z:0.83 [[ 0.84460239 -0.1183389 -0.52215199 7.34132192] [ 0.15828496 0.98686263 0.03237299 0.24321141] [ 0.51146131 -0.10999111 0.85223781 0.82503984] [ 0. 0. 0. 1. ]] SLAMing on 42.329649246 meters Centerline goodness [0,1] 0.9323950663311275 Centerline is valid? [False, False] Translation: X:7.34, Y:0.24, Z:0.83 [[ 0.84412338 -0.11917217 -0.52273676 7.34356599] [ 0.15919062 0.98672546 0.03211235 0.24365787] [ 0.51197077 -0.11032158 0.85188912 0.82602611] [ 0. 0. 0. 1. ]] SLAMing on 42.359649246000004 meters Centerline goodness [0,1] 0.9332030886594102 Centerline is valid? [False, False] Translation: X:7.34, Y:0.24, Z:0.83 [[ 0.84403544 -0.11944628 -0.52281618 7.34434511] [ 0.15937141 0.98670446 0.03186005 0.24416832] [ 0.51205949 -0.11021296 0.85184986 0.82585854] [ 0. 0. 0. 1. ]] SLAMing on 42.389649246000005 meters Centerline goodness [0,1] 0.9353509695805712 Centerline is valid? [False, False] Translation: X:7.34, Y:0.24, Z:0.83 [[ 0.84400901 -0.1195905 -0.52282588 7.34471531] [ 0.15942842 0.98670131 0.03167196 0.24496003] [ 0.51208532 -0.11008473 0.85185092 0.82568037] [ 0. 0. 0. 1. ]] SLAMing on 42.419649246 meters Centerline goodness [0,1] 0.9343210488795214 Centerline is valid? [False, False] Translation: X:7.34, Y:0.25, Z:0.83 [[ 0.84400098 -0.11960287 -0.52283602 7.34488676] [ 0.15941688 0.98670464 0.03162615 0.24513075] [ 0.51210215 -0.11004139 0.8518464 0.82562702] [ 0. 0. 0. 1. ]] SLAMing on 42.449649246 meters Centerline goodness [0,1] 0.9321434114542915 Centerline is valid? [False, False] Translation: X:7.35, Y:0.24, Z:0.83 [[ 0.84386167 -0.11959696 -0.52306218 7.34514574] [ 0.15951863 0.98668422 0.03175001 0.24484316] [ 0.5123 -0.11023078 0.85170293 0.82619421] [ 0. 0. 0. 1. ]] SLAMing on 42.479649246 meters Centerline goodness [0,1] 0.9323026397323089 Centerline is valid? [False, False] Translation: X:7.35, Y:0.24, Z:0.83 [[ 0.84342141 -0.12013074 -0.52364963 7.34694476] [ 0.16017868 0.98658012 0.03166149 0.24492277] [ 0.5128188 -0.11058148 0.85134518 0.82726953] [ 0. 0. 0. 1. ]] SLAMing on 42.509649246 meters Centerline goodness [0,1] 0.9334883720930233 Centerline is valid? [False, False] Translation: X:7.35, Y:0.25, Z:0.83 [[ 0.84330489 -0.12054592 -0.52374187 7.34780114] [ 0.16047726 0.98654226 0.03132767 0.24570337] [ 0.51291707 -0.11046744 0.85130079 0.82710023] [ 0. 0. 0. 1. ]] SLAMing on 42.539649246 meters Centerline goodness [0,1] 0.9292857364005077 Centerline is valid? [False, False] Translation: X:7.35, Y:0.25, Z:0.83 [[ 0.84315968 -0.12067523 -0.52394584 7.34836624] [ 0.16058879 0.98652783 0.03121033 0.24613564] [ 0.51312084 -0.11045512 0.85117958 0.82728824] [ 0. 0. 0. 1. ]] SLAMing on 42.569649246000004 meters Centerline goodness [0,1] 0.9306275812812471 Centerline is valid? [False, False] Translation: X:7.35, Y:0.25, Z:0.83 [[ 0.84278973 -0.12636326 -0.52319957 7.34805762] [ 0.16440044 0.98603291 0.02667561 0.24763979] [ 0.51252118 -0.10849618 0.85179259 0.82630101] [ 0. 0. 0. 1. ]] SLAMing on 42.599649246 meters Centerline goodness [0,1] 0.9331447752843911 Centerline is valid? [False, False] Translation: X:7.35, Y:0.25, Z:0.83 [[ 0.84243552 -0.12651365 -0.52373342 7.34885168] [ 0.16478357 0.98596321 0.0268872 0.24753167] [ 0.51298029 -0.1089534 0.8514578 0.82759525] [ 0. 0. 0. 1. ]] SLAMing on 42.629649246 meters Centerline goodness [0,1] 0.9320556951034205 Centerline is valid? [False, False] Translation: X:7.35, Y:0.25, Z:0.83 [[ 0.84225036 -0.12706026 -0.52389887 7.3502509 ] [ 0.16501537 0.98594376 0.02616915 0.24899099] [ 0.51320976 -0.10849234 0.85137838 0.82705266] [ 0. 0. 0. 1. ]] SLAMing on 42.659649246 meters Centerline goodness [0,1] 0.931477980599374 Centerline is valid? [False, False] Translation: X:7.35, Y:0.25, Z:0.83 [[ 0.84190627 -0.12796331 -0.52423203 7.35240813] [ 0.16572827 0.98584131 0.02551572 0.24989028] [ 0.51354452 -0.10836191 0.85119312 0.82705021] [ 0. 0. 0. 1. ]] SLAMing on 42.689649246 meters Centerline goodness [0,1] 0.9299289988528199 Centerline is valid? [False, False] Translation: X:7.36, Y:0.25, Z:0.83 [[ 0.84158375 -0.12430743 -0.52562767 7.35554077] [ 0.16408218 0.98600461 0.02952888 0.24820107] [ 0.51460064 -0.11109716 0.85020209 0.83015416] [ 0. 0. 0. 1. ]] SLAMing on 42.719649246 meters Centerline goodness [0,1] 0.9300933535961294 Centerline is valid? [False, False] Translation: X:7.36, Y:0.25, Z:0.83 [[ 0.84137344 -0.12458656 -0.52589821 7.35671155] [ 0.16437754 0.98595902 0.02940808 0.24816251] [ 0.51485024 -0.11118903 0.85003896 0.83043632] [ 0. 0. 0. 1. ]] SLAMing on 42.749649246000004 meters Centerline goodness [0,1] 0.9322338644677289 Centerline is valid? [False, False] Translation: X:7.36, Y:0.25, Z:0.83 [[ 0.84089506 -0.12497637 -0.52657041 7.35836804] [ 0.16497441 0.98585752 0.02946857 0.24809891] [ 0.51544053 -0.11165062 0.84962062 0.83175391] [ 0. 0. 0. 1. ]] SLAMing on 42.779649246 meters Centerline goodness [0,1] 0.9308690133432401 Centerline is valid? [False, False] Translation: X:7.36, Y:0.25, Z:0.83 [[ 0.84084091 -0.12476589 -0.52670678 7.35817784] [ 0.1648989 0.98586272 0.02971617 0.24768692] [ 0.51555301 -0.11183995 0.84952747 0.83224869] [ 0. 0. 0. 1. ]] SLAMing on 42.809649246 meters Centerline goodness [0,1] 0.9352513534416087 Centerline is valid? [False, False] Translation: X:7.36, Y:0.25, Z:0.83 [[ 0.84058381 -0.12481912 -0.5271044 7.35853787] [ 0.16508124 0.9858293 0.02981245 0.24833979] [ 0.51591379 -0.11207491 0.84927744 0.83311912] [ 0. 0. 0. 1. ]] SLAMing on 42.839649246 meters Centerline goodness [0,1] 0.9350512915585218 Centerline is valid? [False, False] Translation: X:7.36, Y:0.25, Z:0.83 [[ 0.84063076 -0.1247085 -0.52705571 7.35805442] [ 0.16494846 0.9858513 0.02981982 0.24899244] [ 0.51587977 -0.11200448 0.8493074 0.8330785 ] [ 0. 0. 0. 1. ]] SLAMing on 42.869649246 meters Centerline goodness [0,1] 0.9337128789044469 Centerline is valid? [False, False] Translation: X:7.36, Y:0.25, Z:0.83 [[ 0.84077425 -0.12450375 -0.5268752 7.35721044] [ 0.1646169 0.98590988 0.02971516 0.25033997] [ 0.51575182 -0.1117163 0.84942306 0.83261412] [ 0. 0. 0. 1. ]] SLAMing on 42.899649246 meters Centerline goodness [0,1] 0.933780127889818 Centerline is valid? [False, False] Translation: X:7.36, Y:0.25, Z:0.83 [[ 0.84078894 -0.12436542 -0.52688442 7.35682817] [ 0.16444707 0.98593867 0.02970025 0.25118046] [ 0.51578204 -0.11161625 0.84941786 0.83257577] [ 0. 0. 0. 1. ]] SLAMing on 42.929649246000004 meters Centerline goodness [0,1] 0.9346246973365617 Centerline is valid? [False, False] Translation: X:7.36, Y:0.25, Z:0.83 [[ 0.84084714 -0.12425642 -0.52681726 7.35629575] [ 0.16401448 0.98602521 0.02921533 0.25326144] [ 0.51582491 -0.11097128 0.84947633 0.83183407] [ 0. 0. 0. 1. ]] SLAMing on 42.959649246000005 meters Centerline goodness [0,1] 0.9317491951556033 Centerline is valid? [False, False] Translation: X:7.36, Y:0.25, Z:0.83 [[ 0.84088285 -0.12419755 -0.52677414 7.35616198] [ 0.16376307 0.98607553 0.02892585 0.25461969] [ 0.51584657 -0.1105894 0.84951298 0.83133209] [ 0. 0. 0. 1. ]] SLAMing on 42.989649246 meters Centerline goodness [0,1] 0.9356614274356309 Centerline is valid? [False, False] Translation: X:7.36, Y:0.25, Z:0.83 [[ 0.84095131 -0.11873606 -0.52792295 7.35633766] [ 0.16013039 0.98653757 0.03319475 0.25453022] [ 0.51687441 -0.11245168 0.84864331 0.83324464] [ 0. 0. 0. 1. ]] SLAMing on 43.019649246 meters Centerline goodness [0,1] 0.9371337890625 Centerline is valid? [False, False] Translation: X:7.36, Y:0.26, Z:0.83 [[ 0.84081798 -0.11883498 -0.52811302 7.35638238] [ 0.16008046 0.98655641 0.03287387 0.2559863 ] [ 0.51710673 -0.11218151 0.84853753 0.83331041] [ 0. 0. 0. 1. ]] SLAMing on 43.049649246 meters Centerline goodness [0,1] 0.9370486608367105 Centerline is valid? [False, False] Translation: X:7.36, Y:0.26, Z:0.83 [[ 0.84096919 -0.11866545 -0.52791035 7.35560684] [ 0.15958733 0.98665058 0.03244243 0.25892307] [ 0.51701326 -0.11153089 0.84868024 0.8323052 ] [ 0. 0. 0. 1. ]] SLAMing on 43.079649246 meters Centerline goodness [0,1] 0.9383484335438211 Centerline is valid? [False, False] Translation: X:7.36, Y:0.26, Z:0.83 [[ 0.84093751 -0.11887218 -0.5279143 7.35591727] [ 0.1596836 0.9866429 0.03220133 0.25986375] [ 0.51703506 -0.11137856 0.84868697 0.83206126] [ 0. 0. 0. 1. ]] SLAMing on 43.109649246000004 meters Centerline goodness [0,1] 0.9383484335438211 Centerline is valid? [False, False] Translation: X:7.36, Y:0.26, Z:0.83 [[ 0.84093751 -0.11887218 -0.5279143 7.35591727] [ 0.1596836 0.9866429 0.03220133 0.25986375] [ 0.51703506 -0.11137856 0.84868697 0.83206126] [ 0. 0. 0. 1. ]] SLAMing on 43.139649246000005 meters Centerline goodness [0,1] 0.9371073018971512 Centerline is valid? [False, False] Translation: X:7.36, Y:0.26, Z:0.83 [[ 0.84068205 -0.11948397 -0.528183 7.35744477] [ 0.16023487 0.98656461 0.03186001 0.26027494] [ 0.51727989 -0.11141747 0.84853265 0.83227467] [ 0. 0. 0. 1. ]] SLAMing on 43.169649246 meters Centerline goodness [0,1] 0.936018524160624 Centerline is valid? [False, False] Translation: X:7.36, Y:0.26, Z:0.83 [[ 0.84045981 -0.11985257 -0.52845308 7.35852402] [ 0.16057686 0.98651598 0.03164315 0.26058094] [ 0.5175349 -0.11145214 0.84837259 0.8325757 ] [ 0. 0. 0. 1. ]] SLAMing on 43.199649246 meters Centerline goodness [0,1] 0.9357926829268293 Centerline is valid? [False, False] Translation: X:7.36, Y:0.26, Z:0.83 [[ 0.84037203 -0.12007809 -0.52854148 7.35918277] [ 0.16069374 0.9865054 0.03137851 0.26117326] [ 0.51764116 -0.11130293 0.84832735 0.83236528] [ 0. 0. 0. 1. ]] SLAMing on 43.229649246 meters Centerline goodness [0,1] 0.9357582779437771 Centerline is valid? [False, False] Translation: X:7.36, Y:0.26, Z:0.83 [[ 0.84036129 -0.12002491 -0.52857064 7.3592604 ] [ 0.16064348 0.98651319 0.03139109 0.26116017] [ 0.51767419 -0.11129128 0.84830872 0.83237936] [ 0. 0. 0. 1. ]] SLAMing on 43.259649246 meters Centerline goodness [0,1] 0.9358453693242542 Centerline is valid? [False, False] Translation: X:7.36, Y:0.26, Z:0.83 [[ 0.84027485 -0.11979118 -0.52876105 7.35919661] [ 0.16057468 0.98651516 0.03167982 0.26038703] [ 0.51783583 -0.11152539 0.84817931 0.8329815 ] [ 0. 0. 0. 1. ]] SLAMing on 43.289649246 meters Centerline goodness [0,1] 0.9338041949489391 Centerline is valid? [False, False] Translation: X:7.36, Y:0.26, Z:0.83 [[ 0.84019735 -0.11903196 -0.52905557 7.35803978] [ 0.16030989 0.98652722 0.03263111 0.25791699] [ 0.51804358 -0.11222941 0.84795956 0.83464155] [ 0. 0. 0. 1. ]] SLAMing on 43.319649246000004 meters Centerline goodness [0,1] 0.9361467214623076 Centerline is valid? [False, False] Translation: X:7.36, Y:0.26, Z:0.83 [[ 0.8400567 -0.12434012 -0.52805707 7.3576881 ] [ 0.16380731 0.98608342 0.02840166 0.25844381] [ 0.51717686 -0.11035862 0.84873381 0.83306959] [ 0. 0. 0. 1. ]] SLAMing on 43.349649246 meters Centerline goodness [0,1] 0.9365985392499847 Centerline is valid? [False, False] Translation: X:7.36, Y:0.26, Z:0.83 [[ 0.83986259 -0.12440035 -0.52835158 7.35865091] [ 0.16409192 0.98602808 0.02867869 0.25716602] [ 0.51740185 -0.11078438 0.84854119 0.8337963 ] [ 0. 0. 0. 1. ]] SLAMing on 43.379649246 meters Centerline goodness [0,1] 0.935026161895968 Centerline is valid? [False, False] Translation: X:7.36, Y:0.26, Z:0.83 [[ 0.83943242 -0.12517726 -0.52885145 7.36132962] [ 0.16505114 0.98586939 0.02862969 0.25573987] [ 0.51779468 -0.11132023 0.84823138 0.83469318] [ 0. 0. 0. 1. ]] SLAMing on 43.409649246 meters Centerline goodness [0,1] 0.935002466699556 Centerline is valid? [False, False] Translation: X:7.36, Y:0.26, Z:0.84 [[ 0.83930035 -0.12526579 -0.52904008 7.36184394] [ 0.16526636 0.98582942 0.02876419 0.25513886] [ 0.51794011 -0.11157432 0.8481092 0.83523205] [ 0. 0. 0. 1. ]] SLAMing on 43.439649246 meters Centerline goodness [0,1] 0.9359724188881364 Centerline is valid? [False, False] Translation: X:7.36, Y:0.25, Z:0.84 [[ 0.83929282 -0.12517922 -0.52907252 7.36149561] [ 0.16533098 0.98581085 0.02902829 0.2547044 ] [ 0.51793169 -0.11183531 0.84807997 0.83572906] [ 0. 0. 0. 1. ]] SLAMing on 43.469649246 meters Centerline goodness [0,1] 0.9349141657403977 Centerline is valid? [False, False] Translation: X:7.36, Y:0.25, Z:0.84 [[ 0.83906994 -0.12520033 -0.52942092 7.36198971] [ 0.16561893 0.98575237 0.02937048 0.25344852] [ 0.51820074 -0.11232602 0.84785073 0.83683776] [ 0. 0. 0. 1. ]] SLAMing on 43.499649246000004 meters Centerline goodness [0,1] 0.9322887693924222 Centerline is valid? [False, False] Translation: X:7.37, Y:0.25, Z:0.84 [[ 0.83848904 -0.12109992 -0.53129176 7.36551978] [ 0.16384478 0.98590489 0.03385908 0.25141927] [ 0.51970282 -0.11543985 0.84651203 0.84094497] [ 0. 0. 0. 1. ]] SLAMing on 43.529649246 meters Centerline goodness [0,1] 0.9326869462858559 Centerline is valid? [False, False] Translation: X:7.37, Y:0.25, Z:0.84 [[ 0.83826929 -0.12161541 -0.53152074 7.3670635 ] [ 0.1642552 0.98584952 0.03348053 0.25156297] [ 0.51992772 -0.11537074 0.84638334 0.84093053] [ 0. 0. 0. 1. ]] SLAMing on 43.559649246 meters Centerline goodness [0,1] 0.9327788256392814 Centerline is valid? [False, False] Translation: X:7.37, Y:0.25, Z:0.84 [[ 0.83812022 -0.12198288 -0.53167159 7.3681944 ] [ 0.16452814 0.9858141 0.03318198 0.25164169] [ 0.52008172 -0.11528543 0.84630035 0.840871 ] [ 0. 0. 0. 1. ]] SLAMing on 43.589649246 meters Centerline goodness [0,1] 0.9338689740420272 Centerline is valid? [False, False] Translation: X:7.37, Y:0.25, Z:0.84 [[ 0.83770688 -0.12290072 -0.53211144 7.37064243] [ 0.16527545 0.98571093 0.03252666 0.25245396] [ 0.52051052 -0.11519276 0.84604931 0.8410264 ] [ 0. 0. 0. 1. ]] SLAMing on 43.619649246 meters Centerline goodness [0,1] 0.9353241528701841 Centerline is valid? [False, False] Translation: X:7.37, Y:0.25, Z:0.84 [[ 0.83752216 -0.1228379 -0.53241665 7.37091354] [ 0.16540145 0.98568167 0.03277191 0.2519175 ] [ 0.5207677 -0.11550968 0.84584781 0.84191478] [ 0. 0. 0. 1. ]] SLAMing on 43.649649246 meters Centerline goodness [0,1] 0.9346208692417385 Centerline is valid? [False, False] Translation: X:7.37, Y:0.25, Z:0.84 [[ 0.83751797 -0.12296001 -0.53239505 7.37106926] [ 0.16546903 0.98567425 0.03265388 0.2520437 ] [ 0.52075297 -0.1154431 0.84586597 0.84179484] [ 0. 0. 0. 1. ]] SLAMing on 43.679649246000004 meters Centerline goodness [0,1] 0.9342239856173088 Centerline is valid? [False, False] Translation: X:7.37, Y:0.25, Z:0.84 [[ 0.83748651 -0.12319977 -0.53238911 7.37152451] [ 0.16557006 0.98566694 0.0323612 0.2530079 ] [ 0.52077145 -0.11524977 0.84588096 0.8414558 ] [ 0. 0. 0. 1. ]] SLAMing on 43.709649246000005 meters Centerline goodness [0,1] 0.9347442680776015 Centerline is valid? [False, False] Translation: X:7.37, Y:0.25, Z:0.84 [[ 0.83744715 -0.12341077 -0.53240216 7.37207179] [ 0.16567145 0.98565782 0.03211913 0.25358813] [ 0.5208025 -0.11510191 0.84588197 0.84117531] [ 0. 0. 0. 1. ]] SLAMing on 43.739649246 meters Centerline goodness [0,1] 0.9321424140925444 Centerline is valid? [False, False] Translation: X:7.37, Y:0.25, Z:0.84 [[ 0.83725043 -0.12374628 -0.53263363 7.37285603] [ 0.16596999 0.98561463 0.03190241 0.25380629] [ 0.52102369 -0.11511151 0.84574444 0.84146249] [ 0. 0. 0. 1. ]] SLAMing on 43.769649246 meters Centerline goodness [0,1] 0.9323000619962802 Centerline is valid? [False, False] Translation: X:7.37, Y:0.25, Z:0.84 [[ 0.83736106 -0.12343113 -0.53253282 7.37182744] [ 0.16574402 0.98564415 0.03216406 0.25379228] [ 0.52091782 -0.11519706 0.84579801 0.84167156] [ 0. 0. 0. 1. ]] SLAMing on 43.799649246 meters Centerline goodness [0,1] 0.9330299089726918 Centerline is valid? [False, False] Translation: X:7.37, Y:0.25, Z:0.84 [[ 0.83741749 -0.12315598 -0.53250779 7.37115426] [ 0.16553679 0.98567256 0.03235996 0.25393824] [ 0.520893 -0.11524843 0.84580629 0.84183546] [ 0. 0. 0. 1. ]] SLAMing on 43.829649246 meters Centerline goodness [0,1] 0.93318072140073 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.84 [[ 0.83745364 -0.12303007 -0.53248005 7.37045799] [ 0.16530739 0.98571515 0.03223533 0.25530199] [ 0.52090773 -0.11501848 0.84582852 0.84168033] [ 0. 0. 0. 1. ]] SLAMing on 43.859649246000004 meters Centerline goodness [0,1] 0.934645376903082 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.84 [[ 0.8375706 -0.12278275 -0.53235316 7.3697945 ] [ 0.16504945 0.98575553 0.03232213 0.25568821] [ 0.52080147 -0.11493666 0.84590507 0.84148388] [ 0. 0. 0. 1. ]] SLAMing on 43.889649246000005 meters Centerline goodness [0,1] 0.9339187977364791 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.84 [[ 0.83757542 -0.12279921 -0.53234178 7.3695373 ] [ 0.16504358 0.98575776 0.0322841 0.25600625] [ 0.52079558 -0.11489996 0.84591369 0.84151408] [ 0. 0. 0. 1. ]] SLAMing on 43.919649246 meters Centerline goodness [0,1] 0.9361859775863666 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.84 [[ 0.83744146 -0.12300657 -0.53250464 7.36983197] [ 0.16529284 0.9857171 0.03225024 0.25621243] [ 0.52093194 -0.11502689 0.84581247 0.84194689] [ 0. 0. 0. 1. ]] SLAMing on 43.949649246 meters Centerline goodness [0,1] 0.9343781815938049 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.84 [[ 0.83735947 -0.12316985 -0.53259582 7.37025115] [ 0.1654334 0.98569703 0.0321427 0.25663875] [ 0.52101911 -0.11502413 0.84575915 0.84200408] [ 0. 0. 0. 1. ]] SLAMing on 43.979649246 meters Centerline goodness [0,1] 0.9338784325825362 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.84 [[ 0.83732136 -0.12351844 -0.532575 7.37104208] [ 0.16563485 0.98567403 0.031809 0.25756015] [ 0.52101635 -0.11484733 0.84578487 0.84156524] [ 0. 0. 0. 1. ]] SLAMing on 44.009649246 meters Centerline goodness [0,1] 0.934788641198779 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.84 [[ 0.83731919 -0.12334207 -0.53261929 7.37077651] [ 0.16549299 0.98569477 0.03190426 0.25712818] [ 0.52106491 -0.11485881 0.8457534 0.84174617] [ 0. 0. 0. 1. ]] SLAMing on 44.039649246 meters Centerline goodness [0,1] 0.9363782646367125 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.84 [[ 0.83732972 -0.12304859 -0.53267062 7.37015486] [ 0.16529342 0.985721 0.03212777 0.2566751 ] [ 0.52111134 -0.11494848 0.84571261 0.84209766] [ 0. 0. 0. 1. ]] SLAMing on 44.069649246000004 meters Centerline goodness [0,1] 0.9367677143388506 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.84 [[ 0.83744081 -0.12244239 -0.53263567 7.36879823] [ 0.16501083 0.985745 0.03283639 0.25520175] [ 0.52102238 -0.11538919 0.84570741 0.84292085] [ 0. 0. 0. 1. ]] SLAMing on 44.099649246 meters Centerline goodness [0,1] 0.9367265283334885 Centerline is valid? [False, False] Translation: X:7.37, Y:0.25, Z:0.84 [[ 0.83741717 -0.12232962 -0.53269874 7.36879983] [ 0.16499074 0.9857428 0.03300278 0.25480811] [ 0.52106673 -0.11552746 0.8456612 0.84317299] [ 0. 0. 0. 1. ]] SLAMing on 44.129649246 meters Centerline goodness [0,1] 0.935540825176558 Centerline is valid? [False, False] Translation: X:7.37, Y:0.25, Z:0.84 [[ 0.83744706 -0.12229074 -0.53266068 7.3688355 ] [ 0.16500321 0.98573721 0.03310723 0.25497351] [ 0.52101474 -0.11561628 0.84568109 0.84318297] [ 0. 0. 0. 1. ]] SLAMing on 44.159649246 meters Centerline goodness [0,1] 0.9361167937511623 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.84 [[ 0.83748595 -0.12248569 -0.53255473 7.36928894] [ 0.16506043 0.98573606 0.03285527 0.25573207] [ 0.5209341 -0.11541954 0.84575764 0.84264179] [ 0. 0. 0. 1. ]] SLAMing on 44.189649246 meters Centerline goodness [0,1] 0.9355476595087285 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.84 [[ 0.83754107 -0.1225448 -0.53245444 7.36916302] [ 0.16492913 0.98576799 0.03255524 0.25684913] [ 0.52088707 -0.1150836 0.84583239 0.84213342] [ 0. 0. 0. 1. ]] SLAMing on 44.219649246 meters Centerline goodness [0,1] 0.9352699910568354 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.84 [[ 0.83763853 -0.12227254 -0.53236371 7.36820538] [ 0.16454793 0.98583418 0.03248012 0.25777494] [ 0.52085091 -0.11480594 0.84589238 0.84187837] [ 0. 0. 0. 1. ]] SLAMing on 44.249649246000004 meters Centerline goodness [0,1] 0.935105889627454 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.84 [[ 0.83766879 -0.12208955 -0.53235809 7.36773344] [ 0.1643494 0.98586634 0.03250892 0.25832388] [ 0.52086493 -0.11472445 0.84589481 0.841854 ] [ 0. 0. 0. 1. ]] SLAMing on 44.279649246 meters Centerline goodness [0,1] 0.936780722594181 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.84 [[ 0.8378221 -0.1218982 -0.53216064 7.36708183] [ 0.16405131 0.98591821 0.03244162 0.25931843] [ 0.52071229 -0.11448195 0.84602163 0.84132308] [ 0. 0. 0. 1. ]] SLAMing on 44.309649246 meters Centerline goodness [0,1] 0.93585637740962 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.84 [[ 0.83776231 -0.12215306 -0.53219634 7.36763173] [ 0.16418667 0.98590473 0.03216506 0.26009593] [ 0.52076583 -0.11432622 0.84600973 0.84108993] [ 0. 0. 0. 1. ]] SLAMing on 44.339649246 meters Centerline goodness [0,1] 0.9335446934252647 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.84 [[ 0.83767094 -0.1226453 -0.53222694 7.36861297] [ 0.16441409 0.98588557 0.03158553 0.26156941] [ 0.52084105 -0.11396389 0.84601231 0.84051665] [ 0. 0. 0. 1. ]] SLAMing on 44.369649246 meters Centerline goodness [0,1] 0.9323600073923489 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.84 [[ 0.83754116 -0.1227977 -0.53239602 7.36912035] [ 0.16453099 0.9858707 0.03144056 0.26175225] [ 0.52101281 -0.11392841 0.84591132 0.84067542] [ 0. 0. 0. 1. ]] SLAMing on 44.399649246 meters Centerline goodness [0,1] 0.9323817141450809 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.84 [[ 0.83745701 -0.1225785 -0.53257889 7.36895291] [ 0.16446705 0.98587279 0.03170851 0.26094378] [ 0.52116825 -0.11414619 0.8457862 0.8413374 ] [ 0. 0. 0. 1. ]] SLAMing on 44.429649246000004 meters Centerline goodness [0,1] 0.9340557562285821 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.84 [[ 0.83744301 -0.12248333 -0.53262278 7.36886121] [ 0.16445291 0.98587039 0.03185604 0.26064298] [ 0.5211952 -0.11426899 0.84575302 0.84158691] [ 0. 0. 0. 1. ]] SLAMing on 44.459649246000005 meters Centerline goodness [0,1] 0.9339462561317989 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.84 [[ 0.83748481 -0.12235996 -0.53258542 7.36854823] [ 0.16442697 0.98586813 0.03205927 0.26059727] [ 0.52113622 -0.11442056 0.84576887 0.84179122] [ 0. 0. 0. 1. ]] SLAMing on 44.489649246 meters Centerline goodness [0,1] 0.9356489378198171 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.84 [[ 0.83743331 -0.12692313 -0.53159756 7.36544964] [ 0.16771956 0.98540998 0.02893659 0.25974101] [ 0.52016882 -0.11339177 0.84650263 0.841969 ] [ 0. 0. 0. 1. ]] SLAMing on 44.519649246 meters Centerline goodness [0,1] 0.9342843851759963 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.84 [[ 0.83718302 -0.12221226 -0.53309357 7.36780209] [ 0.16506239 0.98572284 0.03323997 0.25884568] [ 0.52142018 -0.11582164 0.84540307 0.84462688] [ 0. 0. 0. 1. ]] SLAMing on 44.549649246 meters Centerline goodness [0,1] 0.9322574649981414 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.84 [[ 0.83704105 -0.12278249 -0.53318546 7.36890421] [ 0.1655168 0.98565924 0.03286411 0.26014283] [ 0.52150404 -0.11575976 0.84535981 0.84449538] [ 0. 0. 0. 1. ]] SLAMing on 44.579649246 meters Centerline goodness [0,1] 0.9329809267674426 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.84 [[ 0.83692155 -0.1228428 -0.53335914 7.36915894] [ 0.16566139 0.98563249 0.03293791 0.26043311] [ 0.52164991 -0.11592346 0.84524738 0.84497029] [ 0. 0. 0. 1. ]] SLAMing on 44.609649246000004 meters Centerline goodness [0,1] 0.9322254604080114 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.85 [[ 0.83676171 -0.12288633 -0.53359983 7.36911525] [ 0.16587681 0.98558946 0.03314073 0.26046451] [ 0.52183783 -0.11624273 0.84508752 0.84589703] [ 0. 0. 0. 1. ]] SLAMing on 44.639649246000005 meters Centerline goodness [0,1] 0.93341809836879 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.85 [[ 0.83697322 -0.12243625 -0.53337154 7.36818005] [ 0.16545602 0.98565219 0.03337768 0.2606753 ] [ 0.52163219 -0.11618576 0.8452223 0.84558847] [ 0. 0. 0. 1. ]] SLAMing on 44.669649246 meters Centerline goodness [0,1] 0.9330174656261613 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.85 [[ 0.83692533 -0.12256914 -0.53341616 7.36863185] [ 0.16556095 0.98563779 0.03328241 0.26114915] [ 0.52167573 -0.11616778 0.84519789 0.8455298 ] [ 0. 0. 0. 1. ]] SLAMing on 44.699649246 meters Centerline goodness [0,1] 0.931885763845868 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.85 [[ 0.83694069 -0.1221886 -0.53347935 7.36812489] [ 0.16533632 0.98566377 0.03362795 0.26082412] [ 0.52172232 -0.11634811 0.84514433 0.84595734] [ 0. 0. 0. 1. ]] SLAMing on 44.729649246 meters Centerline goodness [0,1] 0.9347496206373292 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.85 [[ 0.83686693 -0.12208943 -0.53361775 7.36802458] [ 0.16529765 0.98566717 0.03371813 0.26060908] [ 0.52185287 -0.11642335 0.84505336 0.84635523] [ 0. 0. 0. 1. ]] SLAMing on 44.759649246 meters Centerline goodness [0,1] 0.9307102202425143 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.85 [[ 0.83679914 -0.12261087 -0.53360452 7.36948532] [ 0.1655184 0.9856516 0.03308454 0.2616006 ] [ 0.52189162 -0.11600649 0.84508676 0.8454751 ] [ 0. 0. 0. 1. ]] SLAMing on 44.789649246 meters Centerline goodness [0,1] 0.9296580298064436 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.85 [[ 0.83678396 -0.12265949 -0.53361714 7.36989887] [ 0.16553113 0.98565199 0.0330091 0.26177528] [ 0.52191192 -0.11595174 0.84508174 0.845327 ] [ 0. 0. 0. 1. ]] SLAMing on 44.819649246000004 meters Centerline goodness [0,1] 0.9321829109610261 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.85 [[ 0.83677784 -0.12266327 -0.53362587 7.37004214] [ 0.16551985 0.98565481 0.03298135 0.26211019] [ 0.52192531 -0.11592374 0.84507731 0.84526001] [ 0. 0. 0. 1. ]] SLAMing on 44.849649246 meters Centerline goodness [0,1] 0.9317752669865346 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.84 [[ 0.83695175 -0.12241216 -0.53341075 7.36927712] [ 0.16511099 0.98572762 0.03285439 0.26283993] [ 0.52177593 -0.11556952 0.84521806 0.84465086] [ 0. 0. 0. 1. ]] SLAMing on 44.879649246 meters Centerline goodness [0,1] 0.9306673269778383 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.84 [[ 0.83693395 -0.12243317 -0.53343385 7.36931171] [ 0.16502008 0.98574927 0.03266104 0.26392369] [ 0.52183324 -0.11536243 0.84521097 0.84442719] [ 0. 0. 0. 1. ]] SLAMing on 44.909649246 meters Centerline goodness [0,1] 0.9272794502819461 Centerline is valid? [False, False] Translation: X:7.37, Y:0.27, Z:0.84 [[ 0.83713706 -0.12213371 -0.53318373 7.36852559] [ 0.16440659 0.98586356 0.03230346 0.26607534] [ 0.52170107 -0.11470134 0.84538251 0.84330216] [ 0. 0. 0. 1. ]] SLAMing on 44.939649246 meters Centerline goodness [0,1] 0.9284108061485383 Centerline is valid? [False, False] Translation: X:7.37, Y:0.27, Z:0.84 [[ 0.83707714 -0.12241459 -0.53321341 7.36913541] [ 0.16444999 0.98587172 0.03183011 0.26784825] [ 0.52178355 -0.1143312 0.84538175 0.84277715] [ 0. 0. 0. 1. ]] SLAMing on 44.969649246 meters Centerline goodness [0,1] 0.9276234947161465 Centerline is valid? [False, False] Translation: X:7.37, Y:0.27, Z:0.84 [[ 0.83723941 -0.12266422 -0.53290117 7.36952253] [ 0.16425859 0.98592618 0.03112378 0.27045461] [ 0.52158344 -0.11359165 0.8456049 0.84122166] [ 0. 0. 0. 1. ]] SLAMing on 44.999649246000004 meters Centerline goodness [0,1] 0.9262247308199638 Centerline is valid? [False, False] Translation: X:7.37, Y:0.27, Z:0.84 [[ 0.83735544 -0.12249868 -0.53275692 7.36898818] [ 0.16404702 0.98596109 0.03113377 0.27105006] [ 0.52146375 -0.11346721 0.84569542 0.84092185] [ 0. 0. 0. 1. ]] SLAMing on 45.029649246 meters Centerline goodness [0,1] 0.9262247308199638 Centerline is valid? [False, False] Translation: X:7.37, Y:0.27, Z:0.84 [[ 0.83735544 -0.12249868 -0.53275692 7.36898818] [ 0.16404702 0.98596109 0.03113377 0.27105006] [ 0.52146375 -0.11346721 0.84569542 0.84092185] [ 0. 0. 0. 1. ]] SLAMing on 45.059649246 meters Centerline goodness [0,1] 0.929906972460164 Centerline is valid? [False, False] Translation: X:7.37, Y:0.27, Z:0.84 [[ 0.83740083 -0.12227775 -0.53273633 7.36849044] [ 0.16393263 0.98597245 0.03137543 0.27102766] [ 0.52142683 -0.11360668 0.84569947 0.84120025] [ 0. 0. 0. 1. ]] SLAMing on 45.089649246 meters Centerline goodness [0,1] 0.9298326565768427 Centerline is valid? [False, False] Translation: X:7.37, Y:0.27, Z:0.84 [[ 0.83741435 -0.12200875 -0.53277676 7.36822734] [ 0.16376226 0.98599351 0.03160241 0.27059084] [ 0.52145866 -0.11371304 0.84566554 0.84143722] [ 0. 0. 0. 1. ]] SLAMing on 45.119649246 meters Centerline goodness [0,1] 0.9306991629739045 Centerline is valid? [False, False] Translation: X:7.37, Y:0.27, Z:0.84 [[ 0.83737362 -0.12206933 -0.5328269 7.3687017 ] [ 0.16381166 0.98598686 0.03155396 0.27079249] [ 0.52150855 -0.11370571 0.84563576 0.84138665] [ 0. 0. 0. 1. ]] SLAMing on 45.149649246 meters Centerline goodness [0,1] 0.9302153846153847 Centerline is valid? [False, False] Translation: X:7.37, Y:0.27, Z:0.84 [[ 0.83729047 -0.1222142 -0.53292435 7.36941416] [ 0.16392633 0.9859715 0.03143831 0.27076087] [ 0.52160601 -0.11368333 0.84557866 0.84136185] [ 0. 0. 0. 1. ]] SLAMing on 45.179649246000004 meters Centerline goodness [0,1] 0.9282462939041644 Centerline is valid? [False, False] Translation: X:7.37, Y:0.27, Z:0.84 [[ 0.83713263 -0.12189185 -0.53324604 7.36951707] [ 0.16398311 0.98594195 0.03206273 0.2692159 ] [ 0.52184145 -0.1142841 0.84535238 0.84263351] [ 0. 0. 0. 1. ]] SLAMing on 45.209649246000005 meters Centerline goodness [0,1] 0.9293968997503775 Centerline is valid? [False, False] Translation: X:7.37, Y:0.27, Z:0.84 [[ 0.8370529 -0.12176326 -0.53340055 7.3693714 ] [ 0.16410232 0.98590907 0.03246121 0.2681007 ] [ 0.52193186 -0.11470401 0.84523968 0.84348446] [ 0. 0. 0. 1. ]] SLAMing on 45.239649246 meters Centerline goodness [0,1] 0.9286438958403788 Centerline is valid? [False, False] Translation: X:7.37, Y:0.27, Z:0.84 [[ 0.83689791 -0.12194791 -0.53360154 7.3702405 ] [ 0.16442134 0.98585222 0.03257347 0.26748114] [ 0.52207999 -0.11499614 0.8451085 0.84401549] [ 0. 0. 0. 1. ]] SLAMing on 45.269649246 meters Centerline goodness [0,1] 0.9280155043529086 Centerline is valid? [False, False] Translation: X:7.37, Y:0.27, Z:0.84 [[ 0.83673428 -0.1224171 -0.53375068 7.37183963] [ 0.16478392 0.98580306 0.03222704 0.26787067] [ 0.52222792 -0.114919 0.84502759 0.8438098 ] [ 0. 0. 0. 1. ]] SLAMing on 45.299649246 meters Centerline goodness [0,1] 0.929219096965211 Centerline is valid? [False, False] Translation: X:7.37, Y:0.27, Z:0.84 [[ 0.83641211 -0.12319353 -0.5340769 7.3741801 ] [ 0.16553782 0.98568797 0.03188202 0.26771393] [ 0.52250552 -0.11507644 0.84483454 0.8440997 ] [ 0. 0. 0. 1. ]] SLAMing on 45.329649246 meters Centerline goodness [0,1] 0.9272811486799444 Centerline is valid? [False, False] Translation: X:7.37, Y:0.27, Z:0.84 [[ 0.83630234 -0.12315265 -0.5342582 7.374659 ] [ 0.16567529 0.98565665 0.03213503 0.26673729] [ 0.52263764 -0.11538799 0.84471031 0.8446824 ] [ 0. 0. 0. 1. ]] SLAMing on 45.359649246000004 meters Centerline goodness [0,1] 0.927692546102588 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.85 [[ 0.83601589 -0.12288484 -0.53476794 7.37480066] [ 0.16589835 0.98559482 0.03287219 0.26498173] [ 0.52302502 -0.11619879 0.84435932 0.84658653] [ 0. 0. 0. 1. ]] SLAMing on 45.389649246000005 meters Centerline goodness [0,1] 0.9271492370673614 Centerline is valid? [False, False] Translation: X:7.37, Y:0.26, Z:0.85 [[ 0.83603889 -0.12277529 -0.53475714 7.37484893] [ 0.16584543 0.98559952 0.03299807 0.26470973] [ 0.52300504 -0.1162747 0.84436125 0.84664665] [ 0. 0. 0. 1. ]] SLAMing on 45.419649246 meters Centerline goodness [0,1] 0.9251688038158954 Centerline is valid? [False, False] Translation: X:7.38, Y:0.27, Z:0.85 [[ 0.83590468 -0.12302813 -0.53490881 7.37548022] [ 0.1661314 0.98555335 0.03293876 0.26514795] [ 0.52312878 -0.11639881 0.84426749 0.84697357] [ 0. 0. 0. 1. ]] SLAMing on 45.449649246 meters Centerline goodness [0,1] 0.9260908556761605 Centerline is valid? [False, False] Translation: X:7.38, Y:0.27, Z:0.85 [[ 0.83580228 -0.12300499 -0.53507412 7.37571132] [ 0.16618943 0.98554041 0.03303302 0.2650373 ] [ 0.52327394 -0.11653273 0.84415905 0.84737409] [ 0. 0. 0. 1. ]] SLAMing on 45.479649246 meters Centerline goodness [0,1] 0.9260153541357108 Centerline is valid? [False, False] Translation: X:7.38, Y:0.27, Z:0.85 [[ 0.83569129 -0.12327278 -0.53518584 7.37656697] [ 0.16635365 0.98552184 0.03275923 0.26528934] [ 0.52339901 -0.11640671 0.8440989 0.84726299] [ 0. 0. 0. 1. ]] SLAMing on 45.509649246 meters Centerline goodness [0,1] 0.9248649990689591 Centerline is valid? [False, False] Translation: X:7.38, Y:0.27, Z:0.85 [[ 0.83496016 -0.12475918 -0.53598197 7.37986012] [ 0.16783043 0.98529298 0.03210439 0.26655323] [ 0.52409396 -0.11675997 0.84361877 0.8485701 ] [ 0. 0. 0. 1. ]] SLAMing on 45.539649246 meters Centerline goodness [0,1] 0.922088378286316 Centerline is valid? [False, False] Translation: X:7.38, Y:0.27, Z:0.85 [[ 0.83472268 -0.12572896 -0.53612524 7.38196018] [ 0.16839827 0.98522708 0.03113877 0.26887715] [ 0.52429006 -0.1162748 0.84356393 0.84780012] [ 0. 0. 0. 1. ]] SLAMing on 45.569649246000004 meters Centerline goodness [0,1] 0.9236354609488938 Centerline is valid? [False, False] Translation: X:7.38, Y:0.27, Z:0.85 [[ 0.83468175 -0.125742 -0.5361859 7.3820605 ] [ 0.16847175 0.98521206 0.03121634 0.26895599] [ 0.52433162 -0.11638788 0.84352251 0.84805837] [ 0. 0. 0. 1. ]] SLAMing on 45.599649246 meters Centerline goodness [0,1] 0.9234232835450114 Centerline is valid? [False, False] Translation: X:7.38, Y:0.27, Z:0.85 [[ 0.83481215 -0.12516203 -0.53611858 7.38050102] [ 0.16812554 0.98525324 0.03177831 0.26855012] [ 0.52423513 -0.11666415 0.84354431 0.84867388] [ 0. 0. 0. 1. ]] SLAMing on 45.629649246 meters Centerline goodness [0,1] 0.9223373239873457 Centerline is valid? [False, False] Translation: X:7.38, Y:0.27, Z:0.85 [[ 0.83475597 -0.12481483 -0.53628699 7.37998233] [ 0.16802482 0.98525571 0.03223125 0.26840494] [ 0.52435688 -0.11701475 0.84342007 0.84950418] [ 0. 0. 0. 1. ]] SLAMing on 45.659649246 meters Centerline goodness [0,1] 0.9246867128953015 Centerline is valid? [False, False] Translation: X:7.38, Y:0.27, Z:0.85 [[ 0.83487912 -0.12405144 -0.5362724 7.37819726] [ 0.16752429 0.98531953 0.03287923 0.26814188] [ 0.52432095 -0.11728884 0.84340433 0.85026139] [ 0. 0. 0. 1. ]] SLAMing on 45.689649246 meters Centerline goodness [0,1] 0.9247753210809466 Centerline is valid? [False, False] Translation: X:7.38, Y:0.27, Z:0.85 [[ 0.83493035 -0.12367569 -0.53627944 7.37724501] [ 0.16729514 0.98534696 0.0332221 0.26835323] [ 0.52431255 -0.11745508 0.84338642 0.85072746] [ 0. 0. 0. 1. ]] SLAMing on 45.719649246 meters Centerline goodness [0,1] 0.9254138508277017 Centerline is valid? [False, False] Translation: X:7.38, Y:0.27, Z:0.85 [[ 0.83476221 -0.12373677 -0.53652704 7.37781157] [ 0.16745321 0.98531765 0.03329486 0.26857548] [ 0.52452977 -0.11763647 0.84322606 0.85124445] [ 0. 0. 0. 1. ]] SLAMing on 45.749649246000004 meters Centerline goodness [0,1] 0.9233401779603012 Centerline is valid? [False, False] Translation: X:7.38, Y:0.27, Z:0.85 [[ 0.83478172 -0.12391745 -0.53645499 7.37822296] [ 0.16750495 0.98531696 0.03305423 0.26898886] [ 0.5244822 -0.11745193 0.84328137 0.85081279] [ 0. 0. 0. 1. ]] SLAMing on 45.779649246000005 meters Centerline goodness [0,1] 0.9188284518828452 Centerline is valid? [False, False] Translation: X:7.38, Y:0.27, Z:0.85 [[ 0.83473029 -0.12463582 -0.53636857 7.37974409] [ 0.16775141 0.98530626 0.03210987 0.27162493] [ 0.52448527 -0.11677967 0.84337282 0.84950112] [ 0. 0. 0. 1. ]] SLAMing on 45.809649246 meters Centerline goodness [0,1] 0.9191925446608255 Centerline is valid? [False, False] Translation: X:7.38, Y:0.27, Z:0.85 [[ 0.83447631 -0.12528258 -0.53661305 7.38170532] [ 0.16808092 0.98527463 0.0313481 0.27333847] [ 0.52478386 -0.11635367 0.84324595 0.84896179] [ 0. 0. 0. 1. ]] SLAMing on 45.839649246 meters Centerline goodness [0,1] 0.9206060232041471 Centerline is valid? [False, False] Translation: X:7.38, Y:0.28, Z:0.85 [[ 0.83452688 -0.12519623 -0.53655456 7.38182947] [ 0.16744767 0.98540877 0.03050969 0.27548579] [ 0.52490587 -0.11530597 0.84331392 0.84761284] [ 0. 0. 0. 1. ]] SLAMing on 45.869649246 meters Centerline goodness [0,1] 0.9206403164498285 Centerline is valid? [False, False] Translation: X:7.38, Y:0.28, Z:0.85 [[ 0.83455173 -0.12524429 -0.53650469 7.38178832] [ 0.16723304 0.98545822 0.03008661 0.27692881] [ 0.52493478 -0.11483014 0.84336084 0.84701101] [ 0. 0. 0. 1. ]] SLAMing on 45.899649246 meters Centerline goodness [0,1] 0.9233376471313244 Centerline is valid? [False, False] Translation: X:7.38, Y:0.28, Z:0.85 [[ 0.83458394 -0.12497726 -0.53651686 7.38172993] [ 0.16643004 0.98561785 0.02930015 0.28030393] [ 0.52513874 -0.11374596 0.84338079 0.84553904] [ 0. 0. 0. 1. ]] SLAMing on 45.929649246000004 meters Centerline goodness [0,1] 0.9216411014599889 Centerline is valid? [False, False] Translation: X:7.38, Y:0.28, Z:0.84 [[ 0.8345119 -0.12539658 -0.53653106 7.38267261] [ 0.16656675 0.98561181 0.02872076 0.28188027] [ 0.52520987 -0.11333606 0.84339169 0.8448644 ] [ 0. 0. 0. 1. ]] SLAMing on 45.959649246000005 meters Centerline goodness [0,1] 0.9212214208991867 Centerline is valid? [False, False] Translation: X:7.38, Y:0.28, Z:0.84 [[ 0.83450361 -0.12587168 -0.5364327 7.38370249] [ 0.16667619 0.98561347 0.02802039 0.28437056] [ 0.52518832 -0.11279367 0.84347781 0.84377982] [ 0. 0. 0. 1. ]] SLAMing on 45.989649246 meters Centerline goodness [0,1] 0.9213541666666667 Centerline is valid? [False, False] Translation: X:7.38, Y:0.29, Z:0.84 [[ 0.83439734 -0.12607299 -0.53655072 7.38410627] [ 0.16680477 0.98559753 0.02781513 0.28509922] [ 0.52531633 -0.11270809 0.84340954 0.84382109] [ 0. 0. 0. 1. ]] SLAMing on 46.019649246 meters Centerline goodness [0,1] 0.9206514737907554 Centerline is valid? [False, False] Translation: X:7.38, Y:0.28, Z:0.84 [[ 0.83437231 -0.1257434 -0.53666698 7.38380421] [ 0.16667072 0.9856094 0.02819542 0.28458567] [ 0.52539863 -0.11297215 0.84332293 0.84437126] [ 0. 0. 0. 1. ]] SLAMing on 46.049649246 meters Centerline goodness [0,1] 0.9232757824762257 Centerline is valid? [False, False] Translation: X:7.38, Y:0.28, Z:0.85 [[ 0.83421889 -0.12539508 -0.53698688 7.38327072] [ 0.16668038 0.98559059 0.02878973 0.28298947] [ 0.52563912 -0.11352211 0.84309919 0.84585084] [ 0. 0. 0. 1. ]] SLAMing on 46.079649246 meters Centerline goodness [0,1] 0.9220063429503956 Centerline is valid? [False, False] Translation: X:7.38, Y:0.28, Z:0.85 [[ 0.83386249 -0.12561177 -0.53748956 7.38437489] [ 0.16722901 0.98548764 0.02913015 0.28116099] [ 0.52603023 -0.11417439 0.84276712 0.84741009] [ 0. 0. 0. 1. ]] SLAMing on 46.109649246000004 meters Centerline goodness [0,1] 0.9213202662721893 Centerline is valid? [False, False] Translation: X:7.39, Y:0.28, Z:0.85 [[ 0.83362878 -0.12561873 -0.53785034 7.38501142] [ 0.16749166 0.98543368 0.02944488 0.28015447] [ 0.52631702 -0.11463155 0.84252597 0.84844695] [ 0. 0. 0. 1. ]] SLAMing on 46.139649246000005 meters Centerline goodness [0,1] 0.9248481467707946 Centerline is valid? [False, False] Translation: X:7.38, Y:0.28, Z:0.85 [[ 0.83339246 -0.13069234 -0.537007 7.38482476] [ 0.17101403 0.98493348 0.02569526 0.27972829] [ 0.525558 -0.11324996 0.84318636 0.84757414] [ 0. 0. 0. 1. ]] SLAMing on 46.169649246 meters Centerline goodness [0,1] 0.9251626898047722 Centerline is valid? [False, False] Translation: X:7.38, Y:0.28, Z:0.85 [[ 0.83328686 -0.13062583 -0.53718703 7.38497133] [ 0.17108685 0.98491567 0.02589229 0.27936204] [ 0.52570172 -0.11348134 0.84306565 0.84813424] [ 0. 0. 0. 1. ]] SLAMing on 46.199649246 meters Centerline goodness [0,1] 0.9236399727064077 Centerline is valid? [False, False] Translation: X:7.38, Y:0.28, Z:0.85 [[ 0.83326854 -0.13016003 -0.53732849 7.38447326] [ 0.17088474 0.98493688 0.02641489 0.27836946] [ 0.52579648 -0.11383194 0.84295928 0.84890367] [ 0. 0. 0. 1. ]] SLAMing on 46.229649246 meters Centerline goodness [0,1] 0.9248094677489311 Centerline is valid? [False, False] Translation: X:7.38, Y:0.28, Z:0.85 [[ 0.8331854 -0.1303645 -0.53740785 7.3849818 ] [ 0.17101911 0.9849187 0.02622253 0.27909505] [ 0.52588455 -0.11375524 0.8429147 0.84883389] [ 0. 0. 0. 1. ]] SLAMing on 46.259649246 meters Centerline goodness [0,1] 0.9208030888030888 Centerline is valid? [False, False] Translation: X:7.39, Y:0.28, Z:0.85 [[ 0.83287295 -0.12614421 -0.53889728 7.38796939] [ 0.16883568 0.98517748 0.03032903 0.27853999] [ 0.52708363 -0.11624532 0.84182532 0.85163969] [ 0. 0. 0. 1. ]] SLAMing on 46.289649246 meters Centerline goodness [0,1] 0.9224945146636175 Centerline is valid? [False, False] Translation: X:7.39, Y:0.28, Z:0.85 [[ 0.83282136 -0.1263704 -0.53892402 7.38870868] [ 0.16895106 0.98516536 0.03007902 0.27894201] [ 0.52712818 -0.11610223 0.84181717 0.85136985] [ 0. 0. 0. 1. ]] SLAMing on 46.319649246000004 meters Centerline goodness [0,1] 0.9229509210038324 Centerline is valid? [False, False] Translation: X:7.39, Y:0.28, Z:0.85 [[ 0.83267813 -0.1265227 -0.53910958 7.38951857] [ 0.16912712 0.98513683 0.03002411 0.27879483] [ 0.52729797 -0.11617847 0.84170031 0.85163404] [ 0. 0. 0. 1. ]] SLAMing on 46.349649246 meters Centerline goodness [0,1] 0.9235190507091869 Centerline is valid? [False, False] Translation: X:7.39, Y:0.28, Z:0.85 [[ 0.8324285 -0.12656426 -0.53948519 7.3901192 ] [ 0.16932336 0.98509894 0.03016075 0.27803833] [ 0.52762902 -0.11645411 0.84145473 0.8525379 ] [ 0. 0. 0. 1. ]] SLAMing on 46.379649246 meters Centerline goodness [0,1] 0.9245766901495489 Centerline is valid? [False, False] Translation: X:7.39, Y:0.28, Z:0.85 [[ 0.83206864 -0.12702432 -0.53993204 7.39173398] [ 0.16988663 0.98500462 0.03007379 0.27742453] [ 0.52801545 -0.11675069 0.84117119 0.85339075] [ 0. 0. 0. 1. ]] SLAMing on 46.409649246 meters Centerline goodness [0,1] 0.924864781332097 Centerline is valid? [False, False] Translation: X:7.39, Y:0.28, Z:0.85 [[ 0.8318275 -0.12753749 -0.54018257 7.39325472] [ 0.17032629 0.9849388 0.02974083 0.27782338] [ 0.5282537 -0.11674653 0.84102216 0.85348533] [ 0. 0. 0. 1. ]] SLAMing on 46.439649246 meters Centerline goodness [0,1] 0.9187782665262375 Centerline is valid? [False, False] Translation: X:7.40, Y:0.28, Z:0.85 [[ 0.83152462 -0.1286497 -0.54038511 7.39604083] [ 0.17113892 0.9848234 0.02888494 0.27895468] [ 0.52846786 -0.11649946 0.84092187 0.85302824] [ 0. 0. 0. 1. ]] SLAMing on 46.469649246 meters Centerline goodness [0,1] 0.9219239720713731 Centerline is valid? [False, False] Translation: X:7.40, Y:0.28, Z:0.85 [[ 0.8312041 -0.12897722 -0.54079999 7.39717372] [ 0.17166169 0.9847293 0.02899086 0.27826701] [ 0.52880243 -0.11693196 0.84065148 0.85410377] [ 0. 0. 0. 1. ]] SLAMing on 46.499649246000004 meters Centerline goodness [0,1] 0.9233903576982893 Centerline is valid? [False, False] Translation: X:7.40, Y:0.28, Z:0.86 [[ 0.83087668 -0.12866013 -0.54137834 7.39680533] [ 0.171821 0.98468072 0.02968886 0.27699269] [ 0.52926504 -0.11768795 0.84025476 0.85623709] [ 0. 0. 0. 1. ]] SLAMing on 46.529649246000005 meters Centerline goodness [0,1] 0.9243147160632426 Centerline is valid? [False, False] Translation: X:7.40, Y:0.28, Z:0.86 [[ 0.830613 -0.12834423 -0.54185774 7.39683223] [ 0.17188931 0.98465126 0.03026475 0.27593681] [ 0.5296566 -0.11827785 0.83992514 0.85778657] [ 0. 0. 0. 1. ]] SLAMing on 46.559649246 meters Centerline goodness [0,1] 0.924397768705787 Centerline is valid? [False, False] Translation: X:7.40, Y:0.28, Z:0.86 [[ 0.83051998 -0.12814255 -0.54204801 7.39660328] [ 0.17190517 0.98463756 0.03061853 0.27516407] [ 0.52979729 -0.11861015 0.83978953 0.85863016] [ 0. 0. 0. 1. ]] SLAMing on 46.589649246 meters Centerline goodness [0,1] 0.9214532548799851 Centerline is valid? [False, False] Translation: X:7.40, Y:0.27, Z:0.86 [[ 0.83017675 -0.12324499 -0.54370694 7.39861394] [ 0.16925061 0.98494558 0.03516291 0.27399812] [ 0.5311881 -0.12121416 0.83853821 0.86198507] [ 0. 0. 0. 1. ]] SLAMing on 46.619649246 meters Centerline goodness [0,1] 0.9214403638289257 Centerline is valid? [False, False] Translation: X:7.40, Y:0.28, Z:0.86 [[ 0.83020838 -0.12348231 -0.54360479 7.3987746 ] [ 0.16925406 0.98495959 0.03475145 0.27602248] [ 0.53113756 -0.12085826 0.83862159 0.86135113] [ 0. 0. 0. 1. ]] SLAMing on 46.649649246 meters Centerline goodness [0,1] 0.9226107226107226 Centerline is valid? [False, False] Translation: X:7.40, Y:0.28, Z:0.86 [[ 0.83016624 -0.1237927 -0.54359855 7.39940927] [ 0.16940713 0.98494515 0.03441338 0.27698028] [ 0.53115463 -0.12065829 0.83863957 0.86099953] [ 0. 0. 0. 1. ]] SLAMing on 46.679649246000004 meters Centerline goodness [0,1] 0.9180470252497053 Centerline is valid? [False, False] Translation: X:7.40, Y:0.28, Z:0.86 [[ 0.8299856 -0.12418054 -0.5437859 7.40041617] [ 0.16968513 0.98490905 0.03407532 0.27853328] [ 0.53134816 -0.12055441 0.83853191 0.86096339] [ 0. 0. 0. 1. ]] SLAMing on 46.709649246000005 meters Centerline goodness [0,1] 0.9209645425241756 Centerline is valid? [False, False] Translation: X:7.40, Y:0.28, Z:0.86 [[ 0.82982801 -0.12446674 -0.54396095 7.40132228] [ 0.16991738 0.98487648 0.03385873 0.27891255] [ 0.53152005 -0.12052534 0.83842714 0.86109111] [ 0. 0. 0. 1. ]] SLAMing on 46.739649246 meters Centerline goodness [0,1] 0.9209766994508393 Centerline is valid? [False, False] Translation: X:7.40, Y:0.28, Z:0.86 [[ 0.82956678 -0.12419763 -0.54442071 7.40117317] [ 0.1700326 0.98483713 0.03441999 0.27794827] [ 0.53189085 -0.12112295 0.83810581 0.86274621] [ 0. 0. 0. 1. ]] SLAMing on 46.769649246 meters Centerline goodness [0,1] 0.9206857925197586 Centerline is valid? [False, False] Translation: X:7.40, Y:0.28, Z:0.86 [[ 0.82949959 -0.12393742 -0.54458236 7.40084823] [ 0.16995901 0.98483835 0.03474701 0.2772591 ] [ 0.53201914 -0.12137931 0.83798729 0.86341774] [ 0. 0. 0. 1. ]] SLAMing on 46.799649246 meters Centerline goodness [0,1] 0.9214601082022262 Centerline is valid? [False, False] Translation: X:7.40, Y:0.28, Z:0.86 [[ 0.82944759 -0.12387598 -0.54467553 7.40099577] [ 0.16993689 0.98484023 0.03480181 0.27687649] [ 0.53210727 -0.12142674 0.83792446 0.86360597] [ 0. 0. 0. 1. ]] SLAMing on 46.829649246 meters Centerline goodness [0,1] 0.9212119330704995 Centerline is valid? [False, False] Translation: X:7.40, Y:0.28, Z:0.86 [[ 0.8292625 -0.12462742 -0.54478594 7.40295161] [ 0.17030817 0.98480578 0.03395163 0.27843702] [ 0.53227703 -0.1209363 0.83788757 0.86278915] [ 0. 0. 0. 1. ]] SLAMing on 46.859649246000004 meters Centerline goodness [0,1] 0.9239769702222498 Centerline is valid? [False, False] Translation: X:7.40, Y:0.28, Z:0.86 [[ 0.82903454 -0.1251875 -0.54500442 7.40435234] [ 0.17047787 0.98480497 0.03311307 0.28021401] [ 0.53257772 -0.12036307 0.83777903 0.86224118] [ 0. 0. 0. 1. ]] SLAMing on 46.889649246000005 meters Centerline goodness [0,1] 0.9248248496496994 Centerline is valid? [False, False] Translation: X:7.41, Y:0.28, Z:0.86 [[ 0.82886589 -0.12563983 -0.54515684 7.40545838] [ 0.1706777 0.98478941 0.03254137 0.28123013] [ 0.53277619 -0.12001854 0.83770226 0.86192581] [ 0. 0. 0. 1. ]] SLAMing on 46.919649246 meters Centerline goodness [0,1] 0.9248248496496994 Centerline is valid? [False, False] Translation: X:7.41, Y:0.28, Z:0.86 [[ 0.82886589 -0.12563983 -0.54515684 7.40545838] [ 0.1706777 0.98478941 0.03254137 0.28123013] [ 0.53277619 -0.12001854 0.83770226 0.86192581] [ 0. 0. 0. 1. ]] SLAMing on 46.949649246 meters Centerline goodness [0,1] 0.9232413344484713 Centerline is valid? [False, False] Translation: X:7.41, Y:0.28, Z:0.86 [[ 0.82831592 -0.12690197 -0.54570013 7.40799161] [ 0.17194101 0.98458659 0.03202399 0.28147459] [ 0.53322513 -0.12035421 0.8373684 0.86295432] [ 0. 0. 0. 1. ]] SLAMing on 46.979649246 meters Centerline goodness [0,1] 0.923362979949797 Centerline is valid? [False, False] Translation: X:7.41, Y:0.28, Z:0.86 [[ 0.82813341 -0.12722987 -0.54590074 7.40863621] [ 0.17236045 0.98451349 0.03201668 0.28168109] [ 0.53337316 -0.12060578 0.83723791 0.86350729] [ 0. 0. 0. 1. ]] SLAMing on 47.009649246 meters Centerline goodness [0,1] 0.9201040505388332 Centerline is valid? [False, False] Translation: X:7.41, Y:0.28, Z:0.86 [[ 0.82805822 -0.12744778 -0.54596396 7.40924636] [ 0.17263597 0.98446493 0.03202549 0.28179792] [ 0.53340079 -0.12077199 0.83719634 0.86368829] [ 0. 0. 0. 1. ]] SLAMing on 47.039649246 meters Centerline goodness [0,1] 0.9221514289249041 Centerline is valid? [False, False] Translation: X:7.41, Y:0.28, Z:0.86 [[ 0.8280702 -0.12707843 -0.54603188 7.40891913] [ 0.17234748 0.98450835 0.0322436 0.28176652] [ 0.53347548 -0.12080718 0.83714368 0.86382142] [ 0. 0. 0. 1. ]] SLAMing on 47.069649246000004 meters Centerline goodness [0,1] 0.9231437525210214 Centerline is valid? [False, False] Translation: X:7.41, Y:0.28, Z:0.86 [[ 0.82811856 -0.12638374 -0.54611976 7.4076532 ] [ 0.171992 0.98454686 0.03295807 0.28034617] [ 0.53351513 -0.12122142 0.83705852 0.86478633] [ 0. 0. 0. 1. ]] SLAMing on 47.099649246 meters Centerline goodness [0,1] 0.9236486906761212 Centerline is valid? [False, False] Translation: X:7.41, Y:0.28, Z:0.87 [[ 0.82807073 -0.12563654 -0.54636465 7.4063972 ] [ 0.17180259 0.98454491 0.03398808 0.27803762] [ 0.53365039 -0.12201139 0.8368575 0.86655985] [ 0. 0. 0. 1. ]] SLAMing on 47.129649246 meters Centerline goodness [0,1] 0.9242720860134862 Centerline is valid? [False, False] Translation: X:7.41, Y:0.28, Z:0.87 [[ 0.82803966 -0.12564018 -0.5464109 7.40651687] [ 0.1717964 0.98454699 0.03395901 0.27806314] [ 0.53370059 -0.12199083 0.83682849 0.86658912] [ 0. 0. 0. 1. ]] SLAMing on 47.159649246 meters Centerline goodness [0,1] 0.9235936188077246 Centerline is valid? [False, False] Translation: X:7.41, Y:0.28, Z:0.87 [[ 0.82812579 -0.12547777 -0.54631767 7.40618076] [ 0.17162263 0.98457538 0.03401466 0.2785325 ] [ 0.53362285 -0.1219289 0.83688709 0.86636017] [ 0. 0. 0. 1. ]] SLAMing on 47.189649246 meters Centerline goodness [0,1] 0.920156458572626 Centerline is valid? [False, False] Translation: X:7.41, Y:0.28, Z:0.87 [[ 0.82830138 -0.12546108 -0.54605525 7.40582209] [ 0.1713803 0.98462715 0.03373679 0.27936075] [ 0.53342817 -0.12152734 0.83706959 0.86551697] [ 0. 0. 0. 1. ]] SLAMing on 47.219649246 meters Centerline goodness [0,1] 0.9180958288106683 Centerline is valid? [False, False] Translation: X:7.41, Y:0.28, Z:0.87 [[ 0.82830091 -0.12561615 -0.54602032 7.40616747] [ 0.17137836 0.98463714 0.03345393 0.28013765] [ 0.53342953 -0.12128599 0.83710373 0.86511681] [ 0. 0. 0. 1. ]] SLAMing on 47.249649246000004 meters Centerline goodness [0,1] 0.9170036112225686 Centerline is valid? [False, False] Translation: X:7.41, Y:0.28, Z:0.87 [[ 0.82812945 -0.12161021 -0.54718605 7.40961305] [ 0.16879533 0.98497308 0.03655357 0.28098397] [ 0.53451825 -0.12263353 0.83621245 0.86599949] [ 0. 0. 0. 1. ]] SLAMing on 47.279649246000005 meters Centerline goodness [0,1] 0.9191535372258264 Centerline is valid? [False, False] Translation: X:7.41, Y:0.28, Z:0.87 [[ 0.82789898 -0.1223616 -0.54736726 7.41117343] [ 0.16915828 0.98494307 0.03567396 0.28283455] [ 0.53476046 -0.12212614 0.83613184 0.86544259] [ 0. 0. 0. 1. ]] SLAMing on 47.309649246 meters Centerline goodness [0,1] 0.9179276974758838 Centerline is valid? [False, False] Translation: X:7.41, Y:0.29, Z:0.86 [[ 0.82782281 -0.12298251 -0.54734331 7.41262457] [ 0.16904184 0.98501035 0.03434342 0.28582452] [ 0.53491519 -0.12095418 0.83620322 0.86364627] [ 0. 0. 0. 1. ]] SLAMing on 47.339649246 meters Centerline goodness [0,1] 0.918485454825304 Centerline is valid? [False, False] Translation: X:7.41, Y:0.29, Z:0.86 [[ 0.82784442 -0.1232319 -0.54725453 7.41279094] [ 0.16899077 0.9850371 0.03382352 0.28762859] [ 0.53489788 -0.12048158 0.83628252 0.8629158 ] [ 0. 0. 0. 1. ]] SLAMing on 47.369649246 meters Centerline goodness [0,1] 0.9214485708132057 Centerline is valid? [False, False] Translation: X:7.41, Y:0.29, Z:0.86 [[ 0.82794347 -0.1232677 -0.54709659 7.41211242] [ 0.16880698 0.98507927 0.03351178 0.28923271] [ 0.53480259 -0.12009958 0.8363984 0.86236647] [ 0. 0. 0. 1. ]] SLAMing on 47.399649246 meters Centerline goodness [0,1] 0.9205837173579109 Centerline is valid? [False, False] Translation: X:7.41, Y:0.29, Z:0.86 [[ 0.82783703 -0.1233493 -0.54723925 7.41238221] [ 0.16887465 0.98507053 0.03342766 0.28930217] [ 0.53494598 -0.12008749 0.83630843 0.86258868] [ 0. 0. 0. 1. ]] SLAMing on 47.429649246000004 meters Centerline goodness [0,1] 0.9170713714882892 Centerline is valid? [False, False] Translation: X:7.41, Y:0.29, Z:0.86 [[ 0.8278857 -0.12345489 -0.54714181 7.41250828] [ 0.1688943 0.98507189 0.03328795 0.28981523] [ 0.53486445 -0.11996775 0.83637776 0.86226034] [ 0. 0. 0. 1. ]] SLAMing on 47.459649246000005 meters Centerline goodness [0,1] 0.9158967726040896 Centerline is valid? [False, False] Translation: X:7.41, Y:0.29, Z:0.86 [[ 0.82782991 -0.12347007 -0.54722279 7.41273284] [ 0.16901515 0.98504645 0.03342705 0.28939236] [ 0.53491262 -0.12016085 0.83631923 0.86258253] [ 0. 0. 0. 1. ]] SLAMing on 47.489649246 meters Centerline goodness [0,1] 0.9178221170104836 Centerline is valid? [False, False] Translation: X:7.41, Y:0.29, Z:0.86 [[ 0.82781572 -0.12299651 -0.54735089 7.41218629] [ 0.16895807 0.98503025 0.03418441 0.2875996 ] [ 0.53495262 -0.12077774 0.83620478 0.86366819] [ 0. 0. 0. 1. ]] SLAMing on 47.519649246 meters Centerline goodness [0,1] 0.9184037385476235 Centerline is valid? [False, False] Translation: X:7.41, Y:0.29, Z:0.86 [[ 0.82771687 -0.12285171 -0.54753287 7.41229904] [ 0.16902973 0.98500637 0.03451672 0.28659092] [ 0.53508293 -0.1211194 0.83607198 0.86437866] [ 0. 0. 0. 1. ]] SLAMing on 47.549649246 meters Centerline goodness [0,1] 0.9163787785317705 Centerline is valid? [False, False] Translation: X:7.41, Y:0.29, Z:0.86 [[ 0.82767765 -0.12749692 -0.54652927 7.41089681] [ 0.17209496 0.98459454 0.03093407 0.28567809] [ 0.53416574 -0.11965837 0.83686847 0.86334811] [ 0. 0. 0. 1. ]] SLAMing on 47.579649246 meters Centerline goodness [0,1] 0.9154733553954164 Centerline is valid? [False, False] Translation: X:7.41, Y:0.28, Z:0.86 [[ 0.82750482 -0.13243342 -0.54561631 7.41054288] [ 0.17541328 0.98411987 0.02717106 0.28471031] [ 0.5333535 -0.11819253 0.83759452 0.86228256] [ 0. 0. 0. 1. ]] SLAMing on 47.609649246000004 meters Centerline goodness [0,1] 0.9142309238811048 Centerline is valid? [False, False] Translation: X:7.41, Y:0.28, Z:0.86 [[ 0.82717151 -0.13288256 -0.54601239 7.41243805] [ 0.17597849 0.9840205 0.02711519 0.28398006] [ 0.53368424 -0.11851535 0.83733819 0.86293098] [ 0. 0. 0. 1. ]] SLAMing on 47.639649246000005 meters Centerline goodness [0,1] 0.9165292085524882 Centerline is valid? [False, False] Translation: X:7.41, Y:0.28, Z:0.86 [[ 0.82678489 -0.13857065 -0.54518338 7.41291531] [ 0.17996318 0.98340526 0.02296427 0.28357773] [ 0.53295403 -0.11709945 0.83800222 0.86206077] [ 0. 0. 0. 1. ]] SLAMing on 47.669649246 meters Centerline goodness [0,1] 0.9113102113445509 Centerline is valid? [False, False] Translation: X:7.41, Y:0.28, Z:0.86 [[ 0.82664973 -0.14315858 -0.54420203 7.40950642] [ 0.18314991 0.98288866 0.0196469 0.28346488] [ 0.53207738 -0.11591166 0.83872412 0.862187 ] [ 0. 0. 0. 1. ]] SLAMing on 47.699649246 meters Centerline goodness [0,1] 0.9127407823670819 Centerline is valid? [False, False] Translation: X:7.41, Y:0.28, Z:0.86 [[ 0.8262929 -0.14364622 -0.54461529 7.40986696] [ 0.18379852 0.98276755 0.01964794 0.28376488] [ 0.53240788 -0.11633444 0.83845581 0.86352076] [ 0. 0. 0. 1. ]] SLAMing on 47.729649246 meters Centerline goodness [0,1] 0.9117974746224313 Centerline is valid? [False, False] Translation: X:7.42, Y:0.29, Z:0.86 [[ 0.82515567 -0.14048723 -0.54715762 7.42411766] [ 0.18243002 0.98295592 0.02273644 0.29119933] [ 0.53463764 -0.11857907 0.83672074 0.86436181] [ 0. 0. 0. 1. ]] SLAMing on 47.759649246 meters Centerline goodness [0,1] 0.9104794752563669 Centerline is valid? [False, False] Translation: X:7.43, Y:0.30, Z:0.86 [[ 0.82486398 -0.13742599 -0.54837352 7.4303888 ] [ 0.18017572 0.98332697 0.02459233 0.29523016] [ 0.53585084 -0.11908892 0.83587182 0.86338047] [ 0. 0. 0. 1. ]] SLAMing on 47.789649246 meters Centerline goodness [0,1] 0.9101855264774542 Centerline is valid? [False, False] Translation: X:7.44, Y:0.30, Z:0.86 [[ 0.82416943 -0.13956973 -0.54887616 7.43529399] [ 0.18142798 0.98314847 0.02242697 0.2991226 ] [ 0.53649663 -0.11806512 0.83560277 0.86206819] [ 0. 0. 0. 1. ]] SLAMing on 47.819649246000004 meters Centerline goodness [0,1] 0.9097950026124105 Centerline is valid? [False, False] Translation: X:7.44, Y:0.30, Z:0.86 [[ 0.82399631 -0.13942625 -0.54917248 7.43512098] [ 0.18138072 0.98315456 0.02254208 0.29917103] [ 0.53677847 -0.11818389 0.83540496 0.86281618] [ 0. 0. 0. 1. ]] SLAMing on 47.849649246 meters Centerline goodness [0,1] 0.9145671586829104 Centerline is valid? [False, False] Translation: X:7.43, Y:0.30, Z:0.86 [[ 0.82386152 -0.13813812 -0.54969997 7.43243576] [ 0.18058515 0.98327722 0.02355664 0.29861866] [ 0.53725339 -0.11867506 0.83502995 0.86494332] [ 0. 0. 0. 1. ]] SLAMing on 47.879649246 meters Centerline goodness [0,1] 0.9161227054028378 Centerline is valid? [False, False] Translation: X:7.43, Y:0.30, Z:0.87 [[ 0.82385811 -0.13754412 -0.549854 7.4311926 ] [ 0.18021294 0.98333382 0.02403931 0.29852452] [ 0.53738357 -0.11889579 0.83491478 0.86571324] [ 0. 0. 0. 1. ]] SLAMing on 47.909649246 meters Centerline goodness [0,1] 0.9146348934084783 Centerline is valid? [False, False] Translation: X:7.43, Y:0.30, Z:0.87 [[ 0.82405413 -0.13702465 -0.54968995 7.42962026] [ 0.17974428 0.98341275 0.02431775 0.29968077] [ 0.53723997 -0.11884277 0.83501474 0.86556258] [ 0. 0. 0. 1. ]] SLAMing on 47.939649246 meters Centerline goodness [0,1] 0.9142525008412616 Centerline is valid? [False, False] Translation: X:7.43, Y:0.30, Z:0.87 [[ 0.82411959 -0.13691767 -0.54961846 7.4291957 ] [ 0.1796556 0.98342699 0.02439722 0.3006468 ] [ 0.53716922 -0.11884826 0.83505947 0.86546596] [ 0. 0. 0. 1. ]] SLAMing on 47.969649246 meters Centerline goodness [0,1] 0.9156865740033603 Centerline is valid? [False, False] Translation: X:7.43, Y:0.30, Z:0.87 [[ 0.82438387 -0.13528177 -0.54962721 7.42546468] [ 0.17876254 0.98354757 0.0260411 0.29971906] [ 0.53706162 -0.11972062 0.83500406 0.86716697] [ 0. 0. 0. 1. ]] SLAMing on 47.999649246000004 meters Centerline goodness [0,1] 0.9183573698362258 Centerline is valid? [False, False] Translation: X:7.42, Y:0.30, Z:0.87 [[ 0.82458172 -0.13383592 -0.5496844 7.42215518] [ 0.17781785 0.98368636 0.02723887 0.29918079] [ 0.5370715 -0.12020437 0.83492821 0.86854195] [ 0. 0. 0. 1. ]] SLAMing on 48.029649246000005 meters Centerline goodness [0,1] 0.9179543445795617 Centerline is valid? [False, False] Translation: X:7.42, Y:0.30, Z:0.87 [[ 0.82470139 -0.13337719 -0.54961636 7.42113501] [ 0.17746366 0.98374146 0.02755716 0.29915401] [ 0.5370049 -0.12026336 0.83496255 0.86870211] [ 0. 0. 0. 1. ]] SLAMing on 48.059649246 meters Centerline goodness [0,1] 0.9188802241988546 Centerline is valid? [False, False] Translation: X:7.42, Y:0.30, Z:0.87 [[ 0.82479864 -0.13297801 -0.54956715 7.42015482] [ 0.17713886 0.983793 0.02780562 0.29924361] [ 0.53696278 -0.12028374 0.8349867 0.86884764] [ 0. 0. 0. 1. ]] SLAMing on 48.089649246 meters Centerline goodness [0,1] 0.9209836665041443 Centerline is valid? [False, False] Translation: X:7.42, Y:0.30, Z:0.87 [[ 0.82495839 -0.13270583 -0.54939314 7.41961822] [ 0.17667727 0.9838807 0.02763903 0.30052228] [ 0.53686944 -0.11986633 0.83510674 0.86812314] [ 0. 0. 0. 1. ]] SLAMing on 48.119649246 meters Centerline goodness [0,1] 0.9184580719809999 Centerline is valid? [False, False] Translation: X:7.42, Y:0.30, Z:0.87 [[ 0.82475211 -0.12795366 -0.5508283 7.42183205] [ 0.17382447 0.98426864 0.03162751 0.30048371] [ 0.53811617 -0.1218323 0.83401911 0.87029118] [ 0. 0. 0. 1. ]] SLAMing on 48.149649246 meters Centerline goodness [0,1] 0.9198001816530427 Centerline is valid? [False, False] Translation: X:7.42, Y:0.30, Z:0.87 [[ 0.82497133 -0.12299626 -0.5516287 7.42278441] [ 0.17028293 0.98477031 0.03508786 0.30223296] [ 0.53891189 -0.12287943 0.83335144 0.87056394] [ 0. 0. 0. 1. ]] SLAMing on 48.179649246000004 meters Centerline goodness [0,1] 0.9188152889318277 Centerline is valid? [False, False] Translation: X:7.42, Y:0.30, Z:0.87 [[ 0.8251114 -0.1227685 -0.55146992 7.4218494 ] [ 0.16984613 0.98485327 0.03487592 0.30397721] [ 0.5388353 -0.12244155 0.83346541 0.86995026] [ 0. 0. 0. 1. ]] SLAMing on 48.209649246000005 meters Centerline goodness [0,1] 0.9178958752666206 Centerline is valid? [False, False] Translation: X:7.42, Y:0.31, Z:0.87 [[ 0.82547913 -0.11752087 -0.55206255 7.42211092] [ 0.16589894 0.98539892 0.03829489 0.30624635] [ 0.53950139 -0.12319823 0.83292283 0.86967316] [ 0. 0. 0. 1. ]] SLAMing on 48.239649246 meters Centerline goodness [0,1] 0.9201724705811899 Centerline is valid? [False, False] Translation: X:7.42, Y:0.31, Z:0.87 [[ 0.82567181 -0.11751115 -0.55177639 7.42186699] [ 0.16549576 0.98548705 0.03776796 0.30854749] [ 0.53933033 -0.1225006 0.83313648 0.86831616] [ 0. 0. 0. 1. ]] SLAMing on 48.269649246 meters Centerline goodness [0,1] 0.9215203554701573 Centerline is valid? [False, False] Translation: X:7.42, Y:0.31, Z:0.87 [[ 0.82608676 -0.11657022 -0.55135474 7.41984191] [ 0.16429863 0.98568737 0.0377672 0.30979057] [ 0.53906087 -0.12178581 0.83341562 0.86706789] [ 0. 0. 0. 1. ]] SLAMing on 48.299649246 meters Centerline goodness [0,1] 0.9213251137179794 Centerline is valid? [False, False] Translation: X:7.42, Y:0.31, Z:0.87 [[ 0.82618093 -0.11620599 -0.55129052 7.41908645] [ 0.16392329 0.98574568 0.03787612 0.31006182] [ 0.53903082 -0.12166188 0.83345315 0.866971 ] [ 0. 0. 0. 1. ]] SLAMing on 48.329649246 meters Centerline goodness [0,1] 0.9240817304811553 Centerline is valid? [False, False] Translation: X:7.42, Y:0.31, Z:0.87 [[ 0.82648785 -0.11533744 -0.5510128 7.41722912] [ 0.1630164 0.98588548 0.03815078 0.31041935] [ 0.5388353 -0.12135528 0.83362426 0.86646537] [ 0. 0. 0. 1. ]] SLAMing on 48.359649246000004 meters Centerline goodness [0,1] 0.9205345424173726 Centerline is valid? [False, False] Translation: X:7.42, Y:0.31, Z:0.87 [[ 0.82654722 -0.11598556 -0.55078766 7.41770024] [ 0.16309708 0.98591074 0.0371396 0.31372273] [ 0.53871981 -0.12052949 0.83381869 0.86505674] [ 0. 0. 0. 1. ]] SLAMing on 48.389649246000005 meters Centerline goodness [0,1] 0.9218330449310819 Centerline is valid? [False, False] Translation: X:7.42, Y:0.32, Z:0.86 [[ 0.8263562 -0.12152733 -0.54987866 7.41667893] [ 0.16665355 0.98547482 0.03264914 0.31605002] [ 0.53792381 -0.11861905 0.83460619 0.86367263] [ 0. 0. 0. 1. ]] SLAMing on 48.419649246 meters Centerline goodness [0,1] 0.922488465545468 Centerline is valid? [False, False] Translation: X:7.42, Y:0.32, Z:0.86 [[ 0.82619392 -0.12160558 -0.55010516 7.41675137] [ 0.16687249 0.98543328 0.03278437 0.31570639] [ 0.53810517 -0.11888367 0.83445162 0.86445906] [ 0. 0. 0. 1. ]] SLAMing on 48.449649246 meters Centerline goodness [0,1] 0.9209318953703152 Centerline is valid? [False, False] Translation: X:7.42, Y:0.32, Z:0.86 [[ 0.82575511 -0.12271316 -0.55051792 7.41980845] [ 0.16766054 0.98533018 0.03184922 0.31698334] [ 0.5385336 -0.11859979 0.83421559 0.86421636] [ 0. 0. 0. 1. ]] SLAMing on 48.479649246 meters Centerline goodness [0,1] 0.921211037606532 Centerline is valid? [False, False] Translation: X:7.42, Y:0.32, Z:0.86 [[ 0.82570552 -0.12305294 -0.55051646 7.42108482] [ 0.16775122 0.98533038 0.03136203 0.31826863] [ 0.5385814 -0.11824561 0.83423501 0.86342694] [ 0. 0. 0. 1. ]] SLAMing on 48.509649246 meters Centerline goodness [0,1] 0.9200500059530896 Centerline is valid? [False, False] Translation: X:7.42, Y:0.32, Z:0.86 [[ 0.82601723 -0.12236863 -0.55020128 7.42075019] [ 0.16711205 0.98542754 0.03171932 0.31767107] [ 0.53830205 -0.11814597 0.83442941 0.86263057] [ 0. 0. 0. 1. ]] SLAMing on 48.539649246 meters Centerline goodness [0,1] 0.9192323787887846 Centerline is valid? [False, False] Translation: X:7.42, Y:0.32, Z:0.86 [[ 0.82592874 -0.12725921 -0.54922382 7.41965334] [ 0.17033206 0.98499117 0.02791747 0.31740411] [ 0.53742786 -0.11660827 0.83520884 0.86148354] [ 0. 0. 0. 1. ]] SLAMing on 48.569649246000004 meters Centerline goodness [0,1] 0.9210463162946965 Centerline is valid? [False, False] Translation: X:7.42, Y:0.32, Z:0.86 [[ 0.82609643 -0.13101849 -0.54808654 7.41646205] [ 0.1727966 0.98463841 0.02507052 0.31568265] [ 0.53638236 -0.11541816 0.83604582 0.86081059] [ 0. 0. 0. 1. ]] SLAMing on 48.599649246 meters Centerline goodness [0,1] 0.9201083684527394 Centerline is valid? [False, False] Translation: X:7.41, Y:0.31, Z:0.86 [[ 0.82615007 -0.13480102 -0.54708752 7.4134604 ] [ 0.17534865 0.9842544 0.02227396 0.31375721] [ 0.53547074 -0.11433269 0.83677902 0.86049897] [ 0. 0. 0. 1. ]] SLAMing on 48.629649246 meters Centerline goodness [0,1] 0.9215556425152764 Centerline is valid? [False, False] Translation: X:7.41, Y:0.31, Z:0.86 [[ 0.82614262 -0.13442294 -0.54719178 7.41325999] [ 0.17523582 0.98426303 0.02277492 0.31236854] [ 0.53551917 -0.11470293 0.83669735 0.86110448] [ 0. 0. 0. 1. ]] SLAMing on 48.659649246 meters Centerline goodness [0,1] 0.9213625656821888 Centerline is valid? [False, False] Translation: X:7.41, Y:0.31, Z:0.86 [[ 0.82610335 -0.1344533 -0.54724361 7.41379204] [ 0.17535232 0.98423968 0.02288719 0.31191582] [ 0.53554162 -0.11486762 0.83666039 0.8612293 ] [ 0. 0. 0. 1. ]] SLAMing on 48.689649246 meters Centerline goodness [0,1] 0.9207974626189397 Centerline is valid? [False, False] Translation: X:7.42, Y:0.31, Z:0.86 [[ 0.82586688 -0.13483614 -0.54750627 7.41597025] [ 0.1757871 0.98416445 0.0227866 0.31106773] [ 0.53576375 -0.11506323 0.83649128 0.86138314] [ 0. 0. 0. 1. ]] SLAMing on 48.719649246 meters Centerline goodness [0,1] 0.9203850578192165 Centerline is valid? [False, False] Translation: X:7.42, Y:0.31, Z:0.86 [[ 0.82563525 -0.13503311 -0.54780698 7.41736889] [ 0.17602421 0.98412376 0.02271329 0.31050487] [ 0.53604282 -0.11518019 0.83629637 0.86174295] [ 0. 0. 0. 1. ]] SLAMing on 48.749649246000004 meters Centerline goodness [0,1] 0.9234303678848886 Centerline is valid? [False, False] Translation: X:7.42, Y:0.31, Z:0.86 [[ 0.82555551 -0.13475029 -0.54799677 7.41774374] [ 0.17588289 0.98414307 0.02297007 0.3092631 ] [ 0.536212 -0.11534633 0.83616501 0.86219523] [ 0. 0. 0. 1. ]] SLAMing on 48.779649246000005 meters Centerline goodness [0,1] 0.9233233596276483 Centerline is valid? [False, False] Translation: X:7.42, Y:0.31, Z:0.86 [[ 0.82565319 -0.13443157 -0.54792788 7.41743285] [ 0.17551711 0.98420744 0.0230098 0.30951731] [ 0.53618145 -0.11516883 0.83620906 0.86185378] [ 0. 0. 0. 1. ]] SLAMing on 48.809649246 meters Centerline goodness [0,1] 0.9233233596276483 Centerline is valid? [False, False] Translation: X:7.42, Y:0.31, Z:0.86 [[ 0.82565319 -0.13443157 -0.54792788 7.41743285] [ 0.17551711 0.98420744 0.0230098 0.30951731] [ 0.53618145 -0.11516883 0.83620906 0.86185378] [ 0. 0. 0. 1. ]] SLAMing on 48.839649246 meters Centerline goodness [0,1] 0.9225190378339175 Centerline is valid? [False, False] Translation: X:7.42, Y:0.31, Z:0.86 [[ 0.825653 -0.13443948 -0.54792623 7.41771551] [ 0.17544813 0.98422258 0.02288794 0.31009312] [ 0.53620433 -0.11503013 0.83621348 0.86162836] [ 0. 0. 0. 1. ]] SLAMing on 48.869649246 meters Centerline goodness [0,1] 0.923908435777872 Centerline is valid? [False, False] Translation: X:7.42, Y:0.31, Z:0.86 [[ 0.82590099 -0.13399152 -0.54766214 7.41671978] [ 0.17491369 0.98431615 0.02295461 0.31081361] [ 0.53599697 -0.11475185 0.83638464 0.8609647 ] [ 0. 0. 0. 1. ]] SLAMing on 48.899649246 meters Centerline goodness [0,1] 0.9229027681347541 Centerline is valid? [False, False] Translation: X:7.42, Y:0.31, Z:0.86 [[ 0.82604378 -0.13351083 -0.54756419 7.4156216 ] [ 0.1745052 0.98438205 0.02323613 0.31117644] [ 0.53591008 -0.11474686 0.836441 0.86096802] [ 0. 0. 0. 1. ]] SLAMing on 48.929649246000004 meters Centerline goodness [0,1] 0.9240330658299644 Centerline is valid? [False, False] Translation: X:7.41, Y:0.31, Z:0.86 [[ 0.82628519 -0.13305929 -0.54730979 7.41446967] [ 0.17399613 0.98446955 0.02334619 0.31229464] [ 0.5357034 -0.1145204 0.83660442 0.86044451] [ 0. 0. 0. 1. ]] SLAMing on 48.959649246000005 meters Centerline goodness [0,1] 0.9232742748483294 Centerline is valid? [False, False] Translation: X:7.41, Y:0.31, Z:0.86 [[ 0.82616292 -0.13315585 -0.54747087 7.41477579] [ 0.17428359 0.98441327 0.02357432 0.3117071 ] [ 0.53579852 -0.11489142 0.83649262 0.86112736] [ 0. 0. 0. 1. ]] SLAMing on 48.989649246 meters Centerline goodness [0,1] 0.9244108761329305 Centerline is valid? [False, False] Translation: X:7.42, Y:0.31, Z:0.86 [[ 0.82600699 -0.13323081 -0.54768787 7.41508507] [ 0.17455936 0.98435874 0.0238098 0.31106284] [ 0.53594914 -0.11527111 0.83634389 0.86192229] [ 0. 0. 0. 1. ]] SLAMing on 49.019649246 meters Centerline goodness [0,1] 0.9222050489438434 Centerline is valid? [False, False] Translation: X:7.42, Y:0.31, Z:0.86 [[ 0.8258301 -0.13334388 -0.54792705 7.41587629] [ 0.17491597 0.9842885 0.02409449 0.31014051] [ 0.53610544 -0.11573915 0.83617905 0.86269954] [ 0. 0. 0. 1. ]] SLAMing on 49.049649246 meters Centerline goodness [0,1] 0.924281430778084 Centerline is valid? [False, False] Translation: X:7.42, Y:0.31, Z:0.86 [[ 0.82567758 -0.13306503 -0.54822462 7.41616143] [ 0.17514868 0.9842271 0.02489878 0.30786468] [ 0.53626437 -0.11657918 0.83596042 0.86411669] [ 0. 0. 0. 1. ]] SLAMing on 49.079649246 meters Centerline goodness [0,1] 0.9254387294274543 Centerline is valid? [False, False] Translation: X:7.42, Y:0.31, Z:0.87 [[ 0.82558171 -0.13245317 -0.54851709 7.41589871] [ 0.17509062 0.98421241 0.02586894 0.30555196] [ 0.53643091 -0.11739713 0.83573907 0.86557746] [ 0. 0. 0. 1. ]] SLAMing on 49.109649246000004 meters Centerline goodness [0,1] 0.9249025103582744 Centerline is valid? [False, False] Translation: X:7.42, Y:0.30, Z:0.87 [[ 0.82546995 -0.13222437 -0.54874044 7.41599828] [ 0.17522948 0.98417221 0.02645171 0.30377924] [ 0.53655753 -0.1179906 0.8355742 0.8666536 ] [ 0. 0. 0. 1. ]] SLAMing on 49.139649246000005 meters Centerline goodness [0,1] 0.9234721967333456 Centerline is valid? [False, False] Translation: X:7.42, Y:0.30, Z:0.87 [[ 0.82480938 -0.13805625 -0.54829732 7.41713052] [ 0.17959881 0.98348166 0.02254068 0.30329435] [ 0.53612848 -0.11706531 0.83597965 0.86689007] [ 0. 0. 0. 1. ]] SLAMing on 49.169649246 meters Centerline goodness [0,1] 0.9248381057606727 Centerline is valid? [False, False] Translation: X:7.42, Y:0.30, Z:0.87 [[ 0.82438409 -0.13868345 -0.54877844 7.41961096] [ 0.18039253 0.98333763 0.02248644 0.301973 ] [ 0.53651599 -0.11753299 0.83566536 0.86781571] [ 0. 0. 0. 1. ]] SLAMing on 49.199649246 meters Centerline goodness [0,1] 0.9229682846704124 Centerline is valid? [False, False] Translation: X:7.42, Y:0.30, Z:0.87 [[ 0.82412467 -0.13879991 -0.54913853 7.42069412] [ 0.18066212 0.98328563 0.02259568 0.30145963] [ 0.53682375 -0.11783019 0.83542583 0.8685448 ] [ 0. 0. 0. 1. ]] SLAMing on 49.229649246 meters Centerline goodness [0,1] 0.9263751071909837 Centerline is valid? [False, False] Translation: X:7.42, Y:0.30, Z:0.87 [[ 0.82417888 -0.13830018 -0.54918325 7.4196794 ] [ 0.18046614 0.98330739 0.02320681 0.30065455] [ 0.53680644 -0.11823555 0.83537968 0.86934333] [ 0. 0. 0. 1. ]] SLAMing on 49.259649246 meters Centerline goodness [0,1] 0.9264322717101432 Centerline is valid? [False, False] Translation: X:7.42, Y:0.30, Z:0.87 [[ 0.82434641 -0.1380103 -0.54900469 7.41905906] [ 0.18027427 0.98333578 0.0234934 0.30032976] [ 0.53661362 -0.11833812 0.83548902 0.86927566] [ 0. 0. 0. 1. ]] SLAMing on 49.289649246 meters Centerline goodness [0,1] 0.9269218989280245 Centerline is valid? [False, False] Translation: X:7.42, Y:0.30, Z:0.87 [[ 0.82432039 -0.13793462 -0.54906279 7.41906773] [ 0.18029577 0.98332803 0.02365212 0.30031169] [ 0.53664638 -0.11849062 0.83544637 0.86952117] [ 0. 0. 0. 1. ]] SLAMing on 49.319649246000004 meters Centerline goodness [0,1] 0.9257260265570855 Centerline is valid? [False, False] Translation: X:7.42, Y:0.30, Z:0.87 [[ 0.82421543 -0.13831508 -0.54912463 7.42001581] [ 0.18056675 0.9832855 0.02335116 0.30107039] [ 0.53671647 -0.11840003 0.83541419 0.86931602] [ 0. 0. 0. 1. ]] SLAMing on 49.349649246000006 meters Centerline goodness [0,1] 0.925013750534743 Centerline is valid? [False, False] Translation: X:7.42, Y:0.30, Z:0.87 [[ 0.82395213 -0.13864645 -0.54943613 7.42102597] [ 0.18104892 0.98319557 0.02340411 0.30096771] [ 0.53695827 -0.11875869 0.83520787 0.87015393] [ 0. 0. 0. 1. ]] SLAMing on 49.379649246 meters Centerline goodness [0,1] 0.9258182930559804 Centerline is valid? [False, False] Translation: X:7.42, Y:0.30, Z:0.87 [[ 0.82362211 -0.13886208 -0.54987629 7.42217247] [ 0.18147293 0.98311399 0.02354688 0.29997227] [ 0.53732131 -0.11918139 0.83491413 0.87126853] [ 0. 0. 0. 1. ]] SLAMing on 49.409649246 meters Centerline goodness [0,1] 0.9248244780329276 Centerline is valid? [False, False] Translation: X:7.42, Y:0.30, Z:0.87 [[ 0.82335198 -0.13880526 -0.55029502 7.42291499] [ 0.18171308 0.98306077 0.02391411 0.29871616] [ 0.53765404 -0.11968554 0.83462776 0.87251542] [ 0. 0. 0. 1. ]] SLAMing on 49.439649246 meters Centerline goodness [0,1] 0.9255417101467067 Centerline is valid? [False, False] Translation: X:7.42, Y:0.30, Z:0.87 [[ 0.82297702 -0.1391518 -0.55076818 7.42437463] [ 0.18229727 0.98294923 0.02405243 0.29869236] [ 0.53803022 -0.12019813 0.83431162 0.87363891] [ 0. 0. 0. 1. ]] SLAMing on 49.469649246 meters Centerline goodness [0,1] 0.9243102391171061 Centerline is valid? [False, False] Translation: X:7.43, Y:0.30, Z:0.87 [[ 0.82287367 -0.13939033 -0.55086229 7.42527121] [ 0.18251873 0.98291114 0.02392895 0.29909689] [ 0.53811322 -0.12023319 0.83425305 0.8736212 ] [ 0. 0. 0. 1. ]] SLAMing on 49.499649246000004 meters Centerline goodness [0,1] 0.9190149473168341 Centerline is valid? [False, False] Translation: X:7.43, Y:0.30, Z:0.87 [[ 0.82254149 -0.14032241 -0.55112169 7.42837215] [ 0.18338096 0.98276171 0.02347024 0.2991371 ] [ 0.5383279 -0.12037047 0.83409473 0.87357729] [ 0. 0. 0. 1. ]] SLAMing on 49.529649246000005 meters Centerline goodness [0,1] 0.9213289934287293 Centerline is valid? [False, False] Translation: X:7.43, Y:0.30, Z:0.87 [[ 0.82229816 -0.14033067 -0.55148258 7.429032 ] [ 0.1835733 0.98272133 0.02365632 0.29874551] [ 0.53863399 -0.12069003 0.83385091 0.87446324] [ 0. 0. 0. 1. ]] SLAMing on 49.559649246 meters Centerline goodness [0,1] 0.9189488583912856 Centerline is valid? [False, False] Translation: X:7.43, Y:0.30, Z:0.88 [[ 0.82226215 -0.13925054 -0.55180997 7.42738735] [ 0.18316459 0.98276602 0.02493361 0.2963414 ] [ 0.53882807 -0.12157401 0.83359707 0.87649749] [ 0. 0. 0. 1. ]] SLAMing on 49.589649246 meters Centerline goodness [0,1] 0.9198567547542603 Centerline is valid? [False, False] Translation: X:7.43, Y:0.30, Z:0.88 [[ 0.82206963 -0.13938414 -0.55206303 7.42842447] [ 0.18351756 0.98269429 0.02516418 0.29541349] [ 0.5390017 -0.12199996 0.83342257 0.87723025] [ 0. 0. 0. 1. ]] SLAMing on 49.619649246 meters Centerline goodness [0,1] 0.9187119878978729 Centerline is valid? [False, False] Translation: X:7.43, Y:0.30, Z:0.88 [[ 0.82179232 -0.13992164 -0.55233985 7.43026274] [ 0.18404809 0.98260139 0.02491602 0.29562903] [ 0.53924361 -0.12213289 0.83324659 0.8774665 ] [ 0. 0. 0. 1. ]] SLAMing on 49.649649246 meters Centerline goodness [0,1] 0.9171996168937498 Centerline is valid? [False, False] Translation: X:7.43, Y:0.30, Z:0.88 [[ 0.82143819 -0.14038909 -0.55274787 7.43211512] [ 0.18457868 0.98250576 0.02476154 0.29565437] [ 0.53960172 -0.12236554 0.83298059 0.87807363] [ 0. 0. 0. 1. ]] SLAMing on 49.679649246000004 meters Centerline goodness [0,1] 0.9182720554129689 Centerline is valid? [False, False] Translation: X:7.43, Y:0.30, Z:0.88 [[ 0.82107674 -0.14119787 -0.55307879 7.43480549] [ 0.18535158 0.98237 0.02437142 0.29507659] [ 0.53988682 -0.12252484 0.83277241 0.87840538] [ 0. 0. 0. 1. ]] SLAMing on 49.709649246000005 meters Centerline goodness [0,1] 0.9198573864517129 Centerline is valid? [False, False] Translation: X:7.44, Y:0.29, Z:0.88 [[ 0.82058599 -0.14209439 -0.5535773 7.43789937] [ 0.1861765 0.98222671 0.02385381 0.29491045] [ 0.54034891 -0.12263718 0.83245611 0.87883618] [ 0. 0. 0. 1. ]] SLAMing on 49.739649246 meters Centerline goodness [0,1] 0.9201563372417644 Centerline is valid? [False, False] Translation: X:7.44, Y:0.29, Z:0.88 [[ 0.82043372 -0.14197029 -0.55383477 7.43829633] [ 0.18628759 0.98219758 0.02418365 0.29462804] [ 0.54054181 -0.12301363 0.83227532 0.87960958] [ 0. 0. 0. 1. ]] SLAMing on 49.769649246 meters Centerline goodness [0,1] 0.9158312901523851 Centerline is valid? [False, False] Translation: X:7.44, Y:0.29, Z:0.88 [[ 0.82032754 -0.1417606 -0.55404572 7.43834942] [ 0.18644772 0.98215286 0.02475902 0.29382585] [ 0.54064773 -0.12361106 0.83211798 0.88070497] [ 0. 0. 0. 1. ]] SLAMing on 49.799649246 meters Centerline goodness [0,1] 0.9190077519379845 Centerline is valid? [False, False] Translation: X:7.44, Y:0.29, Z:0.88 [[ 0.82019722 -0.14190391 -0.55420195 7.4389694 ] [ 0.18662614 0.98211978 0.02472674 0.29409077] [ 0.54078388 -0.12370937 0.8320149 0.88095357] [ 0. 0. 0. 1. ]] SLAMing on 49.829649246 meters Centerline goodness [0,1] 0.9183199727630073 Centerline is valid? [False, False] Translation: X:7.44, Y:0.30, Z:0.88 [[ 0.82000933 -0.14204186 -0.55444459 7.43974355] [ 0.18673658 0.98210258 0.02457605 0.29513885] [ 0.54103063 -0.12368768 0.83185769 0.88120663] [ 0. 0. 0. 1. ]] SLAMing on 49.859649246000004 meters Centerline goodness [0,1] 0.9187478776278826 Centerline is valid? [False, False] Translation: X:7.44, Y:0.29, Z:0.88 [[ 0.82001259 -0.13698858 -0.55570988 7.44124201] [ 0.18370684 0.98255706 0.02886907 0.29378204] [ 0.54206194 -0.12576071 0.8308749 0.88344853] [ 0. 0. 0. 1. ]] SLAMing on 49.889649246000005 meters Centerline goodness [0,1] 0.921278037959083 Centerline is valid? [False, False] Translation: X:7.44, Y:0.29, Z:0.88 [[ 0.82002665 -0.13695042 -0.55569855 7.44123718] [ 0.18358195 0.98258387 0.02875086 0.29495684] [ 0.54208299 -0.12559269 0.83088658 0.88323183] [ 0. 0. 0. 1. ]] SLAMing on 49.919649246 meters Centerline goodness [0,1] 0.9209538461538461 Centerline is valid? [False, False] Translation: X:7.44, Y:0.30, Z:0.88 [[ 0.82025678 -0.13656815 -0.55545292 7.44016661] [ 0.1828955 0.98272009 0.02846868 0.29769174] [ 0.54196683 -0.12494147 0.83106052 0.88217979] [ 0. 0. 0. 1. ]] SLAMing on 49.949649246 meters Centerline goodness [0,1] 0.9221505639270104 Centerline is valid? [False, False] Translation: X:7.44, Y:0.30, Z:0.88 [[ 0.82024321 -0.13672267 -0.55543496 7.44051459] [ 0.18257923 0.98280073 0.02770484 0.30088304] [ 0.542094 -0.12413559 0.83109834 0.88105415] [ 0. 0. 0. 1. ]] SLAMing on 49.979649246 meters Centerline goodness [0,1] 0.9238316471559128 Centerline is valid? [False, False] Translation: X:7.44, Y:0.30, Z:0.88 [[ 0.82020863 -0.13670403 -0.5554906 7.44075619] [ 0.18243378 0.98283346 0.02750087 0.30173419] [ 0.54219527 -0.1238967 0.83106792 0.88082653] [ 0. 0. 0. 1. ]] SLAMing on 50.009649246 meters Centerline goodness [0,1] 0.9270295850761763 Centerline is valid? [False, False] Translation: X:7.44, Y:0.30, Z:0.88 [[ 0.82003282 -0.13688426 -0.55570574 7.44154687] [ 0.18249459 0.98283043 0.02720421 0.30261249] [ 0.54244068 -0.12372164 0.83093385 0.88084459] [ 0. 0. 0. 1. ]] SLAMing on 50.039649246 meters Centerline goodness [0,1] 0.9261980246311425 Centerline is valid? [False, False] Translation: X:7.44, Y:0.30, Z:0.88 [[ 0.81978552 -0.137507 -0.55591683 7.44359656] [ 0.18277723 0.98279886 0.02643633 0.30452395] [ 0.54271925 -0.12328106 0.83081743 0.88027202] [ 0. 0. 0. 1. ]] SLAMing on 50.069649246000004 meters Centerline goodness [0,1] 0.9254626089616149 Centerline is valid? [False, False] Translation: X:7.45, Y:0.30, Z:0.88 [[ 0.81918555 -0.1381473 -0.55664203 7.44504259] [ 0.18386984 0.98258695 0.02673493 0.3034084 ] [ 0.54325584 -0.12425055 0.83032216 0.88271713] [ 0. 0. 0. 1. ]] SLAMing on 50.099649246000006 meters Centerline goodness [0,1] 0.926131850675139 Centerline is valid? [False, False] Translation: X:7.45, Y:0.30, Z:0.88 [[ 0.81898081 -0.13863777 -0.55682133 7.44644362] [ 0.18421782 0.98253302 0.02631844 0.304576 ] [ 0.54344662 -0.12413071 0.83021524 0.88262042] [ 0. 0. 0. 1. ]] SLAMing on 50.129649246 meters Centerline goodness [0,1] 0.9246606820061889 Centerline is valid? [False, False] Translation: X:7.45, Y:0.31, Z:0.88 [[ 0.81854052 -0.13996558 -0.55713648 7.44999829] [ 0.18524938 0.98236389 0.02537438 0.30607069] [ 0.54375922 -0.12397915 0.83003318 0.88233146] [ 0. 0. 0. 1. ]] SLAMing on 50.159649246 meters Centerline goodness [0,1] 0.9245121690536537 Centerline is valid? [False, False] Translation: X:7.45, Y:0.31, Z:0.88 [[ 0.81831951 -0.14010623 -0.55742571 7.45093289] [ 0.18552392 0.98230995 0.02545648 0.30577297] [ 0.54399821 -0.12424734 0.82983646 0.88297732] [ 0. 0. 0. 1. ]] SLAMing on 50.189649246 meters Centerline goodness [0,1] 0.9224464831804281 Centerline is valid? [False, False] Translation: X:7.45, Y:0.31, Z:0.88 [[ 0.81819503 -0.13989718 -0.5576609 7.4512044 ] [ 0.18553577 0.98229894 0.02579271 0.30505085] [ 0.54418138 -0.12456951 0.82966804 0.88369511] [ 0. 0. 0. 1. ]] SLAMing on 50.219649246 meters Centerline goodness [0,1] 0.9255041591209061 Centerline is valid? [False, False] Translation: X:7.45, Y:0.30, Z:0.89 [[ 0.81819509 -0.13889873 -0.55791034 7.44972607] [ 0.18525632 0.9823158 0.02712513 0.30273271] [ 0.54427649 -0.12555007 0.82945783 0.88567441] [ 0. 0. 0. 1. ]] SLAMing on 50.249649246000004 meters Centerline goodness [0,1] 0.9250376193839633 Centerline is valid? [False, False] Translation: X:7.45, Y:0.30, Z:0.89 [[ 0.81814535 -0.13803093 -0.55819858 7.44876692] [ 0.18497581 0.98233824 0.02820509 0.30139913] [ 0.54444664 -0.12632909 0.82922784 0.88729753] [ 0. 0. 0. 1. ]] SLAMing on 50.279649246000005 meters Centerline goodness [0,1] 0.922752981679577 Centerline is valid? [False, False] Translation: X:7.45, Y:0.30, Z:0.89 [[ 0.8180543 -0.13780571 -0.55838763 7.44891565] [ 0.18492255 0.98234025 0.02848307 0.30085401] [ 0.54460151 -0.12655916 0.82909105 0.8878535 ] [ 0. 0. 0. 1. ]] SLAMing on 50.309649246 meters Centerline goodness [0,1] 0.9267527675276753 Centerline is valid? [False, False] Translation: X:7.45, Y:0.30, Z:0.89 [[ 0.81796764 -0.13754087 -0.55857985 7.44896514] [ 0.18480853 0.98235423 0.02873991 0.30038003] [ 0.54477037 -0.12673864 0.82895269 0.8883801 ] [ 0. 0. 0. 1. ]] SLAMing on 50.339649246 meters Centerline goodness [0,1] 0.9250584040329521 Centerline is valid? [False, False] Translation: X:7.45, Y:0.30, Z:0.89 [[ 0.81717709 -0.13345431 -0.56072414 7.45312227] [ 0.18319161 0.98251871 0.03313328 0.29916977] [ 0.54650018 -0.12979572 0.82733949 0.89316048] [ 0. 0. 0. 1. ]] SLAMing on 50.369649246 meters Centerline goodness [0,1] 0.9263681286639452 Centerline is valid? [False, False] Translation: X:7.46, Y:0.30, Z:0.89 [[ 0.81702163 -0.13401175 -0.56081772 7.4552467 ] [ 0.18354017 0.98247085 0.0326196 0.30043186] [ 0.54661565 -0.1295835 0.82729647 0.8926094 ] [ 0. 0. 0. 1. ]] SLAMing on 50.399649246 meters Centerline goodness [0,1] 0.923549467088491 Centerline is valid? [False, False] Translation: X:7.46, Y:0.30, Z:0.89 [[ 0.81665242 -0.13437806 -0.56126764 7.45664497] [ 0.18402617 0.98238191 0.03255994 0.30097181] [ 0.54700384 -0.12987809 0.82699364 0.89348059] [ 0. 0. 0. 1. ]] SLAMing on 50.429649246000004 meters Centerline goodness [0,1] 0.9242782918805915 Centerline is valid? [False, False] Translation: X:7.46, Y:0.30, Z:0.89 [[ 0.8163841 -0.13447166 -0.56163545 7.45769409] [ 0.18434647 0.98231492 0.03276861 0.30060384] [ 0.54729643 -0.13028729 0.82673565 0.89440738] [ 0. 0. 0. 1. ]] SLAMing on 50.459649246000005 meters Centerline goodness [0,1] 0.9282771765863256 Centerline is valid? [False, False] Translation: X:7.46, Y:0.30, Z:0.90 [[ 0.81570159 -0.13510875 -0.5624736 7.46044345] [ 0.18521897 0.98215348 0.03268755 0.3005812 ] [ 0.54801903 -0.13084407 0.82616886 0.89611296] [ 0. 0. 0. 1. ]] SLAMing on 50.489649246 meters Centerline goodness [0,1] 0.9261833728047243 Centerline is valid? [False, False] Translation: X:7.46, Y:0.30, Z:0.90 [[ 0.81554389 -0.13563366 -0.56257593 7.46212642] [ 0.18546538 0.98212711 0.03207685 0.30197913] [ 0.54817038 -0.13049844 0.82612311 0.89555424] [ 0. 0. 0. 1. ]] SLAMing on 50.519649246 meters Centerline goodness [0,1] 0.926182733018347 Centerline is valid? [False, False] Translation: X:7.46, Y:0.30, Z:0.90 [[ 0.81553571 -0.13559565 -0.56259695 7.46258051] [ 0.18535976 0.98215019 0.03198063 0.3025958 ] [ 0.54821827 -0.13036418 0.82611253 0.89527965] [ 0. 0. 0. 1. ]] SLAMing on 50.549649246 meters Centerline goodness [0,1] 0.9272716132589915 Centerline is valid? [False, False] Translation: X:7.46, Y:0.30, Z:0.90 [[ 0.81538398 -0.13548077 -0.56284449 7.46264205] [ 0.185347 0.98214874 0.03209893 0.30318568] [ 0.54844822 -0.13049449 0.82593931 0.8958476 ] [ 0. 0. 0. 1. ]] SLAMing on 50.579649246 meters Centerline goodness [0,1] 0.9269434331691498 Centerline is valid? [False, False] Translation: X:7.46, Y:0.30, Z:0.90 [[ 0.81537245 -0.13497314 -0.56298314 7.46198027] [ 0.18489323 0.98222778 0.03229666 0.30421101] [ 0.5486185 -0.13042558 0.8258371 0.89616992] [ 0. 0. 0. 1. ]] SLAMing on 50.609649246000004 meters Centerline goodness [0,1] 0.9290352220520673 Centerline is valid? [False, False] Translation: X:7.46, Y:0.31, Z:0.90 [[ 0.81514303 -0.13509996 -0.56328487 7.4627947 ] [ 0.18503295 0.98220496 0.03219059 0.30510503] [ 0.54891224 -0.13046619 0.82563547 0.8965952 ] [ 0. 0. 0. 1. ]] SLAMing on 50.639649246000005 meters Centerline goodness [0,1] 0.9274883834678406 Centerline is valid? [False, False] Translation: X:7.46, Y:0.31, Z:0.90 [[ 0.81513689 -0.13460896 -0.56341128 7.46225761] [ 0.18450615 0.98230204 0.03225196 0.30591709] [ 0.54909865 -0.13024261 0.82554681 0.89665069] [ 0. 0. 0. 1. ]] SLAMing on 50.669649246 meters Centerline goodness [0,1] 0.9283837457989612 Centerline is valid? [False, False] Translation: X:7.46, Y:0.31, Z:0.90 [[ 0.81522313 -0.13393091 -0.5634481 7.46112212] [ 0.18387042 0.98241259 0.0325141 0.30681992] [ 0.54918387 -0.13010769 0.8255114 0.89677477] [ 0. 0. 0. 1. ]] SLAMing on 50.699649246 meters Centerline goodness [0,1] 0.9283837457989612 Centerline is valid? [False, False] Translation: X:7.46, Y:0.31, Z:0.90 [[ 0.81522313 -0.13393091 -0.5634481 7.46112212] [ 0.18387042 0.98241259 0.0325141 0.30681992] [ 0.54918387 -0.13010769 0.8255114 0.89677477] [ 0. 0. 0. 1. ]] SLAMing on 50.729649246 meters Centerline goodness [0,1] 0.930255972175611 Centerline is valid? [False, False] Translation: X:7.46, Y:0.31, Z:0.90 [[ 0.81508624 -0.13408799 -0.56360876 7.46202269] [ 0.18395137 0.98240432 0.03230541 0.30778466] [ 0.54935991 -0.1300083 0.82540992 0.8967204 ] [ 0. 0. 0. 1. ]] SLAMing on 50.759649246 meters Centerline goodness [0,1] 0.9261216137800445 Centerline is valid? [False, False] Translation: X:7.46, Y:0.31, Z:0.90 [[ 0.8149842 -0.13420381 -0.56372874 7.46282172] [ 0.1840082 0.98239888 0.03214685 0.30872697] [ 0.54949225 -0.12992989 0.82533417 0.89666045] [ 0. 0. 0. 1. ]] SLAMing on 50.789649246 meters Centerline goodness [0,1] 0.9279926616725271 Centerline is valid? [False, False] Translation: X:7.46, Y:0.31, Z:0.90 [[ 0.81487184 -0.13397327 -0.56394596 7.46287009] [ 0.18389389 0.98241426 0.03233058 0.30881625] [ 0.54969712 -0.13005149 0.82517858 0.8971849 ] [ 0. 0. 0. 1. ]] SLAMing on 50.819649246000004 meters Centerline goodness [0,1] 0.9302531529605765 Centerline is valid? [False, False] Translation: X:7.46, Y:0.31, Z:0.90 [[ 0.81500686 -0.13303802 -0.56397225 7.46081857] [ 0.18318319 0.98252649 0.03294874 0.30888857] [ 0.54973424 -0.13016369 0.82513616 0.89780136] [ 0. 0. 0. 1. ]] SLAMing on 50.849649246000006 meters Centerline goodness [0,1] 0.9294336970141499 Centerline is valid? [False, False] Translation: X:7.46, Y:0.31, Z:0.90 [[ 0.81513002 -0.13220259 -0.56399072 7.4595233 ] [ 0.18252368 0.98263177 0.0334652 0.30867839] [ 0.54977101 -0.13022015 0.82510275 0.89809492] [ 0. 0. 0. 1. ]] SLAMing on 50.879649246 meters Centerline goodness [0,1] 0.9295477479130355 Centerline is valid? [False, False] Translation: X:7.46, Y:0.31, Z:0.90 [[ 0.81514917 -0.13164834 -0.56409268 7.45871578] [ 0.18203102 0.98271514 0.03369946 0.30920587] [ 0.54990594 -0.13015245 0.82502351 0.898339 ] [ 0. 0. 0. 1. ]] SLAMing on 50.909649246 meters Centerline goodness [0,1] 0.9296032181385994 Centerline is valid? [False, False] Translation: X:7.46, Y:0.31, Z:0.90 [[ 0.81528857 -0.13123734 -0.56398698 7.45756381] [ 0.18154358 0.98280386 0.03374163 0.31074987] [ 0.54986041 -0.12989739 0.82509405 0.89808836] [ 0. 0. 0. 1. ]] SLAMing on 50.939649246 meters Centerline goodness [0,1] 0.9292237442922374 Centerline is valid? [False, False] Translation: X:7.46, Y:0.31, Z:0.90 [[ 0.81518047 -0.13167128 -0.56404209 7.45766528] [ 0.18192877 0.98274025 0.03351897 0.31198658] [ 0.54989338 -0.12993949 0.82506545 0.89839115] [ 0. 0. 0. 1. ]] SLAMing on 50.969649246 meters Centerline goodness [0,1] 0.9295881513854745 Centerline is valid? [False, False] Translation: X:7.46, Y:0.31, Z:0.90 [[ 0.81512348 -0.13162507 -0.56413523 7.45759572] [ 0.18183904 0.9827595 0.03344141 0.31287188] [ 0.55000753 -0.12984068 0.82500492 0.89849815] [ 0. 0. 0. 1. ]] SLAMing on 50.999649246000004 meters Centerline goodness [0,1] 0.9289357051787991 Centerline is valid? [False, False] Translation: X:7.46, Y:0.32, Z:0.90 [[ 0.81496918 -0.13200697 -0.5642689 7.45874724] [ 0.18178815 0.98279597 0.0326366 0.31561503] [ 0.55025294 -0.12917522 0.82494573 0.89770978] [ 0. 0. 0. 1. ]] SLAMing on 51.029649246000005 meters Centerline goodness [0,1] 0.9260439427045399 Centerline is valid? [False, False] Translation: X:7.46, Y:0.32, Z:0.90 [[ 0.81488987 -0.13226486 -0.56432305 7.45974042] [ 0.18178086 0.98281355 0.03214415 0.31737519] [ 0.5503728 -0.12877707 0.82492803 0.89705709] [ 0. 0. 0. 1. ]] SLAMing on 51.059649246 meters Centerline goodness [0,1] 0.9265752263299725 Centerline is valid? [False, False] Translation: X:7.46, Y:0.32, Z:0.90 [[ 0.81443161 -0.13317362 -0.5647707 7.46276214] [ 0.1824011 0.98272572 0.03130489 0.31924917] [ 0.55084571 -0.12851049 0.82465391 0.89691808] [ 0. 0. 0. 1. ]] SLAMing on 51.089649246 meters Centerline goodness [0,1] 0.9257733208107372 Centerline is valid? [False, False] Translation: X:7.46, Y:0.32, Z:0.90 [[ 0.81427017 -0.13347833 -0.56493152 7.46429175] [ 0.18261555 0.9826946 0.03103024 0.31956815] [ 0.5510133 -0.12843228 0.82455412 0.8967826 ] [ 0. 0. 0. 1. ]] SLAMing on 51.119649246 meters Centerline goodness [0,1] 0.9249825434894805 Centerline is valid? [False, False] Translation: X:7.47, Y:0.32, Z:0.90 [[ 0.81391067 -0.13382971 -0.56536628 7.46640858] [ 0.18303332 0.98262103 0.03089834 0.31867295] [ 0.55140569 -0.12862935 0.82426104 0.89742434] [ 0. 0. 0. 1. ]] SLAMing on 51.149649246 meters Centerline goodness [0,1] 0.9246527461171393 Centerline is valid? [False, False] Translation: X:7.47, Y:0.32, Z:0.90 [[ 0.81365679 -0.13367376 -0.56576847 7.46720652] [ 0.18319441 0.98257808 0.03130692 0.31770325] [ 0.55172678 -0.12911871 0.82396961 0.89850406] [ 0. 0. 0. 1. ]] SLAMing on 51.179649246000004 meters Centerline goodness [0,1] 0.9252005735029438 Centerline is valid? [False, False] Translation: X:7.47, Y:0.32, Z:0.90 [[ 0.81320298 -0.13406919 -0.56632708 7.46915762] [ 0.18385263 0.98245158 0.03141827 0.31654182] [ 0.55217672 -0.12967015 0.82358152 0.89989257] [ 0. 0. 0. 1. ]] SLAMing on 51.209649246000005 meters Centerline goodness [0,1] 0.9260784672646287 Centerline is valid? [False, False] Translation: X:7.47, Y:0.32, Z:0.90 [[ 0.81299542 -0.1339562 -0.56665174 7.46960435] [ 0.18400214 0.98241284 0.0317525 0.31583793] [ 0.5524325 -0.13007977 0.82334536 0.90083553] [ 0. 0. 0. 1. ]] SLAMing on 51.239649246 meters Centerline goodness [0,1] 0.9259281857286678 Centerline is valid? [False, False] Translation: X:7.47, Y:0.31, Z:0.90 [[ 0.81286865 -0.13369831 -0.56689445 7.47011846] [ 0.18416183 0.98236225 0.03238557 0.31445684] [ 0.55256582 -0.13072553 0.8231536 0.90192883] [ 0. 0. 0. 1. ]] SLAMing on 51.269649246 meters Centerline goodness [0,1] 0.9258896306731181 Centerline is valid? [False, False] Translation: X:7.47, Y:0.31, Z:0.90 [[ 0.81278892 -0.1336298 -0.56702492 7.47044253] [ 0.184228 0.98234374 0.03257014 0.31414462] [ 0.55266104 -0.13093451 0.82305646 0.90231479] [ 0. 0. 0. 1. ]] SLAMing on 51.299649246 meters Centerline goodness [0,1] 0.9267577229810249 Centerline is valid? [False, False] Translation: X:7.47, Y:0.31, Z:0.90 [[ 0.81248331 -0.13354528 -0.56748262 7.47129524] [ 0.1844516 0.98228999 0.03292375 0.31321745] [ 0.55303569 -0.13142308 0.82272687 0.90357379] [ 0. 0. 0. 1. ]] SLAMing on 51.329649246 meters Centerline goodness [0,1] 0.9259236603865917 Centerline is valid? [False, False] Translation: X:7.47, Y:0.31, Z:0.90 [[ 0.81228254 -0.13340631 -0.56780263 7.47165815] [ 0.1844607 0.98228253 0.03309515 0.31269264] [ 0.5533275 -0.13161988 0.82249917 0.90434546] [ 0. 0. 0. 1. ]] SLAMing on 51.359649246000004 meters Centerline goodness [0,1] 0.9260537568723274 Centerline is valid? [False, False] Translation: X:7.47, Y:0.31, Z:0.90 [[ 0.8119821 -0.13373013 -0.56815608 7.47301871] [ 0.18469425 0.98224992 0.03275863 0.31375276] [ 0.55369045 -0.13153458 0.82226854 0.90463985] [ 0. 0. 0. 1. ]] SLAMing on 51.389649246000005 meters Centerline goodness [0,1] 0.9239299789203557 Centerline is valid? [False, False] Translation: X:7.47, Y:0.31, Z:0.91 [[ 0.81173175 -0.13412171 -0.56842144 7.47427291] [ 0.18506518 0.98218771 0.03252971 0.31397381] [ 0.55393361 -0.13160041 0.82209421 0.90501128] [ 0. 0. 0. 1. ]] SLAMing on 51.419649246 meters Centerline goodness [0,1] 0.9242308514863585 Centerline is valid? [False, False] Translation: X:7.48, Y:0.32, Z:0.91 [[ 0.81106965 -0.13538733 -0.56906616 7.47763193] [ 0.18603401 0.98203793 0.0315096 0.31607441] [ 0.55457856 -0.13142214 0.8216878 0.90540818] [ 0. 0. 0. 1. ]] SLAMing on 51.449649246 meters Centerline goodness [0,1] 0.9240761068422978 Centerline is valid? [False, False] Translation: X:7.48, Y:0.32, Z:0.91 [[ 0.81073132 -0.13588014 -0.56943069 7.47918846] [ 0.18643685 0.98197402 0.03111779 0.31751647] [ 0.55493786 -0.13139103 0.82145016 0.90571585] [ 0. 0. 0. 1. ]] SLAMing on 51.479649246 meters Centerline goodness [0,1] 0.9228753390011275 Centerline is valid? [False, False] Translation: X:7.48, Y:0.32, Z:0.91 [[ 0.81052974 -0.13595865 -0.56969886 7.47988052] [ 0.18656378 0.98195086 0.03108797 0.31803317] [ 0.5551896 -0.1314829 0.82126533 0.9061607 ] [ 0. 0. 0. 1. ]] SLAMing on 51.509649246 meters Centerline goodness [0,1] 0.9237999634969885 Centerline is valid? [False, False] Translation: X:7.48, Y:0.32, Z:0.91 [[ 0.81052451 -0.13550688 -0.56981392 7.47906032] [ 0.1861777 0.98201761 0.03129346 0.31871127] [ 0.55532683 -0.13145077 0.8211777 0.9065193 ] [ 0. 0. 0. 1. ]] SLAMing on 51.539649246 meters Centerline goodness [0,1] 0.9247115413888636 Centerline is valid? [False, False] Translation: X:7.48, Y:0.32, Z:0.91 [[ 0.81047528 -0.1350862 -0.56998381 7.47848469] [ 0.18591063 0.98205828 0.03160345 0.31941772] [ 0.55548813 -0.13157986 0.82104792 0.90705728] [ 0. 0. 0. 1. ]] SLAMing on 51.569649246000004 meters Centerline goodness [0,1] 0.9244078768262802 Centerline is valid? [False, False] Translation: X:7.48, Y:0.32, Z:0.91 [[ 0.81062533 -0.13454148 -0.56989926 7.4769988 ] [ 0.18534119 0.98216081 0.03176157 0.32123609] [ 0.55545947 -0.13137254 0.8211005 0.90695902] [ 0. 0. 0. 1. ]] SLAMing on 51.599649246000006 meters Centerline goodness [0,1] 0.9241172733048925 Centerline is valid? [False, False] Translation: X:7.48, Y:0.32, Z:0.91 [[ 0.81065262 -0.13446688 -0.56987805 7.47658397] [ 0.18505813 0.98222315 0.03148283 0.32331204] [ 0.55551401 -0.1309822 0.82112596 0.9065413 ] [ 0. 0. 0. 1. ]] SLAMing on 51.629649246 meters Centerline goodness [0,1] 0.9252684107061848 Centerline is valid? [False, False] Translation: X:7.48, Y:0.32, Z:0.91 [[ 0.81067429 -0.13446553 -0.56984754 7.47652931] [ 0.18497196 0.9822431 0.03136658 0.32441399] [ 0.5555111 -0.13083389 0.82115158 0.9063373 ] [ 0. 0. 0. 1. ]] SLAMing on 51.659649246 meters Centerline goodness [0,1] 0.9225445754004231 Centerline is valid? [False, False] Translation: X:7.48, Y:0.33, Z:0.91 [[ 0.81043427 -0.13471538 -0.57012987 7.47693331] [ 0.1852596 0.98219217 0.03126364 0.32510018] [ 0.5557654 -0.13095916 0.82095951 0.90700578] [ 0. 0. 0. 1. ]] SLAMing on 51.689649246 meters Centerline goodness [0,1] 0.9267181560369275 Centerline is valid? [False, False] Translation: X:7.48, Y:0.33, Z:0.91 [[ 0.81048921 -0.13447299 -0.57010898 7.47577984] [ 0.18489648 0.98226366 0.03116715 0.32652283] [ 0.5558062 -0.13067178 0.82097768 0.90701302] [ 0. 0. 0. 1. ]] SLAMing on 51.719649246 meters Centerline goodness [0,1] 0.9274398355302939 Centerline is valid? [False, False] Translation: X:7.48, Y:0.33, Z:0.91 [[ 0.81040503 -0.13441091 -0.57024327 7.47575204] [ 0.18481335 0.98228089 0.03111724 0.32729836] [ 0.55595657 -0.13060614 0.82088631 0.90716201] [ 0. 0. 0. 1. ]] SLAMing on 51.749649246000004 meters Centerline goodness [0,1] 0.9261949249593153 Centerline is valid? [False, False] Translation: X:7.48, Y:0.33, Z:0.91 [[ 0.81033235 -0.13503428 -0.57019929 7.47702297] [ 0.18510905 0.9822461 0.03045069 0.32946421] [ 0.55596414 -0.13022423 0.82094185 0.90639893] [ 0. 0. 0. 1. ]] SLAMing on 51.779649246000005 meters Centerline goodness [0,1] 0.9257598555522119 Centerline is valid? [False, False] Translation: X:7.48, Y:0.33, Z:0.91 [[ 0.81013751 -0.1354369 -0.57038063 7.47833661] [ 0.18542482 0.98219597 0.03014482 0.33001991] [ 0.55614283 -0.13018418 0.82082716 0.90642932] [ 0. 0. 0. 1. ]] SLAMing on 51.809649246 meters Centerline goodness [0,1] 0.9269623955851753 Centerline is valid? [False, False] Translation: X:7.48, Y:0.33, Z:0.91 [[ 0.80954677 -0.13622215 -0.57103201 7.48100132] [ 0.18625584 0.98204982 0.02978095 0.32987309] [ 0.55672506 -0.13046712 0.82038743 0.90751307] [ 0. 0. 0. 1. ]] SLAMing on 51.839649246 meters Centerline goodness [0,1] 0.9257781807192506 Centerline is valid? [False, False] Translation: X:7.48, Y:0.33, Z:0.91 [[ 0.80902658 -0.1367539 -0.57164182 7.48283007] [ 0.18707886 0.9818907 0.02986904 0.32866629] [ 0.55720507 -0.13110695 0.81995943 0.90919459] [ 0. 0. 0. 1. ]] SLAMing on 51.869649246 meters Centerline goodness [0,1] 0.9261206503570886 Centerline is valid? [False, False] Translation: X:7.48, Y:0.33, Z:0.91 [[ 0.80863991 -0.14207893 -0.57088973 7.48246201] [ 0.19068562 0.98131005 0.02587632 0.32876019] [ 0.55654335 -0.12978509 0.82061887 0.90858804] [ 0. 0. 0. 1. ]] SLAMing on 51.899649246 meters Centerline goodness [0,1] 0.9260502150767259 Centerline is valid? [False, False] Translation: X:7.48, Y:0.33, Z:0.91 [[ 0.80837008 -0.14181888 -0.57133635 7.48314799] [ 0.19087113 0.98125766 0.02648816 0.32687916] [ 0.55687164 -0.13046385 0.82028846 0.90999698] [ 0. 0. 0. 1. ]] SLAMing on 51.929649246000004 meters Centerline goodness [0,1] 0.9289575761277908 Centerline is valid? [False, False] Translation: X:7.49, Y:0.33, Z:0.91 [[ 0.80770174 -0.1430597 -0.57197188 7.48737005] [ 0.19227074 0.98099346 0.02614951 0.32597368] [ 0.55735973 -0.13109446 0.81985631 0.91112762] [ 0. 0. 0. 1. ]] SLAMing on 51.959649246000005 meters Centerline goodness [0,1] 0.9289701281972643 Centerline is valid? [False, False] Translation: X:7.49, Y:0.33, Z:0.91 [[ 0.80740107 -0.14342107 -0.57230578 7.48911069] [ 0.19273706 0.98090342 0.02609426 0.32522668] [ 0.55763422 -0.13137306 0.81962503 0.91172287] [ 0. 0. 0. 1. ]] SLAMing on 51.989649246 meters Centerline goodness [0,1] 0.9286703388005046 Centerline is valid? [False, False] Translation: X:7.49, Y:0.32, Z:0.91 [[ 0.80681741 -0.14378785 -0.57303641 7.49166346] [ 0.19367509 0.98070485 0.02660737 0.32228187] [ 0.55815377 -0.13245017 0.81909787 0.91396336] [ 0. 0. 0. 1. ]] SLAMing on 52.019649246 meters Centerline goodness [0,1] 0.9302877210276631 Centerline is valid? [False, False] Translation: X:7.49, Y:0.32, Z:0.92 [[ 0.80650817 -0.14373942 -0.57348369 7.49238659] [ 0.19387912 0.98065755 0.02686379 0.32135475] [ 0.55852972 -0.13285238 0.8187764 0.91521644] [ 0. 0. 0. 1. ]] SLAMing on 52.049649246 meters Centerline goodness [0,1] 0.9310419102714014 Centerline is valid? [False, False] Translation: X:7.49, Y:0.32, Z:0.92 [[ 0.80631881 -0.14376211 -0.57374422 7.4929977 ] [ 0.19398651 0.98063517 0.02690535 0.32127251] [ 0.55876579 -0.13299292 0.81859249 0.91573303] [ 0. 0. 0. 1. ]] SLAMing on 52.079649246 meters Centerline goodness [0,1] 0.9294456666563381 Centerline is valid? [False, False] Translation: X:7.50, Y:0.32, Z:0.92 [[ 0.80491856 -0.14462968 -0.57548968 7.49584506] [ 0.19641838 0.98010859 0.02840712 0.31890055] [ 0.55993387 -0.13590217 0.81731552 0.92229142] [ 0. 0. 0. 1. ]] SLAMing on 52.109649246000004 meters Centerline goodness [0,1] 0.9323345508574259 Centerline is valid? [False, False] Translation: X:7.50, Y:0.32, Z:0.92 [[ 0.80438598 -0.14507288 -0.57612242 7.49738936] [ 0.19711302 0.97996801 0.02844563 0.3194664 ] [ 0.56045485 -0.1364425 0.81686829 0.92379255] [ 0. 0. 0. 1. ]] SLAMing on 52.139649246000005 meters Centerline goodness [0,1] 0.9304283238425353 Centerline is valid? [False, False] Translation: X:7.51, Y:0.32, Z:0.93 [[ 0.80345382 -0.14332908 -0.57785701 7.50549891] [ 0.19672385 0.97998586 0.030454 0.32250663] [ 0.56192676 -0.13814663 0.81556963 0.92559866] [ 0. 0. 0. 1. ]] SLAMing on 52.169649246 meters Centerline goodness [0,1] 0.9310504253482924 Centerline is valid? [False, False] Translation: X:7.51, Y:0.32, Z:0.93 [[ 0.80288962 -0.14415594 -0.57843523 7.50742763] [ 0.1974898 0.97984798 0.02992835 0.32397445] [ 0.56246425 -0.13826422 0.81517911 0.92649256] [ 0. 0. 0. 1. ]] SLAMing on 52.199649246 meters Centerline goodness [0,1] 0.9316860017847801 Centerline is valid? [False, False] Translation: X:7.51, Y:0.33, Z:0.93 [[ 0.80249334 -0.14493391 -0.57879064 7.50925987] [ 0.19804853 0.97975553 0.02925552 0.32554349] [ 0.56283321 -0.13810599 0.81495123 0.92661504] [ 0. 0. 0. 1. ]] SLAMing on 52.229649246 meters Centerline goodness [0,1] 0.9299914099889557 Centerline is valid? [False, False] Translation: X:7.51, Y:0.33, Z:0.93 [[ 0.80207644 -0.14575798 -0.57916146 7.51137746] [ 0.19872638 0.9796356 0.0286691 0.3272539 ] [ 0.56318844 -0.13808947 0.81470859 0.9268879 ] [ 0. 0. 0. 1. ]] SLAMing on 52.259649246 meters Centerline goodness [0,1] 0.9266207405584943 Centerline is valid? [False, False] Translation: X:7.51, Y:0.33, Z:0.93 [[ 0.80193361 -0.14548274 -0.57942839 7.51066464] [ 0.19867671 0.97963583 0.02900345 0.32722749] [ 0.56340931 -0.13837777 0.81450693 0.92799562] [ 0. 0. 0. 1. ]] SLAMing on 52.289649246 meters Centerline goodness [0,1] 0.9273470140083558 Centerline is valid? [False, False] Translation: X:7.51, Y:0.33, Z:0.93 [[ 0.80162614 -0.1454538 -0.57986096 7.51077879] [ 0.1987981 0.97960834 0.02910007 0.32773986] [ 0.56380391 -0.13860263 0.81419559 0.92906556] [ 0. 0. 0. 1. ]] SLAMing on 52.319649246000004 meters Centerline goodness [0,1] 0.9283743177776415 Centerline is valid? [False, False] Translation: X:7.51, Y:0.33, Z:0.93 [[ 0.80162243 -0.14519995 -0.57992969 7.50984066] [ 0.19847206 0.97967574 0.0290566 0.32924994] [ 0.56392403 -0.13839226 0.81414818 0.92915167] [ 0. 0. 0. 1. ]] SLAMing on 52.349649246000006 meters Centerline goodness [0,1] 0.9271770393488771 Centerline is valid? [False, False] Translation: X:7.51, Y:0.33, Z:0.93 [[ 0.80164297 -0.1452791 -0.57988148 7.50968464] [ 0.19835165 0.97970895 0.02875755 0.33084332] [ 0.5639372 -0.13807373 0.81419314 0.92870031] [ 0. 0. 0. 1. ]] SLAMing on 52.379649246 meters Centerline goodness [0,1] 0.9276524390243902 Centerline is valid? [False, False] Translation: X:7.51, Y:0.33, Z:0.93 [[ 0.801851 -0.14490628 -0.57968711 7.50839289] [ 0.19768404 0.97985113 0.02850946 0.33345539] [ 0.56387587 -0.13745523 0.81434026 0.92776184] [ 0. 0. 0. 1. ]] SLAMing on 52.409649246 meters Centerline goodness [0,1] 0.9263429438543247 Centerline is valid? [False, False] Translation: X:7.51, Y:0.33, Z:0.93 [[ 0.8016867 -0.14443331 -0.58003229 7.50732268] [ 0.19738594 0.97990241 0.02881069 0.33463009] [ 0.56421381 -0.13758736 0.81408383 0.92880655] [ 0. 0. 0. 1. ]] SLAMing on 52.439649246 meters Centerline goodness [0,1] 0.927099456736168 Centerline is valid? [False, False] Translation: X:7.51, Y:0.34, Z:0.93 [[ 0.80161135 -0.14464261 -0.58008427 7.50749896] [ 0.19747993 0.97989076 0.0285617 0.33566381] [ 0.56428797 -0.13745038 0.81405557 0.92881018] [ 0. 0. 0. 1. ]] SLAMing on 52.469649246 meters Centerline goodness [0,1] 0.9279131307601058 Centerline is valid? [False, False] Translation: X:7.51, Y:0.34, Z:0.93 [[ 0.80151837 -0.14456225 -0.58023276 7.5073577 ] [ 0.19740569 0.979906 0.02855212 0.33625961] [ 0.56444601 -0.1374263 0.81395007 0.92908457] [ 0. 0. 0. 1. ]] SLAMing on 52.499649246000004 meters Centerline goodness [0,1] 0.9268359685000915 Centerline is valid? [False, False] Translation: X:7.51, Y:0.34, Z:0.93 [[ 0.80145209 -0.14479277 -0.58026683 7.50761455] [ 0.19725661 0.97995422 0.02792067 0.33867977] [ 0.56459222 -0.13683855 0.81394769 0.92838839] [ 0. 0. 0. 1. ]] SLAMing on 52.529649246000005 meters Centerline goodness [0,1] 0.9264323310545103 Centerline is valid? [False, False] Translation: X:7.51, Y:0.34, Z:0.93 [[ 0.80124378 -0.14532528 -0.58042137 7.50887675] [ 0.19748903 0.97992569 0.02727137 0.34077313] [ 0.56480659 -0.13647787 0.81385951 0.92799254] [ 0. 0. 0. 1. ]] SLAMing on 52.559649246 meters Centerline goodness [0,1] 0.9253447599505115 Centerline is valid? [False, False] Translation: X:7.51, Y:0.34, Z:0.93 [[ 0.80099524 -0.14612125 -0.58056456 7.51037807] [ 0.19771432 0.97991079 0.02615117 0.34456024] [ 0.56508024 -0.13573289 0.81379415 0.92703431] [ 0. 0. 0. 1. ]] SLAMing on 52.589649246 meters Centerline goodness [0,1] 0.926578073089701 Centerline is valid? [False, False] Translation: X:7.51, Y:0.34, Z:0.93 [[ 0.80054258 -0.1467993 -0.58101768 7.51236533] [ 0.19833962 0.97979574 0.02572379 0.34492468] [ 0.56550241 -0.13583182 0.81348432 0.9277202 ] [ 0. 0. 0. 1. ]] SLAMing on 52.619649246 meters Centerline goodness [0,1] 0.924885459368218 Centerline is valid? [False, False] Translation: X:7.51, Y:0.35, Z:0.93 [[ 0.80014016 -0.14712862 -0.58148851 7.51369942] [ 0.19878727 0.97970696 0.02564926 0.34516721] [ 0.56591461 -0.13611551 0.81315018 0.92870917] [ 0. 0. 0. 1. ]] SLAMing on 52.649649246 meters Centerline goodness [0,1] 0.924885459368218 Centerline is valid? [False, False] Translation: X:7.51, Y:0.35, Z:0.93 [[ 0.80014016 -0.14712862 -0.58148851 7.51369942] [ 0.19878727 0.97970696 0.02564926 0.34516721] [ 0.56591461 -0.13611551 0.81315018 0.92870917] [ 0. 0. 0. 1. ]] SLAMing on 52.679649246000004 meters Centerline goodness [0,1] 0.9233161247471545 Centerline is valid? [False, False] Translation: X:7.51, Y:0.35, Z:0.93 [[ 0.79999858 -0.14726458 -0.58164887 7.5142265 ] [ 0.19892668 0.97968092 0.02556312 0.3453572 ] [ 0.56606576 -0.13615594 0.8130382 0.92897726] [ 0. 0. 0. 1. ]] SLAMing on 52.709649246000005 meters Centerline goodness [0,1] 0.9271419070076788 Centerline is valid? [False, False] Translation: X:7.52, Y:0.34, Z:0.93 [[ 0.79928244 -0.14810659 -0.58241911 7.51606597] [ 0.20032585 0.9793879 0.02586304 0.34315876] [ 0.56658374 -0.13734548 0.81247713 0.93187962] [ 0. 0. 0. 1. ]] SLAMing on 52.739649246 meters Centerline goodness [0,1] 0.9259945338597024 Centerline is valid? [False, False] Translation: X:7.52, Y:0.34, Z:0.93 [[ 0.79857177 -0.15398355 -0.58186957 7.51660582] [ 0.20433817 0.97866535 0.02144868 0.34432356] [ 0.56615284 -0.13602647 0.81299924 0.93152919] [ 0. 0. 0. 1. ]] SLAMing on 52.769649246 meters Centerline goodness [0,1] 0.9247860134765981 Centerline is valid? [False, False] Translation: X:7.52, Y:0.34, Z:0.93 [[ 0.79803322 -0.15507655 -0.58231799 7.51967277] [ 0.20538533 0.97845807 0.02089651 0.3445297 ] [ 0.56653318 -0.13627568 0.81269249 0.93214039] [ 0. 0. 0. 1. ]] SLAMing on 52.799649246 meters Centerline goodness [0,1] 0.9248684970658883 Centerline is valid? [False, False] Translation: X:7.52, Y:0.34, Z:0.93 [[ 0.79759914 -0.15555505 -0.58278489 7.52150583] [ 0.20599094 0.97833312 0.02078562 0.34447382] [ 0.56692446 -0.136627 0.81236059 0.93305806] [ 0. 0. 0. 1. ]] SLAMing on 52.829649246 meters Centerline goodness [0,1] 0.9259225429302156 Centerline is valid? [False, False] Translation: X:7.52, Y:0.34, Z:0.93 [[ 0.79723546 -0.15574936 -0.58323045 7.52273353] [ 0.20658368 0.97820008 0.02116109 0.34300829] [ 0.56722024 -0.13735626 0.81203107 0.93456245] [ 0. 0. 0. 1. ]] SLAMing on 52.859649246000004 meters Centerline goodness [0,1] 0.9247056676097472 Centerline is valid? [False, False] Translation: X:7.52, Y:0.34, Z:0.93 [[ 0.79709964 -0.1556622 -0.58343933 7.52300635] [ 0.20654934 0.97820642 0.02120297 0.34325461] [ 0.5674236 -0.13740989 0.81187991 0.93491831] [ 0. 0. 0. 1. ]] SLAMing on 52.889649246000005 meters Centerline goodness [0,1] 0.9279871057993492 Centerline is valid? [False, False] Translation: X:7.52, Y:0.34, Z:0.93 [[ 0.79698377 -0.15594754 -0.58352141 7.52333681] [ 0.20663939 0.97819592 0.02080642 0.34491574] [ 0.56755356 -0.13716088 0.81183117 0.93478 ] [ 0. 0. 0. 1. ]] SLAMing on 52.919649246000006 meters Centerline goodness [0,1] 0.9274868393025592 Centerline is valid? [False, False] Translation: X:7.52, Y:0.35, Z:0.93 [[ 0.79683378 -0.15614501 -0.58367342 7.52388573] [ 0.20671162 0.97818675 0.02051802 0.345858 ] [ 0.56773782 -0.13700153 0.81172923 0.93480369] [ 0. 0. 0. 1. ]] SLAMing on 52.949649246 meters Centerline goodness [0,1] 0.9266121928252483 Centerline is valid? [False, False] Translation: X:7.52, Y:0.35, Z:0.93 [[ 0.79665821 -0.15642501 -0.58383809 7.5246181 ] [ 0.20676802 0.97818436 0.02005855 0.34727493] [ 0.56796363 -0.13669886 0.81162229 0.93465457] [ 0. 0. 0. 1. ]] SLAMing on 52.979649246 meters Centerline goodness [0,1] 0.9282158683906999 Centerline is valid? [False, False] Translation: X:7.52, Y:0.35, Z:0.94 [[ 0.79648453 -0.1564781 -0.58406078 7.52490846] [ 0.20683438 0.97817164 0.0199944 0.3479239 ] [ 0.56818301 -0.13672908 0.81146363 0.93502554] [ 0. 0. 0. 1. ]] SLAMing on 53.009649246 meters Centerline goodness [0,1] 0.9280360273227347 Centerline is valid? [False, False] Translation: X:7.52, Y:0.35, Z:0.93 [[ 0.79652808 -0.156202 -0.5840753 7.52440534] [ 0.20654382 0.97823171 0.0200594 0.34884431] [ 0.56822766 -0.13661501 0.81145158 0.9349429 ] [ 0. 0. 0. 1. ]] SLAMing on 53.039649246 meters Centerline goodness [0,1] 0.9290060851926978 Centerline is valid? [False, False] Translation: X:7.52, Y:0.35, Z:0.94 [[ 0.7964488 -0.15617064 -0.58419179 7.5244259 ] [ 0.2064848 0.97824547 0.01999575 0.3495371 ] [ 0.56836022 -0.13655232 0.81136929 0.93507734] [ 0. 0. 0. 1. ]] SLAMing on 53.069649246000004 meters Centerline goodness [0,1] 0.9287005785920925 Centerline is valid? [False, False] Translation: X:7.52, Y:0.35, Z:0.93 [[ 0.79643408 -0.15622592 -0.58419706 7.52452696] [ 0.2063254 0.97828571 0.01966972 0.3509867 ] [ 0.56843872 -0.13620033 0.81137346 0.93468096] [ 0. 0. 0. 1. ]] SLAMing on 53.099649246000006 meters Centerline goodness [0,1] 0.9297933323276513 Centerline is valid? [False, False] Translation: X:7.52, Y:0.35, Z:0.93 [[ 0.79636285 -0.15628778 -0.58427762 7.52486344] [ 0.20626416 0.97830301 0.01945018 0.35187286] [ 0.56856073 -0.13600494 0.81132074 0.93454318] [ 0. 0. 0. 1. ]] SLAMing on 53.129649246 meters Centerline goodness [0,1] 0.9305362852144538 Centerline is valid? [False, False] Translation: X:7.52, Y:0.35, Z:0.93 [[ 0.79665638 -0.156013 -0.58395082 7.52428365] [ 0.2056919 0.97842822 0.01921093 0.35343897] [ 0.56835681 -0.13541846 0.81156169 0.93329747] [ 0. 0. 0. 1. ]] SLAMing on 53.159649246 meters Centerline goodness [0,1] 0.9313071560076057 Centerline is valid? [False, False] Translation: X:7.52, Y:0.35, Z:0.93 [[ 0.79676646 -0.15576218 -0.58386758 7.52391331] [ 0.20533156 0.97850489 0.01916059 0.35402407] [ 0.56833279 -0.13515296 0.81162277 0.93288626] [ 0. 0. 0. 1. ]] SLAMing on 53.189649246 meters Centerline goodness [0,1] 0.9351004112508631 Centerline is valid? [False, False] Translation: X:7.52, Y:0.36, Z:0.93 [[ 0.79686409 -0.1550393 -0.58392674 7.52283785] [ 0.20429257 0.97872687 0.01892751 0.3562295 ] [ 0.56857028 -0.13437455 0.81158568 0.9321033 ] [ 0. 0. 0. 1. ]] SLAMing on 53.219649246 meters Centerline goodness [0,1] 0.9345514452598472 Centerline is valid? [False, False] Translation: X:7.52, Y:0.36, Z:0.93 [[ 0.79707316 -0.1546588 -0.58374227 7.52201953] [ 0.2036567 0.97886299 0.01874032 0.3575637 ] [ 0.56850534 -0.13382042 0.81172272 0.93124147] [ 0. 0. 0. 1. ]] SLAMing on 53.249649246000004 meters Centerline goodness [0,1] 0.9360912383632173 Centerline is valid? [False, False] Translation: X:7.52, Y:0.36, Z:0.93 [[ 0.79698348 -0.15469772 -0.5838544 7.52214029] [ 0.20356842 0.97888566 0.01851368 0.35871804] [ 0.56866267 -0.13360942 0.81164727 0.93120227] [ 0. 0. 0. 1. ]] SLAMing on 53.279649246000005 meters Centerline goodness [0,1] 0.9354306621880998 Centerline is valid? [False, False] Translation: X:7.52, Y:0.36, Z:0.93 [[ 0.79666866 -0.155169 -0.5841589 7.52400565] [ 0.20400586 0.97880003 0.01822389 0.35909061] [ 0.56894697 -0.13369024 0.8114347 0.93146804] [ 0. 0. 0. 1. ]] SLAMing on 53.309649246 meters Centerline goodness [0,1] 0.9319382730875465 Centerline is valid? [False, False] Translation: X:7.53, Y:0.36, Z:0.93 [[ 0.79604933 -0.15642533 -0.58466793 7.52806855] [ 0.20523859 0.97855311 0.01763317 0.35871869] [ 0.56937035 -0.13403329 0.81108106 0.9320762 ] [ 0. 0. 0. 1. ]] SLAMing on 53.339649246 meters Centerline goodness [0,1] 0.9307812688094378 Centerline is valid? [False, False] Translation: X:7.53, Y:0.36, Z:0.93 [[ 0.79568807 -0.15659446 -0.58511424 7.52984008] [ 0.20570889 0.97844993 0.01787731 0.35735567] [ 0.56970549 -0.13458796 0.81075381 0.93316527] [ 0. 0. 0. 1. ]] SLAMing on 53.369649246 meters Centerline goodness [0,1] 0.9314965144702296 Centerline is valid? [False, False] Translation: X:7.53, Y:0.36, Z:0.93 [[ 0.79531253 -0.16137015 -0.58432667 7.52928548] [ 0.20878941 0.97785856 0.01412848 0.35658823] [ 0.56910892 -0.13323778 0.81139554 0.93244437] [ 0. 0. 0. 1. ]] SLAMing on 53.399649246 meters Centerline goodness [0,1] 0.9326296743063932 Centerline is valid? [False, False] Translation: X:7.53, Y:0.36, Z:0.93 [[ 0.79523289 -0.16104419 -0.58452495 7.52944957] [ 0.20864689 0.97788444 0.01443953 0.35587599] [ 0.56927245 -0.1334421 0.81124724 0.9329564 ] [ 0. 0. 0. 1. ]] SLAMing on 53.429649246000004 meters Centerline goodness [0,1] 0.9307534411977783 Centerline is valid? [False, False] Translation: X:7.53, Y:0.36, Z:0.93 [[ 0.79512071 -0.1609434 -0.58470529 7.53005799] [ 0.20862083 0.9778887 0.01452699 0.35578295] [ 0.56943867 -0.13353242 0.81111571 0.93319606] [ 0. 0. 0. 1. ]] SLAMing on 53.459649246000005 meters Centerline goodness [0,1] 0.9312198067632851 Centerline is valid? [False, False] Translation: X:7.53, Y:0.36, Z:0.93 [[ 0.79507924 -0.16068496 -0.58483275 7.53021653] [ 0.20847241 0.97791729 0.01473154 0.35553605] [ 0.56955092 -0.13363424 0.81102012 0.93345037] [ 0. 0. 0. 1. ]] SLAMing on 53.489649246 meters Centerline goodness [0,1] 0.9332205233577083 Centerline is valid? [False, False] Translation: X:7.53, Y:0.36, Z:0.93 [[ 0.79482933 -0.16114331 -0.5850463 7.53160864] [ 0.20887349 0.97783608 0.01443825 0.35594254] [ 0.56975275 -0.13367661 0.81087136 0.9336528 ] [ 0. 0. 0. 1. ]] SLAMing on 53.519649246 meters Centerline goodness [0,1] 0.9317420561875736 Centerline is valid? [False, False] Translation: X:7.53, Y:0.36, Z:0.93 [[ 0.79471526 -0.16099579 -0.58524184 7.53213626] [ 0.20886562 0.97783493 0.01462881 0.3555053 ] [ 0.56991474 -0.13386264 0.81072682 0.9340582 ] [ 0. 0. 0. 1. ]] SLAMing on 53.549649246 meters Centerline goodness [0,1] 0.9331370644652179 Centerline is valid? [False, False] Translation: X:7.53, Y:0.35, Z:0.94 [[ 0.7943136 -0.16484071 -0.58471656 7.52857287] [ 0.21216858 0.97714992 0.01274858 0.35190089] [ 0.56925425 -0.13418485 0.81113749 0.93648394] [ 0. 0. 0. 1. ]] SLAMing on 53.579649246 meters Centerline goodness [0,1] 0.9346178431193498 Centerline is valid? [False, False] Translation: X:7.53, Y:0.35, Z:0.94 [[ 0.79383587 -0.17018459 -0.58383373 7.5273075 ] [ 0.21583925 0.97638868 0.00886319 0.35230479] [ 0.56854027 -0.13305015 0.81182487 0.93619632] [ 0. 0. 0. 1. ]] SLAMing on 53.609649246000004 meters Centerline goodness [0,1] 0.9353646716743397 Centerline is valid? [False, False] Translation: X:7.53, Y:0.35, Z:0.94 [[ 0.7932255 -0.16751303 -0.58543376 7.53385296] [ 0.21445471 0.97667071 0.0111129 0.35498308] [ 0.56991445 -0.13436406 0.81064408 0.93741728] [ 0. 0. 0. 1. ]] SLAMing on 53.639649246000005 meters Centerline goodness [0,1] 0.9302360820680668 Centerline is valid? [False, False] Translation: X:7.54, Y:0.36, Z:0.94 [[ 0.79237257 -0.16968934 -0.5859618 7.53951156] [ 0.21612232 0.97631988 0.00951995 0.35748294] [ 0.57047072 -0.13418277 0.81028275 0.9372266 ] [ 0. 0. 0. 1. ]] SLAMing on 53.669649246000006 meters Centerline goodness [0,1] 0.9312113120524336 Centerline is valid? [False, False] Translation: X:7.54, Y:0.36, Z:0.94 [[ 0.7919465 -0.17041162 -0.58632809 7.54166125] [ 0.21679373 0.97617499 0.00910322 0.35792341] [ 0.57080752 -0.13432151 0.81002253 0.937688 ] [ 0. 0. 0. 1. ]] SLAMing on 53.699649246 meters Centerline goodness [0,1] 0.9296454934840062 Centerline is valid? [False, False] Translation: X:7.54, Y:0.36, Z:0.94 [[ 0.7916512 -0.17051723 -0.58669605 7.54302536] [ 0.21719434 0.97608331 0.00937988 0.35722409] [ 0.57106479 -0.13485266 0.8097529 0.93865892] [ 0. 0. 0. 1. ]] SLAMing on 53.729649246 meters Centerline goodness [0,1] 0.930424708070368 Centerline is valid? [False, False] Translation: X:7.54, Y:0.36, Z:0.94 [[ 0.79132661 -0.17031625 -0.58719211 7.54352632] [ 0.21730676 0.97605471 0.00974577 0.35619771] [ 0.57147176 -0.1353129 0.80938893 0.94004899] [ 0. 0. 0. 1. ]] SLAMing on 53.759649246 meters Centerline goodness [0,1] 0.9314249092074343 Centerline is valid? [False, False] Translation: X:7.54, Y:0.36, Z:0.94 [[ 0.79133512 -0.16972266 -0.58735248 7.54288372] [ 0.21688305 0.97614497 0.01013575 0.3555884 ] [ 0.57162091 -0.13540757 0.80926777 0.94052065] [ 0. 0. 0. 1. ]] SLAMing on 53.789649246 meters Centerline goodness [0,1] 0.9323653852007427 Centerline is valid? [False, False] Translation: X:7.54, Y:0.36, Z:0.94 [[ 0.79134099 -0.16918193 -0.58750056 7.54214149] [ 0.21653641 0.97621758 0.01054596 0.3554576 ] [ 0.57174419 -0.13556071 0.80915504 0.94099078] [ 0. 0. 0. 1. ]] SLAMing on 53.819649246000004 meters Centerline goodness [0,1] 0.9326380630012503 Centerline is valid? [False, False] Translation: X:7.54, Y:0.36, Z:0.94 [[ 0.79143122 -0.16884275 -0.5874766 7.54147824] [ 0.21624662 0.97627976 0.01073501 0.35590434] [ 0.57172898 -0.13553585 0.80916995 0.94098798] [ 0. 0. 0. 1. ]] SLAMing on 53.849649246000006 meters Centerline goodness [0,1] 0.9344785649133476 Centerline is valid? [False, False] Translation: X:7.54, Y:0.36, Z:0.94 [[ 0.79141943 -0.16855056 -0.58757637 7.54103888] [ 0.21608475 0.97631279 0.01098682 0.35605887] [ 0.57180649 -0.13566147 0.80909412 0.94135909] [ 0. 0. 0. 1. ]] SLAMing on 53.879649246 meters Centerline goodness [0,1] 0.9339950070023747 Centerline is valid? [False, False] Translation: X:7.54, Y:0.36, Z:0.94 [[ 0.79161613 -0.16798267 -0.58747403 7.53971668] [ 0.2155855 0.97641957 0.01130159 0.35652597] [ 0.57172266 -0.1355974 0.8091641 0.94123658] [ 0. 0. 0. 1. ]] SLAMing on 53.909649246 meters Centerline goodness [0,1] 0.9333820262332999 Centerline is valid? [False, False] Translation: X:7.54, Y:0.36, Z:0.94 [[ 0.79171875 -0.16761984 -0.58743937 7.53927546] [ 0.21531845 0.97647538 0.01156715 0.35643046] [ 0.5716812 -0.13564446 0.80918551 0.94125944] [ 0. 0. 0. 1. ]] SLAMing on 53.939649246 meters Centerline goodness [0,1] 0.9356073261853416 Centerline is valid? [False, False] Translation: X:7.54, Y:0.36, Z:0.94 [[ 0.79159818 -0.16749225 -0.58763821 7.53933422] [ 0.21520455 0.97650045 0.01157052 0.35717718] [ 0.571891 -0.13562162 0.80904107 0.94153628] [ 0. 0. 0. 1. ]] SLAMing on 53.969649246 meters Centerline goodness [0,1] 0.9338742516789741 Centerline is valid? [False, False] Translation: X:7.54, Y:0.36, Z:0.94 [[ 0.79166071 -0.1670977 -0.5876663 7.53872382] [ 0.21491719 0.97656045 0.01184429 0.35703899] [ 0.57191251 -0.13567625 0.80901671 0.94170217] [ 0. 0. 0. 1. ]] SLAMing on 53.999649246000004 meters Centerline goodness [0,1] 0.9343109926069567 Centerline is valid? [False, False] Translation: X:7.54, Y:0.36, Z:0.94 [[ 0.79190321 -0.16612528 -0.58761526 7.53670257] [ 0.21420059 0.97670917 0.01254231 0.35671452] [ 0.57184562 -0.13579983 0.80904326 0.94198295] [ 0. 0. 0. 1. ]] SLAMing on 54.029649246000005 meters Centerline goodness [0,1] 0.936475720214474 Centerline is valid? [False, False] Translation: X:7.54, Y:0.36, Z:0.94 [[ 0.79199179 -0.16588117 -0.58756484 7.53623302] [ 0.21396199 0.97676013 0.01264546 0.35719673] [ 0.57181227 -0.13573164 0.80907827 0.94185769] [ 0. 0. 0. 1. ]] SLAMing on 54.059649246 meters Centerline goodness [0,1] 0.9366977741536046 Centerline is valid? [False, False] Translation: X:7.53, Y:0.36, Z:0.94 [[ 0.79227271 -0.16535746 -0.58733369 7.53492617] [ 0.21330403 0.97690338 0.01269585 0.35834392] [ 0.57166891 -0.13533922 0.8092453 0.94109078] [ 0. 0. 0. 1. ]] SLAMing on 54.089649246 meters Centerline goodness [0,1] 0.9357063269792514 Centerline is valid? [False, False] Translation: X:7.53, Y:0.36, Z:0.94 [[ 0.79236074 -0.16515745 -0.58727121 7.53443995] [ 0.21305094 0.97695849 0.01270491 0.35905195] [ 0.57164128 -0.13518555 0.8092905 0.9408584 ] [ 0. 0. 0. 1. ]] SLAMing on 54.119649246 meters Centerline goodness [0,1] 0.9367791926958193 Centerline is valid? [False, False] Translation: X:7.53, Y:0.36, Z:0.94 [[ 0.79264002 -0.16440202 -0.58710627 7.53299623] [ 0.21210393 0.97716419 0.01273074 0.36030699] [ 0.57160626 -0.13461844 0.80940976 0.94004084] [ 0. 0. 0. 1. ]] SLAMing on 54.149649246 meters Centerline goodness [0,1] 0.9367540334672825 Centerline is valid? [False, False] Translation: X:7.53, Y:0.36, Z:0.94 [[ 0.79273495 -0.16414712 -0.58704942 7.53265665] [ 0.21173701 0.97724451 0.01267262 0.36102941] [ 0.57161066 -0.13434612 0.8094519 0.93963691] [ 0. 0. 0. 1. ]] SLAMing on 54.179649246000004 meters Centerline goodness [0,1] 0.9335762499253331 Centerline is valid? [False, False] Translation: X:7.53, Y:0.36, Z:0.94 [[ 0.79295632 -0.15919422 -0.58811348 7.53422275] [ 0.20818642 0.97795863 0.01597885 0.36277594] [ 0.57260692 -0.13510777 0.80862056 0.93996668] [ 0. 0. 0. 1. ]] SLAMing on 54.209649246000005 meters Centerline goodness [0,1] 0.9329350261389097 Centerline is valid? [False, False] Translation: X:7.53, Y:0.36, Z:0.94 [[ 0.7930136 -0.15939333 -0.5879823 7.53490275] [ 0.20794083 0.97802137 0.0153233 0.36486196] [ 0.57261683 -0.13441711 0.80872864 0.93873127] [ 0. 0. 0. 1. ]] SLAMing on 54.239649246 meters Centerline goodness [0,1] 0.9335414808206958 Centerline is valid? [False, False] Translation: X:7.54, Y:0.37, Z:0.94 [[ 0.79314986 -0.15452473 -0.58909711 7.53680597] [ 0.20459534 0.97866701 0.0187516 0.36612463] [ 0.57363232 -0.13539935 0.80784465 0.93939108] [ 0. 0. 0. 1. ]] SLAMing on 54.269649246 meters Centerline goodness [0,1] 0.9341560106113446 Centerline is valid? [False, False] Translation: X:7.54, Y:0.37, Z:0.94 [[ 0.7926807 -0.16017698 -0.5882182 7.53623792] [ 0.2083067 0.97795744 0.01440695 0.36759395] [ 0.5729447 -0.13394991 0.80857393 0.93848806] [ 0. 0. 0. 1. ]] SLAMing on 54.299649246 meters Centerline goodness [0,1] 0.9358653559725946 Centerline is valid? [False, False] Translation: X:7.53, Y:0.37, Z:0.94 [[ 0.79207908 -0.16540292 -0.58758199 7.53469008] [ 0.21199215 0.97721291 0.01068903 0.36803234] [ 0.57242471 -0.13302932 0.80909403 0.93889243] [ 0. 0. 0. 1. ]] SLAMing on 54.329649246 meters Centerline goodness [0,1] 0.933224368499257 Centerline is valid? [False, False] Translation: X:7.54, Y:0.37, Z:0.94 [[ 0.79178467 -0.16188468 -0.58895703 7.53939705] [ 0.21002392 0.97760106 0.01364292 0.36901671] [ 0.57355644 -0.13449731 0.80804919 0.94018706] [ 0. 0. 0. 1. ]] SLAMing on 54.359649246000004 meters Centerline goodness [0,1] 0.9338211333945552 Centerline is valid? [False, False] Translation: X:7.54, Y:0.37, Z:0.94 [[ 0.79194326 -0.16169429 -0.58879609 7.5396392 ] [ 0.20960199 0.97769461 0.01342613 0.37043229] [ 0.57349183 -0.13404557 0.8081701 0.93913587] [ 0. 0. 0. 1. ]] SLAMing on 54.389649246000005 meters Centerline goodness [0,1] 0.9334445073106816 Centerline is valid? [False, False] Translation: X:7.54, Y:0.37, Z:0.94 [[ 0.79202855 -0.16051346 -0.58900441 7.5381654 ] [ 0.20905275 0.97779468 0.01464597 0.36743625] [ 0.57357451 -0.13473302 0.80799709 0.94052992] [ 0. 0. 0. 1. ]] SLAMing on 54.419649246000006 meters Centerline goodness [0,1] 0.9335953784765648 Centerline is valid? [False, False] Translation: X:7.54, Y:0.37, Z:0.94 [[ 0.79200898 -0.15987172 -0.58920524 7.53735427] [ 0.20870332 0.97786069 0.0152114 0.36650227] [ 0.57372877 -0.13501665 0.80784021 0.94129985] [ 0. 0. 0. 1. ]] SLAMing on 54.449649246 meters Centerline goodness [0,1] 0.9333849267769972 Centerline is valid? [False, False] Translation: X:7.54, Y:0.37, Z:0.94 [[ 0.79202209 -0.15922182 -0.58936357 7.53670876] [ 0.20837143 0.97792169 0.01582776 0.36510251] [ 0.57383129 -0.13534247 0.80771286 0.94201342] [ 0. 0. 0. 1. ]] SLAMing on 54.479649246 meters Centerline goodness [0,1] 0.9345049829921823 Centerline is valid? [False, False] Translation: X:7.54, Y:0.36, Z:0.94 [[ 0.79209847 -0.158385 -0.5894864 7.53600296] [ 0.20794767 0.97799824 0.0166497 0.3630874 ] [ 0.57387959 -0.13577052 0.8076067 0.94278019] [ 0. 0. 0. 1. ]] SLAMing on 54.509649246 meters Centerline goodness [0,1] 0.9355927142430577 Centerline is valid? [False, False] Translation: X:7.54, Y:0.36, Z:0.94 [[ 0.79193581 -0.1581912 -0.58975691 7.53627687] [ 0.20796784 0.97798904 0.01693567 0.3624456 ] [ 0.57409672 -0.13606243 0.80740322 0.94351104] [ 0. 0. 0. 1. ]] SLAMing on 54.539649246 meters Centerline goodness [0,1] 0.9355927142430577 Centerline is valid? [False, False] Translation: X:7.54, Y:0.36, Z:0.94 [[ 0.79193581 -0.1581912 -0.58975691 7.53627687] [ 0.20796784 0.97798904 0.01693567 0.3624456 ] [ 0.57409672 -0.13606243 0.80740322 0.94351104] [ 0. 0. 0. 1. ]] SLAMing on 54.569649246000004 meters Centerline goodness [0,1] 0.9342854587196995 Centerline is valid? [False, False] Translation: X:7.54, Y:0.36, Z:0.94 [[ 0.79191006 -0.15833158 -0.58975382 7.53721889] [ 0.20817782 0.97794346 0.01698807 0.36211139] [ 0.57405614 -0.13622668 0.80740438 0.94344937] [ 0. 0. 0. 1. ]] SLAMing on 54.599649246000006 meters Centerline goodness [0,1] 0.9354751942618051 Centerline is valid? [False, False] Translation: X:7.54, Y:0.36, Z:0.94 [[ 0.79198165 -0.15808678 -0.58972336 7.53724971] [ 0.2080046 0.97797699 0.01717855 0.36173666] [ 0.57402017 -0.13627027 0.8074226 0.94336618] [ 0. 0. 0. 1. ]] SLAMing on 54.629649246 meters Centerline goodness [0,1] 0.9374925194494315 Centerline is valid? [False, False] Translation: X:7.54, Y:0.36, Z:0.94 [[ 0.79214327 -0.15685275 -0.58983579 7.53540416] [ 0.20722718 0.97812363 0.0181953 0.36026058] [ 0.57407834 -0.13664329 0.8073182 0.94426155] [ 0. 0. 0. 1. ]] SLAMing on 54.659649246 meters Centerline goodness [0,1] 0.9360952750499956 Centerline is valid? [False, False] Translation: X:7.53, Y:0.36, Z:0.94 [[ 0.79253522 -0.15600798 -0.58953323 7.53343184] [ 0.20642121 0.97828609 0.01861751 0.36039625] [ 0.57382768 -0.13644719 0.80752954 0.94373627] [ 0. 0. 0. 1. ]] SLAMing on 54.689649246 meters Centerline goodness [0,1] 0.937406721986747 Centerline is valid? [False, False] Translation: X:7.53, Y:0.36, Z:0.94 [[ 0.79257396 -0.15581167 -0.58953307 7.53320802] [ 0.20617468 0.97833819 0.01861164 0.36093193] [ 0.57386281 -0.13629789 0.80752979 0.9435491 ] [ 0. 0. 0. 1. ]] SLAMing on 54.719649246 meters Centerline goodness [0,1] 0.9374944031521447 Centerline is valid? [False, False] Translation: X:7.53, Y:0.36, Z:0.94 [[ 0.79259795 -0.15585879 -0.58948836 7.53345913] [ 0.20604962 0.97836916 0.01836691 0.36179258] [ 0.57387459 -0.13602143 0.80756803 0.94305862] [ 0. 0. 0. 1. ]] SLAMing on 54.749649246000004 meters Centerline goodness [0,1] 0.9347417980273548 Centerline is valid? [False, False] Translation: X:7.53, Y:0.36, Z:0.94 [[ 0.79259593 -0.15597571 -0.58946015 7.53402296] [ 0.20586919 0.97841546 0.01791814 0.3634553 ] [ 0.57394213 -0.13555353 0.80759871 0.94227373] [ 0. 0. 0. 1. ]] SLAMing on 54.779649246000005 meters Centerline goodness [0,1] 0.936353861776477 Centerline is valid? [False, False] Translation: X:7.53, Y:0.36, Z:0.94 [[ 0.79238871 -0.15592074 -0.58975322 7.53462947] [ 0.2059618 0.97839339 0.01805837 0.36291964] [ 0.57419498 -0.13577588 0.80738159 0.94295135] [ 0. 0. 0. 1. ]] SLAMing on 54.809649246 meters Centerline goodness [0,1] 0.9358767205266307 Centerline is valid? [False, False] Translation: X:7.54, Y:0.36, Z:0.94 [[ 0.7921577 -0.15594981 -0.5900558 7.53534997] [ 0.20617239 0.97834612 0.0182155 0.3621417 ] [ 0.5744381 -0.13608276 0.80715696 0.94373189] [ 0. 0. 0. 1. ]] SLAMing on 54.839649246 meters Centerline goodness [0,1] 0.9362868439971244 Centerline is valid? [False, False] Translation: X:7.54, Y:0.36, Z:0.94 [[ 0.79189046 -0.15597113 -0.59040876 7.53651776] [ 0.2063774 0.97830014 0.01836306 0.36121694] [ 0.57473286 -0.13638855 0.80689547 0.94447106] [ 0. 0. 0. 1. ]] SLAMing on 54.869649246 meters Centerline goodness [0,1] 0.9352433634969786 Centerline is valid? [False, False] Translation: X:7.54, Y:0.36, Z:0.95 [[ 0.79170718 -0.15581692 -0.59069521 7.53746347] [ 0.20664109 0.97823393 0.01891642 0.3590943 ] [ 0.5748906 -0.13703816 0.80667301 0.9455415 ] [ 0. 0. 0. 1. ]] SLAMing on 54.899649246 meters Centerline goodness [0,1] 0.9359406000120243 Centerline is valid? [False, False] Translation: X:7.54, Y:0.36, Z:0.95 [[ 0.79165211 -0.15521211 -0.59092821 7.53708723] [ 0.20651366 0.97824503 0.01971728 0.35688306] [ 0.57501222 -0.13764397 0.80648316 0.94670638] [ 0. 0. 0. 1. ]] SLAMing on 54.929649246000004 meters Centerline goodness [0,1] 0.9365175515643457 Centerline is valid? [False, False] Translation: X:7.54, Y:0.36, Z:0.95 [[ 0.79153777 -0.15971127 -0.58988157 7.53534667] [ 0.20956261 0.97765598 0.0165017 0.35533546] [ 0.57406574 -0.13667884 0.80732114 0.94607523] [ 0. 0. 0. 1. ]] SLAMing on 54.959649246000005 meters Centerline goodness [0,1] 0.9383179835191469 Centerline is valid? [False, False] Translation: X:7.54, Y:0.35, Z:0.95 [[ 0.79131695 -0.15938114 -0.59026701 7.53555189] [ 0.20967515 0.97762122 0.01711956 0.35387019] [ 0.57432902 -0.13731132 0.80702651 0.94742725] [ 0. 0. 0. 1. ]] SLAMing on 54.989649246 meters Centerline goodness [0,1] 0.9388120373741051 Centerline is valid? [False, False] Translation: X:7.53, Y:0.35, Z:0.95 [[ 0.79101613 -0.16422148 -0.58934267 7.53476703] [ 0.21289088 0.97698266 0.01350417 0.35300255] [ 0.5735599 -0.13614769 0.80777029 0.9466652 ] [ 0. 0. 0. 1. ]] SLAMing on 55.019649246 meters Centerline goodness [0,1] 0.9395644503923596 Centerline is valid? [False, False] Translation: X:7.53, Y:0.35, Z:0.95 [[ 0.790848 -0.16371217 -0.58970991 7.53476194] [ 0.21280516 0.97699203 0.01416129 0.35151145] [ 0.5738235 -0.13669274 0.80749098 0.94787884] [ 0. 0. 0. 1. ]] SLAMing on 55.049649246 meters Centerline goodness [0,1] 0.938939882074038 Centerline is valid? [False, False] Translation: X:7.54, Y:0.35, Z:0.95 [[ 0.79081337 -0.16345702 -0.5898271 7.53531282] [ 0.21276517 0.97699556 0.01451401 0.35005144] [ 0.57388604 -0.13697253 0.80739912 0.9482686 ] [ 0. 0. 0. 1. ]] SLAMing on 55.079649246 meters Centerline goodness [0,1] 0.9396352583586626 Centerline is valid? [False, False] Translation: X:7.54, Y:0.35, Z:0.95 [[ 0.79068902 -0.16337698 -0.59001596 7.53584368] [ 0.21274056 0.97700019 0.0145628 0.34997123] [ 0.57406648 -0.13703497 0.80726024 0.94851787] [ 0. 0. 0. 1. ]] SLAMing on 55.109649246000004 meters Centerline goodness [0,1] 0.9394566308679911 Centerline is valid? [False, False] Translation: X:7.54, Y:0.35, Z:0.95 [[ 0.79028156 -0.16409345 -0.59036294 7.5383094 ] [ 0.21341932 0.97685793 0.01416987 0.34984803] [ 0.57437554 -0.13719304 0.80701351 0.94892644] [ 0. 0. 0. 1. ]] SLAMing on 55.139649246000005 meters Centerline goodness [0,1] 0.939435503535723 Centerline is valid? [False, False] Translation: X:7.54, Y:0.35, Z:0.95 [[ 0.7898263 -0.16474366 -0.59079095 7.54114852] [ 0.21407334 0.97671964 0.01383296 0.34946523] [ 0.57475823 -0.13739823 0.80670608 0.94943343] [ 0. 0. 0. 1. ]] SLAMing on 55.169649246000006 meters Centerline goodness [0,1] 0.9387189176011702 Centerline is valid? [False, False] Translation: X:7.54, Y:0.35, Z:0.95 [[ 0.78966625 -0.16456287 -0.59105522 7.54159925] [ 0.21409872 0.9767102 0.0141041 0.34880051] [ 0.57496865 -0.1376817 0.80650778 0.95009777] [ 0. 0. 0. 1. ]] SLAMing on 55.199649246 meters Centerline goodness [0,1] 0.9395195707840507 Centerline is valid? [False, False] Translation: X:7.54, Y:0.35, Z:0.95 [[ 0.78965728 -0.16403527 -0.59121384 7.54092506] [ 0.21385217 0.97675653 0.01462651 0.34781341] [ 0.57507271 -0.13798229 0.80638221 0.9508724 ] [ 0. 0. 0. 1. ]] SLAMing on 55.229649246 meters Centerline goodness [0,1] 0.9386756384768313 Centerline is valid? [False, False] Translation: X:7.54, Y:0.35, Z:0.95 [[ 0.78963917 -0.16362577 -0.59135149 7.5403792 ] [ 0.21359673 0.97680771 0.01493769 0.34746558] [ 0.5751925 -0.13810613 0.80627556 0.95132158] [ 0. 0. 0. 1. ]] SLAMing on 55.259649246 meters Centerline goodness [0,1] 0.9398230088495575 Centerline is valid? [False, False] Translation: X:7.54, Y:0.35, Z:0.95 [[ 0.7896504 -0.16318792 -0.59145747 7.53983165] [ 0.21328652 0.97687097 0.0152306 0.34745608] [ 0.57529219 -0.13817676 0.80619234 0.95162949] [ 0. 0. 0. 1. ]] SLAMing on 55.289649246 meters Centerline goodness [0,1] 0.9382377161679935 Centerline is valid? [False, False] Translation: X:7.54, Y:0.35, Z:0.95 [[ 0.78956842 -0.16310752 -0.59158908 7.54030368] [ 0.21324196 0.97688011 0.01526842 0.34794305] [ 0.57542121 -0.13820708 0.80609505 0.95169764] [ 0. 0. 0. 1. ]] SLAMing on 55.319649246000004 meters Centerline goodness [0,1] 0.9387276547796692 Centerline is valid? [False, False] Translation: X:7.54, Y:0.35, Z:0.95 [[ 0.78922383 -0.15898377 -0.59316937 7.54326812] [ 0.21117664 0.97726236 0.0190448 0.34676758] [ 0.57665429 -0.14029413 0.8048524 0.95468579] [ 0. 0. 0. 1. ]] SLAMing on 55.349649246000006 meters Centerline goodness [0,1] 0.9375973133872691 Centerline is valid? [False, False] Translation: X:7.54, Y:0.35, Z:0.96 [[ 0.78890474 -0.15903445 -0.59358012 7.54421612] [ 0.21146972 0.97719512 0.01924218 0.34584189] [ 0.57698343 -0.14070447 0.80454483 0.95575886] [ 0. 0. 0. 1. ]] SLAMing on 55.379649246 meters Centerline goodness [0,1] 0.9359784965942759 Centerline is valid? [False, False] Translation: X:7.55, Y:0.35, Z:0.96 [[ 0.78823288 -0.15920522 -0.5944263 7.54596295] [ 0.21196071 0.9770861 0.01937532 0.34528647] [ 0.57772102 -0.14126729 0.80391665 0.95769227] [ 0. 0. 0. 1. ]] SLAMing on 55.409649246 meters Centerline goodness [0,1] 0.9358000490075962 Centerline is valid? [False, False] Translation: X:7.55, Y:0.35, Z:0.96 [[ 0.78816969 -0.15911613 -0.59453394 7.54610755] [ 0.21192954 0.97709132 0.01945297 0.34528915] [ 0.57781867 -0.14133154 0.80383517 0.95792407] [ 0. 0. 0. 1. ]] SLAMing on 55.439649246 meters Centerline goodness [0,1] 0.9388416610604856 Centerline is valid? [False, False] Translation: X:7.55, Y:0.35, Z:0.96 [[ 0.78819907 -0.15860948 -0.59463036 7.5450567 ] [ 0.21160993 0.97715255 0.01985282 0.34539502] [ 0.57789572 -0.14147767 0.80375407 0.95841224] [ 0. 0. 0. 1. ]] SLAMing on 55.469649246 meters Centerline goodness [0,1] 0.9378638396960598 Centerline is valid? [False, False] Translation: X:7.54, Y:0.35, Z:0.96 [[ 0.78817477 -0.15832883 -0.59473734 7.5447507 ] [ 0.21147665 0.97717596 0.02011886 0.34550147] [ 0.57797764 -0.14163024 0.80366829 0.95878342] [ 0. 0. 0. 1. ]] SLAMing on 55.499649246000004 meters Centerline goodness [0,1] 0.9393920842388809 Centerline is valid? [False, False] Translation: X:7.54, Y:0.35, Z:0.96 [[ 0.78809321 -0.15804822 -0.59492004 7.54452004] [ 0.21136404 0.97719469 0.02039044 0.34536113] [ 0.57813003 -0.14181427 0.80352622 0.9593476 ] [ 0. 0. 0. 1. ]] SLAMing on 55.529649246000005 meters Centerline goodness [0,1] 0.9382051674055955 Centerline is valid? [False, False] Translation: X:7.55, Y:0.35, Z:0.96 [[ 0.78795868 -0.15816733 -0.59506657 7.54524408] [ 0.21149708 0.97716726 0.02032551 0.3457345 ] [ 0.57826474 -0.1418705 0.80341935 0.95951695] [ 0. 0. 0. 1. ]] SLAMing on 55.559649246 meters Centerline goodness [0,1] 0.9389464673331499 Centerline is valid? [False, False] Translation: X:7.55, Y:0.35, Z:0.96 [[ 0.78805425 -0.1581355 -0.59494845 7.54516095] [ 0.21143405 0.97718084 0.02032869 0.34650568] [ 0.57815754 -0.14181247 0.80350674 0.95920395] [ 0. 0. 0. 1. ]] SLAMing on 55.589649246 meters Centerline goodness [0,1] 0.9387131285343114 Centerline is valid? [False, False] Translation: X:7.54, Y:0.35, Z:0.96 [[ 0.78806576 -0.15773232 -0.59504022 7.54444119] [ 0.21125741 0.97721018 0.02075003 0.34589584] [ 0.57820641 -0.14205905 0.80342801 0.95979474] [ 0. 0. 0. 1. ]] SLAMing on 55.619649246 meters Centerline goodness [0,1] 0.9409535452322738 Centerline is valid? [False, False] Translation: X:7.55, Y:0.34, Z:0.96 [[ 0.78768925 -0.1527034 -0.59684781 7.54616553] [ 0.20899736 0.97757816 0.02571084 0.34352748] [ 0.57953925 -0.14499177 0.80194242 0.96446436] [ 0. 0. 0. 1. ]] SLAMing on 55.649649246 meters Centerline goodness [0,1] 0.9388795603724622 Centerline is valid? [False, False] Translation: X:7.55, Y:0.34, Z:0.96 [[ 0.78759264 -0.1526792 -0.59698149 7.54645088] [ 0.20896837 0.97758541 0.02567081 0.3437844 ] [ 0.579681 -0.14496839 0.80184419 0.96462205] [ 0. 0. 0. 1. ]] SLAMing on 55.679649246000004 meters Centerline goodness [0,1] 0.939463601532567 Centerline is valid? [False, False] Translation: X:7.54, Y:0.34, Z:0.96 [[ 0.78751362 -0.1573546 -0.59587065 7.54474862] [ 0.2116747 0.97709867 0.02172575 0.34470655] [ 0.57880577 -0.14324006 0.8027865 0.96283148] [ 0. 0. 0. 1. ]] SLAMing on 55.709649246000005 meters Centerline goodness [0,1] 0.9375995101041029 Centerline is valid? [False, False] Translation: X:7.54, Y:0.34, Z:0.96 [[ 0.78732411 -0.15715922 -0.59617257 7.54490678] [ 0.21173177 0.97707908 0.02204822 0.34418208] [ 0.57904266 -0.14358776 0.80255352 0.96375571] [ 0. 0. 0. 1. ]] SLAMing on 55.739649246 meters Centerline goodness [0,1] 0.9367545415621751 Centerline is valid? [False, False] Translation: X:7.55, Y:0.34, Z:0.96 [[ 0.78730395 -0.15724287 -0.59617712 7.54539368] [ 0.21174217 0.97707977 0.02191734 0.34430307] [ 0.57906626 -0.14349144 0.80255372 0.9635552 ] [ 0. 0. 0. 1. ]] SLAMing on 55.769649246 meters Centerline goodness [0,1] 0.9363316506042527 Centerline is valid? [False, False] Translation: X:7.55, Y:0.35, Z:0.96 [[ 0.78711977 -0.15789106 -0.59624901 7.54706555] [ 0.21210804 0.97701434 0.02128742 0.34565868] [ 0.57918274 -0.14322496 0.80251726 0.96308757] [ 0. 0. 0. 1. ]] SLAMing on 55.799649246 meters Centerline goodness [0,1] 0.9374137137597791 Centerline is valid? [False, False] Translation: X:7.55, Y:0.35, Z:0.96 [[ 0.78712249 -0.15764458 -0.59631063 7.54645242] [ 0.21199749 0.97703282 0.02153921 0.34556792] [ 0.57921952 -0.14337036 0.80246476 0.96348632] [ 0. 0. 0. 1. ]] SLAMing on 55.829649246 meters Centerline goodness [0,1] 0.9378316209170373 Centerline is valid? [False, False] Translation: X:7.55, Y:0.35, Z:0.96 [[ 0.78710547 -0.1573556 -0.59640941 7.54612862] [ 0.21187789 0.97705208 0.02184008 0.34519836] [ 0.5792864 -0.14355641 0.80238322 0.96395056] [ 0. 0. 0. 1. ]] SLAMing on 55.859649246000004 meters Centerline goodness [0,1] 0.9383708796267878 Centerline is valid? [False, False] Translation: X:7.55, Y:0.35, Z:0.96 [[ 0.78700876 -0.15711013 -0.59660173 7.54599619] [ 0.21184774 0.97705139 0.02216112 0.34502961] [ 0.57942881 -0.14382973 0.80223143 0.9646409 ] [ 0. 0. 0. 1. ]] SLAMing on 55.889649246000005 meters Centerline goodness [0,1] 0.9404966805999508 Centerline is valid? [False, False] Translation: X:7.55, Y:0.35, Z:0.97 [[ 0.78680525 -0.15685753 -0.59693653 7.54591829] [ 0.21194281 0.97702018 0.02262342 0.34525461] [ 0.57967038 -0.14431663 0.80196943 0.96580648] [ 0. 0. 0. 1. ]] SLAMing on 55.919649246000006 meters Centerline goodness [0,1] 0.9401630518381787 Centerline is valid? [False, False] Translation: X:7.55, Y:0.35, Z:0.97 [[ 0.78688703 -0.15674178 -0.59685912 7.54573074] [ 0.21188058 0.9770305 0.02276011 0.34576781] [ 0.5795821 -0.1443725 0.80202317 0.96572203] [ 0. 0. 0. 1. ]] SLAMing on 55.949649246 meters Centerline goodness [0,1] 0.9384260682446972 Centerline is valid? [False, False] Translation: X:7.55, Y:0.35, Z:0.97 [[ 0.78677558 -0.1569896 -0.59694091 7.54638387] [ 0.21208728 0.97698948 0.02259505 0.34639376] [ 0.57965781 -0.14438081 0.80196696 0.96579112] [ 0. 0. 0. 1. ]] SLAMing on 55.979649246 meters Centerline goodness [0,1] 0.937057991513437 Centerline is valid? [False, False] Translation: X:7.55, Y:0.35, Z:0.97 [[ 0.78641982 -0.15775404 -0.59720811 7.5481693 ] [ 0.21284466 0.97683276 0.02224676 0.34717179] [ 0.57986292 -0.14460785 0.80177775 0.96633385] [ 0. 0. 0. 1. ]] SLAMing on 56.009649246 meters Centerline goodness [0,1] 0.9376152994711597 Centerline is valid? [False, False] Translation: X:7.55, Y:0.35, Z:0.97 [[ 0.78632023 -0.15753704 -0.5973965 7.5479757 ] [ 0.21285118 0.97682392 0.02257 0.34666276] [ 0.57999558 -0.1449038 0.80162835 0.96710459] [ 0. 0. 0. 1. ]] SLAMing on 56.039649246 meters Centerline goodness [0,1] 0.9384620139704519 Centerline is valid? [False, False] Translation: X:7.55, Y:0.35, Z:0.97 [[ 0.78607114 -0.16224448 -0.59646365 7.54660341] [ 0.21573879 0.97627082 0.01876307 0.34670076] [ 0.57926586 -0.14342946 0.80242075 0.96601569] [ 0. 0. 0. 1. ]] SLAMing on 56.069649246000004 meters Centerline goodness [0,1] 0.9379331683168317 Centerline is valid? [False, False] Translation: X:7.55, Y:0.35, Z:0.97 [[ 0.78588706 -0.1624257 -0.59665688 7.54741767] [ 0.21600291 0.97621252 0.01875767 0.34699743] [ 0.57941719 -0.14362103 0.80227721 0.96644231] [ 0. 0. 0. 1. ]] SLAMing on 56.099649246000006 meters Centerline goodness [0,1] 0.9360899932010631 Centerline is valid? [False, False] Translation: X:7.55, Y:0.35, Z:0.97 [[ 0.78548683 -0.16341249 -0.5969144 7.54974631] [ 0.21672587 0.97606687 0.01798214 0.34870341] [ 0.57968987 -0.14349153 0.80210338 0.96642462] [ 0. 0. 0. 1. ]] SLAMing on 56.129649246 meters Centerline goodness [0,1] 0.935614490603363 Centerline is valid? [False, False] Translation: X:7.55, Y:0.35, Z:0.97 [[ 0.785262 -0.16363327 -0.59714968 7.55077309] [ 0.21701819 0.9760028 0.01793454 0.34904781] [ 0.57988507 -0.14367566 0.8019293 0.96694228] [ 0. 0. 0. 1. ]] SLAMing on 56.159649246 meters Centerline goodness [0,1] 0.9337360594795538 Centerline is valid? [False, False] Translation: X:7.55, Y:0.35, Z:0.97 [[ 0.78484973 -0.16455385 -0.59743865 7.55276112] [ 0.21761297 0.97588558 0.01708586 0.35126418] [ 0.58022022 -0.14342023 0.80173258 0.96692495] [ 0. 0. 0. 1. ]] SLAMing on 56.189649246 meters Centerline goodness [0,1] 0.9342121549696745 Centerline is valid? [False, False] Translation: X:7.55, Y:0.35, Z:0.97 [[ 0.78470056 -0.16520135 -0.59745589 7.55402342] [ 0.21798064 0.97581401 0.01647609 0.35304104] [ 0.58028396 -0.14316261 0.8017325 0.96646752] [ 0. 0. 0. 1. ]] SLAMing on 56.219649246 meters Centerline goodness [0,1] 0.9329409942697847 Centerline is valid? [False, False] Translation: X:7.56, Y:0.35, Z:0.97 [[ 0.78413798 -0.16629338 -0.59789141 7.55651742] [ 0.21896071 0.97560542 0.01582007 0.35421333] [ 0.58067533 -0.14331985 0.80142098 0.96723122] [ 0. 0. 0. 1. ]] SLAMing on 56.249649246000004 meters Centerline goodness [0,1] 0.9324023038335294 Centerline is valid? [False, False] Translation: X:7.56, Y:0.35, Z:0.97 [[ 0.78374448 -0.16688437 -0.59824259 7.55832345] [ 0.21951721 0.97548604 0.01546534 0.35457054] [ 0.58099638 -0.14344542 0.80116579 0.96780822] [ 0. 0. 0. 1. ]] SLAMing on 56.279649246000005 meters Centerline goodness [0,1] 0.9327230411171451 Centerline is valid? [False, False] Translation: X:7.56, Y:0.36, Z:0.97 [[ 0.78336221 -0.16760663 -0.59854128 7.56016792] [ 0.22017069 0.97534549 0.01503492 0.35543587] [ 0.58126458 -0.14355903 0.80095087 0.96825812] [ 0. 0. 0. 1. ]] SLAMing on 56.309649246 meters Centerline goodness [0,1] 0.930734994127465 Centerline is valid? [False, False] Translation: X:7.56, Y:0.36, Z:0.97 [[ 0.78300841 -0.16857826 -0.59873133 7.56262907] [ 0.22090898 0.9751892 0.01432678 0.35701228] [ 0.58146114 -0.14348312 0.80082179 0.96818662] [ 0. 0. 0. 1. ]] SLAMing on 56.339649246 meters Centerline goodness [0,1] 0.9304500833487683 Centerline is valid? [False, False] Translation: X:7.56, Y:0.36, Z:0.97 [[ 0.78270028 -0.16893647 -0.59903317 7.56376028] [ 0.22123254 0.97511965 0.01406518 0.35793584] [ 0.5817529 -0.14353445 0.80060067 0.96867591] [ 0. 0. 0. 1. ]] SLAMing on 56.369649246 meters Centerline goodness [0,1] 0.9284942418722406 Centerline is valid? [False, False] Translation: X:7.56, Y:0.36, Z:0.97 [[ 0.78260858 -0.16922556 -0.59907138 7.56431926] [ 0.22139011 0.97508804 0.01377462 0.35920925] [ 0.58181632 -0.14340862 0.80057713 0.96850986] [ 0. 0. 0. 1. ]] SLAMing on 56.399649246 meters Centerline goodness [0,1] 0.9276841716885992 Centerline is valid? [False, False] Translation: X:7.56, Y:0.36, Z:0.97 [[ 0.78258316 -0.16947062 -0.59903531 7.5644417 ] [ 0.22149854 0.97506705 0.01351474 0.36104367] [ 0.58180924 -0.14326186 0.80060855 0.96827226] [ 0. 0. 0. 1. ]] SLAMing on 56.429649246000004 meters Centerline goodness [0,1] 0.9285318730002461 Centerline is valid? [False, False] Translation: X:7.56, Y:0.36, Z:0.97 [[ 0.78242526 -0.16949992 -0.59923325 7.56442398] [ 0.2216538 0.97503034 0.01361734 0.36134481] [ 0.58196246 -0.14347688 0.80045867 0.96895672] [ 0. 0. 0. 1. ]] SLAMing on 56.459649246000005 meters Centerline goodness [0,1] 0.9285318730002461 Centerline is valid? [False, False] Translation: X:7.56, Y:0.36, Z:0.97 [[ 0.78242526 -0.16949992 -0.59923325 7.56442398] [ 0.2216538 0.97503034 0.01361734 0.36134481] [ 0.58196246 -0.14347688 0.80045867 0.96895672] [ 0. 0. 0. 1. ]] SLAMing on 56.489649246000006 meters Centerline goodness [0,1] 0.9297506686752544 Centerline is valid? [False, False] Translation: X:7.56, Y:0.36, Z:0.97 [[ 0.78233439 -0.1689745 -0.59950023 7.56344899] [ 0.22153654 0.97504759 0.01427434 0.3605335 ] [ 0.58212925 -0.14397851 0.80024729 0.97034265] [ 0. 0. 0. 1. ]] SLAMing on 56.519649246 meters Centerline goodness [0,1] 0.9326579628033009 Centerline is valid? [False, False] Translation: X:7.56, Y:0.36, Z:0.97 [[ 0.78219175 -0.168968 -0.59968815 7.56379564] [ 0.22162304 0.97502688 0.01434641 0.36076119] [ 0.58228798 -0.14412636 0.80010518 0.97081329] [ 0. 0. 0. 1. ]] SLAMing on 56.549649246 meters Centerline goodness [0,1] 0.9314194577352473 Centerline is valid? [False, False] Translation: X:7.56, Y:0.36, Z:0.97 [[ 0.78197214 -0.16914684 -0.5999241 7.56418582] [ 0.22187432 0.97497022 0.01431249 0.36208063] [ 0.58248722 -0.14429972 0.79992889 0.97146752] [ 0. 0. 0. 1. ]] SLAMing on 56.579649246 meters Centerline goodness [0,1] 0.9318831228684672 Centerline is valid? [False, False] Translation: X:7.56, Y:0.36, Z:0.97 [[ 0.78188986 -0.16907394 -0.60005188 7.56435519] [ 0.22187677 0.97496836 0.01440118 0.3623717 ] [ 0.58259673 -0.14439771 0.79983145 0.97182744] [ 0. 0. 0. 1. ]] SLAMing on 56.609649246000004 meters Centerline goodness [0,1] 0.9310619279395108 Centerline is valid? [False, False] Translation: X:7.57, Y:0.36, Z:0.97 [[ 0.78136951 -0.16932135 -0.60065961 7.5651948 ] [ 0.22226527 0.97488102 0.0143228 0.36416973] [ 0.5831465 -0.14469717 0.79937657 0.97326936] [ 0. 0. 0. 1. ]] SLAMing on 56.639649246000005 meters Centerline goodness [0,1] 0.930265291759738 Centerline is valid? [False, False] Translation: X:7.57, Y:0.37, Z:0.97 [[ 0.78122903 -0.16943218 -0.60081107 7.56556538] [ 0.22231085 0.97487317 0.01414887 0.36535872] [ 0.58331732 -0.14462033 0.79926583 0.9734325 ] [ 0. 0. 0. 1. ]] SLAMing on 56.669649246000006 meters Centerline goodness [0,1] 0.9315482551216683 Centerline is valid? [False, False] Translation: X:7.57, Y:0.37, Z:0.97 [[ 0.78114734 -0.16956355 -0.60088022 7.56526657] [ 0.22223219 0.97489617 0.01379513 0.36767526] [ 0.58345668 -0.14431095 0.79922003 0.97336112] [ 0. 0. 0. 1. ]] SLAMing on 56.699649246 meters Centerline goodness [0,1] 0.9325192606352203 Centerline is valid? [False, False] Translation: X:7.57, Y:0.37, Z:0.97 [[ 0.78090205 -0.16975969 -0.6011436 7.56559323] [ 0.22236384 0.97486947 0.01355889 0.3693184 ] [ 0.58373479 -0.14426077 0.79902599 0.9737612 ] [ 0. 0. 0. 1. ]] SLAMing on 56.729649246 meters Centerline goodness [0,1] 0.9332479882955377 Centerline is valid? [False, False] Translation: X:7.57, Y:0.37, Z:0.98 [[ 0.78032202 -0.17035807 -0.60172724 7.56676684] [ 0.22294611 0.97474203 0.01315312 0.3718043 ] [ 0.58428809 -0.14441642 0.79859334 0.9750021 ] [ 0. 0. 0. 1. ]] SLAMing on 56.759649246 meters Centerline goodness [0,1] 0.9326970141948115 Centerline is valid? [False, False] Translation: X:7.57, Y:0.37, Z:0.98 [[ 0.77955241 -0.17074548 -0.60261431 7.56845802] [ 0.22380368 0.97454229 0.01338834 0.37212241] [ 0.58498713 -0.14530421 0.79792026 0.97760102] [ 0. 0. 0. 1. ]] SLAMing on 56.789649246 meters Centerline goodness [0,1] 0.9317959383410814 Centerline is valid? [False, False] Translation: X:7.57, Y:0.37, Z:0.98 [[ 0.77931509 -0.17085337 -0.60289063 7.5691227 ] [ 0.22410605 0.97447083 0.01353081 0.37204703] [ 0.58518755 -0.1456562 0.7977091 0.97848306] [ 0. 0. 0. 1. ]] SLAMing on 56.819649246000004 meters Centerline goodness [0,1] 0.9326262873957822 Centerline is valid? [False, False] Translation: X:7.57, Y:0.37, Z:0.98 [[ 0.77909381 -0.17110024 -0.60310658 7.56997141] [ 0.22447329 0.97438612 0.0135433 0.37198655] [ 0.58534142 -0.14593282 0.79754563 0.9791427 ] [ 0. 0. 0. 1. ]] SLAMing on 56.849649246000006 meters Centerline goodness [0,1] 0.934042748371709 Centerline is valid? [False, False] Translation: X:7.57, Y:0.37, Z:0.98 [[ 0.77885619 -0.1713278 -0.60334884 7.57078063] [ 0.22499179 0.97426313 0.01378619 0.37246998] [ 0.58545856 -0.14648599 0.79735821 0.98025413] [ 0. 0. 0. 1. ]] SLAMing on 56.879649246 meters Centerline goodness [0,1] 0.934213744191734 Centerline is valid? [False, False] Translation: X:7.57, Y:0.37, Z:0.98 [[ 0.77832616 -0.17174784 -0.60391312 7.57152919] [ 0.22558274 0.9741277 0.01369835 0.37388945] [ 0.58593584 -0.14689416 0.79693243 0.98193538] [ 0. 0. 0. 1. ]] SLAMing on 56.909649246 meters Centerline goodness [0,1] 0.9350589817248335 Centerline is valid? [False, False] Translation: X:7.57, Y:0.37, Z:0.98 [[ 0.77811059 -0.17178895 -0.60417916 7.57214554] [ 0.22571134 0.97409761 0.01371973 0.37422057] [ 0.58617258 -0.14704556 0.79673039 0.9825799 ] [ 0. 0. 0. 1. ]] SLAMing on 56.939649246 meters Centerline goodness [0,1] 0.9344257283482621 Centerline is valid? [False, False] Translation: X:7.57, Y:0.37, Z:0.98 [[ 0.7778353 -0.17202391 -0.60446673 7.57321219] [ 0.2259132 0.97405383 0.01350398 0.37478989] [ 0.58646012 -0.14706088 0.79651593 0.98301505] [ 0. 0. 0. 1. ]] SLAMing on 56.969649246 meters Centerline goodness [0,1] 0.932193558235384 Centerline is valid? [False, False] Translation: X:7.58, Y:0.38, Z:0.99 [[ 0.7770224 -0.16863212 -0.60646467 7.57856682] [ 0.22451381 0.97432719 0.01673535 0.3758112 ] [ 0.5880729 -0.14916344 0.7949343 0.98653746] [ 0. 0. 0. 1. ]] SLAMing on 56.999649246000004 meters Centerline goodness [0,1] 0.932656741968025 Centerline is valid? [False, False] Translation: X:7.58, Y:0.38, Z:0.99 [[ 0.7764571 -0.169508 -0.60694432 7.58116802] [ 0.22524896 0.97416834 0.0160918 0.37717206] [ 0.58853825 -0.14920816 0.79458143 0.98720305] [ 0. 0. 0. 1. ]] SLAMing on 57.029649246000005 meters Centerline goodness [0,1] 0.9323381568926123 Centerline is valid? [False, False] Translation: X:7.58, Y:0.38, Z:0.99 [[ 0.77615008 -0.16997192 -0.60720722 7.58275426] [ 0.22560084 0.97409335 0.01569743 0.3777668 ] [ 0.58880839 -0.14917002 0.79438844 0.98747789] [ 0. 0. 0. 1. ]] SLAMing on 57.059649246 meters Centerline goodness [0,1] 0.9322184175125352 Centerline is valid? [False, False] Translation: X:7.58, Y:0.38, Z:0.99 [[ 0.77580215 -0.17068658 -0.60745132 7.58461851] [ 0.22611862 0.9739826 0.0151083 0.3788742 ] [ 0.58906824 -0.1490771 0.79421322 0.98759821] [ 0. 0. 0. 1. ]] SLAMing on 57.089649246 meters Centerline goodness [0,1] 0.9315273951637588 Centerline is valid? [False, False] Translation: X:7.59, Y:0.38, Z:0.99 [[ 0.77516304 -0.17183886 -0.60794216 7.5875849 ] [ 0.22706664 0.97377452 0.01427992 0.38039625] [ 0.58954474 -0.14911265 0.79385289 0.98830187] [ 0. 0. 0. 1. ]] SLAMing on 57.119649246 meters Centerline goodness [0,1] 0.9292483209126875 Centerline is valid? [False, False] Translation: X:7.59, Y:0.38, Z:0.99 [[ 0.77445368 -0.17291368 -0.60854117 7.59052921] [ 0.22800876 0.97356493 0.01353981 0.381834 ] [ 0.59011313 -0.14923867 0.79340678 0.98924947] [ 0. 0. 0. 1. ]] SLAMing on 57.149649246 meters Centerline goodness [0,1] 0.9308401482434377 Centerline is valid? [False, False] Translation: X:7.59, Y:0.38, Z:0.99 [[ 0.77385219 -0.17350262 -0.60913843 7.59253168] [ 0.22874256 0.97339554 0.01334057 0.38243349] [ 0.59061801 -0.14965951 0.7929517 0.9906027 ] [ 0. 0. 0. 1. ]] SLAMing on 57.179649246000004 meters Centerline goodness [0,1] 0.9295019157088122 Centerline is valid? [False, False] Translation: X:7.60, Y:0.39, Z:0.99 [[ 0.77318918 -0.17469874 -0.60963829 7.5957351 ] [ 0.22961435 0.97320357 0.01233172 0.38503728] [ 0.59114782 -0.14951645 0.79258381 0.9909436 ] [ 0. 0. 0. 1. ]] SLAMing on 57.209649246000005 meters Centerline goodness [0,1] 0.928097175901845 Centerline is valid? [False, False] Translation: X:7.60, Y:0.39, Z:0.99 [[ 0.77290109 -0.17519984 -0.60985976 7.59708676] [ 0.22996351 0.97312669 0.01188372 0.38635113] [ 0.59138878 -0.14943043 0.79242025 0.99108688] [ 0. 0. 0. 1. ]] SLAMing on 57.239649246000006 meters Centerline goodness [0,1] 0.9265034772218989 Centerline is valid? [False, False] Translation: X:7.60, Y:0.39, Z:0.99 [[ 0.77263048 -0.17554264 -0.61010403 7.59814263] [ 0.23022663 0.97306814 0.01158027 0.38714892] [ 0.59163996 -0.14940946 0.79223669 0.99140231] [ 0. 0. 0. 1. ]] SLAMing on 57.269649246 meters Centerline goodness [0,1] 0.9253977968176255 Centerline is valid? [False, False] Translation: X:7.60, Y:0.39, Z:0.99 [[ 0.77226658 -0.17626008 -0.61035785 7.59980945] [ 0.23058829 0.97299176 0.01077405 0.38951266] [ 0.59197413 -0.14906181 0.79205253 0.99133882] [ 0. 0. 0. 1. ]] SLAMing on 57.299649246 meters Centerline goodness [0,1] 0.9270437553621768 Centerline is valid? [False, False] Translation: X:7.60, Y:0.39, Z:0.99 [[ 0.77192146 -0.17710125 -0.6105509 7.60151093] [ 0.23098119 0.97290865 0.00982063 0.3924064 ] [ 0.59227101 -0.14860653 0.79191613 0.99103963] [ 0. 0. 0. 1. ]] SLAMing on 57.329649246 meters Centerline goodness [0,1] 0.9267036571533674 Centerline is valid? [False, False] Translation: X:7.60, Y:0.39, Z:0.99 [[ 0.77153518 -0.17735071 -0.61096661 7.60243908] [ 0.2312369 0.97285 0.00961062 0.3933944 ] [ 0.59267442 -0.14869296 0.79159803 0.99181603] [ 0. 0. 0. 1. ]] SLAMing on 57.359649246000004 meters Centerline goodness [0,1] 0.9263373729954707 Centerline is valid? [False, False] Translation: X:7.61, Y:0.39, Z:1.00 [[ 0.77069805 -0.1728337 -0.61331316 7.60569849] [ 0.22931469 0.97325317 0.0138941 0.39375692] [ 0.5945076 -0.15134987 0.78971763 0.99696794] [ 0. 0. 0. 1. ]] SLAMing on 57.389649246000005 meters Centerline goodness [0,1] 0.9246066900870628 Centerline is valid? [False, False] Translation: X:7.61, Y:0.39, Z:1.00 [[ 0.77057597 -0.17285327 -0.61346102 7.60612212] [ 0.2293937 0.9732342 0.01391866 0.39409988] [ 0.59463536 -0.15144947 0.78960234 0.99731544] [ 0. 0. 0. 1. ]] SLAMing on 57.419649246000006 meters Centerline goodness [0,1] 0.9266119649745882 Centerline is valid? [False, False] Translation: X:7.61, Y:0.39, Z:1.00 [[ 0.77006466 -0.17331446 -0.61397274 7.60778955] [ 0.23016588 0.97305063 0.01400529 0.39451671] [ 0.59499924 -0.15210055 0.78920297 0.99888876] [ 0. 0. 0. 1. ]] SLAMing on 57.449649246 meters Centerline goodness [0,1] 0.9229612350756576 Centerline is valid? [False, False] Translation: X:7.61, Y:0.39, Z:1.00 [[ 0.76969259 -0.17360286 -0.61435769 7.6090536 ] [ 0.23062903 0.97294086 0.01401161 0.39426443] [ 0.59530124 -0.15247334 0.78890323 0.999913 ] [ 0. 0. 0. 1. ]] SLAMing on 57.479649246 meters Centerline goodness [0,1] 0.9272001228689909 Centerline is valid? [False, False] Translation: X:7.61, Y:0.39, Z:1.00 [[ 0.76935992 -0.17386321 -0.61470066 7.61006078] [ 0.23110793 0.97282596 0.01409878 0.3935454 ] [ 0.5955455 -0.15290923 0.78863447 1.00103466] [ 0. 0. 0. 1. ]] SLAMing on 57.509649246 meters Centerline goodness [0,1] 0.9299114282199532 Centerline is valid? [False, False] Translation: X:7.61, Y:0.39, Z:1.00 [[ 0.7686284 -0.17337574 -0.61575258 7.61083892] [ 0.23162388 0.97268582 0.01525381 0.39195149] [ 0.59628916 -0.15434751 0.78779191 1.00466937] [ 0. 0. 0. 1. ]] SLAMing on 57.539649246 meters Centerline goodness [0,1] 0.9291926232036021 Centerline is valid? [False, False] Translation: X:7.61, Y:0.39, Z:1.01 [[ 0.76832479 -0.17301906 -0.61623163 7.61117976] [ 0.23173749 0.97264934 0.01584273 0.39109101] [ 0.59663619 -0.15497633 0.78740561 1.00635425] [ 0. 0. 0. 1. ]] SLAMing on 57.569649246000004 meters Centerline goodness [0,1] 0.9309376061251582 Centerline is valid? [False, False] Translation: X:7.61, Y:0.39, Z:1.01 [[ 0.7679026 -0.1730215 -0.61675696 7.61196555] [ 0.23201883 0.97257909 0.01603674 0.39143173] [ 0.59707023 -0.15541389 0.78699026 1.00773509] [ 0. 0. 0. 1. ]] SLAMing on 57.599649246000006 meters Centerline goodness [0,1] 0.9297936198520994 Centerline is valid? [False, False] Translation: X:7.61, Y:0.39, Z:1.01 [[ 0.76760581 -0.17292607 -0.61715306 7.61217378] [ 0.2320309 0.97257548 0.01608127 0.39216113] [ 0.59744706 -0.15554265 0.78667878 1.00877172] [ 0. 0. 0. 1. ]] SLAMing on 57.629649246 meters Centerline goodness [0,1] 0.9284038283420809 Centerline is valid? [False, False] Translation: X:7.61, Y:0.39, Z:1.01 [[ 0.76743168 -0.1731518 -0.61730631 7.61292571] [ 0.23216532 0.9725475 0.01583114 0.3933375 ] [ 0.59761851 -0.15546643 0.7865636 1.00887037] [ 0. 0. 0. 1. ]] SLAMing on 57.659649246 meters Centerline goodness [0,1] 0.931170983183994 Centerline is valid? [False, False] Translation: X:7.62, Y:0.39, Z:1.01 [[ 0.76634865 -0.16878482 -0.61985598 7.61679309] [ 0.23051641 0.97286107 0.02008815 0.3945271 ] [ 0.59964317 -0.1582815 0.78445843 1.01450372] [ 0. 0. 0. 1. ]] SLAMing on 57.689649246 meters Centerline goodness [0,1] 0.9310492767835253 Centerline is valid? [False, False] Translation: X:7.62, Y:0.39, Z:1.02 [[ 0.76545062 -0.1641339 -0.62221011 7.62027291] [ 0.22876454 0.97316799 0.02471529 0.39409184] [ 0.60145834 -0.16125794 0.78246005 1.0200933 ] [ 0. 0. 0. 1. ]] SLAMing on 57.719649246 meters Centerline goodness [0,1] 0.9330955602016973 Centerline is valid? [False, False] Translation: X:7.62, Y:0.39, Z:1.03 [[ 0.76364187 -0.16484877 -0.62424031 7.62287441] [ 0.23191655 0.97236295 0.02692609 0.39245626] [ 0.60254942 -0.16533355 0.78076822 1.02912553] [ 0. 0. 0. 1. ]] SLAMing on 57.749649246000004 meters Centerline goodness [0,1] 0.9327219007755755 Centerline is valid? [False, False] Translation: X:7.63, Y:0.39, Z:1.03 [[ 0.76319214 -0.16576486 -0.62454765 7.62527893] [ 0.23256958 0.97222805 0.02615338 0.39436524] [ 0.60286743 -0.16521084 0.78054868 1.02918717] [ 0. 0. 0. 1. ]] SLAMing on 57.779649246000005 meters Centerline goodness [0,1] 0.9306134969325154 Centerline is valid? [False, False] Translation: X:7.63, Y:0.40, Z:1.03 [[ 0.76250193 -0.16255426 -0.62623232 7.63126501] [ 0.2307887 0.97258494 0.02855013 0.39740859] [ 0.60442317 -0.16629687 0.77911358 1.03090932] [ 0. 0. 0. 1. ]] SLAMing on 57.809649246 meters Centerline goodness [0,1] 0.9310503403029002 Centerline is valid? [False, False] Translation: X:7.63, Y:0.40, Z:1.03 [[ 0.76195926 -0.16314894 -0.62673799 7.63255223] [ 0.23147032 0.97243104 0.02827316 0.39811462] [ 0.60484673 -0.16661424 0.77871697 1.03226022] [ 0. 0. 0. 1. ]] SLAMing on 57.839649246 meters Centerline goodness [0,1] 0.9294006232052301 Centerline is valid? [False, False] Translation: X:7.63, Y:0.40, Z:1.03 [[ 0.76124102 -0.16362613 -0.62748593 7.63364947] [ 0.23196823 0.97232411 0.02786692 0.39959979] [ 0.60555994 -0.16677025 0.77812907 1.03398737] [ 0. 0. 0. 1. ]] SLAMing on 57.869649246 meters Centerline goodness [0,1] 0.9281882467690807 Centerline is valid? [False, False] Translation: X:7.63, Y:0.40, Z:1.03 [[ 0.76105169 -0.16421898 -0.62756071 7.63470836] [ 0.23222295 0.97228233 0.02719491 0.40150409] [ 0.60570027 -0.16643074 0.77809253 1.03363855] [ 0. 0. 0. 1. ]] SLAMing on 57.899649246 meters Centerline goodness [0,1] 0.9297451629559882 Centerline is valid? [False, False] Translation: X:7.64, Y:0.40, Z:1.03 [[ 0.76076836 -0.16467442 -0.62778487 7.63581462] [ 0.23217093 0.97231931 0.02630229 0.40499579] [ 0.60607604 -0.16576335 0.77794238 1.03312521] [ 0. 0. 0. 1. ]] SLAMing on 57.929649246000004 meters Centerline goodness [0,1] 0.9280291527482538 Centerline is valid? [False, False] Translation: X:7.64, Y:0.41, Z:1.03 [[ 0.76022089 -0.16540328 -0.62825628 7.63780648] [ 0.23255608 0.97225031 0.02543644 0.40748614] [ 0.60661509 -0.16544213 0.77759053 1.03346071] [ 0. 0. 0. 1. ]] SLAMing on 57.959649246000005 meters Centerline goodness [0,1] 0.9286190793862575 Centerline is valid? [False, False] Translation: X:7.64, Y:0.41, Z:1.03 [[ 0.75980625 -0.1659969 -0.62860121 7.63941113] [ 0.23301782 0.97215274 0.02493482 0.40890566] [ 0.60695729 -0.16542092 0.77732797 1.03391821] [ 0. 0. 0. 1. ]] SLAMing on 57.989649246000006 meters Centerline goodness [0,1] 0.9284673748103187 Centerline is valid? [False, False] Translation: X:7.64, Y:0.41, Z:1.04 [[ 0.75938392 -0.16610988 -0.62908153 7.63997799] [ 0.23316487 0.97212168 0.02477045 0.40972189] [ 0.60742918 -0.16548999 0.77694457 1.03505516] [ 0. 0. 0. 1. ]] SLAMing on 58.019649246 meters Centerline goodness [0,1] 0.929461713419257 Centerline is valid? [False, False] Translation: X:7.64, Y:0.41, Z:1.04 [[ 0.75910502 -0.16638004 -0.62934668 7.64092321] [ 0.23328983 0.97210118 0.02439554 0.41060376] [ 0.60772973 -0.16533896 0.77674166 1.03531953] [ 0. 0. 0. 1. ]] SLAMing on 58.049649246 meters Centerline goodness [0,1] 0.9296620398310199 Centerline is valid? [False, False] Translation: X:7.64, Y:0.41, Z:1.03 [[ 0.75899593 -0.16666319 -0.62940333 7.6418691 ] [ 0.23331358 0.97210674 0.02394276 0.41192356] [ 0.60785685 -0.1650208 0.77670985 1.03495526] [ 0. 0. 0. 1. ]] SLAMing on 58.079649246 meters Centerline goodness [0,1] 0.9286856315424297 Centerline is valid? [False, False] Translation: X:7.64, Y:0.42, Z:1.03 [[ 0.75868997 -0.16751489 -0.6295461 7.64380568] [ 0.23353019 0.97208276 0.02277621 0.41537261] [ 0.60815556 -0.1642981 0.77662922 1.03413761] [ 0. 0. 0. 1. ]] SLAMing on 58.109649246000004 meters Centerline goodness [0,1] 0.9293271265340669 Centerline is valid? [False, False] Translation: X:7.64, Y:0.42, Z:1.03 [[ 0.75841657 -0.16784278 -0.62978815 7.64481277] [ 0.23375335 0.97203692 0.02244094 0.41602134] [ 0.60841078 -0.16423467 0.77644272 1.03450931] [ 0. 0. 0. 1. ]] SLAMing on 58.139649246000005 meters Centerline goodness [0,1] 0.9287593359741163 Centerline is valid? [False, False] Translation: X:7.65, Y:0.42, Z:1.04 [[ 0.75742198 -0.16892422 -0.63069529 7.64806651] [ 0.23482733 0.97179423 0.02172808 0.4168379 ] [ 0.60923564 -0.16456181 0.77572633 1.03649348] [ 0. 0. 0. 1. ]] SLAMing on 58.169649246000006 meters Centerline goodness [0,1] 0.9277148466998942 Centerline is valid? [False, False] Translation: X:7.65, Y:0.42, Z:1.04 [[ 0.7561734 -0.17112454 -0.6315997 7.65361903] [ 0.23680338 0.97134476 0.02033486 0.41910606] [ 0.61002127 -0.16494163 0.77502794 1.03814052] [ 0. 0. 0. 1. ]] SLAMing on 58.199649246 meters Centerline goodness [0,1] 0.9255870322678382 Centerline is valid? [False, False] Translation: X:7.66, Y:0.42, Z:1.04 [[ 0.75545322 -0.1720781 -0.63220215 7.65656565] [ 0.23780756 0.97110955 0.01984461 0.41935758] [ 0.61052272 -0.16533413 0.77454931 1.03949981] [ 0. 0. 0. 1. ]] SLAMing on 58.229649246 meters Centerline goodness [0,1] 0.9253387492800631 Centerline is valid? [False, False] Translation: X:7.66, Y:0.42, Z:1.04 [[ 0.75465006 -0.17307058 -0.63289009 7.66014339] [ 0.23891675 0.97084638 0.01939293 0.41919975] [ 0.61108271 -0.16584292 0.77399874 1.04114762] [ 0. 0. 0. 1. ]] SLAMing on 58.259649246 meters Centerline goodness [0,1] 0.9258673640040137 Centerline is valid? [False, False] Translation: X:7.66, Y:0.42, Z:1.04 [[ 0.75404898 -0.17855484 -0.63208252 7.66069699] [ 0.24240808 0.970056 0.01515526 0.42028253] [ 0.61044939 -0.16464972 0.77475287 1.04016523] [ 0. 0. 0. 1. ]] SLAMing on 58.289649246 meters Centerline goodness [0,1] 0.9289395833968709 Centerline is valid? [False, False] Translation: X:7.66, Y:0.42, Z:1.04 [[ 0.75346578 -0.18406788 -0.63119595 7.66136349] [ 0.24587059 0.96924193 0.01085047 0.4213116 ] [ 0.60978436 -0.16336798 0.77554751 1.03897926] [ 0. 0. 0. 1. ]] SLAMing on 58.319649246000004 meters Centerline goodness [0,1] 0.9287416732872945 Centerline is valid? [False, False] Translation: X:7.66, Y:0.42, Z:1.04 [[ 0.7524841 -0.18474339 -0.63216894 7.66455894] [ 0.24703173 0.96894625 0.0108848 0.4199865 ] [ 0.61052683 -0.16435643 0.77475413 1.04184589] [ 0. 0. 0. 1. ]] SLAMing on 58.349649246000006 meters Centerline goodness [0,1] 0.9287416732872945 Centerline is valid? [False, False] Translation: X:7.66, Y:0.42, Z:1.04 [[ 0.7524841 -0.18474339 -0.63216894 7.66455894] [ 0.24703173 0.96894625 0.0108848 0.4199865 ] [ 0.61052683 -0.16435643 0.77475413 1.04184589] [ 0. 0. 0. 1. ]] SLAMing on 58.379649246 meters Centerline goodness [0,1] 0.929347992527486 Centerline is valid? [False, False] Translation: X:7.67, Y:0.42, Z:1.04 [[ 0.7518632 -0.18534551 -0.6327312 7.66667098] [ 0.24756275 0.96881626 0.01037972 0.42048538] [ 0.61107644 -0.16444481 0.77430194 1.04293189] [ 0. 0. 0. 1. ]] SLAMing on 58.409649246 meters Centerline goodness [0,1] 0.9296547075584424 Centerline is valid? [False, False] Translation: X:7.67, Y:0.42, Z:1.04 [[ 0.75146268 -0.1856653 -0.63311313 7.66816618] [ 0.24797366 0.9687126 0.01024561 0.42041803] [ 0.61140241 -0.16469457 0.77399147 1.04381782] [ 0. 0. 0. 1. ]] SLAMing on 58.439649246 meters Centerline goodness [0,1] 0.9311062163485071 Centerline is valid? [False, False] Translation: X:7.67, Y:0.42, Z:1.04 [[ 0.75089125 -0.18650201 -0.63354505 7.67060429] [ 0.24868346 0.96853695 0.0096286 0.42220565] [ 0.61181604 -0.16478221 0.77364589 1.0444767 ] [ 0. 0. 0. 1. ]] SLAMing on 58.469649246 meters Centerline goodness [0,1] 0.9308740241849074 Centerline is valid? [False, False] Translation: X:7.67, Y:0.42, Z:1.04 [[ 0.75072186 -0.1868688 -0.6336377 7.67165413] [ 0.24889899 0.96848508 0.00927071 0.42317434] [ 0.61193625 -0.16467151 0.77357438 1.04442085] [ 0. 0. 0. 1. ]] SLAMing on 58.499649246000004 meters Centerline goodness [0,1] 0.9305589530332681 Centerline is valid? [False, False] Translation: X:7.67, Y:0.42, Z:1.05 [[ 0.7502693 -0.18709371 -0.63410719 7.67280022] [ 0.24915751 0.96842052 0.00906763 0.42421517] [ 0.61238592 -0.16479573 0.77319199 1.04536942] [ 0. 0. 0. 1. ]] SLAMing on 58.529649246000005 meters Centerline goodness [0,1] 0.9293879677587422 Centerline is valid? [False, False] Translation: X:7.67, Y:0.42, Z:1.05 [[ 0.75000485 -0.18732783 -0.63435086 7.67384949] [ 0.24937231 0.96836704 0.00887261 0.42463984] [ 0.61262237 -0.16484404 0.77299435 1.04579888] [ 0. 0. 0. 1. ]] SLAMing on 58.559649246 meters Centerline goodness [0,1] 0.9292259759301118 Centerline is valid? [False, False] Translation: X:7.67, Y:0.42, Z:1.05 [[ 0.74978129 -0.18747575 -0.6345714 7.67465117] [ 0.24953969 0.96832489 0.00876616 0.42491217] [ 0.61282784 -0.16492346 0.77281453 1.04624243] [ 0. 0. 0. 1. ]] SLAMing on 58.589649246 meters Centerline goodness [0,1] 0.928162590676747 Centerline is valid? [False, False] Translation: X:7.68, Y:0.43, Z:1.05 [[ 0.74923755 -0.18811148 -0.63502533 7.67693158] [ 0.24998996 0.96821421 0.00814086 0.42608125] [ 0.61330915 -0.1648494 0.77244842 1.04680649] [ 0. 0. 0. 1. ]] SLAMing on 58.619649246 meters Centerline goodness [0,1] 0.9300158846529815 Centerline is valid? [False, False] Translation: X:7.68, Y:0.43, Z:1.05 [[ 7.48710577e-01 -1.88943931e-01 -6.35399608e-01 7.67955073e+00] [ 2.50484768e-01 9.68093174e-01 7.27930171e-03 4.27587569e-01] [ 6.13750643e-01 -1.64608014e-01 7.72149176e-01 1.04699411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.649649246 meters Centerline goodness [0,1] 0.9302375413248439 Centerline is valid? [False, False] Translation: X:7.68, Y:0.43, Z:1.05 [[ 7.48400888e-01 -1.89241171e-01 -6.35675932e-01 7.68068791e+00] [ 2.50744030e-01 9.68027926e-01 7.02609080e-03 4.28015896e-01] [ 6.14022428e-01 -1.64650278e-01 7.71924053e-01 1.04747525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.679649246000004 meters Centerline goodness [0,1] 0.9294989587161583 Centerline is valid? [False, False] Translation: X:7.68, Y:0.43, Z:1.05 [[ 7.47710687e-01 -1.89938990e-01 -6.36279741e-01 7.68339098e+00] [ 2.51377506e-01 9.67867441e-01 6.47809885e-03 4.28392823e-01] [ 6.14604001e-01 -1.64790158e-01 7.71431219e-01 1.04858519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.709649246000005 meters Centerline goodness [0,1] 0.9284052647689012 Centerline is valid? [False, False] Translation: X:7.68, Y:0.43, Z:1.05 [[ 7.47454300e-01 -1.90025468e-01 -6.36555097e-01 7.68447231e+00] [ 2.51497560e-01 9.67836821e-01 6.39267125e-03 4.28260213e-01] [ 6.14866691e-01 -1.64870283e-01 7.71204734e-01 1.04910388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.739649246000006 meters Centerline goodness [0,1] 0.928201513805044 Centerline is valid? [False, False] Translation: X:7.69, Y:0.43, Z:1.05 [[ 7.46834797e-01 -1.90528746e-01 -6.37131527e-01 7.68660874e+00] [ 2.51966624e-01 9.67717551e-01 5.96333904e-03 4.29008242e-01] [ 6.15427174e-01 -1.64989509e-01 7.70732026e-01 1.05013007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.769649246 meters Centerline goodness [0,1] 0.9275645925699434 Centerline is valid? [False, False] Translation: X:7.69, Y:0.43, Z:1.05 [[ 7.46508945e-01 -1.90739197e-01 -6.37450354e-01 7.68774563e+00] [ 2.52145243e-01 9.67672408e-01 5.73475381e-03 4.29622288e-01] [ 6.15749277e-01 -1.65011119e-01 7.70470089e-01 1.05058637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.799649246 meters Centerline goodness [0,1] 0.9274843056193538 Centerline is valid? [False, False] Translation: X:7.69, Y:0.43, Z:1.05 [[ 7.45824123e-01 -1.91346214e-01 -6.38069748e-01 7.68973252e+00] [ 2.52992977e-01 9.67451937e-01 5.59499852e-03 4.29657426e-01] [ 6.16231232e-01 -1.65600050e-01 7.69958241e-01 1.05231875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.829649246 meters Centerline goodness [0,1] 0.9291981103135162 Centerline is valid? [False, False] Translation: X:7.69, Y:0.43, Z:1.05 [[ 7.45524191e-01 -1.91394018e-01 -6.38405835e-01 7.69025738e+00] [ 2.53218664e-01 9.67392382e-01 5.68215976e-03 4.29774198e-01] [ 6.16501410e-01 -1.65892460e-01 7.69678961e-01 1.05321560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.859649246000004 meters Centerline goodness [0,1] 0.9312559540272272 Centerline is valid? [False, False] Translation: X:7.69, Y:0.43, Z:1.05 [[ 7.45151223e-01 -1.91651677e-01 -6.38763877e-01 7.69102703e+00] [ 2.53675399e-01 9.67272553e-01 5.70966326e-03 4.29945173e-01] [ 6.16764499e-01 -1.66293244e-01 7.69381641e-01 1.05433869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.889649246000005 meters Centerline goodness [0,1] 0.9316695828345152 Centerline is valid? [False, False] Translation: X:7.69, Y:0.43, Z:1.06 [[ 7.44601678e-01 -1.91928965e-01 -6.39321213e-01 7.69211074e+00] [ 2.54223398e-01 9.67128439e-01 5.74861073e-03 4.29987235e-01] [ 6.17202402e-01 -1.66810836e-01 7.68918292e-01 1.05587855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.919649246000006 meters Centerline goodness [0,1] 0.9338028169014084 Centerline is valid? [False, False] Translation: X:7.69, Y:0.43, Z:1.06 [[ 7.44279131e-01 -1.91542423e-01 -6.39812531e-01 7.69171075e+00] [ 2.54132316e-01 9.67150301e-01 6.08782511e-03 4.30385824e-01] [ 6.17628805e-01 -1.67128081e-01 7.68506905e-01 1.05725964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.949649246 meters Centerline goodness [0,1] 0.933612751246673 Centerline is valid? [False, False] Translation: X:7.69, Y:0.43, Z:1.06 [[ 7.44011696e-01 -1.91266791e-01 -6.40205913e-01 7.69173015e+00] [ 2.54042130e-01 9.67172747e-01 6.28280510e-03 4.30590475e-01] [ 6.17988019e-01 -1.67313754e-01 7.68177659e-01 1.05816879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.979649246 meters Centerline goodness [0,1] 0.9327430926576096 Centerline is valid? [False, False] Translation: X:7.69, Y:0.43, Z:1.06 [[ 7.43788449e-01 -1.90978994e-01 -6.40551143e-01 7.69142049e+00] [ 2.53829892e-01 9.67227948e-01 6.36252315e-03 4.30992207e-01] [ 6.18343859e-01 -1.67323399e-01 7.67889153e-01 1.05896512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.009649246 meters Centerline goodness [0,1] 0.9338598524120266 Centerline is valid? [False, False] Translation: X:7.69, Y:0.43, Z:1.06 [[ 7.43667076e-01 -1.90823235e-01 -6.40738459e-01 7.69144478e+00] [ 2.53709483e-01 9.67259301e-01 6.39861741e-03 4.31432201e-01] [ 6.18539230e-01 -1.67319864e-01 7.67732560e-01 1.05928484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.039649246 meters Centerline goodness [0,1] 0.9347171074656846 Centerline is valid? [False, False] Translation: X:7.69, Y:0.43, Z:1.06 [[ 7.43060142e-01 -1.91212727e-01 -6.41326218e-01 7.69284079e+00] [ 2.54085349e-01 9.67163007e-01 6.02941105e-03 4.33000521e-01] [ 6.19114093e-01 -1.67431811e-01 7.67244634e-01 1.06034028e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.069649246000004 meters Centerline goodness [0,1] 0.9353642223032956 Centerline is valid? [False, False] Translation: X:7.69, Y:0.43, Z:1.06 [[ 7.42702404e-01 -1.91333169e-01 -6.41704572e-01 7.69375905e+00] [ 2.54249797e-01 9.67120553e-01 5.90566909e-03 4.33529731e-01] [ 6.19475730e-01 -1.67539412e-01 7.66929179e-01 1.06104160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.099649246000006 meters Centerline goodness [0,1] 0.9346407212895783 Centerline is valid? [False, False] Translation: X:7.69, Y:0.44, Z:1.06 [[ 7.42402458e-01 -1.91835434e-01 -6.41901673e-01 7.69497328e+00] [ 2.54513479e-01 9.67054411e-01 5.35304675e-03 4.35563381e-01] [ 6.19726940e-01 -1.67346743e-01 7.66768275e-01 1.06098967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.129649246 meters Centerline goodness [0,1] 0.9361122050225682 Centerline is valid? [False, False] Translation: X:7.69, Y:0.44, Z:1.06 [[ 7.42094672e-01 -1.91526677e-01 -6.42349617e-01 7.69447101e+00] [ 2.54303285e-01 9.67109260e-01 5.43300734e-03 4.36959119e-01] [ 6.20181697e-01 -1.67383423e-01 7.66392492e-01 1.06190752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.159649246 meters Centerline goodness [0,1] 0.9374128629447779 Centerline is valid? [False, False] Translation: X:7.69, Y:0.44, Z:1.06 [[ 7.42023503e-01 -1.91083218e-01 -6.42563868e-01 7.69374647e+00] [ 2.53946099e-01 9.67201984e-01 5.63042265e-03 4.37192329e-01] [ 6.20413169e-01 -1.67354494e-01 7.66211442e-01 1.06232619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.189649246 meters Centerline goodness [0,1] 0.9364983368612035 Centerline is valid? [False, False] Translation: X:7.69, Y:0.44, Z:1.06 [[ 7.41940082e-01 -1.90804080e-01 -6.42743119e-01 7.69329729e+00] [ 2.53686535e-01 9.67269712e-01 5.69621190e-03 4.37919773e-01] [ 6.20619091e-01 -1.67281522e-01 7.66060596e-01 1.06260643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.219649246 meters Centerline goodness [0,1] 0.9375112822672844 Centerline is valid? [False, False] Translation: X:7.69, Y:0.44, Z:1.06 [[ 7.42120789e-01 -1.90174505e-01 -6.42721084e-01 7.69158858e+00] [ 2.52885586e-01 9.67479233e-01 5.72840445e-03 4.40082359e-01] [ 6.20729905e-01 -1.66786066e-01 7.66078843e-01 1.06202021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.249649246000004 meters Centerline goodness [0,1] 0.9375489546303549 Centerline is valid? [False, False] Translation: X:7.69, Y:0.44, Z:1.06 [[ 7.42145714e-01 -1.89849936e-01 -6.42788256e-01 7.69071560e+00] [ 2.52604615e-01 9.67551720e-01 5.88031899e-03 4.40576313e-01] [ 6.20814504e-01 -1.66735333e-01 7.66021331e-01 1.06214290e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.279649246000005 meters Centerline goodness [0,1] 0.9384550595596198 Centerline is valid? [False, False] Translation: X:7.69, Y:0.44, Z:1.06 [[ 7.41854227e-01 -1.89754607e-01 -6.43152778e-01 7.69065646e+00] [ 2.52699152e-01 9.67526159e-01 6.02250090e-03 4.40595092e-01] [ 6.21124339e-01 -1.66991979e-01 7.65714199e-01 1.06320115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.309649246 meters Centerline goodness [0,1] 0.938991005084083 Centerline is valid? [False, False] Translation: X:7.69, Y:0.44, Z:1.06 [[ 7.41514898e-01 -1.90157255e-01 -6.43425111e-01 7.69212648e+00] [ 2.53076251e-01 9.67429280e-01 5.74443598e-03 4.41008248e-01] [ 6.21375946e-01 -1.67095200e-01 7.65487510e-01 1.06365315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.339649246 meters Centerline goodness [0,1] 0.9356981812716068 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.06 [[ 7.40931166e-01 -1.91287216e-01 -6.43762540e-01 7.69585206e+00] [ 2.53802149e-01 9.67244716e-01 4.70417729e-03 4.42435107e-01] [ 6.21776066e-01 -1.66873787e-01 7.65210862e-01 1.06356734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.369649246 meters Centerline goodness [0,1] 0.9368411541473405 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.06 [[ 7.40449594e-01 -1.91608746e-01 -6.44220837e-01 7.69753806e+00] [ 2.54237511e-01 9.67131052e-01 4.56255565e-03 4.42096586e-01] [ 6.22171750e-01 -1.67163445e-01 7.64825925e-01 1.06460956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.399649246 meters Centerline goodness [0,1] 0.9340878828229028 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.07 [[ 7.39755272e-01 -1.91939002e-01 -6.44919807e-01 7.69972031e+00] [ 2.54857047e-01 9.66968047e-01 4.54779302e-03 4.40726668e-01] [ 6.22743947e-01 -1.67726611e-01 7.64236718e-01 1.06646433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.429649246000004 meters Centerline goodness [0,1] 0.935857945279942 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.07 [[ 7.39269535e-01 -1.92274005e-01 -6.45376837e-01 7.70139493e+00] [ 2.55311999e-01 9.66848673e-01 4.40752823e-03 4.40851831e-01] [ 6.23134285e-01 -1.68030802e-01 7.63851630e-01 1.06751431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.459649246000005 meters Centerline goodness [0,1] 0.9336946319900693 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.07 [[ 7.38635626e-01 -1.92624894e-01 -6.45997726e-01 7.70383140e+00] [ 2.55901660e-01 9.66693040e-01 4.34821671e-03 4.40000939e-01] [ 6.23643931e-01 -1.68523638e-01 7.63326949e-01 1.06905377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.489649246000006 meters Centerline goodness [0,1] 0.9337495453994423 Centerline is valid? [False, False] Translation: X:7.71, Y:0.44, Z:1.07 [[ 7.38207872e-01 -1.92813761e-01 -6.46430190e-01 7.70516980e+00] [ 2.56314779e-01 9.66583360e-01 4.39802288e-03 4.39372557e-01] [ 6.23980666e-01 -1.68936266e-01 7.62960462e-01 1.07024564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.519649246 meters Centerline goodness [0,1] 0.9356051418869755 Centerline is valid? [False, False] Translation: X:7.71, Y:0.44, Z:1.07 [[ 7.38018298e-01 -1.92598273e-01 -6.46710829e-01 7.70538900e+00] [ 2.56297582e-01 9.66586873e-01 4.62238034e-03 4.38720507e-01] [ 6.24211936e-01 -1.69161823e-01 7.62721271e-01 1.07104778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.549649246 meters Centerline goodness [0,1] 0.9312877477313424 Centerline is valid? [False, False] Translation: X:7.71, Y:0.44, Z:1.07 [[ 7.37779160e-01 -1.92276668e-01 -6.47079280e-01 7.70533711e+00] [ 2.56306047e-01 9.66582664e-01 5.01633372e-03 4.37837869e-01] [ 6.24491090e-01 -1.69551279e-01 7.62406218e-01 1.07224431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.579649246 meters Centerline goodness [0,1] 0.9352317479551651 Centerline is valid? [False, False] Translation: X:7.71, Y:0.44, Z:1.07 [[ 7.37584924e-01 -1.92255394e-01 -6.47306993e-01 7.70563423e+00] [ 2.56357134e-01 9.66569036e-01 5.03168802e-03 4.38010327e-01] [ 6.24699527e-01 -1.69653063e-01 7.62212791e-01 1.07273603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.609649246000004 meters Centerline goodness [0,1] 0.9332990967586019 Centerline is valid? [False, False] Translation: X:7.71, Y:0.44, Z:1.07 [[ 7.37232431e-01 -1.92522798e-01 -6.47628995e-01 7.70639075e+00] [ 2.56494742e-01 9.66534404e-01 4.65750408e-03 4.39296683e-01] [ 6.25059030e-01 -1.69547095e-01 7.61941594e-01 1.07310282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.639649246000005 meters Centerline goodness [0,1] 0.9330941325453778 Centerline is valid? [False, False] Translation: X:7.71, Y:0.44, Z:1.07 [[ 7.37107509e-01 -1.92564127e-01 -6.47758888e-01 7.70658896e+00] [ 2.56414732e-01 9.66556622e-01 4.44778438e-03 4.40220465e-01] [ 6.25239159e-01 -1.69373417e-01 7.61832423e-01 1.07310189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.669649246000006 meters Centerline goodness [0,1] 0.9324593128390597 Centerline is valid? [False, False] Translation: X:7.71, Y:0.44, Z:1.07 [[ 7.37075711e-01 -1.92433368e-01 -6.47833926e-01 7.70622513e+00] [ 2.56176279e-01 9.66620340e-01 4.33954636e-03 4.41086342e-01] [ 6.25374376e-01 -1.69158259e-01 7.61769239e-01 1.07300035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.699649246 meters Centerline goodness [0,1] 0.9323326400819845 Centerline is valid? [False, False] Translation: X:7.71, Y:0.44, Z:1.07 [[ 7.37069509e-01 -1.92181745e-01 -6.47915671e-01 7.70511621e+00] [ 2.55884809e-01 9.66697459e-01 4.35748985e-03 4.42302498e-01] [ 6.25501003e-01 -1.69003550e-01 7.61699610e-01 1.07306285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.729649246 meters Centerline goodness [0,1] 0.9337345771892868 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.07 [[ 7.37096133e-01 -1.91949945e-01 -6.47954096e-01 7.70459012e+00] [ 2.55702109e-01 9.66745187e-01 4.49159975e-03 4.42354250e-01] [ 6.25544341e-01 -1.68993970e-01 7.61666144e-01 1.07317661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.759649246 meters Centerline goodness [0,1] 0.9342537605884303 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.07 [[ 7.37116223e-01 -1.91274135e-01 -6.48131066e-01 7.70320169e+00] [ 2.55419852e-01 9.66816440e-01 5.16429203e-03 4.41416270e-01] [ 6.25635975e-01 -1.69352225e-01 7.61511294e-01 1.07411089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.789649246 meters Centerline goodness [0,1] 0.9343521114024776 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.08 [[ 7.36816105e-01 -1.91416083e-01 -6.48430344e-01 7.70376331e+00] [ 2.55813950e-01 9.66711445e-01 5.31085458e-03 4.41330599e-01] [ 6.25828452e-01 -1.69790651e-01 7.61255466e-01 1.07514692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.819649246000004 meters Centerline goodness [0,1] 0.9354556427278213 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.08 [[ 7.36711561e-01 -1.91303880e-01 -6.48582224e-01 7.70402762e+00] [ 2.55860122e-01 9.66698214e-01 5.49196552e-03 4.40848149e-01] [ 6.25932643e-01 -1.69992321e-01 7.61124784e-01 1.07563310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.849649246000006 meters Centerline goodness [0,1] 0.9360399939403121 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.07 [[ 7.36181552e-01 -1.96412301e-01 -6.47656491e-01 7.70378199e+00] [ 2.59070364e-01 9.65857175e-01 1.56964854e-03 4.40837770e-01] [ 6.25235370e-01 -1.68944149e-01 7.61930841e-01 1.07470021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.879649246 meters Centerline goodness [0,1] 0.9400218102508179 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.08 [[ 7.36138562e-01 -1.95949838e-01 -6.47845413e-01 7.70342200e+00] [ 2.58813304e-01 9.65925439e-01 1.92873289e-03 4.40119103e-01] [ 6.25392430e-01 -1.69090827e-01 7.61769389e-01 1.07523373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.909649246 meters Centerline goodness [0,1] 0.9381518533158999 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.08 [[ 7.36389760e-01 -1.95277857e-01 -6.47762827e-01 7.70184078e+00] [ 2.58309602e-01 9.66059160e-01 2.41845136e-03 4.40018128e-01] [ 6.25304943e-01 -1.69104281e-01 7.61838218e-01 1.07522753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.939649246 meters Centerline goodness [0,1] 0.9368197665605579 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.08 [[ 7.36401575e-01 -1.94904678e-01 -6.47861781e-01 7.70118665e+00] [ 2.58062774e-01 9.66124437e-01 2.67905975e-03 4.40063768e-01] [ 6.25392937e-01 -1.69161872e-01 7.61753198e-01 1.07550142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.969649246 meters Centerline goodness [0,1] 0.9422476744538375 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.08 [[ 7.36309385e-01 -1.94870833e-01 -6.47976734e-01 7.70120885e+00] [ 2.57970296e-01 9.66149404e-01 2.57973876e-03 4.41067743e-01] [ 6.25539620e-01 -1.69058236e-01 7.61655760e-01 1.07554892e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.999649246000004 meters Centerline goodness [0,1] 0.941815102670336 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.08 [[ 7.36030421e-01 -1.95224112e-01 -6.48187292e-01 7.70229585e+00] [ 2.58198316e-01 9.66089390e-01 2.21829688e-03 4.42103474e-01] [ 6.25773800e-01 -1.68993601e-01 7.61477717e-01 1.07570443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.029649246000005 meters Centerline goodness [0,1] 0.9376570684591395 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.08 [[ 7.35349333e-01 -1.95849648e-01 -6.48771357e-01 7.70466060e+00] [ 2.58854542e-01 9.65914618e-01 1.81030944e-03 4.42150760e-01] [ 6.26303189e-01 -1.69268622e-01 7.60981241e-01 1.07695272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.059649246000006 meters Centerline goodness [0,1] 0.9389146441232615 Centerline is valid? [False, False] Translation: X:7.71, Y:0.44, Z:1.08 [[ 7.34691765e-01 -1.96121608e-01 -6.49433850e-01 7.70622715e+00] [ 2.59556119e-01 9.65725971e-01 1.99252421e-03 4.41551858e-01] [ 6.26784358e-01 -1.70028421e-01 7.60415481e-01 1.07897411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.089649246 meters Centerline goodness [0,1] 0.9390932265112891 Centerline is valid? [False, False] Translation: X:7.71, Y:0.44, Z:1.08 [[ 7.34215830e-01 -1.96648830e-01 -6.49812552e-01 7.70845926e+00] [ 2.60069250e-01 9.65588576e-01 1.63908299e-03 4.42087061e-01] [ 6.27129253e-01 -1.70199704e-01 7.60092732e-01 1.07959934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.119649246 meters Centerline goodness [0,1] 0.9353188655830987 Centerline is valid? [False, False] Translation: X:7.71, Y:0.44, Z:1.08 [[ 7.33982729e-01 -1.96731255e-01 -6.50050896e-01 7.70937081e+00] [ 2.60233606e-01 9.65544323e-01 1.62175875e-03 4.41875446e-01] [ 6.27333902e-01 -1.70355431e-01 7.59888941e-01 1.08014677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.149649246 meters Centerline goodness [0,1] 0.9372439535095439 Centerline is valid? [False, False] Translation: X:7.71, Y:0.44, Z:1.08 [[ 7.33843937e-01 -1.96391509e-01 -6.50310273e-01 7.70900025e+00] [ 2.60095613e-01 9.65580991e-01 1.90321670e-03 4.41531017e-01] [ 6.27553462e-01 -1.70539513e-01 7.59666326e-01 1.08090630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.179649246000004 meters Centerline goodness [0,1] 0.9376159625269945 Centerline is valid? [False, False] Translation: X:7.71, Y:0.44, Z:1.08 [[ 7.33185171e-01 -2.01986971e-01 -6.49338717e-01 7.70843496e+00] [ 2.63797211e-01 9.64575685e-01 -2.18609754e-03 4.42698819e-01] [ 6.26777901e-01 -1.69690928e-01 7.60496188e-01 1.08021035e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.209649246000005 meters Centerline goodness [0,1] 0.9382396787246341 Centerline is valid? [False, False] Translation: X:7.71, Y:0.44, Z:1.08 [[ 7.32613582e-01 -2.03028757e-01 -6.49658882e-01 7.71061854e+00] [ 2.64632923e-01 9.64344709e-01 -2.94929227e-03 4.44392509e-01] [ 6.27093897e-01 -1.69760437e-01 7.60220125e-01 1.08072416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.239649246000006 meters Centerline goodness [0,1] 0.9359052247873633 Centerline is valid? [False, False] Translation: X:7.71, Y:0.45, Z:1.08 [[ 7.32405422e-01 -2.03227908e-01 -6.49831297e-01 7.71152196e+00] [ 2.64775608e-01 9.64304889e-01 -3.15554849e-03 4.45406349e-01] [ 6.27276793e-01 -1.69748336e-01 7.60071923e-01 1.08084482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.269649246 meters Centerline goodness [0,1] 0.9359052247873633 Centerline is valid? [False, False] Translation: X:7.71, Y:0.45, Z:1.08 [[ 7.32405422e-01 -2.03227908e-01 -6.49831297e-01 7.71152196e+00] [ 2.64775608e-01 9.64304889e-01 -3.15554849e-03 4.45406349e-01] [ 6.27276793e-01 -1.69748336e-01 7.60071923e-01 1.08084482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.299649246 meters Centerline goodness [0,1] 0.9357890254288843 Centerline is valid? [False, False] Translation: X:7.71, Y:0.44, Z:1.08 [[ 7.32353773e-01 -2.02801920e-01 -6.50022563e-01 7.71128882e+00] [ 2.64668250e-01 9.64335816e-01 -2.67431255e-03 4.44612737e-01] [ 6.27382394e-01 -1.70081791e-01 7.59910202e-01 1.08154658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.329649246 meters Centerline goodness [0,1] 0.9354917160662715 Centerline is valid? [False, False] Translation: X:7.71, Y:0.44, Z:1.08 [[ 7.32408000e-01 -2.02680173e-01 -6.49999438e-01 7.71131253e+00] [ 2.64601024e-01 9.64354592e-01 -2.55330783e-03 4.44632514e-01] [ 6.27347448e-01 -1.70120454e-01 7.59930399e-01 1.08152140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.359649246000004 meters Centerline goodness [0,1] 0.9368491565678095 Centerline is valid? [False, False] Translation: X:7.71, Y:0.44, Z:1.08 [[ 7.32551000e-01 -2.02169687e-01 -6.49997269e-01 7.71052263e+00] [ 2.64253971e-01 9.64450713e-01 -2.15875925e-03 4.44059805e-01] [ 6.27326765e-01 -1.70182958e-01 7.59933477e-01 1.08165024e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.389649246000005 meters Centerline goodness [0,1] 0.9356910247435859 Centerline is valid? [False, False] Translation: X:7.71, Y:0.44, Z:1.08 [[ 7.32542374e-01 -2.01406954e-01 -6.50243731e-01 7.70928902e+00] [ 2.63858161e-01 9.64560310e-01 -1.51000426e-03 4.43281188e-01] [ 6.27503420e-01 -1.70465973e-01 7.59724167e-01 1.08253308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.419649246000006 meters Centerline goodness [0,1] 0.9379174256223437 Centerline is valid? [False, False] Translation: X:7.71, Y:0.44, Z:1.08 [[ 7.32777591e-01 -2.00695194e-01 -6.50198770e-01 7.70766277e+00] [ 2.63293547e-01 9.64715202e-01 -1.04290122e-03 4.43053833e-01] [ 6.27465943e-01 -1.70428926e-01 7.59763431e-01 1.08253230e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.449649246 meters Centerline goodness [0,1] 0.936620145631068 Centerline is valid? [False, False] Translation: X:7.71, Y:0.44, Z:1.08 [[ 7.32843441e-01 -2.00433043e-01 -6.50205419e-01 7.70705489e+00] [ 2.63083983e-01 9.64772534e-01 -8.81142739e-04 4.43489167e-01] [ 6.27476939e-01 -1.70412892e-01 7.59757947e-01 1.08253257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.479649246 meters Centerline goodness [0,1] 0.9363049604557437 Centerline is valid? [False, False] Translation: X:7.71, Y:0.44, Z:1.08 [[ 7.32797430e-01 -2.00594671e-01 -6.50207432e-01 7.70747408e+00] [ 2.63123632e-01 9.64761506e-01 -1.09149227e-03 4.44337678e-01] [ 6.27514049e-01 -1.70285098e-01 7.59755950e-01 1.08231775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.509649246 meters Centerline goodness [0,1] 0.9365872871599104 Centerline is valid? [False, False] Translation: X:7.71, Y:0.44, Z:1.08 [[ 7.32978182e-01 -2.00054977e-01 -6.50169971e-01 7.70611957e+00] [ 2.62667488e-01 9.64886106e-01 -7.70152464e-04 4.44321201e-01] [ 6.27494045e-01 -1.70214008e-01 7.59788402e-01 1.08229727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.539649246 meters Centerline goodness [0,1] 0.935503424865127 Centerline is valid? [False, False] Translation: X:7.71, Y:0.44, Z:1.08 [[ 7.32945482e-01 -1.99640619e-01 -6.50334179e-01 7.70559707e+00] [ 2.62405376e-01 9.64957607e-01 -4.85748693e-04 4.44201226e-01] [ 6.27641888e-01 -1.70295158e-01 7.59648090e-01 1.08273101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.569649246000004 meters Centerline goodness [0,1] 0.9348254035555287 Centerline is valid? [False, False] Translation: X:7.71, Y:0.44, Z:1.08 [[ 7.32958493e-01 -1.99361460e-01 -6.50405147e-01 7.70519957e+00] [ 2.62149010e-01 9.65027334e-01 -3.76558619e-04 4.44329808e-01] [ 6.27733816e-01 -1.70227063e-01 7.59587390e-01 1.08280915e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.599649246000006 meters Centerline goodness [0,1] 0.9326911462737045 Centerline is valid? [False, False] Translation: X:7.70, Y:0.45, Z:1.08 [[ 7.33020648e-01 -1.99425231e-01 -6.50315544e-01 7.70499945e+00] [ 2.61900757e-01 9.65094522e-01 -7.46614029e-04 4.45888185e-01] [ 6.27764863e-01 -1.69770850e-01 7.59663831e-01 1.08207076e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.629649246 meters Centerline goodness [0,1] 0.9379222589147757 Centerline is valid? [False, False] Translation: X:7.71, Y:0.45, Z:1.08 [[ 7.32591253e-01 -1.99523136e-01 -6.50769218e-01 7.70573035e+00] [ 2.62386364e-01 9.64962781e-01 -4.77042662e-04 4.45025250e-01] [ 6.28063255e-01 -1.70403491e-01 7.59275443e-01 1.08367004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.659649246 meters Centerline goodness [0,1] 0.9308571774242332 Centerline is valid? [False, False] Translation: X:7.71, Y:0.45, Z:1.08 [[ 7.32375971e-01 -1.99492172e-01 -6.51020976e-01 7.70626458e+00] [ 2.62483315e-01 9.64936448e-01 -4.00593696e-04 4.45138051e-01] [ 6.28273783e-01 -1.70588758e-01 7.59059635e-01 1.08424465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.689649246 meters Centerline goodness [0,1] 0.9340116895309045 Centerline is valid? [False, False] Translation: X:7.71, Y:0.44, Z:1.08 [[ 7.32174123e-01 -1.99638563e-01 -6.51203115e-01 7.70730866e+00] [ 2.62714408e-01 9.64873548e-01 -4.19650448e-04 4.44919783e-01] [ 6.28412439e-01 -1.70773184e-01 7.58903371e-01 1.08466018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.719649246 meters Centerline goodness [0,1] 0.936575438170165 Centerline is valid? [False, False] Translation: X:7.71, Y:0.44, Z:1.09 [[ 7.32000254e-01 -1.99443881e-01 -6.51458184e-01 7.70784970e+00] [ 2.62925616e-01 9.64816105e-01 5.36480260e-05 4.43716496e-01] [ 6.28526649e-01 -1.71324315e-01 7.58684540e-01 1.08568432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.749649246000004 meters Centerline goodness [0,1] 0.9394235466536395 Centerline is valid? [False, False] Translation: X:7.71, Y:0.44, Z:1.09 [[ 7.31630836e-01 -2.03865388e-01 -6.50503823e-01 7.70549241e+00] [ 2.66165912e-01 9.63923367e-01 -2.72930444e-03 4.41466019e-01] [ 6.27592246e-01 -1.71145100e-01 7.59498076e-01 1.08605310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.779649246000005 meters Centerline goodness [0,1] 0.9392521935858632 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.09 [[ 7.31872535e-01 -2.02870517e-01 -6.50542963e-01 7.70394023e+00] [ 2.65585066e-01 9.64085636e-01 -1.86019428e-03 4.40077912e-01] [ 6.27556504e-01 -1.71413070e-01 7.59467177e-01 1.08651218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.809649246000006 meters Centerline goodness [0,1] 0.9405840577935595 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.09 [[ 7.31808253e-01 -2.02207717e-01 -6.50821573e-01 7.70317902e+00] [ 2.65463331e-01 9.64120384e-01 -1.05147997e-03 4.38610083e-01] [ 6.27682962e-01 -1.71999781e-01 7.59229988e-01 1.08777821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.839649246 meters Centerline goodness [0,1] 0.944093086086209 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.09 [[ 7.31601816e-01 -2.01853709e-01 -6.51163468e-01 7.70310611e+00] [ 2.65745166e-01 9.64043274e-01 -2.70384039e-04 4.36782238e-01] [ 6.27804340e-01 -1.72845731e-01 7.58937457e-01 1.08947916e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.869649246 meters Centerline goodness [0,1] 0.9415104182649523 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.09 [[ 7.31395350e-01 -2.01927839e-01 -6.51372389e-01 7.70367705e+00] [ 2.65903063e-01 9.63999733e-01 -2.73451322e-04 4.36920179e-01] [ 6.27978027e-01 -1.73001913e-01 7.58758153e-01 1.08999394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.899649246 meters Centerline goodness [0,1] 0.9424215466732109 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.09 [[ 7.31480566e-01 -2.01899517e-01 -6.51285473e-01 7.70355408e+00] [ 2.65697800e-01 9.64056265e-01 -4.44838865e-04 4.37806063e-01] [ 6.27965653e-01 -1.72719726e-01 7.58832679e-01 1.08946517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.929649246000004 meters Centerline goodness [0,1] 0.9425854930225426 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.09 [[ 7.31430177e-01 -2.01890856e-01 -6.51344746e-01 7.70349066e+00] [ 2.65654838e-01 9.64068075e-01 -5.04438514e-04 4.38653113e-01] [ 6.28042517e-01 -1.72663922e-01 7.58781765e-01 1.08947070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.959649246000005 meters Centerline goodness [0,1] 0.9403546316111281 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.09 [[ 7.31348128e-01 -2.02613610e-01 -6.51212439e-01 7.70464888e+00] [ 2.65664083e-01 9.64064337e-01 -1.59644652e-03 4.41710090e-01] [ 6.28134150e-01 -1.71836197e-01 7.58893808e-01 1.08808011e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.989649246000006 meters Centerline goodness [0,1] 0.9384897025171625 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.09 [[ 7.31275836e-01 -2.02724464e-01 -6.51259121e-01 7.70495245e+00] [ 2.65591654e-01 9.64083787e-01 -1.87730274e-03 4.43068812e-01] [ 6.28248935e-01 -1.71596161e-01 7.58853104e-01 1.08778566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.019649246 meters Centerline goodness [0,1] 0.9372621837995799 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.09 [[ 7.31474977e-01 -2.02548843e-01 -6.51090105e-01 7.70397396e+00] [ 2.65104180e-01 9.64217431e-01 -2.12574417e-03 4.44665402e-01] [ 6.28222996e-01 -1.71051780e-01 7.58997468e-01 1.08689129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.049649246 meters Centerline goodness [0,1] 0.9380353562967013 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.09 [[ 7.31642497e-01 -2.01981164e-01 -6.51078234e-01 7.70266850e+00] [ 2.64646106e-01 9.64343975e-01 -1.77087974e-03 4.44775467e-01] [ 6.28221056e-01 -1.71009668e-01 7.59008562e-01 1.08688902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.079649246 meters Centerline goodness [0,1] 0.939438923897237 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.09 [[ 7.32141081e-01 -2.00736061e-01 -6.50902812e-01 7.69949792e+00] [ 2.63644725e-01 9.64619399e-01 -9.35260803e-04 4.44589912e-01] [ 6.28061220e-01 -1.70922350e-01 7.59160493e-01 1.08668921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.109649246000004 meters Centerline goodness [0,1] 0.9403346343529697 Centerline is valid? [False, False] Translation: X:7.70, Y:0.45, Z:1.09 [[ 7.32216388e-01 -2.00575047e-01 -6.50867737e-01 7.69898140e+00] [ 2.63414829e-01 9.64682194e-01 -9.44156803e-04 4.45279786e-01] [ 6.28069891e-01 -1.70756887e-01 7.59190554e-01 1.08642443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.139649246000005 meters Centerline goodness [0,1] 0.9411871154542164 Centerline is valid? [False, False] Translation: X:7.70, Y:0.45, Z:1.09 [[ 7.32653192e-01 -1.99799566e-01 -6.50614659e-01 7.69644581e+00] [ 2.62582700e-01 9.64909289e-01 -6.24645905e-04 4.46363990e-01] [ 6.27908931e-01 -1.70382505e-01 7.59407780e-01 1.08567882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.169649246000006 meters Centerline goodness [0,1] 0.9425908048751056 Centerline is valid? [False, False] Translation: X:7.70, Y:0.45, Z:1.09 [[ 7.32752027e-01 -1.99372890e-01 -6.50634243e-01 7.69539054e+00] [ 2.62281069e-01 9.64991472e-01 -3.16850309e-04 4.46348839e-01] [ 6.27919667e-01 -1.70416872e-01 7.59391191e-01 1.08586032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.199649246 meters Centerline goodness [0,1] 0.9399583421378331 Centerline is valid? [False, False] Translation: X:7.70, Y:0.45, Z:1.09 [[ 7.32633239e-01 -1.99391059e-01 -6.50762432e-01 7.69520895e+00] [ 2.62180868e-01 9.65018616e-01 -5.12730273e-04 4.47496091e-01] [ 6.28100096e-01 -1.70241816e-01 7.59281235e-01 1.08589360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.229649246 meters Centerline goodness [0,1] 0.940736044440419 Centerline is valid? [False, False] Translation: X:7.70, Y:0.45, Z:1.09 [[ 7.32644668e-01 -1.99415657e-01 -6.50742028e-01 7.69534801e+00] [ 2.62140478e-01 9.65029542e-01 -5.93439940e-04 4.48235958e-01] [ 6.28103622e-01 -1.70151046e-01 7.59298664e-01 1.08567466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.259649246 meters Centerline goodness [0,1] 0.9407394037842554 Centerline is valid? [False, False] Translation: X:7.70, Y:0.45, Z:1.09 [[ 7.32386450e-01 -2.00072758e-01 -6.50830992e-01 7.69646015e+00] [ 2.62446554e-01 9.64945652e-01 -1.30147189e-03 4.50072321e-01] [ 6.28276925e-01 -1.69855171e-01 7.59221527e-01 1.08535632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.289649246 meters Centerline goodness [0,1] 0.9399259236953837 Centerline is valid? [False, False] Translation: X:7.70, Y:0.45, Z:1.09 [[ 7.32405087e-01 -1.99856859e-01 -6.50876351e-01 7.69580014e+00] [ 2.62277770e-01 9.64991702e-01 -1.17785490e-03 4.50292687e-01] [ 6.28325680e-01 -1.69847731e-01 7.59182842e-01 1.08549418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.319649246000004 meters Centerline goodness [0,1] 0.9413359848142457 Centerline is valid? [False, False] Translation: X:7.70, Y:0.45, Z:1.09 [[ 7.32384707e-01 -1.99567091e-01 -6.50988185e-01 7.69522434e+00] [ 2.62169570e-01 9.65021414e-01 -8.87162860e-04 4.50304544e-01] [ 6.28394588e-01 -1.70019548e-01 7.59087344e-01 1.08593535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.349649246000006 meters Centerline goodness [0,1] 0.9428159105258411 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.09 [[ 7.32516744e-01 -1.98676519e-01 -6.51112018e-01 7.69277737e+00] [ 2.61694962e-01 9.65150630e-01 -8.72748790e-05 4.49636655e-01] [ 6.28438514e-01 -1.70328805e-01 7.58981641e-01 1.08679332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.379649246 meters Centerline goodness [0,1] 0.9449499954950896 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.09 [[ 7.32521664e-01 -1.98124331e-01 -6.51274720e-01 7.69161690e+00] [ 2.61441549e-01 9.65219216e-01 4.27142014e-04 4.49451621e-01] [ 6.28538247e-01 -1.70583162e-01 7.58841918e-01 1.08749899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.409649246 meters Centerline goodness [0,1] 0.9454583658521942 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.09 [[ 7.32449861e-01 -1.97947250e-01 -6.51409309e-01 7.69142339e+00] [ 2.61403108e-01 9.65229526e-01 6.14268662e-04 4.49732621e-01] [ 6.28637905e-01 -1.70730339e-01 7.58726259e-01 1.08786316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.439649246 meters Centerline goodness [0,1] 0.9430520495251833 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.09 [[ 7.32478067e-01 -1.97995119e-01 -6.51363043e-01 7.69114254e+00] [ 2.61382068e-01 9.65235274e-01 5.29288240e-04 4.50670991e-01] [ 6.28613789e-01 -1.70642311e-01 7.58766042e-01 1.08767882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.469649246 meters Centerline goodness [0,1] 0.944427792098795 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.09 [[ 7.32567374e-01 -1.97995423e-01 -6.51262509e-01 7.69104101e+00] [ 2.61198679e-01 9.65285000e-01 3.43362194e-04 4.51668415e-01] [ 6.28585947e-01 -1.70360443e-01 7.58852441e-01 1.08712930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.499649246000004 meters Centerline goodness [0,1] 0.9422032932425543 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.09 [[ 7.32599481e-01 -1.98101165e-01 -6.51194233e-01 7.69120948e+00] [ 2.61024488e-01 9.65332179e-01 -1.07877664e-05 4.52853579e-01] [ 6.28620885e-01 -1.69969738e-01 7.58911108e-01 1.08650330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.529649246000005 meters Centerline goodness [0,1] 0.9409297867241793 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.09 [[ 7.32410626e-01 -1.98207838e-01 -6.51374184e-01 7.69159816e+00] [ 2.61057380e-01 9.65323263e-01 -2.04856836e-04 4.53385748e-01] [ 6.28827257e-01 -1.69895998e-01 7.58756634e-01 1.08671562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.559649246000006 meters Centerline goodness [0,1] 0.9412452061361457 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.09 [[ 7.32272056e-01 -1.98374535e-01 -6.51479225e-01 7.69243724e+00] [ 2.61198075e-01 9.65285166e-01 -3.37607206e-04 4.53447410e-01] [ 6.28930204e-01 -1.69917899e-01 7.58666400e-01 1.08686581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.589649246 meters Centerline goodness [0,1] 0.9429060034202394 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.09 [[ 7.31910842e-01 -1.97941737e-01 -6.52016555e-01 7.69242794e+00] [ 2.61401177e-01 9.65230160e-01 4.03395569e-04 4.51802365e-01] [ 6.29266195e-01 -1.70733144e-01 7.58204623e-01 1.08888503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.619649246 meters Centerline goodness [0,1] 0.9424833078834696 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.09 [[ 7.31935807e-01 -1.97568227e-01 -6.52101809e-01 7.69209276e+00] [ 2.61241853e-01 9.65273067e-01 7.74385569e-04 4.51305851e-01] [ 6.29303320e-01 -1.70923085e-01 7.58131012e-01 1.08926868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.649649246 meters Centerline goodness [0,1] 0.942986262831832 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.09 [[ 7.31867193e-01 -1.97369024e-01 -6.52239128e-01 7.69212704e+00] [ 2.61216969e-01 9.65279582e-01 1.01165532e-03 4.51100374e-01] [ 6.29393444e-01 -1.71116326e-01 7.58012596e-01 1.08969579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.679649246000004 meters Centerline goodness [0,1] 0.9453765119001171 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.09 [[ 7.31659752e-01 -1.96657174e-01 -6.52686727e-01 7.69141860e+00] [ 2.61455135e-01 9.65212966e-01 2.26777197e-03 4.48245042e-01] [ 6.29535718e-01 -1.72307534e-01 7.57624507e-01 1.09207729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.709649246000005 meters Centerline goodness [0,1] 0.945726856316297 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.09 [[ 7.31128061e-01 -2.01971166e-01 -6.51658965e-01 7.69102374e+00] [ 2.64999555e-01 9.64247310e-01 -1.53691264e-03 4.47830559e-01] [ 6.28670816e-01 -1.71565655e-01 7.58510535e-01 1.09143216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.739649246000006 meters Centerline goodness [0,1] 0.9459296178824951 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.09 [[ 7.30961675e-01 -2.01733536e-01 -6.51919174e-01 7.69122052e+00] [ 2.65123546e-01 9.64213819e-01 -1.10306898e-03 4.46748174e-01] [ 6.28812003e-01 -1.72032822e-01 7.58287659e-01 1.09244010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.769649246 meters Centerline goodness [0,1] 0.9458871844425655 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.09 [[ 7.30504991e-01 -2.02164833e-01 -6.52297354e-01 7.69303126e+00] [ 2.65712553e-01 9.64051535e-01 -1.21566001e-03 4.46580025e-01] [ 6.29094029e-01 -1.72435550e-01 7.57962192e-01 1.09340258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.799649246 meters Centerline goodness [0,1] 0.9448761755011944 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.09 [[ 7.30281930e-01 -2.01997052e-01 -6.52599030e-01 7.69363196e+00] [ 2.65787455e-01 9.64031167e-01 -9.67942773e-04 4.46077788e-01] [ 6.29321326e-01 -1.72745764e-01 7.57702824e-01 1.09419566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.829649246 meters Centerline goodness [0,1] 0.94607101808723 Centerline is valid? [False, False] Translation: X:7.69, Y:0.44, Z:1.10 [[ 7.29767003e-01 -2.01955043e-01 -6.53187784e-01 7.69435830e+00] [ 2.66502447e-01 9.63834208e-01 -2.54884054e-04 4.44289071e-01] [ 6.29616206e-01 -1.73890137e-01 7.57195915e-01 1.09661465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.859649246000004 meters Centerline goodness [0,1] 0.9448857090887043 Centerline is valid? [False, False] Translation: X:7.70, Y:0.45, Z:1.10 [[ 7.29559769e-01 -2.02557665e-01 -6.53232682e-01 7.69619340e+00] [ 2.66744753e-01 9.63766755e-01 -9.37036834e-04 4.45990696e-01] [ 6.29753746e-01 -1.73562766e-01 7.57156645e-01 1.09600442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.889649246000005 meters Centerline goodness [0,1] 0.9447342877942247 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.10 [[ 7.29477264e-01 -2.02096543e-01 -6.53467603e-01 7.69637833e+00] [ 2.66620250e-01 9.63801561e-01 -4.40041455e-04 4.44332814e-01] [ 6.29902026e-01 -1.73906696e-01 7.56954357e-01 1.09685825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.919649246000006 meters Centerline goodness [0,1] 0.9461907946738007 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.10 [[ 7.29331620e-01 -2.01400904e-01 -6.53844831e-01 7.69595942e+00] [ 2.66373949e-01 9.63869735e-01 2.30494426e-04 4.43225014e-01] [ 6.30174823e-01 -1.74335336e-01 7.56628630e-01 1.09803636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.949649246 meters Centerline goodness [0,1] 0.9453713588531341 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.10 [[ 7.29136710e-01 -2.00978617e-01 -6.54192061e-01 7.69583704e+00] [ 2.66313482e-01 9.63886216e-01 7.00737794e-04 4.42344579e-01] [ 6.30425878e-01 -1.74731099e-01 7.56328140e-01 1.09915752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.979649246 meters Centerline goodness [0,1] 0.9451892023642678 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.10 [[ 7.29073767e-01 -2.00744721e-01 -6.54334012e-01 7.69593478e+00] [ 2.66258094e-01 9.63901301e-01 9.53174421e-04 4.42344599e-01] [ 6.30522061e-01 -1.74916662e-01 7.56205059e-01 1.09953980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.009649246 meters Centerline goodness [0,1] 0.9437532321357953 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.10 [[ 7.28994665e-01 -2.00370315e-01 -6.54536871e-01 7.69561053e+00] [ 2.65898608e-01 9.64000439e-01 1.04134056e-03 4.42947082e-01] [ 6.30765177e-01 -1.74799575e-01 7.56029364e-01 1.09975208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.039649246 meters Centerline goodness [0,1] 0.9449307075127644 Centerline is valid? [False, False] Translation: X:7.70, Y:0.44, Z:1.10 [[ 7.28955004e-01 -2.00185164e-01 -6.54637688e-01 7.69529079e+00] [ 2.65678378e-01 9.64061165e-01 1.03391717e-03 4.43983763e-01] [ 6.30903798e-01 -1.74676758e-01 7.55942080e-01 1.09975823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.069649246000004 meters Centerline goodness [0,1] 0.9430150389563327 Centerline is valid? [False, False] Translation: X:7.70, Y:0.45, Z:1.10 [[ 7.29484253e-01 -1.94995955e-01 -6.55613684e-01 7.69568335e+00] [ 2.62025955e-01 9.65050245e-01 4.51929832e-03 4.46063958e-01] [ 6.31818901e-01 -1.75084558e-01 7.55082958e-01 1.09993451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.099649246000006 meters Centerline goodness [0,1] 0.942202802470996 Centerline is valid? [False, False] Translation: X:7.70, Y:0.45, Z:1.10 [[ 7.29448427e-01 -1.95208143e-01 -6.55590400e-01 7.69581442e+00] [ 2.61855428e-01 9.65098869e-01 3.98857554e-03 4.48393861e-01] [ 6.31930951e-01 -1.74579365e-01 7.55106164e-01 1.09921684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.129649246 meters Centerline goodness [0,1] 0.942202802470996 Centerline is valid? [False, False] Translation: X:7.70, Y:0.45, Z:1.10 [[ 7.29448427e-01 -1.95208143e-01 -6.55590400e-01 7.69581442e+00] [ 2.61855428e-01 9.65098869e-01 3.98857554e-03 4.48393861e-01] [ 6.31930951e-01 -1.74579365e-01 7.55106164e-01 1.09921684e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.159649246 meters Centerline goodness [0,1] 0.9405735241072503 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.10 [[ 7.29760478e-01 -1.94566640e-01 -6.55433801e-01 7.69422286e+00] [ 2.60805204e-01 9.65383949e-01 3.80483723e-03 4.50682797e-01] [ 6.32004976e-01 -1.73717166e-01 7.55243045e-01 1.09795284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.189649246 meters Centerline goodness [0,1] 0.9383028005895978 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.10 [[ 7.29942648e-01 -1.94286637e-01 -6.55313996e-01 7.69352866e+00] [ 2.60354308e-01 9.65505855e-01 3.75213676e-03 4.51954137e-01] [ 6.31980509e-01 -1.73352667e-01 7.55347264e-01 1.09726736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.219649246 meters Centerline goodness [0,1] 0.9389429555322653 Centerline is valid? [False, False] Translation: X:7.69, Y:0.45, Z:1.10 [[ 7.30221360e-01 -1.94055137e-01 -6.55072034e-01 7.69275437e+00] [ 2.59644487e-01 9.65698436e-01 3.35719982e-03 4.54405740e-01] [ 6.31950557e-01 -1.72537341e-01 7.55558972e-01 1.09577987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.249649246000004 meters Centerline goodness [0,1] 0.9401183290503795 Centerline is valid? [False, False] Translation: X:7.69, Y:0.46, Z:1.10 [[ 7.30235783e-01 -1.93896076e-01 -6.55103055e-01 7.69263469e+00] [ 2.59379763e-01 9.65769834e-01 3.28101590e-03 4.55261564e-01] [ 6.32042593e-01 -1.72316391e-01 7.55532410e-01 1.09554250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.279649246000005 meters Centerline goodness [0,1] 0.9402248669337958 Centerline is valid? [False, False] Translation: X:7.69, Y:0.46, Z:1.09 [[ 7.30472404e-01 -1.93418373e-01 -6.54980457e-01 7.69179434e+00] [ 2.58679483e-01 9.65957767e-01 3.24321719e-03 4.56290318e-01] [ 6.32056162e-01 -1.71799087e-01 7.55638857e-01 1.09472393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.309649246000006 meters Centerline goodness [0,1] 0.9376958195327186 Centerline is valid? [False, False] Translation: X:7.69, Y:0.46, Z:1.10 [[ 7.30268997e-01 -1.93272506e-01 -6.55250281e-01 7.69184901e+00] [ 2.58808120e-01 9.65922302e-01 3.53044139e-03 4.55834856e-01] [ 6.32238522e-01 -1.72162266e-01 7.55403604e-01 1.09564800e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.339649246 meters Centerline goodness [0,1] 0.9401952563488261 Centerline is valid? [False, False] Translation: X:7.69, Y:0.46, Z:1.10 [[ 7.29857799e-01 -1.98121838e-01 -6.54259375e-01 7.69028389e+00] [ 2.62057353e-01 9.65052296e-01 1.01899445e-04 4.55153678e-01] [ 6.31374323e-01 -1.71527852e-01 7.56270229e-01 1.09524325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.369649246 meters Centerline goodness [0,1] 0.9375525904555836 Centerline is valid? [False, False] Translation: X:7.69, Y:0.46, Z:1.10 [[ 7.29171602e-01 -1.98994078e-01 -6.54759599e-01 7.69315143e+00] [ 2.62856873e-01 9.64834707e-01 -5.01902954e-04 4.56052928e-01] [ 6.31834662e-01 -1.71742087e-01 7.55837030e-01 1.09614639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.399649246 meters Centerline goodness [0,1] 0.9369085173501577 Centerline is valid? [False, False] Translation: X:7.70, Y:0.46, Z:1.10 [[ 7.28791279e-01 -1.99696086e-01 -6.54969270e-01 7.69567886e+00] [ 2.63324528e-01 9.64706649e-01 -1.12909487e-03 4.57178697e-01] [ 6.32078685e-01 -1.71646599e-01 7.55654670e-01 1.09608420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.429649246000004 meters Centerline goodness [0,1] 0.9339350180505415 Centerline is valid? [False, False] Translation: X:7.70, Y:0.46, Z:1.10 [[ 7.28305832e-01 -2.00651796e-01 -6.55217118e-01 7.69898186e+00] [ 2.64020254e-01 9.64515267e-01 -1.89895774e-03 4.58120009e-01] [ 6.32347943e-01 -1.71607568e-01 7.55438232e-01 1.09614278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.459649246000005 meters Centerline goodness [0,1] 0.93568695966503 Centerline is valid? [False, False] Translation: X:7.70, Y:0.46, Z:1.10 [[ 7.28041252e-01 -2.00563382e-01 -6.55538150e-01 7.69998952e+00] [ 2.64160652e-01 9.64477183e-01 -1.70692352e-03 4.57601617e-01] [ 6.32593934e-01 -1.71924674e-01 7.55160129e-01 1.09692880e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.489649246000006 meters Centerline goodness [0,1] 0.9333755579683919 Centerline is valid? [False, False] Translation: X:7.70, Y:0.46, Z:1.10 [[ 7.27944582e-01 -2.00116543e-01 -6.55782018e-01 7.70012370e+00] [ 2.64105169e-01 9.64493197e-01 -1.15452675e-03 4.56180438e-01] [ 6.32728334e-01 -1.72354989e-01 7.54949411e-01 1.09786912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.519649246 meters Centerline goodness [0,1] 0.9345328091926217 Centerline is valid? [False, False] Translation: X:7.70, Y:0.45, Z:1.10 [[ 7.27720090e-01 -1.98826755e-01 -6.56423180e-01 7.69943001e+00] [ 2.63837837e-01 9.64566994e-01 3.32666176e-04 4.52256971e-01] [ 6.33097991e-01 -1.73431360e-01 7.54392801e-01 1.10049896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.549649246 meters Centerline goodness [0,1] 0.9358445966422207 Centerline is valid? [False, False] Translation: X:7.70, Y:0.45, Z:1.10 [[ 7.27387770e-01 -2.03670712e-01 -6.55305481e-01 7.69888469e+00] [ 2.66787779e-01 9.63749297e-01 -3.40198287e-03 4.52274230e-01] [ 6.32243081e-01 -1.72352933e-01 7.55356309e-01 1.09913127e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.579649246 meters Centerline goodness [0,1] 0.9352223032069971 Centerline is valid? [False, False] Translation: X:7.70, Y:0.45, Z:1.10 [[ 7.27112853e-01 -2.03749859e-01 -6.55585916e-01 7.70002266e+00] [ 2.67066816e-01 9.63672380e-01 -3.29536862e-03 4.51788175e-01] [ 6.32441471e-01 -1.72689138e-01 7.55113400e-01 1.09992280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.609649246000004 meters Centerline goodness [0,1] 0.934358008565961 Centerline is valid? [False, False] Translation: X:7.70, Y:0.45, Z:1.10 [[ 7.26768775e-01 -2.04079723e-01 -6.55864783e-01 7.70179710e+00] [ 2.67532954e-01 9.63542846e-01 -3.36191132e-03 4.51417643e-01] [ 6.32639918e-01 -1.73022111e-01 7.54870905e-01 1.10069262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.639649246000005 meters Centerline goodness [0,1] 0.934422247859615 Centerline is valid? [False, False] Translation: X:7.70, Y:0.45, Z:1.10 [[ 7.26717380e-01 -2.04011891e-01 -6.55942831e-01 7.70252525e+00] [ 2.67457581e-01 9.63563732e-01 -3.37283419e-03 4.51649984e-01] [ 6.32730821e-01 -1.72985785e-01 7.54803038e-01 1.10062376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.669649246000006 meters Centerline goodness [0,1] 0.9348768144489227 Centerline is valid? [False, False] Translation: X:7.70, Y:0.45, Z:1.10 [[ 7.26629131e-01 -2.04016657e-01 -6.56039107e-01 7.70273386e+00] [ 2.67472114e-01 9.63559610e-01 -3.39793885e-03 4.52168417e-01] [ 6.32826022e-01 -1.73003125e-01 7.54719249e-01 1.10075769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.699649246 meters Centerline goodness [0,1] 0.9361818181818182 Centerline is valid? [False, False] Translation: X:7.70, Y:0.45, Z:1.10 [[ 7.26701833e-01 -2.03197198e-01 -6.56212881e-01 7.70171633e+00] [ 2.66927208e-01 9.63712583e-01 -2.81494833e-03 4.51431024e-01] [ 6.32972600e-01 -1.73115444e-01 7.54570561e-01 1.10133817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.729649246 meters Centerline goodness [0,1] 0.9356468594941305 Centerline is valid? [False, False] Translation: X:7.70, Y:0.45, Z:1.10 [[ 7.26679572e-01 -2.02984468e-01 -6.56303364e-01 7.70130582e+00] [ 2.66547339e-01 9.63817270e-01 -2.96422201e-03 4.52669595e-01] [ 6.33158208e-01 -1.72781876e-01 7.54491291e-01 1.10117810e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.759649246 meters Centerline goodness [0,1] 0.9350402031316124 Centerline is valid? [False, False] Translation: X:7.70, Y:0.45, Z:1.10 [[ 7.26679102e-01 -2.02983572e-01 -6.56304162e-01 7.70147337e+00] [ 2.66300904e-01 9.63884445e-01 -3.25673071e-03 4.54186205e-01] [ 6.33262435e-01 -1.72407793e-01 7.54489391e-01 1.10063979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.789649246 meters Centerline goodness [0,1] 0.932086851628468 Centerline is valid? [False, False] Translation: X:7.70, Y:0.46, Z:1.10 [[ 7.27055572e-01 -1.97804220e-01 -6.57467631e-01 7.70202649e+00] [ 2.62707799e-01 9.64875413e-01 2.23191928e-04 4.55798425e-01] [ 6.34330203e-01 -1.72884147e-01 7.53482757e-01 1.10139129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.819649246000004 meters Centerline goodness [0,1] 0.9332871722310865 Centerline is valid? [False, False] Translation: X:7.70, Y:0.46, Z:1.10 [[ 7.27075069e-01 -1.97690612e-01 -6.57480240e-01 7.70168296e+00] [ 2.62425047e-01 9.64952378e-01 6.18773713e-05 4.57131273e-01] [ 6.34424888e-01 -1.72584272e-01 7.53471785e-01 1.10105071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.849649246000006 meters Centerline goodness [0,1] 0.9345729820661479 Centerline is valid? [False, False] Translation: X:7.70, Y:0.46, Z:1.10 [[ 7.27217303e-01 -1.97305931e-01 -6.57438486e-01 7.70066997e+00] [ 2.61957945e-01 9.65079281e-01 1.28506444e-04 4.58358590e-01] [ 6.34454907e-01 -1.72314687e-01 7.53508208e-01 1.10071580e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.879649246 meters Centerline goodness [0,1] 0.9346098265895953 Centerline is valid? [False, False] Translation: X:7.70, Y:0.46, Z:1.10 [[ 7.27092363e-01 -1.96940052e-01 -6.57686332e-01 7.70055636e+00] [ 2.61913004e-01 9.65091323e-01 5.62288547e-04 4.57831260e-01] [ 6.34616635e-01 -1.72665438e-01 7.53291692e-01 1.10156836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.909649246 meters Centerline goodness [0,1] 0.9337536577272316 Centerline is valid? [False, False] Translation: X:7.70, Y:0.46, Z:1.10 [[ 7.26540049e-01 -2.02178956e-01 -6.56706348e-01 7.70004120e+00] [ 2.65197713e-01 9.64187903e-01 -3.44407320e-03 4.58741512e-01] [ 6.33884635e-01 -1.71654764e-01 7.54138523e-01 1.10059339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.939649246 meters Centerline goodness [0,1] 0.9330614710768766 Centerline is valid? [False, False] Translation: X:7.70, Y:0.46, Z:1.10 [[ 7.26464687e-01 -2.01987176e-01 -6.56848718e-01 7.70051478e+00] [ 2.65158170e-01 9.64199487e-01 -3.23953539e-03 4.58404693e-01] [ 6.33987541e-01 -1.71815396e-01 7.54015429e-01 1.10095415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.969649246 meters Centerline goodness [0,1] 0.9348314606741573 Centerline is valid? [False, False] Translation: X:7.70, Y:0.46, Z:1.10 [[ 7.25833659e-01 -2.06940782e-01 -6.56003820e-01 7.70089430e+00] [ 2.68371806e-01 9.63290429e-01 -6.93713183e-03 4.57693682e-01] [ 6.33357777e-01 -1.71017726e-01 7.54725688e-01 1.10041484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.999649246000004 meters Centerline goodness [0,1] 0.9345541788143829 Centerline is valid? [False, False] Translation: X:7.70, Y:0.46, Z:1.10 [[ 7.25501770e-01 -2.06759368e-01 -6.56428020e-01 7.70181194e+00] [ 2.68612722e-01 9.63226221e-01 -6.51562584e-03 4.56441016e-01] [ 6.33635848e-01 -1.71597819e-01 7.54360524e-01 1.10178166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.029649246000005 meters Centerline goodness [0,1] 0.933783290769792 Centerline is valid? [False, False] Translation: X:7.70, Y:0.45, Z:1.10 [[ 7.25204143e-01 -2.06507755e-01 -6.56835976e-01 7.70298564e+00] [ 2.68971218e-01 9.63130519e-01 -5.83841292e-03 4.54145828e-01] [ 6.33824452e-01 -1.72435931e-01 7.54010885e-01 1.10347123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.059649246000006 meters Centerline goodness [0,1] 0.9338528507503576 Centerline is valid? [False, False] Translation: X:7.70, Y:0.45, Z:1.10 [[ 7.24983885e-01 -2.06225834e-01 -6.57167614e-01 7.70366876e+00] [ 2.69089424e-01 9.63100212e-01 -5.37252384e-03 4.53073814e-01] [ 6.34026221e-01 -1.72941861e-01 7.53725324e-01 1.10457644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.089649246 meters Centerline goodness [0,1] 0.9351902587519025 Centerline is valid? [False, False] Translation: X:7.70, Y:0.45, Z:1.11 [[ 7.24824247e-01 -2.05823247e-01 -6.57469849e-01 7.70412108e+00] [ 2.69023355e-01 9.63121061e-01 -4.92502273e-03 4.51864264e-01] [ 6.34236743e-01 -1.73304969e-01 7.53464758e-01 1.10554134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.119649246 meters Centerline goodness [0,1] 0.9326928960411185 Centerline is valid? [False, False] Translation: X:7.70, Y:0.45, Z:1.11 [[ 7.24494358e-01 -2.05422462e-01 -6.57958614e-01 7.70440388e+00] [ 2.69109628e-01 9.63099647e-01 -4.36789338e-03 4.50735792e-01] [ 6.34576972e-01 -1.73898484e-01 7.53041422e-01 1.10719410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.149649246 meters Centerline goodness [0,1] 0.9302644824746042 Centerline is valid? [False, False] Translation: X:7.70, Y:0.45, Z:1.11 [[ 7.24324746e-01 -2.05233223e-01 -6.58204366e-01 7.70435660e+00] [ 2.69152809e-01 9.63088725e-01 -4.10778576e-03 4.50314723e-01] [ 6.34752257e-01 -1.74182183e-01 7.52828094e-01 1.10800418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.179649246000004 meters Centerline goodness [0,1] 0.9328027219150616 Centerline is valid? [False, False] Translation: X:7.71, Y:0.45, Z:1.11 [[ 7.24135313e-01 -2.01022043e-01 -6.59710684e-01 7.70783686e+00] [ 2.66645501e-01 9.63794162e-01 -9.95054604e-04 4.51912045e-01] [ 6.36025334e-01 -1.75188332e-01 7.51519011e-01 1.10972314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.209649246000005 meters Centerline goodness [0,1] 0.9293907027551888 Centerline is valid? [False, False] Translation: X:7.71, Y:0.45, Z:1.11 [[ 7.23938761e-01 -2.01685260e-01 -6.59723977e-01 7.70952060e+00] [ 2.66823708e-01 9.63743613e-01 -1.83236686e-03 4.54258329e-01] [ 6.36174331e-01 -1.74703476e-01 7.51505766e-01 1.10893502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.239649246000006 meters Centerline goodness [0,1] 0.9304200254560883 Centerline is valid? [False, False] Translation: X:7.71, Y:0.46, Z:1.11 [[ 7.23699634e-01 -2.02152816e-01 -6.59843223e-01 7.71082248e+00] [ 2.67020314e-01 9.63687964e-01 -2.37894751e-03 4.55959831e-01] [ 6.36363883e-01 -1.74469901e-01 7.51399536e-01 1.10870121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.269649246 meters Centerline goodness [0,1] 0.9289217170188291 Centerline is valid? [False, False] Translation: X:7.71, Y:0.46, Z:1.11 [[ 7.23237037e-01 -2.02642495e-01 -6.60200126e-01 7.71208617e+00] [ 2.67325955e-01 9.63601742e-01 -2.91825099e-03 4.57594044e-01] [ 6.36761354e-01 -1.74378042e-01 7.51084068e-01 1.10922225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.299649246 meters Centerline goodness [0,1] 0.9289718493378989 Centerline is valid? [False, False] Translation: X:7.71, Y:0.46, Z:1.11 [[ 7.22715560e-01 -2.03537740e-01 -6.60495728e-01 7.71394408e+00] [ 2.67767735e-01 9.63475551e-01 -3.91180052e-03 4.60137083e-01] [ 6.37167685e-01 -1.74032326e-01 7.50819613e-01 1.10924194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.329649246 meters Centerline goodness [0,1] 0.9285476399527688 Centerline is valid? [False, False] Translation: X:7.72, Y:0.46, Z:1.11 [[ 7.22508913e-01 -2.03986764e-01 -6.60583280e-01 7.71515962e+00] [ 2.67949581e-01 9.63422729e-01 -4.43475362e-03 4.61484343e-01] [ 6.37325578e-01 -1.73798864e-01 7.50739677e-01 1.10901857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.359649246000004 meters Centerline goodness [0,1] 0.9289870885615567 Centerline is valid? [False, False] Translation: X:7.72, Y:0.46, Z:1.11 [[ 7.21270828e-01 -2.05366125e-01 -6.61508237e-01 7.71789185e+00] [ 2.69555774e-01 9.62971550e-01 -5.04758517e-03 4.62435175e-01] [ 6.38050216e-01 -1.74672689e-01 7.49920912e-01 1.11175924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.389649246000005 meters Centerline goodness [0,1] 0.9272518020473681 Centerline is valid? [False, False] Translation: X:7.72, Y:0.46, Z:1.11 [[ 7.20817589e-01 -2.05625640e-01 -6.61921521e-01 7.71886084e+00] [ 2.69975634e-01 9.62853581e-01 -5.11268898e-03 4.62572589e-01] [ 6.38384807e-01 -1.75017366e-01 7.49555709e-01 1.11288106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.419649246000006 meters Centerline goodness [0,1] 0.9282820342262804 Centerline is valid? [False, False] Translation: X:7.72, Y:0.46, Z:1.11 [[ 7.20503886e-01 -2.06010553e-01 -6.62143340e-01 7.72009135e+00] [ 2.70198524e-01 9.62788716e-01 -5.53588586e-03 4.63838089e-01] [ 6.38644587e-01 -1.74921526e-01 7.49356758e-01 1.11304315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.449649246 meters Centerline goodness [0,1] 0.9246929930170961 Centerline is valid? [False, False] Translation: X:7.72, Y:0.47, Z:1.11 [[ 7.20527075e-01 -2.01320171e-01 -6.63559283e-01 7.72296668e+00] [ 2.67068198e-01 9.63674700e-01 -2.37701186e-03 4.65721658e-01] [ 6.39933833e-01 -1.75502880e-01 7.48119929e-01 1.11407392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.479649246 meters Centerline goodness [0,1] 0.9265643802647413 Centerline is valid? [False, False] Translation: X:7.72, Y:0.47, Z:1.11 [[ 7.20534377e-01 -2.00574019e-01 -6.63777278e-01 7.72179157e+00] [ 2.66610566e-01 9.63802611e-01 -1.82543876e-03 4.65470826e-01] [ 6.40116409e-01 -1.75654745e-01 7.47928067e-01 1.11480336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.509649246 meters Centerline goodness [0,1] 0.9268424530001802 Centerline is valid? [False, False] Translation: X:7.72, Y:0.47, Z:1.12 [[ 7.20454805e-01 -2.00139516e-01 -6.63994765e-01 7.72123035e+00] [ 2.66363086e-01 9.63871573e-01 -1.51541057e-03 4.65275070e-01] [ 6.40308972e-01 -1.75771910e-01 7.47735686e-01 1.11538425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.539649246 meters Centerline goodness [0,1] 0.9267572534723268 Centerline is valid? [False, False] Translation: X:7.72, Y:0.46, Z:1.12 [[ 7.20488058e-01 -1.99088586e-01 -6.64274562e-01 7.71981854e+00] [ 2.65732971e-01 9.64046410e-01 -7.12362351e-04 4.64060141e-01] [ 6.40533330e-01 -1.76006404e-01 7.47488327e-01 1.11641993e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.569649246000004 meters Centerline goodness [0,1] 0.9271405297773487 Centerline is valid? [False, False] Translation: X:7.72, Y:0.46, Z:1.12 [[ 7.20499127e-01 -1.97991999e-01 -6.64590232e-01 7.71823404e+00] [ 2.65167372e-01 9.64202372e-01 2.23452310e-04 4.62846814e-01] [ 6.40755236e-01 -1.76388642e-01 7.47207986e-01 1.11759154e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.599649246000006 meters Centerline goodness [0,1] 0.929180347621773 Centerline is valid? [False, False] Translation: X:7.72, Y:0.46, Z:1.12 [[ 7.20772191e-01 -1.96528132e-01 -6.64728622e-01 7.71535594e+00] [ 2.64275731e-01 9.64446126e-01 1.41682151e-03 4.61680041e-01] [ 6.40816500e-01 -1.76692848e-01 7.47083564e-01 1.11850425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.62964924600001 meters Centerline goodness [0,1] 0.9283883612241821 Centerline is valid? [False, False] Translation: X:7.72, Y:0.46, Z:1.12 [[ 7.20706974e-01 -1.96244325e-01 -6.64883164e-01 7.71522926e+00] [ 2.64102824e-01 9.64493201e-01 1.60092851e-03 4.62152820e-01] [ 6.40961118e-01 -1.76751322e-01 7.46945657e-01 1.11876992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.659649246 meters Centerline goodness [0,1] 0.9282727081264855 Centerline is valid? [False, False] Translation: X:7.71, Y:0.46, Z:1.12 [[ 7.20807622e-01 -1.95927031e-01 -6.64867634e-01 7.71490035e+00] [ 2.63827722e-01 9.64568174e-01 1.78088688e-03 4.62601011e-01] [ 6.40961236e-01 -1.76694190e-01 7.46959073e-01 1.11858635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.689649246 meters Centerline goodness [0,1] 0.9279532864201228 Centerline is valid? [False, False] Translation: X:7.71, Y:0.46, Z:1.12 [[ 7.20941686e-01 -1.95301826e-01 -6.64906221e-01 7.71425021e+00] [ 2.63229277e-01 9.64731138e-01 2.04420679e-03 4.63020436e-01] [ 6.41056498e-01 -1.76496538e-01 7.46924052e-01 1.11842968e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.719649246 meters Centerline goodness [0,1] 0.9297425291490573 Centerline is valid? [False, False] Translation: X:7.71, Y:0.46, Z:1.12 [[ 7.21075298e-01 -1.94150568e-01 -6.65098467e-01 7.71254028e+00] [ 2.62286911e-01 9.64986241e-01 2.67025931e-03 4.62276961e-01] [ 6.41292438e-01 -1.76372080e-01 7.46750894e-01 1.11888258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.749649246000004 meters Centerline goodness [0,1] 0.9308657540826129 Centerline is valid? [False, False] Translation: X:7.71, Y:0.46, Z:1.12 [[ 7.21264855e-01 -1.93152269e-01 -6.65183591e-01 7.71113477e+00] [ 2.61527844e-01 9.65190254e-01 3.31059685e-03 4.61492224e-01] [ 6.41389270e-01 -1.76351848e-01 7.46672506e-01 1.11913062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.779649246000005 meters Centerline goodness [0,1] 0.929853474365505 Centerline is valid? [False, False] Translation: X:7.71, Y:0.46, Z:1.12 [[ 7.21430056e-01 -1.92205312e-01 -6.65278733e-01 7.70994958e+00] [ 2.60672858e-01 9.65419887e-01 3.75542453e-03 4.61365724e-01] [ 6.41551506e-01 -1.76129384e-01 7.46585631e-01 1.11914124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.809649246000006 meters Centerline goodness [0,1] 0.929194811405344 Centerline is valid? [False, False] Translation: X:7.71, Y:0.46, Z:1.12 [[ 7.21259357e-01 -1.92120341e-01 -6.65488328e-01 7.71054745e+00] [ 2.60624901e-01 9.65432836e-01 3.75493112e-03 4.61891741e-01] [ 6.41762885e-01 -1.76151109e-01 7.46398812e-01 1.11942628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.839649246 meters Centerline goodness [0,1] 0.929844463683315 Centerline is valid? [False, False] Translation: X:7.71, Y:0.46, Z:1.12 [[ 7.21072608e-01 -1.92233596e-01 -6.65657975e-01 7.71149931e+00] [ 2.60655182e-01 9.65425431e-01 3.55153682e-03 4.62697020e-01] [ 6.41960412e-01 -1.76068116e-01 7.46248516e-01 1.11948679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.869649246 meters Centerline goodness [0,1] 0.9282280937453351 Centerline is valid? [False, False] Translation: X:7.71, Y:0.46, Z:1.12 [[ 7.20889139e-01 -1.92190591e-01 -6.65869076e-01 7.71233809e+00] [ 2.60650012e-01 9.65426888e-01 3.53492724e-03 4.63128651e-01] [ 6.42168530e-01 -1.76107073e-01 7.46060237e-01 1.11980450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.899649246 meters Centerline goodness [0,1] 0.9291291470966584 Centerline is valid? [False, False] Translation: X:7.71, Y:0.46, Z:1.12 [[ 7.20602140e-01 -1.91026400e-01 -6.66514419e-01 7.71159321e+00] [ 2.60423431e-01 9.65482349e-01 4.84470317e-03 4.60433495e-01] [ 6.42582440e-01 -1.77067075e-01 7.45476397e-01 1.12230438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.929649246000004 meters Centerline goodness [0,1] 0.9308754380185091 Centerline is valid? [False, False] Translation: X:7.71, Y:0.46, Z:1.12 [[ 7.20476495e-01 -1.90388948e-01 -6.66832564e-01 7.71127145e+00] [ 2.60182205e-01 9.65544224e-01 5.43796843e-03 4.59481503e-01] [ 6.42821001e-01 -1.77415896e-01 7.45187735e-01 1.12329549e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.959649246000005 meters Centerline goodness [0,1] 0.932421875 Centerline is valid? [False, False] Translation: X:7.71, Y:0.46, Z:1.12 [[ 7.20280281e-01 -1.94148644e-01 -6.65959925e-01 7.70862661e+00] [ 2.62539945e-01 9.64917485e-01 2.65019515e-03 4.57806026e-01] [ 6.42081844e-01 -1.76749965e-01 7.45982812e-01 1.12300805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.989649246000006 meters Centerline goodness [0,1] 0.9320911471659492 Centerline is valid? [False, False] Translation: X:7.71, Y:0.45, Z:1.13 [[ 7.20354712e-01 -1.92449983e-01 -6.66372338e-01 7.70629416e+00] [ 2.61914557e-01 9.65080970e-01 4.41430328e-03 4.54501622e-01] [ 6.42253730e-01 -1.77712480e-01 7.45606076e-01 1.12510504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.019649246 meters Centerline goodness [0,1] 0.9319280545296219 Centerline is valid? [False, False] Translation: X:7.71, Y:0.45, Z:1.13 [[ 7.20360949e-01 -1.91758598e-01 -6.66564882e-01 7.70573577e+00] [ 2.61354361e-01 9.65231146e-01 4.76788443e-03 4.54389942e-01] [ 6.42474902e-01 -1.77644237e-01 7.45431771e-01 1.12541353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.04964924600002 meters Centerline goodness [0,1] 0.9320635872825435 Centerline is valid? [False, False] Translation: X:7.71, Y:0.45, Z:1.13 [[ 7.20378542e-01 -1.91664480e-01 -6.66572939e-01 7.70609415e+00] [ 2.61214577e-01 9.65269077e-01 4.74903837e-03 4.54878637e-01] [ 6.42512024e-01 -1.77539673e-01 7.45424687e-01 1.12519022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.07964924600002 meters Centerline goodness [0,1] 0.9320635872825435 Centerline is valid? [False, False] Translation: X:7.71, Y:0.45, Z:1.13 [[ 7.20378542e-01 -1.91664480e-01 -6.66572939e-01 7.70609415e+00] [ 2.61214577e-01 9.65269077e-01 4.74903837e-03 4.54878637e-01] [ 6.42512024e-01 -1.77539673e-01 7.45424687e-01 1.12519022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.109649246 meters Centerline goodness [0,1] 0.9316479961660576 Centerline is valid? [False, False] Translation: X:7.71, Y:0.46, Z:1.13 [[ 7.19571833e-01 -1.88947748e-01 -6.68217873e-01 7.71322468e+00] [ 2.59882664e-01 9.65616161e-01 6.81401440e-03 4.57772677e-01] [ 6.43954484e-01 -1.78561414e-01 7.43934435e-01 1.12706584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.139649246 meters Centerline goodness [0,1] 0.9306625116111827 Centerline is valid? [False, False] Translation: X:7.71, Y:0.46, Z:1.13 [[ 7.19209911e-01 -1.89315292e-01 -6.68503421e-01 7.71494959e+00] [ 2.60136998e-01 9.65550296e-01 6.43178616e-03 4.58698981e-01] [ 6.44256041e-01 -1.78528277e-01 7.43681254e-01 1.12734607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.169649246 meters Centerline goodness [0,1] 0.9281235069278547 Centerline is valid? [False, False] Translation: X:7.72, Y:0.46, Z:1.13 [[ 7.18938281e-01 -1.89596269e-01 -6.68715936e-01 7.71674654e+00] [ 2.60195317e-01 9.65537457e-01 5.98471592e-03 4.59511990e-01] [ 6.44535604e-01 -1.78299396e-01 7.43493901e-01 1.12728303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.199649246 meters Centerline goodness [0,1] 0.9302478548150805 Centerline is valid? [False, False] Translation: X:7.72, Y:0.46, Z:1.13 [[ 7.18553733e-01 -1.89677787e-01 -6.69106023e-01 7.71795488e+00] [ 2.60329502e-01 9.65502001e-01 5.86820584e-03 4.59565941e-01] [ 6.44910136e-01 -1.78404659e-01 7.43143791e-01 1.12803604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22964924600001 meters Centerline goodness [0,1] 0.9309994319710604 Centerline is valid? [False, False] Translation: X:7.72, Y:0.46, Z:1.13 [[ 7.17421220e-01 -1.90537309e-01 -6.70076359e-01 7.72151188e+00] [ 2.61013718e-01 9.65322324e-01 4.96489996e-03 4.60607817e-01] [ 6.45893669e-01 -1.78461047e-01 7.42275571e-01 1.12980683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.25964924600001 meters Centerline goodness [0,1] 0.9307538079420654 Centerline is valid? [False, False] Translation: X:7.72, Y:0.46, Z:1.13 [[ 7.17171600e-01 -1.90720218e-01 -6.70291499e-01 7.72265636e+00] [ 2.61094468e-01 9.65301837e-01 4.69491357e-03 4.61267499e-01] [ 6.46138201e-01 -1.78376461e-01 7.42083057e-01 1.12998065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.28964924600001 meters Centerline goodness [0,1] 0.9295964528595824 Centerline is valid? [False, False] Translation: X:7.73, Y:0.46, Z:1.13 [[ 7.16347873e-01 -1.91648423e-01 -6.70907302e-01 7.72588209e+00] [ 2.61942739e-01 9.65075107e-01 4.00502675e-03 4.62139191e-01] [ 6.46708379e-01 -1.78608288e-01 7.41530412e-01 1.13117335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.31964924600001 meters Centerline goodness [0,1] 0.9295774647887324 Centerline is valid? [False, False] Translation: X:7.73, Y:0.46, Z:1.13 [[ 7.16071407e-01 -1.91538584e-01 -6.71233722e-01 7.72652997e+00] [ 2.61921655e-01 9.65080729e-01 4.02901674e-03 4.62335452e-01] [ 6.47023018e-01 -1.78695711e-01 7.41234819e-01 1.13179306e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.34964924600001 meters Centerline goodness [0,1] 0.9278127812781278 Centerline is valid? [False, False] Translation: X:7.73, Y:0.46, Z:1.13 [[ 7.15139802e-01 -1.97559702e-01 -6.70481340e-01 7.72726472e+00] [ 2.66130388e-01 9.63937024e-01 -1.71038350e-04 4.63483030e-01] [ 6.46335578e-01 -1.78313143e-01 7.41926373e-01 1.13174520e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.37964924600001 meters Centerline goodness [0,1] 0.9280990741854034 Centerline is valid? [False, False] Translation: X:7.73, Y:0.46, Z:1.13 [[ 7.14839378e-01 -1.97252910e-01 -6.70891909e-01 7.72708328e+00] [ 2.66246090e-01 9.63905047e-01 2.83374389e-04 4.63004481e-01] [ 6.46620201e-01 -1.78824915e-01 7.41555100e-01 1.13310379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.40964924600001 meters Centerline goodness [0,1] 0.9291979573445479 Centerline is valid? [False, False] Translation: X:7.73, Y:0.46, Z:1.13 [[ 7.14663569e-01 -1.96805286e-01 -6.71210595e-01 7.72695938e+00] [ 2.65914641e-01 9.63996461e-01 4.76611837e-04 4.63213532e-01] [ 6.46950838e-01 -1.78825342e-01 7.41266558e-01 1.13371587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.43964924600002 meters Centerline goodness [0,1] 0.9293563107962051 Centerline is valid? [False, False] Translation: X:7.73, Y:0.46, Z:1.13 [[ 7.14847558e-01 -1.95889272e-01 -6.71282625e-01 7.72586662e+00] [ 2.65106196e-01 9.64218763e-01 9.39105968e-04 4.63332963e-01] [ 6.47079341e-01 -1.78632501e-01 7.41200888e-01 1.13357291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.46964924600002 meters Centerline goodness [0,1] 0.9291676675474417 Centerline is valid? [False, False] Translation: X:7.72, Y:0.46, Z:1.13 [[ 7.15248807e-01 -1.93900728e-01 -6.71432537e-01 7.72232833e+00] [ 2.64049658e-01 9.64505181e-01 2.74479716e-03 4.60213980e-01] [ 6.47067943e-01 -1.79254745e-01 7.41060601e-01 1.13495125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.499649246 meters Centerline goodness [0,1] 0.929662415603901 Centerline is valid? [False, False] Translation: X:7.72, Y:0.46, Z:1.14 [[ 7.15393584e-01 -1.92711568e-01 -6.71620630e-01 7.72055728e+00] [ 2.63434795e-01 9.64669694e-01 3.80654328e-03 4.58443197e-01] [ 6.47158503e-01 -1.79651420e-01 7.40885443e-01 1.13592304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.529649246 meters Centerline goodness [0,1] 0.9312511272770998 Centerline is valid? [False, False] Translation: X:7.72, Y:0.46, Z:1.14 [[ 7.15394357e-01 -1.91849807e-01 -6.71866479e-01 7.71969184e+00] [ 2.63166753e-01 9.64738729e-01 4.73765436e-03 4.56598121e-01] [ 6.47266695e-01 -1.80202211e-01 7.40657133e-01 1.13714479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.559649246 meters Centerline goodness [0,1] 0.9316442730613966 Centerline is valid? [False, False] Translation: X:7.72, Y:0.46, Z:1.14 [[ 7.15068805e-01 -1.91565710e-01 -6.72293971e-01 7.72033082e+00] [ 2.63156304e-01 9.64740238e-01 5.00333888e-03 4.55776112e-01] [ 6.47630577e-01 -1.80496128e-01 7.40267373e-01 1.13830949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58964924600001 meters Centerline goodness [0,1] 0.9339429054257952 Centerline is valid? [False, False] Translation: X:7.72, Y:0.46, Z:1.14 [[ 7.14892032e-01 -1.91276530e-01 -6.72564250e-01 7.72078833e+00] [ 2.63040422e-01 9.64770718e-01 5.21512480e-03 4.55355509e-01] [ 6.47872764e-01 -1.80639835e-01 7.40020359e-01 1.13892934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.61964924600001 meters Centerline goodness [0,1] 0.9306457949291348 Centerline is valid? [False, False] Translation: X:7.72, Y:0.46, Z:1.14 [[ 7.14315574e-01 -1.91555736e-01 -6.73097066e-01 7.72280945e+00] [ 2.63486833e-01 9.64649544e-01 5.09376047e-03 4.55171402e-01] [ 6.48327039e-01 -1.80990767e-01 7.39536607e-01 1.14020216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.64964924600001 meters Centerline goodness [0,1] 0.930394641564084 Centerline is valid? [False, False] Translation: X:7.72, Y:0.46, Z:1.14 [[ 7.13971235e-01 -1.91984015e-01 -6.73340340e-01 7.72461818e+00] [ 2.63816939e-01 9.64561224e-01 4.71881550e-03 4.55890032e-01] [ 6.48572045e-01 -1.81007686e-01 7.39317604e-01 1.14051945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.67964924600001 meters Centerline goodness [0,1] 0.928955996029717 Centerline is valid? [False, False] Translation: X:7.73, Y:0.46, Z:1.14 [[ 7.13570572e-01 -1.92642895e-01 -6.73576836e-01 7.72670916e+00] [ 2.64204580e-01 9.64458129e-01 4.05686066e-03 4.57308431e-01] [ 6.48855129e-01 -1.80856941e-01 7.39106074e-01 1.14061677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70964924600001 meters Centerline goodness [0,1] 0.9269472229731759 Centerline is valid? [False, False] Translation: X:7.73, Y:0.46, Z:1.14 [[ 7.13580496e-01 -1.92230148e-01 -6.73684233e-01 7.72634681e+00] [ 2.63880483e-01 9.64545877e-01 4.28267250e-03 4.57634388e-01] [ 6.48976091e-01 -1.80828152e-01 7.39006910e-01 1.14072944e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.73964924600001 meters Centerline goodness [0,1] 0.9282018889490465 Centerline is valid? [False, False] Translation: X:7.72, Y:0.46, Z:1.14 [[ 7.13761229e-01 -1.91066904e-01 -6.73823676e-01 7.72421010e+00] [ 2.63157272e-01 9.64738951e-01 5.19686967e-03 4.56173665e-01] [ 6.49070996e-01 -1.81030924e-01 7.38873905e-01 1.14151504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.76964924600001 meters Centerline goodness [0,1] 0.929457713684843 Centerline is valid? [False, False] Translation: X:7.72, Y:0.45, Z:1.14 [[ 7.13698176e-01 -1.90151637e-01 -6.74149293e-01 7.72312916e+00] [ 2.62807637e-01 9.64829068e-01 6.08397126e-03 4.54809610e-01] [ 6.49281957e-01 -1.81513702e-01 7.38570049e-01 1.14277978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.79964924600002 meters Centerline goodness [0,1] 0.9309010171322272 Centerline is valid? [False, False] Translation: X:7.72, Y:0.45, Z:1.14 [[ 7.13647395e-01 -1.89809623e-01 -6.74299416e-01 7.72268394e+00] [ 2.62603889e-01 9.64883018e-01 6.32137429e-03 4.54893495e-01] [ 6.49420198e-01 -1.81584881e-01 7.38430997e-01 1.14318479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.82964924600002 meters Centerline goodness [0,1] 0.9312486870929988 Centerline is valid? [False, False] Translation: X:7.72, Y:0.46, Z:1.14 [[ 7.13738080e-01 -1.89455883e-01 -6.74302916e-01 7.72251809e+00] [ 2.62215819e-01 9.64987883e-01 6.42260972e-03 4.55312908e-01] [ 6.49477342e-01 -1.81396953e-01 7.38426928e-01 1.14290740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.859649246 meters Centerline goodness [0,1] 0.9303126497364638 Centerline is valid? [False, False] Translation: X:7.72, Y:0.46, Z:1.14 [[ 7.13798492e-01 -1.89024419e-01 -6.74360053e-01 7.72207368e+00] [ 2.61644727e-01 9.65142935e-01 6.41501397e-03 4.56244811e-01] [ 6.49641247e-01 -1.81021780e-01 7.38374814e-01 1.14259057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.889649246 meters Centerline goodness [0,1] 0.9304215337734891 Centerline is valid? [False, False] Translation: X:7.72, Y:0.46, Z:1.14 [[ 7.13852405e-01 -1.88551674e-01 -6.74435327e-01 7.72169257e+00] [ 2.61207723e-01 9.65259938e-01 6.61647537e-03 4.56340984e-01] [ 6.49757854e-01 -1.80890903e-01 7.38304282e-01 1.14257843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.919649246 meters Centerline goodness [0,1] 0.9318440098091991 Centerline is valid? [False, False] Translation: X:7.72, Y:0.46, Z:1.14 [[ 7.13764803e-01 -1.88169630e-01 -6.74634714e-01 7.72153881e+00] [ 2.60980732e-01 9.65319561e-01 6.87043840e-03 4.56059461e-01] [ 6.49945278e-01 -1.80970539e-01 7.38119774e-01 1.14313356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.949649246 meters Centerline goodness [0,1] 0.9348749551274381 Centerline is valid? [False, False] Translation: X:7.72, Y:0.46, Z:1.14 [[ 7.13487429e-01 -1.87835613e-01 -6.75021090e-01 7.72196265e+00] [ 2.60921801e-01 9.65333307e-01 7.17081552e-03 4.55140090e-01] [ 6.50273406e-01 -1.81244005e-01 7.37763585e-01 1.14426096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.97964924600001 meters Centerline goodness [0,1] 0.9352065422520445 Centerline is valid? [False, False] Translation: X:7.72, Y:0.45, Z:1.14 [[ 7.13392298e-01 -1.87430373e-01 -6.75234244e-01 7.72174858e+00] [ 2.60717232e-01 9.65386228e-01 7.48031481e-03 4.54804661e-01] [ 6.50459802e-01 -1.81381602e-01 7.37565428e-01 1.14484457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00964924600001 meters Centerline goodness [0,1] 0.9335390884847032 Centerline is valid? [False, False] Translation: X:7.72, Y:0.46, Z:1.15 [[ 7.13049772e-01 -1.87678882e-01 -6.75526950e-01 7.72332185e+00] [ 2.60886235e-01 9.65342850e-01 7.18017731e-03 4.55275084e-01] [ 6.50767543e-01 -1.81355506e-01 7.37300336e-01 1.14529444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.03964924600001 meters Centerline goodness [0,1] 0.9320216811906687 Centerline is valid? [False, False] Translation: X:7.72, Y:0.46, Z:1.15 [[ 7.12732159e-01 -1.87965281e-01 -6.75782452e-01 7.72486372e+00] [ 2.61115504e-01 9.65282873e-01 6.90421932e-03 4.55897955e-01] [ 6.51023473e-01 -1.81378135e-01 7.37068796e-01 1.14564863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06964924600001 meters Centerline goodness [0,1] 0.9342030289398711 Centerline is valid? [False, False] Translation: X:7.73, Y:0.46, Z:1.15 [[ 7.12244344e-01 -1.88724682e-01 -6.76085046e-01 7.72771950e+00] [ 2.61615943e-01 9.65152193e-01 6.19217204e-03 4.56929316e-01] [ 6.51356349e-01 -1.81284966e-01 7.36797576e-01 1.14590180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.09964924600001 meters Centerline goodness [0,1] 0.9347401328644002 Centerline is valid? [False, False] Translation: X:7.73, Y:0.46, Z:1.15 [[ 7.11882174e-01 -1.88881046e-01 -6.76422738e-01 7.72891840e+00] [ 2.61888358e-01 9.65078687e-01 6.13312006e-03 4.56645778e-01] [ 6.51642738e-01 -1.81513299e-01 7.36488061e-01 1.14678765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12964924600001 meters Centerline goodness [0,1] 0.932984419178247 Centerline is valid? [False, False] Translation: X:7.73, Y:0.46, Z:1.15 [[ 7.11527142e-01 -1.88664861e-01 -6.76856482e-01 7.72969035e+00] [ 2.61981939e-01 9.65051515e-01 6.40601169e-03 4.55613344e-01] [ 6.51992784e-01 -1.81882225e-01 7.36087132e-01 1.14806196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.15964924600001 meters Centerline goodness [0,1] 0.9348283532736127 Centerline is valid? [False, False] Translation: X:7.73, Y:0.46, Z:1.15 [[ 7.11536755e-01 -1.88554679e-01 -6.76877078e-01 7.72989935e+00] [ 2.61737425e-01 9.65118617e-01 6.29090174e-03 4.56098429e-01] [ 6.52080491e-01 -1.81640272e-01 7.36069185e-01 1.14785249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.18964924600002 meters Centerline goodness [0,1] 0.9348519499277804 Centerline is valid? [False, False] Translation: X:7.73, Y:0.46, Z:1.15 [[ 7.11212034e-01 -1.89254583e-01 -6.77023002e-01 7.73148582e+00] [ 2.62004067e-01 9.65051294e-01 5.46519899e-03 4.58164429e-01] [ 6.52327611e-01 -1.81269696e-01 7.35941564e-01 1.14762374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.21964924600002 meters Centerline goodness [0,1] 0.9324841147950733 Centerline is valid? [False, False] Translation: X:7.73, Y:0.46, Z:1.15 [[ 7.10749701e-01 -1.89568502e-01 -6.77420583e-01 7.73277209e+00] [ 2.62443767e-01 9.64932565e-01 5.33052632e-03 4.57929365e-01] [ 6.52654680e-01 -1.81573479e-01 7.35576604e-01 1.14875566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.249649246 meters Centerline goodness [0,1] 0.9309234288466169 Centerline is valid? [False, False] Translation: X:7.74, Y:0.46, Z:1.15 [[ 7.10161976e-01 -1.90581850e-01 -6.77752555e-01 7.73519922e+00] [ 2.63190397e-01 9.64733435e-01 4.49593183e-03 4.59671732e-01] [ 6.52993708e-01 -1.81570804e-01 7.35276316e-01 1.14927180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.279649246 meters Centerline goodness [0,1] 0.9320811419984973 Centerline is valid? [False, False] Translation: X:7.74, Y:0.46, Z:1.15 [[ 7.09755300e-01 -1.91181347e-01 -6.78009666e-01 7.73709666e+00] [ 2.63718786e-01 9.64590993e-01 4.07663857e-03 4.60497021e-01] [ 6.53222640e-01 -1.81697302e-01 7.35041682e-01 1.14976521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.309649246 meters Centerline goodness [0,1] 0.926883152256151 Centerline is valid? [False, False] Translation: X:7.74, Y:0.46, Z:1.15 [[ 7.08617618e-01 -1.97821675e-01 -6.77294364e-01 7.73993724e+00] [ 2.68268241e-01 9.63344003e-01 -6.95003938e-04 4.62030045e-01] [ 6.52604951e-01 -1.81204076e-01 7.35711806e-01 1.14950282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.33964924600001 meters Centerline goodness [0,1] 0.927935296255907 Centerline is valid? [False, False] Translation: X:7.74, Y:0.46, Z:1.15 [[ 7.08042564e-01 -1.98184582e-01 -6.77789494e-01 7.74128287e+00] [ 2.68867422e-01 9.63176893e-01 -7.63115255e-04 4.62030309e-01] [ 6.52982417e-01 -1.81695196e-01 7.35255615e-01 1.15099137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36964924600001 meters Centerline goodness [0,1] 0.9268810036059514 Centerline is valid? [False, False] Translation: X:7.74, Y:0.46, Z:1.15 [[ 7.07734278e-01 -1.98066417e-01 -6.78145919e-01 7.74283406e+00] [ 2.69002313e-01 9.63139365e-01 -5.65372027e-04 4.61146768e-01] [ 6.53261011e-01 -1.82022688e-01 7.34927067e-01 1.15194973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39964924600001 meters Centerline goodness [0,1] 0.9279252110977081 Centerline is valid? [False, False] Translation: X:7.74, Y:0.46, Z:1.15 [[ 7.07670720e-01 -1.97521337e-01 -6.78371192e-01 7.74267761e+00] [ 2.68720537e-01 9.63218176e-01 -1.33387388e-04 4.60558442e-01] [ 6.53445809e-01 -1.82197876e-01 7.34719340e-01 1.15258598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42964924600001 meters Centerline goodness [0,1] 0.9294199860237596 Centerline is valid? [False, False] Translation: X:7.74, Y:0.46, Z:1.15 [[ 7.07158448e-01 -2.01715017e-01 -6.77670998e-01 7.74104385e+00] [ 2.71659814e-01 9.62388718e-01 -2.98334211e-03 4.58138028e-01] [ 6.52784708e-01 -1.81986281e-01 7.35359176e-01 1.15308698e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.45964924600001 meters Centerline goodness [0,1] 0.9279276545382817 Centerline is valid? [False, False] Translation: X:7.74, Y:0.46, Z:1.15 [[ 7.06751843e-01 -2.01298035e-01 -6.78218942e-01 7.74149103e+00] [ 2.71823108e-01 9.62344318e-01 -2.36875866e-03 4.56503311e-01] [ 6.53156972e-01 -1.82681456e-01 7.34856078e-01 1.15499814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48964924600001 meters Centerline goodness [0,1] 0.9280043799616753 Centerline is valid? [False, False] Translation: X:7.74, Y:0.46, Z:1.16 [[ 7.06079220e-01 -2.01856645e-01 -6.78753291e-01 7.74422693e+00] [ 2.72725231e-01 9.62088936e-01 -2.41387575e-03 4.55592421e-01] [ 6.53508288e-01 -1.83408761e-01 7.34362406e-01 1.15680255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.51964924600001 meters Centerline goodness [0,1] 0.9276839952379499 Centerline is valid? [False, False] Translation: X:7.75, Y:0.46, Z:1.16 [[ 7.05735237e-01 -2.01786583e-01 -6.79131762e-01 7.74525835e+00] [ 2.72989126e-01 9.62014705e-01 -2.15512526e-03 4.55030361e-01] [ 6.53769617e-01 -1.83874639e-01 7.34013218e-01 1.15797448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.54964924600002 meters Centerline goodness [0,1] 0.9300271946710668 Centerline is valid? [False, False] Translation: X:7.75, Y:0.45, Z:1.16 [[ 7.05164711e-01 -2.01559631e-01 -6.79791472e-01 7.74623292e+00] [ 2.73459791e-01 9.61882213e-01 -1.53345570e-03 4.53016202e-01] [ 6.54188408e-01 -1.84814295e-01 7.33403847e-01 1.16042752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.57964924600002 meters Centerline goodness [0,1] 0.9290847374698021 Centerline is valid? [False, False] Translation: X:7.75, Y:0.45, Z:1.16 [[ 7.04843560e-01 -2.01495323e-01 -6.80143507e-01 7.74720144e+00] [ 2.73754802e-01 9.61798716e-01 -1.24037499e-03 4.52070468e-01] [ 6.54411081e-01 -1.85318281e-01 7.33077943e-01 1.16166773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.609649246 meters Centerline goodness [0,1] 0.9295482295482296 Centerline is valid? [False, False] Translation: X:7.75, Y:0.45, Z:1.16 [[ 7.04144641e-01 -2.01750031e-01 -6.80791635e-01 7.74883201e+00] [ 2.74462977e-01 9.61597052e-01 -1.08785200e-03 4.51223310e-01] [ 6.54866704e-01 -1.86086094e-01 7.32476325e-01 1.16386855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.639649246 meters Centerline goodness [0,1] 0.9300654394226653 Centerline is valid? [False, False] Translation: X:7.75, Y:0.45, Z:1.16 [[ 7.03906110e-01 -2.01805054e-01 -6.81021959e-01 7.74954713e+00] [ 2.74560873e-01 9.61569031e-01 -1.15181919e-03 4.51552188e-01] [ 6.55082068e-01 -1.86171211e-01 7.32262088e-01 1.16437628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.669649246 meters Centerline goodness [0,1] 0.9301053917824957 Centerline is valid? [False, False] Translation: X:7.75, Y:0.45, Z:1.16 [[ 7.03877574e-01 -2.01645098e-01 -6.81098830e-01 7.74893418e+00] [ 2.74149624e-01 9.61686036e-01 -1.39701160e-03 4.53617659e-01] [ 6.55284934e-01 -1.85739663e-01 7.32190161e-01 1.16404310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.699649246 meters Centerline goodness [0,1] 0.9301248857752056 Centerline is valid? [False, False] Translation: X:7.75, Y:0.46, Z:1.16 [[ 7.03931693e-01 -2.01410042e-01 -6.81112448e-01 7.74858831e+00] [ 2.73640754e-01 9.61830619e-01 -1.61198933e-03 4.55029384e-01] [ 6.55439478e-01 -1.85245394e-01 7.32177051e-01 1.16345742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72964924600001 meters Centerline goodness [0,1] 0.9300650627931608 Centerline is valid? [False, False] Translation: X:7.75, Y:0.46, Z:1.16 [[ 7.04289924e-01 -1.96071303e-01 -6.82298869e-01 7.74807974e+00] [ 2.69808652e-01 9.62912287e-01 1.79400643e-03 4.57446730e-01] [ 6.56642211e-01 -1.85353639e-01 7.31071156e-01 1.16415200e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.75964924600001 meters Centerline goodness [0,1] 0.9299688548879683 Centerline is valid? [False, False] Translation: X:7.75, Y:0.46, Z:1.16 [[ 7.04366279e-01 -1.96024905e-01 -6.82233378e-01 7.74772119e+00] [ 2.69318274e-01 9.63050290e-01 1.34392225e-03 4.60040681e-01] [ 6.56761610e-01 -1.84684529e-01 7.31133238e-01 1.16316340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78964924600001 meters Centerline goodness [0,1] 0.9275135460565924 Centerline is valid? [False, False] Translation: X:7.75, Y:0.46, Z:1.16 [[ 7.04760426e-01 -1.90757248e-01 -6.83318676e-01 7.74739374e+00] [ 2.65347384e-01 9.64142275e-01 4.52088899e-03 4.63082228e-01] [ 6.57954031e-01 -1.84502967e-01 7.30106258e-01 1.16336141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.81964924600001 meters Centerline goodness [0,1] 0.9305125972193027 Centerline is valid? [False, False] Translation: X:7.75, Y:0.46, Z:1.16 [[ 7.04846697e-01 -1.90562531e-01 -6.83284022e-01 7.74696622e+00] [ 2.64852277e-01 9.64279498e-01 4.28037336e-03 4.64664807e-01] [ 6.58061095e-01 -1.83986336e-01 7.30140139e-01 1.16267722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84964924600001 meters Centerline goodness [0,1] 0.9289830711970224 Centerline is valid? [False, False] Translation: X:7.75, Y:0.46, Z:1.16 [[ 7.04720666e-01 -1.89961212e-01 -6.83581393e-01 7.74563010e+00] [ 2.64606452e-01 9.64344505e-01 4.80642831e-03 4.64060851e-01] [ 6.58294924e-01 -1.84267237e-01 7.29858464e-01 1.16389139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.87964924600001 meters Centerline goodness [0,1] 0.9303236694593454 Centerline is valid? [False, False] Translation: X:7.75, Y:0.46, Z:1.17 [[ 7.04424152e-01 -1.89645169e-01 -6.83974651e-01 7.74541898e+00] [ 2.64629256e-01 9.64336419e-01 5.16027387e-03 4.63509300e-01] [ 6.58603045e-01 -1.84634725e-01 7.29487524e-01 1.16518063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.90964924600001 meters Centerline goodness [0,1] 0.93050995511913 Centerline is valid? [False, False] Translation: X:7.75, Y:0.46, Z:1.17 [[ 7.04108088e-01 -1.89404423e-01 -6.84366689e-01 7.74581769e+00] [ 2.64720070e-01 9.64309757e-01 5.47514842e-03 4.62875034e-01] [ 6.58904458e-01 -1.85020694e-01 7.29117452e-01 1.16646336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.93964924600002 meters Centerline goodness [0,1] 0.9322049212420565 Centerline is valid? [False, False] Translation: X:7.75, Y:0.46, Z:1.17 [[ 7.03734912e-01 -1.89249611e-01 -6.84793223e-01 7.74658096e+00] [ 2.64868580e-01 9.64267615e-01 5.70974627e-03 4.61950455e-01] [ 6.59243361e-01 -1.85398356e-01 7.28715062e-01 1.16784765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96964924600002 meters Centerline goodness [0,1] 0.9322049212420565 Centerline is valid? [False, False] Translation: X:7.75, Y:0.46, Z:1.17 [[ 7.03734912e-01 -1.89249611e-01 -6.84793223e-01 7.74658096e+00] [ 2.64868580e-01 9.64267615e-01 5.70974627e-03 4.61950455e-01] [ 6.59243361e-01 -1.85398356e-01 7.28715062e-01 1.16784765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.999649246 meters Centerline goodness [0,1] 0.9314304659714269 Centerline is valid? [False, False] Translation: X:7.75, Y:0.46, Z:1.17 [[ 7.03385747e-01 -1.89428325e-01 -6.85102475e-01 7.74750782e+00] [ 2.65150814e-01 9.64190505e-01 5.63172803e-03 4.61841906e-01] [ 6.59502492e-01 -1.85616756e-01 7.28424933e-01 1.16872693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.029649246 meters Centerline goodness [0,1] 0.9321017419082636 Centerline is valid? [False, False] Translation: X:7.75, Y:0.46, Z:1.17 [[ 7.03067222e-01 -1.89486288e-01 -6.85413326e-01 7.74830003e+00] [ 2.65486229e-01 9.64097240e-01 5.79425372e-03 4.61029976e-01] [ 6.59707165e-01 -1.86041549e-01 7.28131169e-01 1.16986974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.059649246 meters Centerline goodness [0,1] 0.9337014907357113 Centerline is valid? [False, False] Translation: X:7.75, Y:0.46, Z:1.17 [[ 7.02202234e-01 -1.94903426e-01 -6.84780751e-01 7.74804118e+00] [ 2.69264819e-01 9.63064085e-01 2.00628788e-03 4.60565605e-01] [ 6.59096715e-01 -1.85796185e-01 7.28746388e-01 1.17036778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08964924600001 meters Centerline goodness [0,1] 0.9318861145496815 Centerline is valid? [False, False] Translation: X:7.75, Y:0.46, Z:1.17 [[ 7.01933012e-01 -1.95455634e-01 -6.84899366e-01 7.75005113e+00] [ 2.69488690e-01 9.63002579e-01 1.37060793e-03 4.61867030e-01] [ 6.59291963e-01 -1.85534708e-01 7.28636384e-01 1.17013664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.11964924600001 meters Centerline goodness [0,1] 0.9305454984310886 Centerline is valid? [False, False] Translation: X:7.75, Y:0.46, Z:1.17 [[ 7.01328022e-01 -1.96732708e-01 -6.85153447e-01 7.75398932e+00] [ 2.70361888e-01 9.62758723e-01 3.01008305e-04 4.63519885e-01] [ 6.59578240e-01 -1.85450485e-01 7.28398698e-01 1.17024117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14964924600001 meters Centerline goodness [0,1] 0.9282673670863146 Centerline is valid? [False, False] Translation: X:7.76, Y:0.46, Z:1.17 [[ 7.00787340e-01 -1.97242891e-01 -6.85559878e-01 7.75644852e+00] [ 2.70879949e-01 9.62613136e-01 -5.74107027e-05 4.63675580e-01] [ 6.59940268e-01 -1.85664192e-01 7.28016243e-01 1.17116924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.17964924600001 meters Centerline goodness [0,1] 0.9289123867069486 Centerline is valid? [False, False] Translation: X:7.76, Y:0.46, Z:1.17 [[ 7.00526891e-01 -1.97225698e-01 -6.85830955e-01 7.75747550e+00] [ 2.71033819e-01 9.62569825e-01 3.34973255e-05 4.63140905e-01] [ 6.60153576e-01 -1.85906849e-01 7.27760881e-01 1.17193129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20964924600001 meters Centerline goodness [0,1] 0.9287419540056209 Centerline is valid? [False, False] Translation: X:7.76, Y:0.46, Z:1.17 [[ 6.99941788e-01 -1.97413255e-01 -6.86374169e-01 7.75919496e+00] [ 2.71467742e-01 9.62447539e-01 1.70676295e-05 4.62505017e-01] [ 6.60595760e-01 -1.86340392e-01 7.27248582e-01 1.17354080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.23964924600001 meters Centerline goodness [0,1] 0.9289820866618252 Centerline is valid? [False, False] Translation: X:7.76, Y:0.46, Z:1.17 [[ 6.99634926e-01 -1.97607457e-01 -6.86631097e-01 7.76031927e+00] [ 2.71691728e-01 9.62384324e-01 -1.30051456e-04 4.62494403e-01] [ 6.60828703e-01 -1.86461001e-01 7.27005997e-01 1.17416701e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.26964924600001 meters Centerline goodness [0,1] 0.9281335869794969 Centerline is valid? [False, False] Translation: X:7.76, Y:0.46, Z:1.18 [[ 6.99196530e-01 -1.97780856e-01 -6.87027616e-01 7.76159212e+00] [ 2.71993850e-01 9.62298966e-01 -2.14194175e-04 4.62272262e-01] [ 6.61168328e-01 -1.86717522e-01 7.26631275e-01 1.17524487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.29964924600002 meters Centerline goodness [0,1] 0.9272170140469039 Centerline is valid? [False, False] Translation: X:7.76, Y:0.46, Z:1.18 [[ 6.98845293e-01 -1.97927991e-01 -6.87342540e-01 7.76294107e+00] [ 2.72232596e-01 9.62231430e-01 -2.96890333e-04 4.61758002e-01] [ 6.61441358e-01 -1.86909564e-01 7.26333356e-01 1.17610847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32964924600002 meters Centerline goodness [0,1] 0.9277261584092491 Centerline is valid? [False, False] Translation: X:7.76, Y:0.46, Z:1.18 [[ 6.98698571e-01 -1.97876385e-01 -6.87506540e-01 7.76345743e+00] [ 2.72289124e-01 9.62215456e-01 -2.20644199e-04 4.61765433e-01] [ 6.61573079e-01 -1.87046390e-01 7.26178152e-01 1.17653329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.359649246 meters Centerline goodness [0,1] 0.926832959980626 Centerline is valid? [False, False] Translation: X:7.76, Y:0.46, Z:1.18 [[ 6.98564662e-01 -1.98138484e-01 -6.87567127e-01 7.76448188e+00] [ 2.72314852e-01 9.62208006e-01 -6.12162906e-04 4.62826433e-01] [ 6.61703887e-01 -1.86807105e-01 7.26120563e-01 1.17630382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.389649246 meters Centerline goodness [0,1] 0.9272551214936303 Centerline is valid? [False, False] Translation: X:7.77, Y:0.46, Z:1.18 [[ 6.98284563e-01 -1.98109685e-01 -6.87859885e-01 7.76504535e+00] [ 2.72406914e-01 9.62181966e-01 -5.81546685e-04 4.62864469e-01] [ 6.61961586e-01 -1.86971704e-01 7.25843261e-01 1.17711479e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.419649246 meters Centerline goodness [0,1] 0.9262848662891063 Centerline is valid? [False, False] Translation: X:7.77, Y:0.46, Z:1.18 [[ 6.97786632e-01 -1.98279248e-01 -6.88316174e-01 7.76591304e+00] [ 2.72802885e-01 9.62069773e-01 -5.81511947e-04 4.62765723e-01] [ 6.62323487e-01 -1.87368867e-01 7.25410577e-01 1.17849002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.449649246 meters Centerline goodness [0,1] 0.9223770691333982 Centerline is valid? [False, False] Translation: X:7.77, Y:0.46, Z:1.18 [[ 6.96543604e-01 -2.04613339e-01 -6.87721156e-01 7.76825692e+00] [ 2.77039330e-01 9.60844069e-01 -5.28054194e-03 4.63681562e-01] [ 6.61873264e-01 -1.86847680e-01 7.25955734e-01 1.17852386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.47964924600001 meters Centerline goodness [0,1] 0.9218835720816824 Centerline is valid? [False, False] Translation: X:7.77, Y:0.46, Z:1.18 [[ 6.96027597e-01 -2.05067651e-01 -6.88108162e-01 7.77022713e+00] [ 2.77601215e-01 9.60680637e-01 -5.50264521e-03 4.63875820e-01] [ 6.62180601e-01 -1.87189669e-01 7.25587265e-01 1.17956224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50964924600001 meters Centerline goodness [0,1] 0.9239253307262228 Centerline is valid? [False, False] Translation: X:7.78, Y:0.46, Z:1.18 [[ 6.94789344e-01 -2.07122425e-01 -6.88743834e-01 7.77507283e+00] [ 2.79678214e-01 9.60071219e-01 -6.58421285e-03 4.64755417e-01] [ 6.62606870e-01 -1.88052004e-01 7.24974882e-01 1.18176147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.53964924600001 meters Centerline goodness [0,1] 0.9239450441609421 Centerline is valid? [False, False] Translation: X:7.78, Y:0.47, Z:1.18 [[ 6.94539062e-01 -2.07145790e-01 -6.88989197e-01 7.77609885e+00] [ 2.79737891e-01 9.60053375e-01 -6.65049900e-03 4.65031755e-01] [ 6.62844027e-01 -1.88117354e-01 7.24741097e-01 1.18219005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56964924600001 meters Centerline goodness [0,1] 0.9219382125781537 Centerline is valid? [False, False] Translation: X:7.78, Y:0.46, Z:1.18 [[ 6.94409851e-01 -2.06430045e-01 -6.89334168e-01 7.77516497e+00] [ 2.79534239e-01 9.60117430e-01 -5.92710360e-03 4.63791625e-01] [ 6.63065282e-01 -1.88576663e-01 7.24419267e-01 1.18349397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.59964924600001 meters Centerline goodness [0,1] 0.924998467479924 Centerline is valid? [False, False] Translation: X:7.77, Y:0.46, Z:1.18 [[ 6.94531580e-01 -2.05423396e-01 -6.89512228e-01 7.77337648e+00] [ 2.79014304e-01 9.60273695e-01 -5.04478095e-03 4.62693091e-01] [ 6.63156771e-01 -1.88880015e-01 7.24256472e-01 1.18429991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62964924600001 meters Centerline goodness [0,1] 0.9262708218083472 Centerline is valid? [False, False] Translation: X:7.77, Y:0.46, Z:1.19 [[ 6.94870333e-01 -2.03618447e-01 -6.89706277e-01 7.76992850e+00] [ 2.77997079e-01 9.60575517e-01 -3.50724945e-03 4.60745475e-01] [ 6.63229104e-01 -1.89299247e-01 7.24080763e-01 1.18541565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.65964924600001 meters Centerline goodness [0,1] 0.927299475894198 Centerline is valid? [False, False] Translation: X:7.77, Y:0.46, Z:1.19 [[ 6.95119142e-01 -2.02925221e-01 -6.89659868e-01 7.76855850e+00] [ 2.77435124e-01 9.60739513e-01 -3.05630704e-03 4.60738313e-01] [ 6.63203687e-01 -1.89211373e-01 7.24127009e-01 1.18524894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.68964924600002 meters Centerline goodness [0,1] 0.9286260826982524 Centerline is valid? [False, False] Translation: X:7.77, Y:0.46, Z:1.18 [[ 6.95438610e-01 -2.02225468e-01 -6.89543327e-01 7.76691430e+00] [ 2.76597737e-01 9.60981509e-01 -2.86883950e-03 4.61708176e-01] [ 6.63218540e-01 -1.88731023e-01 7.24238752e-01 1.18454422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.71964924600002 meters Centerline goodness [0,1] 0.9280046567200759 Centerline is valid? [False, False] Translation: X:7.77, Y:0.46, Z:1.18 [[ 6.95504705e-01 -2.02013561e-01 -6.89538778e-01 7.76648444e+00] [ 2.76330983e-01 9.61058339e-01 -2.83859117e-03 4.62044183e-01] [ 6.63260426e-01 -1.88566675e-01 7.24243202e-01 1.18439289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.749649246 meters Centerline goodness [0,1] 0.9283692045419952 Centerline is valid? [False, False] Translation: X:7.77, Y:0.46, Z:1.18 [[ 6.95427472e-01 -2.02149938e-01 -6.89576706e-01 7.76699139e+00] [ 2.76148063e-01 9.61109581e-01 -3.25894484e-03 4.63611564e-01] [ 6.63417575e-01 -1.88158912e-01 7.24205320e-01 1.18394269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.779649246 meters Centerline goodness [0,1] 0.9278378790187414 Centerline is valid? [False, False] Translation: X:7.77, Y:0.47, Z:1.18 [[ 6.94951511e-01 -2.03193661e-01 -6.89749762e-01 7.77006378e+00] [ 2.76669509e-01 9.60955366e-01 -4.33221686e-03 4.65674375e-01] [ 6.63699013e-01 -1.87822047e-01 7.24034874e-01 1.18367303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.809649246 meters Centerline goodness [0,1] 0.9270741158880786 Centerline is valid? [False, False] Translation: X:7.77, Y:0.47, Z:1.18 [[ 6.94510575e-01 -2.03667766e-01 -6.90053985e-01 7.77179242e+00] [ 2.77203266e-01 9.60800361e-01 -4.58437149e-03 4.65946724e-01] [ 6.63937807e-01 -1.88101324e-01 7.23743381e-01 1.18448563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.83964924600001 meters Centerline goodness [0,1] 0.9261587282214018 Centerline is valid? [False, False] Translation: X:7.77, Y:0.47, Z:1.18 [[ 0.69331022 -0.20996898 -0.68937216 7.7742189 ] [ 0.28154856 0.95950394 -0.0090888 0.46679119] [ 0.66336367 -0.18779038 0.72435034 1.18451504] [ 0. 0. 0. 1. ]] SLAMing on 66.86964924600001 meters Centerline goodness [0,1] 0.9254223824508876 Centerline is valid? [False, False] Translation: X:7.78, Y:0.47, Z:1.18 [[ 0.69229213 -0.21586544 -0.68857368 7.77535687] [ 0.28556627 0.9582666 -0.01330484 0.46743676] [ 0.66270922 -0.18742259 0.72504432 1.18441313] [ 0. 0. 0. 1. ]] SLAMing on 66.89964924600001 meters Centerline goodness [0,1] 0.9237990060739922 Centerline is valid? [False, False] Translation: X:7.78, Y:0.47, Z:1.19 [[ 0.69140988 -0.21698606 -0.68910771 7.77919902] [ 0.28671378 0.95791463 -0.01395629 0.46766998] [ 0.66313467 -0.18792716 0.72452453 1.18590001] [ 0. 0. 0. 1. ]] SLAMing on 66.92964924600001 meters Centerline goodness [0,1] 0.9260487685031632 Centerline is valid? [False, False] Translation: X:7.78, Y:0.47, Z:1.19 [[ 0.69108707 -0.21685411 -0.68947295 7.78016056] [ 0.28689325 0.95786453 -0.01370416 0.4669807 ] [ 0.66339349 -0.18833437 0.72418178 1.18701864] [ 0. 0. 0. 1. ]] SLAMing on 66.95964924600001 meters Centerline goodness [0,1] 0.9255181745494803 Centerline is valid? [False, False] Translation: X:7.78, Y:0.47, Z:1.19 [[ 0.69104733 -0.21651119 -0.68962055 7.7804912 ] [ 0.28686989 0.95787765 -0.01326898 0.46598837] [ 0.66344499 -0.18866188 0.72404933 1.18767345] [ 0. 0. 0. 1. ]] SLAMing on 66.98964924600001 meters Centerline goodness [0,1] 0.9254608684947527 Centerline is valid? [False, False] Translation: X:7.78, Y:0.46, Z:1.19 [[ 0.69094022 -0.21575189 -0.68996575 7.77968787] [ 0.28661454 0.95796397 -0.01253543 0.46466554] [ 0.66366687 -0.18909299 0.72373346 1.18889502] [ 0. 0. 0. 1. ]] SLAMing on 67.01964924600001 meters Centerline goodness [0,1] 0.9263105988226955 Centerline is valid? [False, False] Translation: X:7.78, Y:0.46, Z:1.19 [[ 0.69124732 -0.21378955 -0.69026891 7.77641123] [ 0.28558485 0.95829244 -0.01081194 0.46170057] [ 0.66379096 -0.18965662 0.72347213 1.19040563] [ 0. 0. 0. 1. ]] SLAMing on 67.04964924600002 meters Centerline goodness [0,1] 0.9274260564464005 Centerline is valid? [False, False] Translation: X:7.78, Y:0.46, Z:1.19 [[ 0.69131703 -0.21304369 -0.69042969 7.77511734] [ 0.28511004 0.95843981 -0.01026626 0.46138184] [ 0.66392246 -0.1897512 0.72332666 1.1908602 ] [ 0. 0. 0. 1. ]] SLAMing on 67.07964924600002 meters Centerline goodness [0,1] 0.927966881324747 Centerline is valid? [False, False] Translation: X:7.77, Y:0.46, Z:1.19 [[ 0.6917615 -0.21217121 -0.69025314 7.77317067] [ 0.28415652 0.95872661 -0.00991758 0.46224769] [ 0.66386828 -0.18927933 0.72349999 1.18995686] [ 0. 0. 0. 1. ]] SLAMing on 67.109649246 meters Centerline goodness [0,1] 0.9280286782278326 Centerline is valid? [False, False] Translation: X:7.77, Y:0.46, Z:1.19 [[ 0.6918016 -0.21201258 -0.6902617 7.77274443] [ 0.2837537 0.95884379 -0.01012034 0.46370608] [ 0.66399878 -0.18886304 0.72348902 1.18943708] [ 0. 0. 0. 1. ]] SLAMing on 67.139649246 meters Centerline goodness [0,1] 0.9272279035792549 Centerline is valid? [False, False] Translation: X:7.77, Y:0.47, Z:1.19 [[ 0.6917828 -0.21200313 -0.69028344 7.77258809] [ 0.28343727 0.95893374 -0.01045936 0.46567882] [ 0.6641535 -0.18841645 0.72346346 1.18888929] [ 0. 0. 0. 1. ]] SLAMing on 67.169649246 meters Centerline goodness [0,1] 0.9283120498698784 Centerline is valid? [False, False] Translation: X:7.77, Y:0.47, Z:1.19 [[ 0.69187518 -0.20760725 -0.69152582 7.77397696] [ 0.28021415 0.95990563 -0.0078235 0.46959744] [ 0.66542375 -0.18836243 0.72230937 1.18933895] [ 0. 0. 0. 1. ]] SLAMing on 67.199649246 meters Centerline goodness [0,1] 0.9256779175338582 Centerline is valid? [False, False] Translation: X:7.78, Y:0.47, Z:1.19 [[ 6.91391016e-01 -2.04108468e-01 -6.93049924e-01 7.77764171e+00] [ 2.77981203e-01 9.60570310e-01 -5.57943716e-03 4.73707100e-01] [ 6.66861991e-01 -1.88797279e-01 7.20868000e-01 1.19091411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22964924600001 meters Centerline goodness [0,1] 0.9246311352002409 Centerline is valid? [False, False] Translation: X:7.78, Y:0.48, Z:1.19 [[ 6.91035085e-01 -2.04780073e-01 -6.93206775e-01 7.77903015e+00] [ 2.78322896e-01 9.60467033e-01 -6.28041073e-03 4.76150642e-01] [ 6.67088357e-01 -1.88595333e-01 7.20711401e-01 1.19080599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.25964924600001 meters Centerline goodness [0,1] 0.9245186522262334 Centerline is valid? [False, False] Translation: X:7.78, Y:0.48, Z:1.19 [[ 6.90430780e-01 -2.06211228e-01 -6.93384646e-01 7.78091175e+00] [ 2.79421876e-01 9.60140585e-01 -7.31239944e-03 4.79100980e-01] [ 6.67254639e-01 -1.88698133e-01 7.20530541e-01 1.19119596e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28964924600001 meters Centerline goodness [0,1] 0.92401982875169 Centerline is valid? [False, False] Translation: X:7.78, Y:0.48, Z:1.19 [[ 6.90314880e-01 -2.06062462e-01 -6.93544251e-01 7.78051806e+00] [ 2.79362699e-01 9.60158537e-01 -7.21569487e-03 4.79754791e-01] [ 6.67399317e-01 -1.88769293e-01 7.20377891e-01 1.19156792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.31964924600001 meters Centerline goodness [0,1] 0.9262487227264531 Centerline is valid? [False, False] Translation: X:7.78, Y:0.48, Z:1.19 [[ 6.90163433e-01 -2.05692778e-01 -6.93804668e-01 7.77911312e+00] [ 2.79210284e-01 9.60204990e-01 -6.92774776e-03 4.80250407e-01] [ 6.67619692e-01 -1.88936120e-01 7.20129911e-01 1.19244841e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34964924600001 meters Centerline goodness [0,1] 0.9257749265543498 Centerline is valid? [False, False] Translation: X:7.78, Y:0.48, Z:1.19 [[ 6.90511104e-01 -2.04313108e-01 -6.93866391e-01 7.77553233e+00] [ 2.78180155e-01 9.60510221e-01 -5.99300291e-03 4.79551002e-01] [ 6.67690210e-01 -1.88881625e-01 7.20078826e-01 1.19283814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.37964924600001 meters Centerline goodness [0,1] 0.9293041391721656 Centerline is valid? [False, False] Translation: X:7.77, Y:0.48, Z:1.19 [[ 6.90667764e-01 -2.03887037e-01 -6.93835799e-01 7.77440129e+00] [ 2.77730370e-01 9.60641394e-01 -5.82690250e-03 4.80258550e-01] [ 6.67715419e-01 -1.88674820e-01 7.20109666e-01 1.19256215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.40964924600001 meters Centerline goodness [0,1] 0.9283260135639808 Centerline is valid? [False, False] Translation: X:7.77, Y:0.48, Z:1.19 [[ 6.90926987e-01 -2.03619090e-01 -6.93656374e-01 7.77339863e+00] [ 2.76978490e-01 9.60856338e-01 -6.16556030e-03 4.83030758e-01] [ 6.67759549e-01 -1.87867943e-01 7.20279682e-01 1.19119448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.43964924600002 meters Centerline goodness [0,1] 0.928125185934432 Centerline is valid? [False, False] Translation: X:7.77, Y:0.48, Z:1.19 [[ 6.90793523e-01 -2.03704177e-01 -6.93764309e-01 7.77339129e+00] [ 2.76913369e-01 9.60873537e-01 -6.40562137e-03 4.84487258e-01] [ 6.67924618e-01 -1.87687650e-01 7.20173626e-01 1.19116164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46964924600002 meters Centerline goodness [0,1] 0.9277924702106796 Centerline is valid? [False, False] Translation: X:7.77, Y:0.49, Z:1.19 [[ 6.90815846e-01 -2.03759855e-01 -6.93725729e-01 7.77337946e+00] [ 2.76553361e-01 9.60974062e-01 -6.86221050e-03 4.86458035e-01] [ 6.68050675e-01 -1.87111658e-01 7.20206583e-01 1.19042178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.499649246 meters Centerline goodness [0,1] 0.9287536335053687 Centerline is valid? [False, False] Translation: X:7.77, Y:0.49, Z:1.19 [[ 6.90772788e-01 -2.04002178e-01 -6.93697388e-01 7.77397876e+00] [ 2.76557330e-01 9.60970371e-01 -7.21030619e-03 4.87809838e-01] [ 6.68093555e-01 -1.86866414e-01 7.20230481e-01 1.19000374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.529649246 meters Centerline goodness [0,1] 0.9314143567874911 Centerline is valid? [False, False] Translation: X:7.77, Y:0.49, Z:1.19 [[ 0.69059428 -0.20440971 -0.69375516 7.77483133] [ 0.2765987 0.96095386 -0.00779932 0.49011441] [ 0.66826095 -0.18650561 0.7201687 1.1895716 ] [ 0. 0. 0. 1. ]] SLAMing on 67.559649246 meters Centerline goodness [0,1] 0.9296805547324127 Centerline is valid? [False, False] Translation: X:7.78, Y:0.49, Z:1.19 [[ 0.69044185 -0.20436025 -0.69392142 7.77511669] [ 0.27656855 0.96096236 -0.00782223 0.49032343] [ 0.66843092 -0.18651605 0.72000824 1.18989963] [ 0. 0. 0. 1. ]] SLAMing on 67.58964924600001 meters Centerline goodness [0,1] 0.9302477183833116 Centerline is valid? [False, False] Translation: X:7.77, Y:0.49, Z:1.19 [[ 6.90454756e-01 -2.03814926e-01 -6.94068949e-01 7.77412534e+00] [ 2.76246178e-01 9.61058350e-01 -7.40927756e-03 4.90038413e-01] [ 6.68550880e-01 -1.86618123e-01 7.19870403e-01 1.19036272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.61964924600001 meters Centerline goodness [0,1] 0.9330413942065864 Centerline is valid? [False, False] Translation: X:7.77, Y:0.49, Z:1.19 [[ 6.90392916e-01 -2.03686591e-01 -6.94168131e-01 7.77406062e+00] [ 2.76128680e-01 9.61092326e-01 -7.38197923e-03 4.90614998e-01] [ 6.68663273e-01 -1.86583263e-01 7.19775043e-01 1.19048477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64964924600001 meters Centerline goodness [0,1] 0.9326466160975178 Centerline is valid? [False, False] Translation: X:7.77, Y:0.49, Z:1.19 [[ 6.90392535e-01 -2.03423544e-01 -6.94245641e-01 7.77358262e+00] [ 2.75725879e-01 9.61207426e-01 -7.45144455e-03 4.91387779e-01] [ 6.68829865e-01 -1.86277068e-01 7.19699567e-01 1.19034984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.67964924600001 meters Centerline goodness [0,1] 0.9316598998310761 Centerline is valid? [False, False] Translation: X:7.77, Y:0.49, Z:1.19 [[ 6.90291509e-01 -2.03512712e-01 -6.94319961e-01 7.77383560e+00] [ 2.75654659e-01 9.61225970e-01 -7.69045038e-03 4.92241092e-01] [ 6.68963483e-01 -1.86083880e-01 7.19625353e-01 1.19025801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70964924600001 meters Centerline goodness [0,1] 0.9349105426585834 Centerline is valid? [False, False] Translation: X:7.77, Y:0.49, Z:1.19 [[ 0.690397 -0.20360172 -0.69418897 7.77380702] [ 0.275511 0.96126523 -0.00792764 0.49353336] [ 0.6689138 -0.18578348 0.71974914 1.18962873] [ 0. 0. 0. 1. ]] SLAMing on 67.73964924600001 meters Centerline goodness [0,1] 0.9338537508501138 Centerline is valid? [False, False] Translation: X:7.77, Y:0.49, Z:1.19 [[ 0.69029469 -0.20348095 -0.6943261 7.77382504] [ 0.27549193 0.96127158 -0.0078203 0.49334358] [ 0.66902723 -0.18588292 0.71961803 1.19008679] [ 0. 0. 0. 1. ]] SLAMing on 67.76964924600001 meters Centerline goodness [0,1] 0.9316991908614946 Centerline is valid? [False, False] Translation: X:7.77, Y:0.49, Z:1.19 [[ 0.68933676 -0.20901189 -0.69363453 7.77385554] [ 0.27953632 0.96006635 -0.0114911 0.49259134] [ 0.66833695 -0.18597481 0.72023544 1.19078562] [ 0. 0. 0. 1. ]] SLAMing on 67.79964924600002 meters Centerline goodness [0,1] 0.9318641446585773 Centerline is valid? [False, False] Translation: X:7.78, Y:0.49, Z:1.19 [[ 0.68868704 -0.20960709 -0.69410016 7.77513339] [ 0.28047705 0.95979122 -0.01155184 0.49238336] [ 0.66861258 -0.18672356 0.71978575 1.19258528] [ 0. 0. 0. 1. ]] SLAMing on 67.82964924600002 meters Centerline goodness [0,1] 0.9279222907541491 Centerline is valid? [False, False] Translation: X:7.78, Y:0.49, Z:1.19 [[ 0.68751794 -0.21135191 -0.69472977 7.77919649] [ 0.28241473 0.95921316 -0.01233046 0.4930505 ] [ 0.669 -0.1877245 0.71916515 1.19491556] [ 0. 0. 0. 1. ]] SLAMing on 67.859649246 meters Centerline goodness [0,1] 0.9265899562929266 Centerline is valid? [False, False] Translation: X:7.78, Y:0.49, Z:1.20 [[ 0.68681634 -0.21202234 -0.69521928 7.78106665] [ 0.28316134 0.95898786 -0.0127255 0.49345766] [ 0.66940494 -0.18811914 0.71868506 1.19630931] [ 0. 0. 0. 1. ]] SLAMing on 67.889649246 meters Centerline goodness [0,1] 0.9265899562929266 Centerline is valid? [False, False] Translation: X:7.78, Y:0.49, Z:1.20 [[ 0.68681634 -0.21202234 -0.69521928 7.78106665] [ 0.28316134 0.95898786 -0.0127255 0.49345766] [ 0.66940494 -0.18811914 0.71868506 1.19630931] [ 0. 0. 0. 1. ]] SLAMing on 67.919649246 meters Centerline goodness [0,1] 0.9268699877768833 Centerline is valid? [False, False] Translation: X:7.78, Y:0.50, Z:1.20 [[ 0.68641297 -0.21286153 -0.69536121 7.78342885] [ 0.28365098 0.95883237 -0.01351357 0.49507533] [ 0.66961135 -0.18796399 0.71853335 1.19625145] [ 0. 0. 0. 1. ]] SLAMing on 67.949649246 meters Centerline goodness [0,1] 0.9262726219131675 Centerline is valid? [False, False] Translation: X:7.78, Y:0.50, Z:1.20 [[ 0.6863206 -0.21310911 -0.69537655 7.78431534] [ 0.28367506 0.95882023 -0.01386485 0.49619844] [ 0.66969582 -0.18774525 0.71851181 1.19593675] [ 0. 0. 0. 1. ]] SLAMing on 67.97964924600001 meters Centerline goodness [0,1] 0.927441222920826 Centerline is valid? [False, False] Translation: X:7.78, Y:0.49, Z:1.20 [[ 0.68643731 -0.21212208 -0.69556312 7.78354969] [ 0.28315592 0.95898557 -0.01301568 0.49407211] [ 0.6697959 -0.18801836 0.71834709 1.19674867] [ 0. 0. 0. 1. ]] SLAMing on 68.00964924600001 meters Centerline goodness [0,1] 0.9295535714285714 Centerline is valid? [False, False] Translation: X:7.78, Y:0.49, Z:1.20 [[ 0.68672172 -0.21053014 -0.69576601 7.78091456] [ 0.28244465 0.95921498 -0.01147337 0.49108241] [ 0.66980467 -0.18863638 0.71817688 1.19805446] [ 0. 0. 0. 1. ]] SLAMing on 68.03964924600001 meters Centerline goodness [0,1] 0.9304089219330856 Centerline is valid? [False, False] Translation: X:7.78, Y:0.49, Z:1.20 [[ 0.68673593 -0.21020512 -0.69585025 7.78069154] [ 0.28236878 0.9592417 -0.01110114 0.49058435] [ 0.66982209 -0.18886284 0.71810111 1.19843662] [ 0. 0. 0. 1. ]] SLAMing on 68.06964924600001 meters Centerline goodness [0,1] 0.9312177209899394 Centerline is valid? [False, False] Translation: X:7.78, Y:0.49, Z:1.20 [[ 0.6867639 -0.2097425 -0.69596223 7.7805458 ] [ 0.28239411 0.95924182 -0.01042541 0.4888597 ] [ 0.66978273 -0.18937584 0.71800271 1.19927106] [ 0. 0. 0. 1. ]] SLAMing on 68.09964924600001 meters Centerline goodness [0,1] 0.9324227603483239 Centerline is valid? [False, False] Translation: X:7.78, Y:0.49, Z:1.20 [[ 0.68674851 -0.20926383 -0.69612149 7.7799716 ] [ 0.28222069 0.95929783 -0.0099576 0.48825808] [ 0.6698716 -0.18962152 0.71785494 1.19987136] [ 0. 0. 0. 1. ]] SLAMing on 68.12964924600001 meters Centerline goodness [0,1] 0.9330309179897338 Centerline is valid? [False, False] Translation: X:7.78, Y:0.49, Z:1.20 [[ 0.68664226 -0.20915393 -0.69625932 7.7799689 ] [ 0.28220938 0.95930217 -0.00985973 0.48838523] [ 0.66998527 -0.1897208 0.71772261 1.20024552] [ 0. 0. 0. 1. ]] SLAMing on 68.15964924600001 meters Centerline goodness [0,1] 0.9322432690016679 Centerline is valid? [False, False] Translation: X:7.78, Y:0.49, Z:1.20 [[ 0.68653611 -0.20897849 -0.69641666 7.78048628] [ 0.28209342 0.95933705 -0.00978364 0.48793789] [ 0.67014287 -0.18973773 0.71757099 1.20056518] [ 0. 0. 0. 1. ]] SLAMing on 68.18964924600002 meters Centerline goodness [0,1] 0.932894305551417 Centerline is valid? [False, False] Translation: X:7.78, Y:0.49, Z:1.20 [[ 0.68626624 -0.20899054 -0.69667898 7.78110203] [ 0.28216922 0.95931435 -0.00982434 0.48763224] [ 0.67038733 -0.18983925 0.71731575 1.20126927] [ 0. 0. 0. 1. ]] SLAMing on 68.21964924600002 meters Centerline goodness [0,1] 0.9314195527232662 Centerline is valid? [False, False] Translation: X:7.78, Y:0.49, Z:1.20 [[ 0.68600354 -0.20952643 -0.69677673 7.78306238] [ 0.28237018 0.95924861 -0.01044954 0.48887938] [ 0.67057157 -0.18958055 0.71721196 1.20105631] [ 0. 0. 0. 1. ]] SLAMing on 68.249649246 meters Centerline goodness [0,1] 0.931561757719715 Centerline is valid? [False, False] Translation: X:7.79, Y:0.49, Z:1.20 [[ 0.68568822 -0.21029608 -0.69685523 7.78512647] [ 0.28254975 0.95918443 -0.01143952 0.49175687] [ 0.67081838 -0.18905233 0.71712058 1.20035933] [ 0. 0. 0. 1. ]] SLAMing on 68.279649246 meters Centerline goodness [0,1] 0.931751183634577 Centerline is valid? [False, False] Translation: X:7.79, Y:0.49, Z:1.20 [[ 0.68560238 -0.21048936 -0.69688134 7.78569693] [ 0.2826198 0.95916109 -0.01166396 0.49237497] [ 0.67087661 -0.18895562 0.71709159 1.20027421] [ 0. 0. 0. 1. ]] SLAMing on 68.309649246 meters Centerline goodness [0,1] 0.930343965722447 Centerline is valid? [False, False] Translation: X:7.79, Y:0.49, Z:1.20 [[ 0.68525624 -0.21122015 -0.69700067 7.78810023] [ 0.28306985 0.95902013 -0.01232279 0.4934818 ] [ 0.6710405 -0.1888556 0.71696458 1.20024216] [ 0. 0. 0. 1. ]] SLAMing on 68.33964924600001 meters Centerline goodness [0,1] 0.929539295392954 Centerline is valid? [False, False] Translation: X:7.79, Y:0.49, Z:1.20 [[ 0.6850433 -0.21145761 -0.69713798 7.78918248] [ 0.28325329 0.9589632 -0.01253596 0.49418013] [ 0.67118049 -0.18887895 0.71682738 1.20042347] [ 0. 0. 0. 1. ]] SLAMing on 68.36964924600001 meters Centerline goodness [0,1] 0.9300951755825402 Centerline is valid? [False, False] Translation: X:7.79, Y:0.49, Z:1.20 [[ 0.68484846 -0.21107341 -0.69744576 7.78936615] [ 0.28327286 0.9589635 -0.01206218 0.4927363 ] [ 0.67137104 -0.18930669 0.71653605 1.20160043] [ 0. 0. 0. 1. ]] SLAMing on 68.39964924600001 meters Centerline goodness [0,1] 0.9326014119899485 Centerline is valid? [False, False] Translation: X:7.79, Y:0.49, Z:1.20 [[ 0.68458402 -0.21081228 -0.69778428 7.78956114] [ 0.28332221 0.95895276 -0.01175315 0.49157371] [ 0.67161987 -0.18965177 0.71621153 1.20274286] [ 0. 0. 0. 1. ]] SLAMing on 68.42964924600001 meters Centerline goodness [0,1] 0.9309508118147505 Centerline is valid? [False, False] Translation: X:7.79, Y:0.49, Z:1.20 [[ 0.68407615 -0.21612152 -0.69665724 7.78953534] [ 0.28651325 0.95794531 -0.01584096 0.49210386] [ 0.67078311 -0.18876511 0.71722922 1.20133476] [ 0. 0. 0. 1. ]] SLAMing on 68.45964924600001 meters Centerline goodness [0,1] 0.9317629407351838 Centerline is valid? [False, False] Translation: X:7.79, Y:0.49, Z:1.20 [[ 0.68383213 -0.21600364 -0.69693332 7.78994275] [ 0.28666599 0.9579034 -0.01561011 0.49117068] [ 0.67096664 -0.18911239 0.71696602 1.202303 ] [ 0. 0. 0. 1. ]] SLAMing on 68.48964924600001 meters Centerline goodness [0,1] 0.9314003255169088 Centerline is valid? [False, False] Translation: X:7.79, Y:0.49, Z:1.20 [[ 0.68359496 -0.21577226 -0.6972376 7.79052197] [ 0.2869082 0.95783866 -0.01512543 0.48951883] [ 0.67110478 -0.18970352 0.71668051 1.2036211 ] [ 0. 0. 0. 1. ]] SLAMing on 68.51964924600001 meters Centerline goodness [0,1] 0.9308983515655607 Centerline is valid? [False, False] Translation: X:7.79, Y:0.49, Z:1.20 [[ 0.68341133 -0.21575467 -0.69742303 7.79109966] [ 0.28703959 0.95780076 -0.01503231 0.48912322] [ 0.6712356 -0.18991477 0.71650202 1.20419428] [ 0. 0. 0. 1. ]] SLAMing on 68.54964924600002 meters Centerline goodness [0,1] 0.9316861777363147 Centerline is valid? [False, False] Translation: X:7.79, Y:0.49, Z:1.21 [[ 0.68309048 -0.21586612 -0.69770281 7.7922489 ] [ 0.28736007 0.95770567 -0.01496809 0.48839908] [ 0.67142504 -0.19026737 0.71623093 1.20513004] [ 0. 0. 0. 1. ]] SLAMing on 68.57964924600002 meters Centerline goodness [0,1] 0.9321167663770555 Centerline is valid? [False, False] Translation: X:7.79, Y:0.49, Z:1.21 [[ 0.68288988 -0.21577783 -0.69792645 7.79279265] [ 0.28750917 0.95766406 -0.01476598 0.48769098] [ 0.67156525 -0.19057672 0.7160172 1.20589771] [ 0. 0. 0. 1. ]] SLAMing on 68.609649246 meters Centerline goodness [0,1] 0.9275743292240755 Centerline is valid? [False, False] Translation: X:7.79, Y:0.49, Z:1.20 [[ 0.68212823 -0.22162265 -0.69683892 7.79382823] [ 0.29111592 0.95649444 -0.01923321 0.48900451] [ 0.67078506 -0.18974139 0.71696974 1.20462356] [ 0. 0. 0. 1. ]] SLAMing on 68.639649246 meters Centerline goodness [0,1] 0.9296603773584906 Centerline is valid? [False, False] Translation: X:7.79, Y:0.49, Z:1.21 [[ 0.68170965 -0.22178874 -0.6971956 7.79485406] [ 0.29146155 0.95638875 -0.01925444 0.48857586] [ 0.67106045 -0.19007977 0.71662233 1.2057395 ] [ 0. 0. 0. 1. ]] SLAMing on 68.669649246 meters Centerline goodness [0,1] 0.9292534327543875 Centerline is valid? [False, False] Translation: X:7.80, Y:0.49, Z:1.21 [[ 0.68121654 -0.2220887 -0.69758199 7.79664602] [ 0.29212109 0.95618953 -0.01915355 0.48738485] [ 0.67127438 -0.1907307 0.71624892 1.20726775] [ 0. 0. 0. 1. ]] SLAMing on 68.699649246 meters Centerline goodness [0,1] 0.9281210210392288 Centerline is valid? [False, False] Translation: X:7.80, Y:0.49, Z:1.21 [[ 0.68084781 -0.22237316 -0.69785129 7.79777992] [ 0.29248889 0.95607425 -0.0192947 0.4874919 ] [ 0.67148827 -0.190977 0.71598274 1.20807929] [ 0. 0. 0. 1. ]] SLAMing on 68.72964924600001 meters Centerline goodness [0,1] 0.9305310542003772 Centerline is valid? [False, False] Translation: X:7.80, Y:0.49, Z:1.21 [[ 0.67974601 -0.22784389 -0.69716032 7.797463 ] [ 0.29660101 0.95472858 -0.02282935 0.48645386] [ 0.67080042 -0.19126029 0.71655167 1.20917878] [ 0. 0. 0. 1. ]] SLAMing on 68.75964924600001 meters Centerline goodness [0,1] 0.9337893965306621 Centerline is valid? [False, False] Translation: X:7.80, Y:0.49, Z:1.21 [[ 0.67908373 -0.22818504 -0.69769397 7.79820846] [ 0.29739058 0.95448572 -0.02271233 0.48634121] [ 0.67112155 -0.19206404 0.71603581 1.21117468] [ 0. 0. 0. 1. ]] SLAMing on 68.78964924600001 meters Centerline goodness [0,1] 0.9288015072322839 Centerline is valid? [False, False] Translation: X:7.80, Y:0.49, Z:1.21 [[ 0.67875451 -0.22477331 -0.69912035 7.80218761] [ 0.29550983 0.95512654 -0.0201801 0.48932484] [ 0.67228435 -0.19289961 0.71471917 1.2128678 ] [ 0. 0. 0. 1. ]] SLAMing on 68.81964924600001 meters Centerline goodness [0,1] 0.9308094389219567 Centerline is valid? [False, False] Translation: X:7.80, Y:0.49, Z:1.21 [[ 0.67938863 -0.21909493 -0.70030601 7.80169885] [ 0.29154347 0.95641723 -0.01638548 0.49094906] [ 0.67337471 -0.19303753 0.71365469 1.21333866] [ 0. 0. 0. 1. ]] SLAMing on 68.84964924600001 meters Centerline goodness [0,1] 0.928821118611379 Centerline is valid? [False, False] Translation: X:7.80, Y:0.49, Z:1.21 [[ 0.67951305 -0.21847221 -0.70037983 7.79996458] [ 0.29113938 0.95654827 -0.01591451 0.49090582] [ 0.67342399 -0.19309403 0.7135929 1.21363177] [ 0. 0. 0. 1. ]] SLAMing on 68.87964924600001 meters Centerline goodness [0,1] 0.9322882122399758 Centerline is valid? [False, False] Translation: X:7.79, Y:0.49, Z:1.21 [[ 0.67991349 -0.21962761 -0.69962945 7.79269579] [ 0.29133966 0.95646639 -0.01712429 0.4895636 ] [ 0.67293302 -0.19218677 0.71430063 1.21268141] [ 0. 0. 0. 1. ]] SLAMing on 68.90964924600001 meters Centerline goodness [0,1] 0.9351346461204427 Centerline is valid? [False, False] Translation: X:7.79, Y:0.49, Z:1.21 [[ 0.68001306 -0.21883429 -0.69978125 7.79095406] [ 0.29084953 0.95662616 -0.01652106 0.48889004] [ 0.67304442 -0.1922965 0.71416613 1.21319365] [ 0. 0. 0. 1. ]] SLAMing on 68.93964924600002 meters Centerline goodness [0,1] 0.9338186631369954 Centerline is valid? [False, False] Translation: X:7.79, Y:0.49, Z:1.21 [[ 0.68010941 -0.2184203 -0.69981695 7.78977251] [ 0.29055852 0.95671963 -0.01622626 0.4889962 ] [ 0.67307276 -0.19230214 0.7141379 1.2132934 ] [ 0. 0. 0. 1. ]] SLAMing on 68.96964924600002 meters Centerline goodness [0,1] 0.9336627101283365 Centerline is valid? [False, False] Translation: X:7.79, Y:0.49, Z:1.21 [[ 0.68010783 -0.21901389 -0.69963295 7.79057787] [ 0.29073818 0.95665431 -0.01684779 0.49140158] [ 0.67299677 -0.1919517 0.71430378 1.2123246 ] [ 0. 0. 0. 1. ]] SLAMing on 68.999649246 meters Centerline goodness [0,1] 0.9315357702979853 Centerline is valid? [False, False] Translation: X:7.79, Y:0.49, Z:1.21 [[ 0.67967018 -0.2200293 -0.69973963 7.79312363] [ 0.29130511 0.95646449 -0.01780493 0.49350816] [ 0.67319371 -0.19173624 0.71417606 1.21211665] [ 0. 0. 0. 1. ]] SLAMing on 69.029649246 meters Centerline goodness [0,1] 0.9317866409219815 Centerline is valid? [False, False] Translation: X:7.79, Y:0.49, Z:1.21 [[ 0.67956426 -0.22000389 -0.69985048 7.79325563] [ 0.29129864 0.95646621 -0.0178183 0.49382845] [ 0.67330343 -0.19175681 0.71406709 1.21235635] [ 0. 0. 0. 1. ]] SLAMing on 69.059649246 meters Centerline goodness [0,1] 0.9318497493810013 Centerline is valid? [False, False] Translation: X:7.79, Y:0.49, Z:1.21 [[ 0.67981506 -0.21936909 -0.69980617 7.79157181] [ 0.29067269 0.95666219 -0.01751691 0.49382139] [ 0.67332077 -0.19150629 0.71411797 1.21208062] [ 0. 0. 0. 1. ]] SLAMing on 69.08964924600001 meters Centerline goodness [0,1] 0.9309720629940265 Centerline is valid? [False, False] Translation: X:7.79, Y:0.49, Z:1.21 [[ 0.67984419 -0.21885826 -0.69993781 7.79051167] [ 0.29031172 0.95677772 -0.01719006 0.49341023] [ 0.67344709 -0.19151359 0.71399689 1.21245564] [ 0. 0. 0. 1. ]] SLAMing on 69.11964924600001 meters Centerline goodness [0,1] 0.9340006633099165 Centerline is valid? [False, False] Translation: X:7.79, Y:0.49, Z:1.21 [[ 0.68004463 -0.2186164 -0.69981867 7.78987985] [ 0.28975479 0.95694324 -0.01737207 0.49482213] [ 0.67348457 -0.19096203 0.71410926 1.21152802] [ 0. 0. 0. 1. ]] SLAMing on 69.14964924600001 meters Centerline goodness [0,1] 0.9349087519918222 Centerline is valid? [False, False] Translation: X:7.79, Y:0.50, Z:1.21 [[ 0.6801995 -0.21847534 -0.69971221 7.78935696] [ 0.28947388 0.95702744 -0.01741704 0.49607176] [ 0.67344897 -0.19070135 0.71421249 1.21091506] [ 0. 0. 0. 1. ]] SLAMing on 69.17964924600001 meters Centerline goodness [0,1] 0.933153396311291 Centerline is valid? [False, False] Translation: X:7.79, Y:0.50, Z:1.21 [[ 0.68065101 -0.21780645 -0.69948163 7.78723899] [ 0.28879949 0.95723791 -0.01704251 0.49660697] [ 0.6732823 -0.19040994 0.71444734 1.21013941] [ 0. 0. 0. 1. ]] SLAMing on 69.20964924600001 meters Centerline goodness [0,1] 0.9341414383869903 Centerline is valid? [False, False] Translation: X:7.79, Y:0.50, Z:1.21 [[ 0.68066412 -0.21749079 -0.69956708 7.78655825] [ 0.28852855 0.95732226 -0.01689294 0.49689377] [ 0.6733852 -0.19034666 0.71436722 1.21027599] [ 0. 0. 0. 1. ]] SLAMing on 69.23964924600001 meters Centerline goodness [0,1] 0.9341251084452687 Centerline is valid? [False, False] Translation: X:7.79, Y:0.50, Z:1.21 [[ 0.68075808 -0.21737675 -0.6995111 7.78628224] [ 0.28809817 0.95744717 -0.01715712 0.49799801] [ 0.67347448 -0.18984802 0.71441574 1.20958897] [ 0. 0. 0. 1. ]] SLAMing on 69.26964924600001 meters Centerline goodness [0,1] 0.9307255897282771 Centerline is valid? [False, False] Translation: X:7.79, Y:0.50, Z:1.21 [[ 0.68065034 -0.21762306 -0.69953936 7.78672762] [ 0.28816904 0.95742035 -0.01746062 0.49904085] [ 0.67355305 -0.18970101 0.71438072 1.20946049] [ 0. 0. 0. 1. ]] SLAMing on 69.29964924600002 meters Centerline goodness [0,1] 0.9300023920583662 Centerline is valid? [False, False] Translation: X:7.79, Y:0.50, Z:1.21 [[ 0.68027706 -0.21775316 -0.69986191 7.78784262] [ 0.28835362 0.95736247 -0.01758683 0.49887756] [ 0.67385111 -0.18984379 0.71406163 1.21029683] [ 0. 0. 0. 1. ]] SLAMing on 69.32964924600002 meters Centerline goodness [0,1] 0.9321556886227544 Centerline is valid? [False, False] Translation: X:7.79, Y:0.50, Z:1.21 [[ 0.68001478 -0.21795833 -0.7000529 7.78891445] [ 0.28860755 0.95728387 -0.01769951 0.49886487] [ 0.67400711 -0.19000463 0.7138716 1.210847 ] [ 0. 0. 0. 1. ]] SLAMing on 69.35964924600002 meters Centerline goodness [0,1] 0.9300863391594717 Centerline is valid? [False, False] Translation: X:7.79, Y:0.50, Z:1.21 [[ 0.67893578 -0.22444152 -0.69905094 7.79107459] [ 0.29309664 0.95582458 -0.02222002 0.50000428] [ 0.67315717 -0.18980352 0.71472656 1.21042341] [ 0. 0. 0. 1. ]] SLAMing on 69.389649246 meters Centerline goodness [0,1] 0.9273743016759777 Centerline is valid? [False, False] Translation: X:7.79, Y:0.50, Z:1.21 [[ 0.67823561 -0.22505191 -0.6995342 7.79307864] [ 0.29383118 0.95559142 -0.02254487 0.50004564] [ 0.67354264 -0.19025422 0.7142434 1.2119154 ] [ 0. 0. 0. 1. ]] SLAMing on 69.419649246 meters Centerline goodness [0,1] 0.9243348865173606 Centerline is valid? [False, False] Translation: X:7.80, Y:0.50, Z:1.21 [[ 0.67755354 -0.22615258 -0.69984014 7.7965928 ] [ 0.29469175 0.95530585 -0.02339884 0.50075291] [ 0.67385308 -0.19038315 0.71391616 1.21260392] [ 0. 0. 0. 1. ]] SLAMing on 69.449649246 meters Centerline goodness [0,1] 0.9255640004825673 Centerline is valid? [False, False] Translation: X:7.80, Y:0.50, Z:1.21 [[ 0.67723819 -0.22605979 -0.70017527 7.79725479] [ 0.29505775 0.9552024 -0.02300634 0.49974636] [ 0.67400991 -0.19101137 0.71360024 1.21398786] [ 0. 0. 0. 1. ]] SLAMing on 69.47964924600001 meters Centerline goodness [0,1] 0.9255739584276104 Centerline is valid? [False, False] Translation: X:7.80, Y:0.50, Z:1.22 [[ 0.67709532 -0.22572707 -0.70042074 7.79737208] [ 0.29512024 0.95519418 -0.02254167 0.49834729] [ 0.67412608 -0.19144548 0.71337414 1.21502006] [ 0. 0. 0. 1. ]] SLAMing on 69.50964924600001 meters Centerline goodness [0,1] 0.9279344638916599 Centerline is valid? [False, False] Translation: X:7.80, Y:0.50, Z:1.22 [[ 0.67688142 -0.22542448 -0.70072487 7.79732142] [ 0.29516882 0.95518808 -0.0221606 0.49747526] [ 0.67431959 -0.19183203 0.71308735 1.2161224 ] [ 0. 0. 0. 1. ]] SLAMing on 69.53964924600001 meters Centerline goodness [0,1] 0.9291217257318952 Centerline is valid? [False, False] Translation: X:7.80, Y:0.50, Z:1.22 [[ 0.6771028 -0.224493 -0.70081003 7.79548545] [ 0.2946303 0.95537224 -0.02137438 0.49623213] [ 0.67433285 -0.19200721 0.71302766 1.21663615] [ 0. 0. 0. 1. ]] SLAMing on 69.56964924600001 meters Centerline goodness [0,1] 0.9287009063444109 Centerline is valid? [False, False] Translation: X:7.80, Y:0.50, Z:1.22 [[ 0.67708149 -0.22439923 -0.70086064 7.7954666 ] [ 0.2945673 0.95539285 -0.02132143 0.4964009 ] [ 0.67438176 -0.19201428 0.71297949 1.21672611] [ 0. 0. 0. 1. ]] SLAMing on 69.59964924600001 meters Centerline goodness [0,1] 0.9293396169415745 Centerline is valid? [False, False] Translation: X:7.79, Y:0.50, Z:1.22 [[ 0.67711693 -0.22378457 -0.70102291 7.79431389] [ 0.29417377 0.95552372 -0.02088579 0.49602755] [ 0.67451794 -0.19208043 0.71283284 1.21715617] [ 0. 0. 0. 1. ]] SLAMing on 69.62964924600001 meters Centerline goodness [0,1] 0.9293143064457613 Centerline is valid? [False, False] Translation: X:7.79, Y:0.50, Z:1.22 [[ 0.67718194 -0.22324712 -0.70113148 7.79336038] [ 0.29388303 0.95562292 -0.02043523 0.49551165] [ 0.67457941 -0.19221228 0.71273912 1.2175534 ] [ 0. 0. 0. 1. ]] SLAMing on 69.65964924600001 meters Centerline goodness [0,1] 0.9294281139542612 Centerline is valid? [False, False] Translation: X:7.79, Y:0.49, Z:1.22 [[ 0.67742791 -0.22255117 -0.70111512 7.79205213] [ 0.29333029 0.95580246 -0.01997508 0.49477831] [ 0.67457303 -0.19212662 0.71276826 1.21754439] [ 0. 0. 0. 1. ]] SLAMing on 69.68964924600002 meters Centerline goodness [0,1] 0.9290909090909091 Centerline is valid? [False, False] Translation: X:7.79, Y:0.49, Z:1.22 [[ 0.67739892 -0.22253986 -0.70114672 7.79228884] [ 0.29331264 0.95580757 -0.01998957 0.49499919] [ 0.67460982 -0.19211428 0.71273677 1.21759362] [ 0. 0. 0. 1. ]] SLAMing on 69.71964924600002 meters Centerline goodness [0,1] 0.9284114977307111 Centerline is valid? [False, False] Translation: X:7.79, Y:0.50, Z:1.22 [[ 0.67715711 -0.22317953 -0.70117697 7.79419517] [ 0.29358447 0.95570968 -0.02066815 0.49608331] [ 0.67473433 -0.19185908 0.71268764 1.21731457] [ 0. 0. 0. 1. ]] SLAMing on 69.749649246 meters Centerline goodness [0,1] 0.9286687044154587 Centerline is valid? [False, False] Translation: X:7.80, Y:0.50, Z:1.22 [[ 0.67691985 -0.22365076 -0.70125591 7.79550513] [ 0.29386367 0.95561426 -0.02110742 0.496714 ] [ 0.67485084 -0.1917856 0.71259709 1.21740375] [ 0. 0. 0. 1. ]] SLAMing on 69.779649246 meters Centerline goodness [0,1] 0.9286687044154587 Centerline is valid? [False, False] Translation: X:7.80, Y:0.50, Z:1.22 [[ 0.67691985 -0.22365076 -0.70125591 7.79550513] [ 0.29386367 0.95561426 -0.02110742 0.496714 ] [ 0.67485084 -0.1917856 0.71259709 1.21740375] [ 0. 0. 0. 1. ]] SLAMing on 69.809649246 meters Centerline goodness [0,1] 0.9269422989550204 Centerline is valid? [False, False] Translation: X:7.80, Y:0.50, Z:1.22 [[ 0.67637917 -0.22438084 -0.70154433 7.79770942] [ 0.29446993 0.95541499 -0.02167146 0.49726082] [ 0.67512864 -0.19192558 0.71229621 1.21817145] [ 0. 0. 0. 1. ]] SLAMing on 69.83964924600001 meters Centerline goodness [0,1] 0.9243951918127593 Centerline is valid? [False, False] Translation: X:7.80, Y:0.50, Z:1.22 [[ 0.67609986 -0.22450385 -0.70177418 7.7983298 ] [ 0.29472758 0.95533546 -0.02167538 0.49714169] [ 0.67529596 -0.19217748 0.71206965 1.21895529] [ 0. 0. 0. 1. ]] SLAMing on 69.86964924600001 meters Centerline goodness [0,1] 0.9254716981132075 Centerline is valid? [False, False] Translation: X:7.80, Y:0.50, Z:1.22 [[ 0.67557908 -0.22483164 -0.70217067 7.7996223 ] [ 0.29522634 0.95517866 -0.02179761 0.49677681] [ 0.67559923 -0.19257326 0.71167494 1.22029562] [ 0. 0. 0. 1. ]] SLAMing on 69.89964924600001 meters Centerline goodness [0,1] 0.9267455980570735 Centerline is valid? [False, False] Translation: X:7.80, Y:0.50, Z:1.22 [[ 0.67536032 -0.22474113 -0.70241004 7.79987699] [ 0.29537542 0.955137 -0.02160238 0.496365 ] [ 0.67575277 -0.19288527 0.71144464 1.22116552] [ 0. 0. 0. 1. ]] SLAMing on 69.92964924600001 meters Centerline goodness [0,1] 0.9248984294463647 Centerline is valid? [False, False] Translation: X:7.80, Y:0.50, Z:1.22 [[ 0.67539722 -0.22471331 -0.70238346 7.79912276] [ 0.29527099 0.95516798 -0.02166017 0.49767947] [ 0.67576152 -0.19276424 0.71146913 1.22095436] [ 0. 0. 0. 1. ]] SLAMing on 69.95964924600001 meters Centerline goodness [0,1] 0.926632161990375 Centerline is valid? [False, False] Translation: X:7.80, Y:0.50, Z:1.22 [[ 0.6752521 -0.22501886 -0.70242517 7.79975827] [ 0.29542337 0.95511376 -0.02197153 0.49885 ] [ 0.67583995 -0.19267649 0.7114184 1.22087584] [ 0. 0. 0. 1. ]] SLAMing on 69.98964924600001 meters Centerline goodness [0,1] 0.9270546181575838 Centerline is valid? [False, False] Translation: X:7.80, Y:0.50, Z:1.22 [[ 0.67521302 -0.22494415 -0.70248666 7.79954013] [ 0.2953327 0.95514159 -0.02198052 0.49949009] [ 0.67591861 -0.19262575 0.7113574 1.2209352 ] [ 0. 0. 0. 1. ]] SLAMing on 70.01964924600001 meters Centerline goodness [0,1] 0.9299419223401344 Centerline is valid? [False, False] Translation: X:7.80, Y:0.50, Z:1.22 [[ 0.67526524 -0.22411585 -0.70270117 7.7981878 ] [ 0.29507497 0.95524098 -0.02110537 0.49792569] [ 0.675979 -0.19309781 0.71117201 1.2220037 ] [ 0. 0. 0. 1. ]] SLAMing on 70.04964924600002 meters Centerline goodness [0,1] 0.9306566010167119 Centerline is valid? [False, False] Translation: X:7.81, Y:0.50, Z:1.22 [[ 0.68270506 -0.23077671 -0.69329352 7.80798291] [ 0.29992681 0.95370586 -0.02211408 0.50256556] [ 0.66630151 -0.19283992 0.72031595 1.21887709] [ 0. 0. 0. 1. ]] SLAMing on 70.07964924600002 meters Centerline goodness [0,1] 0.9315633497296141 Centerline is valid? [False, False] Translation: X:7.81, Y:0.50, Z:1.22 [[ 0.68205006 -0.23599039 -0.69218224 7.80820021] [ 0.30333035 0.95253439 -0.02586383 0.50182922] [ 0.665431 -0.19231946 0.72125919 1.21817333] [ 0. 0. 0. 1. ]] SLAMing on 70.10964924600002 meters Centerline goodness [0,1] 0.9305513063696995 Centerline is valid? [False, False] Translation: X:7.81, Y:0.50, Z:1.22 [[ 0.68184714 -0.236341 -0.69226253 7.80983145] [ 0.30374973 0.95239778 -0.02597246 0.50175208] [ 0.66544766 -0.19256531 0.72117821 1.21852615] [ 0. 0. 0. 1. ]] SLAMing on 70.139649246 meters Centerline goodness [0,1] 0.9309985279685966 Centerline is valid? [False, False] Translation: X:7.81, Y:0.50, Z:1.22 [[ 0.68154589 -0.23671284 -0.69243211 7.81153638] [ 0.30418034 0.95225583 -0.02613731 0.50186259] [ 0.66555955 -0.19281046 0.72100944 1.21905055] [ 0. 0. 0. 1. ]] SLAMing on 70.169649246 meters Centerline goodness [0,1] 0.9322387601657204 Centerline is valid? [False, False] Translation: X:7.81, Y:0.50, Z:1.22 [[ 0.68105624 -0.23704664 -0.6927996 7.81361716] [ 0.30474267 0.95207478 -0.02618251 0.50120542] [ 0.6658035 -0.19329383 0.7206547 1.22029029] [ 0. 0. 0. 1. ]] SLAMing on 70.199649246 meters Centerline goodness [0,1] 0.9345671055458368 Centerline is valid? [False, False] Translation: X:7.81, Y:0.50, Z:1.22 [[ 0.68124697 -0.23571846 -0.6930652 7.81192918] [ 0.30430542 0.95225282 -0.02475441 0.49843801] [ 0.66580836 -0.19403963 0.72044975 1.22173975] [ 0. 0. 0. 1. ]] SLAMing on 70.22964924600001 meters Centerline goodness [0,1] 0.9340953083233478 Centerline is valid? [False, False] Translation: X:7.81, Y:0.50, Z:1.22 [[ 0.68123214 -0.23530574 -0.69322001 7.81159486] [ 0.30418672 0.95230189 -0.02432176 0.49771803] [ 0.66587778 -0.19429956 0.72031553 1.2223376 ] [ 0. 0. 0. 1. ]] SLAMing on 70.25964924600001 meters Centerline goodness [0,1] 0.9344252220139507 Centerline is valid? [False, False] Translation: X:7.81, Y:0.50, Z:1.22 [[ 0.68105156 -0.2349537 -0.69351679 7.81157705] [ 0.30425877 0.95229124 -0.0238328 0.49668236] [ 0.66602956 -0.1947772 0.72004615 1.2235108 ] [ 0. 0. 0. 1. ]] SLAMing on 70.28964924600001 meters Centerline goodness [0,1] 0.9353839548577036 Centerline is valid? [False, False] Translation: X:7.81, Y:0.50, Z:1.22 [[ 0.68105868 -0.23474906 -0.69357909 7.81156889] [ 0.30421011 0.95231254 -0.02360155 0.49662686] [ 0.66604451 -0.19491973 0.71999376 1.22375033] [ 0. 0. 0. 1. ]] SLAMing on 70.31964924600001 meters Centerline goodness [0,1] 0.9360343769183548 Centerline is valid? [False, False] Translation: X:7.81, Y:0.50, Z:1.22 [[ 0.68097786 -0.23451223 -0.69373854 7.81157367] [ 0.30420361 0.95232165 -0.02331591 0.49624789] [ 0.6661301 -0.19516015 0.71984943 1.22436822] [ 0. 0. 0. 1. ]] SLAMing on 70.34964924600001 meters Centerline goodness [0,1] 0.9347799436067181 Centerline is valid? [False, False] Translation: X:7.81, Y:0.50, Z:1.22 [[ 0.68096056 -0.2341904 -0.69386423 7.81126464] [ 0.30409889 0.95236292 -0.02299427 0.49570901] [ 0.6661956 -0.19534515 0.71973863 1.22487527] [ 0. 0. 0. 1. ]] SLAMing on 70.37964924600001 meters Centerline goodness [0,1] 0.9375691286715006 Centerline is valid? [False, False] Translation: X:7.81, Y:0.50, Z:1.23 [[ 0.68091586 -0.23388089 -0.69401248 7.81086988] [ 0.30403506 0.95239139 -0.02265644 0.49507295] [ 0.66627042 -0.195577 0.7196064 1.22549758] [ 0. 0. 0. 1. ]] SLAMing on 70.40964924600001 meters Centerline goodness [0,1] 0.9360268324204566 Centerline is valid? [False, False] Translation: X:7.81, Y:0.50, Z:1.22 [[ 0.68034561 -0.23914873 -0.69277538 7.80978504] [ 0.30740345 0.95121095 -0.02647366 0.49553568] [ 0.66530667 -0.1949503 0.72066734 1.22454444] [ 0. 0. 0. 1. ]] SLAMing on 70.43964924600002 meters Centerline goodness [0,1] 0.9352389734132472 Centerline is valid? [False, False] Translation: X:7.81, Y:0.50, Z:1.22 [[ 0.67972971 -0.24007408 -0.69305986 7.81219961] [ 0.30795404 0.95100674 -0.02739526 0.49768484] [ 0.66568148 -0.19480921 0.72035931 1.22483181] [ 0. 0. 0. 1. ]] SLAMing on 70.46964924600002 meters Centerline goodness [0,1] 0.9348950317059657 Centerline is valid? [False, False] Translation: X:7.81, Y:0.50, Z:1.22 [[ 0.67962567 -0.24012745 -0.69314339 7.81274868] [ 0.3079895 0.95099304 -0.0274719 0.49819744] [ 0.6657713 -0.19481028 0.72027601 1.22492849] [ 0. 0. 0. 1. ]] SLAMing on 70.499649246 meters Centerline goodness [0,1] 0.9331222915450103 Centerline is valid? [False, False] Translation: X:7.81, Y:0.50, Z:1.23 [[ 0.67930264 -0.24044854 -0.6933487 7.81359261] [ 0.30827135 0.95089401 -0.02773718 0.49951427] [ 0.66597049 -0.1948976 0.72006821 1.22531 ] [ 0. 0. 0. 1. ]] SLAMing on 70.529649246 meters Centerline goodness [0,1] 0.9339648671019958 Centerline is valid? [False, False] Translation: X:7.81, Y:0.50, Z:1.23 [[ 0.67928843 -0.24020957 -0.69344545 7.81354103] [ 0.3081587 0.95093634 -0.02753695 0.4997545 ] [ 0.66603712 -0.19498572 0.71998272 1.22552237] [ 0. 0. 0. 1. ]] SLAMing on 70.559649246 meters Centerline goodness [0,1] 0.9360365330391075 Centerline is valid? [False, False] Translation: X:7.81, Y:0.50, Z:1.23 [[ 0.6795183 -0.23931042 -0.69353111 7.81135659] [ 0.307648 0.95112377 -0.0267636 0.49955522] [ 0.66603873 -0.1951771 0.71992938 1.22596697] [ 0. 0. 0. 1. ]] SLAMing on 70.58964924600001 meters Centerline goodness [0,1] 0.9380993098393697 Centerline is valid? [False, False] Translation: X:7.81, Y:0.50, Z:1.23 [[ 0.67970995 -0.23813594 -0.69374755 7.80801794] [ 0.30696552 0.9513705 -0.02581341 0.49917675] [ 0.66615805 -0.19541094 0.71975552 1.22680648] [ 0. 0. 0. 1. ]] SLAMing on 70.61964924600001 meters Centerline goodness [0,1] 0.94003780026826 Centerline is valid? [False, False] Translation: X:7.81, Y:0.50, Z:1.23 [[ 0.67988722 -0.2376695 -0.6937338 7.80664754] [ 0.30649903 0.95152649 -0.02560644 0.50014275] [ 0.66619195 -0.19521925 0.71977617 1.22657357] [ 0. 0. 0. 1. ]] SLAMing on 70.64964924600001 meters Centerline goodness [0,1] 0.9402794653705954 Centerline is valid? [False, False] Translation: X:7.81, Y:0.50, Z:1.23 [[ 0.68010995 -0.23197588 -0.69544061 7.80665594] [ 0.30328949 0.9526632 -0.02117318 0.49910622] [ 0.66743234 -0.19651974 0.71827158 1.22947821] [ 0. 0. 0. 1. ]] SLAMing on 70.67964924600001 meters Centerline goodness [0,1] 0.9400332980172544 Centerline is valid? [False, False] Translation: X:7.80, Y:0.50, Z:1.23 [[ 0.68049629 -0.23106886 -0.69536464 7.80336275] [ 0.30227059 0.95299364 -0.02087127 0.50083495] [ 0.66750078 -0.19598546 0.71835396 1.22879664] [ 0. 0. 0. 1. ]] SLAMing on 70.70964924600001 meters Centerline goodness [0,1] 0.9407582221415388 Centerline is valid? [False, False] Translation: X:7.80, Y:0.50, Z:1.23 [[ 0.68071031 -0.23062439 -0.69530271 7.80201831] [ 0.30168629 0.95318023 -0.02080482 0.50199192] [ 0.66754689 -0.19560124 0.71841583 1.22826334] [ 0. 0. 0. 1. ]] SLAMing on 70.73964924600001 meters Centerline goodness [0,1] 0.9411039995192163 Centerline is valid? [False, False] Translation: X:7.80, Y:0.50, Z:1.23 [[ 0.68133856 -0.22513691 -0.69648484 7.80086703] [ 0.29786635 0.95445377 -0.01713597 0.50419086] [ 0.66862052 -0.195784 0.71736687 1.22890634] [ 0. 0. 0. 1. ]] SLAMing on 70.76964924600001 meters Centerline goodness [0,1] 0.9407376210817641 Centerline is valid? [False, False] Translation: X:7.80, Y:0.51, Z:1.23 [[ 0.68142062 -0.22510528 -0.69641478 7.80046356] [ 0.29742299 0.95458477 -0.0175354 0.50656604] [ 0.66873426 -0.19518078 0.71742523 1.22798862] [ 0. 0. 0. 1. ]] SLAMing on 70.79964924600002 meters Centerline goodness [0,1] 0.9403011939761204 Centerline is valid? [False, False] Translation: X:7.80, Y:0.51, Z:1.23 [[ 0.68185371 -0.21952223 -0.69777182 7.79973399] [ 0.29363271 0.95581912 -0.01377097 0.5079799 ] [ 0.66996668 -0.19549885 0.71618772 1.22926909] [ 0. 0. 0. 1. ]] SLAMing on 70.82964924600002 meters Centerline goodness [0,1] 0.9381987299883732 Centerline is valid? [False, False] Translation: X:7.80, Y:0.51, Z:1.23 [[ 0.68190057 -0.21925647 -0.69780958 7.79892706] [ 0.29314908 0.95596562 -0.01390511 0.50954019] [ 0.67013075 -0.19508033 0.71614834 1.22887063] [ 0. 0. 0. 1. ]] SLAMing on 70.85964924600002 meters Centerline goodness [0,1] 0.9409069269221614 Centerline is valid? [False, False] Translation: X:7.80, Y:0.51, Z:1.23 [[ 0.68247275 -0.21358887 -0.69900697 7.7978299 ] [ 0.28921151 0.95721177 -0.0101155 0.51121003] [ 0.67125826 -0.19525731 0.71504331 1.22968393] [ 0. 0. 0. 1. ]] SLAMing on 70.889649246 meters Centerline goodness [0,1] 0.941790469412567 Centerline is valid? [False, False] Translation: X:7.80, Y:0.51, Z:1.23 [[ 0.68239835 -0.21389718 -0.69898532 7.79806522] [ 0.28904062 0.95725648 -0.01074933 0.5140739 ] [ 0.67140748 -0.19469983 0.71505522 1.22892072] [ 0. 0. 0. 1. ]] SLAMing on 70.919649246 meters Centerline goodness [0,1] 0.9381210880721427 Centerline is valid? [False, False] Translation: X:7.80, Y:0.51, Z:1.23 [[ 0.68231211 -0.21396425 -0.69904899 7.79830188] [ 0.28909096 0.95724046 -0.01082181 0.51489723] [ 0.67147346 -0.1947049 0.71499189 1.22901351] [ 0. 0. 0. 1. ]] SLAMing on 70.949649246 meters Centerline goodness [0,1] 0.9385194851414674 Centerline is valid? [False, False] Translation: X:7.80, Y:0.52, Z:1.23 [[ 0.68225842 -0.21394597 -0.69910698 7.79846481] [ 0.28903393 0.95725704 -0.01087881 0.51534577] [ 0.67155255 -0.19464348 0.71493432 1.22907855] [ 0. 0. 0. 1. ]] SLAMing on 70.97964924600001 meters Centerline goodness [0,1] 0.9399386886514479 Centerline is valid? [False, False] Translation: X:7.80, Y:0.51, Z:1.23 [[ 0.68191321 -0.21379488 -0.6994899 7.79843195] [ 0.28925124 0.95719477 -0.01057785 0.51485929] [ 0.67180956 -0.19511514 0.7145642 1.23050507] [ 0. 0. 0. 1. ]] SLAMing on 71.00964924600001 meters Centerline goodness [0,1] 0.9375892432175155 Centerline is valid? [False, False] Translation: X:7.80, Y:0.52, Z:1.23 [[ 0.6815552 -0.21430337 -0.69968319 7.7997812 ] [ 0.28958168 0.95708935 -0.0110644 0.51635511] [ 0.67203048 -0.19507443 0.71436756 1.23079222] [ 0. 0. 0. 1. ]] SLAMing on 71.03964924600001 meters Centerline goodness [0,1] 0.9360862079202042 Centerline is valid? [False, False] Translation: X:7.80, Y:0.52, Z:1.23 [[ 0.68127842 -0.21474623 -0.69981695 7.80127077] [ 0.28981092 0.95701439 -0.01153631 0.51738907] [ 0.67221227 -0.19495515 0.71422906 1.23085864] [ 0. 0. 0. 1. ]] SLAMing on 71.06964924600001 meters Centerline goodness [0,1] 0.9334776035336317 Centerline is valid? [False, False] Translation: X:7.80, Y:0.52, Z:1.23 [[ 0.68069139 -0.2158939 -0.70003503 7.80394039] [ 0.29043099 0.95681193 -0.01267935 0.52013734] [ 0.67253927 -0.19468114 0.71399593 1.23088971] [ 0. 0. 0. 1. ]] SLAMing on 71.09964924600001 meters Centerline goodness [0,1] 0.9337272484337421 Centerline is valid? [False, False] Translation: X:7.80, Y:0.52, Z:1.23 [[ 0.68036952 -0.21628623 -0.70022681 7.80484564] [ 0.29068345 0.95672994 -0.01307484 0.52122147] [ 0.67275586 -0.19464862 0.71380072 1.23122483] [ 0. 0. 0. 1. ]] SLAMing on 71.12964924600001 meters Centerline goodness [0,1] 0.933920704845815 Centerline is valid? [False, False] Translation: X:7.80, Y:0.52, Z:1.23 [[ 0.67951334 -0.22187322 -0.69930959 7.80459919] [ 0.29446809 0.95550962 -0.0170268 0.52155057] [ 0.67197483 -0.19435442 0.71461611 1.23117557] [ 0. 0. 0. 1. ]] SLAMing on 71.15964924600001 meters Centerline goodness [0,1] 0.9352804017696998 Centerline is valid? [False, False] Translation: X:7.81, Y:0.52, Z:1.23 [[ 0.6787569 -0.22215588 -0.69995417 7.80576734] [ 0.29518331 0.95529024 -0.01695201 0.52107293] [ 0.67242537 -0.19510849 0.71398655 1.2333875 ] [ 0. 0. 0. 1. ]] SLAMing on 71.18964924600002 meters Centerline goodness [0,1] 0.9340922708208508 Centerline is valid? [False, False] Translation: X:7.81, Y:0.52, Z:1.23 [[ 0.67822029 -0.22270583 -0.70029947 7.80712115] [ 0.29588327 0.95506974 -0.01717203 0.52145839] [ 0.67265915 -0.19556048 0.71364261 1.23462063] [ 0. 0. 0. 1. ]] SLAMing on 71.21964924600002 meters Centerline goodness [0,1] 0.9335892974983502 Centerline is valid? [False, False] Translation: X:7.81, Y:0.52, Z:1.24 [[ 0.67748722 -0.2233104 -0.70081633 7.80903766] [ 0.29682349 0.95477582 -0.0172902 0.52191657] [ 0.67298357 -0.19630486 0.71313219 1.23650916] [ 0. 0. 0. 1. ]] SLAMing on 71.249649246 meters Centerline goodness [0,1] 0.9372241736467621 Centerline is valid? [False, False] Translation: X:7.81, Y:0.52, Z:1.24 [[ 0.67728121 -0.22288573 -0.70115057 7.80921287] [ 0.29700396 0.9547319 -0.01660259 0.52072144] [ 0.67311129 -0.19699987 0.71281992 1.23800589] [ 0. 0. 0. 1. ]] SLAMing on 71.279649246 meters Centerline goodness [0,1] 0.9362347570132756 Centerline is valid? [False, False] Translation: X:7.81, Y:0.52, Z:1.24 [[ 0.67674135 -0.22302982 -0.70162585 7.81027035] [ 0.2976672 0.95453033 -0.01631215 0.51952616] [ 0.67336125 -0.1978119 0.71235881 1.23996151] [ 0. 0. 0. 1. ]] SLAMing on 71.309649246 meters Centerline goodness [0,1] 0.9369641347663326 Centerline is valid? [False, False] Translation: X:7.81, Y:0.52, Z:1.24 [[ 0.67579445 -0.22265034 -0.7026583 7.81111794] [ 0.29838142 0.95432213 -0.01542092 0.51810819] [ 0.67399584 -0.19923881 0.71136032 1.24380376] [ 0. 0. 0. 1. ]] SLAMing on 71.33964924600001 meters Centerline goodness [0,1] 0.9375169626971442 Centerline is valid? [False, False] Translation: X:7.81, Y:0.52, Z:1.24 [[ 0.67559369 -0.22280111 -0.70280355 7.81206401] [ 0.2984982 0.95428297 -0.01558302 0.51855676] [ 0.67414538 -0.1992578 0.71121328 1.24413657] [ 0. 0. 0. 1. ]] SLAMing on 71.36964924600001 meters Centerline goodness [0,1] 0.9346353851735397 Centerline is valid? [False, False] Translation: X:7.81, Y:0.52, Z:1.25 [[ 0.6749239 -0.22364349 -0.70317944 7.8148811 ] [ 0.2993122 0.95401877 -0.0161369 0.51970405] [ 0.67445529 -0.199579 0.71082929 1.24522649] [ 0. 0. 0. 1. ]] SLAMing on 71.39964924600001 meters Centerline goodness [0,1] 0.935048464534831 Centerline is valid? [False, False] Translation: X:7.82, Y:0.52, Z:1.25 [[ 0.674422 -0.22389991 -0.70357927 7.81640979] [ 0.29975665 0.95387784 -0.01621806 0.51995891] [ 0.67475989 -0.19996475 0.71043169 1.2464882 ] [ 0. 0. 0. 1. ]] SLAMing on 71.42964924600001 meters Centerline goodness [0,1] 0.9338204086582187 Centerline is valid? [False, False] Translation: X:7.82, Y:0.52, Z:1.25 [[ 0.67362075 -0.2249861 -0.70400024 7.81955397] [ 0.30061646 0.95359168 -0.01710708 0.52169714] [ 0.67517763 -0.20011037 0.70999367 1.24751956] [ 0. 0. 0. 1. ]] SLAMing on 71.45964924600001 meters Centerline goodness [0,1] 0.9337615902066542 Centerline is valid? [False, False] Translation: X:7.82, Y:0.52, Z:1.25 [[ 0.67332155 -0.2255914 -0.70409276 7.82105439] [ 0.30097109 0.95346947 -0.01767408 0.52334231] [ 0.67531807 -0.20001122 0.70988803 1.2475703 ] [ 0. 0. 0. 1. ]] SLAMing on 71.48964924600001 meters Centerline goodness [0,1] 0.9327473056776446 Centerline is valid? [False, False] Translation: X:7.82, Y:0.53, Z:1.25 [[ 0.67271411 -0.22649993 -0.70438165 7.82266289] [ 0.30148971 0.95328794 -0.01860251 0.52621225] [ 0.675692 -0.19984965 0.70957765 1.24803117] [ 0. 0. 0. 1. ]] SLAMing on 71.51964924600001 meters Centerline goodness [0,1] 0.9324336536434015 Centerline is valid? [False, False] Translation: X:7.82, Y:0.53, Z:1.25 [[ 0.6722379 -0.22706046 -0.70465577 7.82389425] [ 0.30208301 0.95309368 -0.01892873 0.52717003] [ 0.67590092 -0.20013992 0.7092968 1.24899393] [ 0. 0. 0. 1. ]] SLAMing on 71.54964924600002 meters Centerline goodness [0,1] 0.9316541330675606 Centerline is valid? [False, False] Translation: X:7.82, Y:0.53, Z:1.25 [[ 0.6710956 -0.23320364 -0.70373771 7.8245585 ] [ 0.30615412 0.9516939 -0.02341753 0.52891831] [ 0.67520394 -0.1997368 0.71007384 1.24879243] [ 0. 0. 0. 1. ]] SLAMing on 71.57964924600002 meters Centerline goodness [0,1] 0.9312649309020533 Centerline is valid? [False, False] Translation: X:7.83, Y:0.53, Z:1.25 [[ 0.6700877 -0.23451161 -0.70426329 7.82735802] [ 0.30731711 0.95129516 -0.02436637 0.53177412] [ 0.67567645 -0.20010456 0.70952061 1.25030856] [ 0. 0. 0. 1. ]] SLAMing on 71.60964924600002 meters Centerline goodness [0,1] 0.93089258698941 Centerline is valid? [False, False] Translation: X:7.83, Y:0.53, Z:1.25 [[ 0.66927655 -0.23528096 -0.70477781 7.82966719] [ 0.30814526 0.95101443 -0.02486058 0.5335946 ] [ 0.67610309 -0.20053534 0.70899237 1.25183883] [ 0. 0. 0. 1. ]] SLAMing on 71.639649246 meters Centerline goodness [0,1] 0.9311076745807938 Centerline is valid? [False, False] Translation: X:7.83, Y:0.53, Z:1.25 [[ 0.6690027 -0.23515714 -0.70507907 7.82984579] [ 0.30829329 0.95097199 -0.02464803 0.53320549] [ 0.67630661 -0.20088154 0.7087002 1.2529564 ] [ 0. 0. 0. 1. ]] SLAMing on 71.669649246 meters Centerline goodness [0,1] 0.9318939899326824 Centerline is valid? [False, False] Translation: X:7.83, Y:0.53, Z:1.26 [[ 0.66840314 -0.23342699 -0.70622169 7.82805796] [ 0.30854163 0.95094946 -0.02229764 0.53051676] [ 0.67678601 -0.20299498 0.70763955 1.25773272] [ 0. 0. 0. 1. ]] SLAMing on 71.699649246 meters Centerline goodness [0,1] 0.9318939899326824 Centerline is valid? [False, False] Translation: X:7.83, Y:0.53, Z:1.26 [[ 0.66840314 -0.23342699 -0.70622169 7.82805796] [ 0.30854163 0.95094946 -0.02229764 0.53051676] [ 0.67678601 -0.20299498 0.70763955 1.25773272] [ 0. 0. 0. 1. ]] SLAMing on 71.72964924600001 meters Centerline goodness [0,1] 0.933483173368971 Centerline is valid? [False, False] Translation: X:7.83, Y:0.53, Z:1.26 [[ 0.66806503 -0.23304065 -0.70666907 7.82780156] [ 0.30861558 0.95093616 -0.02183696 0.52987983] [ 0.67708607 -0.20350058 0.70720716 1.25927504] [ 0. 0. 0. 1. ]] SLAMing on 71.75964924600001 meters Centerline goodness [0,1] 0.9351570107108081 Centerline is valid? [False, False] Translation: X:7.83, Y:0.53, Z:1.26 [[ 0.66781636 -0.23287033 -0.70696019 7.82818727] [ 0.30868741 0.95091749 -0.02163342 0.52963616] [ 0.67729859 -0.20378256 0.7069224 1.26023358] [ 0. 0. 0. 1. ]] SLAMing on 71.78964924600001 meters Centerline goodness [0,1] 0.9356465726786583 Centerline is valid? [False, False] Translation: X:7.83, Y:0.53, Z:1.26 [[ 0.66709784 -0.23401858 -0.70725934 7.83100148] [ 0.30939567 0.95066172 -0.02272904 0.53255108] [ 0.6776834 -0.20366049 0.70658872 1.26070574] [ 0. 0. 0. 1. ]] SLAMing on 71.81964924600001 meters Centerline goodness [0,1] 0.9315637797664189 Centerline is valid? [False, False] Translation: X:7.83, Y:0.54, Z:1.26 [[ 0.66625757 -0.23578422 -0.70746495 7.83476343] [ 0.31029658 0.950324 -0.02450151 0.5372301 ] [ 0.67809799 -0.20319964 0.7063236 1.2605637 ] [ 0. 0. 0. 1. ]] SLAMing on 71.84964924600001 meters Centerline goodness [0,1] 0.9318939899326824 Centerline is valid? [False, False] Translation: X:7.84, Y:0.54, Z:1.26 [[ 0.66567144 -0.23641611 -0.70780574 7.83656172] [ 0.31069365 0.95017672 -0.02517243 0.53944032] [ 0.6784917 -0.20315418 0.70595849 1.26118598] [ 0. 0. 0. 1. ]] SLAMing on 71.87964924600001 meters Centerline goodness [0,1] 0.9322326045541142 Centerline is valid? [False, False] Translation: X:7.84, Y:0.54, Z:1.26 [[ 0.66461486 -0.237801 -0.70833451 7.83939921] [ 0.31158945 0.94984658 -0.02652347 0.54334859] [ 0.67911641 -0.20308167 0.70537843 1.26226095] [ 0. 0. 0. 1. ]] SLAMing on 71.90964924600001 meters Centerline goodness [0,1] 0.9309542515259563 Centerline is valid? [False, False] Translation: X:7.84, Y:0.55, Z:1.26 [[ 0.66415442 -0.23844387 -0.70855023 7.84117857] [ 0.31206976 0.94967343 -0.02707119 0.54500167] [ 0.67934628 -0.20313765 0.70514092 1.26271474] [ 0. 0. 0. 1. ]] SLAMing on 71.93964924600002 meters Centerline goodness [0,1] 0.930504621912411 Centerline is valid? [False, False] Translation: X:7.84, Y:0.55, Z:1.26 [[ 0.66242868 -0.24482946 -0.70798784 7.84260695] [ 0.31658185 0.94803765 -0.0316314 0.54681156] [ 0.67894342 -0.20318256 0.70551589 1.26394681] [ 0. 0. 0. 1. ]] SLAMing on 71.96964924600002 meters Centerline goodness [0,1] 0.9302937706108372 Centerline is valid? [False, False] Translation: X:7.85, Y:0.55, Z:1.26 [[ 0.66171966 -0.24579198 -0.7083173 7.84501855] [ 0.31733361 0.94775953 -0.03242305 0.548819 ] [ 0.6792838 -0.20331791 0.70514917 1.26474419] [ 0. 0. 0. 1. ]] SLAMing on 71.999649246 meters Centerline goodness [0,1] 0.9288390644829878 Centerline is valid? [False, False] Translation: X:7.85, Y:0.55, Z:1.27 [[ 0.66100609 -0.24680549 -0.70863108 7.847542 ] [ 0.31804349 0.94749016 -0.03332778 0.5515001 ] [ 0.67964645 -0.20334563 0.70479164 1.26533187] [ 0. 0. 0. 1. ]] SLAMing on 72.029649246 meters Centerline goodness [0,1] 0.9271643416951614 Centerline is valid? [False, False] Translation: X:7.85, Y:0.56, Z:1.27 [[ 0.66022621 -0.24771986 -0.70903895 7.84927412] [ 0.31860176 0.94726849 -0.034283 0.55511949] [ 0.68014283 -0.20326652 0.70433547 1.26607509] [ 0. 0. 0. 1. ]] SLAMing on 72.059649246 meters Centerline goodness [0,1] 0.9254665900359963 Centerline is valid? [False, False] Translation: X:7.85, Y:0.56, Z:1.27 [[ 0.65967094 -0.24814049 -0.70940859 7.84954468] [ 0.31870491 0.94720907 -0.03495948 0.55844255] [ 0.68063311 -0.20303025 0.70392989 1.26664884] [ 0. 0. 0. 1. ]] SLAMing on 72.08964924600001 meters Centerline goodness [0,1] 0.9255248552123552 Centerline is valid? [False, False] Translation: X:7.85, Y:0.56, Z:1.27 [[ 0.65951955 -0.24812511 -0.70955472 7.8493692 ] [ 0.31861874 0.94723329 -0.03508832 0.55982571] [ 0.68082014 -0.202936 0.70377618 1.26688094] [ 0. 0. 0. 1. ]] SLAMing on 72.11964924600001 meters Centerline goodness [0,1] 0.927465656656747 Centerline is valid? [False, False] Translation: X:7.85, Y:0.56, Z:1.27 [[ 0.65923345 -0.24756906 -0.71001467 7.84810361] [ 0.31813355 0.94740106 -0.03496112 0.56176713] [ 0.68132394 -0.20283195 0.70331849 1.26781665] [ 0. 0. 0. 1. ]] SLAMing on 72.14964924600001 meters Centerline goodness [0,1] 0.9267854469231921 Centerline is valid? [False, False] Translation: X:7.85, Y:0.56, Z:1.27 [[ 0.65905458 -0.24762582 -0.71016091 7.84788557] [ 0.31802981 0.94742649 -0.03521492 0.56355596] [ 0.68154538 -0.20264379 0.70315816 1.2679322 ] [ 0. 0. 0. 1. ]] SLAMing on 72.17964924600001 meters Centerline goodness [0,1] 0.9270275925981286 Centerline is valid? [False, False] Translation: X:7.85, Y:0.57, Z:1.27 [[ 0.65854355 -0.24840251 -0.7103637 7.84917268] [ 0.31860167 0.94720999 -0.0358637 0.56618722] [ 0.68177223 -0.20270526 0.70292048 1.26833213] [ 0. 0. 0. 1. ]] SLAMing on 72.20964924600001 meters Centerline goodness [0,1] 0.9283155191974682 Centerline is valid? [False, False] Translation: X:7.85, Y:0.57, Z:1.27 [[ 0.65678964 -0.24964069 -0.71155245 7.85190463] [ 0.32026204 0.94662558 -0.03649974 0.56914712] [ 0.68268557 -0.20391059 0.70168431 1.27224761] [ 0. 0. 0. 1. ]] SLAMing on 72.23964924600001 meters Centerline goodness [0,1] 0.9255668257756563 Centerline is valid? [False, False] Translation: X:7.85, Y:0.57, Z:1.27 [[ 0.65579829 -0.25062263 -0.7121214 7.85404266] [ 0.32096559 0.94634909 -0.03747649 0.57300575] [ 0.6833079 -0.20398945 0.70105536 1.27352925] [ 0. 0. 0. 1. ]] SLAMing on 72.26964924600001 meters Centerline goodness [0,1] 0.9265210003875161 Centerline is valid? [False, False] Translation: X:7.85, Y:0.58, Z:1.27 [[ 0.65544325 -0.25087333 -0.71235996 7.85453124] [ 0.32097754 0.94632665 -0.03793807 0.57535847] [ 0.68364287 -0.2037853 0.70078812 1.27373809] [ 0. 0. 0. 1. ]] SLAMing on 72.29964924600002 meters Centerline goodness [0,1] 0.9279741997133302 Centerline is valid? [False, False] Translation: X:7.86, Y:0.58, Z:1.28 [[ 0.65467118 -0.24496324 -0.71512143 7.85509185] [ 0.31846505 0.94736101 -0.03297165 0.57520236] [ 0.685555 -0.20615559 0.69822218 1.28026355] [ 0. 0. 0. 1. ]] SLAMing on 72.32964924600002 meters Centerline goodness [0,1] 0.9274248991182185 Centerline is valid? [False, False] Translation: X:7.86, Y:0.58, Z:1.28 [[ 0.65412172 -0.24500878 -0.71560846 7.85582364] [ 0.3186735 0.94728858 -0.03303868 0.5755407 ] [ 0.68598249 -0.20643414 0.69771984 1.28169536] [ 0. 0. 0. 1. ]] SLAMing on 72.35964924600002 meters Centerline goodness [0,1] 0.9255338131207994 Centerline is valid? [False, False] Translation: X:7.86, Y:0.58, Z:1.28 [[ 0.65343651 -0.24591578 -0.71592329 7.85781766] [ 0.31908892 0.94711149 -0.03408928 0.57975148] [ 0.68644227 -0.20616801 0.69734623 1.28200548] [ 0. 0. 0. 1. ]] SLAMing on 72.389649246 meters Centerline goodness [0,1] 0.9268574475648773 Centerline is valid? [False, False] Translation: X:7.86, Y:0.58, Z:1.28 [[ 0.6531861 -0.24635006 -0.71600249 7.85864274] [ 0.31926948 0.94703286 -0.03457979 0.5822629 ] [ 0.68659662 -0.20601071 0.69724076 1.28193543] [ 0. 0. 0. 1. ]] SLAMing on 72.419649246 meters Centerline goodness [0,1] 0.9278656419690811 Centerline is valid? [False, False] Translation: X:7.86, Y:0.58, Z:1.28 [[ 0.65290467 -0.24665865 -0.71615292 7.85960115] [ 0.31941722 0.94696947 -0.03494954 0.58421944] [ 0.68679556 -0.20593286 0.6970678 1.28226366] [ 0. 0. 0. 1. ]] SLAMing on 72.449649246 meters Centerline goodness [0,1] 0.9260272343461973 Centerline is valid? [False, False] Translation: X:7.86, Y:0.58, Z:1.28 [[ 0.65228215 -0.24666246 -0.71671865 7.86028808] [ 0.31972129 0.94686893 -0.03489309 0.58436298] [ 0.68724544 -0.20639008 0.69648894 1.28408934] [ 0. 0. 0. 1. ]] SLAMing on 72.47964924600001 meters Centerline goodness [0,1] 0.9254379442643429 Centerline is valid? [False, False] Translation: X:7.86, Y:0.59, Z:1.29 [[ 0.65155159 -0.24707628 -0.71724043 7.86173966] [ 0.3202707 0.94667288 -0.03517305 0.58501534] [ 0.68768248 -0.20679404 0.69593752 1.28592285] [ 0. 0. 0. 1. ]] SLAMing on 72.50964924600001 meters Centerline goodness [0,1] 0.926339951111906 Centerline is valid? [False, False] Translation: X:7.86, Y:0.59, Z:1.29 [[ 0.65095954 -0.24735618 -0.7176814 7.8633198 ] [ 0.32080196 0.94649048 -0.03524012 0.58516588] [ 0.68799548 -0.20729371 0.69547936 1.28746876] [ 0. 0. 0. 1. ]] SLAMing on 72.53964924600001 meters Centerline goodness [0,1] 0.9279438135086671 Centerline is valid? [False, False] Translation: X:7.86, Y:0.59, Z:1.29 [[ 0.64974913 -0.25283412 -0.71686887 7.86449431] [ 0.32449718 0.94507382 -0.03920543 0.58592091] [ 0.68740647 -0.20714823 0.69610485 1.28781229] [ 0. 0. 0. 1. ]] SLAMing on 72.56964924600001 meters Centerline goodness [0,1] 0.9306533265434502 Centerline is valid? [False, False] Translation: X:7.87, Y:0.59, Z:1.29 [[ 0.64811009 -0.25906284 -0.71612831 7.86753014] [ 0.32880985 0.94338479 -0.04369463 0.58742048] [ 0.68690421 -0.20715111 0.69659961 1.2885013 ] [ 0. 0. 0. 1. ]] SLAMing on 72.59964924600001 meters Centerline goodness [0,1] 0.9296844507160656 Centerline is valid? [False, False] Translation: X:7.87, Y:0.59, Z:1.29 [[ 0.64726347 -0.2594559 -0.71675145 7.8696957 ] [ 0.32960012 0.9431065 -0.04374799 0.5872441 ] [ 0.68732363 -0.20792489 0.69595508 1.29067805] [ 0. 0. 0. 1. ]] SLAMing on 72.62964924600001 meters Centerline goodness [0,1] 0.9293911042480395 Centerline is valid? [False, False] Translation: X:7.87, Y:0.59, Z:1.29 [[ 0.64550157 -0.26540837 -0.71616068 7.87354735] [ 0.33397858 0.94136573 -0.04784212 0.58716588] [ 0.68686682 -0.20830016 0.69629377 1.29211919] [ 0. 0. 0. 1. ]] SLAMing on 72.65964924600001 meters Centerline goodness [0,1] 0.9300172984127948 Centerline is valid? [False, False] Translation: X:7.88, Y:0.59, Z:1.29 [[ 0.6440638 -0.27108113 -0.71532988 7.8752086 ] [ 0.33810345 0.93968864 -0.05168478 0.58677643] [ 0.68619813 -0.20856721 0.6968729 1.2929783 ] [ 0. 0. 0. 1. ]] SLAMing on 72.68964924600002 meters Centerline goodness [0,1] 0.9300992081550924 Centerline is valid? [False, False] Translation: X:7.88, Y:0.59, Z:1.30 [[ 0.64315004 -0.27157023 -0.71596623 7.87739753] [ 0.3393678 0.93924788 -0.05140935 0.58531606] [ 0.68643101 -0.20991196 0.6962395 1.29595709] [ 0. 0. 0. 1. ]] SLAMing on 72.71964924600002 meters Centerline goodness [0,1] 0.931451982755985 Centerline is valid? [False, False] Translation: X:7.88, Y:0.59, Z:1.30 [[ 0.64185762 -0.27273074 -0.71668454 7.88190411] [ 0.34080916 0.93869391 -0.05198903 0.58612612] [ 0.68692643 -0.2108831 0.69545697 1.29862841] [ 0. 0. 0. 1. ]] SLAMing on 72.749649246 meters Centerline goodness [0,1] 0.9292067858780376 Centerline is valid? [False, False] Translation: X:7.88, Y:0.59, Z:1.30 [[ 0.64104565 -0.27322537 -0.71722268 7.88430882] [ 0.34157566 0.93840423 -0.05218777 0.58606623] [ 0.68730382 -0.21153106 0.69488709 1.30051927] [ 0. 0. 0. 1. ]] SLAMing on 72.779649246 meters Centerline goodness [0,1] 0.9312696907594898 Centerline is valid? [False, False] Translation: X:7.89, Y:0.59, Z:1.30 [[ 0.63986278 -0.27432083 -0.7178605 7.88795605] [ 0.34259572 0.93798303 -0.05306607 0.58762971] [ 0.6878981 -0.21198093 0.69416157 1.30253262] [ 0. 0. 0. 1. ]] SLAMing on 72.809649246 meters Centerline goodness [0,1] 0.930338801165108 Centerline is valid? [False, False] Translation: X:7.89, Y:0.59, Z:1.30 [[ 0.63901779 -0.2747501 -0.71844878 7.8896928 ] [ 0.34305268 0.937791 -0.05350611 0.58923034] [ 0.6884556 -0.21227442 0.69351889 1.30420659] [ 0. 0. 0. 1. ]] SLAMing on 72.83964924600001 meters Centerline goodness [0,1] 0.9273790927746639 Centerline is valid? [False, False] Translation: X:7.89, Y:0.59, Z:1.31 [[ 0.63858296 -0.27494777 -0.71875971 7.89049482] [ 0.34324351 0.9377074 -0.05374689 0.59021654] [ 0.68876389 -0.21238776 0.69317801 1.3050216 ] [ 0. 0. 0. 1. ]] SLAMing on 72.86964924600001 meters Centerline goodness [0,1] 0.9271875860802498 Centerline is valid? [False, False] Translation: X:7.89, Y:0.59, Z:1.31 [[ 0.63740174 -0.27629669 -0.71929074 7.89319924] [ 0.3440242 0.93733709 -0.05519536 0.59445427] [ 0.68946818 -0.2122718 0.69251304 1.30610124] [ 0. 0. 0. 1. ]] SLAMing on 72.89964924600001 meters Centerline goodness [0,1] 0.9254637539663169 Centerline is valid? [False, False] Translation: X:7.90, Y:0.60, Z:1.31 [[ 0.63646645 -0.27750947 -0.71965197 7.89544474] [ 0.34495166 0.9369353 -0.0562192 0.59740799] [ 0.6898687 -0.2124635 0.69205523 1.30711319] [ 0. 0. 0. 1. ]] SLAMing on 72.92964924600001 meters Centerline goodness [0,1] 0.9251710980558415 Centerline is valid? [False, False] Translation: X:7.90, Y:0.60, Z:1.31 [[ 0.63638107 -0.27304593 -0.72143264 7.89691522] [ 0.34209113 0.93815342 -0.05330873 0.60098257] [ 0.69137023 -0.21287104 0.69042967 1.30909026] [ 0. 0. 0. 1. ]] SLAMing on 72.95964924600001 meters Centerline goodness [0,1] 0.9239819004524887 Centerline is valid? [False, False] Translation: X:7.90, Y:0.60, Z:1.31 [[ 0.63602648 -0.27330699 -0.72164645 7.89697151] [ 0.34213113 0.93811365 -0.05375009 0.60319998] [ 0.69167666 -0.21271123 0.69017195 1.30936626] [ 0. 0. 0. 1. ]] SLAMing on 72.98964924600001 meters Centerline goodness [0,1] 0.9284809744919496 Centerline is valid? [False, False] Translation: X:7.89, Y:0.61, Z:1.31 [[ 0.63589323 -0.2729378 -0.72190357 7.89476208] [ 0.34155029 0.93831653 -0.05390267 0.6060564 ] [ 0.69208612 -0.21229003 0.68989111 1.30947917] [ 0. 0. 0. 1. ]] SLAMing on 73.01964924600001 meters Centerline goodness [0,1] 0.9273601924233313 Centerline is valid? [False, False] Translation: X:7.89, Y:0.61, Z:1.31 [[ 0.63594737 -0.27228899 -0.72210086 7.89287247] [ 0.34095908 0.93854731 -0.05362695 0.60735516] [ 0.69232785 -0.21210293 0.68970609 1.30958544] [ 0. 0. 0. 1. ]] SLAMing on 73.04964924600002 meters Centerline goodness [0,1] 0.9296280769000419 Centerline is valid? [False, False] Translation: X:7.89, Y:0.61, Z:1.31 [[ 0.63640954 -0.26617481 -0.7239709 7.88985215] [ 0.33699919 0.9402062 -0.04943528 0.60871326] [ 0.69384036 -0.21251653 0.68805689 1.3120123 ] [ 0. 0. 0. 1. ]] SLAMing on 73.07964924600002 meters Centerline goodness [0,1] 0.929875407093131 Centerline is valid? [False, False] Translation: X:7.89, Y:0.61, Z:1.31 [[ 0.63628843 -0.26584255 -0.7241994 7.88847868] [ 0.33650968 0.94037615 -0.04953716 0.61051736] [ 0.69418893 -0.21218019 0.68780905 1.31215042] [ 0. 0. 0. 1. ]] SLAMing on 73.10964924600002 meters Centerline goodness [0,1] 0.9342226447606881 Centerline is valid? [False, False] Translation: X:7.89, Y:0.61, Z:1.31 [[ 0.63654947 -0.2603874 -0.72594984 7.88755973] [ 0.33295358 0.94182693 -0.04586879 0.6124766 ] [ 0.69566276 -0.21250985 0.68621635 1.31422889] [ 0. 0. 0. 1. ]] SLAMing on 73.139649246 meters Centerline goodness [0,1] 0.932968009478673 Centerline is valid? [False, False] Translation: X:7.89, Y:0.61, Z:1.31 [[ 0.63626242 -0.26060762 -0.72612244 7.88776992] [ 0.33292606 0.94181579 -0.04629527 0.61476801] [ 0.69593848 -0.21228914 0.68600506 1.31427442] [ 0. 0. 0. 1. ]] SLAMing on 73.169649246 meters Centerline goodness [0,1] 0.9339156180606958 Centerline is valid? [False, False] Translation: X:7.89, Y:0.62, Z:1.31 [[ 0.63554729 -0.26139698 -0.72646491 7.88946769] [ 0.33330856 0.94163435 -0.04722461 0.61761605] [ 0.69640868 -0.2121235 0.68557901 1.31489593] [ 0. 0. 0. 1. ]] SLAMing on 73.199649246 meters Centerline goodness [0,1] 0.9347381523961945 Centerline is valid? [False, False] Translation: X:7.89, Y:0.62, Z:1.32 [[ 0.63503417 -0.26169913 -0.72680476 7.89060498] [ 0.33362981 0.94150659 -0.04750261 0.61846279] [ 0.69672287 -0.21231795 0.68519949 1.31589995] [ 0. 0. 0. 1. ]] SLAMing on 73.22964924600001 meters Centerline goodness [0,1] 0.9342105263157895 Centerline is valid? [False, False] Translation: X:7.89, Y:0.62, Z:1.32 [[ 0.63441325 -0.26194057 -0.72725991 7.89165478] [ 0.33395691 0.94137866 -0.04773888 0.61943514] [ 0.69713171 -0.21258729 0.68469995 1.31721167] [ 0. 0. 0. 1. ]] SLAMing on 73.25964924600001 meters Centerline goodness [0,1] 0.9323274707615391 Centerline is valid? [False, False] Translation: X:7.89, Y:0.62, Z:1.32 [[ 0.63352071 -0.26208522 -0.72798547 7.89288422] [ 0.33459843 0.94115538 -0.04764913 0.61865127] [ 0.69763558 -0.21339609 0.68393473 1.3198036 ] [ 0. 0. 0. 1. ]] SLAMing on 73.28964924600001 meters Centerline goodness [0,1] 0.932847630706757 Centerline is valid? [False, False] Translation: X:7.89, Y:0.62, Z:1.32 [[ 0.63267736 -0.26183777 -0.72880748 7.89376347] [ 0.33489271 0.94106455 -0.04737494 0.61807405] [ 0.69825943 -0.21409926 0.68307779 1.3224099 ] [ 0. 0. 0. 1. ]] SLAMing on 73.31964924600001 meters Centerline goodness [0,1] 0.9336924496294753 Centerline is valid? [False, False] Translation: X:7.89, Y:0.62, Z:1.32 [[ 0.6321832 -0.26177149 -0.72925996 7.89448388] [ 0.33506869 0.94100502 -0.04731301 0.61831752] [ 0.69862249 -0.21444169 0.68259899 1.32373098] [ 0. 0. 0. 1. ]] SLAMing on 73.34964924600001 meters Centerline goodness [0,1] 0.935510738294961 Centerline is valid? [False, False] Translation: X:7.89, Y:0.62, Z:1.33 [[ 0.63120315 -0.26059894 -0.73052774 7.89374499] [ 0.33533654 0.94097818 -0.04592904 0.61691777] [ 0.69937972 -0.21598209 0.68133674 1.32802119] [ 0. 0. 0. 1. ]] SLAMing on 73.37964924600001 meters Centerline goodness [0,1] 0.9361810095221038 Centerline is valid? [False, False] Translation: X:7.89, Y:0.62, Z:1.33 [[ 0.63081664 -0.26028019 -0.73097509 7.89390909] [ 0.3354341 0.9409605 -0.04557743 0.61615836] [ 0.69968159 -0.21644297 0.68088039 1.32946765] [ 0. 0. 0. 1. ]] SLAMing on 73.40964924600001 meters Centerline goodness [0,1] 0.9348073922956919 Centerline is valid? [False, False] Translation: X:7.90, Y:0.62, Z:1.33 [[ 0.63000245 -0.26028254 -0.7316761 7.89529607] [ 0.33594127 0.94078756 -0.04541183 0.61574042] [ 0.70017168 -0.21719063 0.68013811 1.33181994] [ 0. 0. 0. 1. ]] SLAMing on 73.43964924600002 meters Centerline goodness [0,1] 0.9358018754508295 Centerline is valid? [False, False] Translation: X:7.90, Y:0.62, Z:1.33 [[ 0.62941303 -0.26019891 -0.73221293 7.896053 ] [ 0.33624732 0.94068638 -0.04524247 0.61522156] [ 0.70055476 -0.21772844 0.67957145 1.33360994] [ 0. 0. 0. 1. ]] SLAMing on 73.46964924600002 meters Centerline goodness [0,1] 0.9365045976320693 Centerline is valid? [False, False] Translation: X:7.90, Y:0.61, Z:1.34 [[ 0.62841201 -0.25921788 -0.73341968 7.8956686 ] [ 0.33646618 0.94065902 -0.0441715 0.61375668] [ 0.70134788 -0.21901301 0.67833948 1.33763282] [ 0. 0. 0. 1. ]] SLAMing on 73.499649246 meters Centerline goodness [0,1] 0.9359530261969287 Centerline is valid? [False, False] Translation: X:7.90, Y:0.61, Z:1.34 [[ 0.62795362 -0.25931292 -0.73377861 7.89603314] [ 0.3366016 0.94060236 -0.04434601 0.61469696] [ 0.70169339 -0.21914381 0.6779398 1.33854541] [ 0. 0. 0. 1. ]] SLAMing on 73.529649246 meters Centerline goodness [0,1] 0.937302756154008 Centerline is valid? [False, False] Translation: X:7.90, Y:0.62, Z:1.34 [[ 0.62736035 -0.25450441 -0.73596637 7.89800461] [ 0.33438398 0.9415636 -0.04056277 0.61519304] [ 0.70328255 -0.22064789 0.67580187 1.34298661] [ 0. 0. 0. 1. ]] SLAMing on 73.559649246 meters Centerline goodness [0,1] 0.935999277847987 Centerline is valid? [False, False] Translation: X:7.90, Y:0.62, Z:1.34 [[ 0.62673633 -0.25484011 -0.73638176 7.89914152] [ 0.33480722 0.94140137 -0.04083613 0.61649819] [ 0.70363748 -0.22095244 0.67533274 1.34418069] [ 0. 0. 0. 1. ]] SLAMing on 73.58964924600001 meters Centerline goodness [0,1] 0.935999277847987 Centerline is valid? [False, False] Translation: X:7.90, Y:0.62, Z:1.34 [[ 0.62673633 -0.25484011 -0.73638176 7.89914152] [ 0.33480722 0.94140137 -0.04083613 0.61649819] [ 0.70363748 -0.22095244 0.67533274 1.34418069] [ 0. 0. 0. 1. ]] SLAMing on 73.61964924600001 meters Centerline goodness [0,1] 0.9359564419577053 Centerline is valid? [False, False] Translation: X:7.90, Y:0.62, Z:1.35 [[ 0.6255977 -0.2552864 -0.73719494 7.90074354] [ 0.3357622 0.94105632 -0.04094822 0.61694607] [ 0.70419548 -0.22190508 0.67443819 1.34710497] [ 0. 0. 0. 1. ]] SLAMing on 73.64964924600001 meters Centerline goodness [0,1] 0.9348506743737958 Centerline is valid? [False, False] Translation: X:7.90, Y:0.62, Z:1.35 [[ 0.62494082 -0.25038318 -0.73943035 7.9031022 ] [ 0.33363081 0.9419776 -0.03699582 0.61619147] [ 0.70578995 -0.22357654 0.67221579 1.35197193] [ 0. 0. 0. 1. ]] SLAMing on 73.67964924600001 meters Centerline goodness [0,1] 0.9345284724314553 Centerline is valid? [False, False] Translation: X:7.91, Y:0.62, Z:1.35 [[ 0.62376073 -0.25175056 -0.7399623 7.90636701] [ 0.33471454 0.94154572 -0.03818151 0.61881752] [ 0.70632056 -0.22386001 0.67156382 1.35356892] [ 0. 0. 0. 1. ]] SLAMing on 73.70964924600001 meters Centerline goodness [0,1] 0.9326545410598828 Centerline is valid? [False, False] Translation: X:7.91, Y:0.62, Z:1.36 [[ 0.62308522 -0.25201885 -0.74043994 7.9076197 ] [ 0.3351054 0.94139682 -0.03842382 0.61930116] [ 0.70673134 -0.22418411 0.67102333 1.35506536] [ 0. 0. 0. 1. ]] SLAMing on 73.73964924600001 meters Centerline goodness [0,1] 0.930710137914348 Centerline is valid? [False, False] Translation: X:7.91, Y:0.62, Z:1.36 [[ 0.62187701 -0.25228174 -0.74136557 7.90936929] [ 0.33578158 0.94114848 -0.03860407 0.61940868] [ 0.70747418 -0.22492992 0.66999017 1.35811675] [ 0. 0. 0. 1. ]] SLAMing on 73.76964924600001 meters Centerline goodness [0,1] 0.929951397326853 Centerline is valid? [False, False] Translation: X:7.91, Y:0.62, Z:1.36 [[ 0.62120327 -0.25278562 -0.74175868 7.91102088] [ 0.33636654 0.94092483 -0.03896182 0.62008695] [ 0.70778814 -0.22529959 0.6695342 1.35946402] [ 0. 0. 0. 1. ]] SLAMing on 73.79964924600002 meters Centerline goodness [0,1] 0.9306307402226142 Centerline is valid? [False, False] Translation: X:7.91, Y:0.62, Z:1.36 [[ 0.6201284 -0.25381808 -0.74230529 7.91390019] [ 0.33742575 0.94051447 -0.03970372 0.62172378] [ 0.70822639 -0.22585151 0.6688845 1.36135775] [ 0. 0. 0. 1. ]] SLAMing on 73.82964924600002 meters Centerline goodness [0,1] 0.9278034260721661 Centerline is valid? [False, False] Translation: X:7.92, Y:0.62, Z:1.36 [[ 0.61880191 -0.25502653 -0.74299776 7.91682758] [ 0.33863771 0.94003936 -0.04062638 0.62401413] [ 0.70880794 -0.22646737 0.66805975 1.36369245] [ 0. 0. 0. 1. ]] SLAMing on 73.85964924600002 meters Centerline goodness [0,1] 0.9280490395411647 Centerline is valid? [False, False] Translation: X:7.92, Y:0.62, Z:1.36 [[ 0.61830018 -0.2552445 -0.74334053 7.91783513] [ 0.33900863 0.93990007 -0.04075551 0.62438573] [ 0.70906843 -0.22679972 0.66767046 1.36485298] [ 0. 0. 0. 1. ]] SLAMing on 73.889649246 meters Centerline goodness [0,1] 0.9284585460734257 Centerline is valid? [False, False] Translation: X:7.92, Y:0.63, Z:1.37 [[ 0.61783257 -0.25555512 -0.74362255 7.91878153] [ 0.3393914 0.93975229 -0.04097704 0.6253788 ] [ 0.70929288 -0.22706215 0.66734278 1.36576788] [ 0. 0. 0. 1. ]] SLAMing on 73.919649246 meters Centerline goodness [0,1] 0.9282054391656308 Centerline is valid? [False, False] Translation: X:7.92, Y:0.63, Z:1.37 [[ 0.61719772 -0.25591363 -0.74402634 7.91989607] [ 0.33984732 0.93957521 -0.0412581 0.6262259 ] [ 0.70962721 -0.22739095 0.66687524 1.36712467] [ 0. 0. 0. 1. ]] SLAMing on 73.949649246 meters Centerline goodness [0,1] 0.9301013288028639 Centerline is valid? [False, False] Translation: X:7.92, Y:0.63, Z:1.37 [[ 0.61675265 -0.25599189 -0.7443684 7.9205375 ] [ 0.34004862 0.93949842 -0.04134793 0.62646827] [ 0.70991767 -0.22762 0.66648783 1.36820274] [ 0. 0. 0. 1. ]] SLAMing on 73.97964924600001 meters Centerline goodness [0,1] 0.9283590241534166 Centerline is valid? [False, False] Translation: X:7.92, Y:0.63, Z:1.37 [[ 0.61594469 -0.2563819 -0.74490298 7.92177022] [ 0.34060673 0.93928317 -0.04164341 0.62681226] [ 0.71035146 -0.22806893 0.66587189 1.37011829] [ 0. 0. 0. 1. ]] SLAMing on 74.00964924600001 meters Centerline goodness [0,1] 0.926180803977445 Centerline is valid? [False, False] Translation: X:7.92, Y:0.63, Z:1.37 [[ 0.61540882 -0.2567665 -0.74521336 7.92300479] [ 0.34103234 0.93911524 -0.04194641 0.6277548 ] [ 0.71061166 -0.22832767 0.66550548 1.37113257] [ 0. 0. 0. 1. ]] SLAMing on 74.03964924600001 meters Centerline goodness [0,1] 0.9272914396416031 Centerline is valid? [False, False] Translation: X:7.92, Y:0.63, Z:1.37 [[ 0.61476613 -0.25746586 -0.74550247 7.92447978] [ 0.34146351 0.93892532 -0.04268399 0.62968462] [ 0.71096081 -0.22832122 0.66513468 1.37188902] [ 0. 0. 0. 1. ]] SLAMing on 74.06964924600001 meters Centerline goodness [0,1] 0.9291441414080058 Centerline is valid? [False, False] Translation: X:7.92, Y:0.63, Z:1.37 [[ 0.61449937 -0.25754727 -0.74569426 7.92495587] [ 0.34158994 0.93887513 -0.04277613 0.63039011] [ 0.71113067 -0.22843575 0.66491374 1.37243027] [ 0. 0. 0. 1. ]] SLAMing on 74.09964924600001 meters Centerline goodness [0,1] 0.9275687475366098 Centerline is valid? [False, False] Translation: X:7.93, Y:0.63, Z:1.37 [[ 0.61336311 -0.25882408 -0.74618751 7.92747643] [ 0.34271514 0.93841817 -0.04379114 0.63325655] [ 0.71157012 -0.22886988 0.66429402 1.37419112] [ 0. 0. 0. 1. ]] SLAMing on 74.12964924600001 meters Centerline goodness [0,1] 0.9278082150316312 Centerline is valid? [False, False] Translation: X:7.93, Y:0.63, Z:1.37 [[ 0.61293554 -0.25941579 -0.74633335 7.92885793] [ 0.34309846 0.93825183 -0.04435028 0.63486891] [ 0.7117538 -0.22888196 0.66409305 1.37458681] [ 0. 0. 0. 1. ]] SLAMing on 74.15964924600001 meters Centerline goodness [0,1] 0.9256803802258348 Centerline is valid? [False, False] Translation: X:7.93, Y:0.64, Z:1.38 [[ 0.61196037 -0.2605779 -0.74672864 7.93170149] [ 0.34377339 0.93794603 -0.04557521 0.6377383 ] [ 0.71226706 -0.22881521 0.66356555 1.37559104] [ 0. 0. 0. 1. ]] SLAMing on 74.18964924600002 meters Centerline goodness [0,1] 0.9239671931956257 Centerline is valid? [False, False] Translation: X:7.93, Y:0.64, Z:1.38 [[ 0.61110288 -0.26146161 -0.74712188 7.93363378] [ 0.34445103 0.93765695 -0.04639977 0.63918305] [ 0.71267578 -0.22899186 0.66306558 1.37693289] [ 0. 0. 0. 1. ]] SLAMing on 74.21964924600002 meters Centerline goodness [0,1] 0.9235866261398176 Centerline is valid? [False, False] Translation: X:7.94, Y:0.64, Z:1.38 [[ 0.61043411 -0.26202675 -0.74747052 7.93511342] [ 0.34505931 0.93741273 -0.04681287 0.63979187] [ 0.7129546 -0.22934549 0.66264348 1.37827113] [ 0. 0. 0. 1. ]] SLAMing on 74.249649246 meters Centerline goodness [0,1] 0.9248177399756987 Centerline is valid? [False, False] Translation: X:7.94, Y:0.64, Z:1.38 [[ 0.60928664 -0.26335657 -0.74793924 7.93821422] [ 0.34614693 0.93695506 -0.04793247 0.642082 ] [ 0.71340879 -0.22969226 0.66203427 1.37995593] [ 0. 0. 0. 1. ]] SLAMing on 74.279649246 meters Centerline goodness [0,1] 0.924196298100341 Centerline is valid? [False, False] Translation: X:7.94, Y:0.64, Z:1.38 [[ 0.60867164 -0.26384563 -0.74826755 7.93994792] [ 0.3466675 0.93674317 -0.04831014 0.6427965 ] [ 0.71368094 -0.22999503 0.66163571 1.38111953] [ 0. 0. 0. 1. ]] SLAMing on 74.309649246 meters Centerline goodness [0,1] 0.9234490522408495 Centerline is valid? [False, False] Translation: X:7.94, Y:0.64, Z:1.38 [[ 0.60810096 -0.26436199 -0.74854923 7.9412937 ] [ 0.34719644 0.93652725 -0.04869649 0.64327298] [ 0.71391025 -0.23028125 0.66128866 1.38225767] [ 0. 0. 0. 1. ]] SLAMing on 74.33964924600001 meters Centerline goodness [0,1] 0.923267251122583 Centerline is valid? [False, False] Translation: X:7.94, Y:0.64, Z:1.38 [[ 0.60725607 -0.26997951 -0.74722897 7.94182803] [ 0.35061992 0.93502316 -0.05289011 0.64479989] [ 0.71295563 -0.22987552 0.66245869 1.38101802] [ 0. 0. 0. 1. ]] SLAMing on 74.36964924600001 meters Centerline goodness [0,1] 0.9229878048780488 Centerline is valid? [False, False] Translation: X:7.94, Y:0.64, Z:1.38 [[ 0.60685059 -0.27003009 -0.74754004 7.94229777] [ 0.35088926 0.93492343 -0.05286686 0.64485604] [ 0.71316834 -0.23022148 0.6621095 1.38215982] [ 0. 0. 0. 1. ]] SLAMing on 74.39964924600001 meters Centerline goodness [0,1] 0.9256822910292498 Centerline is valid? [False, False] Translation: X:7.94, Y:0.64, Z:1.38 [[ 0.60646102 -0.27404985 -0.74639246 7.93981472] [ 0.35342021 0.93380498 -0.05569929 0.64315284] [ 0.71224938 -0.23001074 0.66317108 1.38159161] [ 0. 0. 0. 1. ]] SLAMing on 74.42964924600001 meters Centerline goodness [0,1] 0.9267073507313932 Centerline is valid? [False, False] Translation: X:7.94, Y:0.64, Z:1.38 [[ 0.60566393 -0.27896174 -0.74521913 7.93865243] [ 0.35648566 0.93241646 -0.05930875 0.64371658] [ 0.71139945 -0.22973876 0.66417688 1.38089491] [ 0. 0. 0. 1. ]] SLAMing on 74.45964924600001 meters Centerline goodness [0,1] 0.9250023005429281 Centerline is valid? [False, False] Translation: X:7.94, Y:0.64, Z:1.38 [[ 0.60528754 -0.27924065 -0.74542046 7.93985077] [ 0.35696308 0.93223026 -0.05936419 0.64400565] [ 0.7114804 -0.23015518 0.66394596 1.38186766] [ 0. 0. 0. 1. ]] SLAMing on 74.48964924600001 meters Centerline goodness [0,1] 0.923131387760128 Centerline is valid? [False, False] Translation: X:7.94, Y:0.65, Z:1.38 [[ 0.60336473 -0.2863765 -0.74427112 7.943808 ] [ 0.36196261 0.929966 -0.06439178 0.64706563] [ 0.71058713 -0.23054659 0.66476627 1.38224803] [ 0. 0. 0. 1. ]] SLAMing on 74.51964924600001 meters Centerline goodness [0,1] 0.9230152612918144 Centerline is valid? [False, False] Translation: X:7.95, Y:0.65, Z:1.38 [[ 0.60262184 -0.28713453 -0.74458087 7.94631261] [ 0.36276787 0.92961775 -0.06488686 0.64774692] [ 0.71080686 -0.23100777 0.66437115 1.38362976] [ 0. 0. 0. 1. ]] SLAMing on 74.54964924600002 meters Centerline goodness [0,1] 0.9226856561546287 Centerline is valid? [False, False] Translation: X:7.95, Y:0.65, Z:1.39 [[ 0.60160139 -0.28822549 -0.74498445 7.94969275] [ 0.36372702 0.92918105 -0.06576645 0.6491683 ] [ 0.71118101 -0.23140579 0.66383201 1.38531195] [ 0. 0. 0. 1. ]] SLAMing on 74.57964924600002 meters Centerline goodness [0,1] 0.9220458335907098 Centerline is valid? [False, False] Translation: X:7.95, Y:0.65, Z:1.39 [[ 0.60133302 -0.28838707 -0.74513857 7.95031969] [ 0.36389313 0.929105 -0.06592185 0.64975383] [ 0.71132298 -0.23150982 0.66364359 1.38585818] [ 0. 0. 0. 1. ]] SLAMing on 74.60964924600002 meters Centerline goodness [0,1] 0.9208650849967606 Centerline is valid? [False, False] Translation: X:7.95, Y:0.65, Z:1.39 [[ 0.60111489 -0.28805969 -0.74544115 7.94951187] [ 0.36370454 0.92918903 -0.06577808 0.64974016] [ 0.71160375 -0.23158015 0.66331798 1.38675147] [ 0. 0. 0. 1. ]] SLAMing on 74.639649246 meters Centerline goodness [0,1] 0.9210048332974171 Centerline is valid? [False, False] Translation: X:7.95, Y:0.65, Z:1.39 [[ 0.60077776 -0.28822778 -0.74564793 7.94994981] [ 0.36383677 0.92912144 -0.06600108 0.6507192 ] [ 0.71182082 -0.23164216 0.66306337 1.38734325] [ 0. 0. 0. 1. ]] SLAMing on 74.669649246 meters Centerline goodness [0,1] 0.9219552711723629 Centerline is valid? [False, False] Translation: X:7.95, Y:0.65, Z:1.39 [[ 0.60064022 -0.28848974 -0.74565743 7.95002307] [ 0.36380019 0.92910611 -0.0664173 0.65290395] [ 0.71195558 -0.23137742 0.66301111 1.38708953] [ 0. 0. 0. 1. ]] SLAMing on 74.699649246 meters Centerline goodness [0,1] 0.9218625222679526 Centerline is valid? [False, False] Translation: X:7.95, Y:0.65, Z:1.39 [[ 0.60062833 -0.28818242 -0.74578583 7.94955264] [ 0.36358967 0.92920151 -0.06623521 0.65343037] [ 0.71207314 -0.23137728 0.6628849 1.38730994] [ 0. 0. 0. 1. ]] SLAMing on 74.72964924600001 meters Centerline goodness [0,1] 0.9219945313220068 Centerline is valid? [False, False] Translation: X:7.95, Y:0.65, Z:1.39 [[ 0.60038182 -0.28783011 -0.7461203 7.94837149] [ 0.36335989 0.92930031 -0.0661099 0.65380185] [ 0.71239825 -0.231419 0.66252093 1.38826322] [ 0. 0. 0. 1. ]] SLAMing on 74.75964924600001 meters Centerline goodness [0,1] 0.9210308329498389 Centerline is valid? [False, False] Translation: X:7.95, Y:0.65, Z:1.39 [[ 0.60036681 -0.28746368 -0.74627363 7.94785588] [ 0.36318384 0.92938947 -0.06582331 0.65362798] [ 0.71250066 -0.23151639 0.66237676 1.38871568] [ 0. 0. 0. 1. ]] SLAMing on 74.78964924600001 meters Centerline goodness [0,1] 0.9221435793731041 Centerline is valid? [False, False] Translation: X:7.95, Y:0.65, Z:1.39 [[ 0.60038218 -0.28732639 -0.74631413 7.94803423] [ 0.36313624 0.92941748 -0.06569035 0.65398603] [ 0.71251197 -0.2315744 0.66234432 1.3888241 ] [ 0. 0. 0. 1. ]] SLAMing on 74.81964924600001 meters Centerline goodness [0,1] 0.9198627619164318 Centerline is valid? [False, False] Translation: X:7.95, Y:0.66, Z:1.39 [[ 0.60022596 -0.2877133 -0.74629073 7.94923883] [ 0.36321943 0.92935179 -0.06615805 0.65611962] [ 0.71260118 -0.23135752 0.66232413 1.38852299] [ 0. 0. 0. 1. ]] SLAMing on 74.84964924600001 meters Centerline goodness [0,1] 0.9191598485773599 Centerline is valid? [False, False] Translation: X:7.95, Y:0.66, Z:1.39 [[ 0.60008372 -0.28781887 -0.7463644 7.94971858] [ 0.36301383 0.929405 -0.06653802 0.65783051] [ 0.7128257 -0.23101222 0.66220304 1.38834729] [ 0. 0. 0. 1. ]] SLAMing on 74.87964924600001 meters Centerline goodness [0,1] 0.9202002625393045 Centerline is valid? [False, False] Translation: X:7.95, Y:0.66, Z:1.39 [[ 0.60005146 -0.28785255 -0.74637735 7.94984485] [ 0.36292067 0.92943124 -0.06667951 0.65837258] [ 0.7129003 -0.23086463 0.66217421 1.38832591] [ 0. 0. 0. 1. ]] SLAMing on 74.90964924600001 meters Centerline goodness [0,1] 0.9194291116464883 Centerline is valid? [False, False] Translation: X:7.95, Y:0.66, Z:1.39 [[ 0.60001937 -0.28781019 -0.74641949 7.94983157] [ 0.36280078 0.92947291 -0.06675104 0.65866115] [ 0.71298832 -0.23074965 0.66211951 1.388389 ] [ 0. 0. 0. 1. ]] SLAMing on 74.93964924600002 meters Centerline goodness [0,1] 0.9196244074389206 Centerline is valid? [False, False] Translation: X:7.95, Y:0.66, Z:1.39 [[ 0.59992589 -0.28256117 -0.74849724 7.95140234] [ 0.35987494 0.93087337 -0.06296667 0.65860137] [ 0.71454808 -0.23159006 0.66014172 1.39200089] [ 0. 0. 0. 1. ]] SLAMing on 74.96964924600002 meters Centerline goodness [0,1] 0.918411311365981 Centerline is valid? [False, False] Translation: X:7.95, Y:0.66, Z:1.39 [[ 0.59988474 -0.28280308 -0.74843885 7.95229313] [ 0.35945377 0.93098803 -0.06367313 0.66076984] [ 0.71479457 -0.23083263 0.66014015 1.39112421] [ 0. 0. 0. 1. ]] SLAMing on 74.999649246 meters Centerline goodness [0,1] 0.9205983191237598 Centerline is valid? [False, False] Translation: X:7.95, Y:0.66, Z:1.39 [[ 0.59987707 -0.28303668 -0.74835669 7.95298347] [ 0.3592856 0.93102213 -0.06412211 0.66257332] [ 0.71488555 -0.2304084 0.66018984 1.39048223] [ 0. 0. 0. 1. ]] SLAMing on 75.029649246 meters Centerline goodness [0,1] 0.9186155285313377 Centerline is valid? [False, False] Translation: X:7.95, Y:0.66, Z:1.39 [[ 0.60036879 -0.27828311 -0.74974384 7.95439563] [ 0.35583918 0.93254191 -0.06118879 0.66476466] [ 0.71619536 -0.2300524 0.65889309 1.39129123] [ 0. 0. 0. 1. ]] SLAMing on 75.059649246 meters Centerline goodness [0,1] 0.9191240700021085 Centerline is valid? [False, False] Translation: X:7.95, Y:0.67, Z:1.39 [[ 0.60054069 -0.2779203 -0.74974074 7.95387327] [ 0.35527631 0.93275663 -0.06118665 0.66577393] [ 0.71633066 -0.22962005 0.65889682 1.39075135] [ 0. 0. 0. 1. ]] SLAMing on 75.08964924600001 meters Centerline goodness [0,1] 0.9201834032155893 Centerline is valid? [False, False] Translation: X:7.95, Y:0.67, Z:1.39 [[ 0.60028493 -0.27782903 -0.74997936 7.95394266] [ 0.35526239 0.93276185 -0.0611879 0.66602457] [ 0.71655191 -0.22970929 0.65862509 1.39151764] [ 0. 0. 0. 1. ]] SLAMing on 75.11964924600001 meters Centerline goodness [0,1] 0.9217496594520963 Centerline is valid? [False, False] Translation: X:7.95, Y:0.67, Z:1.39 [[ 0.60022581 -0.2773393 -0.7502079 7.95366987] [ 0.35497143 0.93289343 -0.0608698 0.66579029] [ 0.71674561 -0.22976675 0.65839424 1.39222687] [ 0. 0. 0. 1. ]] SLAMing on 75.14964924600001 meters Centerline goodness [0,1] 0.9212304894681013 Centerline is valid? [False, False] Translation: X:7.95, Y:0.67, Z:1.39 [[ 0.59964841 -0.27766894 -0.75054763 7.95495602] [ 0.35571035 0.93261443 -0.06083147 0.66597405] [ 0.71686256 -0.23050007 0.65801048 1.39395378] [ 0. 0. 0. 1. ]] SLAMing on 75.17964924600001 meters Centerline goodness [0,1] 0.9204126081432633 Centerline is valid? [False, False] Translation: X:7.96, Y:0.67, Z:1.40 [[ 0.59897611 -0.27815954 -0.75090272 7.95652009] [ 0.35646146 0.93231525 -0.06102053 0.66635632] [ 0.7170515 -0.23111804 0.65758771 1.39555159] [ 0. 0. 0. 1. ]] SLAMing on 75.20964924600001 meters Centerline goodness [0,1] 0.9207546027131783 Centerline is valid? [False, False] Translation: X:7.96, Y:0.67, Z:1.40 [[ 0.59864018 -0.27815592 -0.7511719 7.9571278 ] [ 0.35658179 0.93226795 -0.06104018 0.66690176] [ 0.71727217 -0.23131312 0.65727839 1.39651421] [ 0. 0. 0. 1. ]] SLAMing on 75.23964924600001 meters Centerline goodness [0,1] 0.9192822402803371 Centerline is valid? [False, False] Translation: X:7.96, Y:0.67, Z:1.40 [[ 0.59856659 -0.27826296 -0.75119089 7.95797031] [ 0.35654318 0.93226975 -0.06123784 0.66775128] [ 0.71735277 -0.23117706 0.65723829 1.39644145] [ 0. 0. 0. 1. ]] SLAMing on 75.26964924600001 meters Centerline goodness [0,1] 0.9207144150123695 Centerline is valid? [False, False] Translation: X:7.96, Y:0.67, Z:1.40 [[ 0.59872311 -0.27774765 -0.75125686 7.95772736] [ 0.35600641 0.93248866 -0.06102742 0.6678965 ] [ 0.71748873 -0.23091373 0.65718245 1.39636667] [ 0. 0. 0. 1. ]] SLAMing on 75.29964924600002 meters Centerline goodness [0,1] 0.9215798511734402 Centerline is valid? [False, False] Translation: X:7.96, Y:0.67, Z:1.40 [[ 0.5986632 -0.27693919 -0.75160299 7.9571928 ] [ 0.35563187 0.93267299 -0.06039091 0.66674679] [ 0.71772442 -0.23114016 0.6568454 1.39734715] [ 0. 0. 0. 1. ]] SLAMing on 75.32964924600002 meters Centerline goodness [0,1] 0.9194521539761071 Centerline is valid? [False, False] Translation: X:7.96, Y:0.67, Z:1.40 [[ 0.59842932 -0.27660762 -0.75191128 7.95732995] [ 0.35555558 0.93271811 -0.06014281 0.66630213] [ 0.71795722 -0.23135503 0.65651525 1.39831666] [ 0. 0. 0. 1. ]] SLAMing on 75.35964924600002 meters Centerline goodness [0,1] 0.919586444572085 Centerline is valid? [False, False] Translation: X:7.96, Y:0.67, Z:1.40 [[ 0.59820837 -0.2769251 -0.75197023 7.95941754] [ 0.3556123 0.93266865 -0.06057301 0.66757187] [ 0.71811325 -0.23117458 0.65640816 1.39833924] [ 0. 0. 0. 1. ]] SLAMing on 75.389649246 meters Centerline goodness [0,1] 0.9206435449304236 Centerline is valid? [False, False] Translation: X:7.96, Y:0.67, Z:1.40 [[ 0.59805376 -0.27721768 -0.75198541 7.96133923] [ 0.35540989 0.93270601 -0.06118254 0.66968479] [ 0.71834219 -0.23067261 0.65633425 1.39788701] [ 0. 0. 0. 1. ]] SLAMing on 75.419649246 meters Centerline goodness [0,1] 0.9210978736238878 Centerline is valid? [False, False] Translation: X:7.96, Y:0.67, Z:1.40 [[ 0.59783764 -0.2770221 -0.75222929 7.96149362] [ 0.35519385 0.93278563 -0.06122333 0.67038636] [ 0.71862889 -0.23058561 0.65605091 1.3983377 ] [ 0. 0. 0. 1. ]] SLAMing on 75.449649246 meters Centerline goodness [0,1] 0.919374681189426 Centerline is valid? [False, False] Translation: X:7.96, Y:0.67, Z:1.40 [[ 0.59811612 -0.2762701 -0.75228448 7.96028374] [ 0.35397903 0.93324302 -0.06128876 0.67205512] [ 0.7189965 -0.22963514 0.65598151 1.39746039] [ 0. 0. 0. 1. ]] SLAMing on 75.47964924600001 meters Centerline goodness [0,1] 0.9215275491575136 Centerline is valid? [False, False] Translation: X:7.96, Y:0.67, Z:1.40 [[ 0.59828174 -0.27573803 -0.75234799 7.95935851] [ 0.35337114 0.93348459 -0.06111759 0.67332132] [ 0.7191577 -0.22929253 0.65592464 1.39701886] [ 0. 0. 0. 1. ]] SLAMing on 75.50964924600001 meters Centerline goodness [0,1] 0.9215275491575136 Centerline is valid? [False, False] Translation: X:7.96, Y:0.67, Z:1.40 [[ 0.59828174 -0.27573803 -0.75234799 7.95935851] [ 0.35337114 0.93348459 -0.06111759 0.67332132] [ 0.7191577 -0.22929253 0.65592464 1.39701886] [ 0. 0. 0. 1. ]] SLAMing on 75.53964924600001 meters Centerline goodness [0,1] 0.9194110809763657 Centerline is valid? [False, False] Translation: X:7.96, Y:0.68, Z:1.40 [[ 0.5985155 -0.27463928 -0.75256393 7.95839701] [ 0.35188196 0.93405339 -0.06101932 0.67510049] [ 0.71969318 -0.22829266 0.65568604 1.39620156] [ 0. 0. 0. 1. ]] SLAMing on 75.56964924600001 meters Centerline goodness [0,1] 0.9201619384990921 Centerline is valid? [False, False] Translation: X:7.96, Y:0.68, Z:1.40 [[ 0.59866541 -0.27446624 -0.75250781 7.95807468] [ 0.35145998 0.93420501 -0.06113001 0.67652517] [ 0.71977469 -0.22787996 0.65574013 1.39554718] [ 0. 0. 0. 1. ]] SLAMing on 75.59964924600001 meters Centerline goodness [0,1] 0.9188151235486752 Centerline is valid? [False, False] Translation: X:7.96, Y:0.68, Z:1.40 [[ 0.59855923 -0.27421714 -0.75268307 7.95820196] [ 0.35110703 0.93433419 -0.06118392 0.67777313] [ 0.72003521 -0.22765012 0.65553392 1.39572504] [ 0. 0. 0. 1. ]] SLAMing on 75.62964924600001 meters Centerline goodness [0,1] 0.9190528798781762 Centerline is valid? [False, False] Translation: X:7.96, Y:0.68, Z:1.40 [[ 0.59839837 -0.27382357 -0.75295421 7.95826007] [ 0.35093378 0.93441677 -0.06091623 0.67780417] [ 0.72025334 -0.22778489 0.65524741 1.39644511] [ 0. 0. 0. 1. ]] SLAMing on 75.65964924600001 meters Centerline goodness [0,1] 0.9203071062968694 Centerline is valid? [False, False] Translation: X:7.96, Y:0.68, Z:1.40 [[ 0.59789527 -0.2738233 -0.75335386 7.95980005] [ 0.35096949 0.93439261 -0.06108082 0.67833106] [ 0.72065363 -0.22788429 0.65477255 1.39764 ] [ 0. 0. 0. 1. ]] SLAMing on 75.68964924600002 meters Centerline goodness [0,1] 0.919922860109776 Centerline is valid? [False, False] Translation: X:7.96, Y:0.68, Z:1.40 [[ 0.59763622 -0.27400004 -0.75349514 7.96082794] [ 0.35109319 0.93433249 -0.06128922 0.67922014] [ 0.72080824 -0.22791836 0.65459049 1.39800675] [ 0. 0. 0. 1. ]] SLAMing on 75.71964924600002 meters Centerline goodness [0,1] 0.9204650194749204 Centerline is valid? [False, False] Translation: X:7.96, Y:0.68, Z:1.40 [[ 0.59705998 -0.27392916 -0.75397759 7.96184171] [ 0.35133822 0.9342459 -0.061205 0.67899359] [ 0.7211663 -0.22835809 0.65404262 1.39978053] [ 0. 0. 0. 1. ]] SLAMing on 75.749649246 meters Centerline goodness [0,1] 0.9200739614088456 Centerline is valid? [False, False] Translation: X:7.96, Y:0.68, Z:1.40 [[ 0.59662221 -0.27380769 -0.75436814 7.96273624] [ 0.35144903 0.9342094 -0.06112588 0.67857235] [ 0.72147454 -0.22865289 0.65359953 1.40108958] [ 0. 0. 0. 1. ]] SLAMing on 75.779649246 meters Centerline goodness [0,1] 0.9202154720933713 Centerline is valid? [False, False] Translation: X:7.96, Y:0.68, Z:1.40 [[ 0.59619084 -0.27320959 -0.75492583 7.96349151] [ 0.3514105 0.93425882 -0.06058973 0.67717276] [ 0.72184981 -0.22916582 0.65300527 1.40305086] [ 0. 0. 0. 1. ]] SLAMing on 75.809649246 meters Centerline goodness [0,1] 0.9207147346682231 Centerline is valid? [False, False] Translation: X:7.96, Y:0.68, Z:1.40 [[ 0.59571946 -0.2731231 -0.75532913 7.96435443] [ 0.35165005 0.93417764 -0.06045141 0.67706599] [ 0.72212226 -0.22959945 0.65255155 1.40445568] [ 0. 0. 0. 1. ]] SLAMing on 75.83964924600001 meters Centerline goodness [0,1] 0.9180130938795122 Centerline is valid? [False, False] Translation: X:7.97, Y:0.68, Z:1.41 [[ 0.59501617 -0.27310965 -0.75588813 7.96658941] [ 0.35213856 0.9340053 -0.06027046 0.6760789 ] [ 0.72246397 -0.23031546 0.6519207 1.4067369 ] [ 0. 0. 0. 1. ]] SLAMing on 75.86964924600001 meters Centerline goodness [0,1] 0.9191119111911191 Centerline is valid? [False, False] Translation: X:7.97, Y:0.68, Z:1.41 [[ 0.59464644 -0.27283185 -0.75627931 7.96749411] [ 0.35220433 0.93399704 -0.06001366 0.6752357 ] [ 0.72273627 -0.23067794 0.65149057 1.40810152] [ 0. 0. 0. 1. ]] SLAMing on 75.89964924600001 meters Centerline goodness [0,1] 0.9170824066838973 Centerline is valid? [False, False] Translation: X:7.97, Y:0.67, Z:1.41 [[ 0.59402185 -0.27258748 -0.75685805 7.96904366] [ 0.35242168 0.93393115 -0.05976255 0.67416003] [ 0.72314384 -0.23123293 0.65084124 1.4103067 ] [ 0. 0. 0. 1. ]] SLAMing on 75.92964924600001 meters Centerline goodness [0,1] 0.917123411431669 Centerline is valid? [False, False] Translation: X:7.97, Y:0.67, Z:1.41 [[ 0.5937107 -0.27238668 -0.75717442 7.96997534] [ 0.35252236 0.93390692 -0.05954705 0.67341951] [ 0.72335025 -0.23156719 0.65049293 1.41149316] [ 0. 0. 0. 1. ]] SLAMing on 75.95964924600001 meters Centerline goodness [0,1] 0.9159569970405267 Centerline is valid? [False, False] Translation: X:7.97, Y:0.67, Z:1.41 [[ 0.59256232 -0.27700238 -0.75639909 7.97007182] [ 0.35587558 0.93242937 -0.06267418 0.67173661] [ 0.72264962 -0.2320456 0.65110089 1.41259649] [ 0. 0. 0. 1. ]] SLAMing on 75.98964924600001 meters Centerline goodness [0,1] 0.9174044875682231 Centerline is valid? [False, False] Translation: X:7.97, Y:0.67, Z:1.41 [[ 0.59210179 -0.27700665 -0.75675808 7.97115629] [ 0.35621165 0.93230875 -0.06255919 0.6711308 ] [ 0.72286149 -0.23252463 0.65069467 1.41403388] [ 0. 0. 0. 1. ]] SLAMing on 76.01964924600001 meters Centerline goodness [0,1] 0.9161990840435534 Centerline is valid? [False, False] Translation: X:7.97, Y:0.67, Z:1.41 [[ 0.59153087 -0.27750671 -0.7570213 7.9745729 ] [ 0.35657126 0.93213633 -0.06307771 0.6729008 ] [ 0.72315155 -0.23261963 0.65033833 1.41478154] [ 0. 0. 0. 1. ]] SLAMing on 76.04964924600002 meters Centerline goodness [0,1] 0.9140518417462483 Centerline is valid? [False, False] Translation: X:7.98, Y:0.67, Z:1.42 [[ 0.59115118 -0.27747417 -0.75732976 7.97594011] [ 0.35672854 0.93207825 -0.06304671 0.67299632] [ 0.72338443 -0.232891 0.64998211 1.41578053] [ 0. 0. 0. 1. ]] SLAMing on 76.07964924600002 meters Centerline goodness [0,1] 0.9147056144292959 Centerline is valid? [False, False] Translation: X:7.98, Y:0.67, Z:1.42 [[ 0.59030452 -0.27753623 -0.75796716 7.97816536] [ 0.35703961 0.93195016 -0.0631793 0.67284319] [ 0.72392216 -0.23332928 0.64922581 1.41797433] [ 0. 0. 0. 1. ]] SLAMing on 76.10964924600002 meters Centerline goodness [0,1] 0.9132306572883823 Centerline is valid? [False, False] Translation: X:7.98, Y:0.67, Z:1.42 [[ 0.59009322 -0.27706361 -0.75830452 7.97827463] [ 0.3569196 0.93202246 -0.06278965 0.67248349] [ 0.72415357 -0.233602 0.64886956 1.41901488] [ 0. 0. 0. 1. ]] SLAMing on 76.139649246 meters Centerline goodness [0,1] 0.9119702332335058 Centerline is valid? [False, False] Translation: X:7.98, Y:0.67, Z:1.42 [[ 0.58997455 -0.27596665 -0.7587967 7.97716531] [ 0.35635434 0.93229192 -0.06199485 0.67080987] [ 0.72452854 -0.23382512 0.64837042 1.42055421] [ 0. 0. 0. 1. ]] SLAMing on 76.169649246 meters Centerline goodness [0,1] 0.9120092238606712 Centerline is valid? [False, False] Translation: X:7.98, Y:0.67, Z:1.42 [[ 0.58971274 -0.27554716 -0.75915259 7.97738704] [ 0.35624013 0.93235608 -0.06168552 0.67028234] [ 0.7247978 -0.23406388 0.64798322 1.42166369] [ 0. 0. 0. 1. ]] SLAMing on 76.199649246 meters Centerline goodness [0,1] 0.9118922689636347 Centerline is valid? [False, False] Translation: X:7.98, Y:0.67, Z:1.42 [[ 0.58963333 -0.27495821 -0.75942776 7.97771694] [ 0.35583038 0.93253402 -0.06135992 0.67039721] [ 0.72506363 -0.23404761 0.64769163 1.42225173] [ 0. 0. 0. 1. ]] SLAMing on 76.22964924600001 meters Centerline goodness [0,1] 0.9134577454104081 Centerline is valid? [False, False] Translation: X:7.98, Y:0.67, Z:1.42 [[ 0.58938932 -0.27512398 -0.75955712 7.97864575] [ 0.35589134 0.93249455 -0.06160571 0.67173659] [ 0.72523209 -0.23401006 0.64751657 1.42250682] [ 0. 0. 0. 1. ]] SLAMing on 76.25964924600001 meters Centerline goodness [0,1] 0.9103458737864077 Centerline is valid? [False, False] Translation: X:7.98, Y:0.67, Z:1.42 [[ 0.5887073 -0.27525585 -0.76003812 7.98043474] [ 0.35600964 0.93242778 -0.06193206 0.67290002] [ 0.72572781 -0.23412104 0.64692077 1.42387985] [ 0. 0. 0. 1. ]] SLAMing on 76.28964924600001 meters Centerline goodness [0,1] 0.9097443362751342 Centerline is valid? [False, False] Translation: X:7.98, Y:0.67, Z:1.43 [[ 0.58817292 -0.27511544 -0.76050254 7.98119249] [ 0.35610264 0.93239515 -0.06188852 0.67284835] [ 0.72611537 -0.23441581 0.64637892 1.42536983] [ 0. 0. 0. 1. ]] SLAMing on 76.31964924600001 meters Centerline goodness [0,1] 0.9114139176352767 Centerline is valid? [False, False] Translation: X:7.98, Y:0.67, Z:1.43 [[ 0.58750747 -0.27509798 -0.76102304 7.98232686] [ 0.35636159 0.93229544 -0.06190023 0.6724668 ] [ 0.72652694 -0.23483253 0.64576489 1.42731259] [ 0. 0. 0. 1. ]] SLAMing on 76.34964924600001 meters Centerline goodness [0,1] 0.9094912680334093 Centerline is valid? [False, False] Translation: X:7.98, Y:0.67, Z:1.43 [[ 0.58682574 -0.27519026 -0.76151551 7.98385505] [ 0.3565952 0.93219444 -0.06207567 0.67311165] [ 0.72696314 -0.23512518 0.64516722 1.4289681 ] [ 0. 0. 0. 1. ]] SLAMing on 76.37964924600001 meters Centerline goodness [0,1] 0.9090549744587691 Centerline is valid? [False, False] Translation: X:7.99, Y:0.67, Z:1.43 [[ 0.58617933 -0.27554801 -0.76188391 7.98520359] [ 0.35690793 0.93204693 -0.06249197 0.67385963] [ 0.7273311 -0.23529091 0.64469191 1.43017956] [ 0. 0. 0. 1. ]] SLAMing on 76.40964924600001 meters Centerline goodness [0,1] 0.909809885931559 Centerline is valid? [False, False] Translation: X:7.99, Y:0.67, Z:1.43 [[ 0.58558512 -0.27568151 -0.76229245 7.98666619] [ 0.35714512 0.93194342 -0.06268028 0.67418628] [ 0.72769323 -0.23554439 0.64419051 1.43154668] [ 0. 0. 0. 1. ]] SLAMing on 76.43964924600002 meters Centerline goodness [0,1] 0.9055813669152708 Centerline is valid? [False, False] Translation: X:7.99, Y:0.67, Z:1.43 [[ 0.58369762 -0.28146388 -0.76162666 7.98874941] [ 0.36144879 0.93000454 -0.06668082 0.67419579] [ 0.7270845 -0.2363676 0.64457621 1.43344572] [ 0. 0. 0. 1. ]] SLAMing on 76.46964924600002 meters Centerline goodness [0,1] 0.9089322350491472 Centerline is valid? [False, False] Translation: X:7.99, Y:0.67, Z:1.44 [[ 0.58275948 -0.28192815 -0.76217315 7.99107756] [ 0.36236937 0.92963733 -0.0668047 0.67397193] [ 0.72737874 -0.23725714 0.64391709 1.43583626] [ 0. 0. 0. 1. ]] SLAMing on 76.49964924600002 meters Centerline goodness [0,1] 0.9015297832551581 Centerline is valid? [False, False] Translation: X:8.00, Y:0.68, Z:1.44 [[ 0.57962822 -0.28968395 -0.76165237 7.99679904] [ 0.36850746 0.9268272 -0.07206653 0.67719114] [ 0.72679666 -0.23890279 0.6439659 1.4391638 ] [ 0. 0. 0. 1. ]] SLAMing on 76.529649246 meters Centerline goodness [0,1] 0.8955402298850574 Centerline is valid? [False, False] Translation: X:8.00, Y:0.68, Z:1.44 [[ 0.57893437 -0.29004755 -0.76204161 7.9984342 ] [ 0.36888755 0.92664611 -0.07244979 0.67882119] [ 0.72715677 -0.23916399 0.64346221 1.44034014] [ 0. 0. 0. 1. ]] SLAMing on 76.559649246 meters Centerline goodness [0,1] 0.8993391261779464 Centerline is valid? [False, False] Translation: X:8.00, Y:0.68, Z:1.44 [[ 0.57839476 -0.28992436 -0.76249811 7.99898968] [ 0.36875858 0.92668335 -0.07262975 0.67999884] [ 0.72765143 -0.23916905 0.64290089 1.44144587] [ 0. 0. 0. 1. ]] SLAMing on 76.58964924600001 meters Centerline goodness [0,1] 0.8991021804189825 Centerline is valid? [False, False] Translation: X:8.00, Y:0.68, Z:1.44 [[ 0.57790438 -0.28909082 -0.7631861 7.99755012] [ 0.36840204 0.92686436 -0.07212766 0.68025993] [ 0.72822144 -0.23947643 0.64214062 1.44342973] [ 0. 0. 0. 1. ]] SLAMing on 76.61964924600001 meters Centerline goodness [0,1] 0.8976724295925225 Centerline is valid? [False, False] Translation: X:8.00, Y:0.68, Z:1.44 [[ 0.5776736 -0.28845129 -0.76360269 7.99692063] [ 0.36806045 0.9270298 -0.07174429 0.68041427] [ 0.72857719 -0.23960717 0.64168815 1.44439507] [ 0. 0. 0. 1. ]] SLAMing on 76.64964924600001 meters Centerline goodness [0,1] 0.8965264859260162 Centerline is valid? [False, False] Translation: X:8.00, Y:0.68, Z:1.45 [[ 0.57737043 -0.28814009 -0.76394939 7.99687771] [ 0.36781235 0.92713124 -0.07170594 0.68147259] [ 0.7289427 -0.23958913 0.64127965 1.44505508] [ 0. 0. 0. 1. ]] SLAMing on 76.67964924600001 meters Centerline goodness [0,1] 0.8932053579564438 Centerline is valid? [False, False] Translation: X:8.00, Y:0.69, Z:1.45 [[ 0.57748542 -0.28701352 -0.76428648 7.99777692] [ 0.36716994 0.92745102 -0.07085785 0.68500716] [ 0.72917544 -0.23970365 0.64097218 1.4451707 ] [ 0. 0. 0. 1. ]] SLAMing on 76.70964924600001 meters Centerline goodness [0,1] 0.8890609345113398 Centerline is valid? [False, False] Translation: X:8.00, Y:0.69, Z:1.45 [[ 0.57730856 -0.2867918 -0.76450329 7.99750955] [ 0.3669322 0.92754431 -0.07086824 0.6866797 ] [ 0.72943511 -0.23960804 0.64071242 1.44539216] [ 0. 0. 0. 1. ]] SLAMing on 76.73964924600001 meters Centerline goodness [0,1] 0.8883279421989783 Centerline is valid? [False, False] Translation: X:8.00, Y:0.69, Z:1.45 [[ 0.5775286 -0.28133557 -0.7663622 7.99711716] [ 0.36353389 0.92915835 -0.06714067 0.68778846] [ 0.7309609 -0.23982297 0.63889053 1.44788586] [ 0. 0. 0. 1. ]] SLAMing on 76.76964924600001 meters Centerline goodness [0,1] 0.894494446283977 Centerline is valid? [False, False] Translation: X:8.00, Y:0.69, Z:1.45 [[ 0.57717316 -0.28119842 -0.76668024 7.99663496] [ 0.36309983 0.92930241 -0.06749475 0.6898337 ] [ 0.73145721 -0.23942531 0.63847151 1.44813915] [ 0. 0. 0. 1. ]] SLAMing on 76.79964924600002 meters Centerline goodness [0,1] 0.8956519136966214 Centerline is valid? [False, False] Translation: X:8.00, Y:0.69, Z:1.45 [[ 0.57773002 -0.27604653 -0.76813172 7.99601306] [ 0.35915197 0.93104978 -0.06446835 0.69279753] [ 0.73296513 -0.23863072 0.63703806 1.44856987] [ 0. 0. 0. 1. ]] SLAMing on 76.82964924600002 meters Centerline goodness [0,1] 0.8999671827918494 Centerline is valid? [False, False] Translation: X:8.00, Y:0.70, Z:1.45 [[ 0.57760734 -0.27588683 -0.76828134 7.99556439] [ 0.35860844 0.93123657 -0.06479533 0.69564771] [ 0.73332786 -0.23808592 0.63682442 1.4481029 ] [ 0. 0. 0. 1. ]] SLAMing on 76.85964924600002 meters Centerline goodness [0,1] 0.9084835944428022 Centerline is valid? [False, False] Translation: X:8.00, Y:0.70, Z:1.45 [[ 0.57807353 -0.27117022 -0.76960879 7.99593302] [ 0.35491863 0.93283289 -0.06209316 0.6994635 ] [ 0.73475421 -0.23725409 0.63548937 1.44830837] [ 0. 0. 0. 1. ]] SLAMing on 76.889649246 meters Centerline goodness [0,1] 0.912262094160627 Centerline is valid? [False, False] Translation: X:8.00, Y:0.70, Z:1.45 [[ 0.57839435 -0.26618352 -0.7711072 7.99601653] [ 0.35143434 0.93435592 -0.05893151 0.70187676] [ 0.73617517 -0.2369079 0.63397222 1.44949194] [ 0. 0. 0. 1. ]] SLAMing on 76.919649246 meters Centerline goodness [0,1] 0.9100532212061513 Centerline is valid? [False, False] Translation: X:8.00, Y:0.70, Z:1.45 [[ 0.57821457 -0.26622697 -0.77122701 7.9958424 ] [ 0.35120789 0.93442097 -0.05924915 0.70370639] [ 0.73642442 -0.23660229 0.63379684 1.44938236] [ 0. 0. 0. 1. ]] SLAMing on 76.949649246 meters Centerline goodness [0,1] 0.9198390318411468 Centerline is valid? [False, False] Translation: X:8.00, Y:0.70, Z:1.45 [[ 0.57805414 -0.26580782 -0.77149181 7.99537092] [ 0.35066541 0.93462334 -0.05927037 0.70447126] [ 0.73680878 -0.23627401 0.6334725 1.44972201] [ 0. 0. 0. 1. ]] SLAMing on 76.97964924600001 meters Centerline goodness [0,1] 0.9206768129966864 Centerline is valid? [False, False] Translation: X:8.00, Y:0.70, Z:1.45 [[ 0.5776767 -0.26558341 -0.77185172 7.995663 ] [ 0.35057654 0.93465978 -0.05922152 0.70425891] [ 0.73714701 -0.23638222 0.63303849 1.45078408] [ 0. 0. 0. 1. ]] SLAMing on 77.00964924600001 meters Centerline goodness [0,1] 0.9205422376103988 Centerline is valid? [False, False] Translation: X:8.00, Y:0.70, Z:1.45 [[ 0.57733609 -0.26533609 -0.77219155 7.99597524] [ 0.35045472 0.93470943 -0.05915888 0.70366804] [ 0.73747171 -0.23646362 0.63262977 1.45183753] [ 0. 0. 0. 1. ]] SLAMing on 77.03964924600001 meters Centerline goodness [0,1] 0.9252322752718427 Centerline is valid? [False, False] Translation: X:8.00, Y:0.70, Z:1.45 [[ 0.57699893 -0.26515278 -0.77250646 7.99678303] [ 0.35016033 0.93480953 -0.05932016 0.70387625] [ 0.73787531 -0.23627345 0.63223009 1.45255261] [ 0. 0. 0. 1. ]] SLAMing on 77.06964924600001 meters Centerline goodness [0,1] 0.9243608890450672 Centerline is valid? [False, False] Translation: X:8.00, Y:0.71, Z:1.45 [[ 0.57672776 -0.26589346 -0.77245437 7.99897505] [ 0.35021767 0.93472715 -0.06027228 0.70643107] [ 0.73806008 -0.23576647 0.63220368 1.45203277] [ 0. 0. 0. 1. ]] SLAMing on 77.09964924600001 meters Centerline goodness [0,1] 0.9263287502565155 Centerline is valid? [False, False] Translation: X:8.00, Y:0.71, Z:1.45 [[ 0.57624799 -0.26627257 -0.7726818 8.00037584] [ 0.35052337 0.93458781 -0.0606546 0.70733882] [ 0.73828965 -0.23589094 0.63188911 1.45280854] [ 0. 0. 0. 1. ]] SLAMing on 77.12964924600001 meters Centerline goodness [0,1] 0.9258702508326702 Centerline is valid? [False, False] Translation: X:8.00, Y:0.71, Z:1.45 [[ 0.57519796 -0.26710355 -0.77317721 8.00333029] [ 0.35138883 0.934219 -0.06132498 0.70811399] [ 0.73869696 -0.23641183 0.63121806 1.45487234] [ 0. 0. 0. 1. ]] SLAMing on 77.15964924600001 meters Centerline goodness [0,1] 0.9250471586889885 Centerline is valid? [False, False] Translation: X:8.01, Y:0.71, Z:1.46 [[ 0.5742065 -0.26750888 -0.7737738 8.0052726 ] [ 0.35205438 0.93394832 -0.06162984 0.7081603 ] [ 0.73915127 -0.2370222 0.63045688 1.4571555 ] [ 0. 0. 0. 1. ]] SLAMing on 77.18964924600002 meters Centerline goodness [0,1] 0.9265878308289618 Centerline is valid? [False, False] Translation: X:8.01, Y:0.71, Z:1.46 [[ 0.57294342 -0.27310049 -0.77275608 8.00621792] [ 0.35559794 0.93231707 -0.06584063 0.70998157] [ 0.73843479 -0.23706751 0.6312789 1.45687906] [ 0. 0. 0. 1. ]] SLAMing on 77.21964924600002 meters Centerline goodness [0,1] 0.9256142014640073 Centerline is valid? [False, False] Translation: X:8.01, Y:0.71, Z:1.46 [[ 0.57189054 -0.27332468 -0.77345642 8.00793995] [ 0.35616923 0.9320855 -0.06603107 0.70965407] [ 0.73897543 -0.23771883 0.63040072 1.45958642] [ 0. 0. 0. 1. ]] SLAMing on 77.24964924600002 meters Centerline goodness [0,1] 0.9234601583582931 Centerline is valid? [False, False] Translation: X:8.01, Y:0.71, Z:1.46 [[ 0.57126891 -0.27356156 -0.77383196 8.00925508] [ 0.3565531 0.93192459 -0.0662302 0.70968674] [ 0.73927107 -0.23807693 0.62991877 1.46101604] [ 0. 0. 0. 1. ]] SLAMing on 77.279649246 meters Centerline goodness [0,1] 0.9218722139673106 Centerline is valid? [False, False] Translation: X:8.01, Y:0.71, Z:1.46 [[ 0.56962803 -0.27905242 -0.77308062 8.01099415] [ 0.36020764 0.93021495 -0.07036053 0.71098543] [ 0.73876543 -0.23839022 0.63039333 1.46176678] [ 0. 0. 0. 1. ]] SLAMing on 77.309649246 meters Centerline goodness [0,1] 0.9216012848347857 Centerline is valid? [False, False] Translation: X:8.01, Y:0.71, Z:1.46 [[ 0.56850434 -0.28431546 -0.77198934 8.01137637] [ 0.36355993 0.9286059 -0.07426478 0.712187 ] [ 0.73798848 -0.23844454 0.63128219 1.46139158] [ 0. 0. 0. 1. ]] SLAMing on 77.33964924600001 meters Centerline goodness [0,1] 0.9216903426047511 Centerline is valid? [False, False] Translation: X:8.01, Y:0.71, Z:1.46 [[ 0.56770226 -0.28452974 -0.77250047 8.01254872] [ 0.36402005 0.92841152 -0.07444097 0.71213568] [ 0.738379 -0.23894535 0.63063585 1.46329517] [ 0. 0. 0. 1. ]] SLAMing on 77.36964924600001 meters Centerline goodness [0,1] 0.9233085845484093 Centerline is valid? [False, False] Translation: X:8.01, Y:0.71, Z:1.47 [[ 0.56681573 -0.2849755 -0.772987 8.01444284] [ 0.36470018 0.92812045 -0.07474096 0.71228934] [ 0.73872438 -0.23954414 0.63000388 1.46535636] [ 0. 0. 0. 1. ]] SLAMing on 77.39964924600001 meters Centerline goodness [0,1] 0.9233085845484093 Centerline is valid? [False, False] Translation: X:8.01, Y:0.71, Z:1.47 [[ 0.56681573 -0.2849755 -0.772987 8.01444284] [ 0.36470018 0.92812045 -0.07474096 0.71228934] [ 0.73872438 -0.23954414 0.63000388 1.46535636] [ 0. 0. 0. 1. ]] SLAMing on 77.42964924600001 meters Centerline goodness [0,1] 0.9225581187143752 Centerline is valid? [False, False] Translation: X:8.02, Y:0.71, Z:1.47 [[ 0.56621546 -0.28538784 -0.77327475 8.01572848] [ 0.36513664 0.92792003 -0.0750976 0.71305546] [ 0.73896907 -0.23982953 0.62960823 1.46649127] [ 0. 0. 0. 1. ]] SLAMing on 77.45964924600001 meters Centerline goodness [0,1] 0.9230103031208003 Centerline is valid? [False, False] Translation: X:8.02, Y:0.71, Z:1.47 [[ 0.56556709 -0.28599365 -0.77352537 8.01737384] [ 0.36565199 0.92767317 -0.07563799 0.71398094] [ 0.73921072 -0.24006274 0.62923557 1.4675691 ] [ 0. 0. 0. 1. ]] SLAMing on 77.48964924600001 meters Centerline goodness [0,1] 0.9211626934337097 Centerline is valid? [False, False] Translation: X:8.02, Y:0.71, Z:1.47 [[ 0.56435888 -0.28701068 -0.77403096 8.02029469] [ 0.36673293 0.92718321 -0.07640843 0.71460148] [ 0.73959855 -0.24074087 0.62852034 1.47004455] [ 0. 0. 0. 1. ]] SLAMing on 77.51964924600001 meters Centerline goodness [0,1] 0.9229111802729232 Centerline is valid? [False, False] Translation: X:8.02, Y:0.72, Z:1.47 [[ 0.56323249 -0.28763066 -0.77462104 8.02220272] [ 0.36753328 0.92682472 -0.07691053 0.71506322] [ 0.74005976 -0.2413805 0.62773164 1.47254166] [ 0. 0. 0. 1. ]] SLAMing on 77.54964924600002 meters Centerline goodness [0,1] 0.9223882384645328 Centerline is valid? [False, False] Translation: X:8.02, Y:0.72, Z:1.47 [[ 0.56228249 -0.29245221 -0.77350508 8.02175928] [ 0.37041236 0.92536347 -0.08060478 0.71614429] [ 0.73934639 -0.24119318 0.62864359 1.47176847] [ 0. 0. 0. 1. ]] SLAMing on 77.57964924600002 meters Centerline goodness [0,1] 0.922337677938615 Centerline is valid? [False, False] Translation: X:8.02, Y:0.72, Z:1.47 [[ 0.56110863 -0.29777971 -0.77232399 8.02229291] [ 0.37360616 0.92371074 -0.08471661 0.71746852] [ 0.73863085 -0.24100978 0.6295544 1.47115078] [ 0. 0. 0. 1. ]] SLAMing on 77.60964924600002 meters Centerline goodness [0,1] 0.9235135135135135 Centerline is valid? [False, False] Translation: X:8.02, Y:0.72, Z:1.47 [[ 0.56090094 -0.29781504 -0.77246122 8.02254025] [ 0.3736048 0.92369987 -0.08484105 0.71823534] [ 0.73878927 -0.2410078 0.62936925 1.47146371] [ 0. 0. 0. 1. ]] SLAMing on 77.639649246 meters Centerline goodness [0,1] 0.9212033954227781 Centerline is valid? [False, False] Translation: X:8.02, Y:0.72, Z:1.47 [[ 0.56055406 -0.29797903 -0.77264976 8.02280605] [ 0.37376971 0.92361559 -0.08503199 0.71924783] [ 0.73896911 -0.24112805 0.629112 1.47210289] [ 0. 0. 0. 1. ]] SLAMing on 77.669649246 meters Centerline goodness [0,1] 0.9211615767684647 Centerline is valid? [False, False] Translation: X:8.02, Y:0.72, Z:1.47 [[ 0.55988021 -0.29840235 -0.7729749 8.02381909] [ 0.37428179 0.92337747 -0.08536504 0.71995483] [ 0.73922073 -0.24151623 0.62866733 1.47343808] [ 0. 0. 0. 1. ]] SLAMing on 77.699649246 meters Centerline goodness [0,1] 0.9191154467652164 Centerline is valid? [False, False] Translation: X:8.03, Y:0.72, Z:1.47 [[ 0.55925472 -0.29914038 -0.77314241 8.02536114] [ 0.37472228 0.92312905 -0.08611604 0.72204361] [ 0.739471 -0.24155289 0.62835885 1.47408495] [ 0. 0. 0. 1. ]] SLAMing on 77.72964924600001 meters Centerline goodness [0,1] 0.9182003477009771 Centerline is valid? [False, False] Translation: X:8.03, Y:0.72, Z:1.47 [[ 0.55798248 -0.30466814 -0.77190211 8.02576133] [ 0.37829418 0.92128307 -0.09017215 0.72362754] [ 0.73861293 -0.2416916 0.629314 1.47364688] [ 0. 0. 0. 1. ]] SLAMing on 77.75964924600001 meters Centerline goodness [0,1] 0.9216581556022829 Centerline is valid? [False, False] Translation: X:8.03, Y:0.72, Z:1.47 [[ 0.55648452 -0.3101085 -0.77081625 8.02650872] [ 0.38189743 0.91939402 -0.09417535 0.72398763] [ 0.73788843 -0.24196562 0.63005818 1.47405575] [ 0. 0. 0. 1. ]] SLAMing on 77.78964924600001 meters Centerline goodness [0,1] 0.9199795359475157 Centerline is valid? [False, False] Translation: X:8.03, Y:0.73, Z:1.47 [[ 0.55505687 -0.31595955 -0.76946828 8.02733589] [ 0.38571855 0.91734942 -0.09844406 0.72578342] [ 0.73697562 -0.24215614 0.63105257 1.47366016] [ 0. 0. 0. 1. ]] SLAMing on 77.81964924600001 meters Centerline goodness [0,1] 0.9198531845121695 Centerline is valid? [False, False] Translation: X:8.03, Y:0.73, Z:1.47 [[ 0.55407496 -0.31730158 -0.7696237 8.03018652] [ 0.38676028 0.91679277 -0.09953644 0.72909247] [ 0.73716851 -0.24250923 0.63069157 1.47464505] [ 0. 0. 0. 1. ]] SLAMing on 77.84964924600001 meters Centerline goodness [0,1] 0.9164358819987959 Centerline is valid? [False, False] Translation: X:8.03, Y:0.73, Z:1.47 [[ 0.55380741 -0.31776455 -0.76962526 8.03135349] [ 0.38684778 0.91669254 -0.10011785 0.73123402] [ 0.73732364 -0.24228182 0.63059763 1.47443555] [ 0. 0. 0. 1. ]] SLAMing on 77.87964924600001 meters Centerline goodness [0,1] 0.9173801113572412 Centerline is valid? [False, False] Translation: X:8.03, Y:0.73, Z:1.47 [[ 0.55357025 -0.31804931 -0.76967826 8.03226587] [ 0.38687447 0.9166365 -0.10052695 0.73320626] [ 0.73748771 -0.24212014 0.63046786 1.47435644] [ 0. 0. 0. 1. ]] SLAMing on 77.90964924600001 meters Centerline goodness [0,1] 0.9169636173079803 Centerline is valid? [False, False] Translation: X:8.03, Y:0.73, Z:1.48 [[ 0.5533446 -0.31791839 -0.76989457 8.03182945] [ 0.38684815 0.91665256 -0.10048177 0.73356963] [ 0.73767084 -0.24223124 0.63021088 1.47505654] [ 0. 0. 0. 1. ]] SLAMing on 77.93964924600002 meters Centerline goodness [0,1] 0.9209370424597365 Centerline is valid? [False, False] Translation: X:8.03, Y:0.73, Z:1.48 [[ 0.55297304 -0.31788958 -0.77017338 8.03182355] [ 0.38682346 0.9166485 -0.10061379 0.73380694] [ 0.73796235 -0.24228442 0.62984905 1.47596442] [ 0. 0. 0. 1. ]] SLAMing on 77.96964924600002 meters Centerline goodness [0,1] 0.9188551283200382 Centerline is valid? [False, False] Translation: X:8.03, Y:0.73, Z:1.48 [[ 0.55255017 -0.31798722 -0.77043652 8.03236903] [ 0.38687021 0.91660223 -0.10085529 0.73439513] [ 0.73825453 -0.24233133 0.62948851 1.47677865] [ 0. 0. 0. 1. ]] SLAMing on 77.99964924600002 meters Centerline goodness [0,1] 0.9202216896345117 Centerline is valid? [False, False] Translation: X:8.03, Y:0.74, Z:1.48 [[ 0.55225462 -0.31842273 -0.77046856 8.03318209] [ 0.38688372 0.91652789 -0.10147719 0.73637602] [ 0.73846856 -0.2420405 0.62934933 1.47670663] [ 0. 0. 0. 1. ]] SLAMing on 78.029649246 meters Centerline goodness [0,1] 0.9201922789836683 Centerline is valid? [False, False] Translation: X:8.03, Y:0.74, Z:1.48 [[ 0.55189131 -0.31891378 -0.77052579 8.03425987] [ 0.38704539 0.91639434 -0.10206511 0.73840668] [ 0.73865543 -0.24189961 0.62918418 1.47677899] [ 0. 0. 0. 1. ]] SLAMing on 78.059649246 meters Centerline goodness [0,1] 0.9189560439560439 Centerline is valid? [False, False] Translation: X:8.04, Y:0.74, Z:1.48 [[ 0.55143725 -0.31934638 -0.77067169 8.03501606] [ 0.38719816 0.91626713 -0.10262619 0.74023034] [ 0.73891444 -0.24181076 0.62891415 1.47718459] [ 0. 0. 0. 1. ]] SLAMing on 78.08964924600001 meters Centerline goodness [0,1] 0.9192604098213752 Centerline is valid? [False, False] Translation: X:8.04, Y:0.74, Z:1.48 [[ 0.55126167 -0.31909656 -0.77090074 8.03500215] [ 0.38710474 0.9163233 -0.10247701 0.74014986] [ 0.73909437 -0.24192768 0.6286577 1.47784807] [ 0. 0. 0. 1. ]] SLAMing on 78.11964924600001 meters Centerline goodness [0,1] 0.9218801227981283 Centerline is valid? [False, False] Translation: X:8.04, Y:0.74, Z:1.48 [[ 0.55090193 -0.31908506 -0.77116262 8.03539307] [ 0.38725269 0.91626072 -0.10247755 0.7400537 ] [ 0.73928507 -0.24217972 0.62833635 1.47887835] [ 0. 0. 0. 1. ]] SLAMing on 78.14964924600001 meters Centerline goodness [0,1] 0.9203669395804698 Centerline is valid? [False, False] Translation: X:8.04, Y:0.74, Z:1.48 [[ 0.55043771 -0.31907229 -0.77149932 8.03627931] [ 0.38741935 0.91618758 -0.10250151 0.73995366] [ 0.73954349 -0.24247307 0.62791898 1.4800986 ] [ 0. 0. 0. 1. ]] SLAMing on 78.17964924600001 meters Centerline goodness [0,1] 0.9226575605080278 Centerline is valid? [False, False] Translation: X:8.04, Y:0.74, Z:1.48 [[ 0.54967078 -0.3235753 -0.7701695 8.03552348] [ 0.38999213 0.91470133 -0.10596042 0.74019773] [ 0.73876125 -0.2421167 0.62897641 1.47894103] [ 0. 0. 0. 1. ]] SLAMing on 78.20964924600001 meters Centerline goodness [0,1] 0.9210858206714312 Centerline is valid? [False, False] Translation: X:8.04, Y:0.74, Z:1.48 [[ 0.54951935 -0.32331465 -0.77038699 8.0352497 ] [ 0.38991063 0.91475705 -0.1057792 0.73979 ] [ 0.7389169 -0.24225435 0.62874052 1.47962873] [ 0. 0. 0. 1. ]] SLAMing on 78.23964924600001 meters Centerline goodness [0,1] 0.9223749774869424 Centerline is valid? [False, False] Translation: X:8.03, Y:0.74, Z:1.48 [[ 0.54964842 -0.32302698 -0.77041559 8.0346365 ] [ 0.38957034 0.91491385 -0.10567691 0.74042785] [ 0.73900039 -0.24204592 0.62872268 1.47938876] [ 0. 0. 0. 1. ]] SLAMing on 78.26964924600001 meters Centerline goodness [0,1] 0.9235747026573594 Centerline is valid? [False, False] Translation: X:8.03, Y:0.74, Z:1.48 [[ 0.54952614 -0.32312823 -0.77046036 8.0345806 ] [ 0.38943023 0.9149403 -0.10596385 0.74224447] [ 0.73916515 -0.24181065 0.62861951 1.47917502] [ 0. 0. 0. 1. ]] SLAMing on 78.29964924600002 meters Centerline goodness [0,1] 0.9234822176984793 Centerline is valid? [False, False] Translation: X:8.04, Y:0.75, Z:1.48 [[ 0.54918202 -0.32403456 -0.77032507 8.03622111] [ 0.38957273 0.91475289 -0.10705248 0.74572302] [ 0.73934579 -0.24130635 0.62860087 1.47850096] [ 0. 0. 0. 1. ]] SLAMing on 78.32964924600002 meters Centerline goodness [0,1] 0.9235836627140975 Centerline is valid? [False, False] Translation: X:8.04, Y:0.75, Z:1.48 [[ 0.54871657 -0.32436243 -0.77051875 8.03778603] [ 0.38985234 0.91459484 -0.1073845 0.74613619] [ 0.73954397 -0.24146488 0.62830679 1.479337 ] [ 0. 0. 0. 1. ]] SLAMing on 78.35964924600002 meters Centerline goodness [0,1] 0.9232829711671583 Centerline is valid? [False, False] Translation: X:8.04, Y:0.75, Z:1.48 [[ 0.54719285 -0.33034828 -0.76905786 8.04014608] [ 0.39370598 0.91241237 -0.11180011 0.74754967] [ 0.73863088 -0.24160646 0.62932562 1.4790112 ] [ 0. 0. 0. 1. ]] SLAMing on 78.389649246 meters Centerline goodness [0,1] 0.9233479910848744 Centerline is valid? [False, False] Translation: X:8.04, Y:0.75, Z:1.48 [[ 0.54660983 -0.330797 -0.76927956 8.0419776 ] [ 0.39420502 0.91215594 -0.11213363 0.74790533] [ 0.73879638 -0.24196051 0.62899524 1.48013844] [ 0. 0. 0. 1. ]] SLAMing on 78.419649246 meters Centerline goodness [0,1] 0.9221180030257186 Centerline is valid? [False, False] Translation: X:8.04, Y:0.75, Z:1.48 [[ 0.5451222 -0.33652205 -0.7678507 8.04402724] [ 0.39791684 0.91001572 -0.11633388 0.74903104] [ 0.73790513 -0.24212454 0.62997757 1.4798708 ] [ 0. 0. 0. 1. ]] SLAMing on 78.449649246 meters Centerline goodness [0,1] 0.9212323569585673 Centerline is valid? [False, False] Translation: X:8.04, Y:0.75, Z:1.48 [[ 0.54363502 -0.34172198 -0.76660749 8.04432797] [ 0.40154794 0.90794632 -0.11996973 0.74877922] [ 0.73703474 -0.24260992 0.63080917 1.48028819] [ 0. 0. 0. 1. ]] SLAMing on 78.47964924600001 meters Centerline goodness [0,1] 0.9205071933674713 Centerline is valid? [False, False] Translation: X:8.05, Y:0.75, Z:1.48 [[ 0.54274389 -0.34193068 -0.76714567 8.04583425] [ 0.40227845 0.90762685 -0.1199398 0.74836753] [ 0.7372931 -0.24350958 0.63016027 1.48270467] [ 0. 0. 0. 1. ]] SLAMing on 78.50964924600001 meters Centerline goodness [0,1] 0.9209852457017437 Centerline is valid? [False, False] Translation: X:8.05, Y:0.75, Z:1.48 [[ 0.54224113 -0.34255208 -0.76722398 8.04751179] [ 0.40278327 0.90733668 -0.12043994 0.74972589] [ 0.73738741 -0.2437175 0.62996952 1.48327578] [ 0. 0. 0. 1. ]] SLAMing on 78.53964924600001 meters Centerline goodness [0,1] 0.9218664560422869 Centerline is valid? [False, False] Translation: X:8.05, Y:0.75, Z:1.48 [[ 0.54167053 -0.34339084 -0.76725209 8.04934681] [ 0.40323653 0.90702508 -0.12126752 0.75265062] [ 0.73755904 -0.24369703 0.62977648 1.48346503] [ 0. 0. 0. 1. ]] SLAMing on 78.56964924600001 meters Centerline goodness [0,1] 0.9191078157286982 Centerline is valid? [False, False] Translation: X:8.05, Y:0.75, Z:1.48 [[ 0.54129607 -0.3435561 -0.76744236 8.05004013] [ 0.40336903 0.90693558 -0.12149601 0.75360039] [ 0.73776147 -0.24379717 0.62950055 1.4840569 ] [ 0. 0. 0. 1. ]] SLAMing on 78.59964924600001 meters Centerline goodness [0,1] 0.9213116752506628 Centerline is valid? [False, False] Translation: X:8.05, Y:0.75, Z:1.49 [[ 0.54084171 -0.34331468 -0.76787061 8.0499381 ] [ 0.40332716 0.90696386 -0.12142391 0.75358772] [ 0.7381175 -0.24403196 0.62899202 1.48539809] [ 0. 0. 0. 1. ]] SLAMing on 78.62964924600001 meters Centerline goodness [0,1] 0.9203726328649969 Centerline is valid? [False, False] Translation: X:8.05, Y:0.75, Z:1.49 [[ 0.54039987 -0.34333324 -0.76817333 8.05045214] [ 0.40347755 0.90688807 -0.12149029 0.75355755] [ 0.73835889 -0.24428736 0.62860945 1.48650993] [ 0. 0. 0. 1. ]] SLAMing on 78.65964924600001 meters Centerline goodness [0,1] 0.9210429673154609 Centerline is valid? [False, False] Translation: X:8.05, Y:0.75, Z:1.49 [[ 0.539917 -0.3436183 -0.76838539 8.05175112] [ 0.40374838 0.90672801 -0.12178488 0.75427477] [ 0.73856407 -0.24448063 0.6282932 1.48743611] [ 0. 0. 0. 1. ]] SLAMing on 78.68964924600002 meters Centerline goodness [0,1] 0.9215901469422596 Centerline is valid? [False, False] Translation: X:8.05, Y:0.76, Z:1.49 [[ 0.539652 -0.34369862 -0.76853561 8.05208945] [ 0.40382717 0.90667529 -0.12191615 0.75558552] [ 0.73871465 -0.24456326 0.62808397 1.48784145] [ 0. 0. 0. 1. ]] SLAMing on 78.71964924600002 meters Centerline goodness [0,1] 0.9212224522099111 Centerline is valid? [False, False] Translation: X:8.05, Y:0.76, Z:1.49 [[ 0.53961058 -0.34334407 -0.76872315 8.05135249] [ 0.40365073 0.90678771 -0.12166406 0.75573213] [ 0.73884133 -0.24464445 0.62790332 1.4881929 ] [ 0. 0. 0. 1. ]] SLAMing on 78.74964924600002 meters Centerline goodness [0,1] 0.9208273677155999 Centerline is valid? [False, False] Translation: X:8.05, Y:0.76, Z:1.49 [[ 0.53934615 -0.34318749 -0.7689786 8.05085508] [ 0.40362421 0.90680741 -0.1216052 0.75623913] [ 0.73904887 -0.24479109 0.62760186 1.48887062] [ 0. 0. 0. 1. ]] SLAMing on 78.779649246 meters Centerline goodness [0,1] 0.9218014516080051 Centerline is valid? [False, False] Translation: X:8.05, Y:0.76, Z:1.49 [[ 0.53912327 -0.34325008 -0.76910694 8.0506103 ] [ 0.40336047 0.90687309 -0.12198985 0.75808405] [ 0.73935541 -0.24445977 0.6273699 1.48883814] [ 0. 0. 0. 1. ]] SLAMing on 78.809649246 meters Centerline goodness [0,1] 0.9214469502043288 Centerline is valid? [False, False] Translation: X:8.05, Y:0.76, Z:1.49 [[ 0.5391754 -0.34343041 -0.76898988 8.05052278] [ 0.40298422 0.90697139 -0.12250146 0.76059792] [ 0.73952255 -0.24384101 0.6274137 1.48789973] [ 0. 0. 0. 1. ]] SLAMing on 78.83964924600001 meters Centerline goodness [0,1] 0.921858022455632 Centerline is valid? [False, False] Translation: X:8.05, Y:0.76, Z:1.49 [[ 0.538834 -0.34372474 -0.76909767 8.05086871] [ 0.40304312 0.90688706 -0.1229313 0.76225385] [ 0.73973926 -0.24373996 0.62719747 1.48814209] [ 0. 0. 0. 1. ]] SLAMing on 78.86964924600001 meters Centerline goodness [0,1] 0.9212933611085953 Centerline is valid? [False, False] Translation: X:8.05, Y:0.76, Z:1.49 [[ 0.53855079 -0.34400784 -0.76916946 8.05128287] [ 0.40307107 0.90681759 -0.12335139 0.76400556] [ 0.73993024 -0.24359897 0.62702694 1.48820058] [ 0. 0. 0. 1. ]] SLAMing on 78.89964924600001 meters Centerline goodness [0,1] 0.9236632059052992 Centerline is valid? [False, False] Translation: X:8.05, Y:0.77, Z:1.49 [[ 0.53820968 -0.34442874 -0.76921985 8.05149869] [ 0.40289878 0.90678849 -0.12412575 0.76733052] [ 0.74027218 -0.24311206 0.62681227 1.48782934] [ 0. 0. 0. 1. ]] SLAMing on 78.92964924600001 meters Centerline goodness [0,1] 0.9247528322865644 Centerline is valid? [False, False] Translation: X:8.05, Y:0.77, Z:1.49 [[ 0.53797761 -0.34433077 -0.76942603 8.05150826] [ 0.40287475 0.90679989 -0.12412046 0.76787286] [ 0.74045394 -0.24320829 0.62656021 1.48836867] [ 0. 0. 0. 1. ]] SLAMing on 78.95964924600001 meters Centerline goodness [0,1] 0.9229498843947993 Centerline is valid? [False, False] Translation: X:8.05, Y:0.77, Z:1.49 [[ 0.53723118 -0.34464725 -0.76980577 8.05233708] [ 0.40326023 0.90658249 -0.12445632 0.76866544] [ 0.74078596 -0.24357024 0.62602692 1.48991233] [ 0. 0. 0. 1. ]] SLAMing on 78.98964924600001 meters Centerline goodness [0,1] 0.9245169626491181 Centerline is valid? [False, False] Translation: X:8.05, Y:0.77, Z:1.49 [[ 0.53698074 -0.34472144 -0.76994728 8.05267514] [ 0.4033189 0.90653788 -0.12459108 0.7695174 ] [ 0.74093559 -0.24363128 0.62582605 1.49030902] [ 0. 0. 0. 1. ]] SLAMing on 79.01964924600001 meters Centerline goodness [0,1] 0.9250255117353983 Centerline is valid? [False, False] Translation: X:8.05, Y:0.77, Z:1.49 [[ 0.53691277 -0.34432835 -0.77017055 8.05215239] [ 0.40316011 0.90665001 -0.12428869 0.76929003] [ 0.74107125 -0.24376986 0.62561142 1.49092324] [ 0. 0. 0. 1. ]] SLAMing on 79.04964924600002 meters Centerline goodness [0,1] 0.9246022179363549 Centerline is valid? [False, False] Translation: X:8.05, Y:0.77, Z:1.49 [[ 0.53639089 -0.34437825 -0.7705118 8.05289908] [ 0.40340519 0.90653358 -0.12434278 0.7694438 ] [ 0.74131577 -0.24413213 0.62518032 1.49219724] [ 0. 0. 0. 1. ]] SLAMing on 79.07964924600002 meters Centerline goodness [0,1] 0.9243388317602003 Centerline is valid? [False, False] Translation: X:8.05, Y:0.77, Z:1.49 [[ 0.53491219 -0.34986957 -0.76906452 8.05376122] [ 0.40700434 0.90436575 -0.12833575 0.77066687] [ 0.74041638 -0.24436424 0.62615469 1.49192955] [ 0. 0. 0. 1. ]] SLAMing on 79.10964924600002 meters Centerline goodness [0,1] 0.9236935688023628 Centerline is valid? [False, False] Translation: X:8.05, Y:0.77, Z:1.49 [[ 0.53453767 -0.34973465 -0.76938622 8.05406499] [ 0.40717534 0.90431114 -0.12817799 0.77049229] [ 0.74059282 -0.24475913 0.6257917 1.4930908 ] [ 0. 0. 0. 1. ]] SLAMing on 79.139649246 meters Centerline goodness [0,1] 0.9227590782965376 Centerline is valid? [False, False] Translation: X:8.05, Y:0.77, Z:1.49 [[ 0.53421762 -0.34963714 -0.76965278 8.05436146] [ 0.40730074 0.9042683 -0.12808185 0.77057291] [ 0.74075478 -0.24505656 0.62548352 1.49403359] [ 0. 0. 0. 1. ]] SLAMing on 79.169649246 meters Centerline goodness [0,1] 0.9223062953995157 Centerline is valid? [False, False] Translation: X:8.06, Y:0.77, Z:1.50 [[ 0.53357742 -0.34974659 -0.77004705 8.0551057 ] [ 0.40770302 0.9040816 -0.12811987 0.77029824] [ 0.74099486 -0.24558863 0.62499027 1.49577347] [ 0. 0. 0. 1. ]] SLAMing on 79.199649246 meters Centerline goodness [0,1] 0.9267022049915192 Centerline is valid? [False, False] Translation: X:8.06, Y:0.77, Z:1.50 [[ 0.53274578 -0.35040459 -0.77032367 8.05716356] [ 0.40825913 0.9037415 -0.12874697 0.77171594] [ 0.741287 -0.24590227 0.62452035 1.49711706] [ 0. 0. 0. 1. ]] SLAMing on 79.22964924600001 meters Centerline goodness [0,1] 0.9241236862888038 Centerline is valid? [False, False] Translation: X:8.06, Y:0.77, Z:1.50 [[ 0.53245937 -0.35026114 -0.77058689 8.05768238] [ 0.40826877 0.90374639 -0.12868206 0.77159889] [ 0.74148744 -0.24608859 0.62420892 1.4979833 ] [ 0. 0. 0. 1. ]] SLAMing on 79.25964924600001 meters Centerline goodness [0,1] 0.9238217025940811 Centerline is valid? [False, False] Translation: X:8.06, Y:0.77, Z:1.50 [[ 0.53172123 -0.35033851 -0.77106125 8.05893727] [ 0.40854482 0.90360085 -0.12882793 0.77135999] [ 0.74186499 -0.24651254 0.62359275 1.49986957] [ 0. 0. 0. 1. ]] SLAMing on 79.28964924600001 meters Centerline goodness [0,1] 0.9255251044111819 Centerline is valid? [False, False] Translation: X:8.06, Y:0.77, Z:1.50 [[ 0.53138915 -0.35039101 -0.7712663 8.05991773] [ 0.40871989 0.90351544 -0.12887167 0.771531 ] [ 0.74200648 -0.24675087 0.62333008 1.50068586] [ 0. 0. 0. 1. ]] SLAMing on 79.31964924600001 meters Centerline goodness [0,1] 0.9255251044111819 Centerline is valid? [False, False] Translation: X:8.06, Y:0.77, Z:1.50 [[ 0.53138915 -0.35039101 -0.7712663 8.05991773] [ 0.40871989 0.90351544 -0.12887167 0.771531 ] [ 0.74200648 -0.24675087 0.62333008 1.50068586] [ 0. 0. 0. 1. ]] SLAMing on 79.34964924600001 meters Centerline goodness [0,1] 0.9263488003897211 Centerline is valid? [False, False] Translation: X:8.06, Y:0.77, Z:1.50 [[ 0.53053874 -0.35073507 -0.77169525 8.06157602] [ 0.40925408 0.90323277 -0.12915754 0.77218258] [ 0.74232052 -0.24729634 0.62273973 1.50253663] [ 0. 0. 0. 1. ]] SLAMing on 79.37964924600001 meters Centerline goodness [0,1] 0.9250366568914956 Centerline is valid? [False, False] Translation: X:8.06, Y:0.77, Z:1.50 [[ 0.53018259 -0.35037648 -0.7721028 8.06169541] [ 0.40925341 0.90327308 -0.12887741 0.7716484 ] [ 0.74257529 -0.24765714 0.62229243 1.50383319] [ 0. 0. 0. 1. ]] SLAMing on 79.40964924600001 meters Centerline goodness [0,1] 0.9216793893129771 Centerline is valid? [False, False] Translation: X:8.06, Y:0.77, Z:1.51 [[ 0.53001266 -0.34971904 -0.77251743 8.06113747] [ 0.40903693 0.90344536 -0.12835606 0.77084156] [ 0.74281584 -0.24795782 0.62188548 1.50505987] [ 0. 0. 0. 1. ]] SLAMing on 79.43964924600002 meters Centerline goodness [0,1] 0.92313328042005 Centerline is valid? [False, False] Translation: X:8.06, Y:0.77, Z:1.51 [[ 0.52978244 -0.34971177 -0.77267862 8.06102483] [ 0.40908106 0.90341906 -0.12840049 0.77152707] [ 0.74295575 -0.24806387 0.62167602 1.50552977] [ 0. 0. 0. 1. ]] SLAMing on 79.46964924600002 meters Centerline goodness [0,1] 0.9245098935943169 Centerline is valid? [False, False] Translation: X:8.06, Y:0.77, Z:1.50 [[ 0.52967576 -0.35003374 -0.77260596 8.06152085] [ 0.4089571 0.90340087 -0.12892228 0.77353454] [ 0.74310005 -0.24767568 0.62165833 1.5049877 ] [ 0. 0. 0. 1. ]] SLAMing on 79.49964924600002 meters Centerline goodness [0,1] 0.9219629438072348 Centerline is valid? [False, False] Translation: X:8.06, Y:0.77, Z:1.51 [[ 0.52936265 -0.35033718 -0.77268302 8.06242994] [ 0.4090909 0.90328814 -0.12928714 0.77493608] [ 0.7432495 -0.24765781 0.62148676 1.5052564 ] [ 0. 0. 0. 1. ]] SLAMing on 79.529649246 meters Centerline goodness [0,1] 0.9227517411270947 Centerline is valid? [False, False] Translation: X:8.06, Y:0.78, Z:1.51 [[ 0.52882305 -0.35106469 -0.77272231 8.06437759] [ 0.4092796 0.90307299 -0.13018979 0.77647798] [ 0.74352968 -0.24741212 0.62124943 1.50558748] [ 0. 0. 0. 1. ]] SLAMing on 79.559649246 meters Centerline goodness [0,1] 0.9238234309878008 Centerline is valid? [False, False] Translation: X:8.07, Y:0.78, Z:1.51 [[ 0.52849397 -0.35112225 -0.77292127 8.06518768] [ 0.40934017 0.90302468 -0.13033441 0.77693129] [ 0.74373029 -0.24750677 0.62097154 1.50626833] [ 0. 0. 0. 1. ]] SLAMing on 79.58964924600001 meters Centerline goodness [0,1] 0.9214784118955484 Centerline is valid? [False, False] Translation: X:8.07, Y:0.78, Z:1.51 [[ 0.52763235 -0.35181246 -0.77319603 8.06806891] [ 0.40986521 0.90268472 -0.1310374 0.77811066] [ 0.74405283 -0.24776658 0.62048135 1.50764018] [ 0. 0. 0. 1. ]] SLAMing on 79.61964924600001 meters Centerline goodness [0,1] 0.9217965977236569 Centerline is valid? [False, False] Translation: X:8.07, Y:0.78, Z:1.51 [[ 0.52712061 -0.35211565 -0.77340703 8.06973401] [ 0.41015972 0.90250627 -0.13134474 0.77853263] [ 0.74425323 -0.24798589 0.62015331 1.50863629] [ 0. 0. 0. 1. ]] SLAMing on 79.64964924600001 meters Centerline goodness [0,1] 0.9206572196432934 Centerline is valid? [False, False] Translation: X:8.07, Y:0.78, Z:1.51 [[ 0.52632203 -0.35238263 -0.77382918 8.07205538] [ 0.41071019 0.90223205 -0.13150845 0.77822434] [ 0.74451478 -0.24860374 0.61959174 1.51065669] [ 0. 0. 0. 1. ]] SLAMing on 79.67964924600001 meters Centerline goodness [0,1] 0.9208998105018644 Centerline is valid? [False, False] Translation: X:8.07, Y:0.78, Z:1.51 [[ 0.5261211 -0.35222647 -0.77403689 8.07242948] [ 0.41068688 0.90225496 -0.13142404 0.77814939] [ 0.74466965 -0.24874183 0.61935016 1.51130581] [ 0. 0. 0. 1. ]] SLAMing on 79.70964924600001 meters Centerline goodness [0,1] 0.9210590681178916 Centerline is valid? [False, False] Translation: X:8.07, Y:0.78, Z:1.51 [[ 0.52562918 -0.35234813 -0.77431567 8.07317551] [ 0.41080286 0.90216762 -0.13166091 0.77901212] [ 0.744953 -0.24888628 0.61895124 1.51226446] [ 0. 0. 0. 1. ]] SLAMing on 79.73964924600001 meters Centerline goodness [0,1] 0.9200097623478447 Centerline is valid? [False, False] Translation: X:8.07, Y:0.78, Z:1.52 [[ 0.52513729 -0.34708931 -0.77701984 8.07469547] [ 0.4085813 0.90376269 -0.12757086 0.77838139] [ 0.74652002 -0.25048356 0.61641369 1.51776487] [ 0. 0. 0. 1. ]] SLAMing on 79.76964924600001 meters Centerline goodness [0,1] 0.9212906379858226 Centerline is valid? [False, False] Translation: X:8.08, Y:0.78, Z:1.52 [[ 0.52465387 -0.34724084 -0.77727866 8.07559989] [ 0.408917 0.90359844 -0.12765871 0.77852477] [ 0.74667611 -0.25086582 0.6160691 1.51896326] [ 0. 0. 0. 1. ]] SLAMing on 79.79964924600002 meters Centerline goodness [0,1] 0.91906364749082 Centerline is valid? [False, False] Translation: X:8.08, Y:0.78, Z:1.52 [[ 0.52429104 -0.34693542 -0.77765977 8.07586266] [ 0.40899888 0.903601 -0.127378 0.77770545] [ 0.74688608 -0.25127883 0.61564611 1.52032592] [ 0. 0. 0. 1. ]] SLAMing on 79.82964924600002 meters Centerline goodness [0,1] 0.918854928971158 Centerline is valid? [False, False] Translation: X:8.08, Y:0.78, Z:1.52 [[ 0.52306019 -0.35187768 -0.7762668 8.07557976] [ 0.41218191 0.90163849 -0.13097367 0.77775033] [ 0.74599873 -0.25145602 0.61664881 1.51997881] [ 0. 0. 0. 1. ]] SLAMing on 79.85964924600002 meters Centerline goodness [0,1] 0.9183151537560855 Centerline is valid? [False, False] Translation: X:8.08, Y:0.78, Z:1.52 [[ 0.52254077 -0.35146701 -0.77680247 8.07603179] [ 0.41221969 0.90166542 -0.13066907 0.77658935] [ 0.74634179 -0.25193336 0.61603856 1.52185126] [ 0. 0. 0. 1. ]] SLAMing on 79.889649246 meters Centerline goodness [0,1] 0.9201601724934545 Centerline is valid? [False, False] Translation: X:8.08, Y:0.78, Z:1.52 [[ 0.52165006 -0.35166359 -0.77731199 8.07816393] [ 0.41272081 0.90141237 -0.13083301 0.77658713] [ 0.74668785 -0.25256379 0.6153607 1.52403633] [ 0. 0. 0. 1. ]] SLAMing on 79.919649246 meters Centerline goodness [0,1] 0.9208686050791314 Centerline is valid? [False, False] Translation: X:8.08, Y:0.78, Z:1.52 [[ 0.52126032 -0.35214716 -0.77735452 8.07974097] [ 0.41309145 0.90118323 -0.13124119 0.77786707] [ 0.74675507 -0.25270768 0.61522004 1.52444537] [ 0. 0. 0. 1. ]] SLAMing on 79.949649246 meters Centerline goodness [0,1] 0.9183472700442695 Centerline is valid? [False, False] Translation: X:8.08, Y:0.78, Z:1.53 [[ 0.52067789 -0.35269046 -0.77749854 8.0810597 ] [ 0.41344676 0.90093771 -0.13180674 0.77958518] [ 0.74696473 -0.25282539 0.61491707 1.52511574] [ 0. 0. 0. 1. ]] SLAMing on 79.97964924600001 meters Centerline goodness [0,1] 0.9198747467305213 Centerline is valid? [False, False] Translation: X:8.08, Y:0.78, Z:1.53 [[ 0.52041761 -0.35263707 -0.77769699 8.0814609 ] [ 0.41346829 0.90092454 -0.13182925 0.77956904] [ 0.74713418 -0.25294678 0.61466124 1.52583042] [ 0. 0. 0. 1. ]] SLAMing on 80.00964924600001 meters Centerline goodness [0,1] 0.9218552830014466 Centerline is valid? [False, False] Translation: X:8.08, Y:0.78, Z:1.53 [[ 0.52031464 -0.35191958 -0.77809079 8.08065522] [ 0.41312155 0.90115741 -0.13132368 0.77850364] [ 0.74739766 -0.25311644 0.61427096 1.52686301] [ 0. 0. 0. 1. ]] SLAMing on 80.03964924600001 meters Centerline goodness [0,1] 0.9201864973467071 Centerline is valid? [False, False] Translation: X:8.08, Y:0.78, Z:1.53 [[ 0.52049228 -0.35133763 -0.77823496 8.08021141] [ 0.41273283 0.90139722 -0.13089943 0.77792034] [ 0.74748873 -0.25307097 0.61417887 1.52703364] [ 0. 0. 0. 1. ]] SLAMing on 80.06964924600001 meters Centerline goodness [0,1] 0.9203504579848666 Centerline is valid? [False, False] Translation: X:8.08, Y:0.78, Z:1.53 [[ 0.52024159 -0.35132805 -0.77840689 8.08049179] [ 0.41274666 0.90137987 -0.13097527 0.77863297] [ 0.74765559 -0.25314606 0.61394477 1.52751792] [ 0. 0. 0. 1. ]] SLAMing on 80.09964924600001 meters Centerline goodness [0,1] 0.9194643184736746 Centerline is valid? [False, False] Translation: X:8.08, Y:0.78, Z:1.53 [[ 0.52003864 -0.35152347 -0.77845428 8.08104614] [ 0.41286433 0.90129555 -0.1311845 0.77985565] [ 0.7477318 -0.253175 0.61384002 1.52767838] [ 0. 0. 0. 1. ]] SLAMing on 80.12964924600001 meters Centerline goodness [0,1] 0.9219320672023374 Centerline is valid? [False, False] Translation: X:8.08, Y:0.78, Z:1.53 [[ 0.5198208 -0.35202048 -0.77837518 8.08157399] [ 0.41286131 0.90120015 -0.13184774 0.78229311] [ 0.74788494 -0.2528238 0.61379822 1.52725532] [ 0. 0. 0. 1. ]] SLAMing on 80.15964924600001 meters Centerline goodness [0,1] 0.924670662326204 Centerline is valid? [False, False] Translation: X:8.08, Y:0.78, Z:1.53 [[ 0.51969926 -0.35211416 -0.77841396 8.08101139] [ 0.41260097 0.90126523 -0.13221735 0.78387658] [ 0.74811304 -0.25246109 0.61366951 1.52703504] [ 0. 0. 0. 1. ]] SLAMing on 80.18964924600002 meters Centerline goodness [0,1] 0.9254869784544322 Centerline is valid? [False, False] Translation: X:8.08, Y:0.78, Z:1.53 [[ 0.51960656 -0.3520397 -0.77850952 8.08069214] [ 0.41239393 0.9013424 -0.13233714 0.78446675] [ 0.74829156 -0.25228936 0.61352246 1.52713064] [ 0. 0. 0. 1. ]] SLAMing on 80.21964924600002 meters Centerline goodness [0,1] 0.9233437813821855 Centerline is valid? [False, False] Translation: X:8.08, Y:0.79, Z:1.53 [[ 0.51914141 -0.35228702 -0.77870794 8.08141403] [ 0.41237245 0.90128084 -0.13282249 0.7856497 ] [ 0.74862618 -0.25216404 0.61316567 1.527754 ] [ 0. 0. 0. 1. ]] SLAMing on 80.24964924600002 meters Centerline goodness [0,1] 0.9228804281717553 Centerline is valid? [False, False] Translation: X:8.08, Y:0.79, Z:1.53 [[ 0.5188873 -0.35245663 -0.77880055 8.08230855] [ 0.41245888 0.90120817 -0.13304706 0.78656906] [ 0.74875473 -0.25218677 0.61299934 1.52807367] [ 0. 0. 0. 1. ]] SLAMing on 80.279649246 meters Centerline goodness [0,1] 0.9242295042027043 Centerline is valid? [False, False] Translation: X:8.08, Y:0.79, Z:1.53 [[ 0.51809462 -0.35314932 -0.77901446 8.08423215] [ 0.41303281 0.90085043 -0.13368769 0.78811393] [ 0.74898722 -0.25249566 0.61258802 1.52927395] [ 0. 0. 0. 1. ]] SLAMing on 80.309649246 meters Centerline goodness [0,1] 0.9227326696501964 Centerline is valid? [False, False] Translation: X:8.08, Y:0.79, Z:1.53 [[ 0.517605 -0.35323827 -0.77929955 8.08480359] [ 0.41323859 0.90073742 -0.1338132 0.78844795] [ 0.74921221 -0.25277427 0.61219787 1.53037948] [ 0. 0. 0. 1. ]] SLAMing on 80.33964924600001 meters Centerline goodness [0,1] 0.9212478251579622 Centerline is valid? [False, False] Translation: X:8.08, Y:0.79, Z:1.53 [[ 0.51656659 -0.35792698 -0.77784782 8.08417717] [ 0.41623169 0.89884966 -0.13718771 0.78857527] [ 0.74827143 -0.25289832 0.61329626 1.5296957 ] [ 0. 0. 0. 1. ]] SLAMing on 80.36964924600001 meters Centerline goodness [0,1] 0.922833013201622 Centerline is valid? [False, False] Translation: X:8.08, Y:0.79, Z:1.53 [[ 0.51601626 -0.35789651 -0.77822703 8.08476214] [ 0.41653688 0.89871898 -0.13711755 0.78841663] [ 0.7484813 -0.25340537 0.6128307 1.53123274] [ 0. 0. 0. 1. ]] SLAMing on 80.39964924600001 meters Centerline goodness [0,1] 0.9220270518391578 Centerline is valid? [False, False] Translation: X:8.09, Y:0.79, Z:1.53 [[ 0.51572409 -0.35761853 -0.77854843 8.08535838] [ 0.4165243 0.89875475 -0.13692114 0.78783191] [ 0.74868964 -0.25367081 0.61246628 1.53236714] [ 0. 0. 0. 1. ]] SLAMing on 80.42964924600001 meters Centerline goodness [0,1] 0.9232768638003792 Centerline is valid? [False, False] Translation: X:8.08, Y:0.79, Z:1.53 [[ 0.51584015 -0.35672021 -0.77888358 8.08458614] [ 0.41612183 0.89905557 -0.1361679 0.78634059] [ 0.74883346 -0.25386959 0.61220803 1.5331799 ] [ 0. 0. 0. 1. ]] SLAMing on 80.45964924600001 meters Centerline goodness [0,1] 0.920398313886004 Centerline is valid? [False, False] Translation: X:8.08, Y:0.79, Z:1.53 [[ 0.51592397 -0.35609754 -0.77911296 8.08371024] [ 0.41574476 0.89929702 -0.13572457 0.78557593] [ 0.74898515 -0.25388857 0.61201458 1.53359317] [ 0. 0. 0. 1. ]] SLAMing on 80.48964924600001 meters Centerline goodness [0,1] 0.9230369691414604 Centerline is valid? [False, False] Translation: X:8.08, Y:0.79, Z:1.53 [[ 0.51608363 -0.35556879 -0.77924869 8.08286448] [ 0.41538243 0.89952121 -0.1353478 0.78516436] [ 0.74907618 -0.25383543 0.6119252 1.53369146] [ 0. 0. 0. 1. ]] SLAMing on 80.51964924600001 meters Centerline goodness [0,1] 0.9227608874281019 Centerline is valid? [False, False] Translation: X:8.08, Y:0.79, Z:1.53 [[ 0.51577975 -0.35592403 -0.77928771 8.08308479] [ 0.41533046 0.89945907 -0.13591906 0.78743594] [ 0.74931426 -0.25355762 0.61174887 1.53361632] [ 0. 0. 0. 1. ]] SLAMing on 80.54964924600002 meters Centerline goodness [0,1] 0.9231983486127132 Centerline is valid? [False, False] Translation: X:8.08, Y:0.79, Z:1.53 [[ 0.51546779 -0.35654491 -0.77921029 8.08407705] [ 0.4154681 0.89928549 -0.13664506 0.78974729] [ 0.74945261 -0.25330089 0.61168574 1.53335706] [ 0. 0. 0. 1. ]] SLAMing on 80.57964924600002 meters Centerline goodness [0,1] 0.92145900698075 Centerline is valid? [False, False] Translation: X:8.09, Y:0.79, Z:1.53 [[ 0.51504098 -0.35748875 -0.77906006 8.08558814] [ 0.41552724 0.89907388 -0.13785233 0.79385686] [ 0.74971321 -0.25272108 0.61160621 1.53266893] [ 0. 0. 0. 1. ]] SLAMing on 80.60964924600002 meters Centerline goodness [0,1] 0.9212436486813452 Centerline is valid? [False, False] Translation: X:8.09, Y:0.79, Z:1.53 [[ 0.51453865 -0.35774318 -0.77927517 8.08649605] [ 0.41574791 0.89892442 -0.13816135 0.79454403] [ 0.74993576 -0.25289267 0.61126234 1.5335752 ] [ 0. 0. 0. 1. ]] SLAMing on 80.639649246 meters Centerline goodness [0,1] 0.9220944309927361 Centerline is valid? [False, False] Translation: X:8.09, Y:0.80, Z:1.54 [[ 0.51358396 -0.35838296 -0.77961091 8.0880248 ] [ 0.41628282 0.89857305 -0.13883476 0.79576838] [ 0.75029336 -0.25323533 0.61068137 1.53526971] [ 0. 0. 0. 1. ]] SLAMing on 80.669649246 meters Centerline goodness [0,1] 0.9209123402193009 Centerline is valid? [False, False] Translation: X:8.09, Y:0.80, Z:1.54 [[ 0.51226686 -0.35892489 -0.78022791 8.08977557] [ 0.41706509 0.89813267 -0.13933562 0.79663435] [ 0.75075919 -0.25402881 0.60977865 1.53810941] [ 0. 0. 0. 1. ]] SLAMing on 80.699649246 meters Centerline goodness [0,1] 0.9191409671670644 Centerline is valid? [False, False] Translation: X:8.09, Y:0.80, Z:1.54 [[ 0.51166294 -0.35938104 -0.78041419 8.09102118] [ 0.41747224 0.89787672 -0.13976526 0.79776125] [ 0.75094472 -0.25428855 0.60944185 1.53906259] [ 0. 0. 0. 1. ]] SLAMing on 80.72964924600001 meters Centerline goodness [0,1] 0.9175727920744231 Centerline is valid? [False, False] Translation: X:8.09, Y:0.80, Z:1.54 [[ 0.51111298 -0.35963564 -0.78065724 8.09154881] [ 0.4177018 0.89771993 -0.14008615 0.79923459] [ 0.75119153 -0.25448209 0.60905677 1.53998009] [ 0. 0. 0. 1. ]] SLAMing on 80.75964924600001 meters Centerline goodness [0,1] 0.9181297134238311 Centerline is valid? [False, False] Translation: X:8.09, Y:0.80, Z:1.54 [[ 0.51086229 -0.35988212 -0.78070774 8.09239435] [ 0.41779917 0.89762742 -0.14038827 0.8002104 ] [ 0.75130791 -0.25445997 0.60892245 1.54020941] [ 0. 0. 0. 1. ]] SLAMing on 80.78964924600001 meters Centerline goodness [0,1] 0.9194136984648792 Centerline is valid? [False, False] Translation: X:8.09, Y:0.80, Z:1.54 [[ 0.51026257 -0.36024921 -0.78093061 8.09359852] [ 0.4179296 0.89748054 -0.14093803 0.80159169] [ 0.75164284 -0.25445861 0.60850954 1.54108639] [ 0. 0. 0. 1. ]] SLAMing on 80.81964924600001 meters Centerline goodness [0,1] 0.9174076090243755 Centerline is valid? [False, False] Translation: X:8.09, Y:0.80, Z:1.54 [[ 0.51001562 -0.36004897 -0.78118423 8.09398695] [ 0.41785196 0.89752787 -0.14086684 0.80122746] [ 0.75185358 -0.25457508 0.6082004 1.54191052] [ 0. 0. 0. 1. ]] SLAMing on 80.84964924600001 meters Centerline goodness [0,1] 0.9199273717657739 Centerline is valid? [False, False] Translation: X:8.09, Y:0.80, Z:1.54 [[ 0.50952308 -0.35963737 -0.78169508 8.09417992] [ 0.4177603 0.897603 -0.14065979 0.80020652] [ 0.75223836 -0.25489177 0.60759167 1.54368798] [ 0. 0. 0. 1. ]] SLAMing on 80.87964924600001 meters Centerline goodness [0,1] 0.921377183967112 Centerline is valid? [False, False] Translation: X:8.09, Y:0.80, Z:1.54 [[ 0.50920511 -0.35964851 -0.78189712 8.09455685] [ 0.41791013 0.89753082 -0.14067534 0.80070971] [ 0.75237044 -0.25513012 0.60732804 1.54447609] [ 0. 0. 0. 1. ]] SLAMing on 80.90964924600001 meters Centerline goodness [0,1] 0.9195802080812969 Centerline is valid? [False, False] Translation: X:8.09, Y:0.80, Z:1.55 [[ 0.50870112 -0.35960536 -0.78224495 8.09465989] [ 0.41818698 0.89741386 -0.14059874 0.80057588] [ 0.75255752 -0.25560192 0.60689772 1.54593016] [ 0. 0. 0. 1. ]] SLAMing on 80.93964924600002 meters Centerline goodness [0,1] 0.9233271516736083 Centerline is valid? [False, False] Translation: X:8.09, Y:0.80, Z:1.54 [[ 0.50713335 -0.36773203 -0.7794799 8.08935288] [ 0.42375869 0.89392692 -0.14602479 0.7968904 ] [ 0.75049606 -0.25625734 0.6091698 1.54493038] [ 0. 0. 0. 1. ]] SLAMing on 80.96964924600002 meters Centerline goodness [0,1] 0.926801938219261 Centerline is valid? [False, False] Translation: X:8.09, Y:0.80, Z:1.55 [[ 0.50539873 -0.3701004 -0.77948561 8.09194948] [ 0.42547263 0.89278255 -0.14802821 0.80291257] [ 0.75069645 -0.25683653 0.60867876 1.5462935 ] [ 0. 0. 0. 1. ]] SLAMing on 80.99964924600002 meters Centerline goodness [0,1] 0.9226665862993882 Centerline is valid? [False, False] Translation: X:8.10, Y:0.81, Z:1.55 [[ 0.50505522 -0.36730377 -0.78102956 8.09679177] [ 0.42349491 0.89396424 -0.14656055 0.80853036] [ 0.75204474 -0.25674087 0.60705258 1.54791459] [ 0. 0. 0. 1. ]] SLAMing on 81.029649246 meters Centerline goodness [0,1] 0.9192423925077047 Centerline is valid? [False, False] Translation: X:8.10, Y:0.81, Z:1.55 [[ 0.50558874 -0.36319373 -0.78260484 8.09933526] [ 0.4203373 0.89583782 -0.14419138 0.81215383] [ 0.75345642 -0.25605647 0.60558939 1.54860788] [ 0. 0. 0. 1. ]] SLAMing on 81.059649246 meters Centerline goodness [0,1] 0.9197075918269519 Centerline is valid? [False, False] Translation: X:8.10, Y:0.81, Z:1.55 [[ 0.5057076 -0.36256355 -0.78282022 8.09785392] [ 0.4199162 0.89610425 -0.14376216 0.81197021] [ 0.75361144 -0.25601727 0.60541304 1.54882147] [ 0. 0. 0. 1. ]] SLAMing on 81.08964924600001 meters Centerline goodness [0,1] 0.9231945777351247 Centerline is valid? [False, False] Translation: X:8.10, Y:0.81, Z:1.55 [[ 0.50566278 -0.36192291 -0.78314555 8.09664923] [ 0.41916373 0.8964744 -0.14365034 0.81230416] [ 0.75406029 -0.25562758 0.6050187 1.54916613] [ 0. 0. 0. 1. ]] SLAMing on 81.11964924600001 meters Centerline goodness [0,1] 0.922485260228055 Centerline is valid? [False, False] Translation: X:8.10, Y:0.81, Z:1.55 [[ 0.50568307 -0.36083888 -0.78363253 8.0957751 ] [ 0.4185663 0.89687644 -0.14288074 0.81079353] [ 0.75437848 -0.25574979 0.60457022 1.55021722] [ 0. 0. 0. 1. ]] SLAMing on 81.14964924600001 meters Centerline goodness [0,1] 0.9237260339326714 Centerline is valid? [False, False] Translation: X:8.09, Y:0.81, Z:1.55 [[ 0.50603455 -0.35979731 -0.78388452 8.09375852] [ 0.41752975 0.89743863 -0.14238261 0.81132875] [ 0.75471713 -0.25524459 0.60436103 1.54983072] [ 0. 0. 0. 1. ]] SLAMing on 81.17964924600001 meters Centerline goodness [0,1] 0.9220431706011774 Centerline is valid? [False, False] Translation: X:8.09, Y:0.81, Z:1.55 [[ 0.50619347 -0.35961395 -0.78386604 8.09256143] [ 0.41719543 0.89759469 -0.14237888 0.81334008] [ 0.75479543 -0.25495407 0.60438587 1.54910999] [ 0. 0. 0. 1. ]] SLAMing on 81.20964924600001 meters Centerline goodness [0,1] 0.9220431706011774 Centerline is valid? [False, False] Translation: X:8.09, Y:0.81, Z:1.55 [[ 0.50619347 -0.35961395 -0.78386604 8.09256143] [ 0.41719543 0.89759469 -0.14237888 0.81334008] [ 0.75479543 -0.25495407 0.60438587 1.54910999] [ 0. 0. 0. 1. ]] SLAMing on 81.23964924600001 meters Centerline goodness [0,1] 0.9245115189610698 Centerline is valid? [False, False] Translation: X:8.09, Y:0.81, Z:1.55 [[ 0.50670035 -0.35802633 -0.7842652 8.08913973] [ 0.41588487 0.89835514 -0.14141363 0.81301331] [ 0.75517848 -0.25450969 0.6040946 1.54894261] [ 0. 0. 0. 1. ]] SLAMing on 81.26964924600001 meters Centerline goodness [0,1] 0.9266065923642399 Centerline is valid? [False, False] Translation: X:8.09, Y:0.81, Z:1.55 [[ 0.50692129 -0.35681436 -0.78467466 8.08747685] [ 0.41511638 0.89884527 -0.14055451 0.81153711] [ 0.75545298 -0.25448123 0.60376329 1.54957081] [ 0. 0. 0. 1. ]] SLAMing on 81.29964924600002 meters Centerline goodness [0,1] 0.927405740011255 Centerline is valid? [False, False] Translation: X:8.09, Y:0.81, Z:1.55 [[ 0.50722112 -0.3560718 -0.7848182 8.08597627] [ 0.41411114 0.89933433 -0.14039134 0.81261892] [ 0.75580335 -0.25379251 0.60361466 1.54892574] [ 0. 0. 0. 1. ]] SLAMing on 81.32964924600002 meters Centerline goodness [0,1] 0.9274705080324857 Centerline is valid? [False, False] Translation: X:8.09, Y:0.81, Z:1.55 [[ 0.50715346 -0.35594337 -0.78492018 8.08635814] [ 0.41357475 0.89953315 -0.14069837 0.81376479] [ 0.75614238 -0.2532675 0.60341054 1.54880582] [ 0. 0. 0. 1. ]] SLAMing on 81.35964924600002 meters Centerline goodness [0,1] 0.9288119572280971 Centerline is valid? [False, False] Translation: X:8.09, Y:0.81, Z:1.55 [[ 0.5070856 -0.35565321 -0.78509553 8.08668927] [ 0.41329789 0.89967378 -0.14061277 0.81384555] [ 0.75633924 -0.25317561 0.60320234 1.54916571] [ 0. 0. 0. 1. ]] SLAMing on 81.389649246 meters Centerline goodness [0,1] 0.9275904750677826 Centerline is valid? [False, False] Translation: X:8.09, Y:0.81, Z:1.55 [[ 0.50696804 -0.35567149 -0.78516317 8.08723059] [ 0.41314562 0.8997144 -0.14080021 0.81484833] [ 0.75650122 -0.25300552 0.60307056 1.54919815] [ 0. 0. 0. 1. ]] SLAMing on 81.419649246 meters Centerline goodness [0,1] 0.9276643389610773 Centerline is valid? [False, False] Translation: X:8.09, Y:0.82, Z:1.55 [[ 0.50709447 -0.35524027 -0.78527673 8.08645682] [ 0.41241496 0.90004334 -0.1408399 0.81679509] [ 0.7568151 -0.25244074 0.60291341 1.54862367] [ 0. 0. 0. 1. ]] SLAMing on 81.449649246 meters Centerline goodness [0,1] 0.9304202371170325 Centerline is valid? [False, False] Translation: X:8.08, Y:0.82, Z:1.55 [[ 0.50770115 -0.35441658 -0.78525692 8.08478399] [ 0.41113717 0.90065247 -0.14068179 0.81731543] [ 0.75710354 -0.251424 0.60297612 1.54740818] [ 0. 0. 0. 1. ]] SLAMing on 81.47964924600001 meters Centerline goodness [0,1] 0.9336076414401175 Centerline is valid? [False, False] Translation: X:8.08, Y:0.82, Z:1.55 [[ 0.50785503 -0.35408147 -0.78530859 8.08403147] [ 0.41053265 0.90092218 -0.1407202 0.81834345] [ 0.75732834 -0.25092935 0.60289986 1.54692745] [ 0. 0. 0. 1. ]] SLAMing on 81.50964924600001 meters Centerline goodness [0,1] 0.9324911748402719 Centerline is valid? [False, False] Translation: X:8.07, Y:0.81, Z:1.53 [[ 0.5106119 -0.35128895 -0.78477485 8.072943 ] [ 0.41118686 0.90135808 -0.13593737 0.81361621] [ 0.75511645 -0.25327787 0.60468956 1.5282549 ] [ 0. 0. 0. 1. ]] SLAMing on 81.53964924600001 meters Centerline goodness [0,1] 0.9313639806560625 Centerline is valid? [False, False] Translation: X:8.06, Y:0.81, Z:1.51 [[ 0.50983579 -0.34988076 -0.78590771 8.0620639 ] [ 0.41425136 0.90051494 -0.13216906 0.80571783] [ 0.75396504 -0.25817882 0.60405332 1.51421482] [ 0. 0. 0. 1. ]] SLAMing on 81.56964924600001 meters Centerline goodness [0,1] 0.9326440004673443 Centerline is valid? [False, False] Translation: X:8.05, Y:0.80, Z:1.50 [[ 0.50996491 -0.3492544 -0.78610251 8.05124554] [ 0.41735697 0.89955306 -0.1289087 0.79756463] [ 0.75216285 -0.26234645 0.60450425 1.49850653] [ 0. 0. 0. 1. ]] SLAMing on 81.59964924600001 meters Centerline goodness [0,1] 0.9316664714837803 Centerline is valid? [False, False] Translation: X:8.05, Y:0.80, Z:1.50 [[ 0.50844369 -0.35427508 -0.78484023 8.051898 ] [ 0.42092442 0.89738278 -0.13238872 0.79684644] [ 0.75120413 -0.26304621 0.60539164 1.49915815] [ 0. 0. 0. 1. ]] SLAMing on 81.62964924600001 meters Centerline goodness [0,1] 0.9320334097994236 Centerline is valid? [False, False] Translation: X:8.04, Y:0.79, Z:1.48 [[ 0.50885164 -0.35743343 -0.78314198 8.04123986] [ 0.42497819 0.89544519 -0.13255732 0.78810915] [ 0.74864114 -0.26536625 0.60755016 1.47872616] [ 0. 0. 0. 1. ]] SLAMing on 81.65964924600001 meters Centerline goodness [0,1] 0.9317538896746818 Centerline is valid? [False, False] Translation: X:8.04, Y:0.79, Z:1.48 [[ 0.50992399 -0.35957252 -0.78146345 8.04027344] [ 0.42689627 0.89446552 -0.13300759 0.78677727] [ 0.74681798 -0.26578007 0.60960959 1.47610319] [ 0. 0. 0. 1. ]] SLAMing on 81.68964924600002 meters Centerline goodness [0,1] 0.9270381197035462 Centerline is valid? [False, False] Translation: X:8.03, Y:0.77, Z:1.47 [[ 0.50616051 -0.35586257 -0.78559746 8.0288973 ] [ 0.42808888 0.8944326 -0.12934538 0.77490263] [ 0.74869316 -0.27083602 0.60506727 1.46615608] [ 0. 0. 0. 1. ]] SLAMing on 81.71964924600002 meters Centerline goodness [0,1] 0.9303478183910081 Centerline is valid? [False, False] Translation: X:8.03, Y:0.78, Z:1.47 [[ 0.50579321 -0.3560942 -0.78572906 8.0303802 ] [ 0.42826827 0.89430763 -0.12961539 0.7752294 ] [ 0.74883878 -0.27094424 0.60483857 1.46687467] [ 0. 0. 0. 1. ]] SLAMing on 81.74964924600002 meters Centerline goodness [0,1] 0.9314497041420118 Centerline is valid? [False, False] Translation: X:8.03, Y:0.78, Z:1.47 [[ 0.50529865 -0.35632143 -0.78594422 8.03183395] [ 0.42843591 0.89417989 -0.12994227 0.7756631 ] [ 0.74907673 -0.27106707 0.60448879 1.46784787] [ 0. 0. 0. 1. ]] SLAMing on 81.779649246 meters Centerline goodness [0,1] 0.9294027066244188 Centerline is valid? [False, False] Translation: X:8.02, Y:0.77, Z:1.45 [[ 0.50200283 -0.35501023 -0.78864497 8.0211395 ] [ 0.42931246 0.89388024 -0.12910824 0.76537047] [ 0.7507889 -0.27376241 0.60114072 1.45302905] [ 0. 0. 0. 1. ]] SLAMing on 81.809649246 meters Centerline goodness [0,1] 0.9292289477578807 Centerline is valid? [False, False] Translation: X:8.02, Y:0.77, Z:1.45 [[ 0.50143571 -0.35546068 -0.78880285 8.02298469] [ 0.42961021 0.89366386 -0.12961472 0.76644557] [ 0.75099753 -0.27388431 0.60082451 1.45388323] [ 0. 0. 0. 1. ]] SLAMing on 81.83964924600001 meters Centerline goodness [0,1] 0.9237742556658273 Centerline is valid? [False, False] Translation: X:8.03, Y:0.77, Z:1.45 [[ 0.50051102 -0.35660995 -0.78887138 8.02669297] [ 0.43026593 0.89317938 -0.13077393 0.76861212] [ 0.75123894 -0.27397069 0.60048324 1.45491446] [ 0. 0. 0. 1. ]] SLAMing on 81.86964924600001 meters Centerline goodness [0,1] 0.9230128757917274 Centerline is valid? [False, False] Translation: X:8.03, Y:0.77, Z:1.46 [[ 0.49972607 -0.35693087 -0.7892238 8.02870471] [ 0.43050325 0.89299199 -0.13127165 0.76919733] [ 0.75162544 -0.27416355 0.59991128 1.4564966 ] [ 0. 0. 0. 1. ]] SLAMing on 81.89964924600001 meters Centerline goodness [0,1] 0.9210917523934115 Centerline is valid? [False, False] Translation: X:8.03, Y:0.77, Z:1.46 [[ 0.49939222 -0.35686139 -0.7894665 8.02929719] [ 0.43047984 0.89299183 -0.13134949 0.76904986] [ 0.7518607 -0.2742545 0.59957481 1.45739146] [ 0. 0. 0. 1. ]] SLAMing on 81.92964924600001 meters Centerline goodness [0,1] 0.922748447204969 Centerline is valid? [False, False] Translation: X:8.03, Y:0.77, Z:1.46 [[ 0.49924872 -0.35612684 -0.78988885 8.0288808 ] [ 0.43001076 0.89327621 -0.13095173 0.76816541] [ 0.75222434 -0.27428322 0.59910538 1.45842076] [ 0. 0. 0. 1. ]] SLAMing on 81.95964924600001 meters Centerline goodness [0,1] 0.924508573818486 Centerline is valid? [False, False] Translation: X:8.03, Y:0.77, Z:1.46 [[ 0.49895325 -0.35588023 -0.79018663 8.02934315] [ 0.42989015 0.8933432 -0.13089072 0.76786326] [ 0.75248928 -0.27438509 0.5987259 1.45934406] [ 0. 0. 0. 1. ]] SLAMing on 81.98964924600001 meters Centerline goodness [0,1] 0.9247452779598403 Centerline is valid? [False, False] Translation: X:8.03, Y:0.77, Z:1.46 [[ 0.49862911 -0.35555597 -0.79053714 8.02959913] [ 0.42984489 0.89339381 -0.13069384 0.76734224] [ 0.75272995 -0.2746406 0.59830607 1.46047487] [ 0. 0. 0. 1. ]] SLAMing on 82.01964924600001 meters Centerline goodness [0,1] 0.9267846978820287 Centerline is valid? [False, False] Translation: X:8.03, Y:0.77, Z:1.46 [[ 0.49633753 -0.36527726 -0.78754148 8.0283631 ] [ 0.43645056 0.88918223 -0.13735308 0.76630491] [ 0.75043985 -0.27554943 0.60075998 1.45966496] [ 0. 0. 0. 1. ]] SLAMing on 82.04964924600002 meters Centerline goodness [0,1] 0.9307759477281623 Centerline is valid? [False, False] Translation: X:8.03, Y:0.76, Z:1.46 [[ 0.49361904 -0.37508895 -0.78463273 8.02658382] [ 0.44352778 0.88463825 -0.14386894 0.76488008] [ 0.74807978 -0.27698996 0.60303665 1.45987674] [ 0. 0. 0. 1. ]] SLAMing on 82.07964924600002 meters Centerline goodness [0,1] 0.9291521136938456 Centerline is valid? [False, False] Translation: X:8.03, Y:0.77, Z:1.46 [[ 0.49268513 -0.37588131 -0.78484049 8.02882023] [ 0.44419887 0.88418039 -0.14461118 0.76667913] [ 0.74829722 -0.27737749 0.60258859 1.46119319] [ 0. 0. 0. 1. ]] SLAMing on 82.10964924600002 meters Centerline goodness [0,1] 0.9250104985302058 Centerline is valid? [False, False] Translation: X:8.04, Y:0.77, Z:1.46 [[ 0.4922991 -0.37314186 -0.78638842 8.03518089] [ 0.44219014 0.88539981 -0.14330059 0.77259802] [ 0.7497396 -0.27718645 0.60088118 1.46286502] [ 0. 0. 0. 1. ]] SLAMing on 82.139649246 meters Centerline goodness [0,1] 0.923866090712743 Centerline is valid? [False, False] Translation: X:8.04, Y:0.77, Z:1.46 [[ 0.49222474 -0.37339894 -0.78631294 8.03668972] [ 0.44211057 0.88537729 -0.14368475 0.77432621] [ 0.74983535 -0.27691207 0.60088822 1.46248166] [ 0. 0. 0. 1. ]] SLAMing on 82.169649246 meters Centerline goodness [0,1] 0.9275719176025464 Centerline is valid? [False, False] Translation: X:8.03, Y:0.77, Z:1.46 [[ 0.49147177 -0.37745843 -0.78484434 8.03488099] [ 0.44433188 0.88375507 -0.14678609 0.77346717] [ 0.74901581 -0.27659014 0.60205748 1.4614407 ] [ 0. 0. 0. 1. ]] SLAMing on 82.199649246 meters Centerline goodness [0,1] 0.9271662411773539 Centerline is valid? [False, False] Translation: X:8.03, Y:0.77, Z:1.46 [[ 0.49139947 -0.37660414 -0.78529987 8.03404917] [ 0.44380989 0.88410227 -0.14627359 0.77227996] [ 0.74937263 -0.27664508 0.60158803 1.46244912] [ 0. 0. 0. 1. ]] SLAMing on 82.22964924600001 meters Centerline goodness [0,1] 0.9272569236302601 Centerline is valid? [False, False] Translation: X:8.03, Y:0.77, Z:1.46 [[ 0.49052892 -0.38087232 -0.78378419 8.03256466] [ 0.44625294 0.88233508 -0.14947614 0.77231372] [ 0.74849161 -0.27644363 0.60277626 1.46127608] [ 0. 0. 0. 1. ]] SLAMing on 82.25964924600001 meters Centerline goodness [0,1] 0.931218045112782 Centerline is valid? [False, False] Translation: X:8.03, Y:0.77, Z:1.46 [[ 0.49048174 -0.38035297 -0.78406586 8.03222433] [ 0.44581967 0.88259068 -0.14925989 0.77171761] [ 0.74878066 -0.27634274 0.60246345 1.46192751] [ 0. 0. 0. 1. ]] SLAMing on 82.28964924600001 meters Centerline goodness [0,1] 0.9310831506561364 Centerline is valid? [False, False] Translation: X:8.03, Y:0.77, Z:1.46 [[ 0.4901943 -0.38028026 -0.78428086 8.03280952] [ 0.44576494 0.88260453 -0.14934145 0.77218679] [ 0.74900144 -0.27639858 0.60216332 1.46258835] [ 0. 0. 0. 1. ]] SLAMing on 82.31964924600001 meters Centerline goodness [0,1] 0.9285692829893966 Centerline is valid? [False, False] Translation: X:8.03, Y:0.77, Z:1.46 [[ 0.48970543 -0.38007649 -0.78468494 8.03338001] [ 0.44569596 0.88263443 -0.14937061 0.77207657] [ 0.7493622 -0.27658331 0.60162942 1.46403415] [ 0. 0. 0. 1. ]] SLAMing on 82.34964924600001 meters Centerline goodness [0,1] 0.9300663603879531 Centerline is valid? [False, False] Translation: X:8.03, Y:0.77, Z:1.46 [[ 0.48965871 -0.37972551 -0.78488399 8.03339868] [ 0.44540341 0.88280587 -0.14923002 0.7718362 ] [ 0.74956664 -0.27651822 0.60140462 1.46445464] [ 0. 0. 0. 1. ]] SLAMing on 82.37964924600001 meters Centerline goodness [0,1] 0.9336904156318262 Centerline is valid? [False, False] Translation: X:8.03, Y:0.77, Z:1.46 [[ 0.49004616 -0.37921424 -0.78488937 8.03208456] [ 0.44458595 0.88323134 -0.14915002 0.77252551] [ 0.7497987 -0.27586039 0.60141745 1.46368383] [ 0. 0. 0. 1. ]] SLAMing on 82.40964924600001 meters Centerline goodness [0,1] 0.9334310674964098 Centerline is valid? [False, False] Translation: X:8.03, Y:0.77, Z:1.46 [[ 0.49023557 -0.37905762 -0.78484674 8.03085539] [ 0.44371628 0.88359372 -0.14959281 0.77410467] [ 0.75018994 -0.27491355 0.60136311 1.46272702] [ 0. 0. 0. 1. ]] SLAMing on 82.43964924600002 meters Centerline goodness [0,1] 0.934246329575696 Centerline is valid? [False, False] Translation: X:8.03, Y:0.77, Z:1.46 [[ 0.49027127 -0.37887421 -0.784913 8.03032551] [ 0.44322204 0.88381212 -0.14976767 0.77490935] [ 0.75045873 -0.27446396 0.60123309 1.46246699] [ 0. 0. 0. 1. ]] SLAMing on 82.46964924600002 meters Centerline goodness [0,1] 0.9357504266339332 Centerline is valid? [False, False] Translation: X:8.03, Y:0.78, Z:1.46 [[ 0.49042093 -0.37857295 -0.78496486 8.02971092] [ 0.44263956 0.88409286 -0.14983338 0.7758055 ] [ 0.75070469 -0.27397508 0.60114901 1.46197411] [ 0. 0. 0. 1. ]] SLAMing on 82.49964924600002 meters Centerline goodness [0,1] 0.9345733301640123 Centerline is valid? [False, False] Translation: X:8.03, Y:0.78, Z:1.46 [[ 0.49096309 -0.37750493 -0.78514029 8.02820075] [ 0.44091184 0.88496304 -0.14979039 0.7787054 ] [ 0.75136675 -0.2726361 0.60093058 1.46031525] [ 0. 0. 0. 1. ]] SLAMing on 82.529649246 meters Centerline goodness [0,1] 0.9357198073378129 Centerline is valid? [False, False] Translation: X:8.03, Y:0.78, Z:1.46 [[ 0.49108971 -0.37755368 -0.78503765 8.02794992] [ 0.44051598 0.88510598 -0.1501102 0.78044089] [ 0.75151618 -0.27210406 0.60098487 1.4595053 ] [ 0. 0. 0. 1. ]] SLAMing on 82.559649246 meters Centerline goodness [0,1] 0.9354001356892128 Centerline is valid? [False, False] Translation: X:8.03, Y:0.78, Z:1.46 [[ 0.49110131 -0.37753708 -0.78503838 8.02763591] [ 0.43947428 0.88548615 -0.15091931 0.78420527] [ 0.75211824 -0.27088751 0.60078125 1.45819722] [ 0. 0. 0. 1. ]] SLAMing on 82.58964924600001 meters Centerline goodness [0,1] 0.9345453475715588 Centerline is valid? [False, False] Translation: X:8.03, Y:0.79, Z:1.46 [[ 0.49052843 -0.37844279 -0.78496046 8.02902743] [ 0.43972443 0.8851816 -0.15197359 0.7874666 ] [ 0.75234586 -0.27061892 0.60061728 1.45818403] [ 0. 0. 0. 1. ]] SLAMing on 82.61964924600001 meters Centerline goodness [0,1] 0.9333001347472025 Centerline is valid? [False, False] Translation: X:8.03, Y:0.79, Z:1.46 [[ 0.49003432 -0.37882571 -0.78508436 8.03055977] [ 0.43990451 0.88500812 -0.15246199 0.78871277] [ 0.75256255 -0.27065054 0.60033149 1.4588397 ] [ 0. 0. 0. 1. ]] SLAMing on 82.64964924600001 meters Centerline goodness [0,1] 0.9323101490418737 Centerline is valid? [False, False] Translation: X:8.03, Y:0.79, Z:1.46 [[ 0.48824535 -0.3839932 -0.78368725 8.03202812] [ 0.44336593 0.88261765 -0.15624578 0.78911888] [ 0.75169351 -0.27117394 0.60118346 1.45933311] [ 0. 0. 0. 1. ]] SLAMing on 82.67964924600001 meters Centerline goodness [0,1] 0.9324600657914234 Centerline is valid? [False, False] Translation: X:8.03, Y:0.79, Z:1.46 [[ 0.48731875 -0.38356241 -0.78447455 8.03273869] [ 0.44361483 0.88254688 -0.15593875 0.7881211 ] [ 0.75214781 -0.27201266 0.60023561 1.46218319] [ 0. 0. 0. 1. ]] SLAMing on 82.70964924600001 meters Centerline goodness [0,1] 0.9305745350840711 Centerline is valid? [False, False] Translation: X:8.03, Y:0.79, Z:1.46 [[ 0.48632362 -0.38828549 -0.78276671 8.03265699] [ 0.44644354 0.88050055 -0.15939558 0.78848151] [ 0.75111751 -0.2719433 0.60155576 1.46098402] [ 0. 0. 0. 1. ]] SLAMing on 82.73964924600001 meters Centerline goodness [0,1] 0.9295753588516746 Centerline is valid? [False, False] Translation: X:8.03, Y:0.79, Z:1.46 [[ 0.48487973 -0.39293425 -0.78134136 8.03438211] [ 0.44956366 0.87830417 -0.16270927 0.78711975] [ 0.75018942 -0.27236825 0.60252085 1.46135435] [ 0. 0. 0. 1. ]] SLAMing on 82.76964924600001 meters Centerline goodness [0,1] 0.9302465243371468 Centerline is valid? [False, False] Translation: X:8.04, Y:0.79, Z:1.46 [[ 0.48309993 -0.39780638 -0.77997727 8.03658348] [ 0.45292301 0.87591967 -0.16620915 0.78599484] [ 0.74931649 -0.27297403 0.60333239 1.46227199] [ 0. 0. 0. 1. ]] SLAMing on 82.79964924600002 meters Centerline goodness [0,1] 0.9313636911215516 Centerline is valid? [False, False] Translation: X:8.04, Y:0.79, Z:1.46 [[ 0.48161204 -0.40288363 -0.77828955 8.03772162] [ 0.45614847 0.87353117 -0.16991724 0.78658511] [ 0.74831706 -0.2731814 0.60447788 1.46182475] [ 0. 0. 0. 1. ]] SLAMing on 82.82964924600002 meters Centerline goodness [0,1] 0.9306990332198898 Centerline is valid? [False, False] Translation: X:8.04, Y:0.79, Z:1.46 [[ 0.48054395 -0.4071214 -0.77674299 8.03720243] [ 0.45865127 0.87159635 -0.17308612 0.78603765] [ 0.74747342 -0.27307867 0.60556711 1.46109298] [ 0. 0. 0. 1. ]] SLAMing on 82.85964924600002 meters Centerline goodness [0,1] 0.9330264464301832 Centerline is valid? [False, False] Translation: X:8.04, Y:0.79, Z:1.46 [[ 0.48026536 -0.40717984 -0.77688465 8.0377222 ] [ 0.4587167 0.87153673 -0.17321291 0.78632355] [ 0.74761232 -0.27318181 0.60534909 1.46169535] [ 0. 0. 0. 1. ]] SLAMing on 82.889649246 meters Centerline goodness [0,1] 0.9325893394296715 Centerline is valid? [False, False] Translation: X:8.04, Y:0.79, Z:1.46 [[ 0.47967943 -0.40719739 -0.77723737 8.0386656 ] [ 0.45884173 0.87143936 -0.17337161 0.78660988] [ 0.7479117 -0.27346614 0.60485069 1.46315484] [ 0. 0. 0. 1. ]] SLAMing on 82.919649246 meters Centerline goodness [0,1] 0.9323228975201133 Centerline is valid? [False, False] Translation: X:8.04, Y:0.79, Z:1.46 [[ 0.47930869 -0.40714972 -0.77749102 8.03923985] [ 0.4589504 0.87138 -0.17338233 0.78698435] [ 0.74808269 -0.27372615 0.60452153 1.46406894] [ 0. 0. 0. 1. ]] SLAMing on 82.949649246 meters Centerline goodness [0,1] 0.9305334095490237 Centerline is valid? [False, False] Translation: X:8.04, Y:0.79, Z:1.46 [[ 0.47893581 -0.40751111 -0.77753147 8.04051054] [ 0.45898381 0.87125661 -0.17391318 0.78874542] [ 0.74830098 -0.27358111 0.60431698 1.46427276] [ 0. 0. 0. 1. ]] SLAMing on 82.97964924600001 meters Centerline goodness [0,1] 0.933016226630942 Centerline is valid? [False, False] Translation: X:8.04, Y:0.79, Z:1.47 [[ 0.47824756 -0.40791413 -0.77774374 8.04188208] [ 0.45928378 0.87100029 -0.17440446 0.78994705] [ 0.74855707 -0.27379658 0.6039021 1.46539645] [ 0. 0. 0. 1. ]] SLAMing on 83.00964924600001 meters Centerline goodness [0,1] 0.9314597593703826 Centerline is valid? [False, False] Translation: X:8.04, Y:0.79, Z:1.46 [[ 0.47662562 -0.41292736 -0.77609214 8.04233243] [ 0.46227319 0.86863369 -0.17826668 0.79113897] [ 0.74775097 -0.27380012 0.60489832 1.46495637] [ 0. 0. 0. 1. ]] SLAMing on 83.03964924600001 meters Centerline goodness [0,1] 0.9310521710268248 Centerline is valid? [False, False] Translation: X:8.04, Y:0.79, Z:1.47 [[ 0.47594526 -0.41277997 -0.77658792 8.04314277] [ 0.46238755 0.8685684 -0.17828821 0.79093887] [ 0.74811353 -0.27422916 0.60425534 1.4668105 ] [ 0. 0. 0. 1. ]] SLAMing on 83.06964924600001 meters Centerline goodness [0,1] 0.9311188283255323 Centerline is valid? [False, False] Translation: X:8.04, Y:0.79, Z:1.47 [[ 0.47407727 -0.41818429 -0.77483717 8.04464469] [ 0.46547813 0.86601876 -0.18259686 0.79327033] [ 0.74738267 -0.27410474 0.60521545 1.46631408] [ 0. 0. 0. 1. ]] SLAMing on 83.09964924600001 meters Centerline goodness [0,1] 0.9310199027513515 Centerline is valid? [False, False] Translation: X:8.05, Y:0.79, Z:1.47 [[ 0.47342038 -0.41854276 -0.77504522 8.04626385] [ 0.46573032 0.86578483 -0.18306254 0.79421166] [ 0.7476419 -0.27429652 0.60480824 1.46745573] [ 0. 0. 0. 1. ]] SLAMing on 83.12964924600001 meters Centerline goodness [0,1] 0.9310199027513515 Centerline is valid? [False, False] Translation: X:8.05, Y:0.79, Z:1.47 [[ 0.47342038 -0.41854276 -0.77504522 8.04626385] [ 0.46573032 0.86578483 -0.18306254 0.79421166] [ 0.7476419 -0.27429652 0.60480824 1.46745573] [ 0. 0. 0. 1. ]] SLAMing on 83.15964924600001 meters Centerline goodness [0,1] 0.9306248299628186 Centerline is valid? [False, False] Translation: X:8.05, Y:0.80, Z:1.47 [[ 0.47282956 -0.41895162 -0.77518497 8.04753937] [ 0.46590569 0.86557252 -0.18361943 0.79561645] [ 0.74790647 -0.2743424 0.60446022 1.46825408] [ 0. 0. 0. 1. ]] SLAMing on 83.18964924600002 meters Centerline goodness [0,1] 0.9292207005211489 Centerline is valid? [False, False] Translation: X:8.05, Y:0.80, Z:1.47 [[ 0.4719357 -0.41960278 -0.77537746 8.04899605] [ 0.46618968 0.86523595 -0.18448287 0.797942 ] [ 0.74829398 -0.27440892 0.60395022 1.46939781] [ 0. 0. 0. 1. ]] SLAMing on 83.21964924600002 meters Centerline goodness [0,1] 0.9257875391111516 Centerline is valid? [False, False] Translation: X:8.05, Y:0.80, Z:1.47 [[ 0.47013389 -0.42446767 -0.77382254 8.04959985] [ 0.46894811 0.86289411 -0.1884182 0.79981807] [ 0.74770435 -0.27430084 0.60472907 1.46913346] [ 0. 0. 0. 1. ]] SLAMing on 83.24964924600002 meters Centerline goodness [0,1] 0.9281499057005537 Centerline is valid? [False, False] Translation: X:8.05, Y:0.80, Z:1.47 [[ 0.46958324 -0.42459183 -0.77408873 8.05017834] [ 0.46907172 0.86276928 -0.18868196 0.80061415] [ 0.7479728 -0.27450125 0.60430602 1.47023397] [ 0. 0. 0. 1. ]] SLAMing on 83.279649246 meters Centerline goodness [0,1] 0.9291836362531153 Centerline is valid? [False, False] Translation: X:8.05, Y:0.80, Z:1.47 [[ 0.46903959 -0.4247107 -0.77435307 8.05012649] [ 0.46916181 0.86265857 -0.18896401 0.80173351] [ 0.74825735 -0.27466529 0.60387906 1.47123545] [ 0. 0. 0. 1. ]] SLAMing on 83.309649246 meters Centerline goodness [0,1] 0.9298826819038356 Centerline is valid? [False, False] Translation: X:8.05, Y:0.80, Z:1.47 [[ 0.46845687 -0.42488224 -0.77461167 8.05072024] [ 0.46923385 0.86253799 -0.1893352 0.80250177] [ 0.74857715 -0.27477865 0.60343098 1.47236646] [ 0. 0. 0. 1. ]] SLAMing on 83.33964924600001 meters Centerline goodness [0,1] 0.9259858875278737 Centerline is valid? [False, False] Translation: X:8.05, Y:0.81, Z:1.47 [[ 0.46671039 -0.43004081 -0.77281713 8.05069402] [ 0.47208537 0.86005645 -0.19348979 0.80556978] [ 0.74787487 -0.27453196 0.60441325 1.4713892 ] [ 0. 0. 0. 1. ]] SLAMing on 83.36964924600001 meters Centerline goodness [0,1] 0.9255152981531959 Centerline is valid? [False, False] Translation: X:8.05, Y:0.81, Z:1.47 [[ 0.46611629 -0.43015306 -0.77311316 8.05146408] [ 0.47222933 0.85992084 -0.1937411 0.80638224] [ 0.74815444 -0.27478082 0.603954 1.47260179] [ 0. 0. 0. 1. ]] SLAMing on 83.39964924600001 meters Centerline goodness [0,1] 0.9267793295235767 Centerline is valid? [False, False] Translation: X:8.05, Y:0.81, Z:1.47 [[ 0.46556216 -0.43044211 -0.77328614 8.05207886] [ 0.47225862 0.85978651 -0.19426518 0.80763942] [ 0.74848091 -0.27474852 0.60356406 1.473487 ] [ 0. 0. 0. 1. ]] SLAMing on 83.42964924600001 meters Centerline goodness [0,1] 0.9278558338423947 Centerline is valid? [False, False] Translation: X:8.05, Y:0.81, Z:1.47 [[ 0.46473441 -0.43094104 -0.77350614 8.0532213 ] [ 0.4725061 0.85949366 -0.19495804 0.80938595] [ 0.74883904 -0.27488266 0.60305855 1.47469051] [ 0. 0. 0. 1. ]] SLAMing on 83.45964924600001 meters Centerline goodness [0,1] 0.9279795271752376 Centerline is valid? [False, False] Translation: X:8.05, Y:0.81, Z:1.47 [[ 0.46411606 -0.43193429 -0.77332338 8.05387934] [ 0.47268005 0.85912136 -0.19617352 0.81286493] [ 0.74911271 -0.27448725 0.60289874 1.4745272 ] [ 0. 0. 0. 1. ]] SLAMing on 83.48964924600001 meters Centerline goodness [0,1] 0.9300996839290055 Centerline is valid? [False, False] Translation: X:8.05, Y:0.81, Z:1.47 [[ 0.46396257 -0.43215033 -0.77329479 8.05296604] [ 0.4723451 0.8591748 -0.19674545 0.81465002] [ 0.749419 -0.27397948 0.60274904 1.47431073] [ 0. 0. 0. 1. ]] SLAMing on 83.51964924600001 meters Centerline goodness [0,1] 0.9295663280822335 Centerline is valid? [False, False] Translation: X:8.05, Y:0.82, Z:1.48 [[ 0.46352296 -0.43216589 -0.77354968 8.05279887] [ 0.47225943 0.85916125 -0.19701009 0.81560614] [ 0.74974495 -0.27399743 0.60233538 1.47513478] [ 0. 0. 0. 1. ]] SLAMing on 83.54964924600002 meters Centerline goodness [0,1] 0.9301166233609282 Centerline is valid? [False, False] Translation: X:8.05, Y:0.82, Z:1.48 [[ 0.46307727 -0.4322253 -0.77378339 8.05161766] [ 0.4720932 0.85916533 -0.19739033 0.81784592] [ 0.75012496 -0.2738909 0.60191056 1.47569483] [ 0. 0. 0. 1. ]] SLAMing on 83.57964924600002 meters Centerline goodness [0,1] 0.9295520231213873 Centerline is valid? [False, False] Translation: X:8.05, Y:0.82, Z:1.48 [[ 0.46278738 -0.43245312 -0.77382953 8.05176773] [ 0.47209193 0.85908061 -0.19776177 0.81983169] [ 0.75030463 -0.27379702 0.6017293 1.47576343] [ 0. 0. 0. 1. ]] SLAMing on 83.60964924600002 meters Centerline goodness [0,1] 0.9293665796501336 Centerline is valid? [False, False] Translation: X:8.05, Y:0.82, Z:1.48 [[ 0.46205388 -0.43310963 -0.77390068 8.05253484] [ 0.47211839 0.85883424 -0.19876614 0.82308766] [ 0.75073993 -0.27353207 0.60130671 1.4762293 ] [ 0. 0. 0. 1. ]] SLAMing on 83.63964924600002 meters Centerline goodness [0,1] 0.9300120048019208 Centerline is valid? [False, False] Translation: X:8.05, Y:0.82, Z:1.48 [[ 0.46138705 -0.43317934 -0.77425942 8.05311263] [ 0.47218969 0.8587279 -0.19905599 0.82364401] [ 0.75110511 -0.27375547 0.60074875 1.4776573 ] [ 0. 0. 0. 1. ]] SLAMing on 83.669649246 meters Centerline goodness [0,1] 0.9305384546082465 Centerline is valid? [False, False] Translation: X:8.05, Y:0.82, Z:1.48 [[ 0.46058264 -0.43342666 -0.77459987 8.05415305] [ 0.47243839 0.85849813 -0.1994566 0.82434167] [ 0.75144235 -0.27408446 0.60017673 1.47926999] [ 0. 0. 0. 1. ]] SLAMing on 83.699649246 meters Centerline goodness [0,1] 0.9296816507442125 Centerline is valid? [False, False] Translation: X:8.06, Y:0.83, Z:1.48 [[ 0.45960211 -0.43393933 -0.77489519 8.05581066] [ 0.47263495 0.85820194 -0.20026392 0.82649514] [ 0.75191895 -0.27420083 0.59952631 1.48080347] [ 0. 0. 0. 1. ]] SLAMing on 83.72964924600001 meters Centerline goodness [0,1] 0.9283955806412874 Centerline is valid? [False, False] Translation: X:8.06, Y:0.83, Z:1.48 [[ 0.45909387 -0.43419329 -0.7750542 8.05673401] [ 0.47275758 0.85804359 -0.20065263 0.82792918] [ 0.75215231 -0.27429435 0.59919072 1.48152128] [ 0. 0. 0. 1. ]] SLAMing on 83.75964924600001 meters Centerline goodness [0,1] 0.9260304403950647 Centerline is valid? [False, False] Translation: X:8.06, Y:0.83, Z:1.48 [[ 0.45748409 -0.43537745 -0.77534172 8.0597612 ] [ 0.47345386 0.85732948 -0.20205841 0.83116652] [ 0.75269499 -0.27465002 0.59834573 1.48378855] [ 0. 0. 0. 1. ]] SLAMing on 83.78964924600001 meters Centerline goodness [0,1] 0.9240122493094752 Centerline is valid? [False, False] Translation: X:8.06, Y:0.83, Z:1.49 [[ 0.4566372 -0.43553522 -0.77575224 8.06090782] [ 0.47376409 0.85709446 -0.20232815 0.83204061] [ 0.75301398 -0.27513299 0.59772216 1.48557295] [ 0. 0. 0. 1. ]] SLAMing on 83.81964924600001 meters Centerline goodness [0,1] 0.9253601178841007 Centerline is valid? [False, False] Translation: X:8.06, Y:0.83, Z:1.49 [[ 0.45400214 -0.4406744 -0.77439533 8.06214335] [ 0.47709501 0.85426629 -0.20642057 0.83414368] [ 0.75250409 -0.27574476 0.59808228 1.48705611] [ 0. 0. 0. 1. ]] SLAMing on 83.84964924600001 meters Centerline goodness [0,1] 0.924508976985179 Centerline is valid? [False, False] Translation: X:8.06, Y:0.83, Z:1.49 [[ 0.45290439 -0.44049306 -0.77514094 8.06353311] [ 0.47740167 0.8540948 -0.2064212 0.83398745] [ 0.75297095 -0.27656451 0.59711541 1.48999684] [ 0. 0. 0. 1. ]] SLAMing on 83.87964924600001 meters Centerline goodness [0,1] 0.9235917625681405 Centerline is valid? [False, False] Translation: X:8.07, Y:0.84, Z:1.49 [[ 0.4501206 -0.445951 -0.7736402 8.06584965] [ 0.48125088 0.85093257 -0.21050263 0.83505853] [ 0.7521895 -0.27756345 0.59763659 1.49191437] [ 0. 0. 0. 1. ]] SLAMing on 83.90964924600001 meters Centerline goodness [0,1] 0.9248309530307165 Centerline is valid? [False, False] Translation: X:8.07, Y:0.84, Z:1.49 [[ 0.44902357 -0.44592567 -0.77429202 8.06702543] [ 0.48164807 0.85068246 -0.21060506 0.83567147] [ 0.75259084 -0.27836962 0.59675571 1.49454101] [ 0. 0. 0. 1. ]] SLAMing on 83.93964924600002 meters Centerline goodness [0,1] 0.9235931066036297 Centerline is valid? [False, False] Translation: X:8.07, Y:0.84, Z:1.50 [[ 0.44778475 -0.44582822 -0.77506517 8.06941261] [ 0.4821448 0.85040017 -0.21060849 0.83512097] [ 0.75301076 -0.27938637 0.59574999 1.49801309] [ 0. 0. 0. 1. ]] SLAMing on 83.96964924600002 meters Centerline goodness [0,1] 0.9253066455116861 Centerline is valid? [False, False] Translation: X:8.07, Y:0.83, Z:1.50 [[ 0.44693966 -0.44567207 -0.77564254 8.07067087] [ 0.48237654 0.85027128 -0.21059824 0.83468777] [ 0.75336433 -0.28002706 0.59500171 1.50037922] [ 0. 0. 0. 1. ]] SLAMing on 83.99964924600002 meters Centerline goodness [0,1] 0.9250719578663728 Centerline is valid? [False, False] Translation: X:8.07, Y:0.84, Z:1.50 [[ 0.44451725 -0.45092238 -0.77399833 8.07298035] [ 0.48570449 0.84734425 -0.21470648 0.83592524] [ 0.75265899 -0.28049373 0.59567416 1.50137564] [ 0. 0. 0. 1. ]] SLAMing on 84.029649246 meters Centerline goodness [0,1] 0.9262934742534104 Centerline is valid? [False, False] Translation: X:8.07, Y:0.84, Z:1.50 [[ 0.4436048 -0.4507333 -0.7746317 8.07438116] [ 0.4859916 0.84719517 -0.21464506 0.83532661] [ 0.75301192 -0.28124692 0.59487244 1.50400595] [ 0. 0. 0. 1. ]] SLAMing on 84.059649246 meters Centerline goodness [0,1] 0.9258610624635143 Centerline is valid? [False, False] Translation: X:8.07, Y:0.84, Z:1.50 [[ 0.44165848 -0.45539743 -0.77301421 8.07491434] [ 0.48892433 0.84459057 -0.21821954 0.83567098] [ 0.75225713 -0.28156695 0.59567547 1.50446675] [ 0. 0. 0. 1. ]] SLAMing on 84.08964924600001 meters Centerline goodness [0,1] 0.9243005865552928 Centerline is valid? [False, False] Translation: X:8.08, Y:0.84, Z:1.51 [[ 0.44091627 -0.45552197 -0.77336445 8.07574779] [ 0.48916313 0.84438748 -0.21847017 0.83606464] [ 0.75253722 -0.28197432 0.59512873 1.506144 ] [ 0. 0. 0. 1. ]] SLAMing on 84.11964924600001 meters Centerline goodness [0,1] 0.9255728125480548 Centerline is valid? [False, False] Translation: X:8.08, Y:0.84, Z:1.51 [[ 0.43996492 -0.4558414 -0.77371796 8.07668631] [ 0.4892329 0.84417016 -0.21915272 0.83736791] [ 0.7530485 -0.28210877 0.59441787 1.50790016] [ 0. 0. 0. 1. ]] SLAMing on 84.14964924600001 meters Centerline goodness [0,1] 0.9239879414298019 Centerline is valid? [False, False] Translation: X:8.08, Y:0.84, Z:1.51 [[ 0.43913348 -0.4563897 -0.77386706 8.07765568] [ 0.48943926 0.84384893 -0.21992769 0.8392027 ] [ 0.75339963 -0.28218331 0.59393735 1.50901595] [ 0. 0. 0. 1. ]] SLAMing on 84.17964924600001 meters Centerline goodness [0,1] 0.9248201217637292 Centerline is valid? [False, False] Translation: X:8.07, Y:0.83, Z:1.49 [[ 0.4394538 -0.46021657 -0.77141498 8.06843649] [ 0.49257676 0.84161226 -0.22148802 0.83393689] [ 0.75116476 -0.28264734 0.59654169 1.48614175] [ 0. 0. 0. 1. ]] SLAMing on 84.20964924600001 meters Centerline goodness [0,1] 0.9236971183323115 Centerline is valid? [False, False] Translation: X:8.06, Y:0.83, Z:1.47 [[ 0.4395721 -0.46214416 -0.77019422 8.06000403] [ 0.49592034 0.83980701 -0.22087826 0.82814573] [ 0.7488921 -0.28486306 0.59834242 1.46740016] [ 0. 0. 0. 1. ]] SLAMing on 84.23964924600001 meters Centerline goodness [0,1] 0.9227737895219185 Centerline is valid? [False, False] Translation: X:8.05, Y:0.82, Z:1.44 [[ 0.44124624 -0.46649315 -0.76660675 8.04834093] [ 0.49791984 0.83797427 -0.22332702 0.82114172] [ 0.74657725 -0.28316651 0.60202918 1.44106084] [ 0. 0. 0. 1. ]] SLAMing on 84.26964924600001 meters Centerline goodness [0,1] 0.922952619062138 Centerline is valid? [False, False] Translation: X:8.04, Y:0.81, Z:1.42 [[ 0.4417168 -0.47007658 -0.76414284 8.03774908] [ 0.50082007 0.83587558 -0.22470261 0.81380977] [ 0.74435578 -0.28344315 0.60464408 1.41877383] [ 0. 0. 0. 1. ]] SLAMing on 84.29964924600002 meters Centerline goodness [0,1] 0.9263575350823673 Centerline is valid? [False, False] Translation: X:8.02, Y:0.80, Z:1.39 [[ 0.44418991 -0.47675133 -0.75855356 8.02199561] [ 0.50595024 0.8322177 -0.22677753 0.80252671] [ 0.73939819 -0.28305806 0.61087515 1.39229971] [ 0. 0. 0. 1. ]] SLAMing on 84.32964924600002 meters Centerline goodness [0,1] 0.9232223441883156 Centerline is valid? [False, False] Translation: X:8.01, Y:0.79, Z:1.37 [[ 0.44447299 -0.47867085 -0.75717764 8.01238207] [ 0.50927109 0.83039871 -0.22601092 0.79489183] [ 0.73694418 -0.28515293 0.61286302 1.37317681] [ 0. 0. 0. 1. ]] SLAMing on 84.35964924600002 meters Centerline goodness [0,1] 0.9248774509803922 Centerline is valid? [False, False] Translation: X:7.99, Y:0.78, Z:1.34 [[ 0.44205284 -0.48271156 -0.75602833 7.99086007] [ 0.51559179 0.82643782 -0.22619824 0.77630761] [ 0.73399891 -0.28981043 0.6142113 1.33682552] [ 0. 0. 0. 1. ]] SLAMing on 84.38964924600002 meters Centerline goodness [0,1] 0.9238861952245906 Centerline is valid? [False, False] Translation: X:7.98, Y:0.77, Z:1.33 [[ 0.43731233 -0.47890534 -0.76118829 7.98288472] [ 0.51634822 0.82670574 -0.22347737 0.76943198] [ 0.73630323 -0.29530881 0.60881053 1.32829398] [ 0. 0. 0. 1. ]] SLAMing on 84.419649246 meters Centerline goodness [0,1] 0.9224622489593778 Centerline is valid? [False, False] Translation: X:7.96, Y:0.75, Z:1.29 [[ 0.43660018 -0.47969721 -0.76109846 7.96277872] [ 0.51888417 0.82536736 -0.22254874 0.7505178 ] [ 0.73494184 -0.29775712 0.60926283 1.28937722] [ 0. 0. 0. 1. ]] SLAMing on 84.449649246 meters Centerline goodness [0,1] 0.923123596869122 Centerline is valid? [False, False] Translation: X:7.95, Y:0.74, Z:1.27 [[ 0.43633072 -0.48171564 -0.75997733 7.95354901] [ 0.52207222 0.82344718 -0.22220563 0.74194526] [ 0.73284112 -0.29980791 0.61078566 1.27089738] [ 0. 0. 0. 1. ]] SLAMing on 84.47964924600001 meters Centerline goodness [0,1] 0.9219119161567819 Centerline is valid? [False, False] Translation: X:7.94, Y:0.73, Z:1.25 [[ 0.43660395 -0.48680582 -0.75656929 7.94259731] [ 0.52514673 0.82072077 -0.22502963 0.73278998] [ 0.73047786 -0.29906106 0.61397441 1.2469486 ] [ 0. 0. 0. 1. ]] SLAMing on 84.50964924600001 meters Centerline goodness [0,1] 0.9243086758541661 Centerline is valid? [False, False] Translation: X:7.93, Y:0.72, Z:1.23 [[ 0.43420746 -0.48494088 -0.75914177 7.93341971] [ 0.52711676 0.82016687 -0.22242804 0.72451429] [ 0.73048738 -0.30357644 0.61174303 1.23456826] [ 0. 0. 0. 1. ]] SLAMing on 84.53964924600001 meters Centerline goodness [0,1] 0.9212641083521445 Centerline is valid? [False, False] Translation: X:7.91, Y:0.70, Z:1.20 [[ 0.43342835 -0.48543301 -0.75927245 7.91242267] [ 0.5293893 0.81897898 -0.2214055 0.70315401] [ 0.72930572 -0.30598729 0.61195175 1.19686496] [ 0. 0. 0. 1. ]] SLAMing on 84.56964924600001 meters Centerline goodness [0,1] 0.9220384846662658 Centerline is valid? [False, False] Translation: X:7.90, Y:0.69, Z:1.18 [[ 0.43218543 -0.48848676 -0.7580214 7.90361679] [ 0.53150388 0.81704237 -0.22348465 0.69482959] [ 0.72850489 -0.30630451 0.61274642 1.17643225] [ 0. 0. 0. 1. ]] SLAMing on 84.59964924600001 meters Centerline goodness [0,1] 0.9225236025775513 Centerline is valid? [False, False] Translation: X:7.89, Y:0.68, Z:1.15 [[ 0.43290549 -0.49362222 -0.75427445 7.89283901] [ 0.53362334 0.81471351 -0.22690973 0.68474872] [ 0.72652527 -0.30426798 0.61610229 1.15043098] [ 0. 0. 0. 1. ]] SLAMing on 84.62964924600001 meters Centerline goodness [0,1] 0.9215151151631478 Centerline is valid? [False, False] Translation: X:7.88, Y:0.68, Z:1.13 [[ 0.4330173 -0.49581983 -0.75276737 7.88410251] [ 0.53678974 0.8127344 -0.22653823 0.67618344] [ 0.72412209 -0.30598283 0.61807905 1.13146375] [ 0. 0. 0. 1. ]] SLAMing on 84.65964924600001 meters Centerline goodness [0,1] 0.9203153933456782 Centerline is valid? [False, False] Translation: X:7.87, Y:0.67, Z:1.11 [[ 0.43320611 -0.49974057 -0.75006121 7.87420915] [ 0.53993764 0.8102398 -0.22798862 0.66913233] [ 0.72166461 -0.30622022 0.62082958 1.1098643 ] [ 0. 0. 0. 1. ]] SLAMing on 84.68964924600002 meters Centerline goodness [0,1] 0.9206330247835175 Centerline is valid? [False, False] Translation: X:7.87, Y:0.66, Z:1.09 [[ 0.4330782 -0.50303405 -0.74793049 7.86547003] [ 0.54325749 0.80780558 -0.22873882 0.66149123] [ 0.71924584 -0.30725704 0.62312 1.08996869] [ 0. 0. 0. 1. ]] SLAMing on 84.71964924600002 meters Centerline goodness [0,1] 0.9229072920702089 Centerline is valid? [False, False] Translation: X:7.85, Y:0.65, Z:1.07 [[ 0.43474007 -0.50687254 -0.74436637 7.85404449] [ 0.54565427 0.80581973 -0.23003473 0.65252286] [ 0.7164234 -0.30616137 0.62689929 1.0660548 ] [ 0. 0. 0. 1. ]] SLAMing on 84.74964924600002 meters Centerline goodness [0,1] 0.9250297265160523 Centerline is valid? [False, False] Translation: X:7.84, Y:0.64, Z:1.05 [[ 0.43529565 -0.50786363 -0.74336548 7.84438614] [ 0.54804303 0.80456248 -0.22875326 0.64312196] [ 0.71425943 -0.30782097 0.62855367 1.04790269] [ 0. 0. 0. 1. ]] SLAMing on 84.779649246 meters Centerline goodness [0,1] 0.9245874489856273 Centerline is valid? [False, False] Translation: X:7.83, Y:0.63, Z:1.02 [[ 0.43713011 -0.51162407 -0.73970135 7.83246018] [ 0.54879319 0.80331819 -0.23131348 0.63357312] [ 0.71256109 -0.30482897 0.63193037 1.02201054] [ 0. 0. 0. 1. ]] SLAMing on 84.809649246 meters Centerline goodness [0,1] 0.9270536370315944 Centerline is valid? [False, False] Translation: X:7.83, Y:0.64, Z:1.02 [[ 0.43667698 -0.51198623 -0.7397184 7.83276105] [ 0.54878131 0.8031492 -0.23192766 0.63543675] [ 0.71284801 -0.30466616 0.63168524 1.02226454] [ 0. 0. 0. 1. ]] SLAMing on 84.83964924600001 meters Centerline goodness [0,1] 0.9267953759276232 Centerline is valid? [False, False] Translation: X:7.82, Y:0.62, Z:1.00 [[ 0.43616439 -0.51993655 -0.73445667 7.82091858] [ 0.55399061 0.79832566 -0.23615786 0.62463098] [ 0.70912271 -0.30387845 0.6362412 0.99859222] [ 0. 0. 0. 1. ]] SLAMing on 84.86964924600001 meters Centerline goodness [0,1] 0.9271659930971415 Centerline is valid? [False, False] Translation: X:7.82, Y:0.63, Z:1.00 [[ 0.43564363 -0.51994055 -0.73476285 7.82132548] [ 0.55389912 0.7982918 -0.23648672 0.62560065] [ 0.70951419 -0.30396057 0.63576535 0.99957805] [ 0. 0. 0. 1. ]] SLAMing on 84.89964924600001 meters Centerline goodness [0,1] 0.9277037386484255 Centerline is valid? [False, False] Translation: X:7.81, Y:0.62, Z:0.99 [[ 0.43146717 -0.51764497 -0.73883677 7.81333063] [ 0.55468151 0.79811346 -0.23525163 0.61769568] [ 0.71145239 -0.30831574 0.63148785 0.98872551] [ 0. 0. 0. 1. ]] SLAMing on 84.92964924600001 meters Centerline goodness [0,1] 0.9272491451479778 Centerline is valid? [False, False] Translation: X:7.81, Y:0.62, Z:0.99 [[ 0.43086434 -0.51838045 -0.73867288 7.8149493 ] [ 0.55494903 0.79767962 -0.23609067 0.61997129] [ 0.71160909 -0.30820275 0.63136643 0.98888076] [ 0. 0. 0. 1. ]] SLAMing on 84.95964924600001 meters Centerline goodness [0,1] 0.925466021708353 Centerline is valid? [False, False] Translation: X:7.82, Y:0.62, Z:0.99 [[ 0.43018458 -0.51874852 -0.73881066 7.81631182] [ 0.55516301 0.79737497 -0.23661613 0.6213876 ] [ 0.71185339 -0.30837174 0.63100841 0.98982322] [ 0. 0. 0. 1. ]] SLAMing on 84.98964924600001 meters Centerline goodness [0,1] 0.9254009036945158 Centerline is valid? [False, False] Translation: X:7.82, Y:0.62, Z:0.99 [[ 0.42857173 -0.52300122 -0.7367469 7.81584985] [ 0.55702915 0.79496748 -0.24030236 0.62298951] [ 0.71136826 -0.30740271 0.63202751 0.98866645] [ 0. 0. 0. 1. ]] SLAMing on 85.01964924600001 meters Centerline goodness [0,1] 0.9254009036945158 Centerline is valid? [False, False] Translation: X:7.82, Y:0.62, Z:0.99 [[ 0.42857173 -0.52300122 -0.7367469 7.81584985] [ 0.55702915 0.79496748 -0.24030236 0.62298951] [ 0.71136826 -0.30740271 0.63202751 0.98866645] [ 0. 0. 0. 1. ]] SLAMing on 85.04964924600002 meters Centerline goodness [0,1] 0.9279898519086671 Centerline is valid? [False, False] Translation: X:7.81, Y:0.62, Z:0.99 [[ 0.42723816 -0.52710439 -0.73459412 7.81474371] [ 0.55892251 0.79261113 -0.24366623 0.62408525] [ 0.71068501 -0.30647768 0.63324423 0.98705004] [ 0. 0. 0. 1. ]] SLAMing on 85.07964924600002 meters Centerline goodness [0,1] 0.92766673555549 Centerline is valid? [False, False] Translation: X:7.81, Y:0.62, Z:0.97 [[ 0.42894818 -0.52942613 -0.7319231 7.80570123] [ 0.56285977 0.79038027 -0.24184274 0.61511948] [ 0.70653544 -0.30823206 0.63702485 0.96907081] [ 0. 0. 0. 1. ]] SLAMing on 85.10964924600002 meters Centerline goodness [0,1] 0.9297713073205234 Centerline is valid? [False, False] Translation: X:7.79, Y:0.60, Z:0.94 [[ 0.42965944 -0.53332673 -0.72866684 7.79489833] [ 0.56470825 0.78838034 -0.24405129 0.60220343] [ 0.70462569 -0.30662523 0.63990906 0.94440806] [ 0. 0. 0. 1. ]] SLAMing on 85.13964924600002 meters Centerline goodness [0,1] 0.9284053107244841 Centerline is valid? [False, False] Translation: X:7.79, Y:0.59, Z:0.93 [[ 0.42786137 -0.53233929 -0.73044475 7.78620013] [ 0.56656927 0.78763219 -0.24214625 0.59175989] [ 0.70422575 -0.31024252 0.63860446 0.93038009] [ 0. 0. 0. 1. ]] SLAMing on 85.169649246 meters Centerline goodness [0,1] 0.9293081537961403 Centerline is valid? [False, False] Translation: X:7.78, Y:0.58, Z:0.91 [[ 0.42682156 -0.54013421 -0.72531261 7.77650709] [ 0.5732842 0.78189669 -0.24491384 0.58126131] [ 0.69940587 -0.31127575 0.64338078 0.9084153 ] [ 0. 0. 0. 1. ]] SLAMing on 85.199649246 meters Centerline goodness [0,1] 0.9289900544636515 Centerline is valid? [False, False] Translation: X:7.77, Y:0.57, Z:0.88 [[ 0.42591079 -0.54876418 -0.71934545 7.76682628] [ 0.57864368 0.77641646 -0.24969777 0.57028821] [ 0.69553684 -0.30989572 0.64822307 0.88376372] [ 0. 0. 0. 1. ]] SLAMing on 85.22964924600001 meters Centerline goodness [0,1] 0.929808973789427 Centerline is valid? [False, False] Translation: X:7.76, Y:0.56, Z:0.86 [[ 0.42460491 -0.55406712 -0.7160449 7.75796636] [ 0.58281115 0.77249697 -0.25214995 0.55945787] [ 0.69285051 -0.31025485 0.6509225 0.86305598] [ 0. 0. 0. 1. ]] SLAMing on 85.25964924600001 meters Centerline goodness [0,1] 0.9317559523809524 Centerline is valid? [False, False] Translation: X:7.74, Y:0.53, Z:0.83 [[ 0.42138545 -0.56054098 -0.71290119 7.73690806] [ 0.58957577 0.76663606 -0.25430211 0.53132499] [ 0.68908251 -0.31315006 0.65353066 0.82602528] [ 0. 0. 0. 1. ]] SLAMing on 85.28964924600001 meters Centerline goodness [0,1] 0.9308567683508103 Centerline is valid? [False, False] Translation: X:7.71, Y:0.50, Z:0.78 [[ 0.42064003 -0.56539103 -0.70950331 7.71440818] [ 0.59409962 0.76271176 -0.25557077 0.50110409] [ 0.68564394 -0.31401235 0.65672569 0.78475772] [ 0. 0. 0. 1. ]] SLAMing on 85.31964924600001 meters Centerline goodness [0,1] 0.932031319777308 Centerline is valid? [False, False] Translation: X:7.69, Y:0.47, Z:0.75 [[ 0.41991557 -0.56378255 -0.71121034 7.69390997] [ 0.59626288 0.7621687 -0.25212983 0.47327887] [ 0.68420866 -0.31819509 0.65620911 0.75186551] [ 0. 0. 0. 1. ]] SLAMing on 85.34964924600001 meters Centerline goodness [0,1] 0.930805630784798 Centerline is valid? [False, False] Translation: X:7.67, Y:0.44, Z:0.72 [[ 0.41971132 -0.56357366 -0.71149641 7.67186376] [ 0.59785413 0.76146571 -0.25048035 0.44328317] [ 0.68294424 -0.32024163 0.65653062 0.71525249] [ 0. 0. 0. 1. ]] SLAMing on 85.37964924600001 meters Centerline goodness [0,1] 0.9338633791912334 Centerline is valid? [False, False] Translation: X:7.64, Y:0.41, Z:0.66 [[ 0.42277212 -0.57041539 -0.70419459 7.64426249] [ 0.59836657 0.75928941 -0.25580666 0.40583312] [ 0.68060355 -0.31321857 0.66232389 0.66131385] [ 0. 0. 0. 1. ]] SLAMing on 85.40964924600001 meters Centerline goodness [0,1] 0.9340302597093162 Centerline is valid? [False, False] Translation: X:7.62, Y:0.37, Z:0.62 [[ 0.42280056 -0.57473595 -0.7006556 7.62031467] [ 0.60119672 0.75641203 -0.25768848 0.37401956] [ 0.67808716 -0.31228102 0.66534079 0.61947663] [ 0. 0. 0. 1. ]] SLAMing on 85.43964924600002 meters Centerline goodness [0,1] 0.9338329318702233 Centerline is valid? [False, False] Translation: X:7.59, Y:0.34, Z:0.57 [[ 0.42360093 -0.5786259 -0.69696077 7.5946888 ] [ 0.6023192 0.75459104 -0.26039191 0.34216155] [ 0.67658986 -0.30949059 0.66816296 0.57379159] [ 0. 0. 0. 1. ]] SLAMing on 85.46964924600002 meters Centerline goodness [0,1] 0.9343842950624628 Centerline is valid? [False, False] Translation: X:7.57, Y:0.31, Z:0.53 [[ 0.42293238 -0.58522813 -0.69183541 7.56986715] [ 0.60438813 0.75103251 -0.26582919 0.3107723 ] [ 0.67516161 -0.30570934 0.6713409 0.52695401] [ 0. 0. 0. 1. ]] SLAMing on 85.49964924600002 meters Centerline goodness [0,1] 0.93470054985882 Centerline is valid? [False, False] Translation: X:7.55, Y:0.28, Z:0.49 [[ 0.42150078 -0.58633245 -0.69177406 7.54816269] [ 0.60653528 0.74938238 -0.26559555 0.28300072] [ 0.67413059 -0.30763665 0.67149657 0.49101228] [ 0. 0. 0. 1. ]] SLAMing on 85.529649246 meters Centerline goodness [0,1] 0.9321431743494094 Centerline is valid? [False, False] Translation: X:7.53, Y:0.26, Z:0.46 [[ 0.42029622 -0.58396864 -0.69450105 7.52752897] [ 0.6081812 0.74931395 -0.26200045 0.25641366] [ 0.67339937 -0.31226468 0.67009257 0.45998065] [ 0. 0. 0. 1. ]] SLAMing on 85.559649246 meters Centerline goodness [0,1] 0.9319008069045015 Centerline is valid? [False, False] Translation: X:7.51, Y:0.23, Z:0.42 [[ 0.41986928 -0.58570094 -0.6932995 7.50563443] [ 0.61088328 0.7473276 -0.26138682 0.22926467] [ 0.67121636 -0.31377678 0.67157482 0.42205196] [ 0. 0. 0. 1. ]] SLAMing on 85.58964924600001 meters Centerline goodness [0,1] 0.9306264569624362 Centerline is valid? [False, False] Translation: X:7.48, Y:0.20, Z:0.38 [[ 0.41842751 -0.58972768 -0.69075298 7.48205016] [ 0.61439816 0.74389861 -0.2629254 0.19904687] [ 0.66890457 -0.31438214 0.67359524 0.38361042] [ 0. 0. 0. 1. ]] SLAMing on 85.61964924600001 meters Centerline goodness [0,1] 0.931698670605613 Centerline is valid? [False, False] Translation: X:7.46, Y:0.17, Z:0.35 [[ 0.41616306 -0.59185035 -0.69030535 7.46000298] [ 0.61833772 0.74081932 -0.26238367 0.17054865] [ 0.66668341 -0.31764744 0.67426503 0.34970082] [ 0. 0. 0. 1. ]] SLAMing on 85.64964924600001 meters Centerline goodness [0,1] 0.9331009835484538 Centerline is valid? [False, False] Translation: X:7.44, Y:0.14, Z:0.31 [[ 0.41313187 -0.60054674 -0.6845916 7.43576576] [ 0.62615112 0.73317735 -0.26530312 0.14187521] [ 0.66125399 -0.31905262 0.67893195 0.31108397] [ 0. 0. 0. 1. ]] SLAMing on 85.67964924600001 meters Centerline goodness [0,1] 0.9349898191046714 Centerline is valid? [False, False] Translation: X:7.42, Y:0.13, Z:0.29 [[ 0.41245945 -0.60534799 -0.68075768 7.42481428] [ 0.62833264 0.73012298 -0.26854892 0.12812095] [ 0.65960238 -0.31697672 0.68150603 0.28771863] [ 0. 0. 0. 1. ]] SLAMing on 85.70964924600001 meters Centerline goodness [0,1] 0.9325034496931975 Centerline is valid? [False, False] Translation: X:7.40, Y:0.10, Z:0.25 [[ 0.41436545 -0.60598713 -0.67902936 7.40058724] [ 0.62886187 0.7299778 -0.26770349 0.09943619] [ 0.65790123 -0.31608859 0.68355978 0.24579204] [ 0. 0. 0. 1. ]] SLAMing on 85.73964924600001 meters Centerline goodness [0,1] 0.9359604470188988 Centerline is valid? [False, False] Translation: X:7.39, Y:0.08, Z:0.22 [[ 0.41688025 -0.60844632 -0.67528063 7.38796868] [ 0.62863739 0.72958668 -0.26929222 0.08380132] [ 0.65652562 -0.31224404 0.68664239 0.21912739] [ 0. 0. 0. 1. ]] SLAMing on 85.76964924600001 meters Centerline goodness [0,1] 0.9370354302241504 Centerline is valid? [False, False] Translation: X:7.37, Y:0.06, Z:0.19 [[ 0.41985167 -0.61532135 -0.66716131 7.37166957] [ 0.62925669 0.72707645 -0.27458306 0.06444129] [ 0.65403409 -0.30453156 0.69245934 0.18606728] [ 0. 0. 0. 1. ]] SLAMing on 85.79964924600002 meters Centerline goodness [0,1] 0.9381791697013838 Centerline is valid? [False, False] Translation: X:7.35, Y:0.03, Z:0.15 [[ 0.42026834 -0.61827344 -0.66416299 7.34788852] [ 0.6313735 0.7249513 -0.27534181 0.03173568] [ 0.65172235 -0.30361747 0.69503554 0.14616357] [ 0. 0. 0. 1. ]] SLAMing on 85.82964924600002 meters Centerline goodness [0,1] 0.9391476019045407 Centerline is valid? [False, False] Translation: X:7.33, Y:0.01, Z:0.11 [[ 0.42086209 -0.62366393 -0.65872483 7.33010123] [ 0.62819767 0.72423917 -0.2843331 0.00866726] [ 0.65440262 -0.29414438 0.69658904 0.11344683] [ 0. 0. 0. 1. ]] SLAMing on 85.85964924600002 meters Centerline goodness [0,1] 0.936180115189947 Centerline is valid? [False, False] Translation: X:7.31, Y:-0.03, Z:0.07 [[ 0.42160541 -0.6272888 -0.65479588 7.30537036] [ 0.62814595 0.72282735 -0.28801613 -0.02542198] [ 0.65397366 -0.28987823 0.69877684 0.06837319] [ 0. 0. 0. 1. ]] SLAMing on 85.88964924600002 meters Centerline goodness [0,1] 0.9379488070419273 Centerline is valid? [False, False] Translation: X:7.29, Y:-0.05, Z:0.04 [[ 0.42030696 -0.62573607 -0.65711219 7.28621889] [ 0.62989053 0.72247282 -0.28508059 -0.05271604] [ 0.6531309 -0.29408739 0.69780558 0.03811387] [ 0. 0. 0. 1. ]] SLAMing on 85.919649246 meters Centerline goodness [0,1] 0.9350803189645209 Centerline is valid? [False, False] Translation: X:7.27, Y:-0.08, Z:0.01 [[ 4.18991335e-01 -6.24608823e-01 -6.59022063e-01 7.26663748e+00] [ 6.30782695e-01 7.22299034e-01 -2.83544173e-01 -8.12699455e-02] [ 6.53115192e-01 -2.96897161e-01 6.96629473e-01 5.62794168e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.949649246 meters Centerline goodness [0,1] 0.93354348014691 Centerline is valid? [False, False] Translation: X:7.25, Y:-0.11, Z:-0.03 [[ 0.41700781 -0.62716134 -0.65785495 7.24684506] [ 0.63181859 0.72033468 -0.28622233 -0.11002181] [ 0.65338332 -0.29628804 0.69663738 -0.03242764] [ 0. 0. 0. 1. ]] SLAMing on 85.97964924600001 meters Centerline goodness [0,1] 0.9300703348866827 Centerline is valid? [False, False] Translation: X:7.22, Y:-0.14, Z:-0.07 [[ 0.41632433 -0.6312236 -0.65439348 7.22499912] [ 0.63419246 0.71734448 -0.28847325 -0.14314187] [ 0.65151667 -0.29491298 0.69896521 -0.07236229] [ 0. 0. 0. 1. ]] SLAMing on 86.00964924600001 meters Centerline goodness [0,1] 0.9308132276514821 Centerline is valid? [False, False] Translation: X:7.20, Y:-0.18, Z:-0.12 [[ 0.41695967 -0.6377587 -0.64761754 7.19838266] [ 0.63596375 0.71375555 -0.29343334 -0.18259479] [ 0.64938027 -0.28951141 0.7031987 -0.11983908] [ 0. 0. 0. 1. ]] SLAMing on 86.03964924600001 meters Centerline goodness [0,1] 0.9323387143772948 Centerline is valid? [False, False] Translation: X:7.19, Y:-0.20, Z:-0.14 [[ 0.41757839 -0.63870487 -0.64628506 7.18734382] [ 0.63767122 0.71268924 -0.2923174 -0.20041048] [ 0.64730495 -0.29005195 0.70488734 -0.13868704] [ 0. 0. 0. 1. ]] SLAMing on 86.06964924600001 meters Centerline goodness [0,1] 0.9299766491535318 Centerline is valid? [False, False] Translation: X:7.16, Y:-0.24, Z:-0.18 [[ 0.4188494 -0.64303862 -0.64114469 7.160253 ] [ 0.63891512 0.71041588 -0.29512158 -0.24245781] [ 0.64525394 -0.28602553 0.70840436 -0.18399663] [ 0. 0. 0. 1. ]] SLAMing on 86.09964924600001 meters Centerline goodness [0,1] 0.9335102505030475 Centerline is valid? [False, False] Translation: X:7.14, Y:-0.28, Z:-0.22 [[ 0.41924928 -0.64405964 -0.63985719 7.13721164] [ 0.64047036 0.70933696 -0.29434468 -0.27869094] [ 0.64344988 -0.28640577 0.70989012 -0.22149816] [ 0. 0. 0. 1. ]] SLAMing on 86.12964924600001 meters Centerline goodness [0,1] 0.9350167858706758 Centerline is valid? [False, False] Translation: X:7.11, Y:-0.32, Z:-0.26 [[ 0.41930585 -0.64671124 -0.63713984 7.11235963] [ 0.6416299 0.70760774 -0.29597695 -0.31617456] [ 0.6422567 -0.28470311 0.71165333 -0.26236922] [ 0. 0. 0. 1. ]] SLAMing on 86.15964924600001 meters Centerline goodness [0,1] 0.9323613627067142 Centerline is valid? [False, False] Translation: X:7.08, Y:-0.36, Z:-0.31 [[ 0.42055565 -0.65177064 -0.6311323 7.08389987] [ 0.64251849 0.70509774 -0.30001194 -0.35925953] [ 0.64054893 -0.27934246 0.71530753 -0.30928502] [ 0. 0. 0. 1. ]] SLAMing on 86.18964924600002 meters Centerline goodness [0,1] 0.9307507613024127 Centerline is valid? [False, False] Translation: X:7.06, Y:-0.40, Z:-0.35 [[ 0.42022274 -0.65387245 -0.62917698 7.06047247] [ 0.64414324 0.70331791 -0.30070485 -0.39658738] [ 0.63913405 -0.27891708 0.7167377 -0.3468352 ] [ 0. 0. 0. 1. ]] SLAMing on 86.21964924600002 meters Centerline goodness [0,1] 0.9326208860573677 Centerline is valid? [False, False] Translation: X:7.03, Y:-0.44, Z:-0.39 [[ 0.41918254 -0.66008432 -0.62335759 7.03339981] [ 0.64545468 0.69951999 -0.3066921 -0.44092978] [ 0.63849374 -0.2737891 0.71928108 -0.39280919] [ 0. 0. 0. 1. ]] SLAMing on 86.24964924600002 meters Centerline goodness [0,1] 0.9342651169633662 Centerline is valid? [False, False] Translation: X:7.01, Y:-0.48, Z:-0.43 [[ 0.41591857 -0.6644467 -0.62090444 7.01286151] [ 0.6500524 0.69468826 -0.30796118 -0.47530739] [ 0.63595882 -0.27553365 0.72085892 -0.42835168] [ 0. 0. 0. 1. ]] SLAMing on 86.279649246 meters Centerline goodness [0,1] 0.9331864257382106 Centerline is valid? [False, False] Translation: X:6.98, Y:-0.53, Z:-0.49 [[ 0.41488581 -0.66837904 -0.61736474 6.98016733] [ 0.65343265 0.69103877 -0.3090165 -0.52781763] [ 0.63316312 -0.27519972 0.72344286 -0.48595028] [ 0. 0. 0. 1. ]] SLAMing on 86.309649246 meters Centerline goodness [0,1] 0.9336716629293048 Centerline is valid? [False, False] Translation: X:6.96, Y:-0.56, Z:-0.52 [[ 0.41353129 -0.66962282 -0.61692557 6.95904121] [ 0.65494953 0.68945928 -0.30933317 -0.56362865] [ 0.63248161 -0.27613617 0.72368214 -0.52105253] [ 0. 0. 0. 1. ]] SLAMing on 86.33964924600001 meters Centerline goodness [0,1] 0.9316574552802044 Centerline is valid? [False, False] Translation: X:6.93, Y:-0.62, Z:-0.58 [[ 0.4121131 -0.6752871 -0.61167813 6.92620398] [ 0.65952372 0.68428594 -0.31109679 -0.61946356] [ 0.62864239 -0.27520917 0.72737106 -0.57830358] [ 0. 0. 0. 1. ]] SLAMing on 86.36964924600001 meters Centerline goodness [0,1] 0.9288720413097334 Centerline is valid? [False, False] Translation: X:6.90, Y:-0.67, Z:-0.63 [[ 0.41120714 -0.68218863 -0.60458859 6.89550912] [ 0.65962274 0.68046429 -0.31916484 -0.67127112] [ 0.62913157 -0.26755752 0.7297989 -0.62962744] [ 0. 0. 0. 1. ]] SLAMing on 86.39964924600001 meters Centerline goodness [0,1] 0.9301027110951869 Centerline is valid? [False, False] Translation: X:6.86, Y:-0.72, Z:-0.69 [[ 0.41060684 -0.68554398 -0.60119171 6.86152366] [ 0.66272991 0.67722771 -0.31961178 -0.72414883] [ 0.62625162 -0.26719295 0.73240483 -0.68551103] [ 0. 0. 0. 1. ]] SLAMing on 86.42964924600001 meters Centerline goodness [0,1] 0.9287606011010267 Centerline is valid? [False, False] Translation: X:6.83, Y:-0.77, Z:-0.73 [[ 0.41049641 -0.68930655 -0.59694989 6.83387048] [ 0.66232485 0.67535141 -0.32438599 -0.76803142] [ 0.62675234 -0.26221546 0.73377419 -0.73113321] [ 0. 0. 0. 1. ]] SLAMing on 86.45964924600001 meters Centerline goodness [0,1] 0.9292664782026484 Centerline is valid? [False, False] Translation: X:6.80, Y:-0.83, Z:-0.79 [[ 0.41019051 -0.69478929 -0.59077202 6.79717346] [ 0.66452976 0.67135268 -0.3281551 -0.82636139] [ 0.62461503 -0.25797948 0.73709066 -0.79405493] [ 0. 0. 0. 1. ]] SLAMing on 86.48964924600001 meters Centerline goodness [0,1] 0.9275167384026781 Centerline is valid? [False, False] Translation: X:6.76, Y:-0.89, Z:-0.86 [[ 0.40900463 -0.7013561 -0.58379349 6.75747725] [ 0.66591093 0.66681023 -0.33455454 -0.89111391] [ 0.62392134 -0.25192011 0.73976917 -0.86073451] [ 0. 0. 0. 1. ]] SLAMing on 86.51964924600001 meters Centerline goodness [0,1] 0.9247884207063608 Centerline is valid? [False, False] Translation: X:6.72, Y:-0.95, Z:-0.92 [[ 0.40779575 -0.70491217 -0.58034598 6.72218151] [ 0.66833881 0.66350058 -0.33628889 -0.94815487] [ 0.62211402 -0.25073056 0.74169288 -0.91785175] [ 0. 0. 0. 1. ]] SLAMing on 86.54964924600002 meters Centerline goodness [0,1] 0.9245169986520893 Centerline is valid? [False, False] Translation: X:6.68, Y:-1.01, Z:-0.98 [[ 0.40679946 -0.70977884 -0.57508972 6.68489086] [ 0.66938702 0.65999538 -0.34106761 -1.01078586] [ 0.62163913 -0.24621148 0.74360251 -0.98136911] [ 0. 0. 0. 1. ]] SLAMing on 86.57964924600002 meters Centerline goodness [0,1] 0.9250800682450837 Centerline is valid? [False, False] Translation: X:6.65, Y:-1.07, Z:-1.04 [[ 0.40510188 -0.71517742 -0.56957327 6.64923936] [ 0.67270716 0.65505173 -0.34405278 -1.06882672] [ 0.61915874 -0.24377959 0.74646766 -1.03997811] [ 0. 0. 0. 1. ]] SLAMing on 86.60964924600002 meters Centerline goodness [0,1] 0.9246626574514556 Centerline is valid? [False, False] Translation: X:6.61, Y:-1.13, Z:-1.10 [[ 0.40468768 -0.71975778 -0.56407147 6.61087139] [ 0.67403485 0.65163861 -0.34791399 -1.13179935] [ 0.61798455 -0.23940732 0.74885194 -1.10339119] [ 0. 0. 0. 1. ]] SLAMing on 86.63964924600002 meters Centerline goodness [0,1] 0.9247032086361053 Centerline is valid? [False, False] Translation: X:6.57, Y:-1.19, Z:-1.16 [[ 0.40293716 -0.72479191 -0.55885449 6.57447689] [ 0.67275617 0.64855172 -0.35606152 -1.18921471] [ 0.62051655 -0.23250238 0.74893381 -1.15871964] [ 0. 0. 0. 1. ]] SLAMing on 86.669649246 meters Centerline goodness [0,1] 0.9261104316439459 Centerline is valid? [False, False] Translation: X:6.54, Y:-1.25, Z:-1.21 [[ 0.40197254 -0.72856898 -0.55462178 6.53963885] [ 0.67042296 0.64673982 -0.36367658 -1.24526799] [ 0.62365946 -0.22564318 0.74842103 -1.21191252] [ 0. 0. 0. 1. ]] SLAMing on 86.699649246 meters Centerline goodness [0,1] 0.927253212486211 Centerline is valid? [False, False] Translation: X:6.50, Y:-1.30, Z:-1.26 [[ 0.40038571 -0.73285914 -0.55009886 6.5046002 ] [ 0.66803095 0.64435597 -0.37220967 -1.29956378] [ 0.62723674 -0.21845563 0.74756351 -1.26491151] [ 0. 0. 0. 1. ]] SLAMing on 86.72964924600001 meters Centerline goodness [0,1] 0.9262718185886917 Centerline is valid? [False, False] Translation: X:6.46, Y:-1.37, Z:-1.33 [[ 0.40072303 -0.73476956 -0.54729768 6.46368215] [ 0.66729664 0.6433877 -0.37518991 -1.36655979] [ 0.62780271 -0.21486267 0.74812953 -1.32829497] [ 0. 0. 0. 1. ]] SLAMing on 86.75964924600001 meters Centerline goodness [0,1] 0.9263274204145016 Centerline is valid? [False, False] Translation: X:6.42, Y:-1.43, Z:-1.39 [[ 0.39938556 -0.73815913 -0.54370238 6.42431643] [ 0.66758001 0.64063327 -0.37937572 -1.43207612] [ 0.62835349 -0.21144766 0.74863996 -1.38812169] [ 0. 0. 0. 1. ]] SLAMing on 86.78964924600001 meters Centerline goodness [0,1] 0.9265865901756902 Centerline is valid? [False, False] Translation: X:6.38, Y:-1.50, Z:-1.45 [[ 0.39813674 -0.74247976 -0.53871229 6.38458353] [ 0.66795393 0.63716647 -0.38452104 -1.49724807] [ 0.6287485 -0.20674304 0.74962166 -1.45133783] [ 0. 0. 0. 1. ]] SLAMing on 86.81964924600001 meters Centerline goodness [0,1] 0.9278390577825606 Centerline is valid? [False, False] Translation: X:6.35, Y:-1.56, Z:-1.51 [[ 0.39693626 -0.74512989 -0.53593195 6.34824151] [ 0.66849674 0.63480325 -0.38747509 -1.55821009] [ 0.62893062 -0.20446585 0.75009333 -1.50937996] [ 0. 0. 0. 1. ]] SLAMing on 86.84964924600001 meters Centerline goodness [0,1] 0.9285522187359928 Centerline is valid? [False, False] Translation: X:6.30, Y:-1.64, Z:-1.59 [[ 0.39710325 -0.74837886 -0.53126085 6.30210293] [ 0.67118239 0.63161065 -0.38804921 -1.63727199] [ 0.62595783 -0.20247732 0.75311335 -1.58703896] [ 0. 0. 0. 1. ]] SLAMing on 86.87964924600001 meters Centerline goodness [0,1] 0.9291333853822593 Centerline is valid? [False, False] Translation: X:6.25, Y:-1.72, Z:-1.66 [[ 0.39685461 -0.75207233 -0.52620683 6.25488789] [ 0.66924827 0.62943139 -0.39487072 -1.71564849] [ 0.62818244 -0.19545674 0.75311585 -1.66079227] [ 0. 0. 0. 1. ]] SLAMing on 86.90964924600001 meters Centerline goodness [0,1] 0.9290780141843972 Centerline is valid? [False, False] Translation: X:6.22, Y:-1.78, Z:-1.72 [[ 0.39635834 -0.7533164 -0.52479945 6.21539153] [ 0.66824185 0.62868843 -0.39774827 -1.78174623] [ 0.62956564 -0.19304211 0.75258345 -1.72174659] [ 0. 0. 0. 1. ]] SLAMing on 86.93964924600002 meters Centerline goodness [0,1] 0.9290780141843972 Centerline is valid? [False, False] Translation: X:6.17, Y:-1.85, Z:-1.79 [[ 0.39584425 -0.75463285 -0.52329398 6.17268958] [ 0.66616544 0.62819454 -0.4019891 -1.85291173] [ 0.6320846 -0.1894753 0.75137752 -1.78627732] [ 0. 0. 0. 1. ]] SLAMing on 86.96964924600002 meters Centerline goodness [0,1] 0.9292396258095467 Centerline is valid? [False, False] Translation: X:6.13, Y:-1.92, Z:-1.85 [[ 0.39531708 -0.75672294 -0.52066765 6.12949279] [ 0.66430577 0.62700422 -0.406895 -1.92390066] [ 0.6343676 -0.18502998 0.7505609 -1.85289841] [ 0. 0. 0. 1. ]] SLAMing on 86.99964924600002 meters Centerline goodness [0,1] 0.9282574662813102 Centerline is valid? [False, False] Translation: X:6.08, Y:-2.00, Z:-1.92 [[ 0.39491359 -0.75928942 -0.51722609 6.08489145] [ 0.66185047 0.62558876 -0.41302863 -1.99881999] [ 0.6371791 -0.17921572 0.74958957 -1.92310359] [ 0. 0. 0. 1. ]] SLAMing on 87.029649246 meters Centerline goodness [0,1] 0.9295876537255847 Centerline is valid? [False, False] Translation: X:6.04, Y:-2.08, Z:-1.99 [[ 0.39458766 -0.76048692 -0.51571331 6.03910292] [ 0.65927971 0.62526646 -0.41760282 -2.07593328] [ 0.64003972 -0.1752184 0.74809603 -1.99358014] [ 0. 0. 0. 1. ]] SLAMing on 87.059649246 meters Centerline goodness [0,1] 0.9289775291038715 Centerline is valid? [False, False] Translation: X:5.99, Y:-2.15, Z:-2.06 [[ 0.39472397 -0.76193659 -0.51346432 5.99417707] [ 0.65710778 0.6247003 -0.42185176 -2.15059541] [ 0.64218561 -0.1708864 0.74725865 -2.06373134] [ 0. 0. 0. 1. ]] SLAMing on 87.08964924600001 meters Centerline goodness [0,1] 0.9302668391444301 Centerline is valid? [False, False] Translation: X:5.95, Y:-2.23, Z:-2.14 [[ 0.39488381 -0.76388273 -0.51044094 5.94784254] [ 0.65479962 0.62372561 -0.42685339 -2.22794185] [ 0.64444102 -0.16567904 0.74648927 -2.1356673 ] [ 0. 0. 0. 1. ]] SLAMing on 87.11964924600001 meters Centerline goodness [0,1] 0.9296285110238599 Centerline is valid? [False, False] Translation: X:5.90, Y:-2.31, Z:-2.22 [[ 0.3952756 -0.76648624 -0.50621739 5.8988313 ] [ 0.65542128 0.62145913 -0.42919867 -2.30816329] [ 0.64356829 -0.16213389 0.74801902 -2.21665282] [ 0. 0. 0. 1. ]] SLAMing on 87.14964924600001 meters Centerline goodness [0,1] 0.9330159399764968 Centerline is valid? [False, False] Translation: X:5.85, Y:-2.39, Z:-2.30 [[ 0.39571062 -0.76875821 -0.50241807 5.84993073] [ 0.6563924 0.61937206 -0.43072876 -2.38782903] [ 0.64230999 -0.15933946 0.74969915 -2.29709595] [ 0. 0. 0. 1. ]] SLAMing on 87.17964924600001 meters Centerline goodness [0,1] 0.9340977670488835 Centerline is valid? [False, False] Translation: X:5.80, Y:-2.47, Z:-2.38 [[ 0.39495603 -0.77133534 -0.49905062 5.80055122] [ 0.65856616 0.6164541 -0.43159582 -2.47025329] [ 0.64054691 -0.15819648 0.75144762 -2.37540015] [ 0. 0. 0. 1. ]] SLAMing on 87.20964924600001 meters Centerline goodness [0,1] 0.935951789715947 Centerline is valid? [False, False] Translation: X:5.75, Y:-2.56, Z:-2.46 [[ 0.39473923 -0.77608299 -0.49180903 5.74767201] [ 0.6585394 0.61225004 -0.43757941 -2.55873211] [ 0.64070804 -0.15114587 0.75276034 -2.46323379] [ 0. 0. 0. 1. ]] SLAMing on 87.23964924600001 meters Centerline goodness [0,1] 0.9349374223461318 Centerline is valid? [False, False] Translation: X:5.69, Y:-2.65, Z:-2.56 [[ 0.39446628 -0.78032823 -0.48526715 5.69146803] [ 0.65633271 0.60886165 -0.44555007 -2.65047201] [ 0.64313585 -0.14274223 0.75233033 -2.55629294] [ 0. 0. 0. 1. ]] SLAMing on 87.26964924600001 meters Centerline goodness [0,1] 0.935329268662602 Centerline is valid? [False, False] Translation: X:5.64, Y:-2.74, Z:-2.65 [[ 0.39259207 -0.78450334 -0.48002706 5.63819174] [ 0.65523572 0.60483664 -0.45259119 -2.73807288] [ 0.64539726 -0.13684717 0.75148868 -2.64553517] [ 0. 0. 0. 1. ]] SLAMing on 87.29964924600002 meters Centerline goodness [0,1] 0.9356767750356677 Centerline is valid? [False, False] Translation: X:5.58, Y:-2.83, Z:-2.74 [[ 0.39117838 -0.79068021 -0.47096102 5.58050765] [ 0.65390323 0.59888845 -0.46232369 -2.82890817] [ 0.6476033 -0.1271119 0.75130056 -2.74354043] [ 0. 0. 0. 1. ]] SLAMing on 87.32964924600002 meters Centerline goodness [0,1] 0.9348975746155249 Centerline is valid? [False, False] Translation: X:5.52, Y:-2.92, Z:-2.84 [[ 0.38971145 -0.79635473 -0.46254095 5.52184643] [ 0.65182173 0.59332234 -0.47233149 -2.92268258] [ 0.65057929 -0.11742125 0.75030583 -2.844326 ] [ 0. 0. 0. 1. ]] SLAMing on 87.35964924600002 meters Centerline goodness [0,1] 0.934696610066338 Centerline is valid? [False, False] Translation: X:5.46, Y:-3.02, Z:-2.95 [[ 0.38900399 -0.80220039 -0.45293534 5.46044928] [ 0.65012065 0.58739456 -0.48198628 -3.01788147] [ 0.65270134 -0.10696804 0.75002587 -2.94770896] [ 0. 0. 0. 1. ]] SLAMing on 87.38964924600002 meters Centerline goodness [0,1] 0.9334447652332473 Centerline is valid? [False, False] Translation: X:5.39, Y:-3.12, Z:-3.07 [[ 0.38911037 -0.81014272 -0.43847679 5.39247974] [ 0.6482683 0.57899383 -0.49448392 -3.12453947] [ 0.65447791 -0.09184178 0.75048235 -3.06574374] [ 0. 0. 0. 1. ]] SLAMing on 87.419649246 meters Centerline goodness [0,1] 0.9355416565460286 Centerline is valid? [False, False] Translation: X:5.28, Y:-3.30, Z:-3.27 [[ 0.38885023 -0.82511688 -0.40985073 5.27598125] [ 0.64398021 0.56156014 -0.51955721 -3.30361797] [ 0.65885126 -0.06190582 0.74972174 -3.26960559] [ 0. 0. 0. 1. ]] SLAMing on 87.449649246 meters Centerline goodness [0,1] 0.9337204706454654 Centerline is valid? [False, False] Translation: X:5.12, Y:-3.74, Z:-3.44 [[ 0.40855028 -0.76826292 -0.49280701 5.11605321] [ 0.44288485 0.63896346 -0.62895047 -3.74130906] [ 0.798085 0.03870113 0.60130071 -3.43811014] [ 0. 0. 0. 1. ]] SLAMing on 87.47964924600001 meters Centerline goodness [0,1] 0.9335379566036589 Centerline is valid? [False, False] Translation: X:5.09, Y:-3.79, Z:-3.48 [[ 0.40759953 -0.75098573 -0.51950271 5.08712808] [ 0.44780676 0.66018749 -0.60301043 -3.78863951] [ 0.79582141 0.01314995 0.6053886 -3.47587159] [ 0. 0. 0. 1. ]] SLAMing on 87.50964924600001 meters Centerline goodness [0,1] 0.933606433014717 Centerline is valid? [False, False] Translation: X:5.06, Y:-3.83, Z:-3.50 [[ 0.40505218 -0.73375632 -0.54546713 5.06334007] [ 0.44833263 0.67934985 -0.58093169 -3.82861608] [ 0.79682532 -0.00924306 0.60413904 -3.50227595] [ 0. 0. 0. 1. ]] SLAMing on 87.53964924600001 meters Centerline goodness [0,1] 0.9339771622934888 Centerline is valid? [False, False] Translation: X:5.05, Y:-3.86, Z:-3.52 [[ 0.40460434 -0.71451205 -0.57076076 5.0451709 ] [ 0.4528389 0.69877643 -0.55375846 -3.86254292] [ 0.79450127 -0.0344096 0.60628683 -3.51797958] [ 0. 0. 0. 1. ]] SLAMing on 87.56964924600001 meters Centerline goodness [0,1] 0.9332606258899088 Centerline is valid? [False, False] Translation: X:5.03, Y:-3.89, Z:-3.52 [[ 0.40389947 -0.69579634 -0.59391302 5.03310799] [ 0.45534267 0.71599711 -0.52916083 -3.88858059] [ 0.79342818 -0.05670617 0.60601662 -3.52026757] [ 0. 0. 0. 1. ]] SLAMing on 87.59964924600001 meters Centerline goodness [0,1] 0.9370160041300981 Centerline is valid? [False, False] Translation: X:5.02, Y:-3.92, Z:-3.52 [[ 0.39960465 -0.68369855 -0.6106328 5.01617162] [ 0.46455661 0.72529472 -0.5080696 -3.91858568] [ 0.7902552 -0.08064653 0.60744783 -3.52473085] [ 0. 0. 0. 1. ]] SLAMing on 87.62964924600001 meters Centerline goodness [0,1] 0.9338241950571834 Centerline is valid? [False, False] Translation: X:5.00, Y:-3.94, Z:-3.53 [[ 0.39743534 -0.66361612 -0.63376557 5.00047193] [ 0.46784308 0.74068696 -0.48218844 -3.93992993] [ 0.78940991 -0.10486411 0.60484338 -3.53091548] [ 0. 0. 0. 1. ]] SLAMing on 87.65964924600001 meters Centerline goodness [0,1] 0.9329099446183482 Centerline is valid? [False, False] Translation: X:4.99, Y:-3.96, Z:-3.54 [[ 0.39719353 -0.64420876 -0.65363015 4.98694277] [ 0.4686479 0.75473399 -0.45907053 -3.95969804] [ 0.78905415 -0.12398256 0.60168254 -3.53769066] [ 0. 0. 0. 1. ]] SLAMing on 87.68964924600002 meters Centerline goodness [0,1] 0.9309942220758615 Centerline is valid? [False, False] Translation: X:4.98, Y:-3.97, Z:-3.54 [[ 0.39716325 -0.62649242 -0.67064789 4.97567321] [ 0.47204014 0.76613136 -0.43614316 -3.97484986] [ 0.78704476 -0.14335269 0.60000879 -3.54031514] [ 0. 0. 0. 1. ]] SLAMing on 87.71964924600002 meters Centerline goodness [0,1] 0.9299010966026234 Centerline is valid? [False, False] Translation: X:4.97, Y:-3.99, Z:-3.53 [[ 0.39426144 -0.60992576 -0.68742162 4.96651583] [ 0.46975282 0.77665882 -0.41968247 -3.99197984] [ 0.78986721 -0.15745362 0.59272097 -3.53237999] [ 0. 0. 0. 1. ]] SLAMing on 87.74964924600002 meters Centerline goodness [0,1] 0.9323641149899787 Centerline is valid? [False, False] Translation: X:4.95, Y:-4.01, Z:-3.53 [[ 0.39221019 -0.59447818 -0.70197354 4.9539614 ] [ 0.46738324 0.78606101 -0.40455036 -4.01235532] [ 0.79229039 -0.1694219 0.58615028 -3.52887704] [ 0. 0. 0. 1. ]] SLAMing on 87.779649246 meters Centerline goodness [0,1] 0.9341489744512415 Centerline is valid? [False, False] Translation: X:4.94, Y:-4.03, Z:-3.52 [[ 0.3895763 -0.57849319 -0.71664213 4.94335785] [ 0.46490349 0.79522751 -0.38920168 -4.02918004] [ 0.79504406 -0.18154567 0.57874529 -3.52446011] [ 0. 0. 0. 1. ]] SLAMing on 87.809649246 meters Centerline goodness [0,1] 0.9348657858552042 Centerline is valid? [False, False] Translation: X:4.93, Y:-4.04, Z:-3.52 [[ 0.38736525 -0.56284774 -0.73017161 4.93246779] [ 0.46240287 0.80379716 -0.37429094 -4.04374157] [ 0.79757868 -0.19264615 0.5716255 -3.52213365] [ 0. 0. 0. 1. ]] SLAMing on 87.83964924600001 meters Centerline goodness [0,1] 0.9336535306225948 Centerline is valid? [False, False] Translation: X:4.92, Y:-4.05, Z:-3.51 [[ 0.38419263 -0.54624593 -0.74431942 4.92473699] [ 0.46163407 0.81183553 -0.35751512 -4.05487382] [ 0.79955613 -0.20624853 0.56406696 -3.51440871] [ 0. 0. 0. 1. ]] SLAMing on 87.86964924600001 meters Centerline goodness [0,1] 0.9342830745387893 Centerline is valid? [False, False] Translation: X:4.91, Y:-4.07, Z:-3.53 [[ 0.38573909 -0.5319485 -0.7538144 4.90933986] [ 0.46624386 0.81743369 -0.33825852 -4.07151833] [ 0.7961294 -0.2209818 0.56333385 -3.52774853] [ 0. 0. 0. 1. ]] SLAMing on 87.89964924600001 meters Centerline goodness [0,1] 0.9314664920842757 Centerline is valid? [False, False] Translation: X:4.91, Y:-4.07, Z:-3.53 [[ 0.38584462 -0.53031991 -0.7549071 4.90772947] [ 0.46541997 0.81840455 -0.33704338 -4.07313953] [ 0.79656022 -0.22130246 0.56259847 -3.52629724] [ 0. 0. 0. 1. ]] SLAMing on 87.92964924600001 meters Centerline goodness [0,1] 0.9352695859398272 Centerline is valid? [False, False] Translation: X:4.91, Y:-4.08, Z:-3.53 [[ 0.38899062 -0.52834232 -0.7546792 4.905747 ] [ 0.46726863 0.81915522 -0.33263306 -4.07565761] [ 0.79394353 -0.22324677 0.56552149 -3.53083709] [ 0. 0. 0. 1. ]] SLAMing on 87.95964924600001 meters Centerline goodness [0,1] 0.9343565033758663 Centerline is valid? [False, False] Translation: X:4.90, Y:-4.08, Z:-3.53 [[ 0.39108607 -0.5239221 -0.75667517 4.90399778] [ 0.4653458 0.82188807 -0.32856246 -4.07816536] [ 0.79404343 -0.22361941 0.56523393 -3.53032812] [ 0. 0. 0. 1. ]] SLAMing on 87.98964924600001 meters Centerline goodness [0,1] 0.9329870900727111 Centerline is valid? [False, False] Translation: X:4.90, Y:-4.08, Z:-3.54 [[ 0.39634327 -0.5178132 -0.75814345 4.90125002] [ 0.46677591 0.82473347 -0.31927255 -4.08042211] [ 0.79058982 -0.22734157 0.56858029 -3.53662697] [ 0. 0. 0. 1. ]] SLAMing on 88.01964924600001 meters Centerline goodness [0,1] 0.9333629498000888 Centerline is valid? [False, False] Translation: X:4.90, Y:-4.08, Z:-3.53 [[ 0.39790031 -0.51224307 -0.76110603 4.90030155] [ 0.46336407 0.82822658 -0.31517372 -4.08206837] [ 0.79181379 -0.22726147 0.56690665 -3.53438353] [ 0. 0. 0. 1. ]] SLAMing on 88.04964924600002 meters Centerline goodness [0,1] 0.9314667533926618 Centerline is valid? [False, False] Translation: X:4.90, Y:-4.08, Z:-3.53 [[ 0.40011449 -0.50656771 -0.76373919 4.89710346] [ 0.45917851 0.83201584 -0.31129525 -4.0824095 ] [ 0.79313523 -0.22613889 0.5655066 -3.53397788] [ 0. 0. 0. 1. ]] SLAMing on 88.07964924600002 meters Centerline goodness [0,1] 0.9334058247861992 Centerline is valid? [False, False] Translation: X:4.90, Y:-4.08, Z:-3.53 [[ 0.40166134 -0.50067407 -0.76680744 4.89555756] [ 0.45536236 0.83566138 -0.30710778 -4.08416646] [ 0.79455226 -0.22582192 0.56364099 -3.53166849] [ 0. 0. 0. 1. ]] SLAMing on 88.10964924600002 meters Centerline goodness [0,1] 0.9360077530762679 Centerline is valid? [False, False] Translation: X:4.89, Y:-4.09, Z:-3.53 [[ 0.40200015 -0.49653615 -0.76931641 4.88890495] [ 0.45434736 0.8376334 -0.30321407 -4.08981781] [ 0.79496186 -0.22764477 0.56232864 -3.52773997] [ 0. 0. 0. 1. ]] SLAMing on 88.13964924600002 meters Centerline goodness [0,1] 0.9386126998093562 Centerline is valid? [False, False] Translation: X:4.89, Y:-4.09, Z:-3.53 [[ 0.40311589 -0.49118918 -0.77215981 4.88860824] [ 0.45107148 0.84078563 -0.29935606 -4.09090519] [ 0.79626132 -0.22762408 0.56049548 -3.52507132] [ 0. 0. 0. 1. ]] SLAMing on 88.169649246 meters Centerline goodness [0,1] 0.9324847489441577 Centerline is valid? [False, False] Translation: X:4.88, Y:-4.10, Z:-3.52 [[ 0.3986247 -0.47833167 -0.78249419 4.8816888 ] [ 0.45138377 0.84504509 -0.2866208 -4.09600262] [ 0.79834268 -0.23895105 0.552767 -3.52203348] [ 0. 0. 0. 1. ]] SLAMing on 88.199649246 meters Centerline goodness [0,1] 0.9337326515704893 Centerline is valid? [False, False] Translation: X:4.88, Y:-4.09, Z:-3.52 [[ 0.39783367 -0.47870326 -0.78266951 4.88260563] [ 0.45170407 0.84472613 -0.2870561 -4.09450016] [ 0.79855608 -0.23933442 0.5522927 -3.52071624] [ 0. 0. 0. 1. ]] SLAMing on 88.22964924600001 meters Centerline goodness [0,1] 0.9330936513504033 Centerline is valid? [False, False] Translation: X:4.88, Y:-4.09, Z:-3.52 [[ 0.398732 -0.47363645 -0.78529059 4.88355551] [ 0.44839102 0.84765945 -0.28358237 -4.09449561] [ 0.79997393 -0.23904388 0.55036327 -3.51802971] [ 0. 0. 0. 1. ]] SLAMing on 88.25964924600001 meters Centerline goodness [0,1] 0.931964431964432 Centerline is valid? [False, False] Translation: X:4.88, Y:-4.10, Z:-3.51 [[ 0.39944648 -0.46849301 -0.78800813 4.8842933 ] [ 0.44538565 0.85047545 -0.27986269 -4.09602131] [ 0.80129529 -0.23917734 0.54837949 -3.51470239] [ 0. 0. 0. 1. ]] SLAMing on 88.28964924600001 meters Centerline goodness [0,1] 0.9322801074640813 Centerline is valid? [False, False] Translation: X:4.88, Y:-4.10, Z:-3.51 [[ 0.39926702 -0.46813466 -0.78831199 4.88337307] [ 0.44506924 0.85067809 -0.27975019 -4.09578426] [ 0.80156049 -0.23915839 0.54800004 -3.51408337] [ 0. 0. 0. 1. ]] SLAMing on 88.31964924600001 meters Centerline goodness [0,1] 0.932750248639794 Centerline is valid? [False, False] Translation: X:4.88, Y:-4.10, Z:-3.51 [[ 0.39947352 -0.46705644 -0.78884675 4.88126974] [ 0.44417384 0.85134891 -0.27913191 -4.09704705] [ 0.80195418 -0.23887929 0.5475456 -3.51362634] [ 0. 0. 0. 1. ]] SLAMing on 88.34964924600001 meters Centerline goodness [0,1] 0.9320379890215214 Centerline is valid? [False, False] Translation: X:4.88, Y:-4.10, Z:-3.51 [[ 0.40044306 -0.4621966 -0.79121404 4.88126285] [ 0.44089047 0.85413324 -0.27581153 -4.09610691] [ 0.80328136 -0.23839192 0.54580981 -3.51162344] [ 0. 0. 0. 1. ]] SLAMing on 88.37964924600001 meters Centerline goodness [0,1] 0.9317476432197245 Centerline is valid? [False, False] Translation: X:4.88, Y:-4.09, Z:-3.51 [[ 0.40030795 -0.46226544 -0.79124219 4.88077706] [ 0.44072824 0.85414339 -0.27603931 -4.09408461] [ 0.80343771 -0.23822205 0.54565382 -3.51173245] [ 0. 0. 0. 1. ]] SLAMing on 88.40964924600001 meters Centerline goodness [0,1] 0.9360635307074747 Centerline is valid? [False, False] Translation: X:4.87, Y:-4.10, Z:-3.53 [[ 0.40284461 -0.45606226 -0.79355115 4.86895214] [ 0.44270486 0.85593712 -0.26717793 -4.10495003] [ 0.80107966 -0.24367776 0.54671064 -3.5264842 ] [ 0. 0. 0. 1. ]] SLAMing on 88.43964924600002 meters Centerline goodness [0,1] 0.9365166748761337 Centerline is valid? [False, False] Translation: X:4.87, Y:-4.11, Z:-3.53 [[ 0.40281769 -0.4553361 -0.79398171 4.86772428] [ 0.44229657 0.85630277 -0.26668206 -4.1058372 ] [ 0.8013187 -0.24375113 0.5463275 -3.52580532] [ 0. 0. 0. 1. ]] SLAMing on 88.46964924600002 meters Centerline goodness [0,1] 0.935404267673102 Centerline is valid? [False, False] Translation: X:4.87, Y:-4.11, Z:-3.53 [[ 0.40324223 -0.45395218 -0.79455845 4.86554521] [ 0.44146664 0.85706212 -0.26561573 -4.10813824] [ 0.80156279 -0.24366357 0.54600839 -3.52541458] [ 0. 0. 0. 1. ]] SLAMing on 88.49964924600002 meters Centerline goodness [0,1] 0.936255442670537 Centerline is valid? [False, False] Translation: X:4.86, Y:-4.11, Z:-3.52 [[ 0.40327646 -0.45330168 -0.79491237 4.86481733] [ 0.44116576 0.85737428 -0.26510776 -4.10910508] [ 0.80171121 -0.2437764 0.54574005 -3.52486477] [ 0. 0. 0. 1. ]] SLAMing on 88.529649246 meters Centerline goodness [0,1] 0.9346593387420397 Centerline is valid? [False, False] Translation: X:4.87, Y:-4.11, Z:-3.53 [[ 0.40445514 -0.45253905 -0.79474804 4.86519071] [ 0.44128872 0.85770996 -0.26381413 -4.11047076] [ 0.8010495 -0.24401236 0.54660558 -3.52598257] [ 0. 0. 0. 1. ]] SLAMing on 88.559649246 meters Centerline goodness [0,1] 0.9322557157419543 Centerline is valid? [False, False] Translation: X:4.87, Y:-4.11, Z:-3.53 [[ 0.40428818 -0.45253292 -0.79483648 4.86610877] [ 0.44126175 0.85770333 -0.26388079 -4.11003298] [ 0.80114863 -0.24404705 0.54644479 -3.52550218] [ 0. 0. 0. 1. ]] SLAMing on 88.58964924600001 meters Centerline goodness [0,1] 0.9358813761761878 Centerline is valid? [False, False] Translation: X:4.87, Y:-4.11, Z:-3.52 [[ 0.40395581 -0.45247077 -0.79504082 4.86661187] [ 0.4412586 0.8576913 -0.26392515 -4.10967842] [ 0.80131801 -0.2442045 0.546126 -3.52467587] [ 0. 0. 0. 1. ]] SLAMing on 88.61964924600001 meters Centerline goodness [0,1] 0.9338691360181707 Centerline is valid? [False, False] Translation: X:4.87, Y:-4.11, Z:-3.52 [[ 0.40365647 -0.45198369 -0.7954698 4.86764817] [ 0.44102803 0.85789288 -0.26365523 -4.11076001] [ 0.80159574 -0.24439834 0.54563149 -3.52325283] [ 0. 0. 0. 1. ]] SLAMing on 88.64964924600001 meters Centerline goodness [0,1] 0.9333119589612056 Centerline is valid? [False, False] Translation: X:4.86, Y:-4.12, Z:-3.53 [[ 0.39906752 -0.44727628 -0.80043054 4.8587419 ] [ 0.44200537 0.85867105 -0.25945188 -4.121259 ] [ 0.8033532 -0.25025578 0.54036625 -3.53210092] [ 0. 0. 0. 1. ]] SLAMing on 88.67964924600001 meters Centerline goodness [0,1] 0.9347066021793602 Centerline is valid? [False, False] Translation: X:4.85, Y:-4.13, Z:-3.54 [[ 0.3953828 -0.44318513 -0.80452432 4.85009829] [ 0.44408484 0.85895435 -0.25492367 -4.1327337 ] [ 0.80402804 -0.25648462 0.53642758 -3.5421311 ] [ 0. 0. 0. 1. ]] SLAMing on 88.70964924600001 meters Centerline goodness [0,1] 0.9360044518642181 Centerline is valid? [False, False] Translation: X:4.84, Y:-4.14, Z:-3.55 [[ 0.39189782 -0.43943227 -0.80827927 4.84157947] [ 0.44656227 0.85897795 -0.25047759 -4.14195305] [ 0.80436201 -0.2627854 0.53286546 -3.55262813] [ 0. 0. 0. 1. ]] SLAMing on 88.73964924600001 meters Centerline goodness [0,1] 0.934408886537953 Centerline is valid? [False, False] Translation: X:4.83, Y:-4.15, Z:-3.57 [[ 0.38981091 -0.43814825 -0.80998368 4.83450618] [ 0.45120126 0.85762444 -0.24677469 -4.15147228] [ 0.8027857 -0.26927019 0.53200441 -3.56524558] [ 0. 0. 0. 1. ]] SLAMing on 88.76964924600001 meters Centerline goodness [0,1] 0.9347448393651168 Centerline is valid? [False, False] Translation: X:4.83, Y:-4.15, Z:-3.57 [[ 0.38854303 -0.44273185 -0.80809827 4.83452008] [ 0.4542511 0.8550613 -0.25005223 -4.15158174] [ 0.80167964 -0.26992348 0.53333954 -3.56610908] [ 0. 0. 0. 1. ]] SLAMing on 88.79964924600002 meters Centerline goodness [0,1] 0.936638710251015 Centerline is valid? [False, False] Translation: X:4.83, Y:-4.17, Z:-3.58 [[ 0.38583098 -0.4442416 -0.80856902 4.82590482] [ 0.45803647 0.85302503 -0.25010177 -4.16526883] [ 0.80083522 -0.27385709 0.53260233 -3.58344386] [ 0. 0. 0. 1. ]] SLAMing on 88.82964924600002 meters Centerline goodness [0,1] 0.936638710251015 Centerline is valid? [False, False] Translation: X:4.83, Y:-4.17, Z:-3.58 [[ 0.38583098 -0.4442416 -0.80856902 4.82590482] [ 0.45803647 0.85302503 -0.25010177 -4.16526883] [ 0.80083522 -0.27385709 0.53260233 -3.58344386] [ 0. 0. 0. 1. ]] SLAMing on 88.85964924600002 meters Centerline goodness [0,1] 0.9324937027707808 Centerline is valid? [False, False] Translation: X:4.83, Y:-4.16, Z:-3.58 [[ 0.38445833 -0.44921341 -0.80647325 4.82670464] [ 0.46107844 0.85028535 -0.25381391 -4.16395102] [ 0.799749 -0.27426656 0.5340219 -3.58466176] [ 0. 0. 0. 1. ]] SLAMing on 88.88964924600002 meters Centerline goodness [0,1] 0.9348465492141775 Centerline is valid? [False, False] Translation: X:4.83, Y:-4.16, Z:-3.59 [[ 0.38292192 -0.45394131 -0.80455459 4.82723873] [ 0.46384799 0.8476665 -0.25750058 -4.16322936] [ 0.79888412 -0.27458842 0.53514985 -3.58537905] [ 0. 0. 0. 1. ]] SLAMing on 88.919649246 meters Centerline goodness [0,1] 0.9343332343332343 Centerline is valid? [False, False] Translation: X:4.83, Y:-4.16, Z:-3.59 [[ 0.38254667 -0.45446545 -0.80443719 4.82863651] [ 0.46406884 0.84738132 -0.25804071 -4.16172361] [ 0.79893564 -0.27460162 0.53506616 -3.5850126 ] [ 0. 0. 0. 1. ]] SLAMing on 88.949649246 meters Centerline goodness [0,1] 0.9306569343065694 Centerline is valid? [False, False] Translation: X:4.82, Y:-4.17, Z:-3.59 [[ 0.37761644 -0.44961749 -0.8094751 4.82158512] [ 0.46425351 0.84831483 -0.25461861 -4.1704256 ] [ 0.80117071 -0.27965348 0.52907412 -3.59450987] [ 0. 0. 0. 1. ]] SLAMing on 88.97964924600001 meters Centerline goodness [0,1] 0.9314465782745704 Centerline is valid? [False, False] Translation: X:4.82, Y:-4.17, Z:-3.59 [[ 0.37697169 -0.45017567 -0.80946539 4.82337079] [ 0.46462757 0.84793753 -0.25519239 -4.16902808] [ 0.80125749 -0.27989963 0.52881247 -3.59350017] [ 0. 0. 0. 1. ]] SLAMing on 89.00964924600001 meters Centerline goodness [0,1] 0.9284803558191252 Centerline is valid? [False, False] Translation: X:4.82, Y:-4.17, Z:-3.59 [[ 0.37596262 -0.45028084 -0.80987608 4.82484397] [ 0.464877 0.84770592 -0.25550743 -4.16865548] [ 0.80158685 -0.28043152 0.52803095 -3.59112214] [ 0. 0. 0. 1. ]] SLAMing on 89.03964924600001 meters Centerline goodness [0,1] 0.9308736595074711 Centerline is valid? [False, False] Translation: X:4.83, Y:-4.17, Z:-3.59 [[ 0.37538607 -0.45043081 -0.81006011 4.82568745] [ 0.46508434 0.84752233 -0.25573903 -4.16820162] [ 0.80173677 -0.2807454 0.5276364 -3.58989024] [ 0. 0. 0. 1. ]] SLAMing on 89.06964924600001 meters Centerline goodness [0,1] 0.931962915790409 Centerline is valid? [False, False] Translation: X:4.83, Y:-4.17, Z:-3.59 [[ 0.37462044 -0.45110853 -0.81003742 4.82751137] [ 0.46563821 0.84702923 -0.2563641 -4.1666916 ] [ 0.8017734 -0.28114514 0.52736783 -3.58864094] [ 0. 0. 0. 1. ]] SLAMing on 89.09964924600001 meters Centerline goodness [0,1] 0.9312061150119989 Centerline is valid? [False, False] Translation: X:4.83, Y:-4.16, Z:-3.59 [[ 0.37410645 -0.45167836 -0.80995742 4.82861738] [ 0.46595472 0.84668054 -0.25694019 -4.16499055] [ 0.80182951 -0.2812805 0.52721031 -3.58808537] [ 0. 0. 0. 1. ]] SLAMing on 89.12964924600001 meters Centerline goodness [0,1] 0.9294292068198666 Centerline is valid? [False, False] Translation: X:4.83, Y:-4.16, Z:-3.59 [[ 0.37278203 -0.45268903 -0.81000382 4.83082352] [ 0.4666743 0.84595882 -0.25800926 -4.1626363 ] [ 0.80202784 -0.28182676 0.52661659 -3.58603286] [ 0. 0. 0. 1. ]] SLAMing on 89.15964924600001 meters Centerline goodness [0,1] 0.9302387820036279 Centerline is valid? [False, False] Translation: X:4.83, Y:-4.16, Z:-3.59 [[ 0.37146101 -0.45790907 -0.8076732 4.83100283] [ 0.46935915 0.84318712 -0.26217832 -4.16047147] [ 0.80107347 -0.28169979 0.52813495 -3.58804439] [ 0. 0. 0. 1. ]] SLAMing on 89.18964924600002 meters Centerline goodness [0,1] 0.9306473706152105 Centerline is valid? [False, False] Translation: X:4.83, Y:-4.16, Z:-3.59 [[ 0.37104409 -0.45811919 -0.80774569 4.83191398] [ 0.46943442 0.84304478 -0.26250109 -4.15982704] [ 0.80122257 -0.28178415 0.52786369 -3.58723516] [ 0. 0. 0. 1. ]] SLAMing on 89.21964924600002 meters Centerline goodness [0,1] 0.9302927525883613 Centerline is valid? [False, False] Translation: X:4.83, Y:-4.16, Z:-3.59 [[ 0.37033826 -0.45865698 -0.80776441 4.8335179 ] [ 0.46969504 0.84269734 -0.2631497 -4.15864124] [ 0.80139637 -0.28194853 0.52751198 -3.58607565] [ 0. 0. 0. 1. ]] SLAMing on 89.24964924600002 meters Centerline goodness [0,1] 0.9281817368750559 Centerline is valid? [False, False] Translation: X:4.84, Y:-4.16, Z:-3.59 [[ 0.36825007 -0.46419464 -0.80555274 4.83549854] [ 0.47305461 0.83944989 -0.26747565 -4.15611845] [ 0.80038193 -0.28257251 0.52871689 -3.58648454] [ 0. 0. 0. 1. ]] SLAMing on 89.279649246 meters Centerline goodness [0,1] 0.9276097793963999 Centerline is valid? [False, False] Translation: X:4.84, Y:-4.15, Z:-3.59 [[ 0.36752111 -0.4648298 -0.80551939 4.83723715] [ 0.47345472 0.83901181 -0.26814139 -4.15438771] [ 0.80048039 -0.28282934 0.52843041 -3.58542639] [ 0. 0. 0. 1. ]] SLAMing on 89.309649246 meters Centerline goodness [0,1] 0.927317772073309 Centerline is valid? [False, False] Translation: X:4.83, Y:-4.16, Z:-3.60 [[ 0.36221957 -0.46305145 -0.80893779 4.83136055] [ 0.47476637 0.83850966 -0.26739194 -4.16290936] [ 0.80211837 -0.28720186 0.52356586 -3.59727139] [ 0. 0. 0. 1. ]] SLAMing on 89.33964924600001 meters Centerline goodness [0,1] 0.9241317365269461 Centerline is valid? [False, False] Translation: X:4.82, Y:-4.17, Z:-3.62 [[ 0.362128 -0.46768472 -0.80630907 4.82472716] [ 0.47846747 0.83562875 -0.26980265 -4.17102157] [ 0.79995762 -0.28808957 0.5263765 -3.62188867] [ 0. 0. 0. 1. ]] SLAMing on 89.36964924600001 meters Centerline goodness [0,1] 0.9270422198301639 Centerline is valid? [False, False] Translation: X:4.82, Y:-4.18, Z:-3.64 [[ 0.36241627 -0.47209333 -0.80360583 4.81668098] [ 0.48334072 0.83241797 -0.27103889 -4.17948704] [ 0.79689159 -0.29018652 0.52986374 -3.64356638] [ 0. 0. 0. 1. ]] SLAMing on 89.39964924600001 meters Centerline goodness [0,1] 0.9295910088048802 Centerline is valid? [False, False] Translation: X:4.81, Y:-4.19, Z:-3.67 [[ 0.36454387 -0.48014601 -0.79785185 4.80553656] [ 0.4881557 0.82818054 -0.27535614 -4.19448929] [ 0.79297653 -0.28909654 0.53629415 -3.67292329] [ 0. 0. 0. 1. ]] SLAMing on 89.42964924600001 meters Centerline goodness [0,1] 0.9305668565229184 Centerline is valid? [False, False] Translation: X:4.80, Y:-4.20, Z:-3.69 [[ 0.366536 -0.48327339 -0.79504603 4.79815512] [ 0.49345351 0.82540829 -0.27423492 -4.20350932] [ 0.78876802 -0.29180129 0.5410148 -3.69419655] [ 0. 0. 0. 1. ]] SLAMing on 89.45964924600001 meters Centerline goodness [0,1] 0.9305676462642212 Centerline is valid? [False, False] Translation: X:4.79, Y:-4.21, Z:-3.72 [[ 0.36660004 -0.48773396 -0.79228782 4.79155619] [ 0.49771127 0.82228897 -0.2759064 -4.21164707] [ 0.78605846 -0.29318328 0.54420186 -3.71820566] [ 0. 0. 0. 1. ]] SLAMing on 89.48964924600001 meters Centerline goodness [0,1] 0.9299708962165082 Centerline is valid? [False, False] Translation: X:4.79, Y:-4.22, Z:-3.74 [[ 0.36568922 -0.49267672 -0.78964616 4.78605159] [ 0.50116344 0.81914555 -0.27899063 -4.21830126] [ 0.78428732 -0.29371792 0.54646425 -3.74237675] [ 0. 0. 0. 1. ]] SLAMing on 89.51964924600001 meters Centerline goodness [0,1] 0.9285371414856595 Centerline is valid? [False, False] Translation: X:4.78, Y:-4.23, Z:-3.76 [[ 0.36064861 -0.49204348 -0.79235459 4.78086378] [ 0.50237007 0.81824519 -0.27946219 -4.22581915] [ 0.78584788 -0.29726758 0.54228691 -3.75609482] [ 0. 0. 0. 1. ]] SLAMing on 89.54964924600002 meters Centerline goodness [0,1] 0.9273504273504274 Centerline is valid? [False, False] Translation: X:4.78, Y:-4.22, Z:-3.76 [[ 0.35881234 -0.49744232 -0.78981317 4.78156282] [ 0.50546934 0.81490272 -0.28360943 -4.22366116] [ 0.78470023 -0.29746377 0.543839 -3.75749107] [ 0. 0. 0. 1. ]] SLAMing on 89.57964924600002 meters Centerline goodness [0,1] 0.9275690357627886 Centerline is valid? [False, False] Translation: X:4.78, Y:-4.23, Z:-3.78 [[ 0.35654314 -0.50769815 -0.7842956 4.77549591] [ 0.51127761 0.80863943 -0.2910283 -4.23296819] [ 0.78196688 -0.29722864 0.54788954 -3.78399938] [ 0. 0. 0. 1. ]] SLAMing on 89.60964924600002 meters Centerline goodness [0,1] 0.9277480257783426 Centerline is valid? [False, False] Translation: X:4.77, Y:-4.24, Z:-3.80 [[ 0.35371763 -0.51103004 -0.78341058 4.76946112] [ 0.51491585 0.8056063 -0.29301904 -4.2407652 ] [ 0.78086203 -0.29974453 0.54809462 -3.80325754] [ 0. 0. 0. 1. ]] SLAMing on 89.63964924600002 meters Centerline goodness [0,1] 0.9271645777062911 Centerline is valid? [False, False] Translation: X:4.76, Y:-4.25, Z:-3.83 [[ 0.35244624 -0.51609854 -0.7806561 4.76324565] [ 0.51861606 0.80208896 -0.29612612 -4.24878216] [ 0.7789859 -0.30049225 0.55035023 -3.82669609] [ 0. 0. 0. 1. ]] SLAMing on 89.669649246 meters Centerline goodness [0,1] 0.9277824978759558 Centerline is valid? [False, False] Translation: X:4.76, Y:-4.26, Z:-3.86 [[ 0.35313498 -0.5242124 -0.77491745 4.75596911] [ 0.52298199 0.79739246 -0.30108985 -4.25814337] [ 0.77574836 -0.29894251 0.55574082 -3.8571347 ] [ 0. 0. 0. 1. ]] SLAMing on 89.699649246 meters Centerline goodness [0,1] 0.929683257918552 Centerline is valid? [False, False] Translation: X:4.75, Y:-4.27, Z:-3.89 [[ 0.35630909 -0.52754513 -0.77119386 4.74518547] [ 0.52583838 0.79546934 -0.3012018 -4.26998966] [ 0.77235861 -0.2982024 0.56083643 -3.88525753] [ 0. 0. 0. 1. ]] SLAMing on 89.72964924600001 meters Centerline goodness [0,1] 0.9319914424322777 Centerline is valid? [False, False] Translation: X:4.74, Y:-4.28, Z:-3.91 [[ 0.35771575 -0.5302774 -0.76866464 4.73719565] [ 0.530476 0.79281416 -0.30006819 -4.27721154] [ 0.76852759 -0.30041903 0.56490154 -3.90673452] [ 0. 0. 0. 1. ]] SLAMing on 89.75964924600001 meters Centerline goodness [0,1] 0.9325158919049197 Centerline is valid? [False, False] Translation: X:4.73, Y:-4.29, Z:-3.94 [[ 0.36039355 -0.53695557 -0.76275501 4.72555704] [ 0.5341631 0.7891559 -0.30315465 -4.29038191] [ 0.76471319 -0.2981806 0.57122855 -3.93766028] [ 0. 0. 0. 1. ]] SLAMing on 89.78964924600001 meters Centerline goodness [0,1] 0.9344978165938864 Centerline is valid? [False, False] Translation: X:4.72, Y:-4.30, Z:-3.96 [[ 0.36176989 -0.54007737 -0.75989406 4.71709143] [ 0.53863123 0.78637727 -0.30246849 -4.29999647] [ 0.7609198 -0.29987868 0.57539016 -3.95966435] [ 0. 0. 0. 1. ]] SLAMing on 89.81964924600001 meters Centerline goodness [0,1] 0.9358572462020738 Centerline is valid? [False, False] Translation: X:4.71, Y:-4.31, Z:-3.98 [[ 0.3634749 -0.54291707 -0.75705155 4.70696302] [ 0.54254407 0.78396624 -0.30173309 -4.31171833] [ 0.75731891 -0.30106143 0.57950849 -3.98289263] [ 0. 0. 0. 1. ]] SLAMing on 89.84964924600001 meters Centerline goodness [0,1] 0.9362869198312236 Centerline is valid? [False, False] Translation: X:4.71, Y:-4.31, Z:-3.98 [[ 0.36302997 -0.543035 -0.75718045 4.70732355] [ 0.54254252 0.78384931 -0.30203952 -4.31088126] [ 0.7575334 -0.30115319 0.57918037 -3.98214611] [ 0. 0. 0. 1. ]] SLAMing on 89.87964924600001 meters Centerline goodness [0,1] 0.9345060893098782 Centerline is valid? [False, False] Translation: X:4.70, Y:-4.32, Z:-4.01 [[ 0.36357276 -0.54886171 -0.75270556 4.69835535] [ 0.54482768 0.78068309 -0.30609918 -4.32157707] [ 0.75563063 -0.2988055 0.58287016 -4.01095427] [ 0. 0. 0. 1. ]] SLAMing on 89.90964924600001 meters Centerline goodness [0,1] 0.9350009019301305 Centerline is valid? [False, False] Translation: X:4.69, Y:-4.33, Z:-4.03 [[ 0.3632171 -0.55287434 -0.74993553 4.69096586] [ 0.54775259 0.77782704 -0.30814316 -4.32977967] [ 0.75368458 -0.29885626 0.58535843 -4.03464365] [ 0. 0. 0. 1. ]] SLAMing on 89.93964924600002 meters Centerline goodness [0,1] 0.9358489424153479 Centerline is valid? [False, False] Translation: X:4.68, Y:-4.34, Z:-4.06 [[ 0.36181159 -0.56357082 -0.7426172 4.67999308] [ 0.55646258 0.76966857 -0.31298512 -4.34300901] [ 0.7479584 -0.29999704 0.59208108 -4.06076839] [ 0. 0. 0. 1. ]] SLAMing on 89.96964924600002 meters Centerline goodness [0,1] 0.9382909958619023 Centerline is valid? [False, False] Translation: X:4.67, Y:-4.35, Z:-4.08 [[ 0.35889058 -0.56759125 -0.7409708 4.67280533] [ 0.56035148 0.76590096 -0.31528073 -4.35099322] [ 0.74646083 -0.3020528 0.59292524 -4.08041969] [ 0. 0. 0. 1. ]] SLAMing on 89.99964924600002 meters Centerline goodness [0,1] 0.9380292765545608 Centerline is valid? [False, False] Translation: X:4.67, Y:-4.36, Z:-4.09 [[ 0.35357389 -0.56477872 -0.74566112 4.6660531 ] [ 0.56037865 0.76616467 -0.31459096 -4.35958032] [ 0.74897348 -0.30662142 0.58738576 -4.09039917] [ 0. 0. 0. 1. ]] SLAMing on 90.029649246 meters Centerline goodness [0,1] 0.9361727726643807 Centerline is valid? [False, False] Translation: X:4.66, Y:-4.37, Z:-4.11 [[ 0.35077632 -0.56125809 -0.74963013 4.65958013] [ 0.55852174 0.76792322 -0.31360389 -4.36776379] [ 0.7516711 -0.30867991 0.58284412 -4.10548902] [ 0. 0. 0. 1. ]] SLAMing on 90.059649246 meters Centerline goodness [0,1] 0.9353211422394379 Centerline is valid? [False, False] Translation: X:4.65, Y:-4.38, Z:-4.12 [[ 0.34980138 -0.56007755 -0.75096747 4.6520134 ] [ 0.5589791 0.76805989 -0.3124522 -4.37637911] [ 0.75178545 -0.3104789 0.58174005 -4.12422817] [ 0. 0. 0. 1. ]] SLAMing on 90.08964924600001 meters Centerline goodness [0,1] 0.9320362234376401 Centerline is valid? [False, False] Translation: X:4.64, Y:-4.38, Z:-4.15 [[ 0.35047129 -0.56139121 -0.74967312 4.64483747] [ 0.55925528 0.76751341 -0.31329969 -4.38358198] [ 0.75126786 -0.30945611 0.58295241 -4.14878746] [ 0. 0. 0. 1. ]] SLAMing on 90.11964924600001 meters Centerline goodness [0,1] 0.9316183069099611 Centerline is valid? [False, False] Translation: X:4.63, Y:-4.40, Z:-4.18 [[ 0.35205257 -0.56784999 -0.74404662 4.63345578] [ 0.56293586 0.76355027 -0.31637668 -4.39794008] [ 0.74777149 -0.3074693 0.58847296 -4.17722282] [ 0. 0. 0. 1. ]] SLAMing on 90.14964924600001 meters Centerline goodness [0,1] 0.9348959894490738 Centerline is valid? [False, False] Translation: X:4.62, Y:-4.41, Z:-4.21 [[ 0.35341704 -0.57551534 -0.73748118 4.62276778] [ 0.56513781 0.75958776 -0.32194051 -4.41240853] [ 0.74546338 -0.30299924 0.59369674 -4.20928925] [ 0. 0. 0. 1. ]] SLAMing on 90.17964924600001 meters Centerline goodness [0,1] 0.934230999401556 Centerline is valid? [False, False] Translation: X:4.60, Y:-4.44, Z:-4.25 [[ 0.35465092 -0.57648075 -0.7361336 4.60243934] [ 0.56601018 0.75903053 -0.32172212 -4.44038184] [ 0.74421448 -0.30256007 0.59548485 -4.25396071] [ 0. 0. 0. 1. ]] SLAMing on 90.20964924600001 meters Centerline goodness [0,1] 0.9341751746372917 Centerline is valid? [False, False] Translation: X:4.59, Y:-4.45, Z:-4.27 [[ 0.35500596 -0.57685057 -0.73567261 4.59451674] [ 0.56842654 0.75794555 -0.32001534 -4.45140141] [ 0.74220081 -0.30456848 0.59697236 -4.27347937] [ 0. 0. 0. 1. ]] SLAMing on 90.23964924600001 meters Centerline goodness [0,1] 0.9350119189511323 Centerline is valid? [False, False] Translation: X:4.59, Y:-4.47, Z:-4.30 [[ 0.35585555 -0.58035514 -0.73249897 4.58519585] [ 0.56932572 0.756196 -0.32254587 -4.46514246] [ 0.74110394 -0.30225076 0.59950765 -4.3005144 ] [ 0. 0. 0. 1. ]] SLAMing on 90.26964924600001 meters Centerline goodness [0,1] 0.9376582372739999 Centerline is valid? [False, False] Translation: X:4.58, Y:-4.48, Z:-4.33 [[ 0.35708038 -0.58427983 -0.72877341 4.57579357] [ 0.57117801 0.75392467 -0.32458171 -4.47764338] [ 0.7390868 -0.30035758 0.60293949 -4.32792453] [ 0. 0. 0. 1. ]] SLAMing on 90.29964924600002 meters Centerline goodness [0,1] 0.936353861776477 Centerline is valid? [False, False] Translation: X:4.57, Y:-4.49, Z:-4.35 [[ 0.3574671 -0.58974183 -0.72416976 4.56613006] [ 0.57482113 0.75006429 -0.32708442 -4.49257926] [ 0.73606925 -0.29934616 0.60711938 -4.35452603] [ 0. 0. 0. 1. ]] SLAMing on 90.32964924600002 meters Centerline goodness [0,1] 0.9346026242639807 Centerline is valid? [False, False] Translation: X:4.57, Y:-4.49, Z:-4.35 [[ 0.35720614 -0.58413965 -0.72882415 4.56744736] [ 0.57290632 0.75330457 -0.32297148 -4.49473297] [ 0.73768701 -0.30218057 0.60374231 -4.34632488] [ 0. 0. 0. 1. ]] SLAMing on 90.35964924600002 meters Centerline goodness [0,1] 0.9349554468812817 Centerline is valid? [False, False] Translation: X:4.56, Y:-4.51, Z:-4.38 [[ 0.35685137 -0.59038542 -0.723949 4.55846942] [ 0.57529564 0.74946701 -0.32761888 -4.51154719] [ 0.7359973 -0.29957346 0.60709449 -4.37500568] [ 0. 0. 0. 1. ]] SLAMing on 90.38964924600002 meters Centerline goodness [0,1] 0.9360391756293938 Centerline is valid? [False, False] Translation: X:4.55, Y:-4.52, Z:-4.40 [[ 0.35505295 -0.59303442 -0.72266699 4.55050225] [ 0.57774014 0.74693378 -0.32909916 -4.52442721] [ 0.73495152 -0.3006661 0.60782083 -4.39520963] [ 0. 0. 0. 1. ]] SLAMing on 90.419649246 meters Centerline goodness [0,1] 0.9374059131691456 Centerline is valid? [False, False] Translation: X:4.53, Y:-4.56, Z:-4.44 [[ 0.35507302 -0.5937293 -0.72208633 4.53135907] [ 0.58064887 0.74542527 -0.32739587 -4.55575909] [ 0.73264592 -0.30302916 0.60942865 -4.43521998] [ 0. 0. 0. 1. ]] SLAMing on 90.449649246 meters Centerline goodness [0,1] 0.936676416488255 Centerline is valid? [False, False] Translation: X:4.52, Y:-4.57, Z:-4.46 [[ 0.35377331 -0.59662231 -0.7203376 4.52288467] [ 0.58269645 0.74301552 -0.3292306 -4.56785361] [ 0.73164834 -0.30326516 0.61050876 -4.45691755] [ 0. 0. 0. 1. ]] SLAMing on 90.47964924600001 meters Centerline goodness [0,1] 0.9362959389791673 Centerline is valid? [False, False] Translation: X:4.51, Y:-4.58, Z:-4.48 [[ 0.3536608 -0.60031563 -0.71731805 4.51274641] [ 0.58339815 0.74100432 -0.33250442 -4.58289278] [ 0.73114338 -0.30088824 0.61228721 -4.48351793] [ 0. 0. 0. 1. ]] SLAMing on 90.50964924600001 meters Centerline goodness [0,1] 0.9350793841712773 Centerline is valid? [False, False] Translation: X:4.50, Y:-4.59, Z:-4.50 [[ 0.35206552 -0.60172333 -0.71692322 4.50448907] [ 0.58460137 0.73954932 -0.3336286 -4.59496012] [ 0.73095219 -0.30165518 0.61213809 -4.50380304] [ 0. 0. 0. 1. ]] SLAMing on 90.53964924600001 meters Centerline goodness [0,1] 0.9336448878104311 Centerline is valid? [False, False] Translation: X:4.49, Y:-4.62, Z:-4.54 [[ 0.35114922 -0.60085235 -0.71810214 4.48761672] [ 0.58672304 0.73889541 -0.33134521 -4.61970953] [ 0.72969192 -0.30497546 0.61199647 -4.5408231 ] [ 0. 0. 0. 1. ]] SLAMing on 90.56964924600001 meters Centerline goodness [0,1] 0.9338023952095809 Centerline is valid? [False, False] Translation: X:4.47, Y:-4.65, Z:-4.58 [[ 0.34983618 -0.60150501 -0.71819661 4.46973246] [ 0.58943717 0.7371997 -0.33030353 -4.64627418] [ 0.72813355 -0.30777965 0.61244854 -4.57836164] [ 0. 0. 0. 1. ]] SLAMing on 90.59964924600001 meters Centerline goodness [0,1] 0.93438995215311 Centerline is valid? [False, False] Translation: X:4.45, Y:-4.68, Z:-4.62 [[ 0.34892694 -0.60392453 -0.7166067 4.4509151 ] [ 0.59149807 0.73503375 -0.33144444 -4.67588894] [ 0.72689754 -0.30822159 0.61369327 -4.62003453] [ 0. 0. 0. 1. ]] SLAMing on 90.62964924600001 meters Centerline goodness [0,1] 0.9339580142355167 Centerline is valid? [False, False] Translation: X:4.43, Y:-4.71, Z:-4.67 [[ 0.34827027 -0.60964973 -0.71206392 4.4313329 ] [ 0.59468875 0.73088168 -0.33489888 -4.70779474] [ 0.72460549 -0.30682107 0.6170962 -4.66641898] [ 0. 0. 0. 1. ]] SLAMing on 90.65964924600001 meters Centerline goodness [0,1] 0.9340788168455226 Centerline is valid? [False, False] Translation: X:4.41, Y:-4.74, Z:-4.71 [[ 0.34679662 -0.61140745 -0.71127564 4.41405293] [ 0.59768694 0.72848404 -0.33478548 -4.73528132] [ 0.72284329 -0.30901769 0.61806605 -4.70618878] [ 0. 0. 0. 1. ]] SLAMing on 90.68964924600002 meters Centerline goodness [0,1] 0.9331089608750526 Centerline is valid? [False, False] Translation: X:4.41, Y:-4.75, Z:-4.73 [[ 0.34550226 -0.61642868 -0.70756192 4.40681386] [ 0.60076169 0.72452637 -0.33785638 -4.74554625] [ 0.72091163 -0.30834595 0.62065224 -4.73041454] [ 0. 0. 0. 1. ]] SLAMing on 90.71964924600002 meters Centerline goodness [0,1] 0.931165083563785 Centerline is valid? [False, False] Translation: X:4.39, Y:-4.77, Z:-4.78 [[ 0.3445162 -0.62138596 -0.70369602 4.38860378] [ 0.60330275 0.7208527 -0.3411703 -4.77389949] [ 0.71925961 -0.30700305 0.62322929 -4.77682056] [ 0. 0. 0. 1. ]] SLAMing on 90.74964924600002 meters Centerline goodness [0,1] 0.931165083563785 Centerline is valid? [False, False] Translation: X:4.37, Y:-4.80, Z:-4.81 [[ 0.34296589 -0.61956474 -0.70605519 4.37129515] [ 0.60550067 0.72046292 -0.33808596 -4.80256859] [ 0.71815272 -0.31156494 0.62224107 -4.80984201] [ 0. 0. 0. 1. ]] SLAMing on 90.77964924600002 meters Centerline goodness [0,1] 0.9290186634557496 Centerline is valid? [False, False] Translation: X:4.35, Y:-4.83, Z:-4.85 [[ 0.34223911 -0.62143593 -0.70476221 4.35213303] [ 0.6079392 0.7183532 -0.33819906 -4.83416559] [ 0.71643724 -0.31270763 0.62364382 -4.85042961] [ 0. 0. 0. 1. ]] SLAMing on 90.809649246 meters Centerline goodness [0,1] 0.932033008252063 Centerline is valid? [False, False] Translation: X:4.33, Y:-4.87, Z:-4.89 [[ 0.34257353 -0.62442375 -0.70195324 4.33200554] [ 0.61097387 0.71565881 -0.3384426 -4.8685734 ] [ 0.71369063 -0.31293361 0.62667236 -4.89307349] [ 0. 0. 0. 1. ]] SLAMing on 90.83964924600001 meters Centerline goodness [0,1] 0.9334152039777153 Centerline is valid? [False, False] Translation: X:4.31, Y:-4.90, Z:-4.94 [[ 0.34210268 -0.62692201 -0.69995325 4.31295012] [ 0.61298374 0.71346866 -0.339431 -4.90112744] [ 0.71219147 -0.3129397 0.62837254 -4.93556949] [ 0. 0. 0. 1. ]] SLAMing on 90.86964924600001 meters Centerline goodness [0,1] 0.9326370600909744 Centerline is valid? [False, False] Translation: X:4.29, Y:-4.93, Z:-4.98 [[ 0.34222277 -0.63112949 -0.69610283 4.2927633 ] [ 0.61454104 0.71075731 -0.34229133 -4.93453568] [ 0.71079033 -0.31064387 0.63109231 -4.98364013] [ 0. 0. 0. 1. ]] SLAMing on 90.89964924600001 meters Centerline goodness [0,1] 0.9316454180882265 Centerline is valid? [False, False] Translation: X:4.27, Y:-4.96, Z:-5.02 [[ 0.34107514 -0.63267532 -0.69526232 4.27494752] [ 0.61734845 0.70851697 -0.34188389 -4.9641526 ] [ 0.70890665 -0.31261102 0.63223865 -5.02235747] [ 0. 0. 0. 1. ]] SLAMing on 90.92964924600001 meters Centerline goodness [0,1] 0.9336407737916991 Centerline is valid? [False, False] Translation: X:4.25, Y:-5.00, Z:-5.07 [[ 0.34052414 -0.6399687 -0.68882754 4.25471019] [ 0.6202503 0.7034921 -0.34697035 -4.99767085] [ 0.7066349 -0.30909371 0.63649682 -5.07196636] [ 0. 0. 0. 1. ]] SLAMing on 90.95964924600001 meters Centerline goodness [0,1] 0.9333813251747203 Centerline is valid? [False, False] Translation: X:4.24, Y:-5.03, Z:-5.12 [[ 0.33984361 -0.64416118 -0.68524645 4.23511141] [ 0.62257742 0.70019933 -0.34945423 -5.0311063 ] [ 0.70491395 -0.30785918 0.63899847 -5.11645704] [ 0. 0. 0. 1. ]] SLAMing on 90.98964924600001 meters Centerline goodness [0,1] 0.9327781800627565 Centerline is valid? [False, False] Translation: X:4.22, Y:-5.07, Z:-5.16 [[ 0.3391036 -0.65022545 -0.6798644 4.21526016] [ 0.62489963 0.69589855 -0.35387238 -5.06522278] [ 0.70321348 -0.30484762 0.64230735 -5.16444177] [ 0. 0. 0. 1. ]] SLAMing on 91.01964924600001 meters Centerline goodness [0,1] 0.9317571846446127 Centerline is valid? [False, False] Translation: X:4.21, Y:-5.08, Z:-5.19 [[ 0.33840817 -0.65581186 -0.67482643 4.2070741 ] [ 0.62739325 0.69172858 -0.35761611 -5.07863402] [ 0.70132562 -0.30236134 0.64553854 -5.19080901] [ 0. 0. 0. 1. ]] SLAMing on 91.04964924600002 meters Centerline goodness [0,1] 0.9319042751488185 Centerline is valid? [False, False] Translation: X:4.19, Y:-5.11, Z:-5.24 [[ 0.33812472 -0.66304324 -0.66786625 4.18578822] [ 0.62876762 0.68718993 -0.36389735 -5.11476279] [ 0.70023064 -0.29688998 0.64925603 -5.24344048] [ 0. 0. 0. 1. ]] SLAMing on 91.07964924600002 meters Centerline goodness [0,1] 0.9306769546084754 Centerline is valid? [False, False] Translation: X:4.18, Y:-5.13, Z:-5.27 [[ 0.3377523 -0.6690435 -0.66204545 4.17617299] [ 0.63107973 0.68282481 -0.36808782 -5.13012943] [ 0.69832783 -0.29348096 0.65284545 -5.27113347] [ 0. 0. 0. 1. ]] SLAMing on 91.10964924600002 meters Centerline goodness [0,1] 0.929744223179586 Centerline is valid? [False, False] Translation: X:4.16, Y:-5.16, Z:-5.32 [[ 0.33726682 -0.6759226 -0.65527073 4.15553754] [ 0.63435652 0.67747217 -0.37232144 -5.16458689] [ 0.69558816 -0.2901036 0.6572648 -5.3198363 ] [ 0. 0. 0. 1. ]] SLAMing on 91.13964924600002 meters Centerline goodness [0,1] 0.9312188382291103 Centerline is valid? [False, False] Translation: X:4.15, Y:-5.18, Z:-5.35 [[ 0.33714387 -0.68229685 -0.64869486 4.14590587] [ 0.63750326 0.67247728 -0.37598389 -5.17928418] [ 0.69276519 -0.28678443 0.66168806 -5.34786493] [ 0. 0. 0. 1. ]] SLAMing on 91.169649246 meters Centerline goodness [0,1] 0.9335059149333254 Centerline is valid? [False, False] Translation: X:4.12, Y:-5.22, Z:-5.40 [[ 0.33765765 -0.6891307 -0.64116004 4.12398194] [ 0.64044142 0.66738627 -0.38003994 -5.21515481] [ 0.68979859 -0.28230205 0.66669592 -5.39972869] [ 0. 0. 0. 1. ]] SLAMing on 91.199649246 meters Centerline goodness [0,1] 0.9308913749548899 Centerline is valid? [False, False] Translation: X:4.11, Y:-5.25, Z:-5.44 [[ 0.33623651 -0.69133764 -0.63952895 4.10530538] [ 0.64333374 0.66454159 -0.38013967 -5.24841696] [ 0.68779845 -0.28361372 0.66820397 -5.43889126] [ 0. 0. 0. 1. ]] SLAMing on 91.22964924600001 meters Centerline goodness [0,1] 0.932258064516129 Centerline is valid? [False, False] Translation: X:4.08, Y:-5.29, Z:-5.49 [[ 0.33455366 -0.70056965 -0.63029836 4.0843231 ] [ 0.64818201 0.65656665 -0.38572051 -5.28581444] [ 0.68405696 -0.27950385 0.67375342 -5.48931162] [ 0. 0. 0. 1. ]] SLAMing on 91.25964924600001 meters Centerline goodness [0,1] 0.9325413533834587 Centerline is valid? [False, False] Translation: X:4.07, Y:-5.30, Z:-5.52 [[ 0.33447586 -0.70633557 -0.62387174 4.073274 ] [ 0.64864882 0.65278597 -0.39131213 -5.30440207] [ 0.6836524 -0.2737892 0.67650489 -5.51941147] [ 0. 0. 0. 1. ]] SLAMing on 91.28964924600001 meters Centerline goodness [0,1] 0.9316897173782321 Centerline is valid? [False, False] Translation: X:4.05, Y:-5.34, Z:-5.57 [[ 0.33395644 -0.7124754 -0.617132 4.05309249] [ 0.65112684 0.64777549 -0.39550064 -5.33911657] [ 0.68154746 -0.26975122 0.68024065 -5.56798307] [ 0. 0. 0. 1. ]] SLAMing on 91.31964924600001 meters Centerline goodness [0,1] 0.9305049531781638 Centerline is valid? [False, False] Translation: X:4.03, Y:-5.37, Z:-5.61 [[ 0.33299701 -0.71674373 -0.61269194 4.03267885] [ 0.6527409 0.64413833 -0.39876701 -5.3742734 ] [ 0.68047212 -0.26714087 0.68234409 -5.61281345] [ 0. 0. 0. 1. ]] SLAMing on 91.34964924600001 meters Centerline goodness [0,1] 0.9312678598285457 Centerline is valid? [False, False] Translation: X:4.01, Y:-5.41, Z:-5.67 [[ 0.33278298 -0.72398109 -0.60424073 4.01111679] [ 0.65468705 0.63854987 -0.40452308 -5.41023487] [ 0.67870491 -0.26097019 0.68647958 -5.6658574 ] [ 0. 0. 0. 1. ]] SLAMing on 91.37964924600001 meters Centerline goodness [0,1] 0.9292011433729502 Centerline is valid? [False, False] Translation: X:3.99, Y:-5.45, Z:-5.71 [[ 0.33163283 -0.72761186 -0.60050033 3.99056324] [ 0.65641835 0.63514281 -0.40707317 -5.44571932] [ 0.67759473 -0.25918061 0.68825198 -5.7092529 ] [ 0. 0. 0. 1. ]] SLAMing on 91.40964924600001 meters Centerline goodness [0,1] 0.9288345410628019 Centerline is valid? [False, False] Translation: X:3.97, Y:-5.48, Z:-5.75 [[ 0.3305855 -0.73614487 -0.59059627 3.97067716] [ 0.65374091 0.62995064 -0.41926724 -5.48125891] [ 0.68068793 -0.24749327 0.68950056 -5.75280979] [ 0. 0. 0. 1. ]] SLAMing on 91.43964924600002 meters Centerline goodness [0,1] 0.9287071956554533 Centerline is valid? [False, False] Translation: X:3.95, Y:-5.52, Z:-5.80 [[ 0.32863838 -0.74047474 -0.58625419 3.94966289] [ 0.65462193 0.62602659 -0.4237462 -5.51880633] [ 0.68078407 -0.24451559 0.69046736 -5.79753254] [ 0. 0. 0. 1. ]] SLAMing on 91.46964924600002 meters Centerline goodness [0,1] 0.9309099662975445 Centerline is valid? [False, False] Translation: X:3.92, Y:-5.56, Z:-5.86 [[ 0.32831443 -0.74769426 -0.57720268 3.92387515] [ 0.65379688 0.62092037 -0.43244367 -5.5630535 ] [ 0.68173255 -0.23539581 0.69269729 -5.85536089] [ 0. 0. 0. 1. ]] SLAMing on 91.49964924600002 meters Centerline goodness [0,1] 0.9312784082357545 Centerline is valid? [False, False] Translation: X:3.90, Y:-5.60, Z:-5.91 [[ 0.32779291 -0.75403434 -0.56919594 3.90024613] [ 0.65464076 0.6156806 -0.43861472 -5.6013989 ] [ 0.68117346 -0.22884407 0.69543735 -5.90647185] [ 0. 0. 0. 1. ]] SLAMing on 91.52964924600002 meters Centerline goodness [0,1] 0.9321570277744379 Centerline is valid? [False, False] Translation: X:3.87, Y:-5.65, Z:-5.96 [[ 0.32628349 -0.76052606 -0.5613726 3.87265923] [ 0.653321 0.61063733 -0.44754186 -5.64757673] [ 0.68316231 -0.22073099 0.69610853 -5.96253357] [ 0. 0. 0. 1. ]] SLAMing on 91.559649246 meters Centerline goodness [0,1] 0.9323005794229788 Centerline is valid? [False, False] Translation: X:3.84, Y:-5.70, Z:-6.02 [[ 0.324351 -0.76596482 -0.55506244 3.84313495] [ 0.65146459 0.60632833 -0.45602614 -5.69743303] [ 0.68585007 -0.21369099 0.69566216 -6.02165145] [ 0. 0. 0. 1. ]] SLAMing on 91.58964924600001 meters Centerline goodness [0,1] 0.9334570598976263 Centerline is valid? [False, False] Translation: X:3.82, Y:-5.75, Z:-6.08 [[ 0.3239689 -0.76981175 -0.54994001 3.81539249] [ 0.64866878 0.60388598 -0.463196 -5.74561414] [ 0.68867479 -0.20666781 0.69499313 -6.07881998] [ 0. 0. 0. 1. ]] SLAMing on 91.61964924600001 meters Centerline goodness [0,1] 0.9327204346009194 Centerline is valid? [False, False] Translation: X:3.78, Y:-5.80, Z:-6.15 [[ 0.32261619 -0.7732504 -0.54589616 3.78307446] [ 0.64859723 0.60064511 -0.4674902 -5.80322319] [ 0.68937684 -0.20324684 0.6953059 -6.14567385] [ 0. 0. 0. 1. ]] SLAMing on 91.64964924600001 meters Centerline goodness [0,1] 0.9333930972658001 Centerline is valid? [False, False] Translation: X:3.75, Y:-5.85, Z:-6.20 [[ 0.32064333 -0.77771031 -0.54069818 3.75469028] [ 0.6450072 0.59731133 -0.47663916 -5.85460476] [ 0.69365234 -0.19592305 0.69315264 -6.20184713] [ 0. 0. 0. 1. ]] SLAMing on 91.67964924600001 meters Centerline goodness [0,1] 0.9336897756802772 Centerline is valid? [False, False] Translation: X:3.73, Y:-5.91, Z:-6.26 [[ 0.3192947 -0.78251522 -0.53452861 3.72584813] [ 0.64167699 0.59359681 -0.48568865 -5.90676793] [ 0.69735324 -0.1879169 0.69165432 -6.2613454 ] [ 0. 0. 0. 1. ]] SLAMing on 91.70964924600001 meters Centerline goodness [0,1] 0.9343816328360885 Centerline is valid? [False, False] Translation: X:3.70, Y:-5.96, Z:-6.32 [[ 0.31801047 -0.78629103 -0.52973178 3.69631824] [ 0.63823918 0.59071755 -0.49366337 -5.9612645 ] [ 0.70108494 -0.18110546 0.6896961 -6.32105607] [ 0. 0. 0. 1. ]] SLAMing on 91.73964924600001 meters Centerline goodness [0,1] 0.9342002989536622 Centerline is valid? [False, False] Translation: X:3.66, Y:-6.02, Z:-6.39 [[ 0.31643536 -0.79160319 -0.522717 3.66315431] [ 0.63857338 0.58524035 -0.49971769 -6.01953229] [ 0.70149319 -0.17566481 0.69068747 -6.3925361 ] [ 0. 0. 0. 1. ]] SLAMing on 91.76964924600001 meters Centerline goodness [0,1] 0.9343794579172611 Centerline is valid? [False, False] Translation: X:3.64, Y:-6.07, Z:-6.46 [[ 0.3169945 -0.79924275 -0.51061289 3.63538412] [ 0.63801045 0.57805358 -0.50872067 -6.065535 ] [ 0.70175291 -0.1645147 0.69316503 -6.45580398] [ 0. 0. 0. 1. ]] SLAMing on 91.79964924600002 meters Centerline goodness [0,1] 0.9353924201730827 Centerline is valid? [False, False] Translation: X:3.59, Y:-6.15, Z:-6.57 [[ 0.31618624 -0.81028825 -0.49341586 3.58591596] [ 0.63775441 0.56658858 -0.52177265 -6.1531589 ] [ 0.70235004 -0.14970081 0.69591242 -6.57034589] [ 0. 0. 0. 1. ]] SLAMing on 91.82964924600002 meters Centerline goodness [0,1] 0.9368140904877247 Centerline is valid? [False, False] Translation: X:3.52, Y:-6.28, Z:-6.73 [[ 0.31594323 -0.82654641 -0.46583357 3.51669448] [ 0.63348995 0.54928182 -0.54495869 -6.27766712] [ 0.70630755 -0.12292487 0.69715071 -6.73133905] [ 0. 0. 0. 1. ]] SLAMing on 91.85964924600002 meters Centerline goodness [0,1] 0.9375914916499866 Centerline is valid? [False, False] Translation: X:3.40, Y:-6.96, Z:-6.75 [[ 0.31447979 -0.69740855 -0.64399051 3.39576285] [ 0.10589701 0.69995007 -0.70629719 -6.95904172] [ 0.9433389 0.15391952 0.29397364 -6.75098595] [ 0. 0. 0. 1. ]] SLAMing on 91.88964924600002 meters Centerline goodness [0,1] 0.9377981870229007 Centerline is valid? [False, False] Translation: X:3.39, Y:-6.99, Z:-6.73 [[ 0.31669725 -0.66238305 -0.67893412 3.38857877] [ 0.10135191 0.73531094 -0.67010865 -6.99351682] [ 0.94309631 0.1434103 0.30000474 -6.73209508] [ 0. 0. 0. 1. ]] SLAMing on 91.919649246 meters Centerline goodness [0,1] 0.9387201573723585 Centerline is valid? [False, False] Translation: X:3.38, Y:-7.02, Z:-6.71 [[ 0.31711984 -0.6293446 -0.70947895 3.38139837] [ 0.09919357 0.76599849 -0.63514325 -7.02423129] [ 0.94318378 0.13104077 0.30534026 -6.7131088 ] [ 0. 0. 0. 1. ]] SLAMing on 91.949649246 meters Centerline goodness [0,1] 0.941044776119403 Centerline is valid? [False, False] Translation: X:3.38, Y:-7.05, Z:-6.69 [[ 0.31516623 -0.59600681 -0.73854325 3.3754191 ] [ 0.09760013 0.79443222 -0.59945947 -7.05267133] [ 0.94400448 0.11684747 0.30854855 -6.68626589] [ 0. 0. 0. 1. ]] SLAMing on 91.97964924600001 meters Centerline goodness [0,1] 0.9400238948626045 Centerline is valid? [False, False] Translation: X:3.37, Y:-7.08, Z:-6.67 [[ 0.31401945 -0.56397176 -0.76375888 3.36677775] [ 0.09545104 0.81912837 -0.56561278 -7.07917871] [ 0.9446062 0.10471184 0.31105393 -6.66841517] [ 0. 0. 0. 1. ]] SLAMing on 92.00964924600001 meters Centerline goodness [0,1] 0.9376589189027491 Centerline is valid? [False, False] Translation: X:3.36, Y:-7.10, Z:-6.64 [[ 0.31050854 -0.53319048 -0.78695131 3.36023822] [ 0.09451572 0.84108778 -0.53257686 -7.10282037] [ 0.94586005 0.09099039 0.31155982 -6.64473893] [ 0. 0. 0. 1. ]] SLAMing on 92.03964924600001 meters Centerline goodness [0,1] 0.9347604790419162 Centerline is valid? [False, False] Translation: X:3.35, Y:-7.12, Z:-6.63 [[ 0.30816532 -0.5033013 -0.80729297 3.35186405] [ 0.09428574 0.86057174 -0.5005262 -7.12496351] [ 0.946649 0.0781286 0.3126525 -6.62636478] [ 0. 0. 0. 1. ]] SLAMing on 92.06964924600001 meters Centerline goodness [0,1] 0.9351474466554783 Centerline is valid? [False, False] Translation: X:3.34, Y:-7.15, Z:-6.61 [[ 0.30615489 -0.47188243 -0.82679874 3.34289033] [ 0.09532457 0.8793335 -0.46656813 -7.14822029] [ 0.94719713 0.06402789 0.31419424 -6.60536199] [ 0. 0. 0. 1. ]] SLAMing on 92.09964924600001 meters Centerline goodness [0,1] 0.9369193886724603 Centerline is valid? [False, False] Translation: X:3.33, Y:-7.17, Z:-6.59 [[ 0.30409811 -0.44152396 -0.84414509 3.33186952] [ 0.09662161 0.89583614 -0.43375324 -7.16961274] [ 0.94772813 0.05034088 0.31508283 -6.58675604] [ 0. 0. 0. 1. ]] SLAMing on 92.12964924600001 meters Centerline goodness [0,1] 0.9370280109516502 Centerline is valid? [False, False] Translation: X:3.32, Y:-7.19, Z:-6.56 [[ 0.30477592 -0.41410383 -0.85768855 3.32421423] [ 0.10095047 0.90950488 -0.40324915 -7.18915071] [ 0.94705894 0.03631657 0.31899916 -6.56324132] [ 0. 0. 0. 1. ]] SLAMing on 92.15964924600001 meters Centerline goodness [0,1] 0.9381892484750143 Centerline is valid? [False, False] Translation: X:3.32, Y:-7.20, Z:-6.54 [[ 0.30349479 -0.38591905 -0.87118161 3.31507745] [ 0.10370915 0.92225391 -0.37241393 -7.20414339] [ 0.94717228 0.02267618 0.3199226 -6.5443285 ] [ 0. 0. 0. 1. ]] SLAMing on 92.18964924600002 meters Centerline goodness [0,1] 0.9360650798433263 Centerline is valid? [False, False] Translation: X:3.31, Y:-7.22, Z:-6.52 [[ 0.30165131 -0.35757197 -0.88382621 3.3078274 ] [ 0.10595149 0.93383813 -0.34164401 -7.21670247] [ 0.94751294 0.00941466 0.31957878 -6.52213776] [ 0. 0. 0. 1. ]] SLAMing on 92.21964924600002 meters Centerline goodness [0,1] 0.9364553531094715 Centerline is valid? [False, False] Translation: X:3.30, Y:-7.23, Z:-6.51 [[ 3.01040417e-01 -3.30488009e-01 -8.94512349e-01 3.29849526e+00] [ 1.08824974e-01 9.43804074e-01 -3.12075305e-01 -7.22945449e+00] [ 9.47381545e-01 -3.39800336e-03 3.20088521e-01 -6.50550294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.24964924600002 meters Centerline goodness [0,1] 0.9338299342204067 Centerline is valid? [False, False] Translation: X:3.29, Y:-7.24, Z:-6.48 [[ 0.3014598 -0.30920344 -0.90195079 3.29443344] [ 0.10729933 0.95095031 -0.29013853 -7.23647833] [ 0.94742221 -0.00931362 0.31985061 -6.48071627] [ 0. 0. 0. 1. ]] SLAMing on 92.27964924600002 meters Centerline goodness [0,1] 0.9337720610230332 Centerline is valid? [False, False] Translation: X:3.29, Y:-7.24, Z:-6.47 [[ 0.30571353 -0.2887361 -0.90728755 3.28951279] [ 0.10923533 0.9572537 -0.26783017 -7.24430232] [ 0.9458366 -0.01722855 0.32418559 -6.46757597] [ 0. 0. 0. 1. ]] SLAMing on 92.309649246 meters Centerline goodness [0,1] 0.9345016231814356 Centerline is valid? [False, False] Translation: X:3.29, Y:-7.25, Z:-6.44 [[ 0.30429665 -0.27299587 -0.91262084 3.28808978] [ 0.10892329 0.96174227 -0.25137129 -7.24886353] [ 0.94632936 -0.02291422 0.32239056 -6.44410307] [ 0. 0. 0. 1. ]] SLAMing on 92.33964924600001 meters Centerline goodness [0,1] 0.9330428249436514 Centerline is valid? [False, False] Translation: X:3.28, Y:-7.25, Z:-6.43 [[ 0.30312102 -0.25983755 -0.91684355 3.28472595] [ 0.10855379 0.96526114 -0.23766995 -7.2538968 ] [ 0.94674903 -0.02748408 0.32079729 -6.42684925] [ 0. 0. 0. 1. ]] SLAMing on 92.36964924600001 meters Centerline goodness [0,1] 0.9326280456738694 Centerline is valid? [False, False] Translation: X:3.28, Y:-7.26, Z:-6.40 [[ 0.30181021 -0.24343012 -0.9217659 3.28277756] [ 0.10828589 0.96934825 -0.22054057 -7.25836431] [ 0.94719838 -0.03325285 0.31891925 -6.40317162] [ 0. 0. 0. 1. ]] SLAMing on 92.39964924600001 meters Centerline goodness [0,1] 0.9314719289827256 Centerline is valid? [False, False] Translation: X:3.28, Y:-7.26, Z:-6.38 [[ 0.30072508 -0.22689958 -0.92632662 3.28056431] [ 0.10809527 0.97313689 -0.20327322 -7.2624741 ] [ 0.94756522 -0.03900217 0.31717344 -6.37944484] [ 0. 0. 0. 1. ]] SLAMing on 92.42964924600001 meters Centerline goodness [0,1] 0.9330438688426411 Centerline is valid? [False, False] Translation: X:3.28, Y:-7.27, Z:-6.37 [[ 0.29937584 -0.21487656 -0.92962475 3.27654298] [ 0.1066736 0.97574067 -0.19118284 -7.26676593] [ 0.94815339 -0.04193089 0.31503484 -6.36554448] [ 0. 0. 0. 1. ]] SLAMing on 92.45964924600001 meters Centerline goodness [0,1] 0.9322566173171826 Centerline is valid? [False, False] Translation: X:3.27, Y:-7.27, Z:-6.35 [[ 0.29686179 -0.2030772 -0.93307702 3.27389006] [ 0.10639893 0.97807529 -0.17901953 -7.26965471] [ 0.94897436 -0.04613433 0.31196038 -6.34720643] [ 0. 0. 0. 1. ]] SLAMing on 92.48964924600001 meters Centerline goodness [0,1] 0.9315559806324347 Centerline is valid? [False, False] Translation: X:3.27, Y:-7.27, Z:-6.34 [[ 0.29451928 -0.19610961 -0.93530712 3.27154793] [ 0.10446227 0.97945939 -0.17247302 -7.27272278] [ 0.94991896 -0.04690767 0.30895573 -6.33822398] [ 0. 0. 0. 1. ]] SLAMing on 92.51964924600001 meters Centerline goodness [0,1] 0.9326531833413116 Centerline is valid? [False, False] Translation: X:3.27, Y:-7.28, Z:-6.31 [[ 0.29363491 -0.17987793 -0.93884103 3.26846227] [ 0.10515609 0.98225356 -0.15530663 -7.27571936] [ 0.95011617 -0.0531214 0.30733919 -6.31448077] [ 0. 0. 0. 1. ]] SLAMing on 92.54964924600002 meters Centerline goodness [0,1] 0.9325664774424858 Centerline is valid? [False, False] Translation: X:3.26, Y:-7.28, Z:-6.30 [[ 0.29211283 -0.16915447 -0.94130593 3.26466901] [ 0.10556048 0.9839234 -0.14405462 -7.27894875] [ 0.95054042 -0.05728451 0.30527267 -6.29950538] [ 0. 0. 0. 1. ]] SLAMing on 92.57964924600002 meters Centerline goodness [0,1] 0.9322120132882411 Centerline is valid? [False, False] Translation: X:3.26, Y:-7.28, Z:-6.29 [[ 0.28928043 -0.16106368 -0.94359701 3.26065297] [ 0.10505466 0.98513051 -0.13594626 -7.28277674] [ 0.95146222 -0.05980267 0.30189947 -6.28740887] [ 0. 0. 0. 1. ]] SLAMing on 92.60964924600002 meters Centerline goodness [0,1] 0.9322807228192351 Centerline is valid? [False, False] Translation: X:3.26, Y:-7.29, Z:-6.26 [[ 0.28710118 -0.14825121 -0.94635854 3.25735422] [ 0.10738259 0.98670478 -0.12199448 -7.28568545] [ 0.95186233 -0.06659767 0.2992037 -6.26427286] [ 0. 0. 0. 1. ]] SLAMing on 92.63964924600002 meters Centerline goodness [0,1] 0.9322807228192351 Centerline is valid? [False, False] Translation: X:3.26, Y:-7.29, Z:-6.26 [[ 0.28710118 -0.14825121 -0.94635854 3.25735422] [ 0.10738259 0.98670478 -0.12199448 -7.28568545] [ 0.95186233 -0.06659767 0.2992037 -6.26427286] [ 0. 0. 0. 1. ]] SLAMing on 92.669649246 meters Centerline goodness [0,1] 0.9304094270426261 Centerline is valid? [False, False] Translation: X:3.26, Y:-7.29, Z:-6.24 [[ 0.28470019 -0.13692663 -0.94878707 3.25566295] [ 0.10860662 0.98798077 -0.10999365 -7.2869701 ] [ 0.95244444 -0.07172934 0.29614945 -6.24438598] [ 0. 0. 0. 1. ]] SLAMing on 92.699649246 meters Centerline goodness [0,1] 0.9314366230962945 Centerline is valid? [False, False] Translation: X:3.25, Y:-7.29, Z:-6.24 [[ 0.28239477 -0.13020518 -0.95042086 3.25343876] [ 0.10667608 0.98886342 -0.10377547 -7.28956376] [ 0.95334852 -0.07208152 0.29313964 -6.23616721] [ 0. 0. 0. 1. ]] SLAMing on 92.72964924600001 meters Centerline goodness [0,1] 0.9320088697111351 Centerline is valid? [False, False] Translation: X:3.25, Y:-7.29, Z:-6.23 [[ 0.28017419 -0.1233288 -0.95199392 3.25090879] [ 0.10437319 0.9897472 -0.09750237 -7.29276154] [ 0.95425817 -0.072045 0.29017384 -6.22859956] [ 0. 0. 0. 1. ]] SLAMing on 92.75964924600001 meters Centerline goodness [0,1] 0.9321871155519549 Centerline is valid? [False, False] Translation: X:3.25, Y:-7.29, Z:-6.21 [[ 0.27777737 -0.11224143 -0.95406582 3.24969607] [ 0.10720021 0.99056946 -0.08532445 -7.29392535] [ 0.9546454 -0.07857486 0.28719009 -6.2057712 ] [ 0. 0. 0. 1. ]] SLAMing on 92.78964924600001 meters Centerline goodness [0,1] 0.9300309970206747 Centerline is valid? [False, False] Translation: X:3.25, Y:-7.29, Z:-6.18 [[ 0.27559464 -0.10169106 -0.95587997 3.24931301] [ 0.11092133 0.99111062 -0.07345877 -7.29405804] [ 0.9548529 -0.08578263 0.28442448 -6.18201474] [ 0. 0. 0. 1. ]] SLAMing on 92.81964924600001 meters Centerline goodness [0,1] 0.9323811245706021 Centerline is valid? [False, False] Translation: X:3.25, Y:-7.30, Z:-6.17 [[ 0.27309481 -0.09525861 -0.95725912 3.24730354] [ 0.1092001 0.99172295 -0.06753466 -7.29610714] [ 0.9557691 -0.08608942 0.28123664 -6.17357423] [ 0. 0. 0. 1. ]] SLAMing on 92.84964924600001 meters Centerline goodness [0,1] 0.9301324503311258 Centerline is valid? [False, False] Translation: X:3.25, Y:-7.30, Z:-6.15 [[ 0.27121066 -0.08391355 -0.9588552 3.24521182] [ 0.11205426 0.99217135 -0.05513482 -7.29596687] [ 0.95597522 -0.09249066 0.27849032 -6.15133232] [ 0. 0. 0. 1. ]] SLAMing on 92.87964924600001 meters Centerline goodness [0,1] 0.9295634621757599 Centerline is valid? [False, False] Translation: X:3.24, Y:-7.30, Z:-6.14 [[ 0.26872149 -0.07741026 -0.96010229 3.24286184] [ 0.10996635 0.99271382 -0.04926132 -7.29867743] [ 0.95692014 -0.09234137 0.27527606 -6.14353355] [ 0. 0. 0. 1. ]] SLAMing on 92.90964924600001 meters Centerline goodness [0,1] 0.9313634038455751 Centerline is valid? [False, False] Translation: X:3.24, Y:-7.30, Z:-6.13 [[ 0.26499464 -0.07044556 -0.96167316 3.23928607] [ 0.1103761 0.99298829 -0.04232472 -7.29995701] [ 0.95791177 -0.09492991 0.27091208 -6.12979342] [ 0. 0. 0. 1. ]] SLAMing on 92.93964924600002 meters Centerline goodness [0,1] 0.9312970207643696 Centerline is valid? [False, False] Translation: X:3.24, Y:-7.30, Z:-6.12 [[ 0.26296879 -0.06449764 -0.96264608 3.23777715] [ 0.10788814 0.9934709 -0.0370908 -7.30229179] [ 0.95875313 -0.09410437 0.26821037 -6.12367044] [ 0. 0. 0. 1. ]] SLAMing on 92.96964924600002 meters Centerline goodness [0,1] 0.933850378730724 Centerline is valid? [False, False] Translation: X:3.24, Y:-7.30, Z:-6.11 [[ 0.25917156 -0.05901347 -0.96402672 3.23660793] [ 0.10757074 0.99368522 -0.03190943 -7.3024978 ] [ 0.95982219 -0.09543105 0.26388308 -6.11176423] [ 0. 0. 0. 1. ]] SLAMing on 92.99964924600002 meters Centerline goodness [0,1] 0.9319423895649023 Centerline is valid? [False, False] Translation: X:3.24, Y:-7.30, Z:-6.11 [[ 0.25710577 -0.05396518 -0.96487532 3.23646573] [ 0.10567158 0.99402248 -0.02743756 -7.30454517] [ 0.96058843 -0.09490555 0.2612715 -6.10526742] [ 0. 0. 0. 1. ]] SLAMing on 93.02964924600002 meters Centerline goodness [0,1] 0.9328960952207446 Centerline is valid? [False, False] Translation: X:3.24, Y:-7.30, Z:-6.10 [[ 0.25386707 -0.05503773 -0.96567197 3.23880705] [ 0.10830384 0.9937188 -0.02816407 -7.30254901] [ 0.96115649 -0.09743606 0.25823328 -6.09636489] [ 0. 0. 0. 1. ]] SLAMing on 93.059649246 meters Centerline goodness [0,1] 0.9321797207043109 Centerline is valid? [False, False] Translation: X:3.24, Y:-7.30, Z:-6.09 [[ 0.25215057 -0.0556216 -0.96608816 3.2403107 ] [ 0.10954467 0.99356997 -0.0286125 -7.30166299] [ 0.96146766 -0.09861515 0.25662228 -6.09181109] [ 0. 0. 0. 1. ]] SLAMing on 93.08964924600001 meters Centerline goodness [0,1] 0.9319605815438895 Centerline is valid? [False, False] Translation: X:3.24, Y:-7.30, Z:-6.08 [[ 0.24908398 -0.05621354 -0.96684911 3.24154906] [ 0.11150381 0.99333997 -0.02902763 -7.30071256] [ 0.96204162 -0.10057704 0.2536931 -6.08395344] [ 0. 0. 0. 1. ]] SLAMing on 93.11964924600001 meters Centerline goodness [0,1] 0.9321186029590104 Centerline is valid? [False, False] Translation: X:3.24, Y:-7.30, Z:-6.08 [[ 0.24768872 -0.05632609 -0.96720095 3.24191862] [ 0.11225043 0.99325384 -0.02909731 -7.29990809] [ 0.96231499 -0.10136165 0.2523404 -6.08057083] [ 0. 0. 0. 1. ]] SLAMing on 93.14964924600001 meters Centerline goodness [0,1] 0.9316364078703281 Centerline is valid? [False, False] Translation: X:3.24, Y:-7.30, Z:-6.07 [[ 0.24563081 -0.05097288 -0.96802235 3.24122546] [ 0.10987701 0.99364464 -0.02444132 -7.30150423] [ 0.96311606 -0.10035986 0.24967049 -6.07455516] [ 0. 0. 0. 1. ]] SLAMing on 93.17964924600001 meters Centerline goodness [0,1] 0.9348872638634979 Centerline is valid? [False, False] Translation: X:3.25, Y:-7.30, Z:-6.06 [[ 0.24892065 -0.05959223 -0.96668882 3.25217064] [ 0.10960947 0.99342624 -0.03301623 -7.29505273] [ 0.96230155 -0.09773983 0.25381618 -6.05734944] [ 0. 0. 0. 1. ]] SLAMing on 93.20964924600001 meters Centerline goodness [0,1] 0.9339280820875072 Centerline is valid? [False, False] Translation: X:3.26, Y:-7.29, Z:-6.04 [[ 0.25149361 -0.06359172 -0.9657676 3.26165579] [ 0.10746428 0.99350398 -0.03743348 -7.28930666] [ 0.96187442 -0.09437124 0.25669374 -6.0368221 ] [ 0. 0. 0. 1. ]] SLAMing on 93.23964924600001 meters Centerline goodness [0,1] 0.9326955201214883 Centerline is valid? [False, False] Translation: X:3.26, Y:-7.29, Z:-6.03 [[ 0.24927037 -0.0585287 -0.96666368 3.26115728] [ 0.10503676 0.99391756 -0.03309336 -7.28952223] [ 0.96272091 -0.09328603 0.25390187 -6.03068774] [ 0. 0. 0. 1. ]] SLAMing on 93.26964924600001 meters Centerline goodness [0,1] 0.9338810523454254 Centerline is valid? [False, False] Translation: X:3.26, Y:-7.29, Z:-6.02 [[ 0.24579558 -0.05364347 -0.9678362 3.2604392 ] [ 0.10364883 0.99419744 -0.0287815 -7.28806327] [ 0.96376421 -0.09324072 0.24992942 -6.02106305] [ 0. 0. 0. 1. ]] SLAMing on 93.29964924600002 meters Centerline goodness [0,1] 0.9330618401206636 Centerline is valid? [False, False] Translation: X:3.26, Y:-7.29, Z:-6.02 [[ 0.24415644 -0.05445553 -0.96820568 3.26166698] [ 0.10484513 0.99405182 -0.02946998 -7.28617647] [ 0.96405142 -0.09431637 0.24841355 -6.01696717] [ 0. 0. 0. 1. ]] SLAMing on 93.32964924600002 meters Centerline goodness [0,1] 0.9361214896950705 Centerline is valid? [False, False] Translation: X:3.26, Y:-7.28, Z:-6.01 [[ 0.24113329 -0.05484509 -0.96894105 3.26152505] [ 0.10683853 0.99383372 -0.02966597 -7.28405182] [ 0.96459331 -0.09636679 0.24550597 -6.00959348] [ 0. 0. 0. 1. ]] SLAMing on 93.35964924600002 meters Centerline goodness [0,1] 0.9360332169936214 Centerline is valid? [False, False] Translation: X:3.26, Y:-7.29, Z:-6.00 [[ 0.23868522 -0.04949733 -0.96983472 3.26083544] [ 0.10476316 0.994184 -0.02495686 -7.28559178] [ 0.96542946 -0.09564612 0.24248252 -6.00262917] [ 0. 0. 0. 1. ]] SLAMing on 93.38964924600002 meters Centerline goodness [0,1] 0.9364308342133052 Centerline is valid? [False, False] Translation: X:3.26, Y:-7.28, Z:-5.99 [[ 0.23469798 -0.04485112 -0.97103308 3.2609517 ] [ 0.1051419 0.99424569 -0.02051057 -7.28480629] [ 0.96636538 -0.09728247 0.23806318 -5.98994888] [ 0. 0. 0. 1. ]] SLAMing on 93.419649246 meters Centerline goodness [0,1] 0.9347616754935002 Centerline is valid? [False, False] Translation: X:3.26, Y:-7.29, Z:-5.98 [[ 0.23211897 -0.03948505 -0.97188565 3.259984 ] [ 0.10314697 0.9945411 -0.01577052 -7.28636104] [ 0.96720292 -0.09658642 0.23492462 -5.98280948] [ 0. 0. 0. 1. ]] SLAMing on 93.449649246 meters Centerline goodness [0,1] 0.9339221656166159 Centerline is valid? [False, False] Translation: X:3.27, Y:-7.28, Z:-5.97 [[ 0.23644314 -0.04927762 -0.97039495 3.26989072] [ 0.10300781 0.99435629 -0.02539586 -7.28183689] [ 0.96616977 -0.09395358 0.24018471 -5.96899666] [ 0. 0. 0. 1. ]] SLAMing on 93.47964924600001 meters Centerline goodness [0,1] 0.9343030594458135 Centerline is valid? [False, False] Translation: X:3.27, Y:-7.28, Z:-5.96 [[ 0.23212125 -0.05009852 -0.97139583 3.2703293 ] [ 0.10673174 0.99395416 -0.02575771 -7.27947864] [ 0.96681335 -0.09769986 0.23606499 -5.95739181] [ 0. 0. 0. 1. ]] SLAMing on 93.50964924600001 meters Centerline goodness [0,1] 0.9342773819187637 Centerline is valid? [False, False] Translation: X:3.27, Y:-7.28, Z:-5.95 [[ 0.23006087 -0.05128842 -0.9718238 3.27223495] [ 0.10856733 0.99372931 -0.02674323 -7.2770349 ] [ 0.96710141 -0.09935575 0.23418648 -5.95203865] [ 0. 0. 0. 1. ]] SLAMing on 93.53964924600001 meters Centerline goodness [0,1] 0.9324109843380349 Centerline is valid? [False, False] Translation: X:3.27, Y:-7.27, Z:-5.94 [[ 0.22556156 -0.047389 -0.97307567 3.27319333] [ 0.10838236 0.99383674 -0.02327674 -7.27349935] [ 0.96818141 -0.1002139 0.2293075 -5.93951969] [ 0. 0. 0. 1. ]] SLAMing on 93.56964924600001 meters Centerline goodness [0,1] 0.9312453169488986 Centerline is valid? [False, False] Translation: X:3.28, Y:-7.27, Z:-5.93 [[ 0.22961069 -0.05631132 -0.97165218 3.28426544] [ 0.10642763 0.99379098 -0.03244449 -7.26838244] [ 0.96744617 -0.09596104 0.23417812 -5.92646005] [ 0. 0. 0. 1. ]] SLAMing on 93.59964924600001 meters Centerline goodness [0,1] 0.9305813326947255 Centerline is valid? [False, False] Translation: X:3.29, Y:-7.26, Z:-5.90 [[ 0.2329245 -0.05977725 -0.97065589 3.29395761] [ 0.10582217 0.99374024 -0.03580516 -7.26231582] [ 0.96672015 -0.09437702 0.2377922 -5.90339953] [ 0. 0. 0. 1. ]] SLAMing on 93.62964924600001 meters Centerline goodness [0,1] 0.9280088310758399 Centerline is valid? [False, False] Translation: X:3.29, Y:-7.26, Z:-5.90 [[ 0.23075694 -0.05421444 -0.97149989 3.29264237] [ 0.10335577 0.99416344 -0.03092945 -7.26338653] [ 0.9675065 -0.09327293 0.23501349 -5.89734594] [ 0. 0. 0. 1. ]] SLAMing on 93.65964924600001 meters Centerline goodness [0,1] 0.9320591309541586 Centerline is valid? [False, False] Translation: X:3.29, Y:-7.26, Z:-5.89 [[ 0.22680745 -0.04890981 -0.97271075 3.29046994] [ 0.10242735 0.99439757 -0.02611723 -7.26201383] [ 0.9685386 -0.0937086 0.23054648 -5.88671679] [ 0. 0. 0. 1. ]] SLAMing on 93.68964924600002 meters Centerline goodness [0,1] 0.9336797157275524 Centerline is valid? [False, False] Translation: X:3.29, Y:-7.26, Z:-5.88 [[ 0.22436931 -0.0430306 -0.97355369 3.28783695] [ 0.09990073 0.99477693 -0.02094511 -7.26321184] [ 0.96937003 -0.09255928 0.22749621 -5.88059677] [ 0. 0. 0. 1. ]] SLAMing on 93.71964924600002 meters Centerline goodness [0,1] 0.935782823767805 Centerline is valid? [False, False] Translation: X:3.29, Y:-7.26, Z:-5.86 [[ 0.22814301 -0.04735681 -0.97247524 3.29473813] [ 0.09835882 0.99482757 -0.02537029 -7.25791749] [ 0.96864664 -0.08986346 0.23162092 -5.86175262] [ 0. 0. 0. 1. ]] SLAMing on 93.74964924600002 meters Centerline goodness [0,1] 0.9387566649787018 Centerline is valid? [False, False] Translation: X:3.30, Y:-7.26, Z:-5.86 [[ 0.23871125 -0.04702733 -0.96995122 3.30253137] [ 0.10053747 0.99465612 -0.02348221 -7.25556278] [ 0.96587223 -0.09191097 0.24216361 -5.85517781] [ 0. 0. 0. 1. ]] SLAMing on 93.77964924600002 meters Centerline goodness [0,1] 0.9379619460357981 Centerline is valid? [False, False] Translation: X:3.31, Y:-7.25, Z:-5.83 [[ 0.24169676 -0.04908451 -0.96910958 3.31014985] [ 0.0987114 0.99478247 -0.02576612 -7.24994535] [ 0.96531795 -0.08943457 0.2452809 -5.8329566 ] [ 0. 0. 0. 1. ]] SLAMing on 93.809649246 meters Centerline goodness [0,1] 0.9391585376701159 Centerline is valid? [False, False] Translation: X:3.31, Y:-7.25, Z:-5.83 [[ 0.23999235 -0.04431243 -0.9697629 3.31031227] [ 0.09592705 0.99515108 -0.02173294 -7.24965975] [ 0.96602364 -0.08781075 0.24307941 -5.82838584] [ 0. 0. 0. 1. ]] SLAMing on 93.83964924600001 meters Centerline goodness [0,1] 0.9381710150895667 Centerline is valid? [False, False] Translation: X:3.31, Y:-7.25, Z:-5.81 [[ 0.23544235 -0.03430872 -0.97128256 3.30920225] [ 0.09302736 0.99558361 -0.01261694 -7.24788059] [ 0.96742587 -0.08738529 0.23759419 -5.81360624] [ 0. 0. 0. 1. ]] SLAMing on 93.86964924600001 meters Centerline goodness [0,1] 0.9368113201973354 Centerline is valid? [False, False] Translation: X:3.31, Y:-7.25, Z:-5.81 [[ 0.23305114 -0.02982713 -0.97200695 3.30940699] [ 0.09082628 0.99582803 -0.00878134 -7.24734594] [ 0.96821369 -0.08623728 0.23478794 -5.80743355] [ 0. 0. 0. 1. ]] SLAMing on 93.89964924600001 meters Centerline goodness [0,1] 0.9360277271926217 Centerline is valid? [False, False] Translation: X:3.32, Y:-7.24, Z:-5.78 [[ 0.23539214 -0.0331313 -0.97133561 3.31765482] [ 0.09030573 0.99584079 -0.01208258 -7.24293287] [ 0.96769593 -0.08487303 0.23740504 -5.78395856] [ 0. 0. 0. 1. ]] SLAMing on 93.92964924600001 meters Centerline goodness [0,1] 0.9363588328538719 Centerline is valid? [False, False] Translation: X:3.32, Y:-7.24, Z:-5.78 [[ 0.23315265 -0.02793107 -0.97203894 3.31685724] [ 0.08781782 0.99610787 -0.00755875 -7.24424032] [ 0.96846676 -0.08359999 0.23469803 -5.77823082] [ 0. 0. 0. 1. ]] SLAMing on 93.95964924600001 meters Centerline goodness [0,1] 0.9365079365079365 Centerline is valid? [False, False] Translation: X:3.32, Y:-7.24, Z:-5.77 [[ 2.29249197e-01 -2.32533842e-02 -9.73089968e-01 3.31682346e+00] [ 8.70652385e-02 9.96197166e-01 -3.29395999e-03 -7.24371750e+00] [ 9.69466064e-01 -8.39671725e-02 2.30401962e-01 -5.76744351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.98964924600001 meters Centerline goodness [0,1] 0.9355966050923614 Centerline is valid? [False, False] Translation: X:3.32, Y:-7.25, Z:-5.76 [[ 2.27193993e-01 -1.85707892e-02 -9.73672437e-01 3.31748486e+00] [ 8.47493299e-02 9.96402006e-01 7.70862006e-04 -7.24526604e+00] [ 9.70154854e-01 -8.26932218e-02 2.27950412e-01 -5.76171604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.01964924600001 meters Centerline goodness [0,1] 0.9345299396792702 Centerline is valid? [False, False] Translation: X:3.33, Y:-7.24, Z:-5.75 [[ 2.31390787e-01 -2.61355923e-02 -9.72509761e-01 3.32761264e+00] [ 8.31147713e-02 9.96515360e-01 -7.00509871e-03 -7.24157773e+00] [ 9.69303997e-01 -7.92090111e-02 2.32756727e-01 -5.74747888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.04964924600002 meters Centerline goodness [0,1] 0.93314639905549 Centerline is valid? [False, False] Translation: X:3.34, Y:-7.24, Z:-5.72 [[ 0.23356091 -0.03040847 -0.97186657 3.33718845] [ 0.0827298 0.99650797 -0.01129768 -7.23787573] [ 0.96881633 -0.07776364 0.23526099 -5.72421049] [ 0. 0. 0. 1. ]] SLAMing on 94.07964924600002 meters Centerline goodness [0,1] 0.934005797787375 Centerline is valid? [False, False] Translation: X:3.34, Y:-7.24, Z:-5.71 [[ 2.29816475e-01 -2.50539430e-02 -9.72911449e-01 3.33508694e+00] [ 8.28768454e-02 9.96541215e-01 -6.08567443e-03 -7.23896757e+00] [ 9.69698828e-01 -7.92332435e-02 2.31097981e-01 -5.71291657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.10964924600002 meters Centerline goodness [0,1] 0.9357939254133025 Centerline is valid? [False, False] Translation: X:3.34, Y:-7.24, Z:-5.69 [[ 0.23342628 -0.03131478 -0.97187013 3.34390608] [ 0.08339254 0.99644359 -0.01207713 -7.23531882] [ 0.96879196 -0.0782276 0.23520754 -5.69251477] [ 0. 0. 0. 1. ]] SLAMing on 94.13964924600002 meters Centerline goodness [0,1] 0.9376239675538056 Centerline is valid? [False, False] Translation: X:3.34, Y:-7.23, Z:-5.67 [[ 2.29439959e-01 -2.48053222e-02 -9.73006681e-01 3.34120058e+00] [ 8.76088624e-02 9.96143691e-01 -4.73654648e-03 -7.23478607e+00] [ 9.69371958e-01 -8.41572554e-02 2.30728334e-01 -5.67294881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.169649246 meters Centerline goodness [0,1] 0.936359603726157 Centerline is valid? [False, False] Translation: X:3.34, Y:-7.24, Z:-5.66 [[ 2.26281194e-01 -1.93935658e-02 -9.73868939e-01 3.33978433e+00] [ 8.69132961e-02 9.96215816e-01 3.55969293e-04 -7.23684319e+00] [ 9.70176737e-01 -8.47227087e-02 2.27110463e-01 -5.66350801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.199649246 meters Centerline goodness [0,1] 0.9377714319709679 Centerline is valid? [False, False] Translation: X:3.34, Y:-7.23, Z:-5.64 [[ 0.22355392 -0.01377549 -0.97459421 3.3395625 ] [ 0.09347635 0.99559423 0.00736944 -7.23470079] [ 0.97019885 -0.09274897 0.22385668 -5.64099498] [ 0. 0. 0. 1. ]] SLAMing on 94.22964924600001 meters Centerline goodness [0,1] 0.9358096032407959 Centerline is valid? [False, False] Translation: X:3.34, Y:-7.24, Z:-5.63 [[ 0.22003917 -0.00843301 -0.97545459 3.33873093] [ 0.09275452 0.99561284 0.01231591 -7.23579598] [ 0.97107125 -0.09318781 0.21985602 -5.6308457 ] [ 0. 0. 0. 1. ]] SLAMing on 94.25964924600001 meters Centerline goodness [0,1] 0.9358322364484863 Centerline is valid? [False, False] Translation: X:3.35, Y:-7.23, Z:-5.61 [[ 2.22669427e-01 -1.56659934e-02 -9.74768128e-01 3.34929455e+00] [ 9.34377961e-02 9.95610781e-01 5.34333084e-03 -7.23239192e+00] [ 9.70405948e-01 -9.22699819e-02 2.23155878e-01 -5.60944589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.28964924600001 meters Centerline goodness [0,1] 0.9333951707010563 Centerline is valid? [False, False] Translation: X:3.36, Y:-7.23, Z:-5.60 [[ 2.27007702e-01 -2.45609207e-02 -9.73583209e-01 3.35949538e+00] [ 9.24357877e-02 9.95712261e-01 -3.56618121e-03 -7.22892055e+00] [ 9.69496327e-01 -8.91843802e-02 2.28304660e-01 -5.59555303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.31964924600001 meters Centerline goodness [0,1] 0.9352808988764045 Centerline is valid? [False, False] Translation: X:3.37, Y:-7.23, Z:-5.57 [[ 0.23020565 -0.03107615 -0.97264569 3.36956522] [ 0.09297752 0.99561994 -0.00980427 -7.22531999] [ 0.96869012 -0.08817718 0.23208672 -5.57425037] [ 0. 0. 0. 1. ]] SLAMing on 94.34964924600001 meters Centerline goodness [0,1] 0.9344704577475345 Centerline is valid? [False, False] Translation: X:3.37, Y:-7.23, Z:-5.56 [[ 2.26447169e-01 -2.56624904e-02 -9.73685327e-01 3.36738781e+00] [ 9.34918995e-02 9.95609883e-01 -4.49719540e-03 -7.22649578e+00] [ 9.69526144e-01 -9.00133135e-02 2.27852274e-01 -5.56226175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.37964924600001 meters Centerline goodness [0,1] 0.9348112642300779 Centerline is valid? [False, False] Translation: X:3.38, Y:-7.22, Z:-5.54 [[ 0.22832748 -0.03049101 -0.97310681 3.3767503 ] [ 0.09305282 0.99561715 -0.00936265 -7.22353493] [ 0.96912731 -0.08841258 0.23016403 -5.53932081] [ 0. 0. 0. 1. ]] SLAMing on 94.40964924600001 meters Centerline goodness [0,1] 0.9345895343254921 Centerline is valid? [False, False] Translation: X:3.38, Y:-7.22, Z:-5.53 [[ 2.26059794e-01 -2.56857728e-02 -9.73774723e-01 3.37702088e+00] [ 9.10959291e-02 9.95828961e-01 -5.11977703e-03 -7.22398721e+00] [ 9.69844576e-01 -8.75495374e-02 2.27456759e-01 -5.53275828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.43964924600002 meters Centerline goodness [0,1] 0.9340978501706689 Centerline is valid? [False, False] Translation: X:3.38, Y:-7.22, Z:-5.51 [[ 2.21787421e-01 -1.73624190e-02 -9.74940453e-01 3.37697471e+00] [ 9.20548528e-02 9.95748769e-01 3.20840213e-03 -7.22233537e+00] [ 9.70740050e-01 -9.04595831e-02 2.22442846e-01 -5.51420807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.46964924600002 meters Centerline goodness [0,1] 0.9318011790406081 Centerline is valid? [False, False] Translation: X:3.39, Y:-7.22, Z:-5.50 [[ 2.24767554e-01 -2.49062186e-02 -9.74094054e-01 3.38690114e+00] [ 8.97090774e-02 9.95956612e-01 -4.76527210e-03 -7.21908617e+00] [ 9.70274099e-01 -8.63140003e-02 2.26093046e-01 -5.49928910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.49964924600002 meters Centerline goodness [0,1] 0.9283468575021708 Centerline is valid? [False, False] Translation: X:3.39, Y:-7.22, Z:-5.48 [[ 2.20415248e-01 -2.29940504e-02 -9.75135063e-01 3.39037272e+00] [ 9.32162698e-02 9.95642974e-01 -2.40743822e-03 -7.21752163e+00] [ 9.70941731e-01 -9.03678170e-02 2.21598313e-01 -5.48297286e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.52964924600002 meters Centerline goodness [0,1] 0.9287032626815909 Centerline is valid? [False, False] Translation: X:3.39, Y:-7.22, Z:-5.48 [[ 2.18979634e-01 -2.35456826e-02 -9.75445294e-01 3.39241503e+00] [ 9.42138479e-02 9.95547815e-01 -2.88067300e-03 -7.21679562e+00] [ 9.71170258e-01 -9.12696458e-02 2.20223026e-01 -5.47887877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.559649246 meters Centerline goodness [0,1] 0.9287032626815909 Centerline is valid? [False, False] Translation: X:3.39, Y:-7.22, Z:-5.48 [[ 2.18979634e-01 -2.35456826e-02 -9.75445294e-01 3.39241503e+00] [ 9.42138479e-02 9.95547815e-01 -2.88067300e-03 -7.21679562e+00] [ 9.71170258e-01 -9.12696458e-02 2.20223026e-01 -5.47887877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.58964924600001 meters Centerline goodness [0,1] 0.9302903322358576 Centerline is valid? [False, False] Translation: X:3.39, Y:-7.22, Z:-5.47 [[ 2.15845725e-01 -2.44695767e-02 -9.76120824e-01 3.39466372e+00] [ 9.65635116e-02 9.95320321e-01 -3.59816707e-03 -7.21550342e+00] [ 9.71640937e-01 -9.34810055e-02 2.17198505e-01 -5.47024448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.61964924600001 meters Centerline goodness [0,1] 0.9282726892513593 Centerline is valid? [False, False] Translation: X:3.40, Y:-7.21, Z:-5.46 [[ 0.22068431 -0.033094 -0.97478368 3.4045243 ] [ 0.09504274 0.99539749 -0.01227681 -7.2129107 ] [ 0.97070351 -0.08993682 0.22281395 -5.45753594] [ 0. 0. 0. 1. ]] SLAMing on 94.64964924600001 meters Centerline goodness [0,1] 0.9295711196540125 Centerline is valid? [False, False] Translation: X:3.41, Y:-7.21, Z:-5.43 [[ 0.2235656 -0.03739174 -0.9739714 3.41381963] [ 0.09531202 0.99531344 -0.01633314 -7.21038835] [ 0.97001755 -0.08917966 0.22608173 -5.43402235] [ 0. 0. 0. 1. ]] SLAMing on 94.67964924600001 meters Centerline goodness [0,1] 0.929710822301963 Centerline is valid? [False, False] Translation: X:3.41, Y:-7.21, Z:-5.43 [[ 0.22206803 -0.03736678 -0.97431489 3.41406004] [ 0.09616131 0.99523308 -0.01625173 -7.21056805] [ 0.97027769 -0.09008241 0.22460269 -5.43023875] [ 0. 0. 0. 1. ]] SLAMing on 94.70964924600001 meters Centerline goodness [0,1] 0.9272202823743738 Centerline is valid? [False, False] Translation: X:3.42, Y:-7.21, Z:-5.41 [[ 0.22440913 -0.04293203 -0.97354886 3.42045382] [ 0.09753526 0.99500206 -0.02139559 -7.20947502] [ 0.96960168 -0.09015398 0.22747493 -5.40748075] [ 0. 0. 0. 1. ]] SLAMing on 94.73964924600001 meters Centerline goodness [0,1] 0.9308883604658252 Centerline is valid? [False, False] Translation: X:3.43, Y:-7.21, Z:-5.38 [[ 0.22624761 -0.04736825 -0.9729174 3.42677598] [ 0.09995349 0.99467335 -0.02518374 -7.20863449] [ 0.96892792 -0.09154873 0.22977709 -5.38130619] [ 0. 0. 0. 1. ]] SLAMing on 94.76964924600001 meters Centerline goodness [0,1] 0.931037629665683 Centerline is valid? [False, False] Translation: X:3.42, Y:-7.21, Z:-5.37 [[ 0.2232915 -0.04071056 -0.9739012 3.42407875] [ 0.09852954 0.99495272 -0.01900015 -7.2125335 ] [ 0.96975916 -0.09171546 0.22617568 -5.37213833] [ 0. 0. 0. 1. ]] SLAMing on 94.79964924600002 meters Centerline goodness [0,1] 0.931052358735096 Centerline is valid? [False, False] Translation: X:3.42, Y:-7.21, Z:-5.37 [[ 0.22125855 -0.04062809 -0.97436852 3.42461106] [ 0.09987043 0.99482278 -0.0188025 -7.21307768] [ 0.97008791 -0.09315039 0.22417059 -5.36670839] [ 0. 0. 0. 1. ]] SLAMing on 94.82964924600002 meters Centerline goodness [0,1] 0.9319704991278269 Centerline is valid? [False, False] Translation: X:3.43, Y:-7.21, Z:-5.35 [[ 0.21720705 -0.03661287 -0.97543867 3.42517918] [ 0.10188678 0.99468816 -0.01464763 -7.21321525] [ 0.97079358 -0.09620274 0.21978365 -5.35203723] [ 0. 0. 0. 1. ]] SLAMing on 94.85964924600002 meters Centerline goodness [0,1] 0.9313227189222291 Centerline is valid? [False, False] Translation: X:3.43, Y:-7.21, Z:-5.34 [[ 0.22169886 -0.04403537 -0.97412037 3.43491142] [ 0.09993482 0.99474577 -0.0222237 -7.20973355] [ 0.96998075 -0.09242158 0.22493467 -5.33813742] [ 0. 0. 0. 1. ]] SLAMing on 94.88964924600002 meters Centerline goodness [0,1] 0.9303108174253549 Centerline is valid? [False, False] Translation: X:3.43, Y:-7.21, Z:-5.32 [[ 0.21956657 -0.03483653 -0.97497535 3.43398097] [ 0.10281568 0.99462333 -0.01238425 -7.2085416 ] [ 0.97016465 -0.09752359 0.22196778 -5.31720795] [ 0. 0. 0. 1. ]] SLAMing on 94.919649246 meters Centerline goodness [0,1] 0.9297789734340131 Centerline is valid? [False, False] Translation: X:3.44, Y:-7.20, Z:-5.30 [[ 0.22218347 -0.0396921 -0.97419661 3.44440635] [ 0.10113787 0.99471916 -0.0174619 -7.20400638] [ 0.96974514 -0.09464843 0.22502453 -5.29603851] [ 0. 0. 0. 1. ]] SLAMing on 94.949649246 meters Centerline goodness [0,1] 0.9296808120337532 Centerline is valid? [False, False] Translation: X:3.44, Y:-7.20, Z:-5.29 [[ 0.21908941 -0.03416686 -0.97510638 3.44316684] [ 0.10008234 0.99490221 -0.01237373 -7.20469365] [ 0.97055827 -0.09487997 0.22139204 -5.28665939] [ 0. 0. 0. 1. ]] SLAMing on 94.97964924600001 meters Centerline goodness [0,1] 0.9298604537543131 Centerline is valid? [False, False] Translation: X:3.44, Y:-7.20, Z:-5.27 [[ 2.15286339e-01 -2.59585212e-02 -9.76205894e-01 3.44316896e+00] [ 1.02163470e-01 9.94759895e-01 -3.92140270e-03 -7.20359394e+00] [ 9.71192266e-01 -9.88883568e-02 2.16810228e-01 -5.26674529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.00964924600001 meters Centerline goodness [0,1] 0.930222602739726 Centerline is valid? [False, False] Translation: X:3.45, Y:-7.20, Z:-5.25 [[ 0.21912634 -0.03309175 -0.97513516 3.45311291] [ 0.10046175 0.99487803 -0.01118659 -7.19956732] [ 0.97051073 -0.09551251 0.22132843 -5.25095506] [ 0. 0. 0. 1. ]] SLAMing on 95.03964924600001 meters Centerline goodness [0,1] 0.9296875 Centerline is valid? [False, False] Translation: X:3.46, Y:-7.19, Z:-5.23 [[ 0.22160747 -0.03731894 -0.97442159 3.46243529] [ 0.1000191 0.99486703 -0.01535517 -7.19460801] [ 0.96999294 -0.09405795 0.22420257 -5.22731773] [ 0. 0. 0. 1. ]] SLAMing on 95.06964924600001 meters Centerline goodness [0,1] 0.9299101254562744 Centerline is valid? [False, False] Translation: X:3.47, Y:-7.19, Z:-5.21 [[ 0.22617423 -0.04446492 -0.97307147 3.47106233] [ 0.09868056 0.99486422 -0.0225241 -7.19102287] [ 0.96907552 -0.09092887 0.22940047 -5.21250402] [ 0. 0. 0. 1. ]] SLAMing on 95.09964924600001 meters Centerline goodness [0,1] 0.9303140170835126 Centerline is valid? [False, False] Translation: X:3.47, Y:-7.19, Z:-5.20 [[ 0.22315546 -0.03908636 -0.97399892 3.46832854] [ 0.10046124 0.99479736 -0.01690406 -7.19263576] [ 0.96959227 -0.09407691 0.22592113 -5.20027706] [ 0. 0. 0. 1. ]] SLAMing on 95.12964924600001 meters Centerline goodness [0,1] 0.9302082693371014 Centerline is valid? [False, False] Translation: X:3.47, Y:-7.19, Z:-5.18 [[ 0.21995755 -0.03397126 -0.97491775 3.46690562] [ 0.10676138 0.99422862 -0.01055703 -7.19150935] [ 0.96964977 -0.10176146 0.22231491 -5.17951116] [ 0. 0. 0. 1. ]] SLAMing on 95.15964924600001 meters Centerline goodness [0,1] 0.9299752422288107 Centerline is valid? [False, False] Translation: X:3.48, Y:-7.18, Z:-5.16 [[ 0.22341497 -0.03699828 -0.97402098 3.47729886] [ 0.10455852 0.99442312 -0.01379026 -7.18444927] [ 0.9690992 -0.09876124 0.2260375 -5.15786019] [ 0. 0. 0. 1. ]] SLAMing on 95.18964924600002 meters Centerline goodness [0,1] 0.9284193234363592 Centerline is valid? [False, False] Translation: X:3.49, Y:-7.18, Z:-5.15 [[ 0.22849232 -0.04250617 -0.97261734 3.48623128] [ 0.10106725 0.99468399 -0.0197273 -7.18132262] [ 0.96828543 -0.09379223 0.23157363 -5.14506818] [ 0. 0. 0. 1. ]] SLAMing on 95.21964924600002 meters Centerline goodness [0,1] 0.9317104303428154 Centerline is valid? [False, False] Translation: X:3.49, Y:-7.18, Z:-5.13 [[ 0.23172464 -0.04802139 -0.97159541 3.4947647 ] [ 0.0998873 0.99467606 -0.02533913 -7.17616582] [ 0.96763951 -0.09117834 0.23528767 -5.12557869] [ 0. 0. 0. 1. ]] SLAMing on 95.24964924600002 meters Centerline goodness [0,1] 0.9302311453998724 Centerline is valid? [False, False] Translation: X:3.49, Y:-7.18, Z:-5.12 [[ 0.22974773 -0.04270724 -0.97231274 3.49383085] [ 0.09713247 0.99505504 -0.02075473 -7.17725876] [ 0.96839107 -0.08967479 0.23275989 -5.12035029] [ 0. 0. 0. 1. ]] SLAMing on 95.27964924600002 meters Centerline goodness [0,1] 0.9284869438631608 Centerline is valid? [False, False] Translation: X:3.49, Y:-7.18, Z:-5.11 [[ 0.22556247 -0.03369284 -0.97364591 3.49293357] [ 0.09487743 0.99541091 -0.01246596 -7.17608409] [ 0.96959777 -0.08956517 0.22772403 -5.10593522] [ 0. 0. 0. 1. ]] SLAMing on 95.309649246 meters Centerline goodness [0,1] 0.9264794685990339 Centerline is valid? [False, False] Translation: X:3.49, Y:-7.18, Z:-5.10 [[ 0.22364374 -0.02887537 -0.97424314 3.49279237] [ 0.09216205 0.99570897 -0.00835521 -7.17630359] [ 0.97030389 -0.08791965 0.22534529 -5.10095802] [ 0. 0. 0. 1. ]] SLAMing on 95.33964924600001 meters Centerline goodness [0,1] 0.9254521924940561 Centerline is valid? [False, False] Translation: X:3.49, Y:-7.17, Z:-5.09 [[ 2.20887534e-01 -2.49617950e-02 -9.74979798e-01 3.49420161e+00] [ 9.02417535e-02 9.95907072e-01 -5.05277109e-03 -7.17405462e+00] [ 9.71115402e-01 -8.68677925e-02 2.22236054e-01 -5.09354662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.36964924600001 meters Centerline goodness [0,1] 0.9262159810363969 Centerline is valid? [False, False] Translation: X:3.49, Y:-7.17, Z:-5.09 [[ 2.19294689e-01 -2.01596755e-02 -9.75450371e-01 3.49448751e+00] [ 8.74118680e-02 9.96171817e-01 -9.36533718e-04 -7.17447987e+00] [ 9.71735049e-01 -8.50605622e-02 2.20217384e-01 -5.08914102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.39964924600001 meters Centerline goodness [0,1] 0.9237995512341062 Centerline is valid? [False, False] Translation: X:3.49, Y:-7.17, Z:-5.08 [[ 2.16386728e-01 -1.57611416e-02 -9.76180501e-01 3.49481517e+00] [ 8.55111444e-02 9.96333085e-01 2.86845507e-03 -7.17350770e+00] [ 9.72555720e-01 -8.40950074e-02 2.16941009e-01 -5.08160319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.42964924600001 meters Centerline goodness [0,1] 0.9233465132997843 Centerline is valid? [False, False] Translation: X:3.50, Y:-7.17, Z:-5.07 [[ 2.21459594e-01 -2.50688931e-02 -9.74847269e-01 3.50438605e+00] [ 8.33975132e-02 9.96493971e-01 -6.67983752e-03 -7.17008704e+00] [ 9.71596883e-01 -7.98205239e-02 2.22773834e-01 -5.07093177e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.45964924600001 meters Centerline goodness [0,1] 0.9248154150909418 Centerline is valid? [False, False] Translation: X:3.51, Y:-7.17, Z:-5.06 [[ 0.22533751 -0.03414445 -0.97368227 3.51321213] [ 0.08235213 0.99647669 -0.01588519 -7.16645448] [ 0.97079407 -0.07660528 0.22735544 -5.05669365] [ 0. 0. 0. 1. ]] SLAMing on 95.48964924600001 meters Centerline goodness [0,1] 0.9244013100567892 Centerline is valid? [False, False] Translation: X:3.52, Y:-7.16, Z:-5.05 [[ 0.23018128 -0.04148483 -0.97226313 3.52136453] [ 0.07974507 0.99653491 -0.02364098 -7.16385257] [ 0.96987489 -0.07209148 0.23269189 -5.04506214] [ 0. 0. 0. 1. ]] SLAMing on 95.51964924600001 meters Centerline goodness [0,1] 0.9258847563540227 Centerline is valid? [False, False] Translation: X:3.52, Y:-7.17, Z:-5.04 [[ 0.22684447 -0.03552328 -0.97328294 3.51942046] [ 0.07796911 0.99678947 -0.01820886 -7.1659384 ] [ 0.97080503 -0.07175542 0.2288859 -5.0359091 ] [ 0. 0. 0. 1. ]] SLAMing on 95.54964924600002 meters Centerline goodness [0,1] 0.9257052165059592 Centerline is valid? [False, False] Translation: X:3.52, Y:-7.17, Z:-5.03 [[ 0.22486003 -0.03074928 -0.97390577 3.51983809] [ 0.07547068 0.99704896 -0.01405495 -7.16694904] [ 0.97146392 -0.07034093 0.22651713 -5.03043378] [ 0. 0. 0. 1. ]] SLAMing on 95.57964924600002 meters Centerline goodness [0,1] 0.9237202380952381 Centerline is valid? [False, False] Translation: X:3.52, Y:-7.17, Z:-5.02 [[ 0.2219137 -0.0263695 -0.97470968 3.52073316] [ 0.07374404 0.99722515 -0.0101892 -7.16565045] [ 0.97227369 -0.06961791 0.22324251 -5.02229105] [ 0. 0. 0. 1. ]] SLAMing on 95.60964924600002 meters Centerline goodness [0,1] 0.9237752247157569 Centerline is valid? [False, False] Translation: X:3.53, Y:-7.16, Z:-5.01 [[ 0.22677429 -0.03296283 -0.97338937 3.52947381] [ 0.07057834 0.99735566 -0.01733152 -7.16252216] [ 0.9713867 -0.06476986 0.22850108 -5.00998639] [ 0. 0. 0. 1. ]] SLAMing on 95.63964924600002 meters Centerline goodness [0,1] 0.9253136706903728 Centerline is valid? [False, False] Translation: X:3.54, Y:-7.16, Z:-4.99 [[ 0.23014174 -0.03673137 -0.97246367 3.53662147] [ 0.06758964 0.99747762 -0.02168053 -7.15970026] [ 0.9708071 -0.06073887 0.2320439 -4.99204315] [ 0. 0. 0. 1. ]] SLAMing on 95.669649246 meters Centerline goodness [0,1] 0.9258279326951662 Centerline is valid? [False, False] Translation: X:3.53, Y:-7.16, Z:-4.98 [[ 0.22720215 -0.03023921 -0.97337802 3.53366404] [ 0.06566075 0.99771897 -0.01566911 -7.16210425] [ 0.97163154 -0.06035267 0.22866943 -4.98407536] [ 0. 0. 0. 1. ]] SLAMing on 95.699649246 meters Centerline goodness [0,1] 0.9245422984481173 Centerline is valid? [False, False] Translation: X:3.53, Y:-7.16, Z:-4.97 [[ 0.22341681 -0.02392854 -0.97442924 3.5311929 ] [ 0.06470452 0.99785763 -0.00966843 -7.16415364] [ 0.97257301 -0.06088989 0.22448646 -4.97322971] [ 0. 0. 0. 1. ]] SLAMing on 95.72964924600001 meters Centerline goodness [0,1] 0.9271098985825277 Centerline is valid? [False, False] Translation: X:3.53, Y:-7.17, Z:-4.96 [[ 2.19369830e-01 -1.72877403e-02 -9.75488602e-01 3.52782651e+00] [ 6.46493535e-02 9.97903082e-01 -3.14649670e-03 -7.16616151e+00] [ 9.73497478e-01 -6.23744610e-02 2.20027470e-01 -4.96066599e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.75964924600001 meters Centerline goodness [0,1] 0.9281877800528205 Centerline is valid? [False, False] Translation: X:3.54, Y:-7.16, Z:-4.95 [[ 0.22472113 -0.02523763 -0.97409624 3.53732953] [ 0.06232681 0.99798979 -0.01147807 -7.16347971] [ 0.97242778 -0.05813294 0.22584237 -4.94913555] [ 0. 0. 0. 1. ]] SLAMing on 95.78964924600001 meters Centerline goodness [0,1] 0.9270003566757817 Centerline is valid? [False, False] Translation: X:3.53, Y:-7.16, Z:-4.93 [[ 2.19832027e-01 -1.88375462e-02 -9.75355846e-01 3.53384010e+00] [ 6.49452411e-02 9.97878066e-01 -4.63474973e-03 -7.16457948e+00] [ 9.73373513e-01 -6.23258542e-02 2.20588966e-01 -4.93107441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.81964924600001 meters Centerline goodness [0,1] 0.9258961054452197 Centerline is valid? [False, False] Translation: X:3.53, Y:-7.17, Z:-4.92 [[ 2.17364029e-01 -1.30143306e-02 -9.76003845e-01 3.53213133e+00] [ 6.23439505e-02 9.98054558e-01 5.76145528e-04 -7.16811276e+00] [ 9.74097588e-01 -6.09731687e-02 2.17752525e-01 -4.92491486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.84964924600001 meters Centerline goodness [0,1] 0.9261339867328034 Centerline is valid? [False, False] Translation: X:3.53, Y:-7.17, Z:-4.91 [[ 2.12448772e-01 -7.05776910e-03 -9.77146717e-01 3.53044210e+00] [ 6.54671963e-02 9.97829982e-01 7.02655162e-03 -7.16855466e+00] [ 9.74976700e-01 -6.54638382e-02 2.12449807e-01 -4.90595369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.87964924600001 meters Centerline goodness [0,1] 0.9240567027302424 Centerline is valid? [False, False] Translation: X:3.53, Y:-7.17, Z:-4.90 [[ 2.10032895e-01 -3.93802512e-03 -9.77686389e-01 3.53168350e+00] [ 6.50378626e-02 9.97833163e-01 9.95267867e-03 -7.17022151e+00] [ 9.75528708e-01 -6.56770229e-02 2.09833908e-01 -4.89858175e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.90964924600001 meters Centerline goodness [0,1] 0.9224587706146926 Centerline is valid? [False, False] Translation: X:3.53, Y:-7.17, Z:-4.89 [[ 2.06152642e-01 1.33360752e-03 -9.78518937e-01 3.53099641e+00] [ 6.51032164e-02 9.97764649e-01 1.50756679e-02 -7.17157021e+00] [ 9.76351709e-01 -6.68126189e-02 2.05604996e-01 -4.88653932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.93964924600002 meters Centerline goodness [0,1] 0.9242215980398016 Centerline is valid? [False, False] Translation: X:3.53, Y:-7.17, Z:-4.88 [[ 2.03692196e-01 6.60350846e-03 -9.79012708e-01 3.53018566e+00] [ 6.30904111e-02 9.97810256e-01 1.98568136e-02 -7.17294550e+00] [ 9.77000046e-01 -6.58109922e-02 2.02829545e-01 -4.87994195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.96964924600002 meters Centerline goodness [0,1] 0.9241272396625227 Centerline is valid? [False, False] Translation: X:3.54, Y:-7.17, Z:-4.86 [[ 2.06684875e-01 2.04048612e-03 -9.78405437e-01 3.53864469e+00] [ 6.16173064e-02 9.97985654e-01 1.50977709e-02 -7.17032236e+00] [ 9.76465396e-01 -6.34071885e-02 2.06142811e-01 -4.85944329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.99964924600002 meters Centerline goodness [0,1] 0.9249843344373825 Centerline is valid? [False, False] Translation: X:3.55, Y:-7.17, Z:-4.85 [[ 2.11498408e-01 -4.60693051e-03 -9.77367484e-01 3.54661510e+00] [ 5.89642201e-02 9.98227603e-01 8.05436399e-03 -7.16885181e+00] [ 9.75598096e-01 -5.93331967e-02 2.11395193e-01 -4.84638165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.02964924600002 meters Centerline goodness [0,1] 0.9259680411754144 Centerline is valid? [False, False] Translation: X:3.55, Y:-7.17, Z:-4.83 [[ 2.14980896e-01 -8.74624183e-03 -9.76579089e-01 3.55319326e+00] [ 5.60941725e-02 9.98419671e-01 3.40653985e-03 -7.16805183e+00] [ 9.75005979e-01 -5.55127369e-02 2.15131769e-01 -4.82966814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.059649246 meters Centerline goodness [0,1] 0.9256625534076309 Centerline is valid? [False, False] Translation: X:3.55, Y:-7.17, Z:-4.81 [[ 2.13390210e-01 2.76068782e-03 -9.76963150e-01 3.55130417e+00] [ 5.95329029e-02 9.98100919e-01 1.58237122e-02 -7.16778435e+00] [ 9.75151502e-01 -6.15380777e-02 2.12820613e-01 -4.80567240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.08964924600001 meters Centerline goodness [0,1] 0.9255360507192201 Centerline is valid? [False, False] Translation: X:3.56, Y:-7.17, Z:-4.78 [[ 2.12159275e-01 3.41142895e-03 -9.77229146e-01 3.55701966e+00] [ 5.82058682e-02 9.98174425e-01 1.61212097e-02 -7.16723233e+00] [ 9.75500138e-01 -6.03007351e-02 2.11573397e-01 -4.77668180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.11964924600001 meters Centerline goodness [0,1] 0.9251880037151332 Centerline is valid? [False, False] Translation: X:3.56, Y:-7.17, Z:-4.77 [[ 2.09349076e-01 5.83376523e-03 -9.77823569e-01 3.55665693e+00] [ 5.77518880e-02 9.98162868e-01 1.83196160e-02 -7.16916578e+00] [ 9.76134050e-01 -6.03063519e-02 2.08627564e-01 -4.77018965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.14964924600001 meters Centerline goodness [0,1] 0.9266822598056855 Centerline is valid? [False, False] Translation: X:3.56, Y:-7.17, Z:-4.76 [[ 0.2051836 0.01128993 -0.97865838 3.5550156 ] [ 0.05776833 0.99805043 0.02362523 -7.17049194] [ 0.97701715 -0.06138297 0.20413138 -4.75796862] [ 0. 0. 0. 1. ]] SLAMing on 96.17964924600001 meters Centerline goodness [0,1] 0.92587043806556 Centerline is valid? [False, False] Translation: X:3.56, Y:-7.17, Z:-4.74 [[ 2.09828440e-01 5.39474874e-03 -9.77723336e-01 3.56360109e+00] [ 5.44993276e-02 9.98365575e-01 1.72047037e-02 -7.16943398e+00] [ 9.76218136e-01 -5.68953005e-02 2.09191481e-01 -4.74449796e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.20964924600001 meters Centerline goodness [0,1] 0.925474987974988 Centerline is valid? [False, False] Translation: X:3.57, Y:-7.17, Z:-4.72 [[ 2.13074129e-01 -1.40118361e-05 -9.77036036e-01 3.57295390e+00] [ 5.38020343e-02 9.98482853e-01 1.17189444e-02 -7.16754072e+00] [ 9.75553564e-01 -5.50635302e-02 2.12751618e-01 -4.72331223e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.23964924600001 meters Centerline goodness [0,1] 0.9279735549220598 Centerline is valid? [False, False] Translation: X:3.57, Y:-7.17, Z:-4.72 [[ 2.11052248e-01 5.32877590e-03 -9.77460256e-01 3.57220677e+00] [ 5.09795740e-02 9.98564188e-01 1.64512862e-02 -7.17041295e+00] [ 9.76144473e-01 -5.33025884e-02 2.10477558e-01 -4.71829003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.26964924600001 meters Centerline goodness [0,1] 0.9266199226305609 Centerline is valid? [False, False] Translation: X:3.57, Y:-7.17, Z:-4.71 [[ 0.20801836 0.01090787 -0.9780641 3.57078173] [ 0.04930787 0.99854953 0.02162332 -7.17273631] [ 0.97688131 -0.05272431 0.20717879 -4.71023037] [ 0. 0. 0. 1. ]] SLAMing on 96.29964924600002 meters Centerline goodness [0,1] 0.9245021122510562 Centerline is valid? [False, False] Translation: X:3.57, Y:-7.17, Z:-4.70 [[ 0.20390072 0.01578295 -0.97886434 3.5703183 ] [ 0.0495136 0.99842416 0.02641218 -7.17327851] [ 0.97773867 -0.05385256 0.20279793 -4.69792531] [ 0. 0. 0. 1. ]] SLAMing on 96.32964924600002 meters Centerline goodness [0,1] 0.923875641412617 Centerline is valid? [False, False] Translation: X:3.57, Y:-7.17, Z:-4.69 [[ 0.20116892 0.01485819 -0.97944387 3.57200272] [ 0.05194799 0.9983161 0.02581413 -7.17215701] [ 0.97817814 -0.05607314 0.20005832 -4.6902609 ] [ 0. 0. 0. 1. ]] SLAMing on 96.35964924600002 meters Centerline goodness [0,1] 0.9247201210287443 Centerline is valid? [False, False] Translation: X:3.57, Y:-7.17, Z:-4.69 [[ 0.19990718 0.01430981 -0.97971034 3.57315619] [ 0.05295566 0.99827413 0.02538641 -7.17129783] [ 0.97838276 -0.05695613 0.19880438 -4.68682189] [ 0. 0. 0. 1. ]] SLAMing on 96.38964924600002 meters Centerline goodness [0,1] 0.9261946687716316 Centerline is valid? [False, False] Translation: X:3.58, Y:-7.17, Z:-4.67 [[ 0.20249883 0.00975899 -0.97923388 3.58097699] [ 0.05100115 0.99848822 0.02049756 -7.17022621] [ 0.97795353 -0.05409279 0.20169497 -4.66655967] [ 0. 0. 0. 1. ]] SLAMing on 96.419649246 meters Centerline goodness [0,1] 0.9251671861288469 Centerline is valid? [False, False] Translation: X:3.59, Y:-7.17, Z:-4.66 [[ 0.21315253 0.00970983 -0.97697068 3.58970657] [ 0.05289902 0.99836917 0.02146385 -7.16969343] [ 0.97558582 -0.05625587 0.21229127 -4.65666913] [ 0. 0. 0. 1. ]] SLAMing on 96.449649246 meters Centerline goodness [0,1] 0.9251671861288469 Centerline is valid? [False, False] Translation: X:3.59, Y:-7.17, Z:-4.66 [[ 0.21315253 0.00970983 -0.97697068 3.58970657] [ 0.05289902 0.99836917 0.02146385 -7.16969343] [ 0.97558582 -0.05625587 0.21229127 -4.65666913] [ 0. 0. 0. 1. ]] SLAMing on 96.47964924600001 meters Centerline goodness [0,1] 0.9248645868006173 Centerline is valid? [False, False] Translation: X:3.60, Y:-7.17, Z:-4.65 [[ 0.22417681 0.00797472 -0.97451586 3.60008661] [ 0.05414499 0.99832005 0.02062498 -7.16914337] [ 0.97304321 -0.05738879 0.22336841 -4.6509693 ] [ 0. 0. 0. 1. ]] SLAMing on 96.50964924600001 meters Centerline goodness [0,1] 0.9265748091370867 Centerline is valid? [False, False] Translation: X:3.60, Y:-7.17, Z:-4.63 [[ 0.22686141 0.01022678 -0.97387336 3.60113117] [ 0.06465125 0.99758114 0.02553609 -7.16851971] [ 0.97177884 -0.06875528 0.22565149 -4.63014221] [ 0. 0. 0. 1. ]] SLAMing on 96.53964924600001 meters Centerline goodness [0,1] 0.9241940874426519 Centerline is valid? [False, False] Translation: X:3.60, Y:-7.17, Z:-4.62 [[ 0.22367603 0.01383061 -0.97456542 3.60345085] [ 0.06504062 0.99745871 0.02908321 -7.16675235] [ 0.972491 -0.06989156 0.22220805 -4.61942816] [ 0. 0. 0. 1. ]] SLAMing on 96.56964924600001 meters Centerline goodness [0,1] 0.9262030784206363 Centerline is valid? [False, False] Translation: X:3.61, Y:-7.17, Z:-4.61 [[ 2.29882509e-01 3.10374573e-03 -9.73213440e-01 3.60756158e+00] [ 6.62569334e-02 9.97624864e-01 1.88321320e-02 -7.16536057e+00] [ 9.70960376e-01 -6.88113158e-02 2.29130862e-01 -4.60956576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.59964924600001 meters Centerline goodness [0,1] 0.9286210122838258 Centerline is valid? [False, False] Translation: X:3.61, Y:-7.16, Z:-4.60 [[ 0.22593377 0.00739863 -0.97411457 3.60688062] [ 0.06778453 0.99742793 0.02329748 -7.16034594] [ 0.97178145 -0.07129359 0.22485114 -4.59663258] [ 0. 0. 0. 1. ]] SLAMing on 96.62964924600001 meters Centerline goodness [0,1] 0.9244002762182124 Centerline is valid? [False, False] Translation: X:3.61, Y:-7.16, Z:-4.59 [[ 0.22330178 0.01441266 -0.9746428 3.61064652] [ 0.06441562 0.99748677 0.02950882 -7.15823226] [ 0.9726186 -0.0693716 0.22181217 -4.58753573] [ 0. 0. 0. 1. ]] SLAMing on 96.65964924600001 meters Centerline goodness [0,1] 0.9182462697635787 Centerline is valid? [False, False] Translation: X:3.62, Y:-7.15, Z:-4.57 [[ 0.21871836 0.02570965 -0.97544928 3.61683959] [ 0.05824674 0.99752632 0.03935179 -7.15184735] [ 0.97404805 -0.0654237 0.21667982 -4.57280535] [ 0. 0. 0. 1. ]] SLAMing on 96.68964924600002 meters Centerline goodness [0,1] 0.9185815518723871 Centerline is valid? [False, False] Translation: X:3.63, Y:-7.15, Z:-4.56 [[ 0.22283157 0.01947077 -0.9746625 3.62754443] [ 0.05334635 0.99805889 0.03213443 -7.14812276] [ 0.97339625 -0.05915525 0.22136034 -4.56073281] [ 0. 0. 0. 1. ]] SLAMing on 96.71964924600002 meters Centerline goodness [0,1] 0.9189921909532931 Centerline is valid? [False, False] Translation: X:3.63, Y:-7.14, Z:-4.54 [[ 0.22605686 0.01424521 -0.97400994 3.63488897] [ 0.04999159 0.99840581 0.0262045 -7.14429686] [ 0.97283048 -0.05461601 0.22498435 -4.5444785 ] [ 0. 0. 0. 1. ]] SLAMing on 96.74964924600002 meters Centerline goodness [0,1] 0.9177679018159343 Centerline is valid? [False, False] Translation: X:3.64, Y:-7.14, Z:-4.53 [[ 0.23128435 0.00795742 -0.97285365 3.64229147] [ 0.04626437 0.99874531 0.019168 -7.14155973] [ 0.97178555 -0.04944172 0.23062602 -4.53350816] [ 0. 0. 0. 1. ]] SLAMing on 96.77964924600002 meters Centerline goodness [0,1] 0.9223611600328754 Centerline is valid? [False, False] Translation: X:3.65, Y:-7.14, Z:-4.52 [[ 2.34975356e-01 5.41271884e-03 -9.71986257e-01 3.64812672e+00] [ 4.13533755e-02 9.99023410e-01 1.55603609e-02 -7.13822240e+00] [ 9.71121249e-01 -4.38512140e-02 2.34522047e-01 -4.51792907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.809649246 meters Centerline goodness [0,1] 0.9243542435424354 Centerline is valid? [False, False] Translation: X:3.65, Y:-7.14, Z:-4.51 [[ 0.23298786 0.01076039 -0.97242011 3.64685046] [ 0.03861286 0.99904789 0.02030652 -7.13882579] [ 0.97171277 -0.04227909 0.23235054 -4.51314067] [ 0. 0. 0. 1. ]] SLAMing on 96.83964924600001 meters Centerline goodness [0,1] 0.9231510409063038 Centerline is valid? [False, False] Translation: X:3.65, Y:-7.14, Z:-4.50 [[ 0.22925425 0.0201653 -0.97315767 3.64535631] [ 0.03624406 0.99891518 0.02923733 -7.1382253 ] [ 0.97269155 -0.04197397 0.22827468 -4.50042142] [ 0. 0. 0. 1. ]] SLAMing on 96.86964924600001 meters Centerline goodness [0,1] 0.9238206173558532 Centerline is valid? [False, False] Translation: X:3.64, Y:-7.14, Z:-4.49 [[ 0.22660006 0.02604254 -0.97363967 3.64305205] [ 0.03394888 0.99882387 0.03461725 -7.13981036] [ 0.97339606 -0.04089825 0.22544944 -4.49411386] [ 0. 0. 0. 1. ]] SLAMing on 96.89964924600001 meters Centerline goodness [0,1] 0.9244269236384873 Centerline is valid? [False, False] Translation: X:3.65, Y:-7.14, Z:-4.48 [[ 0.23034113 0.01903145 -0.97292383 3.6500657 ] [ 0.0318002 0.99912753 0.02707276 -7.13773705] [ 0.97259021 -0.03717515 0.22953496 -4.47942468] [ 0. 0. 0. 1. ]] SLAMing on 96.92964924600001 meters Centerline goodness [0,1] 0.9276718558684625 Centerline is valid? [False, False] Translation: X:3.65, Y:-7.14, Z:-4.47 [[ 0.22668947 0.02633226 -0.97361106 3.64508092] [ 0.03096333 0.99893434 0.03422647 -7.1400253 ] [ 0.97347479 -0.03790502 0.22563256 -4.46905496] [ 0. 0. 0. 1. ]] SLAMing on 96.95964924600001 meters Centerline goodness [0,1] 0.9312769931131084 Centerline is valid? [False, False] Translation: X:3.65, Y:-7.14, Z:-4.45 [[ 0.23064924 0.02337899 -0.97275606 3.65143586] [ 0.02740162 0.99915877 0.03051072 -7.13903359] [ 0.97265106 -0.03369237 0.22981459 -4.45252417] [ 0. 0. 0. 1. ]] SLAMing on 96.98964924600001 meters Centerline goodness [0,1] 0.9329893902296841 Centerline is valid? [False, False] Translation: X:3.65, Y:-7.14, Z:-4.45 [[ 0.2280525 0.03002642 -0.97318573 3.64820417] [ 0.02485887 0.99901897 0.0366488 -7.14194208] [ 0.97333144 -0.03255014 0.22708236 -4.44638142] [ 0. 0. 0. 1. ]] SLAMing on 97.01964924600001 meters Centerline goodness [0,1] 0.9334540251700879 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.14, Z:-4.43 [[ 0.23085229 0.02677285 -0.9726204 3.65566929] [ 0.02283687 0.9991969 0.03292476 -7.1418462 ] [ 0.97272077 -0.02981236 0.23005548 -4.42593485] [ 0. 0. 0. 1. ]] SLAMing on 97.04964924600002 meters Centerline goodness [0,1] 0.9345742666550148 Centerline is valid? [False, False] Translation: X:3.65, Y:-7.14, Z:-4.42 [[ 0.22877143 0.032382 -0.97294144 3.65486256] [ 0.02000649 0.99907911 0.03795613 -7.14475518] [ 0.97327456 -0.02814842 0.22791291 -4.42093575] [ 0. 0. 0. 1. ]] SLAMing on 97.07964924600002 meters Centerline goodness [0,1] 0.9332630222065975 Centerline is valid? [False, False] Translation: X:3.65, Y:-7.15, Z:-4.41 [[ 0.22467476 0.03876012 -0.97366262 3.65217814] [ 0.01954644 0.99882826 0.04427232 -7.14752819] [ 0.97423775 -0.02897851 0.22365388 -4.40923701] [ 0. 0. 0. 1. ]] SLAMing on 97.10964924600002 meters Centerline goodness [0,1] 0.9363468364084362 Centerline is valid? [False, False] Translation: X:3.65, Y:-7.15, Z:-4.40 [[ 0.22109791 0.04457495 -0.97423241 3.65005404] [ 0.01881702 0.99857399 0.04995911 -7.15021798] [ 0.97507007 -0.02937801 0.21994386 -4.3994375 ] [ 0. 0. 0. 1. ]] SLAMing on 97.13964924600002 meters Centerline goodness [0,1] 0.9370633459031249 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.15, Z:-4.38 [[ 0.22385444 0.04142423 -0.97374187 3.65819242] [ 0.01549832 0.99881872 0.04605396 -7.15081416] [ 0.97449936 -0.02540075 0.222948 -4.38042716] [ 0. 0. 0. 1. ]] SLAMing on 97.169649246 meters Centerline goodness [0,1] 0.937044516638862 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.15, Z:-4.37 [[ 0.22068738 0.04726307 -0.97419879 3.65606126] [ 0.01363613 0.9985781 0.05153485 -7.15280006] [ 0.97524927 -0.0246574 0.21972909 -4.37284425] [ 0. 0. 0. 1. ]] SLAMing on 97.199649246 meters Centerline goodness [0,1] 0.9380064948363126 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.15, Z:-4.36 [[ 0.22331447 0.04192545 -0.97384439 3.66488503] [ 0.01030341 0.99891723 0.04536757 -7.15215938] [ 0.974692 -0.02016516 0.22264069 -4.3556043 ] [ 0. 0. 0. 1. ]] SLAMing on 97.22964924600001 meters Centerline goodness [0,1] 0.9380455797058996 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.15, Z:-4.35 [[ 0.22074635 0.04758448 -0.97416978 3.66367846] [ 0.00785047 0.99869011 0.05056111 -7.15487211] [ 0.97529966 -0.01880887 0.22008364 -4.34962395] [ 0. 0. 0. 1. ]] SLAMing on 97.25964924600001 meters Centerline goodness [0,1] 0.9380114204980279 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.16, Z:-4.33 [[ 0.21619421 0.05296701 -0.97491259 3.66268991] [ 0.01120321 0.99832707 0.05672352 -7.15592363] [ 0.9762861 -0.02318545 0.21523913 -4.33173453] [ 0. 0. 0. 1. ]] SLAMing on 97.28964924600001 meters Centerline goodness [0,1] 0.9344850928569326 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.16, Z:-4.32 [[ 0.21193253 0.05747452 -0.97559278 3.66259286] [ 0.01198955 0.99804113 0.06140156 -7.158016 ] [ 0.97721075 -0.0247099 0.21082829 -4.31908843] [ 0. 0. 0. 1. ]] SLAMing on 97.31964924600001 meters Centerline goodness [0,1] 0.9321628092577813 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.16, Z:-4.32 [[ 0.21060459 0.05696697 -0.97591007 3.66375788] [ 0.01310411 0.99804642 0.06108705 -7.15780581] [ 0.9774835 -0.02565364 0.20944666 -4.31543717] [ 0. 0. 0. 1. ]] SLAMing on 97.34964924600001 meters Centerline goodness [0,1] 0.9348244134788911 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.16, Z:-4.30 [[ 0.20675186 0.06295304 -0.97636601 3.66150221] [ 0.0125153 0.99767601 0.06697724 -7.16052698] [ 0.97831336 -0.02606719 0.2054835 -4.30486482] [ 0. 0. 0. 1. ]] SLAMing on 97.37964924600001 meters Centerline goodness [0,1] 0.9327275955960697 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.16, Z:-4.30 [[ 0.20553395 0.06259698 -0.976646 3.66241263] [ 0.01363875 0.99767217 0.06681488 -7.16014959] [ 0.97855495 -0.02705296 0.20420176 -4.30135092] [ 0. 0. 0. 1. ]] SLAMing on 97.40964924600001 meters Centerline goodness [0,1] 0.934807088247496 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.16, Z:-4.30 [[ 0.20432478 0.06218562 -0.97692596 3.66335464] [ 0.01462966 0.99767476 0.06656617 -7.15985492] [ 0.97879383 -0.02789321 0.20293992 -4.2980648 ] [ 0. 0. 0. 1. ]] SLAMing on 97.43964924600002 meters Centerline goodness [0,1] 0.9355173436110288 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.16, Z:-4.29 [[ 0.20045449 0.06935231 -0.97724524 3.65855128] [ 0.01388285 0.99719007 0.07361541 -7.16259922] [ 0.97960465 -0.02832349 0.19892841 -4.28763391] [ 0. 0. 0. 1. ]] SLAMing on 97.46964924600002 meters Centerline goodness [0,1] 0.9379439474544536 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.16, Z:-4.28 [[ 0.19826352 0.07012903 -0.97763669 3.6565022 ] [ 0.01477303 0.99710995 0.07452186 -7.16303435] [ 0.98003742 -0.02921762 0.1966545 -4.28295972] [ 0. 0. 0. 1. ]] SLAMing on 97.49964924600002 meters Centerline goodness [0,1] 0.9387882759442392 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.16, Z:-4.28 [[ 0.19724444 0.07032457 -0.97782876 3.65624517] [ 0.01529047 0.9970818 0.07479357 -7.1628787 ] [ 0.98023509 -0.02970408 0.19559355 -4.28053257] [ 0. 0. 0. 1. ]] SLAMing on 97.52964924600002 meters Centerline goodness [0,1] 0.9391620261457372 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.16, Z:-4.28 [[ 0.19529487 0.06953182 -0.97827667 3.65755244] [ 0.01689352 0.99709716 0.07424198 -7.16057513] [ 0.98059906 -0.03102562 0.19355332 -4.27529195] [ 0. 0. 0. 1. ]] SLAMing on 97.559649246 meters Centerline goodness [0,1] 0.9387524528750669 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.16, Z:-4.27 [[ 0.19291526 0.0745211 -0.97838147 3.65708362] [ 0.01432212 0.99679172 0.07874738 -7.16272562] [ 0.98111089 -0.02920406 0.19122903 -4.27015822] [ 0. 0. 0. 1. ]] SLAMing on 97.58964924600001 meters Centerline goodness [0,1] 0.9389408470840531 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.16, Z:-4.26 [[ 0.19008445 0.07349091 -0.97901327 3.6586614 ] [ 0.016719 0.99680746 0.0780728 -7.16107538] [ 0.98162537 -0.03120855 0.18824891 -4.26256676] [ 0. 0. 0. 1. ]] SLAMing on 97.61964924600001 meters Centerline goodness [0,1] 0.9378421804332302 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.16, Z:-4.26 [[ 0.18888014 0.07277797 -0.97929958 3.66034477] [ 0.01777559 0.99683314 0.07750943 -7.1596897 ] [ 0.98183925 -0.03204762 0.18698832 -4.25904689] [ 0. 0. 0. 1. ]] SLAMing on 97.64964924600001 meters Centerline goodness [0,1] 0.9360073575221763 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.16, Z:-4.25 [[ 0.18647461 0.07703206 -0.97943519 3.66124163] [ 0.01580267 0.99655726 0.08138737 -7.16069314] [ 0.98233268 -0.03065437 0.18461531 -4.25313875] [ 0. 0. 0. 1. ]] SLAMing on 97.67964924600001 meters Centerline goodness [0,1] 0.9325505350772889 Centerline is valid? [False, False] Translation: X:3.67, Y:-7.16, Z:-4.25 [[ 0.18464686 0.07530514 -0.97991564 3.66549541] [ 0.01736917 0.9966544 0.07986439 -7.15797143] [ 0.98265144 -0.03176703 0.18272112 -4.24765819] [ 0. 0. 0. 1. ]] SLAMing on 97.70964924600001 meters Centerline goodness [0,1] 0.9295108307545823 Centerline is valid? [False, False] Translation: X:3.67, Y:-7.16, Z:-4.24 [[ 0.18183879 0.07400083 -0.98053992 3.66799012] [ 0.02034795 0.9966676 0.07899146 -7.15647058] [ 0.9831178 -0.03431569 0.17972706 -4.23923965] [ 0. 0. 0. 1. ]] SLAMing on 97.73964924600001 meters Centerline goodness [0,1] 0.9290921534204184 Centerline is valid? [False, False] Translation: X:3.67, Y:-7.16, Z:-4.23 [[ 0.18027793 0.07319148 -0.98088882 3.66966288] [ 0.02194431 0.9966802 0.07840295 -7.15537949] [ 0.98337089 -0.03565925 0.17807331 -4.23463332] [ 0. 0. 0. 1. ]] SLAMing on 97.76964924600001 meters Centerline goodness [0,1] 0.9278255161713809 Centerline is valid? [False, False] Translation: X:3.67, Y:-7.16, Z:-4.22 [[ 0.17631614 0.0766425 -0.98134527 3.67039449] [ 0.02417597 0.9963262 0.08215615 -7.15649151] [ 0.98403666 -0.03821043 0.17381548 -4.22114831] [ 0. 0. 0. 1. ]] SLAMing on 97.79964924600002 meters Centerline goodness [0,1] 0.9268831323862958 Centerline is valid? [False, False] Translation: X:3.67, Y:-7.16, Z:-4.22 [[ 0.17480229 0.0767128 -0.98161057 3.67051606] [ 0.0254443 0.99627531 0.08238989 -7.157042 ] [ 0.98427473 -0.03937834 0.1721993 -4.21702997] [ 0. 0. 0. 1. ]] SLAMing on 97.82964924600002 meters Centerline goodness [0,1] 0.9300298507462686 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.16, Z:-4.20 [[ 0.17130281 0.08050044 -0.98192415 3.6641407 ] [ 0.03226976 0.99566308 0.08725645 -7.15832478] [ 0.9846898 -0.04663373 0.16796215 -4.20030742] [ 0. 0. 0. 1. ]] SLAMing on 97.85964924600002 meters Centerline goodness [0,1] 0.9302019446522064 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.16, Z:-4.20 [[ 0.16973636 0.08124147 -0.98213512 3.66245569] [ 0.03313006 0.9955625 0.08807784 -7.15961333] [ 0.98493247 -0.04748821 0.16629162 -4.19682838] [ 0. 0. 0. 1. ]] SLAMing on 97.88964924600002 meters Centerline goodness [0,1] 0.9290303212248574 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.16, Z:-4.19 [[ 0.16807259 0.08155904 -0.98239489 3.66163751] [ 0.03428242 0.99548507 0.08851098 -7.16062579] [ 0.98517832 -0.04855514 0.16451772 -4.19286147] [ 0. 0. 0. 1. ]] SLAMing on 97.91964924600002 meters Centerline goodness [0,1] 0.9315401953418483 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.16, Z:-4.18 [[ 0.16436255 0.08225255 -0.98296463 3.65975705] [ 0.03787026 0.99525639 0.08961343 -7.16153889] [ 0.98567276 -0.05195421 0.16046795 -4.18245045] [ 0. 0. 0. 1. ]] SLAMing on 97.949649246 meters Centerline goodness [0,1] 0.9317798143012179 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.16, Z:-4.17 [[ 0.16051409 0.08233921 -0.98359315 3.65944685] [ 0.04164751 0.99506192 0.09009582 -7.162093 ] [ 0.98615451 -0.05542585 0.15629223 -4.17133488] [ 0. 0. 0. 1. ]] SLAMing on 97.97964924600001 meters Centerline goodness [0,1] 0.9309634833161752 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.16, Z:-4.17 [[ 0.1591426 0.08192927 -0.98385021 3.66050259] [ 0.04289085 0.99503598 0.08979856 -7.16237864] [ 0.98632348 -0.05648894 0.1548386 -4.16740921] [ 0. 0. 0. 1. ]] SLAMing on 98.00964924600001 meters Centerline goodness [0,1] 0.9303141155485685 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.16, Z:-4.16 [[ 0.15754804 0.08171304 -0.98412479 3.66107003] [ 0.04427228 0.99498416 0.08970223 -7.16226408] [ 0.98651841 -0.05770186 0.15314018 -4.16302798] [ 0. 0. 0. 1. ]] SLAMing on 98.03964924600001 meters Centerline goodness [0,1] 0.9305479866787769 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.16, Z:-4.15 [[ 0.15345102 0.08167158 -0.98477537 3.66045355] [ 0.04797237 0.9947878 0.08997717 -7.16167997] [ 0.9869911 -0.0610491 0.14873322 -4.15195174] [ 0. 0. 0. 1. ]] SLAMing on 98.06964924600001 meters Centerline goodness [0,1] 0.9314013762163145 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.16, Z:-4.14 [[ 0.1503033 0.08141231 -0.98528217 3.66018082] [ 0.05082086 0.9946498 0.08993899 -7.1614306 ] [ 0.98733285 -0.06359102 0.1453617 -4.14355414] [ 0. 0. 0. 1. ]] SLAMing on 98.09964924600001 meters Centerline goodness [0,1] 0.9300809557017677 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.16, Z:-4.14 [[ 0.1487461 0.08109347 -0.98554475 3.66038371] [ 0.05212402 0.99460342 0.08970581 -7.16066094] [ 0.98750073 -0.06471394 0.14371646 -4.13962304] [ 0. 0. 0. 1. ]] SLAMing on 98.12964924600001 meters Centerline goodness [0,1] 0.9317629179331307 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.16, Z:-4.13 [[ 0.14651895 0.0806737 -0.98591275 3.6603506 ] [ 0.05422416 0.99451543 0.08943601 -7.15909287] [ 0.98772058 -0.06656436 0.14134089 -4.13382388] [ 0. 0. 0. 1. ]] SLAMing on 98.15964924600001 meters Centerline goodness [0,1] 0.9314830611747502 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.16, Z:-4.13 [[ 0.14542097 0.07963906 -0.9861594 3.66211882] [ 0.05551193 0.99452805 0.08850079 -7.15687445] [ 0.9878113 -0.06761348 0.14020432 -4.13056736] [ 0. 0. 0. 1. ]] SLAMing on 98.18964924600002 meters Centerline goodness [0,1] 0.9320542104461702 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.15, Z:-4.13 [[ 0.14419415 0.07879151 -0.9864076 3.66320841] [ 0.05667708 0.99453102 0.0877255 -7.15438094] [ 0.98792497 -0.06855621 0.13893989 -4.12743712] [ 0. 0. 0. 1. ]] SLAMing on 98.21964924600002 meters Centerline goodness [0,1] 0.9301832500378616 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.15, Z:-4.12 [[ 0.14218843 0.0774792 -0.98680263 3.66442326] [ 0.05826411 0.99454816 0.08648262 -7.14998388] [ 0.98812334 -0.06979201 0.13689898 -4.12283858] [ 0. 0. 0. 1. ]] SLAMing on 98.24964924600002 meters Centerline goodness [0,1] 0.9303105364910584 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.15, Z:-4.11 [[ 0.13885829 0.08123103 -0.98697512 3.66487723] [ 0.05713368 0.99431311 0.08987314 -7.14791571] [ 0.98866279 -0.06886915 0.13342759 -4.11484942] [ 0. 0. 0. 1. ]] SLAMing on 98.27964924600002 meters Centerline goodness [0,1] 0.9275868295912839 Centerline is valid? [False, False] Translation: X:3.67, Y:-7.15, Z:-4.11 [[ 0.13639003 0.08541675 -0.98696593 3.66512871] [ 0.05519943 0.99407286 0.09365989 -7.14734403] [ 0.98911616 -0.06725424 0.13086667 -4.10914923] [ 0. 0. 0. 1. ]] SLAMing on 98.309649246 meters Centerline goodness [0,1] 0.9268058555315575 Centerline is valid? [False, False] Translation: X:3.67, Y:-7.14, Z:-4.11 [[ 0.13534934 0.08387008 -0.9872418 3.6679346 ] [ 0.0561649 0.99415916 0.09215786 -7.14360835] [ 0.98920476 -0.06792184 0.12984823 -4.10620054] [ 0. 0. 0. 1. ]] SLAMing on 98.33964924600001 meters Centerline goodness [0,1] 0.9253561253561253 Centerline is valid? [False, False] Translation: X:3.67, Y:-7.14, Z:-4.10 [[ 0.13426672 0.08308254 -0.9874562 3.66873747] [ 0.05704338 0.99417869 0.09140448 -7.14226927] [ 0.98930203 -0.06860042 0.1287458 -4.10362082] [ 0. 0. 0. 1. ]] SLAMing on 98.36964924600001 meters Centerline goodness [0,1] 0.9253561253561253 Centerline is valid? [False, False] Translation: X:3.67, Y:-7.14, Z:-4.10 [[ 0.13426672 0.08308254 -0.9874562 3.66873747] [ 0.05704338 0.99417869 0.09140448 -7.14226927] [ 0.98930203 -0.06860042 0.1287458 -4.10362082] [ 0. 0. 0. 1. ]] SLAMing on 98.39964924600001 meters Centerline goodness [0,1] 0.9270511242532496 Centerline is valid? [False, False] Translation: X:3.67, Y:-7.14, Z:-4.10 [[ 0.13199735 0.08205373 -0.98784811 3.66942163] [ 0.0585714 0.99418113 0.09040615 -7.14027456] [ 0.98951811 -0.06979302 0.12642327 -4.09856417] [ 0. 0. 0. 1. ]] SLAMing on 98.42964924600001 meters Centerline goodness [0,1] 0.9258670823465931 Centerline is valid? [False, False] Translation: X:3.67, Y:-7.14, Z:-4.10 [[ 0.13110345 0.0812966 -0.98802973 3.67060965] [ 0.05936492 0.99419969 0.08968152 -7.13874767] [ 0.98958966 -0.07041186 0.12551684 -4.09620742] [ 0. 0. 0. 1. ]] SLAMing on 98.45964924600001 meters Centerline goodness [0,1] 0.9245107734723845 Centerline is valid? [False, False] Translation: X:3.67, Y:-7.14, Z:-4.09 [[ 0.13034595 0.08032583 -0.98820934 3.67250654] [ 0.0601553 0.99423575 0.08875024 -7.13687921] [ 0.98964199 -0.07101426 0.12476258 -4.09385575] [ 0. 0. 0. 1. ]] SLAMing on 98.48964924600001 meters Centerline goodness [0,1] 0.9247109438020973 Centerline is valid? [False, False] Translation: X:3.68, Y:-7.13, Z:-4.09 [[ 0.12898623 0.07853416 -0.98853171 3.67538567] [ 0.06157586 0.99430111 0.08702709 -7.13260024] [ 0.98973278 -0.07209498 0.12341534 -4.09000713] [ 0. 0. 0. 1. ]] SLAMing on 98.51964924600001 meters Centerline goodness [0,1] 0.9217947186043733 Centerline is valid? [False, False] Translation: X:3.68, Y:-7.13, Z:-4.09 [[ 0.12840052 0.07261402 -0.98906042 3.67703699] [ 0.06592183 0.99448509 0.0815703 -7.12848755] [ 0.98952899 -0.07567434 0.12290556 -4.08845293] [ 0. 0. 0. 1. ]] SLAMing on 98.54964924600002 meters Centerline goodness [0,1] 0.9233828762821855 Centerline is valid? [False, False] Translation: X:3.68, Y:-7.13, Z:-4.09 [[ 0.12823912 0.0668824 -0.98948546 3.67830513] [ 0.0703376 0.99459753 0.07634383 -7.1255444 ] [ 0.98924585 -0.07938829 0.12284197 -4.08758609] [ 0. 0. 0. 1. ]] SLAMing on 98.57964924600002 meters Centerline goodness [0,1] 0.9235498770319717 Centerline is valid? [False, False] Translation: X:3.68, Y:-7.12, Z:-4.09 [[ 0.12743933 0.06135572 -0.98994681 3.67878225] [ 0.07468895 0.99465733 0.07126264 -7.1223692 ] [ 0.98903022 -0.08301975 0.12217586 -4.08596485] [ 0. 0. 0. 1. ]] SLAMing on 98.60964924600002 meters Centerline goodness [0,1] 0.9235498770319717 Centerline is valid? [False, False] Translation: X:3.68, Y:-7.12, Z:-4.09 [[ 0.12794711 0.05507927 -0.99025038 3.68238855] [ 0.07894016 0.99472337 0.06552767 -7.11755242] [ 0.98863441 -0.0865546 0.12292401 -4.08580059] [ 0. 0. 0. 1. ]] SLAMing on 98.63964924600002 meters Centerline goodness [0,1] 0.923993770963105 Centerline is valid? [False, False] Translation: X:3.68, Y:-7.11, Z:-4.08 [[ 0.12661222 0.05385911 -0.99048904 3.68446185] [ 0.08026248 0.99469459 0.06434759 -7.11488909] [ 0.98869979 -0.0876463 0.12161762 -4.08203217] [ 0. 0. 0. 1. ]] SLAMing on 98.66964924600002 meters Centerline goodness [0,1] 0.9264675036706319 Centerline is valid? [False, False] Translation: X:3.69, Y:-7.11, Z:-4.08 [[ 0.12581793 0.04829147 -0.99087728 3.68547855] [ 0.08537786 0.99458162 0.05931296 -7.11326605] [ 0.98837264 -0.09206161 0.12101317 -4.07943671] [ 0. 0. 0. 1. ]] SLAMing on 98.699649246 meters Centerline goodness [0,1] 0.9255963082823924 Centerline is valid? [False, False] Translation: X:3.70, Y:-7.11, Z:-4.07 [[ 0.1306752 0.03751848 -0.99071507 3.6951438 ] [ 0.0838605 0.99528418 0.0487527 -7.11101009] [ 0.98787216 -0.08945263 0.12691264 -4.0675218 ] [ 0. 0. 0. 1. ]] SLAMing on 98.72964924600001 meters Centerline goodness [0,1] 0.9254626559768522 Centerline is valid? [False, False] Translation: X:3.71, Y:-7.11, Z:-4.05 [[ 0.13305642 0.02623019 -0.99076131 3.70552428] [ 0.08356626 0.99579313 0.03758612 -7.10892814] [ 0.9875792 -0.08779529 0.13030471 -4.05069638] [ 0. 0. 0. 1. ]] SLAMing on 98.75964924600001 meters Centerline goodness [0,1] 0.9251563019118668 Centerline is valid? [False, False] Translation: X:3.72, Y:-7.11, Z:-4.04 [[ 0.13803876 0.01543645 -0.99030653 3.71637319] [ 0.08104108 0.99634967 0.02682695 -7.10643906] [ 0.98710569 -0.08395867 0.13628388 -4.03987183] [ 0. 0. 0. 1. ]] SLAMing on 98.78964924600001 meters Centerline goodness [0,1] 0.9264741348124925 Centerline is valid? [False, False] Translation: X:3.73, Y:-7.10, Z:-4.02 [[ 0.14138903 0.01029414 -0.98990059 3.72605393] [ 0.0767114 0.99682531 0.02132295 -7.10475099] [ 0.98697746 -0.07895149 0.14015049 -4.02287646] [ 0. 0. 0. 1. ]] SLAMing on 98.81964924600001 meters Centerline goodness [0,1] 0.9259002143008059 Centerline is valid? [False, False] Translation: X:3.74, Y:-7.10, Z:-4.01 [[ 1.46611653e-01 2.09692578e-03 -9.89191906e-01 3.73530831e+00] [ 7.33658083e-02 9.97220525e-01 1.29877527e-02 -7.10336556e+00] [ 9.86469706e-01 -7.44770196e-02 1.46050307e-01 -4.01164686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.84964924600001 meters Centerline goodness [0,1] 0.925520660157785 Centerline is valid? [False, False] Translation: X:3.74, Y:-7.10, Z:-4.00 [[ 1.51823905e-01 -6.90048846e-03 -9.88383471e-01 3.74408939e+00] [ 7.12994732e-02 9.97446980e-01 3.98842470e-03 -7.10227245e+00] [ 9.85832586e-01 -7.10767590e-02 1.51928296e-01 -3.99979894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.87964924600001 meters Centerline goodness [0,1] 0.9248133988712908 Centerline is valid? [False, False] Translation: X:3.75, Y:-7.10, Z:-3.98 [[ 1.55435150e-01 -1.51596765e-02 -9.87729770e-01 3.75214178e+00] [ 6.98076140e-02 9.97551097e-01 -4.32506450e-03 -7.10226233e+00] [ 9.85376482e-01 -6.82787914e-02 1.56112765e-01 -3.98418227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.90964924600001 meters Centerline goodness [0,1] 0.9251684091809674 Centerline is valid? [False, False] Translation: X:3.75, Y:-7.10, Z:-3.98 [[ 1.52071462e-01 -1.08179038e-02 -9.88310297e-01 3.75265002e+00] [ 6.84881547e-02 9.97651857e-01 -3.81871981e-04 -7.10418739e+00] [ 9.85993734e-01 -6.76294767e-02 1.52455275e-01 -3.97505812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.93964924600002 meters Centerline goodness [0,1] 0.9247975553857907 Centerline is valid? [False, False] Translation: X:3.76, Y:-7.10, Z:-3.96 [[ 0.15646982 -0.01960369 -0.98748817 3.76267086] [ 0.06570801 0.99779465 -0.0093967 -7.10174883] [ 0.98549462 -0.06341558 0.15741287 -3.96238898] [ 0. 0. 0. 1. ]] SLAMing on 98.96964924600002 meters Centerline goodness [0,1] 0.9248849190622809 Centerline is valid? [False, False] Translation: X:3.77, Y:-7.10, Z:-3.94 [[ 0.15817533 -0.02461338 -0.98710422 3.77021361] [ 0.06317775 0.99789316 -0.01475869 -7.10065109] [ 0.98538781 -0.06002856 0.15939709 -3.94200518] [ 0. 0. 0. 1. ]] SLAMing on 98.99964924600002 meters Centerline goodness [0,1] 0.9250558257624423 Centerline is valid? [False, False] Translation: X:3.77, Y:-7.10, Z:-3.93 [[ 0.15441024 -0.02043806 -0.98779541 3.76902346] [ 0.06421903 0.99787944 -0.01060812 -7.10043151] [ 0.98591754 -0.06179726 0.15539532 -3.93011616] [ 0. 0. 0. 1. ]] SLAMing on 99.02964924600002 meters Centerline goodness [0,1] 0.9249229078252373 Centerline is valid? [False, False] Translation: X:3.78, Y:-7.10, Z:-3.92 [[ 0.1589273 -0.02767002 -0.98690247 3.77708676] [ 0.06152083 0.99794217 -0.01807244 -7.09849744] [ 0.98537166 -0.05784285 0.16030254 -3.91666611] [ 0. 0. 0. 1. ]] SLAMing on 99.059649246 meters Centerline goodness [0,1] 0.9247459489151332 Centerline is valid? [False, False] Translation: X:3.77, Y:-7.10, Z:-3.91 [[ 0.15523953 -0.0217168 -0.98763813 3.7740871 ] [ 0.06030566 0.99810209 -0.01246788 -7.09990781] [ 0.98603444 -0.05762466 0.15625455 -3.90693426] [ 0. 0. 0. 1. ]] SLAMing on 99.08964924600001 meters Centerline goodness [0,1] 0.9231050450889593 Centerline is valid? [False, False] Translation: X:3.77, Y:-7.10, Z:-3.89 [[ 1.52504982e-01 -1.24039078e-02 -9.88224860e-01 3.77109108e+00] [ 6.22318629e-02 9.98057437e-01 -2.92356869e-03 -7.09847319e+00] [ 9.86341435e-01 -6.10532152e-02 1.52980650e-01 -3.88909336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.11964924600001 meters Centerline goodness [0,1] 0.9225942059889725 Centerline is valid? [False, False] Translation: X:3.77, Y:-7.10, Z:-3.88 [[ 1.49584394e-01 -6.55555695e-03 -9.88727229e-01 3.76830470e+00] [ 6.00052351e-02 9.98195031e-01 2.45985170e-03 -7.10079111e+00] [ 9.86926482e-01 -5.96967653e-02 1.49707767e-01 -3.88226574e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.14964924600001 meters Centerline goodness [0,1] 0.9244547337638601 Centerline is valid? [False, False] Translation: X:3.78, Y:-7.10, Z:-3.87 [[ 1.53416453e-01 -1.52803342e-02 -9.88043472e-01 3.77627880e+00] [ 5.82406697e-02 9.98282086e-01 -6.39547460e-03 -7.09841306e+00] [ 9.86443823e-01 -5.65631425e-02 1.54042833e-01 -3.86772058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.17964924600001 meters Centerline goodness [0,1] 0.9244835245078651 Centerline is valid? [False, False] Translation: X:3.77, Y:-7.10, Z:-3.86 [[ 1.49826518e-01 -9.54481674e-03 -9.88666228e-01 3.77326048e+00] [ 5.75112218e-02 9.98344433e-01 -9.22767020e-04 -7.09930474e+00] [ 9.87038233e-01 -5.67211477e-02 1.50127404e-01 -3.85802139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.20964924600001 meters Centerline goodness [0,1] 0.9258548765262934 Centerline is valid? [False, False] Translation: X:3.78, Y:-7.10, Z:-3.84 [[ 1.53454309e-01 -1.42218250e-02 -9.88053397e-01 3.77994221e+00] [ 5.47231816e-02 9.98484292e-01 -5.87292229e-03 -7.09779614e+00] [ 9.86639320e-01 -5.31682002e-02 1.53999981e-01 -3.84036253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.23964924600001 meters Centerline goodness [0,1] 0.9267219136083538 Centerline is valid? [False, False] Translation: X:3.78, Y:-7.10, Z:-3.83 [[ 1.50284842e-01 -7.56937213e-03 -9.88613762e-01 3.77588850e+00] [ 5.27798419e-02 9.98606101e-01 3.77487147e-04 -7.10116508e+00] [ 9.87232878e-01 -5.22356087e-02 1.50474870e-01 -3.83264448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.26964924600001 meters Centerline goodness [0,1] 0.9279762445838258 Centerline is valid? [False, False] Translation: X:3.78, Y:-7.10, Z:-3.81 [[ 1.52531657e-01 -1.09084360e-02 -9.88238382e-01 3.78154706e+00] [ 5.05942000e-02 9.98714119e-01 -3.21500556e-03 -7.10120216e+00] [ 9.87002695e-01 -4.95087402e-02 1.52887423e-01 -3.81153400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.29964924600002 meters Centerline goodness [0,1] 0.9270266159695817 Centerline is valid? [False, False] Translation: X:3.78, Y:-7.10, Z:-3.81 [[ 1.51148476e-01 -1.13410808e-02 -9.88446012e-01 3.78267615e+00] [ 5.15369852e-02 9.98664679e-01 -3.57753488e-03 -7.10049202e+00] [ 9.87166692e-01 -5.04007885e-02 1.51531129e-01 -3.80780752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.32964924600002 meters Centerline goodness [0,1] 0.9254170457992114 Centerline is valid? [False, False] Translation: X:3.78, Y:-7.10, Z:-3.80 [[ 1.47785424e-01 -7.39819286e-03 -9.88991777e-01 3.78370209e+00] [ 5.01775000e-02 9.98740315e-01 2.69260402e-05 -7.09989821e+00] [ 9.87745760e-01 -4.96291142e-02 1.47970483e-01 -3.79873304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.35964924600002 meters Centerline goodness [0,1] 0.9232560953475709 Centerline is valid? [False, False] Translation: X:3.78, Y:-7.10, Z:-3.79 [[ 1.45677915e-01 -2.48997197e-03 -9.89328937e-01 3.78319004e+00] [ 4.74895420e-02 9.98861694e-01 4.47883374e-03 -7.10126589e+00] [ 9.88191625e-01 -4.76352453e-02 1.45630336e-01 -3.79354279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.38964924600002 meters Centerline goodness [0,1] 0.9224813262889415 Centerline is valid? [False, False] Translation: X:3.79, Y:-7.10, Z:-3.78 [[ 1.48412212e-01 -8.76643218e-03 -9.88886730e-01 3.79246808e+00] [ 4.32856118e-02 9.99059951e-01 -2.36030863e-03 -7.09930002e+00] [ 9.87977819e-01 -4.24542685e-02 1.48652158e-01 -3.77703362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.41964924600002 meters Centerline goodness [0,1] 0.9216617749402403 Centerline is valid? [False, False] Translation: X:3.80, Y:-7.10, Z:-3.76 [[ 0.15273137 -0.01455909 -0.98816049 3.79957369] [ 0.04048122 0.99914445 -0.00846409 -7.09821011] [ 0.9874383 -0.03870921 0.15319007 -3.76172629] [ 0. 0. 0. 1. ]] SLAMing on 99.449649246 meters Centerline goodness [0,1] 0.9248247522359198 Centerline is valid? [False, False] Translation: X:3.79, Y:-7.10, Z:-3.74 [[ 1.48262566e-01 -7.06443847e-03 -9.88922800e-01 3.79369887e+00] [ 4.29186572e-02 9.99078323e-01 -7.02478586e-04 -7.09878838e+00] [ 9.88016296e-01 -4.23390874e-02 1.48429112e-01 -3.74466425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.47964924600001 meters Centerline goodness [0,1] 0.9246023361806164 Centerline is valid? [False, False] Translation: X:3.80, Y:-7.10, Z:-3.74 [[ 1.60422709e-01 -7.33522412e-03 -9.87021149e-01 3.80299335e+00] [ 4.31516117e-02 9.99068451e-01 -4.11229815e-04 -7.09830073e+00] [ 9.86104707e-01 -4.25255828e-02 1.60589795e-01 -3.73909558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.50964924600001 meters Centerline goodness [0,1] 0.9232650842543939 Centerline is valid? [False, False] Translation: X:3.81, Y:-7.10, Z:-3.72 [[ 1.68652452e-01 -4.30821917e-03 -9.85666165e-01 3.80946658e+00] [ 4.60777467e-02 9.98931662e-01 3.51793392e-03 -7.09774610e+00] [ 9.84597985e-01 -4.60105841e-02 1.68670787e-01 -3.72411355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.53964924600001 meters Centerline goodness [0,1] 0.9242891712038718 Centerline is valid? [False, False] Translation: X:3.81, Y:-7.10, Z:-3.72 [[ 1.66035200e-01 2.02706111e-03 -9.86117743e-01 3.80615170e+00] [ 4.38503475e-02 9.98993541e-01 9.43672520e-03 -7.10143723e+00] [ 9.85144385e-01 -4.48084343e-02 1.65779205e-01 -3.71773640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.56964924600001 meters Centerline goodness [0,1] 0.922536277984792 Centerline is valid? [False, False] Translation: X:3.80, Y:-7.10, Z:-3.71 [[ 0.162419 0.00804073 -0.98668912 3.80353153] [ 0.04265821 0.99897466 0.01516282 -7.10345924] [ 0.98579934 -0.04455312 0.16190946 -3.7080955 ] [ 0. 0. 0. 1. ]] SLAMing on 99.59964924600001 meters Centerline goodness [0,1] 0.9207000273448182 Centerline is valid? [False, False] Translation: X:3.81, Y:-7.10, Z:-3.69 [[ 1.66358405e-01 2.89250624e-03 -9.86061111e-01 3.81160194e+00] [ 3.88851594e-02 9.99198608e-01 9.49136032e-03 -7.10239464e+00] [ 9.85298343e-01 -3.99221110e-02 1.66112611e-01 -3.69284215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.62964924600001 meters Centerline goodness [0,1] 0.923452225825025 Centerline is valid? [False, False] Translation: X:3.82, Y:-7.10, Z:-3.67 [[ 1.67874966e-01 2.71197418e-03 -9.85804565e-01 3.81521673e+00] [ 3.75590792e-02 9.99252563e-01 9.14499343e-03 -7.10334484e+00] [ 9.85092540e-01 -3.85611272e-02 1.67647630e-01 -3.66674925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 99.65964924600001 meters Centerline goodness [0,1] 0.9219858156028369 Centerline is valid? [False, False] Translation: X:3.81, Y:-7.11, Z:-3.66 [[ 0.16412655 0.0094425 -0.9863941 3.81088181] [ 0.03638464 0.99921579 0.01561929 -7.10624891] [ 0.98576804 -0.03845313 0.16365427 -3.6571032 ] [ 0. 0. 0. 1. ]] SLAMing on 99.68964924600002 meters Centerline goodness [0,1] 0.9227449550206662 Centerline is valid? [False, False] Translation: X:3.81, Y:-7.11, Z:-3.63 [[ 0.16344961 0.01322325 -0.98646306 3.81138383] [ 0.033738 0.99925038 0.0189848 -7.10902187] [ 0.98597463 -0.03638435 0.16288096 -3.62877096] [ 0. 0. 0. 1. ]] SLAMing on 99.71964924600002 meters Centerline goodness [0,1] 0.9217063455866703 Centerline is valid? [False, False] Translation: X:3.81, Y:-7.11, Z:-3.62 [[ 0.16102251 0.01913613 -0.9867652 3.80928582] [ 0.03101593 0.99922007 0.02443892 -7.11175983] [ 0.98646326 -0.03454066 0.1603034 -3.62320136] [ 0. 0. 0. 1. ]] SLAMing on 99.74964924600002 meters Centerline goodness [0,1] 0.9200909780136467 Centerline is valid? [False, False] Translation: X:3.81, Y:-7.11, Z:-3.61 [[ 0.15734094 0.0242691 -0.98724609 3.80895854] [ 0.02952681 0.99913543 0.02926717 -7.11139908] [ 0.98710283 -0.03375515 0.15648832 -3.61346739] [ 0. 0. 0. 1. ]] SLAMing on 99.77964924600002 meters Centerline goodness [0,1] 0.9196320503510046 Centerline is valid? [False, False] Translation: X:3.81, Y:-7.11, Z:-3.61 [[ 0.15505003 0.02961851 -0.98746252 3.80758315] [ 0.0266555 0.99906113 0.03415182 -7.11314364] [ 0.98754695 -0.03161655 0.15411496 -3.60845795] [ 0. 0. 0. 1. ]] SLAMing on 99.809649246 meters Centerline goodness [0,1] 0.920875726744186 Centerline is valid? [False, False] Translation: X:3.81, Y:-7.11, Z:-3.59 [[ 0.15734258 0.02547912 -0.98721534 3.81387067] [ 0.02159207 0.99933938 0.02923338 -7.11302334] [ 0.987308 -0.02591567 0.15668849 -3.59144962] [ 0. 0. 0. 1. ]] SLAMing on 99.83964924600001 meters Centerline goodness [0,1] 0.9241071428571429 Centerline is valid? [False, False] Translation: X:3.82, Y:-7.11, Z:-3.57 [[ 0.15970737 0.02414311 -0.98686912 3.81901441] [ 0.01546504 0.99951701 0.02695528 -7.11273237] [ 0.98704325 -0.01956693 0.15925686 -3.57376124] [ 0. 0. 0. 1. ]] SLAMing on 99.86964924600001 meters Centerline goodness [0,1] 0.9212894681395418 Centerline is valid? [False, False] Translation: X:3.82, Y:-7.11, Z:-3.57 [[ 0.15753867 0.02944153 -0.98707384 3.81771721] [ 0.0127117 0.99941219 0.03183835 -7.11433523] [ 0.987431 -0.01756315 0.15707182 -3.56888963] [ 0. 0. 0. 1. ]] SLAMing on 99.89964924600001 meters Centerline goodness [0,1] 0.920086457926811 Centerline is valid? [False, False] Translation: X:3.82, Y:-7.11, Z:-3.56 [[ 0.15548407 0.03410666 -0.98724943 3.81759508] [ 0.01019506 0.99929515 0.03612845 -7.11449369] [ 0.98778579 -0.01568247 0.15502676 -3.56390318] [ 0. 0. 0. 1. ]] SLAMing on 99.92964924600001 meters Centerline goodness [0,1] 0.9202225229288828 Centerline is valid? [False, False] Translation: X:3.81, Y:-7.12, Z:-3.55 [[ 0.15109955 0.04094183 -0.98767034 3.81231847] [ 0.01263434 0.99898034 0.04334354 -7.11622541] [ 0.98843781 -0.01902775 0.15042821 -3.54819277] [ 0. 0. 0. 1. ]] SLAMing on 99.95964924600001 meters Centerline goodness [0,1] 0.919547832361253 Centerline is valid? [False, False] Translation: X:3.81, Y:-7.12, Z:-3.54 [[ 0.14871642 0.04697992 -0.98776329 3.80956443] [ 0.01013463 0.99874598 0.04902814 -7.11907611] [ 0.98882795 -0.0173019 0.14805381 -3.54293581] [ 0. 0. 0. 1. ]] SLAMing on 99.98964924600001 meters Centerline goodness [0,1] 0.9211216644052465 Centerline is valid? [False, False] Translation: X:3.81, Y:-7.12, Z:-3.53 [[ 0.14470378 0.05301066 -0.98805399 3.8064053 ] [ 0.00895229 0.99845284 0.05487967 -7.12064437] [ 0.98943452 -0.01678664 0.14400534 -3.53323786] [ 0. 0. 0. 1. ]] SLAMing on 100.01964924600001 meters Centerline goodness [0,1] 0.9188692323920316 Centerline is valid? [False, False] Translation: X:3.80, Y:-7.12, Z:-3.53 [[ 1.42310348e-01 5.94320942e-02 -9.88036230e-01 3.80286356e+00] [ 5.75798737e-03 9.98129183e-01 6.08685461e-02 -7.12439710e+00] [ 9.89805340e-01 -1.43513241e-02 1.41701902e-01 -3.52892439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.04964924600002 meters Centerline goodness [0,1] 0.9201447527141133 Centerline is valid? [False, False] Translation: X:3.80, Y:-7.13, Z:-3.52 [[ 1.38465739e-01 6.79838950e-02 -9.88031087e-01 3.79529755e+00] [ 4.30808796e-03 9.97590355e-01 6.92453926e-02 -7.12868837e+00] [ 9.90357854e-01 -1.38446393e-02 1.37839205e-01 -3.51962173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.07964924600002 meters Centerline goodness [0,1] 0.9182310087361325 Centerline is valid? [False, False] Translation: X:3.79, Y:-7.13, Z:-3.51 [[ 1.35499629e-01 6.93127138e-02 -9.88349937e-01 3.79320030e+00] [ 6.73428401e-03 9.97462471e-01 7.08750222e-02 -7.13048155e+00] [ 9.90754510e-01 -1.62593684e-02 1.34689023e-01 -3.51160971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.10964924600002 meters Centerline goodness [0,1] 0.9183877112878353 Centerline is valid? [False, False] Translation: X:3.79, Y:-7.13, Z:-3.50 [[ 1.32071340e-01 7.61696790e-02 -9.88309335e-01 3.78888049e+00] [ 5.05121816e-03 9.96978558e-01 7.75128346e-02 -7.13456526e+00] [ 9.91227343e-01 -1.52293900e-02 1.31287545e-01 -3.50387654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.13964924600002 meters Centerline goodness [0,1] 0.9162851338649526 Centerline is valid? [False, False] Translation: X:3.79, Y:-7.14, Z:-3.50 [[ 1.29277912e-01 8.29952264e-02 -9.88129047e-01 3.78569619e+00] [ 2.04369505e-03 9.96466785e-01 8.39629108e-02 -7.13913107e+00] [ 9.91606295e-01 -1.28739843e-02 1.28651529e-01 -3.49819777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.16964924600002 meters Centerline goodness [0,1] 0.915935783436011 Centerline is valid? [False, False] Translation: X:3.78, Y:-7.14, Z:-3.49 [[ 1.26395847e-01 9.02681911e-02 -9.87864233e-01 3.78092344e+00] [-2.33719975e-04 9.95853757e-01 9.09683466e-02 -7.14311702e+00] [ 9.91979856e-01 -1.12671376e-02 1.25892877e-01 -3.49204605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.199649246 meters Centerline goodness [0,1] 0.9201195158388975 Centerline is valid? [False, False] Translation: X:3.78, Y:-7.15, Z:-3.48 [[ 1.21851111e-01 9.76089955e-02 -9.87737207e-01 3.77507082e+00] [-9.17943150e-04 9.95163354e-01 9.82296123e-02 -7.14830876e+00] [ 9.92547966e-01 -1.10627008e-02 1.21351360e-01 -3.48123078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.22964924600001 meters Centerline goodness [0,1] 0.9205748634546731 Centerline is valid? [False, False] Translation: X:3.77, Y:-7.15, Z:-3.48 [[ 1.18744116e-01 1.04203321e-01 -9.87441898e-01 3.77106176e+00] [-3.25609192e-03 9.94513459e-01 1.04558014e-01 -7.15185239e+00] [ 9.92919550e-01 -9.20044729e-03 1.18431917e-01 -3.47511995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.25964924600001 meters Centerline goodness [0,1] 0.9205748634546731 Centerline is valid? [False, False] Translation: X:3.77, Y:-7.15, Z:-3.48 [[ 1.18744116e-01 1.04203321e-01 -9.87441898e-01 3.77106176e+00] [-3.25609192e-03 9.94513459e-01 1.04558014e-01 -7.15185239e+00] [ 9.92919550e-01 -9.20044729e-03 1.18431917e-01 -3.47511995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.28964924600001 meters Centerline goodness [0,1] 0.9226810402582374 Centerline is valid? [False, False] Translation: X:3.77, Y:-7.15, Z:-3.47 [[ 1.16842863e-01 1.05124157e-01 -9.87571090e-01 3.76935345e+00] [-2.72322805e-03 9.94412370e-01 1.05530197e-01 -7.15221927e+00] [ 9.93146681e-01 -9.64106906e-03 1.16476265e-01 -3.47121528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.31964924600001 meters Centerline goodness [0,1] 0.9223998781787727 Centerline is valid? [False, False] Translation: X:3.77, Y:-7.15, Z:-3.47 [[ 1.15750353e-01 1.05717888e-01 -9.87636362e-01 3.76840378e+00] [-2.34492656e-03 9.94346158e-01 1.06161290e-01 -7.15245473e+00] [ 9.93275570e-01 -9.97227202e-03 1.15343819e-01 -3.46888174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.34964924600001 meters Centerline goodness [0,1] 0.9217415015451736 Centerline is valid? [False, False] Translation: X:3.77, Y:-7.15, Z:-3.46 [[ 1.13628250e-01 1.11335065e-01 -9.87265478e-01 3.76658435e+00] [-5.48745871e-03 9.93756519e-01 1.11435494e-01 -7.15395756e+00] [ 9.93508182e-01 -7.24464163e-03 1.13529761e-01 -3.46483410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.37964924600001 meters Centerline goodness [0,1] 0.9232515894641236 Centerline is valid? [False, False] Translation: X:3.76, Y:-7.16, Z:-3.46 [[ 1.12093947e-01 1.17011103e-01 -9.86784348e-01 3.76470887e+00] [-8.78507144e-03 9.93120772e-01 1.16764523e-01 -7.15587944e+00] [ 9.93658779e-01 -4.41962530e-03 1.12350778e-01 -3.46218040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.40964924600001 meters Centerline goodness [0,1] 0.9232960572173228 Centerline is valid? [False, False] Translation: X:3.76, Y:-7.16, Z:-3.46 [[ 1.10623041e-01 1.17841323e-01 -9.86851542e-01 3.76301460e+00] [-8.67285450e-03 9.93022462e-01 1.17606000e-01 -7.15556065e+00] [ 9.93824594e-01 -4.45111362e-03 1.10873186e-01 -3.45953633e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.43964924600002 meters Centerline goodness [0,1] 0.9233117707514661 Centerline is valid? [False, False] Translation: X:3.76, Y:-7.16, Z:-3.46 [[ 1.09651453e-01 1.18871164e-01 -9.86836463e-01 3.76086847e+00] [-9.01209420e-03 9.92901175e-01 1.18600329e-01 -7.15598735e+00] [ 9.93929243e-01 -4.11123525e-03 1.09944335e-01 -3.45848049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.46964924600002 meters Centerline goodness [0,1] 0.9227064772453648 Centerline is valid? [False, False] Translation: X:3.75, Y:-7.16, Z:-3.47 [[ 1.05790953e-01 1.27013035e-01 -9.86243359e-01 3.75221141e+00] [-7.85346905e-03 9.91884790e-01 1.26897150e-01 -7.15505284e+00] [ 9.94357379e-01 -5.67913875e-03 1.05929930e-01 -3.47359459e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.49964924600002 meters Centerline goodness [0,1] 0.9226712473254377 Centerline is valid? [False, False] Translation: X:3.74, Y:-7.16, Z:-3.49 [[ 1.02019913e-01 1.34932607e-01 -9.85588722e-01 3.74485684e+00] [-6.71070778e-03 9.90828951e-01 1.34955388e-01 -7.15551754e+00] [ 9.94759722e-01 -7.15413904e-03 1.01989777e-01 -3.48909464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.52964924600002 meters Centerline goodness [0,1] 0.9223298069451915 Centerline is valid? [False, False] Translation: X:3.74, Y:-7.15, Z:-3.56 [[ 1.03279642e-01 1.44613825e-01 -9.84083410e-01 3.73581522e+00] [-4.20071632e-03 9.89428821e-01 1.44958482e-01 -7.15154870e+00] [ 9.94643489e-01 -1.08374048e-02 1.02795336e-01 -3.55534954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.559649246 meters Centerline goodness [0,1] 0.9234317343173432 Centerline is valid? [False, False] Translation: X:3.73, Y:-7.15, Z:-3.64 [[ 1.06064229e-01 1.49827482e-01 -9.83006666e-01 3.72834672e+00] [-5.40078550e-03 9.88655205e-01 1.50105686e-01 -7.14821736e+00] [ 9.94344614e-01 -1.06118357e-02 1.05670139e-01 -3.63518102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.58964924600001 meters Centerline goodness [0,1] 0.9264833228821404 Centerline is valid? [False, False] Translation: X:3.72, Y:-7.15, Z:-3.72 [[ 1.10555179e-01 1.50027709e-01 -9.82481165e-01 3.71898182e+00] [-2.76604904e-03 9.88583551e-01 1.50648307e-01 -7.14618666e+00] [ 9.93866139e-01 -1.39373594e-02 1.09708015e-01 -3.71762804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.61964924600001 meters Centerline goodness [0,1] 0.9269765356448961 Centerline is valid? [False, False] Translation: X:3.71, Y:-7.14, Z:-3.79 [[ 1.13372249e-01 1.50457684e-01 -9.82094302e-01 3.71125578e+00] [ 2.71103150e-03 9.88416839e-01 1.51739261e-01 -7.14320986e+00] [ 9.93548883e-01 -1.98655098e-02 1.11651144e-01 -3.79130337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 100.64964924600001 meters Centerline goodness [0,1] 0.9253136884975893 Centerline is valid? [False, False] Translation: X:3.70, Y:-7.14, Z:-3.86 [[ 0.11584982 0.15223189 -0.98153159 3.70497957] [ 0.00991326 0.98795887 0.1543988 -7.13939794] [ 0.99321727 -0.02761725 0.11294574 -3.85833177] [ 0. 0. 0. 1. ]] SLAMing on 100.67964924600001 meters Centerline goodness [0,1] 0.924220623501199 Centerline is valid? [False, False] Translation: X:3.70, Y:-7.14, Z:-3.94 [[ 0.11970732 0.15370866 -0.98083832 3.69783396] [ 0.01286756 0.9876192 0.15634173 -7.13864227] [ 0.99272583 -0.03133624 0.1162474 -3.93839394] [ 0. 0. 0. 1. ]] SLAMing on 100.70964924600001 meters Centerline goodness [0,1] 0.9250718735026353 Centerline is valid? [False, False] Translation: X:3.69, Y:-7.14, Z:-4.02 [[ 0.12366841 0.15276436 -0.98049435 3.6886245 ] [ 0.01612538 0.9876394 0.15591146 -7.13840994] [ 0.99219257 -0.03509216 0.11967641 -4.02071674] [ 0. 0. 0. 1. ]] SLAMing on 100.73964924600001 meters Centerline goodness [0,1] 0.9266557033936313 Centerline is valid? [False, False] Translation: X:3.68, Y:-7.14, Z:-4.07 [[ 0.12498351 0.15114606 -0.9805784 3.68420552] [ 0.0213113 0.98769106 0.15495872 -7.13610748] [ 0.99192991 -0.04026469 0.12022397 -4.06646931] [ 0. 0. 0. 1. ]] SLAMing on 100.76964924600001 meters Centerline goodness [0,1] 0.9264732276398444 Centerline is valid? [False, False] Translation: X:3.68, Y:-7.13, Z:-4.12 [[ 0.12930006 0.1479 -0.98051368 3.67941535] [ 0.02636957 0.98795173 0.15249929 -7.13407636] [ 0.99125483 -0.04557389 0.12384216 -4.11980421] [ 0. 0. 0. 1. ]] SLAMing on 100.79964924600002 meters Centerline goodness [0,1] 0.9263416976827951 Centerline is valid? [False, False] Translation: X:3.67, Y:-7.13, Z:-4.14 [[ 0.12916587 0.15073654 -0.98009932 3.67390871] [ 0.03098999 0.98728257 0.15592543 -7.13270185] [ 0.99113864 -0.05051351 0.12285189 -4.14187999] [ 0. 0. 0. 1. ]] SLAMing on 100.82964924600002 meters Centerline goodness [0,1] 0.9233035687441749 Centerline is valid? [False, False] Translation: X:3.67, Y:-7.13, Z:-4.18 [[ 0.13008321 0.15530405 -0.97926453 3.66742292] [ 0.03814627 0.98614142 0.16146194 -7.13219059] [ 0.990769 -0.05835877 0.12235617 -4.17597999] [ 0. 0. 0. 1. ]] SLAMing on 100.85964924600002 meters Centerline goodness [0,1] 0.920764039527597 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.13, Z:-4.21 [[ 0.13211654 0.15567505 -0.97893335 3.66334221] [ 0.04700732 0.98549525 0.16306265 -7.12886968] [ 0.99011895 -0.06756031 0.12288236 -4.21361859] [ 0. 0. 0. 1. ]] SLAMing on 100.88964924600002 meters Centerline goodness [0,1] 0.9191617669229609 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.13, Z:-4.25 [[ 0.13244929 0.15922198 -0.97831771 3.65762827] [ 0.05422738 0.98437127 0.16754876 -7.12801654] [ 0.9897053 -0.07524332 0.12174508 -4.24638617] [ 0. 0. 0. 1. ]] SLAMing on 100.91964924600002 meters Centerline goodness [0,1] 0.9186486486486487 Centerline is valid? [False, False] Translation: X:3.65, Y:-7.13, Z:-4.29 [[ 0.13558527 0.15596865 -0.97841219 3.65471893] [ 0.06217048 0.98424588 0.16551398 -7.12659522] [ 0.98881316 -0.08326962 0.1237526 -4.29122109] [ 0. 0. 0. 1. ]] SLAMing on 100.949649246 meters Centerline goodness [0,1] 0.921323993626552 Centerline is valid? [False, False] Translation: X:3.65, Y:-7.13, Z:-4.31 [[ 0.1331038 0.15380479 -0.97909523 3.65494548] [ 0.06762164 0.98417395 0.16379547 -7.12545382] [ 0.98879254 -0.08800982 0.12059676 -4.3086117 ] [ 0. 0. 0. 1. ]] SLAMing on 100.97964924600001 meters Centerline goodness [0,1] 0.9213956708914111 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.12, Z:-4.36 [[ 0.13590573 0.14863121 -0.97950926 3.65593221] [ 0.07458741 0.98434158 0.15971338 -7.12329058] [ 0.98791009 -0.09476502 0.12269164 -4.3558254 ] [ 0. 0. 0. 1. ]] SLAMing on 101.00964924600001 meters Centerline goodness [0,1] 0.9215704080397142 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.12, Z:-4.41 [[ 0.1378365 0.14130409 -0.98032355 3.65637819] [ 0.08053075 0.98489504 0.15328589 -7.12308734] [ 0.98717572 -0.10007458 0.12437516 -4.40712331] [ 0. 0. 0. 1. ]] SLAMing on 101.03964924600001 meters Centerline goodness [0,1] 0.9208238679388157 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.12, Z:-4.42 [[ 0.1327226 0.14076105 -0.98110705 3.65582542] [ 0.08818413 0.98426153 0.15314304 -7.12079649] [ 0.9872225 -0.10684362 0.11822086 -4.41648833] [ 0. 0. 0. 1. ]] SLAMing on 101.06964924600001 meters Centerline goodness [0,1] 0.918782803919784 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.12, Z:-4.43 [[ 0.12753235 0.14021342 -0.98187356 3.65526223] [ 0.09592066 0.9835732 0.15291496 -7.11843507] [ 0.98718525 -0.11368356 0.11198804 -4.42596943] [ 0. 0. 0. 1. ]] SLAMing on 101.09964924600001 meters Centerline goodness [0,1] 0.9204789405255042 Centerline is valid? [False, False] Translation: X:3.65, Y:-7.12, Z:-4.46 [[ 0.12887721 0.13864263 -0.98192102 3.65336355] [ 0.10450132 0.9827665 0.15247781 -7.11745809] [ 0.98613901 -0.12226295 0.11216786 -4.46408654] [ 0. 0. 0. 1. ]] SLAMing on 101.12964924600001 meters Centerline goodness [0,1] 0.9201121022179364 Centerline is valid? [False, False] Translation: X:3.65, Y:-7.12, Z:-4.51 [[ 0.13046786 0.13458205 -0.98227583 3.65451996] [ 0.11200958 0.98240045 0.14947646 -7.1158945 ] [ 0.98510507 -0.12952617 0.1130972 -4.50770747] [ 0. 0. 0. 1. ]] SLAMing on 101.15964924600001 meters Centerline goodness [0,1] 0.9200375155054004 Centerline is valid? [False, False] Translation: X:3.65, Y:-7.11, Z:-4.52 [[ 0.12609858 0.13294295 -0.98306934 3.6546366 ] [ 0.11969561 0.98170058 0.14811124 -7.11302338] [ 0.98477008 -0.13634571 0.10787836 -4.51929689] [ 0. 0. 0. 1. ]] SLAMing on 101.18964924600002 meters Centerline goodness [0,1] 0.9232399055632907 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.11, Z:-4.54 [[ 0.12527044 0.12553978 -0.98414789 3.65550127] [ 0.1276959 0.98167089 0.141478 -7.11057366] [ 0.98387046 -0.14339466 0.10694343 -4.53971043] [ 0. 0. 0. 1. ]] SLAMing on 101.21964924600002 meters Centerline goodness [0,1] 0.9226965201298505 Centerline is valid? [False, False] Translation: X:3.65, Y:-7.11, Z:-4.55 [[ 0.12153757 0.12356206 -0.984866 3.65389635] [ 0.13616056 0.98076608 0.1398506 -7.10795844] [ 0.9832034 -0.15109701 0.10237565 -4.55161827] [ 0. 0. 0. 1. ]] SLAMing on 101.24964924600002 meters Centerline goodness [0,1] 0.9210869104237981 Centerline is valid? [False, False] Translation: X:3.65, Y:-7.11, Z:-4.60 [[ 0.12465291 0.11754871 -0.98521264 3.65321774] [ 0.14179549 0.98065477 0.13494541 -7.10875582] [ 0.98201614 -0.15652005 0.10557359 -4.6029046 ] [ 0. 0. 0. 1. ]] SLAMing on 101.27964924600002 meters Centerline goodness [0,1] 0.9193392230424785 Centerline is valid? [False, False] Translation: X:3.65, Y:-7.10, Z:-4.61 [[ 0.12012147 0.11535154 -0.98603492 3.65363852] [ 0.15005893 0.97970512 0.13289163 -7.10492452] [ 0.98135271 -0.16392648 0.10037409 -4.61368812] [ 0. 0. 0. 1. ]] SLAMing on 101.309649246 meters Centerline goodness [0,1] 0.9211608222490931 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.10, Z:-4.64 [[ 0.12001069 0.10693336 -0.9869968 3.65673319] [ 0.15696011 0.97963426 0.12522074 -7.1025826 ] [ 0.98028616 -0.16994696 0.10078231 -4.63690825] [ 0. 0. 0. 1. ]] SLAMing on 101.33964924600001 meters Centerline goodness [0,1] 0.9213758470474347 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.10, Z:-4.65 [[ 0.11538678 0.10439529 -0.98781958 3.65688805] [ 0.16563915 0.97851601 0.1227603 -7.09889194] [ 0.97941287 -0.17778652 0.09561587 -4.64780153] [ 0. 0. 0. 1. ]] SLAMing on 101.36964924600001 meters Centerline goodness [0,1] 0.921732292989778 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.09, Z:-4.66 [[ 0.11410281 0.09542573 -0.98887536 3.66122961] [ 0.17608133 0.97767476 0.11466228 -7.09278623] [ 0.97774021 -0.18720578 0.09475275 -4.66407502] [ 0. 0. 0. 1. ]] SLAMing on 101.39964924600001 meters Centerline goodness [0,1] 0.9185128983308043 Centerline is valid? [False, False] Translation: X:3.66, Y:-7.09, Z:-4.66 [[ 0.11481523 0.08395721 -0.98983264 3.66452554] [ 0.18442694 0.97729782 0.10428654 -7.08811592] [ 0.97611688 -0.19452549 0.09672471 -4.66450376] [ 0. 0. 0. 1. ]] SLAMing on 101.42964924600001 meters Centerline goodness [0,1] 0.9206813541761891 Centerline is valid? [False, False] Translation: X:3.67, Y:-7.08, Z:-4.66 [[ 0.11388434 0.0700167 -0.99102372 3.67176881] [ 0.19390393 0.97676357 0.09129185 -7.07996084] [ 0.97438782 -0.20256011 0.09766156 -4.66192445] [ 0. 0. 0. 1. ]] SLAMing on 101.45964924600001 meters Centerline goodness [0,1] 0.9217280504823736 Centerline is valid? [False, False] Translation: X:3.68, Y:-7.07, Z:-4.66 [[ 0.11368972 0.05993013 -0.99170713 3.68234563] [ 0.19894705 0.97658841 0.08182386 -7.0715253 ] [ 0.97339341 -0.20659974 0.09910514 -4.66094578] [ 0. 0. 0. 1. ]] SLAMing on 101.48964924600001 meters Centerline goodness [0,1] 0.9173833016505235 Centerline is valid? [False, False] Translation: X:3.69, Y:-7.06, Z:-4.65 [[ 0.11126283 0.05385585 -0.99233066 3.69416091] [ 0.20281655 0.97628434 0.07572533 -7.06048841] [ 0.97287514 -0.2096865 0.0977013 -4.65324676] [ 0. 0. 0. 1. ]] SLAMing on 101.51964924600001 meters Centerline goodness [0,1] 0.9201430632363549 Centerline is valid? [False, False] Translation: X:3.71, Y:-7.05, Z:-4.65 [[ 0.11534623 0.03775402 -0.99260762 3.70951976] [ 0.20006734 0.97791593 0.06044409 -7.05360203] [ 0.97296881 -0.20556036 0.10524557 -4.64637394] [ 0. 0. 0. 1. ]] SLAMing on 101.54964924600002 meters Centerline goodness [0,1] 0.920268972142171 Centerline is valid? [False, False] Translation: X:3.72, Y:-7.05, Z:-4.63 [[ 0.11767811 0.02355337 -0.99277243 3.72257859] [ 0.19882509 0.97891729 0.04679235 -7.04539353] [ 0.97294421 -0.20289451 0.11051413 -4.63300006] [ 0. 0. 0. 1. ]] SLAMing on 101.57964924600002 meters Centerline goodness [0,1] 0.9237817701135612 Centerline is valid? [False, False] Translation: X:3.73, Y:-7.04, Z:-4.61 [[ 0.11189784 0.00710768 -0.9936943 3.73092071] [ 0.19395369 0.98058624 0.02885464 -7.03732152] [ 0.97460805 -0.19595944 0.10834692 -4.60921856] [ 0. 0. 0. 1. ]] SLAMing on 101.60964924600002 meters Centerline goodness [0,1] 0.9221364414671513 Centerline is valid? [False, False] Translation: X:3.74, Y:-7.03, Z:-4.60 [[ 1.16866770e-01 -4.82938048e-03 -9.93135859e-01 3.74227759e+00] [ 1.91472424e-01 9.81337309e-01 1.77594157e-02 -7.03197934e+00] [ 9.74515505e-01 -1.92233616e-01 1.15610415e-01 -4.59923718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.63964924600002 meters Centerline goodness [0,1] 0.9224855092050335 Centerline is valid? [False, False] Translation: X:3.75, Y:-7.03, Z:-4.59 [[ 0.12145149 -0.01577776 -0.99247196 3.75310114] [ 0.18863792 0.98201828 0.00747256 -7.02615802] [ 0.97450771 -0.1881254 0.12224387 -4.58858345] [ 0. 0. 0. 1. ]] SLAMing on 101.66964924600002 meters Centerline goodness [0,1] 0.9200561009817672 Centerline is valid? [False, False] Translation: X:3.76, Y:-7.02, Z:-4.57 [[ 1.23825596e-01 -2.31285503e-02 -9.92034421e-01 3.76467973e+00] [ 1.85335986e-01 9.82675187e-01 2.23264737e-04 -7.01685484e+00] [ 9.74842446e-01 -1.83887323e-01 1.25966893e-01 -4.57063401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 101.699649246 meters Centerline goodness [0,1] 0.9200083231770756 Centerline is valid? [False, False] Translation: X:3.78, Y:-7.01, Z:-4.56 [[ 0.12875194 -0.03437289 -0.99108095 3.77583769] [ 0.1827174 0.9831109 -0.01035954 -7.01032458] [ 0.97469856 -0.17975392 0.13285796 -4.56066925] [ 0. 0. 0. 1. ]] SLAMing on 101.72964924600001 meters Centerline goodness [0,1] 0.9222080578696155 Centerline is valid? [False, False] Translation: X:3.78, Y:-7.00, Z:-4.55 [[ 0.13185029 -0.04247318 -0.99035929 3.78401082] [ 0.18030804 0.98344233 -0.01817144 -7.00292267] [ 0.97473305 -0.17617383 0.13732542 -4.54503734] [ 0. 0. 0. 1. ]] SLAMing on 101.75964924600001 meters Centerline goodness [0,1] 0.9236327026146693 Centerline is valid? [False, False] Translation: X:3.79, Y:-7.00, Z:-4.53 [[ 0.13458276 -0.04925595 -0.98967739 3.79176198] [ 0.17727001 0.98384823 -0.02485951 -6.99642343] [ 0.97491683 -0.17209446 0.14114062 -4.52821426] [ 0. 0. 0. 1. ]] SLAMing on 101.78964924600001 meters Centerline goodness [0,1] 0.9247381811727117 Centerline is valid? [False, False] Translation: X:3.80, Y:-6.99, Z:-4.52 [[ 0.13984447 -0.06011001 -0.98834726 3.80257141] [ 0.17527598 0.98389563 -0.03503889 -6.98994182] [ 0.97453674 -0.16833354 0.1481282 -4.51770921] [ 0. 0. 0. 1. ]] SLAMing on 101.81964924600001 meters Centerline goodness [0,1] 0.9237233164288241 Centerline is valid? [False, False] Translation: X:3.81, Y:-6.98, Z:-4.50 [[ 0.14270509 -0.06584425 -0.98757268 3.81203947] [ 0.17209227 0.98423744 -0.0407544 -6.98296976] [ 0.97468944 -0.16413776 0.15178698 -4.49973544] [ 0. 0. 0. 1. ]] SLAMing on 101.84964924600001 meters Centerline goodness [0,1] 0.9244225493377386 Centerline is valid? [False, False] Translation: X:3.82, Y:-6.98, Z:-4.49 [[ 0.14796696 -0.07643296 -0.98603437 3.82246393] [ 0.16966332 0.98419037 -0.05082989 -6.97718125] [ 0.97433061 -0.15977272 0.15859553 -4.49007968] [ 0. 0. 0. 1. ]] SLAMing on 101.87964924600001 meters Centerline goodness [0,1] 0.9226262328867952 Centerline is valid? [False, False] Translation: X:3.83, Y:-6.97, Z:-4.47 [[ 0.15136092 -0.08298671 -0.98498887 3.83053137] [ 0.16639941 0.98438833 -0.05736591 -6.97163897] [ 0.97437216 -0.15521861 0.16280686 -4.47447039] [ 0. 0. 0. 1. ]] SLAMing on 101.90964924600001 meters Centerline goodness [0,1] 0.9254205387601458 Centerline is valid? [False, False] Translation: X:3.84, Y:-6.97, Z:-4.46 [[ 0.1567956 -0.09085288 -0.98344339 3.83839475] [ 0.16318801 0.98445617 -0.06492851 -6.96764584] [ 0.97405586 -0.15030567 0.1691845 -4.46412241] [ 0. 0. 0. 1. ]] SLAMing on 101.93964924600002 meters Centerline goodness [0,1] 0.9270778422069935 Centerline is valid? [False, False] Translation: X:3.85, Y:-6.96, Z:-4.45 [[ 0.16081704 -0.09634834 -0.98227027 3.84602434] [ 0.15858712 0.98481518 -0.07063413 -6.96222615] [ 0.97416015 -0.14441624 0.17365467 -4.45009272] [ 0. 0. 0. 1. ]] SLAMing on 101.96964924600002 meters Centerline goodness [0,1] 0.9279526295831754 Centerline is valid? [False, False] Translation: X:3.85, Y:-6.96, Z:-4.44 [[ 0.16623139 -0.10282281 -0.98071127 3.85478052] [ 0.15450725 0.9849802 -0.07708128 -6.9571787 ] [ 0.97390689 -0.13871367 0.17962149 -4.43881168] [ 0. 0. 0. 1. ]] SLAMing on 101.99964924600002 meters Centerline goodness [0,1] 0.92725361980383 Centerline is valid? [False, False] Translation: X:3.86, Y:-6.95, Z:-4.42 [[ 0.17038562 -0.10955961 -0.9792678 3.86328157] [ 0.15265585 0.98473626 -0.08361039 -6.95086027] [ 0.97348083 -0.13524495 0.18450981 -4.42301102] [ 0. 0. 0. 1. ]] SLAMing on 102.02964924600002 meters Centerline goodness [0,1] 0.9297216873796604 Centerline is valid? [False, False] Translation: X:3.86, Y:-6.95, Z:-4.41 [[ 0.16672299 -0.10404268 -0.98049914 3.85997092] [ 0.15398622 0.98496306 -0.07833271 -6.95015179] [ 0.97390538 -0.13792349 0.18023712 -4.41056109] [ 0. 0. 0. 1. ]] SLAMing on 102.059649246 meters Centerline goodness [0,1] 0.9291816087932593 Centerline is valid? [False, False] Translation: X:3.86, Y:-6.94, Z:-4.39 [[ 0.1683139 -0.09795737 -0.98085411 3.86489793] [ 0.15825447 0.9848281 -0.07119789 -6.94492361] [ 0.97294705 -0.14324095 0.18126245 -4.39069462] [ 0. 0. 0. 1. ]] SLAMing on 102.08964924600001 meters Centerline goodness [0,1] 0.9264791690979111 Centerline is valid? [False, False] Translation: X:3.88, Y:-6.94, Z:-4.38 [[ 0.17337259 -0.10633584 -0.97909889 3.87503649] [ 0.15541592 0.98465148 -0.07941882 -6.93916621] [ 0.97251624 -0.13839851 0.18723786 -4.37946709] [ 0. 0. 0. 1. ]] SLAMing on 102.11964924600001 meters Centerline goodness [0,1] 0.9259854483826666 Centerline is valid? [False, False] Translation: X:3.88, Y:-6.94, Z:-4.37 [[ 0.17039914 -0.10262355 -0.9800166 3.87729003] [ 0.15391351 0.98512645 -0.07639711 -6.93699555] [ 0.97328042 -0.13781979 0.18365985 -4.37060714] [ 0. 0. 0. 1. ]] SLAMing on 102.14964924600001 meters Centerline goodness [0,1] 0.9253552423834863 Centerline is valid? [False, False] Translation: X:3.88, Y:-6.94, Z:-4.36 [[ 0.16586051 -0.09711928 -0.98135525 3.87593252] [ 0.15346791 0.98555641 -0.07159718 -6.93917924] [ 0.97413443 -0.13873139 0.17836959 -4.35751183] [ 0. 0. 0. 1. ]] SLAMing on 102.17964924600001 meters Centerline goodness [0,1] 0.9253552423834863 Centerline is valid? [False, False] Translation: X:3.88, Y:-6.94, Z:-4.36 [[ 0.16586051 -0.09711928 -0.98135525 3.87593252] [ 0.15346791 0.98555641 -0.07159718 -6.93917924] [ 0.97413443 -0.13873139 0.17836959 -4.35751183] [ 0. 0. 0. 1. ]] SLAMing on 102.20964924600001 meters Centerline goodness [0,1] 0.9252235404126001 Centerline is valid? [False, False] Translation: X:3.88, Y:-6.94, Z:-4.35 [[ 0.17091284 -0.10523928 -0.97964968 3.88361866] [ 0.15158806 0.98525002 -0.07939436 -6.93652251] [ 0.97355527 -0.13493367 0.1843449 -4.34541078] [ 0. 0. 0. 1. ]] SLAMing on 102.23964924600001 meters Centerline goodness [0,1] 0.9288539865795411 Centerline is valid? [False, False] Translation: X:3.89, Y:-6.93, Z:-4.33 [[ 0.17467684 -0.11111154 -0.97833646 3.89049272] [ 0.1493512 0.98510544 -0.08521443 -6.93409315] [ 0.97323287 -0.13123074 0.18866974 -4.32913908] [ 0. 0. 0. 1. ]] SLAMing on 102.26964924600001 meters Centerline goodness [0,1] 0.9296982872587326 Centerline is valid? [False, False] Translation: X:3.90, Y:-6.93, Z:-4.32 [[ 0.17988274 -0.11699744 -0.97670559 3.8980227 ] [ 0.14686696 0.98496718 -0.09093815 -6.93169905] [ 0.97266248 -0.12708757 0.19436165 -4.31591453] [ 0. 0. 0. 1. ]] SLAMing on 102.29964924600002 meters Centerline goodness [0,1] 0.9282408089861139 Centerline is valid? [False, False] Translation: X:3.90, Y:-6.93, Z:-4.30 [[ 0.17562972 -0.11402949 -0.97782998 3.89838841] [ 0.14891689 0.98491656 -0.08810868 -6.93174736] [ 0.97312793 -0.13014089 0.18996154 -4.30229866] [ 0. 0. 0. 1. ]] SLAMing on 102.32964924600002 meters Centerline goodness [0,1] 0.9279702312394791 Centerline is valid? [False, False] Translation: X:3.90, Y:-6.93, Z:-4.30 [[ 0.17326931 -0.10906243 -0.97881721 3.89815981] [ 0.14674361 0.98561483 -0.08384342 -6.93432087] [ 0.97388093 -0.12910768 0.18678102 -4.29528364] [ 0. 0. 0. 1. ]] SLAMing on 102.35964924600002 meters Centerline goodness [0,1] 0.9262224848574383 Centerline is valid? [False, False] Translation: X:3.90, Y:-6.93, Z:-4.28 [[ 0.17094625 -0.10432885 -0.97974123 3.89845652] [ 0.14986801 0.98556087 -0.07879944 -6.93231466] [ 0.97381567 -0.1333614 0.18411349 -4.28050624] [ 0. 0. 0. 1. ]] SLAMing on 102.38964924600002 meters Centerline goodness [0,1] 0.9297076335199502 Centerline is valid? [False, False] Translation: X:3.90, Y:-6.93, Z:-4.27 [[ 0.16764012 -0.1040022 -0.98034705 3.89812275] [ 0.15161048 0.98531 -0.0786032 -6.93232865] [ 0.97412066 -0.13545384 0.18094532 -4.27247884] [ 0. 0. 0. 1. ]] SLAMing on 102.41964924600002 meters Centerline goodness [0,1] 0.9290429531393387 Centerline is valid? [False, False] Translation: X:3.91, Y:-6.93, Z:-4.25 [[ 0.17024794 -0.11258506 -0.97894854 3.90701365] [ 0.15205707 0.98455416 -0.08678565 -6.92899332] [ 0.97359863 -0.13408097 0.18473767 -4.25347105] [ 0. 0. 0. 1. ]] SLAMing on 102.449649246 meters Centerline goodness [0,1] 0.9300510446343779 Centerline is valid? [False, False] Translation: X:3.91, Y:-6.93, Z:-4.24 [[ 0.17498852 -0.11880033 -0.97737685 3.91419749] [ 0.14941358 0.98440062 -0.09290322 -6.92588145] [ 0.9731673 -0.12977638 0.19000919 -4.2401972 ] [ 0. 0. 0. 1. ]] SLAMing on 102.47964924600001 meters Centerline goodness [0,1] 0.9291144503177525 Centerline is valid? [False, False] Translation: X:3.91, Y:-6.93, Z:-4.23 [[ 0.1706742 -0.11343533 -0.97877615 3.91313712] [ 0.14898813 0.98490071 -0.08816532 -6.92644059] [ 0.97399839 -0.13077848 0.18499766 -4.22748271] [ 0. 0. 0. 1. ]] SLAMing on 102.50964924600001 meters Centerline goodness [0,1] 0.9290263063920962 Centerline is valid? [False, False] Translation: X:3.92, Y:-6.92, Z:-4.21 [[ 0.17514001 -0.12009807 -0.97719109 3.92139812] [ 0.14684806 0.98461627 -0.09469135 -6.92269889] [ 0.97353049 -0.12691438 0.19008187 -4.21313988] [ 0. 0. 0. 1. ]] SLAMing on 102.53964924600001 meters Centerline goodness [0,1] 0.9269859289576674 Centerline is valid? [False, False] Translation: X:3.92, Y:-6.92, Z:-4.19 [[ 0.17400418 -0.11068264 -0.97850493 3.92164329] [ 0.15109918 0.98489728 -0.08453626 -6.92071706] [ 0.97308355 -0.13314163 0.1881003 -4.19008175] [ 0. 0. 0. 1. ]] SLAMing on 102.56964924600001 meters Centerline goodness [0,1] 0.9281980824945492 Centerline is valid? [False, False] Translation: X:3.93, Y:-6.92, Z:-4.18 [[ 0.1850844 -0.11171606 -0.97635203 3.93186098] [ 0.15301882 0.98467561 -0.0836611 -6.91813041] [ 0.97073632 -0.13391587 0.19934276 -4.18363049] [ 0. 0. 0. 1. ]] SLAMing on 102.59964924600001 meters Centerline goodness [0,1] 0.9270313107449385 Centerline is valid? [False, False] Translation: X:3.93, Y:-6.92, Z:-4.16 [[ 0.18305523 -0.10464926 -0.97751691 3.93228145] [ 0.15749857 0.98459707 -0.07591318 -6.91504386] [ 0.97040455 -0.14006121 0.19671775 -4.16313251] [ 0. 0. 0. 1. ]] SLAMing on 102.62964924600001 meters Centerline goodness [0,1] 0.928907256011739 Centerline is valid? [False, False] Translation: X:3.94, Y:-6.91, Z:-4.15 [[ 0.1867406 -0.11260161 -0.97593485 3.94024631] [ 0.1577312 0.98395847 -0.08334623 -6.90972419] [ 0.96966428 -0.13837125 0.20150578 -4.14598308] [ 0. 0. 0. 1. ]] SLAMing on 102.65964924600001 meters Centerline goodness [0,1] 0.9278873577711729 Centerline is valid? [False, False] Translation: X:3.95, Y:-6.90, Z:-4.12 [[ 0.18975498 -0.1154313 -0.97502239 3.94860387] [ 0.15878232 0.98360062 -0.08554528 -6.90195835] [ 0.96890723 -0.13858367 0.20497157 -4.11871637] [ 0. 0. 0. 1. ]] SLAMing on 102.68964924600002 meters Centerline goodness [0,1] 0.9295572253989163 Centerline is valid? [False, False] Translation: X:3.96, Y:-6.90, Z:-4.10 [[ 0.19359161 -0.1197326 -0.97374863 3.95618857] [ 0.1568918 0.9835299 -0.08974355 -6.89707049] [ 0.96845612 -0.13539958 0.2091882 -4.10067945] [ 0. 0. 0. 1. ]] SLAMing on 102.71964924600002 meters Centerline goodness [0,1] 0.9260100406406885 Centerline is valid? [False, False] Translation: X:3.95, Y:-6.89, Z:-4.08 [[ 0.18959177 -0.11027863 -0.97565034 3.95476305] [ 0.15829817 0.98410656 -0.08047339 -6.89439391] [ 0.96901839 -0.13918657 0.20403541 -4.08054306] [ 0. 0. 0. 1. ]] SLAMing on 102.74964924600002 meters Centerline goodness [0,1] 0.926306692889922 Centerline is valid? [False, False] Translation: X:3.96, Y:-6.89, Z:-4.07 [[ 0.19405647 -0.11718106 -0.97396647 3.96374365] [ 0.15622847 0.98386034 -0.08724392 -6.88950898] [ 0.96847032 -0.13523105 0.20923148 -4.06640135] [ 0. 0. 0. 1. ]] SLAMing on 102.77964924600002 meters Centerline goodness [0,1] 0.9261211363230302 Centerline is valid? [False, False] Translation: X:3.97, Y:-6.88, Z:-4.04 [[ 0.19632228 -0.12060017 -0.97309463 3.97099405] [ 0.15862653 0.98324145 -0.08985474 -6.8834044 ] [ 0.96762347 -0.13671814 0.21216259 -4.03889639] [ 0. 0. 0. 1. ]] SLAMing on 102.809649246 meters Centerline goodness [0,1] 0.9256136796949476 Centerline is valid? [False, False] Translation: X:3.98, Y:-6.88, Z:-4.02 [[ 0.20041292 -0.12719085 -0.97142017 3.97895653] [ 0.15738964 0.98283833 -0.09621493 -6.87872537] [ 0.96698664 -0.13360876 0.21699202 -4.02330168] [ 0. 0. 0. 1. ]] SLAMing on 102.83964924600001 meters Centerline goodness [0,1] 0.9226879257518518 Centerline is valid? [False, False] Translation: X:3.98, Y:-6.87, Z:-4.01 [[ 0.19608772 -0.12116606 -0.97307163 3.98278471] [ 0.15765312 0.98332287 -0.09067319 -6.87240528] [ 0.9678301 -0.13562788 0.21191975 -4.00624915] [ 0. 0. 0. 1. ]] SLAMing on 102.86964924600001 meters Centerline goodness [0,1] 0.9204906590632332 Centerline is valid? [False, False] Translation: X:3.98, Y:-6.87, Z:-4.00 [[ 0.19370833 -0.11678565 -0.97408326 3.98225722] [ 0.15623287 0.98389072 -0.08689268 -6.8717178 ] [ 0.9685393 -0.13535198 0.20883359 -3.9992152 ] [ 0. 0. 0. 1. ]] SLAMing on 102.89964924600001 meters Centerline goodness [0,1] 0.9214714090612196 Centerline is valid? [False, False] Translation: X:3.99, Y:-6.86, Z:-3.98 [[ 0.19738406 -0.12492443 -0.97233401 3.99044124] [ 0.15812232 0.98291732 -0.09418529 -6.86294741] [ 0.96748998 -0.13515703 0.21376556 -3.98014855] [ 0. 0. 0. 1. ]] SLAMing on 102.92964924600001 meters Centerline goodness [0,1] 0.9211156792570026 Centerline is valid? [False, False] Translation: X:3.99, Y:-6.86, Z:-3.97 [[ 0.19558143 -0.12044238 -0.97326334 3.99074267] [ 0.15576629 0.98364633 -0.09042539 -6.86330493] [ 0.96823797 -0.1339161 0.21114382 -3.97454741] [ 0. 0. 0. 1. ]] SLAMing on 102.95964924600001 meters Centerline goodness [0,1] 0.9215473183340187 Centerline is valid? [False, False] Translation: X:3.99, Y:-6.86, Z:-3.97 [[ 0.19274876 -0.11683952 -0.97426713 3.99092988] [ 0.15411522 0.98416758 -0.08753672 -6.85883776] [ 0.96906987 -0.1332768 0.20770383 -3.96708995] [ 0. 0. 0. 1. ]] SLAMing on 102.98964924600001 meters Centerline goodness [0,1] 0.9206455951580363 Centerline is valid? [False, False] Translation: X:3.99, Y:-6.86, Z:-3.96 [[ 0.19117147 -0.11225691 -0.97511633 3.99063468] [ 0.15120427 0.98494873 -0.08374525 -6.85803687] [ 0.96984057 -0.13143205 0.20526782 -3.96264435] [ 0. 0. 0. 1. ]] SLAMing on 103.01964924600001 meters Centerline goodness [0,1] 0.9209720236879723 Centerline is valid? [False, False] Translation: X:4.00, Y:-6.85, Z:-3.94 [[ 0.19435379 -0.1164093 -0.97399973 3.99884643] [ 0.1477585 0.98507841 -0.08824937 -6.85113854] [ 0.96973916 -0.12676514 0.20865418 -3.94476434] [ 0. 0. 0. 1. ]] SLAMing on 103.04964924600002 meters Centerline goodness [0,1] 0.9231555880204529 Centerline is valid? [False, False] Translation: X:4.00, Y:-6.85, Z:-3.94 [[ 0.19229343 -0.11113541 -0.97502418 3.99771279] [ 0.14486827 0.98589559 -0.08380376 -6.85228493] [ 0.97058561 -0.12513516 0.20568124 -3.93920105] [ 0. 0. 0. 1. ]] SLAMing on 103.07964924600002 meters Centerline goodness [0,1] 0.9226167897055819 Centerline is valid? [False, False] Translation: X:4.01, Y:-6.85, Z:-3.92 [[ 0.19598787 -0.11539116 -0.97379343 4.00530199] [ 0.14197898 0.98592758 -0.088254 -6.84620152] [ 0.97027353 -0.12096148 0.20961296 -3.92174596] [ 0. 0. 0. 1. ]] SLAMing on 103.10964924600002 meters Centerline goodness [0,1] 0.9229244402985075 Centerline is valid? [False, False] Translation: X:4.00, Y:-6.85, Z:-3.92 [[ 0.1935909 -0.10905842 -0.97500196 4.00224173] [ 0.1391708 0.98680527 -0.0827457 -6.84869627] [ 0.97116119 -0.11967299 0.20621426 -3.91529903] [ 0. 0. 0. 1. ]] SLAMing on 103.13964924600002 meters Centerline goodness [0,1] 0.924382940372707 Centerline is valid? [False, False] Translation: X:4.01, Y:-6.85, Z:-3.90 [[ 0.19664187 -0.11401536 -0.97382364 4.00794837] [ 0.13833853 0.98650629 -0.08756587 -6.84571189] [ 0.970667 -0.11749821 0.20976116 -3.89606688] [ 0. 0. 0. 1. ]] SLAMing on 103.16964924600002 meters Centerline goodness [0,1] 0.9251603498542273 Centerline is valid? [False, False] Translation: X:4.01, Y:-6.85, Z:-3.89 [[ 0.19373635 -0.10773173 -0.97512056 4.00514388] [ 0.13620989 0.98727946 -0.08201295 -6.84832095] [ 0.9715519 -0.11693218 0.20594605 -3.88800795] [ 0. 0. 0. 1. ]] SLAMing on 103.199649246 meters Centerline goodness [0,1] 0.9274240654205608 Centerline is valid? [False, False] Translation: X:4.01, Y:-6.85, Z:-3.88 [[ 0.19088368 -0.10804096 -0.9756488 4.00562653] [ 0.13803699 0.98700247 -0.08229159 -6.84714391] [ 0.97185864 -0.1189675 0.20331631 -3.88097479] [ 0. 0. 0. 1. ]] SLAMing on 103.22964924600001 meters Centerline goodness [0,1] 0.9238446454180935 Centerline is valid? [False, False] Translation: X:4.01, Y:-6.85, Z:-3.87 [[ 0.18793905 -0.10855842 -0.97616289 4.00640918] [ 0.13990658 0.98669717 -0.08279394 -6.84542931] [ 0.97216514 -0.1210114 0.20062696 -3.8738208 ] [ 0. 0. 0. 1. ]] SLAMing on 103.25964924600001 meters Centerline goodness [0,1] 0.9242651161424837 Centerline is valid? [False, False] Translation: X:4.00, Y:-6.85, Z:-3.87 [[ 0.18514586 -0.10243651 -0.97735754 4.00414726] [ 0.13790304 0.98741938 -0.07736741 -6.84795127] [ 0.97298703 -0.12045632 0.19694292 -3.86578545] [ 0. 0. 0. 1. ]] SLAMing on 103.28964924600001 meters Centerline goodness [0,1] 0.9215969357690041 Centerline is valid? [False, False] Translation: X:4.01, Y:-6.85, Z:-3.86 [[ 0.19611619 -0.10345156 -0.97510831 4.01312982] [ 0.14070617 0.98709731 -0.07642433 -6.84624658] [ 0.970433 -0.12221571 0.20814204 -3.8595801 ] [ 0. 0. 0. 1. ]] SLAMing on 103.31964924600001 meters Centerline goodness [0,1] 0.9226764479678163 Centerline is valid? [False, False] Translation: X:4.01, Y:-6.85, Z:-3.85 [[ 0.19163516 -0.10057304 -0.97629966 4.00853245] [ 0.14407565 0.98684231 -0.07337888 -6.84725008] [ 0.97083375 -0.12659903 0.20360381 -3.84675812] [ 0. 0. 0. 1. ]] SLAMing on 103.34964924600001 meters Centerline goodness [0,1] 0.9218217892149605 Centerline is valid? [False, False] Translation: X:4.01, Y:-6.85, Z:-3.83 [[ 0.1874097 -0.09502924 -0.97767431 4.00667587] [ 0.14537013 0.98703272 -0.06807297 -6.84803672] [ 0.97146545 -0.12936711 0.19879392 -3.8324756 ] [ 0. 0. 0. 1. ]] SLAMing on 103.37964924600001 meters Centerline goodness [0,1] 0.9201480384900074 Centerline is valid? [False, False] Translation: X:4.01, Y:-6.85, Z:-3.82 [[ 0.18448965 -0.08948493 -0.97875228 4.00509359] [ 0.14355935 0.98761936 -0.06323544 -6.84985339] [ 0.97229331 -0.12884276 0.19505194 -3.82433192] [ 0. 0. 0. 1. ]] SLAMing on 103.40964924600001 meters Centerline goodness [0,1] 0.925406817911866 Centerline is valid? [False, False] Translation: X:4.01, Y:-6.85, Z:-3.80 [[ 0.18682262 -0.09451705 -0.9778363 4.01235824] [ 0.14296147 0.98738082 -0.06812581 -6.84620513] [ 0.97193587 -0.12706547 0.19797737 -3.80271092] [ 0. 0. 0. 1. ]] SLAMing on 103.43964924600002 meters Centerline goodness [0,1] 0.9251540682961684 Centerline is valid? [False, False] Translation: X:4.02, Y:-6.84, Z:-3.79 [[ 0.19110884 -0.10106757 -0.97635176 4.02027594] [ 0.14117548 0.9871733 -0.0745544 -6.84215921] [ 0.97136342 -0.12358893 0.20292581 -3.7877104 ] [ 0. 0. 0. 1. ]] SLAMing on 103.46964924600002 meters Centerline goodness [0,1] 0.9235467628042785 Centerline is valid? [False, False] Translation: X:4.03, Y:-6.84, Z:-3.76 [[ 0.19347766 -0.1023502 -0.97575142 4.02554058] [ 0.14002094 0.98724353 -0.07579149 -6.83772121] [ 0.97106155 -0.12196168 0.20534074 -3.76341599] [ 0. 0. 0. 1. ]] SLAMing on 103.49964924600002 meters Centerline goodness [0,1] 0.9238645157449848 Centerline is valid? [False, False] Translation: X:4.02, Y:-6.84, Z:-3.75 [[ 0.19044494 -0.09663738 -0.97692985 4.02378882] [ 0.13827879 0.98786217 -0.07076241 -6.83836187] [ 0.97191034 -0.12161233 0.20149625 -3.75483802] [ 0. 0. 0. 1. ]] SLAMing on 103.52964924600002 meters Centerline goodness [0,1] 0.9260998810939358 Centerline is valid? [False, False] Translation: X:4.02, Y:-6.84, Z:-3.74 [[ 0.18682141 -0.09015014 -0.9782488 4.02210599] [ 0.13906795 0.98817963 -0.06450676 -6.83647815] [ 0.97250083 -0.12399182 0.19715011 -3.74063447] [ 0. 0. 0. 1. ]] SLAMing on 103.559649246 meters Centerline goodness [0,1] 0.9253126861226921 Centerline is valid? [False, False] Translation: X:4.02, Y:-6.84, Z:-3.73 [[ 0.18232215 -0.08467306 -0.97958619 4.02038096] [ 0.13941729 0.98844511 -0.05949023 -6.83601017] [ 0.9733044 -0.12572487 0.19202033 -3.72701178] [ 0. 0. 0. 1. ]] SLAMing on 103.58964924600001 meters Centerline goodness [0,1] 0.9251338497891305 Centerline is valid? [False, False] Translation: X:4.02, Y:-6.83, Z:-3.71 [[ 0.17708019 -0.08052028 -0.98089708 4.02043389] [ 0.14352331 0.98810617 -0.05520197 -6.83284127] [ 0.97367534 -0.13100642 0.18653057 -3.70743942] [ 0. 0. 0. 1. ]] SLAMing on 103.61964924600001 meters Centerline goodness [0,1] 0.9229985923507742 Centerline is valid? [False, False] Translation: X:4.03, Y:-6.83, Z:-3.69 [[ 0.18177977 -0.08883884 -0.97931802 4.03019213] [ 0.14320075 0.98768537 -0.06301714 -6.82744946] [ 0.97285644 -0.12878384 0.192263 -3.69205743] [ 0. 0. 0. 1. ]] SLAMing on 103.64964924600001 meters Centerline goodness [0,1] 0.9216574651944311 Centerline is valid? [False, False] Translation: X:4.04, Y:-6.82, Z:-3.67 [[ 0.1832279 -0.09228707 -0.97872909 4.0376498 ] [ 0.14388574 0.98737985 -0.06616592 -6.82292954] [ 0.97248364 -0.12870172 0.19419433 -3.66596507] [ 0. 0. 0. 1. ]] SLAMing on 103.67964924600001 meters Centerline goodness [0,1] 0.9215869100971517 Centerline is valid? [False, False] Translation: X:4.05, Y:-6.82, Z:-3.65 [[ 0.18789845 -0.09988185 -0.97709661 4.04539003] [ 0.14256286 0.98705413 -0.0734845 -6.81946586] [ 0.97178701 -0.12549006 0.19970539 -3.6522637 ] [ 0. 0. 0. 1. ]] SLAMing on 103.70964924600001 meters Centerline goodness [0,1] 0.9208524510987685 Centerline is valid? [False, False] Translation: X:4.05, Y:-6.82, Z:-3.63 [[ 0.18910693 -0.10219318 -0.97662435 4.05060705] [ 0.14267059 0.98687572 -0.07564011 -6.81707552] [ 0.97153676 -0.1250315 0.201205 -3.62667034] [ 0. 0. 0. 1. ]] SLAMing on 103.73964924600001 meters Centerline goodness [0,1] 0.9191873452876894 Centerline is valid? [False, False] Translation: X:4.05, Y:-6.82, Z:-3.62 [[ 0.18708597 -0.09690915 -0.97755177 4.04968037] [ 0.13988454 0.98760931 -0.07113479 -6.82037761] [ 0.97233284 -0.12343606 0.19832394 -3.62096711] [ 0. 0. 0. 1. ]] SLAMing on 103.76964924600001 meters Centerline goodness [0,1] 0.9157693590949073 Centerline is valid? [False, False] Translation: X:4.05, Y:-6.82, Z:-3.61 [[ 0.18296703 -0.09610931 -0.97840997 4.04840854] [ 0.14313647 0.9872097 -0.07020655 -6.82104297] [ 0.97264332 -0.12720066 0.19438357 -3.60985508] [ 0. 0. 0. 1. ]] SLAMing on 103.79964924600002 meters Centerline goodness [0,1] 0.9169351407209289 Centerline is valid? [False, False] Translation: X:4.05, Y:-6.82, Z:-3.61 [[ 0.18138525 -0.09626988 -0.97868866 4.04899749] [ 0.14401151 0.98706838 -0.0704038 -6.82128424] [ 0.9728104 -0.12817222 0.19290361 -3.60600421] [ 0. 0. 0. 1. ]] SLAMing on 103.82964924600002 meters Centerline goodness [0,1] 0.9149521567668368 Centerline is valid? [False, False] Translation: X:4.05, Y:-6.82, Z:-3.59 [[ 0.17708122 -0.09565469 -0.97953684 4.04789824] [ 0.1479785 0.98653942 -0.06958687 -6.82265887] [ 0.97300802 -0.13262787 0.18885244 -3.59374165] [ 0. 0. 0. 1. ]] SLAMing on 103.85964924600002 meters Centerline goodness [0,1] 0.9117485505035093 Centerline is valid? [False, False] Translation: X:4.05, Y:-6.82, Z:-3.59 [[ 0.17535628 -0.09605593 -0.97980786 4.04863351] [ 0.14927424 0.98631649 -0.06997838 -6.82206559] [ 0.97312249 -0.13398892 0.18729547 -3.58940035] [ 0. 0. 0. 1. ]] SLAMing on 103.88964924600002 meters Centerline goodness [0,1] 0.911997805279522 Centerline is valid? [False, False] Translation: X:4.05, Y:-6.82, Z:-3.58 [[ 0.1718607 -0.09541388 -0.98048972 4.05316171] [ 0.15116857 0.98606462 -0.06945949 -6.81889664] [ 0.97345363 -0.13628188 0.18388933 -3.57781131] [ 0. 0. 0. 1. ]] SLAMing on 103.91964924600002 meters Centerline goodness [0,1] 0.9100240626237398 Centerline is valid? [False, False] Translation: X:4.06, Y:-6.82, Z:-3.57 [[ 0.17029717 -0.09644535 -0.9806616 4.05511851] [ 0.15243793 0.98579685 -0.07047872 -6.81721894] [ 0.97353046 -0.1374877 0.18258034 -3.57371928] [ 0. 0. 0. 1. ]] SLAMing on 103.949649246 meters Centerline goodness [0,1] 0.9116831683168317 Centerline is valid? [False, False] Translation: X:4.06, Y:-6.82, Z:-3.57 [[ 0.16778425 -0.09802068 -0.98093853 4.05828194] [ 0.1543407 0.98538594 -0.07206594 -6.81510693] [ 0.97366698 -0.13930721 0.18046082 -3.56714659] [ 0. 0. 0. 1. ]] SLAMing on 103.97964924600001 meters Centerline goodness [0,1] 0.9096086493071418 Centerline is valid? [False, False] Translation: X:4.06, Y:-6.81, Z:-3.56 [[ 0.16481179 -0.09914322 -0.98132956 4.06083483] [ 0.15638642 0.98497623 -0.07324694 -6.8135864 ] [ 0.97384822 -0.14139466 0.17784035 -3.55946707] [ 0. 0. 0. 1. ]] SLAMing on 104.00964924600001 meters Centerline goodness [0,1] 0.909904987402483 Centerline is valid? [False, False] Translation: X:4.07, Y:-6.81, Z:-3.55 [[ 0.17053244 -0.10879351 -0.97932766 4.07060779] [ 0.15453249 0.98454024 -0.0824635 -6.80886093] [ 0.97315898 -0.13727524 0.18470819 -3.5494788 ] [ 0. 0. 0. 1. ]] SLAMing on 104.03964924600001 meters Centerline goodness [0,1] 0.9105745313353152 Centerline is valid? [False, False] Translation: X:4.08, Y:-6.81, Z:-3.54 [[ 0.17575296 -0.11613367 -0.97756016 4.07865596] [ 0.1520576 0.98430226 -0.0895966 -6.80507957] [ 0.97261986 -0.13289858 0.19065304 -3.53768009] [ 0. 0. 0. 1. ]] SLAMing on 104.06964924600001 meters Centerline goodness [0,1] 0.9105745313353152 Centerline is valid? [False, False] Translation: X:4.08, Y:-6.81, Z:-3.54 [[ 0.17575296 -0.11613367 -0.97756016 4.07865596] [ 0.1520576 0.98430226 -0.0895966 -6.80507957] [ 0.97261986 -0.13289858 0.19065304 -3.53768009] [ 0. 0. 0. 1. ]] SLAMing on 104.09964924600001 meters Centerline goodness [0,1] 0.909093664746893 Centerline is valid? [False, False] Translation: X:4.08, Y:-6.80, Z:-3.52 [[ 0.17591073 -0.110205 -0.97821791 4.08071826] [ 0.15581722 0.98430356 -0.08287034 -6.80066216] [ 0.9719961 -0.13784541 0.19032139 -3.52095563] [ 0. 0. 0. 1. ]] SLAMing on 104.12964924600001 meters Centerline goodness [0,1] 0.9105646630236794 Centerline is valid? [False, False] Translation: X:4.09, Y:-6.80, Z:-3.51 [[ 0.18125247 -0.11792583 -0.97634064 4.08968745] [ 0.15324575 0.98404386 -0.09040699 -6.79541627] [ 0.97142333 -0.13323356 0.19643202 -3.5095856 ] [ 0. 0. 0. 1. ]] SLAMing on 104.15964924600001 meters Centerline goodness [0,1] 0.9054127938764353 Centerline is valid? [False, False] Translation: X:4.10, Y:-6.79, Z:-3.49 [[ 0.18519521 -0.12401864 -0.97484466 4.09877777] [ 0.15090481 0.9838276 -0.09649344 -6.78899619] [ 0.97104607 -0.12923862 0.20091517 -3.49322412] [ 0. 0. 0. 1. ]] SLAMing on 104.18964924600002 meters Centerline goodness [0,1] 0.9093009820912767 Centerline is valid? [False, False] Translation: X:4.10, Y:-6.79, Z:-3.49 [[ 0.18359317 -0.12416655 -0.97512882 4.09801701] [ 0.15150858 0.98371118 -0.09673397 -6.78776919] [ 0.97125625 -0.12998069 0.19941495 -3.49014714] [ 0. 0. 0. 1. ]] SLAMing on 104.21964924600002 meters Centerline goodness [0,1] 0.9100513038462706 Centerline is valid? [False, False] Translation: X:4.09, Y:-6.79, Z:-3.47 [[ 0.17906504 -0.11767351 -0.97677462 4.09359173] [ 0.15369001 0.98397829 -0.09036647 -6.78529172] [ 0.97175876 -0.13393903 0.19428136 -3.47324714] [ 0. 0. 0. 1. ]] SLAMing on 104.24964924600002 meters Centerline goodness [0,1] 0.9071305608408082 Centerline is valid? [False, False] Translation: X:4.09, Y:-6.78, Z:-3.47 [[ 0.17646551 -0.11366277 -0.9777222 4.09397312] [ 0.15207365 0.98453205 -0.08700722 -6.78266815] [ 0.97248832 -0.13333201 0.19102106 -3.46568074] [ 0. 0. 0. 1. ]] SLAMing on 104.27964924600002 meters Centerline goodness [0,1] 0.9082463654461 Centerline is valid? [False, False] Translation: X:4.10, Y:-6.78, Z:-3.45 [[ 0.1817343 -0.12066258 -0.97591659 4.10286052] [ 0.14906884 0.98435389 -0.09394631 -6.77749241] [ 0.97198309 -0.12840548 0.19687789 -3.45370146] [ 0. 0. 0. 1. ]] SLAMing on 104.309649246 meters Centerline goodness [0,1] 0.9101953454720849 Centerline is valid? [False, False] Translation: X:4.11, Y:-6.77, Z:-3.44 [[ 0.18701677 -0.12752733 -0.97404389 4.11087317] [ 0.14641246 0.9840817 -0.10073029 -6.77219733] [ 0.97138464 -0.12377391 0.20271137 -3.44158919] [ 0. 0. 0. 1. ]] SLAMing on 104.33964924600001 meters Centerline goodness [0,1] 0.9093802546240692 Centerline is valid? [False, False] Translation: X:4.12, Y:-6.76, Z:-3.42 [[ 0.19066386 -0.13115636 -0.9728542 4.11834902] [ 0.14289523 0.9841866 -0.10467897 -6.7647676 ] [ 0.97119938 -0.11905773 0.20639044 -3.42378554] [ 0. 0. 0. 1. ]] SLAMing on 104.36964924600001 meters Centerline goodness [0,1] 0.9092436974789916 Centerline is valid? [False, False] Translation: X:4.13, Y:-6.76, Z:-3.41 [[ 0.19610173 -0.13717265 -0.9709417 4.12672579] [ 0.13960247 0.98398682 -0.11082004 -6.75915159] [ 0.97059531 -0.11381386 0.21211116 -3.41165074] [ 0. 0. 0. 1. ]] SLAMing on 104.39964924600001 meters Centerline goodness [0,1] 0.9143951407797493 Centerline is valid? [False, False] Translation: X:4.12, Y:-6.76, Z:-3.40 [[ 0.19253219 -0.1306614 -0.9725528 4.12154324] [ 0.13843266 0.98480048 -0.10490192 -6.75882284] [ 0.9714771 -0.11443608 0.2076936 -3.40139687] [ 0. 0. 0. 1. ]] SLAMing on 104.42964924600001 meters Centerline goodness [0,1] 0.9090773365183636 Centerline is valid? [False, False] Translation: X:4.12, Y:-6.76, Z:-3.39 [[ 0.18858453 -0.12560112 -0.97399191 4.11948061] [ 0.13929205 0.98518163 -0.10007433 -6.7576691 ] [ 0.97212839 -0.11679686 0.20328525 -3.38853203] [ 0. 0. 0. 1. ]] SLAMing on 104.45964924600001 meters Centerline goodness [0,1] 0.9102093224640927 Centerline is valid? [False, False] Translation: X:4.12, Y:-6.76, Z:-3.38 [[ 0.18631956 -0.11978589 -0.97515966 4.11743749] [ 0.1370921 0.9859996 -0.09492385 -6.75973909] [ 0.97287758 -0.11600051 0.20013271 -3.3817044 ] [ 0. 0. 0. 1. ]] SLAMing on 104.48964924600001 meters Centerline goodness [0,1] 0.907608533046106 Centerline is valid? [False, False] Translation: X:4.12, Y:-6.76, Z:-3.37 [[ 0.18255017 -0.1143808 -0.97652059 4.11590575] [ 0.13755668 0.98641253 -0.08982469 -6.76056434] [ 0.97352637 -0.11792942 0.19580361 -3.36917434] [ 0. 0. 0. 1. ]] SLAMing on 104.51964924600001 meters Centerline goodness [0,1] 0.9080899952130206 Centerline is valid? [False, False] Translation: X:4.11, Y:-6.76, Z:-3.36 [[ 0.18001675 -0.10838653 -0.97767394 4.11390393] [ 0.13536292 0.98718477 -0.08451687 -6.76331607] [ 0.97430532 -0.11712635 0.19238131 -3.36175141] [ 0. 0. 0. 1. ]] SLAMing on 104.54964924600002 meters Centerline goodness [0,1] 0.9071415700642681 Centerline is valid? [False, False] Translation: X:4.12, Y:-6.76, Z:-3.35 [[ 0.18701036 -0.10640133 -0.97657866 4.12050146] [ 0.1395271 0.98691547 -0.08080875 -6.76099698] [ 0.97239874 -0.12114711 0.19940929 -3.34673883] [ 0. 0. 0. 1. ]] SLAMing on 104.57964924600002 meters Centerline goodness [0,1] 0.9064394166716677 Centerline is valid? [False, False] Translation: X:4.12, Y:-6.76, Z:-3.34 [[ 0.18530875 -0.10073512 -0.97750351 4.11947827] [ 0.13636607 0.98774367 -0.07593902 -6.76370833] [ 0.97317263 -0.11922614 0.1967744 -3.34171787] [ 0. 0. 0. 1. ]] SLAMing on 104.60964924600002 meters Centerline goodness [0,1] 0.9099226108344831 Centerline is valid? [False, False] Translation: X:4.12, Y:-6.77, Z:-3.34 [[ 0.18343079 -0.09560007 -0.97837302 4.11924324] [ 0.13342067 0.98847171 -0.0715724 -6.76566938] [ 0.97393638 -0.1174066 0.19407118 -3.3363143 ] [ 0. 0. 0. 1. ]] SLAMing on 104.63964924600002 meters Centerline goodness [0,1] 0.9118470570525365 Centerline is valid? [False, False] Translation: X:4.12, Y:-6.77, Z:-3.32 [[ 0.17955639 -0.09015268 -0.97960808 4.11827042] [ 0.13287197 0.98888954 -0.0666522 -6.76704651] [ 0.97473306 -0.11819463 0.1895402 -3.32456874] [ 0. 0. 0. 1. ]] SLAMing on 104.66964924600002 meters Centerline goodness [0,1] 0.9110482098226385 Centerline is valid? [False, False] Translation: X:4.12, Y:-6.77, Z:-3.31 [[ 0.17511699 -0.08482239 -0.98088695 4.11659844] [ 0.13451552 0.98900061 -0.06150907 -6.76693198] [ 0.97531514 -0.12117323 0.18460074 -3.30929563] [ 0. 0. 0. 1. ]] SLAMing on 104.699649246 meters Centerline goodness [0,1] 0.9095019896298082 Centerline is valid? [False, False] Translation: X:4.11, Y:-6.77, Z:-3.30 [[ 0.17226654 -0.07836133 -0.98192858 4.11367441] [ 0.13256182 0.98960744 -0.05571789 -6.76950521] [ 0.97608996 -0.12056792 0.18086397 -3.30121441] [ 0. 0. 0. 1. ]] SLAMing on 104.72964924600001 meters Centerline goodness [0,1] 0.9082435978644466 Centerline is valid? [False, False] Translation: X:4.12, Y:-6.77, Z:-3.28 [[ 0.17711479 -0.07274556 -0.98149806 4.11715307] [ 0.13786064 0.98926621 -0.04844387 -6.7677134 ] [ 0.97448694 -0.12672983 0.18524243 -3.28356356] [ 0. 0. 0. 1. ]] SLAMing on 104.75964924600001 meters Centerline goodness [0,1] 0.9079327791832309 Centerline is valid? [False, False] Translation: X:4.13, Y:-6.77, Z:-3.27 [[ 0.18217024 -0.08013815 -0.97999586 4.12515058] [ 0.13593776 0.98915498 -0.05561782 -6.76538345] [ 0.9738249 -0.12308653 0.1910884 -3.27071276] [ 0. 0. 0. 1. ]] SLAMing on 104.78964924600001 meters Centerline goodness [0,1] 0.9067554136674397 Centerline is valid? [False, False] Translation: X:4.13, Y:-6.76, Z:-3.25 [[ 0.18469616 -0.08201342 -0.97936772 4.13004753] [ 0.13476697 0.98921207 -0.05742248 -6.76352539] [ 0.97351178 -0.12138071 0.19375638 -3.24812258] [ 0. 0. 0. 1. ]] SLAMing on 104.81964924600001 meters Centerline goodness [0,1] 0.9020033791938209 Centerline is valid? [False, False] Translation: X:4.13, Y:-6.77, Z:-3.24 [[ 0.18086849 -0.07642457 -0.98053346 4.1283013 ] [ 0.13514341 0.98945053 -0.05219113 -6.76501047] [ 0.97417804 -0.1230729 0.1892887 -3.2356707 ] [ 0. 0. 0. 1. ]] SLAMing on 104.84964924600001 meters Centerline goodness [0,1] 0.9067817062869554 Centerline is valid? [False, False] Translation: X:4.13, Y:-6.77, Z:-3.23 [[ 0.17795814 -0.07106744 -0.98146845 4.12691836] [ 0.13389362 0.98986158 -0.04739783 -6.7672232 ] [ 0.97488635 -0.12297753 0.18566941 -3.22705279] [ 0. 0. 0. 1. ]] SLAMing on 104.87964924600001 meters Centerline goodness [0,1] 0.9082632629604984 Centerline is valid? [False, False] Translation: X:4.13, Y:-6.77, Z:-3.22 [[ 0.17574575 -0.06549104 -0.98225473 4.1255564 ] [ 0.13125691 0.99043473 -0.04255185 -6.77004471] [ 0.97564597 -0.12144941 0.18266085 -3.22106439] [ 0. 0. 0. 1. ]] SLAMing on 104.90964924600001 meters Centerline goodness [0,1] 0.9072037227291956 Centerline is valid? [False, False] Translation: X:4.14, Y:-6.77, Z:-3.20 [[ 0.17835692 -0.07146422 -0.98136725 4.13537201] [ 0.12843322 0.99051733 -0.04878866 -6.76573131] [ 0.97554791 -0.11733836 0.18584399 -3.20309589] [ 0. 0. 0. 1. ]] SLAMing on 104.93964924600002 meters Centerline goodness [0,1] 0.9083614864864865 Centerline is valid? [False, False] Translation: X:4.14, Y:-6.77, Z:-3.20 [[ 0.17664159 -0.0668587 -0.98200186 4.13567423] [ 0.12564027 0.9910604 -0.04487539 -6.76686982] [ 0.97622347 -0.11545212 0.18346263 -3.19828754] [ 0. 0. 0. 1. ]] SLAMing on 104.96964924600002 meters Centerline goodness [0,1] 0.9056144672414311 Centerline is valid? [False, False] Translation: X:4.14, Y:-6.77, Z:-3.19 [[ 0.17448784 -0.06311523 -0.98263445 4.13762175] [ 0.12366372 0.9914467 -0.04172209 -6.76581717] [ 0.97686298 -0.11423623 0.18080046 -3.19168339] [ 0. 0. 0. 1. ]] SLAMing on 104.99964924600002 meters Centerline goodness [0,1] 0.9033684210526316 Centerline is valid? [False, False] Translation: X:4.15, Y:-6.76, Z:-3.18 [[ 0.17980111 -0.07160001 -0.98109378 4.14696082] [ 0.12082827 0.99140286 -0.05020865 -6.76206283] [ 0.97625411 -0.10951629 0.18690664 -3.18127615] [ 0. 0. 0. 1. ]] SLAMing on 105.02964924600002 meters Centerline goodness [0,1] 0.9056632207118961 Centerline is valid? [False, False] Translation: X:4.16, Y:-6.76, Z:-3.16 [[ 0.18312047 -0.07739261 -0.98003943 4.15585969] [ 0.11789051 0.99143136 -0.05626436 -6.7588583 ] [ 0.97599627 -0.1052342 0.19067523 -3.16458926] [ 0. 0. 0. 1. ]] SLAMing on 105.05964924600002 meters Centerline goodness [0,1] 0.905622369212267 Centerline is valid? [False, False] Translation: X:4.16, Y:-6.76, Z:-3.15 [[ 0.18707586 -0.08212983 -0.97890618 4.1638277 ] [ 0.1150175 0.99147621 -0.0612038 -6.75558191] [ 0.97558885 -0.10114159 0.19492763 -3.1476199 ] [ 0. 0. 0. 1. ]] SLAMing on 105.08964924600001 meters Centerline goodness [0,1] 0.9060039665845303 Centerline is valid? [False, False] Translation: X:4.17, Y:-6.75, Z:-3.14 [[ 0.19242678 -0.08894643 -0.97727195 4.17217718] [ 0.1122396 0.99134303 -0.06812691 -6.75230303] [ 0.97487138 -0.09657917 0.20074426 -3.13551051] [ 0. 0. 0. 1. ]] SLAMing on 105.11964924600001 meters Centerline goodness [0,1] 0.9078182145212543 Centerline is valid? [False, False] Translation: X:4.17, Y:-6.75, Z:-3.13 [[ 0.18948355 -0.08370088 -0.97830984 4.17127667] [ 0.11066758 0.99183173 -0.06342316 -6.75304324] [ 0.97562732 -0.09624953 0.19719877 -3.12676055] [ 0. 0. 0. 1. ]] SLAMing on 105.14964924600001 meters Centerline goodness [0,1] 0.9045288005285603 Centerline is valid? [False, False] Translation: X:4.17, Y:-6.75, Z:-3.12 [[ 0.18836127 -0.08441094 -0.97846555 4.17256744] [ 0.11155854 0.99168995 -0.06407602 -6.7514636 ] [ 0.97574317 -0.09708674 0.19621274 -3.12380019] [ 0. 0. 0. 1. ]] SLAMing on 105.17964924600001 meters Centerline goodness [0,1] 0.9057340138096668 Centerline is valid? [False, False] Translation: X:4.17, Y:-6.75, Z:-3.11 [[ 0.18479553 -0.0798473 -0.97952796 4.17217937] [ 0.11146353 0.99196569 -0.05983272 -6.75159365] [ 0.97643561 -0.09812482 0.19221089 -3.11256739] [ 0. 0. 0. 1. ]] SLAMing on 105.20964924600001 meters Centerline goodness [0,1] 0.90717795664888 Centerline is valid? [False, False] Translation: X:4.17, Y:-6.75, Z:-3.11 [[ 0.18301121 -0.07922896 -0.97991309 4.17095729] [ 0.11166592 0.99197199 -0.05934893 -6.7527283 ] [ 0.97674849 -0.09856138 0.19038917 -3.10882515] [ 0. 0. 0. 1. ]] SLAMing on 105.23964924600001 meters Centerline goodness [0,1] 0.9069150539579188 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.75, Z:-3.10 [[ 0.18837565 -0.08561725 -0.97835796 4.17750344] [ 0.10916105 0.99184522 -0.06577938 -6.75108738] [ 0.97601152 -0.09440735 0.19618555 -3.09666661] [ 0. 0. 0. 1. ]] SLAMing on 105.26964924600001 meters Centerline goodness [0,1] 0.9102417264452348 Centerline is valid? [False, False] Translation: X:4.17, Y:-6.75, Z:-3.09 [[ 0.18547764 -0.07841848 -0.97951447 4.17297331] [ 0.10722072 0.992474 -0.05915303 -6.75445344] [ 0.97678133 -0.09405269 0.19248982 -3.08822811] [ 0. 0. 0. 1. ]] SLAMing on 105.29964924600002 meters Centerline goodness [0,1] 0.9053098948894527 Centerline is valid? [False, False] Translation: X:4.17, Y:-6.75, Z:-3.07 [[ 0.18248038 -0.06985068 -0.98072514 4.16753842] [ 0.11005238 0.99265608 -0.05022335 -6.75414974] [ 0.9770309 -0.09876636 0.18882749 -3.0712728 ] [ 0. 0. 0. 1. ]] SLAMing on 105.32964924600002 meters Centerline goodness [0,1] 0.9066783671740248 Centerline is valid? [False, False] Translation: X:4.17, Y:-6.76, Z:-3.07 [[ 0.18096053 -0.06934995 -0.98104224 4.16677043] [ 0.11094733 0.99258276 -0.04970069 -6.75599255] [ 0.97721235 -0.09985015 0.1873125 -3.06766215] [ 0. 0. 0. 1. ]] SLAMing on 105.35964924600002 meters Centerline goodness [0,1] 0.8917904802251339 Centerline is valid? [False, False] Translation: X:4.16, Y:-6.76, Z:-3.06 [[ 0.17727991 -0.06237301 -0.98218198 4.16244815] [ 0.11125011 0.99286298 -0.04297111 -6.75741269] [ 0.97785237 -0.10164994 0.18295366 -3.05516828] [ 0. 0. 0. 1. ]] SLAMing on 105.38964924600002 meters Centerline goodness [0,1] 0.8983727542193455 Centerline is valid? [False, False] Translation: X:4.16, Y:-6.76, Z:-3.05 [[ 0.17495161 -0.05733043 -0.98290648 4.16155321] [ 0.10894804 0.99329988 -0.03854454 -6.758799 ] [ 0.97853066 -0.1003423 0.18002545 -3.04897055] [ 0. 0. 0. 1. ]] SLAMing on 105.41964924600002 meters Centerline goodness [0,1] 0.8963871435476075 Centerline is valid? [False, False] Translation: X:4.17, Y:-6.76, Z:-3.03 [[ 0.17848047 -0.06174848 -0.982004 4.17024414] [ 0.10673617 0.99335441 -0.04306276 -6.75534854] [ 0.97813706 -0.09712948 0.18388516 -3.02959114] [ 0. 0. 0. 1. ]] SLAMing on 105.449649246 meters Centerline goodness [0,1] 0.8994406651549509 Centerline is valid? [False, False] Translation: X:4.17, Y:-6.76, Z:-3.02 [[ 0.17506149 -0.05594883 -0.98296653 4.16810937] [ 0.1051811 0.9937333 -0.03782942 -6.75645335] [ 0.97892309 -0.09676703 0.1798492 -3.02016437] [ 0. 0. 0. 1. ]] SLAMing on 105.47964924600001 meters Centerline goodness [0,1] 0.8997492219838656 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.75, Z:-3.01 [[ 0.18585463 -0.05646171 -0.98095369 4.17808034] [ 0.10609157 0.99366428 -0.03709285 -6.75475058] [ 0.97683296 -0.09717704 0.19066722 -3.01224909] [ 0. 0. 0. 1. ]] SLAMing on 105.50964924600001 meters Centerline goodness [0,1] 0.903182146294514 Centerline is valid? [False, False] Translation: X:4.19, Y:-6.75, Z:-2.99 [[ 0.18846685 -0.06097381 -0.9801849 4.18642846] [ 0.10257461 0.993834 -0.04210015 -6.75194843] [ 0.97670809 -0.0926076 0.19355913 -2.99413282] [ 0. 0. 0. 1. ]] SLAMing on 105.53964924600001 meters Centerline goodness [0,1] 0.9051002589269586 Centerline is valid? [False, False] Translation: X:4.19, Y:-6.75, Z:-2.98 [[ 0.19337049 -0.06776785 -0.9787826 4.19436449] [ 0.09947144 0.99382542 -0.04915757 -6.74972508] [ 0.97607033 -0.0878553 0.19891747 -2.98205112] [ 0. 0. 0. 1. ]] SLAMing on 105.56964924600001 meters Centerline goodness [0,1] 0.9073918016011557 Centerline is valid? [False, False] Translation: X:4.19, Y:-6.75, Z:-2.98 [[ 0.1906393 -0.06142513 -0.9797365 4.19181579] [ 0.09656357 0.99437347 -0.04355325 -6.75271103] [ 0.97689925 -0.08630389 0.19549809 -2.97504866] [ 0. 0. 0. 1. ]] SLAMing on 105.59964924600001 meters Centerline goodness [0,1] 0.9073316077770421 Centerline is valid? [False, False] Translation: X:4.19, Y:-6.75, Z:-2.97 [[ 0.18914275 -0.05610046 -0.98034573 4.1915181 ] [ 0.09335499 0.99487188 -0.0389203 -6.75499086] [ 0.97750185 -0.08415867 0.19341006 -2.97078661] [ 0. 0. 0. 1. ]] SLAMing on 105.62964924600001 meters Centerline goodness [0,1] 0.9102120035831591 Centerline is valid? [False, False] Translation: X:4.19, Y:-6.75, Z:-2.97 [[ 0.18744392 -0.05157079 -0.9809206 4.19255896] [ 0.09057273 0.995274 -0.03501788 -6.75441424] [ 0.97809067 -0.08228077 0.19122897 -2.96567824] [ 0. 0. 0. 1. ]] SLAMing on 105.65964924600001 meters Centerline goodness [0,1] 0.8999850456108868 Centerline is valid? [False, False] Translation: X:4.20, Y:-6.75, Z:-2.95 [[ 0.19232445 -0.05675798 -0.97968864 4.20028418] [ 0.0865268 0.99541851 -0.04068306 -6.75225877] [ 0.97750929 -0.07694498 0.19635441 -2.95294756] [ 0. 0. 0. 1. ]] SLAMing on 105.68964924600002 meters Centerline goodness [0,1] 0.913719521294058 Centerline is valid? [False, False] Translation: X:4.20, Y:-6.75, Z:-2.94 [[ 0.19569195 -0.05957929 -0.97885391 4.2048318 ] [ 0.0828134 0.9955914 -0.04404203 -6.75067803] [ 0.97716253 -0.07244355 0.19976318 -2.93577585] [ 0. 0. 0. 1. ]] SLAMing on 105.71964924600002 meters Centerline goodness [0,1] 0.9086174384147984 Centerline is valid? [False, False] Translation: X:4.20, Y:-6.75, Z:-2.93 [[ 0.19396828 -0.05338341 -0.97955424 4.20208574] [ 0.07934237 0.99610081 -0.03857403 -6.75306046] [ 0.97779399 -0.07023802 0.19744753 -2.93178026] [ 0. 0. 0. 1. ]] SLAMing on 105.74964924600002 meters Centerline goodness [0,1] 0.915197288216229 Centerline is valid? [False, False] Translation: X:4.20, Y:-6.75, Z:-2.91 [[ 0.19132887 -0.04091537 -0.98067283 4.19689153] [ 0.07925327 0.99651241 -0.02611394 -6.75163075] [ 0.9783211 -0.07272518 0.19390428 -2.91373389] [ 0. 0. 0. 1. ]] SLAMing on 105.77964924600002 meters Centerline goodness [0,1] 0.910449091125104 Centerline is valid? [False, False] Translation: X:4.20, Y:-6.75, Z:-2.91 [[ 0.18996133 -0.03591967 -0.98113428 4.19658367] [ 0.0760111 0.99686909 -0.02177891 -6.75217111] [ 0.97884473 -0.07043995 0.19209687 -2.91021159] [ 0. 0. 0. 1. ]] SLAMing on 105.80964924600002 meters Centerline goodness [0,1] 0.9115130702507475 Centerline is valid? [False, False] Translation: X:4.20, Y:-6.75, Z:-2.89 [[ 0.19257163 -0.03497488 -0.98065943 4.2031983 ] [ 0.07116397 0.99723092 -0.02159146 -6.74927884] [ 0.97869906 -0.06562972 0.19452733 -2.88842703] [ 0. 0. 0. 1. ]] SLAMing on 105.83964924600001 meters Centerline goodness [0,1] 0.9128618411306332 Centerline is valid? [False, False] Translation: X:4.20, Y:-6.75, Z:-2.87 [[ 0.18842346 -0.02792396 -0.98169081 4.19798046] [ 0.07417329 0.9971453 -0.01412691 -6.74796795] [ 0.97928286 -0.0701534 0.18995678 -2.87118968] [ 0. 0. 0. 1. ]] SLAMing on 105.86964924600001 meters Centerline goodness [0,1] 0.9121737080902717 Centerline is valid? [False, False] Translation: X:4.20, Y:-6.75, Z:-2.86 [[ 0.18555297 -0.02309803 -0.98236275 4.19673976] [ 0.07295422 0.99728842 -0.00966906 -6.74896796] [ 0.97992233 -0.06987338 0.18673492 -2.86356905] [ 0. 0. 0. 1. ]] SLAMing on 105.89964924600001 meters Centerline goodness [0,1] 0.9121715280030672 Centerline is valid? [False, False] Translation: X:4.20, Y:-6.75, Z:-2.86 [[ 1.83583687e-01 -1.86216748e-02 -9.82827687e-01 4.19655252e+00] [ 7.03581964e-02 9.97505176e-01 -5.75746893e-03 -6.75014519e+00] [ 9.80482919e-01 -6.80930061e-02 1.84435865e-01 -2.85884860e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.92964924600001 meters Centerline goodness [0,1] 0.9114176695039624 Centerline is valid? [False, False] Translation: X:4.20, Y:-6.75, Z:-2.85 [[ 1.81197995e-01 -1.51549700e-02 -9.83329860e-01 4.19806804e+00] [ 6.85671120e-02 9.97642741e-01 -2.74071059e-03 -6.74743868e+00] [ 9.81053433e-01 -6.69274774e-02 1.81809997e-01 -2.85247782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.95964924600001 meters Centerline goodness [0,1] 0.9121347461832618 Centerline is valid? [False, False] Translation: X:4.20, Y:-6.75, Z:-2.85 [[ 1.79605860e-01 -1.08793658e-02 -9.83678491e-01 4.19874685e+00] [ 6.58115627e-02 9.97831588e-01 9.80368512e-04 -6.74643934e+00] [ 9.81534805e-01 -6.49134986e-02 1.79932388e-01 -2.84838270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.98964924600001 meters Centerline goodness [0,1] 0.9121347461832618 Centerline is valid? [False, False] Translation: X:4.20, Y:-6.75, Z:-2.85 [[ 1.79605860e-01 -1.08793658e-02 -9.83678491e-01 4.19874685e+00] [ 6.58115627e-02 9.97831588e-01 9.80368512e-04 -6.74643934e+00] [ 9.81534805e-01 -6.49134986e-02 1.79932388e-01 -2.84838270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.01964924600001 meters Centerline goodness [0,1] 0.9105086722052179 Centerline is valid? [False, False] Translation: X:4.20, Y:-6.74, Z:-2.84 [[ 1.84729701e-01 -1.25803255e-02 -9.82708844e-01 4.20495701e+00] [ 5.88875142e-02 9.98263160e-01 -1.70976642e-03 -6.74370320e+00] [ 9.81023546e-01 -5.75534364e-02 1.85149680e-01 -2.83596391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.04964924600002 meters Centerline goodness [0,1] 0.9146707022496435 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.74, Z:-2.82 [[ 0.18993873 -0.01720506 -0.98164518 4.2103481 ] [ 0.05462611 0.99848283 -0.00693055 -6.74238486] [ 0.9802751 -0.05230708 0.19059041 -2.82411866] [ 0. 0. 0. 1. ]] SLAMing on 106.07964924600002 meters Centerline goodness [0,1] 0.9205838908680164 Centerline is valid? [False, False] Translation: X:4.22, Y:-6.74, Z:-2.81 [[ 0.19345457 -0.01792859 -0.98094541 4.21515111] [ 0.0480422 0.99880671 -0.00878052 -6.74140579] [ 0.97993228 -0.04542815 0.19408505 -2.80861076] [ 0. 0. 0. 1. ]] SLAMing on 106.10964924600002 meters Centerline goodness [0,1] 0.9235021707670044 Centerline is valid? [False, False] Translation: X:4.22, Y:-6.74, Z:-2.79 [[ 0.19703474 -0.01872671 -0.98021764 4.22112618] [ 0.04071736 0.99911122 -0.01090302 -6.7406242 ] [ 0.97955061 -0.0377636 0.19762212 -2.79379139] [ 0. 0. 0. 1. ]] SLAMing on 106.13964924600002 meters Centerline goodness [0,1] 0.9267608890430359 Centerline is valid? [False, False] Translation: X:4.22, Y:-6.74, Z:-2.79 [[ 1.95417836e-01 -1.31540337e-02 -9.80631858e-01 4.21974578e+00] [ 3.69456048e-02 9.99299013e-01 -6.04200511e-03 -6.74252000e+00] [ 9.80023924e-01 -3.50493216e-02 1.95766834e-01 -2.79053452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.16964924600002 meters Centerline goodness [0,1] 0.9257977035370146 Centerline is valid? [False, False] Translation: X:4.22, Y:-6.74, Z:-2.79 [[ 1.93740129e-01 -7.42454464e-03 -9.81024790e-01 4.21814586e+00] [ 3.32839860e-02 9.99445444e-01 -9.90783910e-04 -6.74448957e+00] [ 9.80488112e-01 -3.24604608e-02 1.93879808e-01 -2.78711248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.199649246 meters Centerline goodness [0,1] 0.9309651667001695 Centerline is valid? [False, False] Translation: X:4.22, Y:-6.75, Z:-2.78 [[ 1.91785997e-01 -1.70821013e-03 -9.81435282e-01 4.21707690e+00] [ 2.96062396e-02 9.99553452e-01 4.04572255e-03 -6.74620677e+00] [ 9.80990113e-01 -2.98325211e-02 1.91750929e-01 -2.78289014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.22964924600001 meters Centerline goodness [0,1] 0.9307625899280576 Centerline is valid? [False, False] Translation: X:4.22, Y:-6.75, Z:-2.78 [[ 1.90026457e-01 3.59858827e-03 -9.81772375e-01 4.21695879e+00] [ 2.64673104e-02 9.99611061e-01 8.78684112e-03 -6.74908066e+00] [ 9.81422145e-01 -2.76546065e-02 1.89857304e-01 -2.77861989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.25964924600001 meters Centerline goodness [0,1] 0.9283136530299968 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.75, Z:-2.76 [[ 0.18651542 0.0124173 -0.98237356 4.21463174] [ 0.02820581 0.99944027 0.01798824 -6.75129579] [ 0.98204706 -0.03106372 0.18606079 -2.76067655] [ 0. 0. 0. 1. ]] SLAMing on 106.28964924600001 meters Centerline goodness [0,1] 0.9284969893469199 Centerline is valid? [False, False] Translation: X:4.22, Y:-6.75, Z:-2.74 [[ 0.1897345 0.00683493 -0.98181164 4.22131241] [ 0.02568416 0.99959901 0.01192221 -6.7530559 ] [ 0.98149944 -0.02747907 0.18948287 -2.74460346] [ 0. 0. 0. 1. ]] SLAMing on 106.31964924600001 meters Centerline goodness [0,1] 0.931666376256026 Centerline is valid? [False, False] Translation: X:4.22, Y:-6.75, Z:-2.74 [[ 0.18847807 0.00753355 -0.9820485 4.22020409] [ 0.02587644 0.99958531 0.01263437 -6.75491684] [ 0.98173644 -0.02779322 0.18820496 -2.7422221 ] [ 0. 0. 0. 1. ]] SLAMing on 106.34964924600001 meters Centerline goodness [0,1] 0.9324441867207887 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.76, Z:-2.73 [[ 0.185014 0.0157651 -0.98260943 4.2139168 ] [ 0.02463828 0.99948262 0.02067492 -6.75949649] [ 0.98242698 -0.02803496 0.18452985 -2.73256002] [ 0. 0. 0. 1. ]] SLAMing on 106.37964924600001 meters Centerline goodness [0,1] 0.9295337088438534 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.76, Z:-2.73 [[ 0.1826161 0.02181279 -0.9829423 4.21167267] [ 0.02173145 0.99942007 0.02621583 -6.76244452] [ 0.9829441 -0.0261482 0.18203617 -2.72744729] [ 0. 0. 0. 1. ]] SLAMing on 106.40964924600001 meters Centerline goodness [0,1] 0.9326600300960759 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.76, Z:-2.72 [[ 0.17902071 0.02769607 -0.98345539 4.2098861 ] [ 0.02024357 0.99928837 0.03182695 -6.76386972] [ 0.98363702 -0.02560633 0.17833265 -2.7183072 ] [ 0. 0. 0. 1. ]] SLAMing on 106.43964924600002 meters Centerline goodness [0,1] 0.9334085452283838 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.76, Z:-2.71 [[ 0.17526943 0.03365034 -0.98394526 4.20680927] [ 0.01932582 0.99910555 0.03761131 -6.76461085] [ 0.98433081 -0.02560767 0.17446234 -2.70882688] [ 0. 0. 0. 1. ]] SLAMing on 106.46964924600002 meters Centerline goodness [0,1] 0.9360619724823679 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.76, Z:-2.69 [[ 0.17882583 0.0317444 -0.9833685 4.21304747] [ 0.01236198 0.99932798 0.03450763 -6.76449986] [ 0.98380308 -0.01832724 0.17831323 -2.6946362 ] [ 0. 0. 0. 1. ]] SLAMing on 106.49964924600002 meters Centerline goodness [0,1] 0.9355834415116111 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.77, Z:-2.69 [[ 0.17593215 0.03653938 -0.98372392 4.21226396] [ 0.01033577 0.99918723 0.03896223 -6.76501035] [ 0.98434803 -0.01702225 0.17541149 -2.68802153] [ 0. 0. 0. 1. ]] SLAMing on 106.52964924600002 meters Centerline goodness [0,1] 0.9347461547357465 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.77, Z:-2.68 [[ 0.17211061 0.04276865 -0.98414876 4.20870701] [ 0.00993181 0.99893094 0.04514795 -6.76899019] [ 0.98502756 -0.01754482 0.17150184 -2.67778504] [ 0. 0. 0. 1. ]] SLAMing on 106.55964924600002 meters Centerline goodness [0,1] 0.9326650875267202 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.77, Z:-2.67 [[ 0.16961428 0.0471698 -0.98438103 4.21030617] [ 0.00761342 0.99876137 0.04917072 -6.77093427] [ 0.98548112 -0.01583456 0.16904507 -2.67141598] [ 0. 0. 0. 1. ]] SLAMing on 106.58964924600001 meters Centerline goodness [0,1] 0.931741500129769 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.77, Z:-2.67 [[ 1.67748081e-01 5.16732017e-02 -9.84474713e-01 4.21131750e+00] [ 4.68130809e-03 9.98572328e-01 5.32108230e-02 -6.77243695e+00] [ 9.85818780e-01 -1.35346429e-02 1.67266694e-01 -2.66706720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.61964924600001 meters Centerline goodness [0,1] 0.9280654264815988 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.78, Z:-2.66 [[ 1.65472230e-01 5.74264189e-02 -9.84541085e-01 4.21031380e+00] [ 1.08364982e-03 9.98292054e-01 5.84106164e-02 -6.77603463e+00] [ 9.86213855e-01 -1.07322327e-02 1.65127382e-01 -2.66267612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.64964924600001 meters Centerline goodness [0,1] 0.9287447287851656 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.78, Z:-2.66 [[ 1.64446852e-01 5.83119482e-02 -9.84660830e-01 4.20913670e+00] [ 9.83898353e-04 9.98240881e-01 5.92804829e-02 -6.77777505e+00] [ 9.86385455e-01 -1.07172950e-02 1.64100197e-01 -2.66091101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.67964924600001 meters Centerline goodness [0,1] 0.9321155627605373 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.78, Z:-2.66 [[ 1.62915744e-01 5.97129009e-02 -9.84831371e-01 4.20795360e+00] [ 1.19879426e-03 9.98154179e-01 6.07190081e-02 -6.78168672e+00] [ 9.86639257e-01 -1.10726926e-02 1.62543447e-01 -2.65758426e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.70964924600001 meters Centerline goodness [0,1] 0.9316675909979859 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.79, Z:-2.66 [[ 1.61787298e-01 6.06704984e-02 -9.84958863e-01 4.20674986e+00] [ 1.72981642e-03 9.98089318e-01 6.17634309e-02 -6.78567023e+00] [ 9.86824137e-01 -1.16963366e-02 1.61373225e-01 -2.65506480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.73964924600001 meters Centerline goodness [0,1] 0.9309319811155796 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.79, Z:-2.65 [[ 1.60681464e-01 6.12090157e-02 -9.85106554e-01 4.20656344e+00] [ 2.38626674e-03 9.98048221e-01 6.24023643e-02 -6.78801681e+00] [ 9.87003431e-01 -1.23776302e-02 1.60221788e-01 -2.65226887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.76964924600001 meters Centerline goodness [0,1] 0.9270417742314011 Centerline is valid? [False, False] Translation: X:4.20, Y:-6.79, Z:-2.65 [[ 1.58466925e-01 6.30728464e-02 -9.85347680e-01 4.20438094e+00] [ 3.56919302e-03 9.97914473e-01 6.44512659e-02 -6.79306488e+00] [ 9.87357835e-01 -1.37302900e-02 1.57911319e-01 -2.64691648e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.79964924600002 meters Centerline goodness [0,1] 0.9261719324026452 Centerline is valid? [False, False] Translation: X:4.20, Y:-6.80, Z:-2.64 [[ 1.56530085e-01 6.42254416e-02 -9.85582785e-01 4.20324598e+00] [ 4.50401694e-03 9.97826711e-01 6.57386435e-02 -6.79692003e+00] [ 9.87662921e-01 -1.47291570e-02 1.55900627e-01 -2.64229253e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.82964924600002 meters Centerline goodness [0,1] 0.9241039849092195 Centerline is valid? [False, False] Translation: X:4.20, Y:-6.80, Z:-2.64 [[ 1.55250838e-01 6.49595407e-02 -9.85737001e-01 4.20237644e+00] [ 4.96545514e-03 9.97771758e-01 6.65346701e-02 -6.79934412e+00] [ 9.87862603e-01 -1.52241961e-02 1.54582348e-01 -2.63956575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.85964924600002 meters Centerline goodness [0,1] 0.9245832230748875 Centerline is valid? [False, False] Translation: X:4.20, Y:-6.80, Z:-2.64 [[ 1.53282586e-01 6.95704400e-02 -9.85730391e-01 4.20332713e+00] [ 1.67810499e-03 9.97498906e-01 7.06619809e-02 -6.80218037e+00] [ 9.88180972e-01 -1.24854102e-02 1.52782465e-01 -2.63540682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.88964924600002 meters Centerline goodness [0,1] 0.9247972258140356 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.80, Z:-2.63 [[ 1.52840147e-01 6.87794594e-02 -9.85854591e-01 4.20562766e+00] [ 2.34271907e-03 9.97547158e-01 6.99584060e-02 -6.80084101e+00] [ 9.88248148e-01 -1.30020334e-02 1.52304123e-01 -2.63334044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.91964924600002 meters Centerline goodness [0,1] 0.9238571218580038 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.80, Z:-2.63 [[ 1.52194996e-01 6.87678923e-02 -9.85955202e-01 4.20654673e+00] [ 2.29054907e-03 9.97549262e-01 6.99301248e-02 -6.80045302e+00] [ 9.88347832e-01 -1.29013938e-02 1.51664489e-01 -2.63174765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.949649246 meters Centerline goodness [0,1] 0.9235247419952368 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.80, Z:-2.63 [[ 1.51724788e-01 6.93214509e-02 -9.85988907e-01 4.20601539e+00] [ 2.08176400e-03 9.97512997e-01 7.04520131e-02 -6.80093032e+00] [ 9.88420586e-01 -1.27419130e-02 1.51203137e-01 -2.63102262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.97964924600001 meters Centerline goodness [0,1] 0.9250891094942115 Centerline is valid? [False, False] Translation: X:4.20, Y:-6.80, Z:-2.63 [[ 1.50821892e-01 7.05987257e-02 -9.86036803e-01 4.20400704e+00] [ 1.51836925e-03 9.97428922e-01 7.16466302e-02 -6.80258154e+00] [ 9.88559787e-01 -1.23030483e-02 1.50326922e-01 -2.63000551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.00964924600001 meters Centerline goodness [0,1] 0.9255016010105461 Centerline is valid? [False, False] Translation: X:4.20, Y:-6.80, Z:-2.63 [[ 1.49949640e-01 7.12805375e-02 -9.86120779e-01 4.20289262e+00] [ 1.54861261e-03 9.97379564e-01 7.23298472e-02 -6.80357163e+00] [ 9.88692423e-01 -1.23729537e-02 1.49446321e-01 -2.62850074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.03964924600001 meters Centerline goodness [0,1] 0.9248638304136612 Centerline is valid? [False, False] Translation: X:4.20, Y:-6.80, Z:-2.63 [[ 1.49415328e-01 7.19604641e-02 -9.86152499e-01 4.20205723e+00] [ 1.31809620e-03 9.97332825e-01 7.29760122e-02 -6.80404382e+00] [ 9.88773646e-01 -1.22035786e-02 1.48921960e-01 -2.62765969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.06964924600001 meters Centerline goodness [0,1] 0.9256339354003648 Centerline is valid? [False, False] Translation: X:4.20, Y:-6.80, Z:-2.63 [[ 1.48918043e-01 7.26900644e-02 -9.86174209e-01 4.20111477e+00] [ 1.24920375e-03 9.97279875e-01 7.36972906e-02 -6.80480344e+00] [ 9.88848753e-01 -1.22067888e-02 1.48422163e-01 -2.62678511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.09964924600001 meters Centerline goodness [0,1] 0.9251170046801872 Centerline is valid? [False, False] Translation: X:4.20, Y:-6.81, Z:-2.63 [[ 1.48152905e-01 7.42257291e-02 -9.86175064e-01 4.19940242e+00] [ 7.86771440e-04 9.97170310e-01 7.51714969e-02 -6.80799204e+00] [ 9.88964154e-01 -1.19127700e-02 1.47675280e-01 -2.62562533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.12964924600001 meters Centerline goodness [0,1] 0.9245205196947824 Centerline is valid? [False, False] Translation: X:4.20, Y:-6.81, Z:-2.62 [[ 1.47645123e-01 7.52208824e-02 -9.86175814e-01 4.19805371e+00] [ 4.63001268e-04 9.97098303e-01 7.61233170e-02 -6.80938168e+00] [ 9.89040294e-01 -1.16958372e-02 1.47181875e-01 -2.62497973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.15964924600001 meters Centerline goodness [0,1] 0.9255272213888643 Centerline is valid? [False, False] Translation: X:4.19, Y:-6.81, Z:-2.63 [[ 1.47134171e-01 7.67549310e-02 -9.86133975e-01 4.19490912e+00] [-3.69781349e-04 9.96988813e-01 7.75446359e-02 -6.81076669e+00] [ 9.89116474e-01 -1.10448118e-02 1.46719505e-01 -2.62527499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.18964924600002 meters Centerline goodness [0,1] 0.9268947213211443 Centerline is valid? [False, False] Translation: X:4.19, Y:-6.81, Z:-2.63 [[ 1.46517391e-01 7.82054943e-02 -9.86111837e-01 4.19212503e+00] [-9.10632951e-04 9.96880204e-01 7.89241977e-02 -6.81283303e+00] [ 9.89207675e-01 -1.06657816e-02 1.46131503e-01 -2.62507220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.21964924600002 meters Centerline goodness [0,1] 0.9302010257619525 Centerline is valid? [False, False] Translation: X:4.19, Y:-6.81, Z:-2.62 [[ 1.46000605e-01 7.92826585e-02 -9.86102471e-01 4.18991596e+00] [-1.48652349e-03 9.96799960e-01 7.99226448e-02 -6.81379831e+00] [ 9.89283384e-01 -1.02028900e-02 1.45651253e-01 -2.62499466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.24964924600002 meters Centerline goodness [0,1] 0.9303293201133145 Centerline is valid? [False, False] Translation: X:4.19, Y:-6.82, Z:-2.62 [[ 1.44797468e-01 8.50066917e-02 -9.85803000e-01 4.18854481e+00] [-5.50078177e-03 9.96356483e-01 8.51087581e-02 -6.81623910e+00] [ 9.89446024e-01 -6.90084549e-03 1.44737499e-01 -2.62336758e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.27964924600002 meters Centerline goodness [0,1] 0.9297647058823529 Centerline is valid? [False, False] Translation: X:4.19, Y:-6.82, Z:-2.62 [[ 1.43329303e-01 9.06036976e-02 -9.85518991e-01 4.18725658e+00] [-9.19782359e-03 9.95879522e-01 9.02185044e-02 -6.81873559e+00] [ 9.89632311e-01 -3.86632549e-03 1.43572074e-01 -2.62099555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.30964924600002 meters Centerline goodness [0,1] 0.929629520987944 Centerline is valid? [False, False] Translation: X:4.19, Y:-6.82, Z:-2.62 [[ 1.41950639e-01 9.56290074e-02 -9.85243680e-01 4.18760191e+00] [-1.26408440e-02 9.95416541e-01 9.47951473e-02 -6.82067112e+00] [ 9.89793021e-01 -1.00192001e-03 1.42508845e-01 -2.61816848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.33964924600001 meters Centerline goodness [0,1] 0.9271332412333558 Centerline is valid? [False, False] Translation: X:4.19, Y:-6.82, Z:-2.62 [[ 1.41583092e-01 9.62721733e-02 -9.85233930e-01 4.18686316e+00] [-1.29594779e-02 9.95354772e-01 9.53987894e-02 -6.82136339e+00] [ 9.89841543e-01 -7.38738153e-04 1.42173043e-01 -2.61778851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.36964924600001 meters Centerline goodness [0,1] 0.9271688892814036 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.82, Z:-2.62 [[ 1.41077926e-01 9.73648041e-02 -9.85199022e-01 4.18495775e+00] [-1.34780411e-02 9.95248707e-01 9.64279695e-02 -6.82268298e+00] [ 9.89906744e-01 -3.25305045e-04 1.41719910e-01 -2.61762989e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.39964924600001 meters Centerline goodness [0,1] 0.9291371036594341 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.83, Z:-2.62 [[ 1.40512592e-01 9.90826733e-02 -9.85108540e-01 4.18204090e+00] [-1.44272248e-02 9.95079108e-01 9.80276665e-02 -6.82537268e+00] [ 9.89973771e-01 4.38260894e-04 1.41250632e-01 -2.61784358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.42964924600001 meters Centerline goodness [0,1] 0.929467406950442 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.83, Z:-2.62 [[ 1.40227581e-01 9.91498702e-02 -9.85142390e-01 4.18250898e+00] [-1.44722105e-02 9.95072385e-01 9.80892668e-02 -6.82554437e+00] [ 9.90013526e-01 5.02367437e-04 1.40971511e-01 -2.61714737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.45964924600001 meters Centerline goodness [0,1] 0.9270349691448722 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.83, Z:-2.61 [[ 1.38965595e-01 1.04121604e-01 -9.84808233e-01 4.18302183e+00] [-1.77998090e-02 9.94559212e-01 1.02640835e-01 -6.82850065e+00] [ 9.90137228e-01 3.26585361e-03 1.40062858e-01 -2.61438977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.48964924600001 meters Centerline goodness [0,1] 0.9276538201487492 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.83, Z:-2.61 [[ 1.38501973e-01 1.04290326e-01 -9.84855691e-01 4.18311210e+00] [-1.77740878e-02 9.94541538e-01 1.02816398e-01 -6.82884686e+00] [ 9.90202649e-01 3.26463748e-03 1.39599630e-01 -2.61341434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.51964924600001 meters Centerline goodness [0,1] 0.9255722387094878 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.83, Z:-2.61 [[ 1.37865915e-01 1.04842188e-01 -9.84886341e-01 4.18250571e+00] [-1.81103680e-02 9.94482388e-01 1.03328580e-01 -6.82987201e+00] [ 9.90285314e-01 3.59116490e-03 1.39003955e-01 -2.61259162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.54964924600002 meters Centerline goodness [0,1] 0.9283339707569651 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.83, Z:-2.61 [[ 1.37482439e-01 1.05069560e-01 -9.84915716e-01 4.18247359e+00] [-1.81034532e-02 9.94458386e-01 1.03560535e-01 -6.83021508e+00] [ 9.90338752e-01 3.59262074e-03 1.38622686e-01 -2.61175679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.57964924600002 meters Centerline goodness [0,1] 0.9295555359713287 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.83, Z:-2.61 [[ 1.37045494e-01 1.05554461e-01 -9.84924763e-01 4.18207821e+00] [-1.83051786e-02 9.94406365e-01 1.04023565e-01 -6.83067574e+00] [ 9.90395604e-01 3.77326281e-03 1.38211104e-01 -2.61106172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.60964924600002 meters Centerline goodness [0,1] 0.9279950524207798 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.83, Z:-2.61 [[ 1.36712461e-01 1.05858670e-01 -9.84938397e-01 4.18147468e+00] [-1.84725102e-02 9.94373404e-01 1.04308679e-01 -6.83036677e+00] [ 9.90438524e-01 3.93398838e-03 1.37898710e-01 -2.61075529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.63964924600002 meters Centerline goodness [0,1] 0.9313299683061392 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.83, Z:-2.61 [[ 1.36962459e-01 1.06924202e-01 -9.84788556e-01 4.17879853e+00] [-1.97097569e-02 9.94254603e-01 1.05210791e-01 -6.82974589e+00] [ 9.90380134e-01 5.00001428e-03 1.38283006e-01 -2.61294767e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.66964924600002 meters Centerline goodness [0,1] 0.9331887074550731 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.83, Z:-2.61 [[ 1.36959743e-01 1.07455796e-01 -9.84731070e-01 4.17725985e+00] [-2.06436560e-02 9.94192575e-01 1.05617064e-01 -6.82854474e+00] [ 9.90361484e-01 5.86316349e-03 1.38382640e-01 -2.61425434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.699649246 meters Centerline goodness [0,1] 0.9334404674945216 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.83, Z:-2.61 [[ 1.37015620e-01 1.07383324e-01 -9.84731203e-01 4.17748323e+00] [-2.08598888e-02 9.94199076e-01 1.05513332e-01 -6.82693280e+00] [ 9.90349224e-01 6.08440876e-03 1.38460807e-01 -2.61446815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.72964924600001 meters Centerline goodness [0,1] 0.9341871634405472 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.83, Z:-2.62 [[ 1.40419587e-01 1.08800216e-01 -9.84095957e-01 4.17801046e+00] [-2.15352915e-02 9.94044350e-01 1.06827249e-01 -6.82526725e+00] [ 9.89857854e-01 6.19215509e-03 1.41926342e-01 -2.61881550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.75964924600001 meters Centerline goodness [0,1] 0.9356597282957262 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.83, Z:-2.62 [[ 1.39842192e-01 1.09309692e-01 -9.84121716e-01 4.17678023e+00] [-2.15315952e-02 9.93988542e-01 1.07346027e-01 -6.82607549e+00] [ 9.89939671e-01 6.17820668e-03 1.41355149e-01 -2.61813064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.78964924600001 meters Centerline goodness [0,1] 0.9362867968522297 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.83, Z:-2.62 [[ 1.39503375e-01 1.09568583e-01 -9.84141013e-01 4.17629880e+00] [-2.18419454e-02 9.93958051e-01 1.07565428e-01 -6.82576339e+00] [ 9.89980675e-01 6.48981403e-03 1.41053694e-01 -2.61791818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.81964924600001 meters Centerline goodness [0,1] 0.9339578591023172 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.82, Z:-2.62 [[ 1.39461976e-01 1.09179766e-01 -9.84190091e-01 4.17733109e+00] [-2.17069643e-02 9.94001324e-01 1.07192235e-01 -6.82445868e+00] [ 9.89989477e-01 6.41453825e-03 1.40995350e-01 -2.61741909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.84964924600001 meters Centerline goodness [0,1] 0.9332517197155182 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.82, Z:-2.62 [[ 1.39213456e-01 1.09497293e-01 -9.84190000e-01 4.17715922e+00] [-2.19105181e-02 9.93965177e-01 1.07485604e-01 -6.82472576e+00] [ 9.90019971e-01 6.60067030e-03 1.40772470e-01 -2.61706706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.87964924600001 meters Centerline goodness [0,1] 0.9332517197155182 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.82, Z:-2.62 [[ 1.39213456e-01 1.09497293e-01 -9.84190000e-01 4.17715922e+00] [-2.19105181e-02 9.93965177e-01 1.07485604e-01 -6.82472576e+00] [ 9.90019971e-01 6.60067030e-03 1.40772470e-01 -2.61706706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.90964924600001 meters Centerline goodness [0,1] 0.9333003665134679 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.83, Z:-2.62 [[ 1.38623459e-01 1.09772912e-01 -9.84242574e-01 4.17711394e+00] [-2.19453411e-02 9.93934373e-01 1.07762998e-01 -6.82539252e+00] [ 9.90101984e-01 6.66105947e-03 1.40191625e-01 -2.61596092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.93964924600002 meters Centerline goodness [0,1] 0.9326937097197515 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.83, Z:-2.62 [[ 1.46489995e-01 1.13043222e-01 -9.82731861e-01 4.17926269e+00] [-1.95229125e-02 9.93585928e-01 1.11381596e-01 -6.82530643e+00] [ 9.89019483e-01 2.86949868e-03 1.47757331e-01 -2.62471769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.96964924600002 meters Centerline goodness [0,1] 0.931871413514463 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.83, Z:-2.63 [[ 1.49972295e-01 1.13875839e-01 -9.82110281e-01 4.17972652e+00] [-1.94230297e-02 9.93492454e-01 1.12229627e-01 -6.82628169e+00] [ 9.88499396e-01 2.24422247e-03 1.51208157e-01 -2.62902467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.99964924600002 meters Centerline goodness [0,1] 0.9306380364508674 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.83, Z:-2.63 [[ 1.49530599e-01 1.14316881e-01 -9.82126392e-01 4.17961020e+00] [-1.91497662e-02 9.93442418e-01 1.12718448e-01 -6.82853559e+00] [ 9.88571640e-01 1.95263376e-03 1.50739181e-01 -2.62774739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.02964924600002 meters Centerline goodness [0,1] 0.930665262418817 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.83, Z:-2.63 [[ 1.49157827e-01 1.14429382e-01 -9.82169975e-01 4.17977428e+00] [-1.89464715e-02 9.93429801e-01 1.12863910e-01 -6.82891686e+00] [ 9.88631870e-01 1.77411998e-03 1.50345863e-01 -2.62674171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.05964924600002 meters Centerline goodness [0,1] 0.9292557541768898 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.83, Z:-2.63 [[ 1.50972373e-01 1.13440766e-01 -9.82007401e-01 4.17859465e+00] [-1.74317322e-02 9.93544742e-01 1.12093622e-01 -6.83025049e+00] [ 9.88384276e-01 1.95049955e-04 1.51975276e-01 -2.62906630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.08964924600001 meters Centerline goodness [0,1] 0.9301354965758457 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.83, Z:-2.63 [[ 1.51647748e-01 1.13082220e-01 -9.81944689e-01 4.17802224e+00] [-1.66763442e-02 9.93585461e-01 1.11847358e-01 -6.83134993e+00] [ 9.88293914e-01 -5.86152447e-04 1.52560795e-01 -2.62971027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.11964924600001 meters Centerline goodness [0,1] 0.9290423215021485 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.83, Z:-2.63 [[ 1.51748205e-01 1.13588038e-01 -9.81870786e-01 4.17813505e+00] [-1.67981935e-02 9.93527781e-01 1.12340419e-01 -6.83360627e+00] [ 9.88276430e-01 -5.53801446e-04 1.52674131e-01 -2.62955047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.14964924600001 meters Centerline goodness [0,1] 0.9292350208737579 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.83, Z:-2.63 [[ 1.51334909e-01 1.13876299e-01 -9.81901183e-01 4.17822693e+00] [-1.66556139e-02 9.93494694e-01 1.12653824e-01 -6.83451006e+00] [ 9.88342216e-01 -6.94289210e-04 1.52247109e-01 -2.62846871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.17964924600001 meters Centerline goodness [0,1] 0.9263841724494316 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.84, Z:-2.63 [[ 1.51005759e-01 1.14454356e-01 -9.81884648e-01 4.17798584e+00] [-1.65989412e-02 9.93428184e-01 1.13247160e-01 -6.83623384e+00] [ 9.88393513e-01 -8.02727753e-04 1.51913198e-01 -2.62754152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.20964924600001 meters Centerline goodness [0,1] 0.9273667109732684 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.84, Z:-2.63 [[ 1.50609463e-01 1.15151111e-01 -9.81864049e-01 4.17691162e+00] [-1.67035467e-02 9.93347696e-01 1.13935711e-01 -6.83753579e+00] [ 9.88452215e-01 -7.59184232e-04 1.51530995e-01 -2.62702193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.23964924600001 meters Centerline goodness [0,1] 0.9309393085027452 Centerline is valid? [False, False] Translation: X:4.17, Y:-6.84, Z:-2.63 [[ 1.51286257e-01 1.11510472e-01 -9.82180168e-01 4.17482053e+00] [-1.35581570e-02 9.93757317e-01 1.10736491e-01 -6.83820719e+00] [ 9.88397008e-01 -3.43635628e-03 1.51853701e-01 -2.62861384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.26964924600001 meters Centerline goodness [0,1] 0.9305720389271304 Centerline is valid? [False, False] Translation: X:4.17, Y:-6.84, Z:-2.63 [[ 1.51045341e-01 1.12253140e-01 -9.82132648e-01 4.17343794e+00] [-1.38406308e-02 9.93674362e-01 1.11443709e-01 -6.83935599e+00] [ 9.88429938e-01 -3.23971762e-03 1.51643537e-01 -2.62863397e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.29964924600002 meters Centerline goodness [0,1] 0.930002964719834 Centerline is valid? [False, False] Translation: X:4.17, Y:-6.84, Z:-2.63 [[ 1.51965273e-01 1.12510795e-01 -9.81961240e-01 4.17390150e+00] [-1.42332027e-02 9.93646004e-01 1.11646921e-01 -6.83997988e+00] [ 9.88283346e-01 -2.99000148e-03 1.52601075e-01 -2.62998960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.32964924600002 meters Centerline goodness [0,1] 0.9289416782678238 Centerline is valid? [False, False] Translation: X:4.17, Y:-6.84, Z:-2.64 [[ 0.14877422 0.11929572 -0.981649 4.16639524] [-0.01086169 0.99283379 0.11900881 -6.84010377] [ 0.98881154 -0.00704307 0.14900382 -2.64467206] [ 0. 0. 0. 1. ]] SLAMing on 108.35964924600002 meters Centerline goodness [0,1] 0.9274171948933131 Centerline is valid? [False, False] Translation: X:4.16, Y:-6.84, Z:-2.66 [[ 0.14539772 0.12471265 -0.98148166 4.15942666] [-0.00705938 0.99212913 0.1250198 -6.84113434] [ 0.9893481 -0.01124894 0.14513371 -2.66009197] [ 0. 0. 0. 1. ]] SLAMing on 108.38964924600002 meters Centerline goodness [0,1] 0.9316479121272722 Centerline is valid? [False, False] Translation: X:4.16, Y:-6.84, Z:-2.66 [[ 1.46372009e-01 1.20557453e-01 -9.81855965e-01 4.15908219e+00] [-3.87972192e-03 9.92608394e-01 1.21299316e-01 -6.84128963e+00] [ 9.89222009e-01 -1.39454965e-02 1.45757814e-01 -2.66164712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.41964924600002 meters Centerline goodness [0,1] 0.9296270862568298 Centerline is valid? [False, False] Translation: X:4.16, Y:-6.84, Z:-2.66 [[ 1.47411004e-01 1.15693785e-01 -9.82285572e-01 4.15965622e+00] [-2.74881083e-04 9.93140006e-01 1.16930971e-01 -6.83959025e+00] [ 9.89075286e-01 -1.69669001e-02 1.46431567e-01 -2.66290489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.449649246 meters Centerline goodness [0,1] 0.930397557178781 Centerline is valid? [False, False] Translation: X:4.16, Y:-6.84, Z:-2.66 [[ 1.48587837e-01 1.15498953e-01 -9.82131176e-01 4.15890584e+00] [-1.90921233e-05 9.93156323e-01 1.16792625e-01 -6.84032442e+00] [ 9.88899213e-01 -1.73352126e-02 1.47573155e-01 -2.66481816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.47964924600001 meters Centerline goodness [0,1] 0.9300460774340255 Centerline is valid? [False, False] Translation: X:4.16, Y:-6.84, Z:-2.67 [[ 1.57410878e-01 1.18018021e-01 -9.80455793e-01 4.16193656e+00] [ 2.67274817e-03 9.92778699e-01 1.19930443e-01 -6.84050596e+00] [ 9.87529580e-01 -2.14988677e-02 1.55958734e-01 -2.67460843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.50964924600001 meters Centerline goodness [0,1] 0.9313452498577801 Centerline is valid? [False, False] Translation: X:4.15, Y:-6.84, Z:-2.69 [[ 1.53133555e-01 1.26152797e-01 -9.80120190e-01 4.15406678e+00] [ 5.80381300e-03 9.91686270e-01 1.28548271e-01 -6.84061025e+00] [ 9.88188459e-01 -2.53734880e-02 1.51128277e-01 -2.68671979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.53964924600001 meters Centerline goodness [0,1] 0.928058200107778 Centerline is valid? [False, False] Translation: X:4.15, Y:-6.84, Z:-2.70 [[ 0.14966076 0.13093355 -0.98002962 4.14750367] [ 0.00957248 0.9909547 0.13385498 -6.84049548] [ 0.98869107 -0.02941415 0.14705368 -2.70235393] [ 0. 0. 0. 1. ]] SLAMing on 108.56964924600001 meters Centerline goodness [0,1] 0.9300297681691072 Centerline is valid? [False, False] Translation: X:4.15, Y:-6.84, Z:-2.70 [[ 0.15054017 0.12687513 -0.98042866 4.14512095] [ 0.01309191 0.99138771 0.13030351 -6.84070832] [ 0.9885172 -0.0324516 0.14758264 -2.70417919] [ 0. 0. 0. 1. ]] SLAMing on 108.59964924600001 meters Centerline goodness [0,1] 0.9323292448292448 Centerline is valid? [False, False] Translation: X:4.14, Y:-6.84, Z:-2.71 [[ 0.15209518 0.12250715 -0.98074413 4.1444297 ] [ 0.01619833 0.99184633 0.12640601 -6.838672 ] [ 0.98823311 -0.03511216 0.14887064 -2.70702904] [ 0. 0. 0. 1. ]] SLAMing on 108.62964924600001 meters Centerline goodness [0,1] 0.9321191061050865 Centerline is valid? [False, False] Translation: X:4.15, Y:-6.84, Z:-2.71 [[ 0.15210404 0.12200616 -0.98080521 4.14531739] [ 0.01661773 0.99189577 0.12596285 -6.83730601] [ 0.98822478 -0.03545821 0.14884388 -2.70652997] [ 0. 0. 0. 1. ]] SLAMing on 108.65964924600001 meters Centerline goodness [0,1] 0.9301671800699823 Centerline is valid? [False, False] Translation: X:4.15, Y:-6.84, Z:-2.71 [[ 0.15232553 0.12173945 -0.98080398 4.14526589] [ 0.01692004 0.99191808 0.12574675 -6.83613653] [ 0.98818553 -0.03574968 0.14903461 -2.70676647] [ 0. 0. 0. 1. ]] SLAMing on 108.68964924600002 meters Centerline goodness [0,1] 0.9332299988076785 Centerline is valid? [False, False] Translation: X:4.14, Y:-6.83, Z:-2.71 [[ 0.15415851 0.1190289 -0.98085028 4.14430469] [ 0.01908956 0.99217299 0.12340321 -6.8329607 ] [ 0.9878617 -0.03774765 0.1506797 -2.70979843] [ 0. 0. 0. 1. ]] SLAMing on 108.71964924600002 meters Centerline goodness [0,1] 0.9337901575153511 Centerline is valid? [False, False] Translation: X:4.14, Y:-6.83, Z:-2.71 [[ 0.15463255 0.118212 -0.98087446 4.14486444] [ 0.01911283 0.99227227 0.12259872 -6.82763199] [ 0.98778716 -0.03770504 0.15117823 -2.71096848] [ 0. 0. 0. 1. ]] SLAMing on 108.74964924600002 meters Centerline goodness [0,1] 0.9323406015481889 Centerline is valid? [False, False] Translation: X:4.14, Y:-6.82, Z:-2.72 [[ 0.15103552 0.12790371 -0.98021881 4.13997154] [ 0.02304998 0.99086876 0.13284499 -6.82317161] [ 0.98825957 -0.04265834 0.1467082 -2.71798188] [ 0. 0. 0. 1. ]] SLAMing on 108.77964924600002 meters Centerline goodness [0,1] 0.9302407827650231 Centerline is valid? [False, False] Translation: X:4.14, Y:-6.82, Z:-2.72 [[ 0.15112243 0.12692593 -0.9803325 4.14183897] [ 0.02333385 0.99098802 0.13190254 -6.82060438] [ 0.98823962 -0.04280836 0.14679885 -2.71764561] [ 0. 0. 0. 1. ]] SLAMing on 108.80964924600002 meters Centerline goodness [0,1] 0.9294886899151744 Centerline is valid? [False, False] Translation: X:4.14, Y:-6.82, Z:-2.74 [[ 0.14820537 0.13069168 -0.98028305 4.13809694] [ 0.02603378 0.9903705 0.13597249 -6.81833211] [ 0.98861388 -0.04567233 0.14337583 -2.73530185] [ 0. 0. 0. 1. ]] SLAMing on 108.83964924600001 meters Centerline goodness [0,1] 0.9279032827391458 Centerline is valid? [False, False] Translation: X:4.13, Y:-6.82, Z:-2.75 [[ 0.14566899 0.13456091 -0.98013974 4.13254753] [ 0.02872651 0.98971422 0.14014472 -6.81844927] [ 0.98891624 -0.04857073 0.1403052 -2.75434204] [ 0. 0. 0. 1. ]] SLAMing on 108.86964924600001 meters Centerline goodness [0,1] 0.9267632963866757 Centerline is valid? [False, False] Translation: X:4.13, Y:-6.82, Z:-2.78 [[ 0.14381019 0.13636869 -0.98016438 4.13006418] [ 0.03016069 0.98939583 0.14207823 -6.81812834] [ 0.98914557 -0.04999473 0.13817223 -2.77720364] [ 0. 0. 0. 1. ]] SLAMing on 108.89964924600001 meters Centerline goodness [0,1] 0.927027027027027 Centerline is valid? [False, False] Translation: X:4.13, Y:-6.82, Z:-2.80 [[ 0.14153846 0.13794651 -0.98027426 4.12701893] [ 0.03263355 0.98905489 0.14389399 -6.81729779] [ 0.98939472 -0.05235636 0.13548762 -2.79847525] [ 0. 0. 0. 1. ]] SLAMing on 108.92964924600001 meters Centerline goodness [0,1] 0.925965097831835 Centerline is valid? [False, False] Translation: X:4.12, Y:-6.82, Z:-2.83 [[ 0.14177906 0.13761486 -0.9802861 4.12367443] [ 0.03357006 0.98905166 0.14370064 -6.8166374 ] [ 0.98932894 -0.053282 0.13560708 -2.82662088] [ 0. 0. 0. 1. ]] SLAMing on 108.95964924600001 meters Centerline goodness [0,1] 0.9259781873768997 Centerline is valid? [False, False] Translation: X:4.12, Y:-6.82, Z:-2.85 [[ 0.14460128 0.1366224 -0.98001265 4.12045473] [ 0.03649542 0.98901169 0.14326186 -6.81515274] [ 0.98881674 -0.05648183 0.13802626 -2.85309369] [ 0. 0. 0. 1. ]] SLAMing on 108.98964924600001 meters Centerline goodness [0,1] 0.9306394133066298 Centerline is valid? [False, False] Translation: X:4.11, Y:-6.82, Z:-2.88 [[ 0.15077674 0.13488234 -0.97932279 4.11453163] [ 0.03851722 0.98909426 0.14215828 -6.81526608] [ 0.98781719 -0.05915495 0.14393712 -2.88408602] [ 0. 0. 0. 1. ]] SLAMing on 109.01964924600001 meters Centerline goodness [0,1] 0.9294726625687479 Centerline is valid? [False, False] Translation: X:4.11, Y:-6.82, Z:-2.91 [[ 0.15341965 0.1364431 -0.97869591 4.1081066 ] [ 0.04202488 0.9886244 0.14441505 -6.81532374] [ 0.9872671 -0.06328568 0.1459404 -2.90774103] [ 0. 0. 0. 1. ]] SLAMing on 109.04964924600002 meters Centerline goodness [0,1] 0.9326353045273559 Centerline is valid? [False, False] Translation: X:4.10, Y:-6.82, Z:-2.94 [[ 0.1575186 0.13586045 -0.97812567 4.10292473] [ 0.04367699 0.98856316 0.14434401 -6.81744726] [ 0.98654965 -0.06545845 0.14978311 -2.93801229] [ 0. 0. 0. 1. ]] SLAMing on 109.07964924600002 meters Centerline goodness [0,1] 0.9344155844155844 Centerline is valid? [False, False] Translation: X:4.10, Y:-6.82, Z:-2.96 [[ 0.15610931 0.13804532 -0.97804569 4.09820437] [ 0.04641133 0.98806675 0.14686761 -6.81813659] [ 0.98664881 -0.06831981 0.14783955 -2.95947216] [ 0. 0. 0. 1. ]] SLAMing on 109.10964924600002 meters Centerline goodness [0,1] 0.9327716186252771 Centerline is valid? [False, False] Translation: X:4.09, Y:-6.82, Z:-2.98 [[ 0.15475358 0.1399479 -0.97799075 4.09281037] [ 0.04805886 0.98767788 0.14893876 -6.82024547] [ 0.9867835 -0.07004992 0.14612095 -2.9839103 ] [ 0. 0. 0. 1. ]] SLAMing on 109.13964924600002 meters Centerline goodness [0,1] 0.9354523372237692 Centerline is valid? [False, False] Translation: X:4.09, Y:-6.82, Z:-2.99 [[ 0.15616602 0.13509296 -0.97844881 4.09392863] [ 0.05078157 0.98819451 0.14454356 -6.81857767] [ 0.98642456 -0.07225996 0.14746217 -2.98648577] [ 0. 0. 0. 1. ]] SLAMing on 109.16964924600002 meters Centerline goodness [0,1] 0.9344921366914982 Centerline is valid? [False, False] Translation: X:4.09, Y:-6.82, Z:-2.99 [[ 0.15598612 0.13474218 -0.97852587 4.09467926] [ 0.05099492 0.98823257 0.14420785 -6.81841408] [ 0.98644202 -0.07239427 0.1472794 -2.98581687] [ 0. 0. 0. 1. ]] SLAMing on 109.199649246 meters Centerline goodness [0,1] 0.9333766463882819 Centerline is valid? [False, False] Translation: X:4.10, Y:-6.82, Z:-2.99 [[ 0.15637898 0.13415805 -0.97854342 4.09599538] [ 0.05065357 0.98833923 0.1435959 -6.81746794] [ 0.9863974 -0.0720221 0.14775989 -2.98664886] [ 0. 0. 0. 1. ]] SLAMing on 109.22964924600001 meters Centerline goodness [0,1] 0.933083527572065 Centerline is valid? [False, False] Translation: X:4.10, Y:-6.82, Z:-2.99 [[ 0.15651119 0.13436231 -0.97849426 4.09564581] [ 0.05038298 0.98832755 0.14377138 -6.81747117] [ 0.98639029 -0.07180129 0.14791475 -2.98712275] [ 0. 0. 0. 1. ]] SLAMing on 109.25964924600001 meters Centerline goodness [0,1] 0.9366725768321513 Centerline is valid? [False, False] Translation: X:4.09, Y:-6.82, Z:-2.99 [[ 0.15680288 0.13473914 -0.97839574 4.09462815] [ 0.04980484 0.98831095 0.14408659 -6.81778246] [ 0.98637332 -0.07132203 0.14825934 -2.98836156] [ 0. 0. 0. 1. ]] SLAMing on 109.28964924600001 meters Centerline goodness [0,1] 0.9373505358566325 Centerline is valid? [False, False] Translation: X:4.10, Y:-6.82, Z:-2.99 [[ 0.15699277 0.13448555 -0.97840018 4.09525221] [ 0.04967272 0.98835579 0.14382441 -6.81730268] [ 0.98634978 -0.07117919 0.14848445 -2.98867933] [ 0. 0. 0. 1. ]] SLAMing on 109.31964924600001 meters Centerline goodness [0,1] 0.9357906203079459 Centerline is valid? [False, False] Translation: X:4.10, Y:-6.81, Z:-2.99 [[ 0.15747595 0.13393861 -0.97839755 4.09626695] [ 0.04893436 0.98848393 0.14319552 -6.81445475] [ 0.98630966 -0.07042711 0.14910825 -2.9903398 ] [ 0. 0. 0. 1. ]] SLAMing on 109.34964924600001 meters Centerline goodness [0,1] 0.937099335411398 Centerline is valid? [False, False] Translation: X:4.09, Y:-6.81, Z:-3.01 [[ 0.15687563 0.13717162 -0.978046 4.09083793] [ 0.04926218 0.98798811 0.14646751 -6.81472074] [ 0.98638901 -0.07115786 0.14823388 -3.01457981] [ 0. 0. 0. 1. ]] SLAMing on 109.37964924600001 meters Centerline goodness [0,1] 0.9385648514706314 Centerline is valid? [False, False] Translation: X:4.09, Y:-6.81, Z:-3.04 [[ 0.15983096 0.1368313 -0.97761509 4.08652263] [ 0.04886591 0.98803573 0.14627894 -6.81439275] [ 0.98593417 -0.07115195 0.15123231 -3.04482653] [ 0. 0. 0. 1. ]] SLAMing on 109.40964924600001 meters Centerline goodness [0,1] 0.9380280860835517 Centerline is valid? [False, False] Translation: X:4.08, Y:-6.82, Z:-3.07 [[ 0.15957346 0.13544227 -0.97785055 4.08125468] [ 0.05283686 0.98795171 0.14546372 -6.8167719 ] [ 0.98577106 -0.0748787 0.15049453 -3.07040861] [ 0. 0. 0. 1. ]] SLAMing on 109.43964924600002 meters Centerline goodness [0,1] 0.9385443633796188 Centerline is valid? [False, False] Translation: X:4.08, Y:-6.82, Z:-3.10 [[ 0.15910342 0.13326498 -0.97822622 4.07947647] [ 0.05575306 0.98805366 0.14367173 -6.81740445] [ 0.98568641 -0.07739777 0.14977279 -3.09647435] [ 0. 0. 0. 1. ]] SLAMing on 109.46964924600002 meters Centerline goodness [0,1] 0.9347007239126597 Centerline is valid? [False, False] Translation: X:4.08, Y:-6.82, Z:-3.14 [[ 0.15950157 0.13667834 -0.97769028 4.07744713] [ 0.05884303 0.98729212 0.14762037 -6.81815508] [ 0.98544241 -0.08107594 0.14943207 -3.13817128] [ 0. 0. 0. 1. ]] SLAMing on 109.49964924600002 meters Centerline goodness [0,1] 0.9341421655449286 Centerline is valid? [False, False] Translation: X:4.08, Y:-6.82, Z:-3.17 [[ 0.16241293 0.12799679 -0.97838585 4.07929715] [ 0.06091046 0.98835925 0.13941274 -6.81873808] [ 0.98484108 -0.08223636 0.15272597 -3.17341415] [ 0. 0. 0. 1. ]] SLAMing on 109.52964924600002 meters Centerline goodness [0,1] 0.9331165952416137 Centerline is valid? [False, False] Translation: X:4.08, Y:-6.82, Z:-3.20 [[ 0.16203609 0.12498172 -0.97883802 4.07702268] [ 0.0631937 0.98859635 0.13668874 -6.82067126] [ 0.98475929 -0.08400491 0.15229023 -3.20157929] [ 0. 0. 0. 1. ]] SLAMing on 109.55964924600002 meters Centerline goodness [0,1] 0.9326388066769267 Centerline is valid? [False, False] Translation: X:4.08, Y:-6.82, Z:-3.24 [[ 0.16303283 0.11913105 -0.9794019 4.0761192 ] [ 0.06371403 0.98934004 0.13094583 -6.82294956] [ 0.98456123 -0.08375011 0.15370459 -3.23577276] [ 0. 0. 0. 1. ]] SLAMing on 109.58964924600001 meters Centerline goodness [0,1] 0.9318559392429097 Centerline is valid? [False, False] Translation: X:4.07, Y:-6.83, Z:-3.27 [[ 0.1639207 0.11352629 -0.97991928 4.07484106] [ 0.06573338 0.98989106 0.12567741 -6.8253397 ] [ 0.98428102 -0.08501453 0.15480117 -3.26742455] [ 0. 0. 0. 1. ]] SLAMing on 109.61964924600001 meters Centerline goodness [0,1] 0.9315628797534011 Centerline is valid? [False, False] Translation: X:4.07, Y:-6.83, Z:-3.29 [[ 0.16335665 0.11052564 -0.98035641 4.07326921] [ 0.06870232 0.99001796 0.12306274 -6.82624047] [ 0.98417204 -0.08745588 0.15413265 -3.29330317] [ 0. 0. 0. 1. ]] SLAMing on 109.64964924600001 meters Centerline goodness [0,1] 0.9286097052694254 Centerline is valid? [False, False] Translation: X:4.07, Y:-6.83, Z:-3.32 [[ 0.16287124 0.10590322 -0.98094723 4.0746392 ] [ 0.07059902 0.99042334 0.11864814 -6.82817778] [ 0.98411825 -0.08857828 0.15383482 -3.32209413] [ 0. 0. 0. 1. ]] SLAMing on 109.67964924600001 meters Centerline goodness [0,1] 0.9290972491282449 Centerline is valid? [False, False] Translation: X:4.08, Y:-6.83, Z:-3.32 [[ 0.16400568 0.0995154 -0.98142693 4.07854372] [ 0.07449003 0.99080852 0.11291467 -6.8256274 ] [ 0.98364291 -0.09162517 0.15508532 -3.32302081] [ 0. 0. 0. 1. ]] SLAMing on 109.70964924600001 meters Centerline goodness [0,1] 0.9278790228770841 Centerline is valid? [False, False] Translation: X:4.08, Y:-6.82, Z:-3.32 [[ 0.16494067 0.09330165 -0.98188053 4.08236105] [ 0.0780787 0.99115621 0.10729907 -6.82471746] [ 0.98320816 -0.09436193 0.15619709 -3.32381722] [ 0. 0. 0. 1. ]] SLAMing on 109.73964924600001 meters Centerline goodness [0,1] 0.9267170555372988 Centerline is valid? [False, False] Translation: X:4.08, Y:-6.82, Z:-3.32 [[ 0.16575723 0.08780902 -0.98224952 4.08390928] [ 0.0819598 0.99135552 0.10245399 -6.82328012] [ 0.98275487 -0.09748746 0.15712753 -3.32467189] [ 0. 0. 0. 1. ]] SLAMing on 109.76964924600001 meters Centerline goodness [0,1] 0.9247615896032009 Centerline is valid? [False, False] Translation: X:4.09, Y:-6.82, Z:-3.33 [[ 0.16725962 0.07646288 -0.98294336 4.08830688] [ 0.09003691 0.99163728 0.09246004 -6.82079488] [ 0.98179304 -0.10396601 0.15897639 -3.32570956] [ 0. 0. 0. 1. ]] SLAMing on 109.79964924600002 meters Centerline goodness [0,1] 0.9247615896032009 Centerline is valid? [False, False] Translation: X:4.09, Y:-6.82, Z:-3.33 [[ 0.16725962 0.07646288 -0.98294336 4.08830688] [ 0.09003691 0.99163728 0.09246004 -6.82079488] [ 0.98179304 -0.10396601 0.15897639 -3.32570956] [ 0. 0. 0. 1. ]] SLAMing on 109.82964924600002 meters Centerline goodness [0,1] 0.921447882246921 Centerline is valid? [False, False] Translation: X:4.10, Y:-6.82, Z:-3.33 [[ 0.16864309 0.06751576 -0.98336216 4.09729776] [ 0.09397909 0.99200498 0.08422624 -6.81567594] [ 0.98118675 -0.10661966 0.16094971 -3.32756625] [ 0. 0. 0. 1. ]] SLAMing on 109.85964924600002 meters Centerline goodness [0,1] 0.9236237144585602 Centerline is valid? [False, False] Translation: X:4.10, Y:-6.81, Z:-3.33 [[ 0.16969576 0.0552941 -0.98394406 4.10359703] [ 0.10263168 0.99200414 0.0734474 -6.81310402] [ 0.98013779 -0.11344755 0.16266397 -3.32741516] [ 0. 0. 0. 1. ]] SLAMing on 109.88964924600002 meters Centerline goodness [0,1] 0.9205488580602169 Centerline is valid? [False, False] Translation: X:4.12, Y:-6.81, Z:-3.32 [[ 0.1741679 0.04247413 -0.98379952 4.11532566] [ 0.1021731 0.99289734 0.06095523 -6.80979866] [ 0.97940094 -0.11113429 0.16859113 -3.31548733] [ 0. 0. 0. 1. ]] SLAMing on 109.91964924600002 meters Centerline goodness [0,1] 0.9216843762298308 Centerline is valid? [False, False] Translation: X:4.13, Y:-6.81, Z:-3.30 [[ 0.17921307 0.03070224 -0.9833311 4.12743616] [ 0.10058233 0.9937037 0.04935733 -6.80573604] [ 0.97865513 -0.10775121 0.17499659 -3.30468229] [ 0. 0. 0. 1. ]] SLAMing on 109.949649246 meters Centerline goodness [0,1] 0.9224998487506806 Centerline is valid? [False, False] Translation: X:4.14, Y:-6.80, Z:-3.29 [[ 0.18426259 0.01958912 -0.98268182 4.13890303] [ 0.09926215 0.9943188 0.03843374 -6.8011406 ] [ 0.97785189 -0.10462501 0.1812713 -3.29300404] [ 0. 0. 0. 1. ]] SLAMing on 109.97964924600001 meters Centerline goodness [0,1] 0.9229679635936229 Centerline is valid? [False, False] Translation: X:4.15, Y:-6.80, Z:-3.28 [[ 0.18892437 0.01119632 -0.98192781 4.14874406] [ 0.09573953 0.99496129 0.02976536 -6.79503781] [ 0.97731342 -0.09963271 0.1869005 -3.28115796] [ 0. 0. 0. 1. ]] SLAMing on 110.00964924600001 meters Centerline goodness [0,1] 0.9240912223920406 Centerline is valid? [False, False] Translation: X:4.16, Y:-6.79, Z:-3.26 [[ 1.93658809e-01 6.18552863e-03 -9.81049441e-01 4.16001491e+00] [ 9.24206113e-02 9.95418105e-01 2.45199189e-02 -6.78728549e+00] [ 9.76706044e-01 -9.54176873e-02 1.92199814e-01 -3.26462528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.03964924600001 meters Centerline goodness [0,1] 0.9231806333702849 Centerline is valid? [False, False] Translation: X:4.17, Y:-6.78, Z:-3.25 [[ 1.98789453e-01 -9.03943498e-04 -9.80041803e-01 4.17006262e+00] [ 8.94461473e-02 9.95842710e-01 1.72245358e-02 -6.78303337e+00] [ 9.75951915e-01 -9.10850195e-02 1.98043882e-01 -3.25193442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.06964924600001 meters Centerline goodness [0,1] 0.922330676696218 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.78, Z:-3.23 [[ 2.02693640e-01 -5.36119501e-03 -9.79227525e-01 4.18068903e+00] [ 8.71851806e-02 9.96112523e-01 1.25931184e-02 -6.77813758e+00] [ 9.75353286e-01 -8.79266736e-02 2.02373090e-01 -3.23267218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.09964924600001 meters Centerline goodness [0,1] 0.9205402665553535 Centerline is valid? [False, False] Translation: X:4.19, Y:-6.78, Z:-3.22 [[ 2.07718675e-01 -1.23727091e-02 -9.78110356e-01 4.18991896e+00] [ 8.45948651e-02 9.96401007e-01 5.36110615e-03 -6.77508522e+00] [ 9.74523812e-01 -8.38567155e-02 2.08017764e-01 -3.21980586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.12964924600001 meters Centerline goodness [0,1] 0.9222554591684116 Centerline is valid? [False, False] Translation: X:4.20, Y:-6.77, Z:-3.20 [[ 2.11350350e-01 -1.72104394e-02 -9.77258835e-01 4.19736600e+00] [ 8.31262047e-02 9.96538936e-01 4.27603681e-04 -6.77253787e+00] [ 9.73869120e-01 -8.13261922e-02 2.12049491e-01 -3.20066726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.15964924600001 meters Centerline goodness [0,1] 0.9232976624618879 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.77, Z:-3.19 [[ 0.21608421 -0.0247523 -0.97606093 4.2059967 ] [ 0.08071306 0.99670985 -0.00740737 -6.76980734] [ 0.97303289 -0.07718025 0.2173711 -3.18817503] [ 0. 0. 0. 1. ]] SLAMing on 110.18964924600002 meters Centerline goodness [0,1] 0.9223924273642091 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.77, Z:-3.17 [[ 0.21987279 -0.0280816 -0.97512429 4.21302091] [ 0.07892036 0.99682121 -0.01091132 -6.76743149] [ 0.97233098 -0.07455806 0.22139007 -3.16833439] [ 0. 0. 0. 1. ]] SLAMing on 110.21964924600002 meters Centerline goodness [0,1] 0.9194614809274495 Centerline is valid? [False, False] Translation: X:4.22, Y:-6.77, Z:-3.16 [[ 0.22511473 -0.03465729 -0.97371568 4.22173697] [ 0.07598778 0.99694777 -0.01791646 -6.76519651] [ 0.97136461 -0.06995724 0.22706116 -3.15624876] [ 0. 0. 0. 1. ]] SLAMing on 110.24964924600002 meters Centerline goodness [0,1] 0.9228995748248399 Centerline is valid? [False, False] Translation: X:4.22, Y:-6.77, Z:-3.15 [[ 0.22359399 -0.02816168 -0.97427545 4.21921389] [ 0.07265461 0.99728312 -0.01215266 -6.76809476] [ 0.9719707 -0.06806834 0.22503258 -3.15209105] [ 0. 0. 0. 1. ]] SLAMing on 110.27964924600002 meters Centerline goodness [0,1] 0.9234871180347514 Centerline is valid? [False, False] Translation: X:4.22, Y:-6.77, Z:-3.15 [[ 0.22296946 -0.02800576 -0.97442306 4.21940871] [ 0.07286028 0.99727008 -0.01199037 -6.76826121] [ 0.97209876 -0.06832325 0.22440127 -3.15047018] [ 0. 0. 0. 1. ]] SLAMing on 110.30964924600002 meters Centerline goodness [0,1] 0.9227056036938206 Centerline is valid? [False, False] Translation: X:4.22, Y:-6.77, Z:-3.15 [[ 0.22193434 -0.02766019 -0.97466921 4.21941633] [ 0.07328315 0.99724355 -0.01161409 -6.76976984] [ 0.97230382 -0.06884926 0.22334962 -3.1477661 ] [ 0. 0. 0. 1. ]] SLAMing on 110.33964924600001 meters Centerline goodness [0,1] 0.9216878294202204 Centerline is valid? [False, False] Translation: X:4.22, Y:-6.77, Z:-3.14 [[ 2.20190105e-01 -2.13094809e-02 -9.75224192e-01 4.21725434e+00] [ 7.00891668e-02 9.97522856e-01 -5.97170717e-03 -6.77446782e+00] [ 9.72935674e-01 -6.70377402e-02 2.21138226e-01 -3.14322044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.36964924600001 meters Centerline goodness [0,1] 0.922620303130744 Centerline is valid? [False, False] Translation: X:4.22, Y:-6.77, Z:-3.13 [[ 0.22499385 -0.03140704 -0.97385387 4.21989948] [ 0.07498334 0.99707447 -0.01483217 -6.77177966] [ 0.97147067 -0.06968567 0.22669063 -3.1260214 ] [ 0. 0. 0. 1. ]] SLAMing on 110.39964924600001 meters Centerline goodness [0,1] 0.9236760593029201 Centerline is valid? [False, False] Translation: X:4.22, Y:-6.77, Z:-3.12 [[ 0.22290891 -0.0249765 -0.97451926 4.21690642] [ 0.07276742 0.99730908 -0.00891597 -6.77478856] [ 0.9721196 -0.06892581 0.22412656 -3.12002591] [ 0. 0. 0. 1. ]] SLAMing on 110.42964924600001 meters Centerline goodness [0,1] 0.9209690943938668 Centerline is valid? [False, False] Translation: X:4.22, Y:-6.77, Z:-3.11 [[ 2.20105697e-01 -1.82865952e-02 -9.75304610e-01 4.22293496e+00] [ 7.00145995e-02 9.97541744e-01 -2.90271344e-03 -6.77160725e+00] [ 9.72960142e-01 -6.76466579e-02 2.20844949e-01 -3.10857726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.45964924600001 meters Centerline goodness [0,1] 0.9193336517793169 Centerline is valid? [False, False] Translation: X:4.22, Y:-6.77, Z:-3.10 [[ 2.18567312e-01 -1.35255128e-02 -9.75728134e-01 4.22365658e+00] [ 6.71421985e-02 9.97742683e-01 1.20946442e-03 -6.77203838e+00] [ 9.73509248e-01 -6.57768814e-02 2.18982069e-01 -3.10409477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.48964924600001 meters Centerline goodness [0,1] 0.9202606174721301 Centerline is valid? [False, False] Translation: X:4.23, Y:-6.77, Z:-3.09 [[ 2.23096247e-01 -1.96078856e-02 -9.74599197e-01 4.23281842e+00] [ 6.36466749e-02 9.97957293e-01 -5.50841627e-03 -6.76946076e+00] [ 9.72716385e-01 -6.08010913e-02 2.23888504e-01 -3.09111067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.51964924600001 meters Centerline goodness [0,1] 0.9203539823008849 Centerline is valid? [False, False] Translation: X:4.23, Y:-6.77, Z:-3.09 [[ 2.21306710e-01 -1.40277875e-02 -9.75103359e-01 4.23154348e+00] [ 6.05206946e-02 9.98166748e-01 -6.23970029e-04 -6.77213262e+00] [ 9.73324502e-01 -5.88758438e-02 2.21749970e-01 -3.08675671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.54964924600002 meters Centerline goodness [0,1] 0.9200863283474716 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.77, Z:-3.07 [[ 0.22488405 -0.01991908 -0.97418191 4.23984462] [ 0.05713924 0.99834009 -0.00722279 -6.77051873] [ 0.97270873 -0.05403973 0.22564893 -3.07205365] [ 0. 0. 0. 1. ]] SLAMing on 110.57964924600002 meters Centerline goodness [0,1] 0.9205599090745947 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.77, Z:-3.07 [[ 2.23267575e-01 -1.41446113e-02 -9.74654564e-01 4.23820532e+00] [ 5.38590719e-02 9.98546224e-01 -2.15364906e-03 -6.77309006e+00] [ 9.73268098e-01 -5.20131502e-02 2.23704810e-01 -3.06817138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.60964924600002 meters Centerline goodness [0,1] 0.9201631875167505 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.77, Z:-3.06 [[ 2.21770358e-01 -8.46872392e-03 -9.75062146e-01 4.23639931e+00] [ 5.07453536e-02 9.98707508e-01 2.86754754e-03 -6.77399827e+00] [ 9.73777602e-01 -5.01158104e-02 2.21913470e-01 -3.06432505e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.63964924600002 meters Centerline goodness [0,1] 0.9185313536282974 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.77, Z:-3.06 [[ 2.21143337e-01 -8.83124201e-03 -9.75201330e-01 4.23676317e+00] [ 5.12014098e-02 9.98685049e-01 2.56687640e-03 -6.77232933e+00] [ 9.73896319e-01 -5.04993305e-02 2.21304717e-01 -3.06277354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.66964924600002 meters Centerline goodness [0,1] 0.9209930935937127 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.77, Z:-3.06 [[ 2.19399949e-01 -3.45055091e-03 -9.75628903e-01 4.23548212e+00] [ 4.79589788e-02 9.98822976e-01 7.25245835e-03 -6.77353221e+00] [ 9.74455540e-01 -4.83813548e-02 2.19307195e-01 -3.05875504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.699649246 meters Centerline goodness [0,1] 0.9212685014563395 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.77, Z:-3.06 [[ 2.18585147e-01 -4.17937406e-03 -9.75808929e-01 4.23655985e+00] [ 4.82931948e-02 9.98811792e-01 6.53997600e-03 -6.77087867e+00] [ 9.74622132e-01 -4.85544723e-02 2.18527257e-01 -3.05691516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.72964924600001 meters Centerline goodness [0,1] 0.9213409938991886 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.77, Z:-3.05 [[ 2.17129918e-01 9.30187808e-04 -9.76142271e-01 4.23627218e+00] [ 4.50697010e-02 9.98923534e-01 1.09770546e-02 -6.77285387e+00] [ 9.75101698e-01 -4.63778872e-02 2.16854262e-01 -3.05333255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.75964924600001 meters Centerline goodness [0,1] 0.9222674712404506 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.77, Z:-3.05 [[ 2.16487533e-01 7.78925645e-04 -9.76285072e-01 4.23673027e+00] [ 4.52101737e-02 9.98918876e-01 1.08221695e-02 -6.77209146e+00] [ 9.75238016e-01 -4.64808825e-02 2.16218268e-01 -3.05187588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.78964924600001 meters Centerline goodness [0,1] 0.9221157850895461 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.77, Z:-3.05 [[ 2.15447614e-01 1.13209230e-03 -9.76514743e-01 4.23650310e+00] [ 4.54360537e-02 9.98904658e-01 1.11825671e-02 -6.77363346e+00] [ 9.75457785e-01 -4.67782337e-02 2.15160187e-01 -3.04948413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.81964924600001 meters Centerline goodness [0,1] 0.9235788344654987 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.77, Z:-3.05 [[ 2.14853296e-01 9.56369944e-04 -9.76645865e-01 4.23785436e+00] [ 4.58920302e-02 9.98885023e-01 1.10739808e-02 -6.77472741e+00] [ 9.75567518e-01 -4.71995428e-02 2.14569850e-01 -3.04744804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.84964924600001 meters Centerline goodness [0,1] 0.9228502544870077 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.78, Z:-3.04 [[ 2.14001373e-01 7.48205776e-04 -9.76833073e-01 4.23926019e+00] [ 4.66292182e-02 9.98851914e-01 1.09804467e-02 -6.77545428e+00] [ 9.75719800e-01 -4.78987932e-02 2.13720793e-01 -3.04474046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.87964924600001 meters Centerline goodness [0,1] 0.9192822438820829 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.78, Z:-3.04 [[ 2.12790358e-01 4.39134348e-04 -9.77097780e-01 4.24210042e+00] [ 4.79181258e-02 9.98791962e-01 1.08843958e-02 -6.77715745e+00] [ 9.75922188e-01 -4.91367888e-02 2.12512256e-01 -3.04013819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.90964924600001 meters Centerline goodness [0,1] 0.919709997303694 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.78, Z:-3.04 [[ 2.11573336e-01 5.17133983e-04 -9.77361988e-01 4.24260144e+00] [ 4.84694526e-02 9.98763863e-01 1.10208281e-02 -6.77903572e+00] [ 9.76159534e-01 -4.97039139e-02 2.11286737e-01 -3.03709539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.93964924600002 meters Centerline goodness [0,1] 0.9190643133462282 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.78, Z:-3.03 [[ 2.09716808e-01 -3.62834370e-03 -9.77755438e-01 4.24219018e+00] [ 5.34752283e-02 9.98538990e-01 7.76432556e-03 -6.78281006e+00] [ 9.76298756e-01 -5.39140048e-02 2.09604436e-01 -3.03233644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.96964924600002 meters Centerline goodness [0,1] 0.9179226439077538 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.78, Z:-3.03 [[ 2.08336264e-01 -3.91324192e-03 -9.78049430e-01 4.24371561e+00] [ 5.45640476e-02 9.98481137e-01 7.62780627e-03 -6.78449926e+00] [ 9.76534058e-01 -5.49554843e-02 2.08233352e-01 -3.02832099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.99964924600002 meters Centerline goodness [0,1] 0.9141130250831067 Centerline is valid? [False, False] Translation: X:4.25, Y:-6.78, Z:-3.02 [[ 2.05553669e-01 -5.65049708e-03 -9.78629532e-01 4.25038076e+00] [ 5.80068859e-02 9.98295541e-01 6.41985752e-03 -6.78349068e+00] [ 9.76925223e-01 -5.80868768e-02 2.05531079e-01 -3.01776338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.02964924600002 meters Centerline goodness [0,1] 0.9119917653113742 Centerline is valid? [False, False] Translation: X:4.25, Y:-6.78, Z:-3.01 [[ 2.04429628e-01 -6.88153347e-03 -9.78857074e-01 4.25379473e+00] [ 5.95387021e-02 9.98211301e-01 5.41677671e-03 -6.78252602e+00] [ 9.77068918e-01 -5.93872293e-02 2.04473682e-01 -3.01366204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.05964924600002 meters Centerline goodness [0,1] 0.9103803606607062 Centerline is valid? [False, False] Translation: X:4.26, Y:-6.78, Z:-3.01 [[ 2.02630377e-01 -7.95436847e-03 -9.79222987e-01 4.25763924e+00] [ 6.13630840e-02 9.98104956e-01 4.59009881e-03 -6.78235102e+00] [ 9.77330805e-01 -6.10182359e-02 2.02734488e-01 -3.00761980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.08964924600001 meters Centerline goodness [0,1] 0.9108603752927222 Centerline is valid? [False, False] Translation: X:4.27, Y:-6.78, Z:-3.00 [[ 2.07252724e-01 -1.85549780e-02 -9.78111456e-01 4.26833552e+00] [ 6.03514235e-02 9.98158262e-01 -6.14736458e-03 -6.78039959e+00] [ 9.76424095e-01 -5.77563607e-02 2.07990838e-01 -2.99572449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.11964924600001 meters Centerline goodness [0,1] 0.9130580936955658 Centerline is valid? [False, False] Translation: X:4.27, Y:-6.78, Z:-2.98 [[ 0.21169016 -0.02550884 -0.97700388 4.27425975] [ 0.06110346 0.99804912 -0.01281886 -6.78170653] [ 0.97542485 -0.05698469 0.21283586 -2.97857941] [ 0. 0. 0. 1. ]] SLAMing on 111.14964924600001 meters Centerline goodness [0,1] 0.9134541662833134 Centerline is valid? [False, False] Translation: X:4.27, Y:-6.78, Z:-2.98 [[ 0.21064153 -0.02449046 -0.97725655 4.27262043] [ 0.06139811 0.99804387 -0.01177742 -6.78416051] [ 0.97563334 -0.05752089 0.21173316 -2.9762395 ] [ 0. 0. 0. 1. ]] SLAMing on 111.17964924600001 meters Centerline goodness [0,1] 0.915683071897439 Centerline is valid? [False, False] Translation: X:4.27, Y:-6.79, Z:-2.97 [[ 0.20778611 -0.02091887 -0.97795058 4.26704346] [ 0.063626 0.99794311 -0.00782785 -6.7881038 ] [ 0.97610279 -0.06059657 0.2086897 -2.9672947 ] [ 0. 0. 0. 1. ]] SLAMing on 111.20964924600001 meters Centerline goodness [0,1] 0.9149852362204725 Centerline is valid? [False, False] Translation: X:4.26, Y:-6.79, Z:-2.96 [[ 2.05293342e-01 -1.33546653e-02 -9.78609369e-01 4.26219577e+00] [ 6.27016449e-02 9.98032207e-01 -4.66126644e-04 -6.79300009e+00] [ 9.76689893e-01 -6.12647244e-02 2.05726726e-01 -2.95816555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.23964924600001 meters Centerline goodness [0,1] 0.9176597382602002 Centerline is valid? [False, False] Translation: X:4.26, Y:-6.80, Z:-2.95 [[ 2.03527706e-01 -7.81196989e-03 -9.79038021e-01 4.26076544e+00] [ 5.96325455e-02 9.98210558e-01 4.43178331e-03 -6.79614926e+00] [ 9.77251468e-01 -5.92845200e-02 2.03629353e-01 -2.95392258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.26964924600001 meters Centerline goodness [0,1] 0.9168048645660586 Centerline is valid? [False, False] Translation: X:4.27, Y:-6.80, Z:-2.95 [[ 2.14580160e-01 -7.73803129e-03 -9.76675728e-01 4.26981217e+00] [ 6.09341075e-02 9.98126750e-01 5.47952036e-03 -6.79539507e+00] [ 9.74803770e-01 -6.06886602e-02 2.14649708e-01 -2.94916863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.29964924600002 meters Centerline goodness [0,1] 0.9176091954022989 Centerline is valid? [False, False] Translation: X:4.27, Y:-6.80, Z:-2.95 [[ 2.13016645e-01 -2.04171731e-03 -9.77046437e-01 4.26747901e+00] [ 5.76122191e-02 9.98284086e-01 1.04745766e-02 -6.79628106e+00] [ 9.75348523e-01 -5.85210725e-02 2.12768755e-01 -2.94563976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.32964924600002 meters Centerline goodness [0,1] 0.9175052763588536 Centerline is valid? [False, False] Translation: X:4.28, Y:-6.79, Z:-2.93 [[ 2.16988275e-01 -7.91327299e-03 -9.76142136e-01 4.27715119e+00] [ 5.33223126e-02 9.98570282e-01 3.75801559e-03 -6.79229400e+00] [ 9.74716789e-01 -5.28656014e-02 2.17099997e-01 -2.93170204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.35964924600002 meters Centerline goodness [0,1] 0.9164712689180547 Centerline is valid? [False, False] Translation: X:4.28, Y:-6.79, Z:-2.93 [[ 2.15600728e-01 -2.69169783e-03 -9.76477896e-01 4.27629735e+00] [ 4.97963179e-02 9.98725388e-01 8.24171800e-03 -6.79292969e+00] [ 9.75211081e-01 -5.04019241e-02 2.15459958e-01 -2.92873436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.38964924600002 meters Centerline goodness [0,1] 0.9163381648371641 Centerline is valid? [False, False] Translation: X:4.28, Y:-6.79, Z:-2.93 [[ 2.14281582e-01 2.24592091e-03 -9.76769348e-01 4.27617347e+00] [ 4.65103212e-02 9.98839597e-01 1.25000032e-02 -6.79314977e+00] [ 9.75663976e-01 -4.81083766e-02 2.13928470e-01 -2.92560277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.41964924600002 meters Centerline goodness [0,1] 0.9150129682127993 Centerline is valid? [False, False] Translation: X:4.28, Y:-6.79, Z:-2.92 [[ 0.21291292 0.0073348 -0.97704365 4.27521006] [ 0.04295917 0.99893455 0.01686061 -6.79221289] [ 0.97612632 -0.04556283 0.21237098 -2.92272778] [ 0. 0. 0. 1. ]] SLAMing on 111.449649246 meters Centerline goodness [0,1] 0.9188439027333615 Centerline is valid? [False, False] Translation: X:4.28, Y:-6.79, Z:-2.91 [[ 2.17570379e-01 2.70294938e-03 -9.76040893e-01 4.28228440e+00] [ 3.78604167e-02 9.99220196e-01 1.12066481e-02 -6.78998308e+00] [ 9.75310063e-01 -3.93915496e-02 2.17298382e-01 -2.91061504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.47964924600001 meters Centerline goodness [0,1] 0.9176838434249294 Centerline is valid? [False, False] Translation: X:4.28, Y:-6.79, Z:-2.91 [[ 0.21628941 0.00845232 -0.97629271 4.28068526] [ 0.03412292 0.99928616 0.01621103 -6.79207186] [ 0.97573281 -0.03682023 0.21584659 -2.90805977] [ 0. 0. 0. 1. ]] SLAMing on 111.50964924600001 meters Centerline goodness [0,1] 0.9194304253785148 Centerline is valid? [False, False] Translation: X:4.28, Y:-6.79, Z:-2.90 [[ 0.21438468 0.01402478 -0.97664861 4.27960965] [ 0.03074892 0.99930441 0.02109983 -6.79405562] [ 0.97626519 -0.03455437 0.2138043 -2.90390839] [ 0. 0. 0. 1. ]] SLAMing on 111.53964924600001 meters Centerline goodness [0,1] 0.9181133998980541 Centerline is valid? [False, False] Translation: X:4.28, Y:-6.80, Z:-2.90 [[ 0.21282535 0.01941497 -0.97689735 4.27931795] [ 0.02737834 0.99929151 0.02582463 -6.79690994] [ 0.97670661 -0.03224197 0.21214301 -2.9002931 ] [ 0. 0. 0. 1. ]] SLAMing on 111.56964924600001 meters Centerline goodness [0,1] 0.9188921562743804 Centerline is valid? [False, False] Translation: X:4.28, Y:-6.80, Z:-2.90 [[ 0.21141076 0.0191999 -0.97720871 4.28034856] [ 0.02799173 0.999278 0.02568929 -6.79755892] [ 0.97699639 -0.03278476 0.21072068 -2.8968152 ] [ 0. 0. 0. 1. ]] SLAMing on 111.59964924600001 meters Centerline goodness [0,1] 0.9182644702493474 Centerline is valid? [False, False] Translation: X:4.28, Y:-6.80, Z:-2.89 [[ 0.20928123 0.02610351 -0.97750702 4.27710831] [ 0.02468383 0.99918407 0.03196711 -6.80295893] [ 0.9775439 -0.03081873 0.20846613 -2.8921721 ] [ 0. 0. 0. 1. ]] SLAMing on 111.62964924600001 meters Centerline goodness [0,1] 0.9190635049439485 Centerline is valid? [False, False] Translation: X:4.27, Y:-6.81, Z:-2.89 [[ 0.20786742 0.02824511 -0.97774912 4.27367916] [ 0.02455939 0.99911718 0.03408367 -6.80699776] [ 0.97784865 -0.0310978 0.20699023 -2.8894834 ] [ 0. 0. 0. 1. ]] SLAMing on 111.65964924600001 meters Centerline goodness [0,1] 0.9220619176435227 Centerline is valid? [False, False] Translation: X:4.27, Y:-6.81, Z:-2.88 [[ 0.20485708 0.03501866 -0.97816526 4.269709 ] [ 0.02257204 0.99892499 0.04048912 -6.81075532] [ 0.97853159 -0.03037367 0.20384641 -2.88209275] [ 0. 0. 0. 1. ]] SLAMing on 111.68964924600002 meters Centerline goodness [0,1] 0.9220619176435227 Centerline is valid? [False, False] Translation: X:4.27, Y:-6.81, Z:-2.88 [[ 0.20485708 0.03501866 -0.97816526 4.269709 ] [ 0.02257204 0.99892499 0.04048912 -6.81075532] [ 0.97853159 -0.03037367 0.20384641 -2.88209275] [ 0. 0. 0. 1. ]] SLAMing on 111.71964924600002 meters Centerline goodness [0,1] 0.9238412584053795 Centerline is valid? [False, False] Translation: X:4.27, Y:-6.81, Z:-2.88 [[ 0.2024702 0.04159648 -0.97840459 4.26673093] [ 0.01935529 0.99873234 0.04646607 -6.81399882] [ 0.97909713 -0.0283453 0.20140843 -2.87709259] [ 0. 0. 0. 1. ]] SLAMing on 111.74964924600002 meters Centerline goodness [0,1] 0.9226179768543503 Centerline is valid? [False, False] Translation: X:4.27, Y:-6.82, Z:-2.87 [[ 0.20074492 0.04711242 -0.97851004 4.26561683] [ 0.01607656 0.99855 0.05137545 -6.81615233] [ 0.97951162 -0.02604443 0.19969643 -2.87356393] [ 0. 0. 0. 1. ]] SLAMing on 111.77964924600002 meters Centerline goodness [0,1] 0.9231645531672512 Centerline is valid? [False, False] Translation: X:4.26, Y:-6.82, Z:-2.87 [[ 0.19913737 0.05255132 -0.97856153 4.26466944] [ 0.01250585 0.99834354 0.05615861 -6.81758417] [ 0.97989179 -0.02342102 0.19815031 -2.87048821] [ 0. 0. 0. 1. ]] SLAMing on 111.80964924600002 meters Centerline goodness [0,1] 0.9253172892720306 Centerline is valid? [False, False] Translation: X:4.26, Y:-6.82, Z:-2.87 [[ 0.19740517 0.05804947 -0.97860179 4.26351104] [ 0.0090452 0.99809492 0.06103039 -6.82034864] [ 0.98028026 -0.02089936 0.19650403 -2.86729287] [ 0. 0. 0. 1. ]] SLAMing on 111.83964924600001 meters Centerline goodness [0,1] 0.9254637941352484 Centerline is valid? [False, False] Translation: X:4.26, Y:-6.82, Z:-2.86 [[ 1.94957530e-01 6.15496337e-02 -9.78878544e-01 4.26226386e+00] [ 6.34142465e-03 9.97929079e-01 6.40104721e-02 -6.82347296e+00] [ 9.80791185e-01 -1.86868080e-02 1.94163475e-01 -2.86389405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.86964924600001 meters Centerline goodness [0,1] 0.9270212829646481 Centerline is valid? [False, False] Translation: X:4.26, Y:-6.82, Z:-2.86 [[ 1.94227993e-01 6.19016757e-02 -9.79001363e-01 4.26193253e+00] [ 6.39535009e-03 9.97905879e-01 6.43657961e-02 -6.82388207e+00] [ 9.80935567e-01 -1.87626959e-02 1.93425373e-01 -2.86249165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.89964924600001 meters Centerline goodness [0,1] 0.9265159455008235 Centerline is valid? [False, False] Translation: X:4.26, Y:-6.83, Z:-2.86 [[ 1.92186299e-01 6.80413023e-02 -9.78996837e-01 4.25999403e+00] [ 2.41195236e-03 9.97557754e-01 6.98047943e-02 -6.82824771e+00] [ 9.81355496e-01 -1.57768188e-02 1.91552821e-01 -2.85919168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.92964924600001 meters Centerline goodness [0,1] 0.9267701696132101 Centerline is valid? [False, False] Translation: X:4.26, Y:-6.83, Z:-2.86 [[ 1.90319520e-01 7.37728803e-02 -9.78946394e-01 4.25821795e+00] [-1.14115543e-03 9.97188463e-01 7.49257380e-02 -6.83109393e+00] [ 9.81721538e-01 -1.31427005e-02 1.89868616e-01 -2.85612535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.95964924600001 meters Centerline goodness [0,1] 0.9273562943950338 Centerline is valid? [False, False] Translation: X:4.26, Y:-6.83, Z:-2.85 [[ 1.88521280e-01 7.98858319e-02 -9.78814579e-01 4.25613667e+00] [-5.06948643e-03 9.96751934e-01 8.03733956e-02 -6.83414556e+00] [ 9.82056020e-01 -1.01900082e-02 1.88313930e-01 -2.85329903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.98964924600001 meters Centerline goodness [0,1] 0.9266487615637123 Centerline is valid? [False, False] Translation: X:4.26, Y:-6.83, Z:-2.85 [[ 1.88142902e-01 8.02270994e-02 -9.78859469e-01 4.25613697e+00] [-5.25560621e-03 9.96726095e-01 8.06812837e-02 -6.83433630e+00] [ 9.82127602e-01 -1.00351110e-02 1.87948582e-01 -2.85257799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.01964924600001 meters Centerline goodness [0,1] 0.9244961934617107 Centerline is valid? [False, False] Translation: X:4.26, Y:-6.83, Z:-2.85 [[ 1.87521683e-01 8.01184245e-02 -9.78987567e-01 4.25752991e+00] [-4.98352640e-03 9.96732769e-01 8.06160798e-02 -6.83468544e+00] [ 9.82247821e-01 -1.02384526e-02 1.87308279e-01 -2.85062325e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.04964924600002 meters Centerline goodness [0,1] 0.9266658691231009 Centerline is valid? [False, False] Translation: X:4.26, Y:-6.84, Z:-2.85 [[ 1.86496246e-01 8.13512197e-02 -9.79081779e-01 4.25567956e+00] [-5.05493534e-03 9.96632120e-01 8.18465973e-02 -6.83679341e+00] [ 9.82442669e-01 -1.03148880e-02 1.86279374e-01 -2.84883662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.07964924600002 meters Centerline goodness [0,1] 0.9284859007363947 Centerline is valid? [False, False] Translation: X:4.25, Y:-6.84, Z:-2.85 [[ 1.86015112e-01 8.21799931e-02 -9.79104094e-01 4.25423694e+00] [-5.36364518e-03 9.96566139e-01 8.26266379e-02 -6.83767149e+00] [ 9.82532243e-01 -1.01182364e-02 1.85817147e-01 -2.84837620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.10964924600002 meters Centerline goodness [0,1] 0.9284985597695632 Centerline is valid? [False, False] Translation: X:4.25, Y:-6.84, Z:-2.85 [[ 1.85494249e-01 8.34464673e-02 -9.79095792e-01 4.25240369e+00] [-5.75527284e-03 9.96462923e-01 8.38362715e-02 -6.83949007e+00] [ 9.82628496e-01 -9.91618276e-03 1.85318398e-01 -2.84770869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.13964924600002 meters Centerline goodness [0,1] 0.9276536983669549 Centerline is valid? [False, False] Translation: X:4.25, Y:-6.84, Z:-2.85 [[ 1.84782480e-01 8.45996374e-02 -9.79131419e-01 4.25067133e+00] [-6.01528466e-03 9.96366750e-01 8.49536078e-02 -6.84191236e+00] [ 9.82761035e-01 -9.80818413e-03 1.84620010e-01 -2.84672641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.16964924600002 meters Centerline goodness [0,1] 0.9255137243137843 Centerline is valid? [False, False] Translation: X:4.25, Y:-6.84, Z:-2.84 [[ 1.84159233e-01 8.44190246e-02 -9.79264420e-01 4.25239981e+00] [-5.93949253e-03 9.96382186e-01 8.47777150e-02 -6.84178156e+00] [ 9.82878476e-01 -9.79626529e-03 1.83994386e-01 -2.84487331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.19964924600002 meters Centerline goodness [0,1] 0.9276732390984664 Centerline is valid? [False, False] Translation: X:4.25, Y:-6.84, Z:-2.84 [[ 1.83677205e-01 8.49713069e-02 -9.79307184e-01 4.25230672e+00] [-5.98292826e-03 9.96335071e-01 8.53266134e-02 -6.84278550e+00] [ 9.82968407e-01 -9.81342922e-03 1.83512418e-01 -2.84370566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.22964924600001 meters Centerline goodness [0,1] 0.9269274683011838 Centerline is valid? [False, False] Translation: X:4.25, Y:-6.84, Z:-2.84 [[ 1.83320215e-01 8.54375471e-02 -9.79333510e-01 4.25219108e+00] [-6.12212426e-03 9.96296036e-01 8.57713736e-02 -6.84356125e+00] [ 9.83034190e-01 -9.72802516e-03 1.83164262e-01 -2.84290837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.25964924600001 meters Centerline goodness [0,1] 0.926425524244427 Centerline is valid? [False, False] Translation: X:4.25, Y:-6.84, Z:-2.84 [[ 1.82546192e-01 8.60615488e-02 -9.79423452e-01 4.25181633e+00] [-6.35868322e-03 9.96244186e-01 8.63544405e-02 -6.84466321e+00] [ 9.83176716e-01 -9.53583080e-03 1.82407820e-01 -2.84148168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.28964924600001 meters Centerline goodness [0,1] 0.9293532039941228 Centerline is valid? [False, False] Translation: X:4.25, Y:-6.85, Z:-2.84 [[ 1.81318261e-01 9.16593968e-02 -9.79143627e-01 4.25100449e+00] [-1.00156218e-02 9.95767481e-01 9.13608882e-02 -6.84738387e+00] [ 9.83373467e-01 -6.75866512e-03 1.81468854e-01 -2.83926991e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.31964924600001 meters Centerline goodness [0,1] 0.9261049723756906 Centerline is valid? [False, False] Translation: X:4.25, Y:-6.85, Z:-2.84 [[ 1.81130267e-01 9.20123349e-02 -9.79145319e-01 4.25094213e+00] [-1.01812970e-02 9.95735738e-01 9.16879522e-02 -6.84743828e+00] [ 9.83406410e-01 -6.63849393e-03 1.81294685e-01 -2.83886714e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.34964924600001 meters Centerline goodness [0,1] 0.9271453799874285 Centerline is valid? [False, False] Translation: X:4.25, Y:-6.85, Z:-2.84 [[ 1.80963283e-01 9.37686893e-02 -9.79009562e-01 4.24781596e+00] [-1.12869476e-02 9.95576950e-01 9.32691836e-02 -6.84886293e+00] [ 9.83425084e-01 -5.82826809e-03 1.81221236e-01 -2.83975645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.37964924600001 meters Centerline goodness [0,1] 0.929962255107543 Centerline is valid? [False, False] Translation: X:4.25, Y:-6.85, Z:-2.84 [[ 1.80761428e-01 9.49510460e-02 -9.78932891e-01 4.24566734e+00] [-1.20104330e-02 9.95467860e-01 9.43371016e-02 -6.84985777e+00] [ 9.83453637e-01 -5.29510127e-03 1.81082595e-01 -2.84027699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.40964924600001 meters Centerline goodness [0,1] 0.9301433111470888 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.85, Z:-2.84 [[ 1.80626053e-01 9.67403401e-02 -9.78782680e-01 4.24183771e+00] [-1.32008506e-02 9.95299893e-01 9.59367534e-02 -6.85083437e+00] [ 9.83463251e-01 -4.40791312e-03 1.81054146e-01 -2.84165138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.43964924600002 meters Centerline goodness [0,1] 0.9326085003144937 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.85, Z:-2.84 [[ 1.80424497e-01 9.74529017e-02 -9.78749167e-01 4.24061729e+00] [-1.36283560e-02 9.95231746e-01 9.65817754e-02 -6.85140284e+00] [ 9.83494417e-01 -4.08697616e-03 1.80892310e-01 -2.84178576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.46964924600002 meters Centerline goodness [0,1] 0.9311326124075128 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.85, Z:-2.84 [[ 1.80237919e-01 9.79148602e-02 -9.78737438e-01 4.24010654e+00] [-1.38604962e-02 9.95187080e-01 9.70080566e-02 -6.85142028e+00] [ 9.83525383e-01 -3.91874376e-03 1.80727597e-01 -2.84157555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.49964924600002 meters Centerline goodness [0,1] 0.9336367992333493 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.85, Z:-2.84 [[ 1.79909922e-01 9.85670689e-02 -9.78732319e-01 4.23972345e+00] [-1.43572363e-02 9.95124243e-01 9.75787441e-02 -6.85233327e+00] [ 9.83578309e-01 -3.50349311e-03 1.80447876e-01 -2.84119879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.52964924600002 meters Centerline goodness [0,1] 0.9319434459621375 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.85, Z:-2.84 [[ 1.79657495e-01 9.88697640e-02 -9.78748157e-01 4.24021523e+00] [-1.47145640e-02 9.95095325e-01 9.78201161e-02 -6.85243693e+00] [ 9.83619167e-01 -3.17226454e-03 1.80231159e-01 -2.84062163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.55964924600002 meters Centerline goodness [0,1] 0.931647463713901 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.85, Z:-2.84 [[ 1.79385992e-01 9.89106612e-02 -9.78793823e-01 4.24075466e+00] [-1.47615654e-02 9.95091474e-01 9.78522089e-02 -6.85197035e+00] [ 9.83668014e-01 -3.10478656e-03 1.79965547e-01 -2.83987086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.58964924600001 meters Centerline goodness [0,1] 0.9306065216742743 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.85, Z:-2.84 [[ 1.78017146e-01 1.03985544e-01 -9.78517707e-01 4.24157535e+00] [-1.83193549e-02 9.94578765e-01 1.02359573e-01 -6.85422073e+00] [ 9.83856848e-01 -2.95945886e-04 1.78957021e-01 -2.83704920e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.61964924600001 meters Centerline goodness [0,1] 0.9301150799581528 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.85, Z:-2.84 [[ 1.77715181e-01 1.04074997e-01 -9.78563084e-01 4.24242189e+00] [-1.83213489e-02 9.94569413e-01 1.02450040e-01 -6.85469755e+00] [ 9.83911400e-01 -2.78331749e-04 1.78656878e-01 -2.83604901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.64964924600001 meters Centerline goodness [0,1] 0.9281455068468523 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.86, Z:-2.83 [[ 1.77093754e-01 1.04596892e-01 -9.78620096e-01 4.24263083e+00] [-1.84124685e-02 9.94514677e-01 1.02963767e-01 -6.85678782e+00] [ 9.84021739e-01 -2.15428278e-04 1.78048224e-01 -2.83459693e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.67964924600001 meters Centerline goodness [0,1] 0.9299758745476477 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.86, Z:-2.84 [[ 1.77532804e-01 1.00577045e-01 -9.78961879e-01 4.24213303e+00] [-1.51160281e-02 9.94925156e-01 9.94758254e-02 -6.85779144e+00] [ 9.83998785e-01 -2.86220698e-03 1.78152178e-01 -2.83515703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.70964924600001 meters Centerline goodness [0,1] 0.9303130644190247 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.86, Z:-2.83 [[ 1.76944182e-01 1.01632664e-01 -9.78959426e-01 4.24080596e+00] [-1.51573980e-02 9.94817617e-01 1.00539357e-01 -6.86036045e+00] [ 9.84104166e-01 -2.95137668e-03 1.77567676e-01 -2.83407487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.73964924600001 meters Centerline goodness [0,1] 0.9283836460882966 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.86, Z:-2.83 [[ 1.76493204e-01 1.02662105e-01 -9.78933420e-01 4.23963726e+00] [-1.52877001e-02 9.94711886e-01 1.01560574e-01 -6.86249061e+00] [ 9.84183131e-01 -2.95911069e-03 1.77129356e-01 -2.83326573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.76964924600001 meters Centerline goodness [0,1] 0.9300790358235169 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.87, Z:-2.83 [[ 1.76273883e-01 1.04724163e-01 -9.78754498e-01 4.23643884e+00] [-1.61660250e-02 9.94498360e-01 1.03497210e-01 -6.86573177e+00] [ 9.84208402e-01 -2.42128534e-03 1.76997060e-01 -2.83371457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.79964924600002 meters Centerline goodness [0,1] 0.9308078972868217 Centerline is valid? [False, False] Translation: X:4.23, Y:-6.87, Z:-2.83 [[ 1.76037622e-01 1.05613361e-01 -9.78701473e-01 4.23486043e+00] [-1.66608360e-02 9.94405143e-01 1.04311210e-01 -6.86671834e+00] [ 9.84242436e-01 -2.05671260e-03 1.76812323e-01 -2.83389503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.82964924600002 meters Centerline goodness [0,1] 0.9303427054422589 Centerline is valid? [False, False] Translation: X:4.23, Y:-6.87, Z:-2.83 [[ 1.75942568e-01 1.06071849e-01 -9.78668982e-01 4.23496233e+00] [-1.69654461e-02 9.94356800e-01 1.04722150e-01 -6.86729415e+00] [ 9.84254229e-01 -1.82152817e-03 1.76749245e-01 -2.83361620e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.85964924600002 meters Centerline goodness [0,1] 0.9296782963298595 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.87, Z:-2.83 [[ 1.75727983e-01 1.06268884e-01 -9.78686160e-01 4.23520709e+00] [-1.69040158e-02 9.94335622e-01 1.04932953e-01 -6.86749805e+00] [ 9.84293620e-01 -1.89592981e-03 1.76528964e-01 -2.83289851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.88964924600002 meters Centerline goodness [0,1] 0.9302747302565962 Centerline is valid? [False, False] Translation: X:4.23, Y:-6.87, Z:-2.83 [[ 1.75393473e-01 1.07079683e-01 -9.78657791e-01 4.23434962e+00] [-1.72666925e-02 9.94249090e-01 1.05691094e-01 -6.86858591e+00] [ 9.84346987e-01 -1.63934491e-03 1.76233713e-01 -2.83245512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.91964924600002 meters Centerline goodness [0,1] 0.9299713120942171 Centerline is valid? [False, False] Translation: X:4.23, Y:-6.87, Z:-2.83 [[ 1.75073763e-01 1.07606866e-01 -9.78657213e-01 4.23430933e+00] [-1.75455371e-02 9.94192513e-01 1.06176275e-01 -6.86987144e+00] [ 9.84398970e-01 -1.41761351e-03 1.75945045e-01 -2.83175067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.94964924600002 meters Centerline goodness [0,1] 0.929779600205023 Centerline is valid? [False, False] Translation: X:4.23, Y:-6.87, Z:-2.83 [[ 1.74838484e-01 1.07811856e-01 -9.78676713e-01 4.23466440e+00] [-1.75934611e-02 9.94170357e-01 1.06375615e-01 -6.86989107e+00] [ 9.84439929e-01 -1.38024067e-03 1.75716022e-01 -2.83103194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 112.97964924600001 meters Centerline goodness [0,1] 0.9291995422514003 Centerline is valid? [False, False] Translation: X:4.23, Y:-6.87, Z:-2.83 [[ 0.17156852 0.12175173 -0.97761995 4.2262844 ] [-0.01291523 0.99252678 0.12134163 -6.87086274] [ 0.98508753 -0.00819222 0.1718588 -2.83250387] [ 0. 0. 0. 1. ]] SLAMing on 113.00964924600001 meters Centerline goodness [0,1] 0.9285757465844517 Centerline is valid? [False, False] Translation: X:4.23, Y:-6.87, Z:-2.84 [[ 0.17846563 0.11917555 -0.97670221 4.22572709] [-0.00726715 0.99277045 0.1198083 -6.87221897] [ 0.98391931 -0.01428382 0.17804147 -2.83965349] [ 0. 0. 0. 1. ]] SLAMing on 113.03964924600001 meters Centerline goodness [0,1] 0.9291756359336628 Centerline is valid? [False, False] Translation: X:4.23, Y:-6.87, Z:-2.84 [[ 1.78903325e-01 1.14375469e-01 -9.77195913e-01 4.22669540e+00] [-3.00240691e-03 9.93278711e-01 1.15708198e-01 -6.87158219e+00] [ 9.83862077e-01 -1.77666417e-02 1.78044266e-01 -2.83891073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.06964924600001 meters Centerline goodness [0,1] 0.9293461794825183 Centerline is valid? [False, False] Translation: X:4.22, Y:-6.87, Z:-2.84 [[ 1.73324796e-01 1.22330591e-01 -9.77237812e-01 4.22103169e+00] [ 5.59595284e-03 9.92117541e-01 1.25185744e-01 -6.87089480e+00] [ 9.84848821e-01 -2.71663703e-02 1.71274015e-01 -2.83901884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.09964924600001 meters Centerline goodness [0,1] 0.9274161854953293 Centerline is valid? [False, False] Translation: X:4.22, Y:-6.87, Z:-2.85 [[ 0.16892579 0.12892931 -0.97715982 4.21535902] [ 0.01128515 0.99108957 0.13271815 -6.86914288] [ 0.98556417 -0.03344691 0.1659656 -2.84755091] [ 0. 0. 0. 1. ]] SLAMing on 113.12964924600001 meters Centerline goodness [0,1] 0.9239564428312159 Centerline is valid? [False, False] Translation: X:4.22, Y:-6.87, Z:-2.85 [[ 0.16858327 0.12894984 -0.97721626 4.21543026] [ 0.01165362 0.9910758 0.1327891 -6.86934072] [ 0.98561852 -0.03377413 0.16557606 -2.84650548] [ 0. 0. 0. 1. ]] SLAMing on 113.15964924600001 meters Centerline goodness [0,1] 0.9229142114646602 Centerline is valid? [False, False] Translation: X:4.22, Y:-6.87, Z:-2.85 [[ 0.16822171 0.12862197 -0.97732177 4.21584331] [ 0.01193923 0.99111218 0.13249192 -6.86807189] [ 0.98567688 -0.03395649 0.16519093 -2.84565763] [ 0. 0. 0. 1. ]] SLAMing on 113.18964924600002 meters Centerline goodness [0,1] 0.9228122075648263 Centerline is valid? [False, False] Translation: X:4.22, Y:-6.87, Z:-2.85 [[ 0.168034 0.12834981 -0.97738984 4.21638256] [ 0.01203002 0.99114678 0.13222457 -6.86662331] [ 0.98570779 -0.03397624 0.16500231 -2.8452129 ] [ 0. 0. 0. 1. ]] SLAMing on 113.21964924600002 meters Centerline goodness [0,1] 0.9253668510945393 Centerline is valid? [False, False] Translation: X:4.22, Y:-6.86, Z:-2.85 [[ 0.16803749 0.1283998 -0.97738267 4.21564016] [ 0.01140203 0.99116145 0.13217024 -6.86441408] [ 0.98571466 -0.0333537 0.16508826 -2.84622223] [ 0. 0. 0. 1. ]] SLAMing on 113.24964924600002 meters Centerline goodness [0,1] 0.9253412712730772 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.86, Z:-2.85 [[ 0.16814009 0.12871055 -0.97732416 4.21484107] [ 0.0109311 0.99113476 0.13240996 -6.8634199 ] [ 0.9857025 -0.03294665 0.16524254 -2.84699725] [ 0. 0. 0. 1. ]] SLAMing on 113.27964924600002 meters Centerline goodness [0,1] 0.9230584275066122 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.86, Z:-2.85 [[ 0.16804226 0.1285572 -0.97736116 4.21488554] [ 0.01092974 0.99115601 0.13225091 -6.86166758] [ 0.9857192 -0.03290604 0.165151 -2.84691804] [ 0. 0. 0. 1. ]] SLAMing on 113.30964924600002 meters Centerline goodness [0,1] 0.9246103117505995 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.86, Z:-2.85 [[ 0.16830629 0.12846341 -0.97732806 4.21473317] [ 0.01053919 0.99118047 0.13209918 -6.85851123] [ 0.98567841 -0.03253337 0.16546801 -2.84790274] [ 0. 0. 0. 1. ]] SLAMing on 113.33964924600001 meters Centerline goodness [0,1] 0.9206458364478995 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.86, Z:-2.85 [[ 0.16855053 0.12841917 -0.97729179 4.21443454] [ 0.00977725 0.99121024 0.13193435 -6.85632692] [ 0.98564452 -0.03179283 0.16581342 -2.8492187 ] [ 0. 0. 0. 1. ]] SLAMing on 113.36964924600001 meters Centerline goodness [0,1] 0.9219612641379927 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.85, Z:-2.85 [[ 0.16857255 0.12847439 -0.97728073 4.21428025] [ 0.00936954 0.99121575 0.13192247 -6.85474554] [ 0.98564472 -0.03139518 0.16588802 -2.84969751] [ 0. 0. 0. 1. ]] SLAMing on 113.39964924600001 meters Centerline goodness [0,1] 0.9165080309339679 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.85, Z:-2.85 [[ 0.1686776 0.12854638 -0.97725314 4.21319715] [ 0.00837599 0.99123675 0.13183149 -6.85153033] [ 0.98563569 -0.03042249 0.16612274 -2.85133072] [ 0. 0. 0. 1. ]] SLAMing on 113.42964924600001 meters Centerline goodness [0,1] 0.9182966886633326 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.85, Z:-2.85 [[ 0.16855851 0.12859946 -0.9772667 4.21299823] [ 0.00805153 0.99124005 0.13182695 -6.8497543 ] [ 0.98565877 -0.03008904 0.16604652 -2.85150428] [ 0. 0. 0. 1. ]] SLAMing on 113.45964924600001 meters Centerline goodness [0,1] 0.9165611286189733 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.85, Z:-2.87 [[ 0.16606497 0.13782341 -0.97643593 4.20631097] [ 0.00811869 0.98996019 0.14111312 -6.846349 ] [ 0.98608139 -0.03136132 0.16327877 -2.86691108] [ 0. 0. 0. 1. ]] SLAMing on 113.48964924600001 meters Centerline goodness [0,1] 0.916661762109352 Centerline is valid? [False, False] Translation: X:4.20, Y:-6.85, Z:-2.88 [[ 0.16227431 0.14588805 -0.97590149 4.19906923] [ 0.00910898 0.98874653 0.14932291 -6.84557753] [ 0.98670364 -0.03312074 0.15911927 -2.88165158] [ 0. 0. 0. 1. ]] SLAMing on 113.51964924600001 meters Centerline goodness [0,1] 0.9172875215473164 Centerline is valid? [False, False] Translation: X:4.19, Y:-6.84, Z:-2.91 [[ 1.60094229e-01 1.52626379e-01 -9.75230755e-01 4.19226956e+00] [ 6.20630489e-03 9.87798738e-01 1.55612133e-01 -6.84457358e+00] [ 9.87082225e-01 -3.09651838e-02 1.57193631e-01 -2.90576971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.54964924600002 meters Centerline goodness [0,1] 0.9116745936797875 Centerline is valid? [False, False] Translation: X:4.19, Y:-6.84, Z:-2.93 [[ 1.58599231e-01 1.57476443e-01 -9.74703777e-01 4.18625996e+00] [ 5.75898803e-03 9.87034370e-01 1.60405691e-01 -6.84484923e+00] [ 9.87326247e-01 -3.10535267e-02 1.55635988e-01 -2.92903624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 113.57964924600002 meters Centerline goodness [0,1] 0.9163579076348571 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.84, Z:-2.97 [[ 0.16131734 0.16286825 -0.97337077 4.17908304] [ 0.00738037 0.98606193 0.16621494 -6.84147021] [ 0.98687499 -0.03399719 0.15786686 -2.9732935 ] [ 0. 0. 0. 1. ]] SLAMing on 113.60964924600002 meters Centerline goodness [0,1] 0.9163579076348571 Centerline is valid? [False, False] Translation: X:4.17, Y:-6.84, Z:-3.02 [[ 0.16383194 0.16540432 -0.97252275 4.17242884] [ 0.01153826 0.98545448 0.16954746 -6.84042001] [ 0.98642078 -0.03899851 0.15954044 -3.0167622 ] [ 0. 0. 0. 1. ]] SLAMing on 113.63964924600002 meters Centerline goodness [0,1] 0.9141417084255914 Centerline is valid? [False, False] Translation: X:4.16, Y:-6.84, Z:-3.06 [[ 0.16603553 0.16804742 -0.97169556 4.16492466] [ 0.01390794 0.9848757 0.17270331 -6.8388448 ] [ 0.98602169 -0.04218917 0.16118717 -3.06331141] [ 0. 0. 0. 1. ]] SLAMing on 113.66964924600002 meters Centerline goodness [0,1] 0.9184604212055192 Centerline is valid? [False, False] Translation: X:4.16, Y:-6.84, Z:-3.11 [[ 0.16848095 0.16816781 -0.9712537 4.15809087] [ 0.01579019 0.98475233 0.17324412 -6.83706878] [ 0.98557843 -0.04452462 0.16325661 -3.11333784] [ 0. 0. 0. 1. ]] SLAMing on 113.69964924600002 meters Centerline goodness [0,1] 0.9180717306912336 Centerline is valid? [False, False] Translation: X:4.15, Y:-6.84, Z:-3.16 [[ 0.17036292 0.17157259 -0.97032949 4.15042924] [ 0.01812294 0.98401268 0.17717392 -6.83719873] [ 0.98521471 -0.04776909 0.16452988 -3.15800094] [ 0. 0. 0. 1. ]] SLAMing on 113.72964924600001 meters Centerline goodness [0,1] 0.9226845948765504 Centerline is valid? [False, False] Translation: X:4.14, Y:-6.84, Z:-3.21 [[ 0.17284287 0.17183668 -0.96984406 4.14364787] [ 0.01909664 0.98389409 0.17772941 -6.83635086] [ 0.98476427 -0.04924002 0.16677757 -3.21064302] [ 0. 0. 0. 1. ]] SLAMing on 113.75964924600001 meters Centerline goodness [0,1] 0.9196356275303643 Centerline is valid? [False, False] Translation: X:4.14, Y:-6.84, Z:-3.26 [[ 0.17531757 0.1716694 -0.9694294 4.13726784] [ 0.02246623 0.98372618 0.17826405 -6.83569232] [ 0.98425557 -0.05303224 0.16860772 -3.25839548] [ 0. 0. 0. 1. ]] SLAMing on 113.78964924600001 meters Centerline goodness [0,1] 0.9209947946790052 Centerline is valid? [False, False] Translation: X:4.13, Y:-6.84, Z:-3.31 [[ 0.17818974 0.16999586 -0.96920061 4.12993567] [ 0.02524334 0.98384993 0.17720637 -6.83511508] [ 0.9836723 -0.05604222 0.1710207 -3.31070786] [ 0. 0. 0. 1. ]] SLAMing on 113.81964924600001 meters Centerline goodness [0,1] 0.9245545415036941 Centerline is valid? [False, False] Translation: X:4.12, Y:-6.84, Z:-3.36 [[ 0.18058633 0.16876808 -0.96897157 4.12153745] [ 0.02748127 0.98391818 0.17649303 -6.83580561] [ 0.98317514 -0.0585008 0.17304422 -3.36285024] [ 0. 0. 0. 1. ]] SLAMing on 113.84964924600001 meters Centerline goodness [0,1] 0.9263976326554295 Centerline is valid? [False, False] Translation: X:4.11, Y:-6.84, Z:-3.42 [[ 0.18410167 0.16688813 -0.9686356 4.11255042] [ 0.02901061 0.98412827 0.17507123 -6.83557577] [ 0.98247899 -0.06033162 0.17633813 -3.41813614] [ 0. 0. 0. 1. ]] SLAMing on 113.87964924600001 meters Centerline goodness [0,1] 0.9284304047384008 Centerline is valid? [False, False] Translation: X:4.11, Y:-6.84, Z:-3.47 [[ 0.18667204 0.16497826 -0.96847082 4.1051207 ] [ 0.03047527 0.98435206 0.17355771 -6.83585886] [ 0.98194949 -0.06191278 0.17872326 -3.47169048] [ 0. 0. 0. 1. ]] SLAMing on 113.90964924600001 meters Centerline goodness [0,1] 0.9244083566908429 Centerline is valid? [False, False] Translation: X:4.09, Y:-6.84, Z:-3.54 [[ 0.18968338 0.16874554 -0.96723583 4.09386005] [ 0.03284644 0.98347839 0.17802071 -6.83582038] [ 0.98129574 -0.06553782 0.18100681 -3.54243958] [ 0. 0. 0. 1. ]] SLAMing on 113.93964924600002 meters Centerline goodness [0,1] 0.9236301666618526 Centerline is valid? [False, False] Translation: X:4.09, Y:-6.84, Z:-3.60 [[ 0.19064348 0.16686522 -0.96737328 4.0860121 ] [ 0.03355227 0.98376364 0.1763047 -6.83737706] [ 0.98108578 -0.06606891 0.18194941 -3.5972519 ] [ 0. 0. 0. 1. ]] SLAMing on 113.96964924600002 meters Centerline goodness [0,1] 0.9232102116845237 Centerline is valid? [False, False] Translation: X:4.08, Y:-6.84, Z:-3.65 [[ 0.19340782 0.16436151 -0.96725318 4.07867041] [ 0.03678978 0.98395959 0.1745567 -6.83840379] [ 0.98042844 -0.06934566 0.18425865 -3.64905094] [ 0. 0. 0. 1. ]] SLAMing on 113.99964924600002 meters Centerline goodness [0,1] 0.9221523936401286 Centerline is valid? [False, False] Translation: X:4.07, Y:-6.84, Z:-3.70 [[ 0.19571709 0.16000991 -0.9675183 4.07030358] [ 0.04060648 0.98443025 0.17102103 -6.84059271] [ 0.97981934 -0.07275925 0.18617238 -3.70205771] [ 0. 0. 0. 1. ]] SLAMing on 114.02964924600002 meters Centerline goodness [0,1] 0.925902193225177 Centerline is valid? [False, False] Translation: X:4.06, Y:-6.84, Z:-3.76 [[ 0.19991944 0.15313887 -0.967771 4.0622405 ] [ 0.04604174 0.98515121 0.16540027 -6.84287702] [ 0.97872998 -0.07762459 0.1899001 -3.75700617] [ 0. 0. 0. 1. ]] SLAMing on 114.05964924600002 meters Centerline goodness [0,1] 0.9263185485045287 Centerline is valid? [False, False] Translation: X:4.06, Y:-6.85, Z:-3.81 [[ 0.20277714 0.14914561 -0.96780009 4.05534196] [ 0.04912484 0.98553891 0.16217213 -6.84533198] [ 0.97799191 -0.08042782 0.19251801 -3.81123893] [ 0. 0. 0. 1. ]] SLAMing on 114.08964924600001 meters Centerline goodness [0,1] 0.926269431562983 Centerline is valid? [False, False] Translation: X:4.05, Y:-6.85, Z:-3.84 [[ 0.20215048 0.14483116 -0.96858614 4.05369117] [ 0.04877056 0.98628886 0.15765697 -6.84810151] [ 0.97813936 -0.07910892 0.19231527 -3.84290687] [ 0. 0. 0. 1. ]] SLAMing on 114.11964924600001 meters Centerline goodness [0,1] 0.9225780063106229 Centerline is valid? [False, False] Translation: X:4.05, Y:-6.85, Z:-3.89 [[ 0.20374752 0.14418594 -0.96834775 4.04702692] [ 0.05326128 0.98599833 0.15802065 -6.85092886] [ 0.97757362 -0.08377175 0.19321519 -3.88806644] [ 0. 0. 0. 1. ]] SLAMing on 114.14964924600001 meters Centerline goodness [0,1] 0.9225537132181224 Centerline is valid? [False, False] Translation: X:4.04, Y:-6.85, Z:-3.93 [[ 0.20560483 0.14424516 -0.96794627 4.03915582] [ 0.05745424 0.98559267 0.15907892 -6.85401188] [ 0.97694711 -0.08832001 0.19435512 -3.93367289] [ 0. 0. 0. 1. ]] SLAMing on 114.17964924600001 meters Centerline goodness [0,1] 0.9205103330687597 Centerline is valid? [False, False] Translation: X:4.03, Y:-6.86, Z:-3.98 [[ 0.20832947 0.13880853 -0.96815857 4.03184918] [ 0.06479484 0.98574443 0.15527251 -6.8572015 ] [ 0.97591007 -0.09507952 0.19636554 -3.98195884] [ 0. 0. 0. 1. ]] SLAMing on 114.20964924600001 meters Centerline goodness [0,1] 0.9229320542624253 Centerline is valid? [False, False] Translation: X:4.03, Y:-6.86, Z:-4.01 [[ 0.20951434 0.13210211 -0.96884094 4.03020782] [ 0.06657808 0.98660509 0.14892195 -6.85944388] [ 0.97553631 -0.09570485 0.19791281 -4.01350365] [ 0. 0. 0. 1. ]] SLAMing on 114.23964924600001 meters Centerline goodness [0,1] 0.9210541866099391 Centerline is valid? [False, False] Translation: X:4.03, Y:-6.86, Z:-4.05 [[ 0.2105556 0.12440138 -0.96963428 4.02812496] [ 0.06765838 0.98763734 0.14140311 -6.86172258] [ 0.97523776 -0.0953771 0.19953578 -4.04821082] [ 0. 0. 0. 1. ]] SLAMing on 114.26964924600001 meters Centerline goodness [0,1] 0.9168436578171092 Centerline is valid? [False, False] Translation: X:4.03, Y:-6.86, Z:-4.05 [[ 0.21137059 0.11866655 -0.97017561 4.03060972] [ 0.07174453 0.9880411 0.13648262 -6.86003776] [ 0.9747693 -0.0984532 0.20032916 -4.04834729] [ 0. 0. 0. 1. ]] SLAMing on 114.29964924600002 meters Centerline goodness [0,1] 0.9145842531272995 Centerline is valid? [False, False] Translation: X:4.03, Y:-6.86, Z:-4.07 [[ 0.21736951 0.11056038 -0.96980766 4.02831507] [ 0.0797322 0.98823288 0.13053181 -6.85779959] [ 0.97282746 -0.10569854 0.20599647 -4.0731765 ] [ 0. 0. 0. 1. ]] SLAMing on 114.32964924600002 meters Centerline goodness [0,1] 0.9119803678079357 Centerline is valid? [False, False] Translation: X:4.03, Y:-6.86, Z:-4.07 [[ 0.21798354 0.10445119 -0.97034691 4.03056061] [ 0.08427738 0.98852771 0.12534071 -6.85546791] [ 0.97230679 -0.10910051 0.20667989 -4.07304449] [ 0. 0. 0. 1. ]] SLAMing on 114.35964924600002 meters Centerline goodness [0,1] 0.9038139206633928 Centerline is valid? [False, False] Translation: X:4.04, Y:-6.85, Z:-4.07 [[ 0.21650623 0.10193263 -0.97094531 4.03703133] [ 0.08692227 0.98857209 0.1231655 -6.85386247] [ 0.97240402 -0.11106287 0.20517181 -4.06696419] [ 0. 0. 0. 1. ]] SLAMing on 114.38964924600002 meters Centerline goodness [0,1] 0.904452963727514 Centerline is valid? [False, False] Translation: X:4.04, Y:-6.85, Z:-4.06 [[ 0.21588059 0.10041243 -0.97124297 4.04140381] [ 0.0881649 0.98863041 0.12180667 -6.85257093] [ 0.97243124 -0.11192524 0.20457327 -4.06393567] [ 0. 0. 0. 1. ]] SLAMing on 114.41964924600002 meters Centerline goodness [0,1] 0.9025912838633686 Centerline is valid? [False, False] Translation: X:4.05, Y:-6.85, Z:-4.06 [[ 0.21497488 0.09903726 -0.971585 4.0462482 ] [ 0.08922687 0.98869238 0.1205236 -6.85266785] [ 0.97253502 -0.11260104 0.20370725 -4.06019481] [ 0. 0. 0. 1. ]] SLAMing on 114.44964924600002 meters Centerline goodness [0,1] 0.9052281763693549 Centerline is valid? [False, False] Translation: X:4.05, Y:-6.85, Z:-4.06 [[ 0.21509703 0.09358034 -0.97209875 4.04808653] [ 0.09343267 0.98886044 0.11586784 -6.85269718] [ 0.97211296 -0.11574861 0.20395749 -4.0591645 ] [ 0. 0. 0. 1. ]] SLAMing on 114.47964924600001 meters Centerline goodness [0,1] 0.9045774228155918 Centerline is valid? [False, False] Translation: X:4.05, Y:-6.85, Z:-4.06 [[ 0.21568615 0.08358388 -0.97287883 4.05013726] [ 0.09996606 0.98920468 0.10714886 -6.85228972] [ 0.97133222 -0.12036539 0.2050022 -4.06004908] [ 0. 0. 0. 1. ]] SLAMing on 114.50964924600001 meters Centerline goodness [0,1] 0.9058397871004396 Centerline is valid? [False, False] Translation: X:4.05, Y:-6.85, Z:-4.06 [[ 0.21610715 0.07766207 -0.97327607 4.0529283 ] [ 0.10405412 0.98932259 0.10204677 -6.85067318] [ 0.97080917 -0.12332642 0.20571863 -4.05988217] [ 0. 0. 0. 1. ]] SLAMing on 114.53964924600001 meters Centerline goodness [0,1] 0.9017199017199017 Centerline is valid? [False, False] Translation: X:4.06, Y:-6.85, Z:-4.06 [[ 0.2158682 0.07161063 -0.97379302 4.05673975] [ 0.10897642 0.98930922 0.0969093 -6.85043418] [ 0.97032214 -0.12704012 0.20575653 -4.05731235] [ 0. 0. 0. 1. ]] SLAMing on 114.56964924600001 meters Centerline goodness [0,1] 0.8951980792316927 Centerline is valid? [False, False] Translation: X:4.07, Y:-6.85, Z:-4.05 [[ 0.22070019 0.05687241 -0.97368216 4.06991052] [ 0.10842351 0.99068047 0.08244115 -6.84678688] [ 0.96929653 -0.12376482 0.21247706 -4.04892044] [ 0. 0. 0. 1. ]] SLAMing on 114.59964924600001 meters Centerline goodness [0,1] 0.8986836976402507 Centerline is valid? [False, False] Translation: X:4.08, Y:-6.84, Z:-4.04 [[ 0.22496145 0.04731475 -0.9732182 4.08145165] [ 0.10522744 0.99179882 0.07254163 -6.84414167] [ 0.96866895 -0.11872832 0.21813769 -4.03791263] [ 0. 0. 0. 1. ]] SLAMing on 114.62964924600001 meters Centerline goodness [0,1] 0.8972534894191806 Centerline is valid? [False, False] Translation: X:4.09, Y:-6.84, Z:-4.03 [[ 0.22964446 0.0331818 -0.97270879 4.09343149] [ 0.10430941 0.99282324 0.05849412 -6.84064302] [ 0.96766883 -0.11489553 0.22453519 -4.02990223] [ 0. 0. 0. 1. ]] SLAMing on 114.65964924600001 meters Centerline goodness [0,1] 0.8968461561588648 Centerline is valid? [False, False] Translation: X:4.10, Y:-6.84, Z:-4.02 [[ 0.23382739 0.02255645 -0.97201644 4.10433602] [ 0.1030866 0.99352059 0.04785389 -6.83852636] [ 0.96679776 -0.11139142 0.22998705 -4.01749937] [ 0. 0. 0. 1. ]] SLAMing on 114.68964924600002 meters Centerline goodness [0,1] 0.8957938727037672 Centerline is valid? [False, False] Translation: X:4.12, Y:-6.84, Z:-4.01 [[ 0.238235 0.01281626 -0.97112297 4.11678513] [ 0.10114358 0.99414843 0.03793259 -6.83566506] [ 0.96592653 -0.10725972 0.23554467 -4.00516641] [ 0. 0. 0. 1. ]] SLAMing on 114.71964924600002 meters Centerline goodness [0,1] 0.8963774220724515 Centerline is valid? [False, False] Translation: X:4.13, Y:-6.83, Z:-3.99 [[ 2.42900966e-01 3.49925464e-03 -9.70044780e-01 4.12758684e+00] [ 9.89233069e-02 9.94690887e-01 2.83587357e-02 -6.83272622e+00] [ 9.64993938e-01 -1.02848402e-01 2.41265220e-01 -3.99434351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.74964924600002 meters Centerline goodness [0,1] 0.8955453149001537 Centerline is valid? [False, False] Translation: X:4.14, Y:-6.83, Z:-3.98 [[ 2.47427495e-01 -6.04017731e-03 -9.68887584e-01 4.13825145e+00] [ 9.71567801e-02 9.95095129e-01 1.86076362e-02 -6.82956203e+00] [ 9.64022922e-01 -9.87380388e-02 2.46800739e-01 -3.98298225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.77964924600002 meters Centerline goodness [0,1] 0.8955602536997886 Centerline is valid? [False, False] Translation: X:4.15, Y:-6.83, Z:-3.97 [[ 0.25159493 -0.01252068 -0.96775163 4.14838059] [ 0.0946324 0.99544325 0.01172347 -6.82802521] [ 0.96319505 -0.09453023 0.25163334 -3.96871537] [ 0. 0. 0. 1. ]] SLAMing on 114.80964924600002 meters Centerline goodness [0,1] 0.8952472742605867 Centerline is valid? [False, False] Translation: X:4.15, Y:-6.83, Z:-3.96 [[ 0.25015075 -0.00714528 -0.96818053 4.14811009] [ 0.09143945 0.9956776 0.01627718 -6.83077983] [ 0.96387936 -0.09260165 0.24972286 -3.96490691] [ 0. 0. 0. 1. ]] SLAMing on 114.83964924600001 meters Centerline goodness [0,1] 0.9023243194356516 Centerline is valid? [False, False] Translation: X:4.15, Y:-6.83, Z:-3.96 [[ 2.48433235e-01 -1.98028616e-03 -9.68646998e-01 4.14817029e+00] [ 8.83702152e-02 9.95874068e-01 2.06287563e-02 -6.83449017e+00] [ 9.64609575e-01 -9.07244123e-02 2.47583215e-01 -3.96035434e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.86964924600001 meters Centerline goodness [0,1] 0.9004715139502057 Centerline is valid? [False, False] Translation: X:4.16, Y:-6.83, Z:-3.95 [[ 2.58641935e-01 -3.26674319e-03 -9.65967741e-01 4.15798898e+00] [ 8.98267377e-02 9.95742601e-01 2.06840509e-02 -6.83357085e+00] [ 9.61787662e-01 -9.21194939e-02 2.57834234e-01 -3.95270045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.89964924600001 meters Centerline goodness [0,1] 0.8960472047445585 Centerline is valid? [False, False] Translation: X:4.16, Y:-6.84, Z:-3.95 [[ 2.56861439e-01 2.21570259e-03 -9.66445700e-01 4.15819714e+00] [ 8.68171378e-02 9.95901493e-01 2.53574479e-02 -6.83637078e+00] [ 9.62540901e-01 -9.04174002e-02 2.55616330e-01 -3.94771292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.92964924600001 meters Centerline goodness [0,1] 0.8987851816213616 Centerline is valid? [False, False] Translation: X:4.16, Y:-6.84, Z:-3.94 [[ 0.25521921 0.00820871 -0.96684837 4.15659526] [ 0.08329916 0.99605941 0.03044522 -6.83926794] [ 0.96328833 -0.08830786 0.25352972 -3.944017 ] [ 0. 0. 0. 1. ]] SLAMing on 114.95964924600001 meters Centerline goodness [0,1] 0.9014896684286401 Centerline is valid? [False, False] Translation: X:4.17, Y:-6.84, Z:-3.93 [[ 2.59166987e-01 2.33726029e-03 -9.65829700e-01 4.16615255e+00] [ 7.90063978e-02 9.96594433e-01 2.36119791e-02 -6.83634641e+00] [ 9.62595690e-01 -8.24261710e-02 2.58099718e-01 -3.93133477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 114.98964924600001 meters Centerline goodness [0,1] 0.8992289922899229 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.83, Z:-3.92 [[ 2.63649167e-01 -3.18998787e-03 -9.64613363e-01 4.17602983e+00] [ 7.51248701e-02 9.97025162e-01 1.72360366e-02 -6.83305155e+00] [ 9.61688812e-01 -7.70107203e-02 2.63104500e-01 -3.91865852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.01964924600001 meters Centerline goodness [0,1] 0.9021959661057406 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.83, Z:-3.91 [[ 0.26148761 0.00727884 -0.96517939 4.17517525] [ 0.06798554 0.99734902 0.02594017 -6.83387234] [ 0.96280953 -0.07240128 0.26029955 -3.91357595] [ 0. 0. 0. 1. ]] SLAMing on 115.04964924600002 meters Centerline goodness [0,1] 0.9047760396568613 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.83, Z:-3.90 [[ 2.65451120e-01 3.59724871e-03 -9.64117608e-01 4.18365700e+00] [ 6.31119344e-02 9.97783391e-01 2.10995096e-02 -6.83117165e+00] [ 9.62056436e-01 -6.64482157e-02 2.64635689e-01 -3.90000204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.07964924600002 meters Centerline goodness [0,1] 0.9102434978375497 Centerline is valid? [False, False] Translation: X:4.19, Y:-6.83, Z:-3.88 [[ 2.68652069e-01 4.12842732e-03 -9.63228437e-01 4.19052326e+00] [ 5.62162036e-02 9.98219132e-01 1.99575447e-02 -6.82920293e+00] [ 9.61595447e-01 -5.95106816e-02 2.67941551e-01 -3.88371527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 115.10964924600002 meters Centerline goodness [0,1] 0.9078480113636364 Centerline is valid? [False, False] Translation: X:4.19, Y:-6.83, Z:-3.88 [[ 0.26725481 0.00983775 -0.96357568 4.18916523] [ 0.05232703 0.99832435 0.02470581 -6.82939293] [ 0.96220411 -0.0570238 0.2662922 -3.88090702] [ 0. 0. 0. 1. ]] SLAMing on 115.13964924600002 meters Centerline goodness [0,1] 0.9089916809251284 Centerline is valid? [False, False] Translation: X:4.19, Y:-6.83, Z:-3.88 [[ 0.26585467 0.01521751 -0.963893 4.18895044] [ 0.04903211 0.99836777 0.0292855 -6.83084396] [ 0.96276536 -0.05504739 0.26467459 -3.87748278] [ 0. 0. 0. 1. ]] SLAMing on 115.16964924600002 meters Centerline goodness [0,1] 0.9097017564540847 Centerline is valid? [False, False] Translation: X:4.19, Y:-6.83, Z:-3.87 [[ 0.26440882 0.0208136 -0.96418607 4.1883663 ] [ 0.04568207 0.99837456 0.03407902 -6.83281727] [ 0.96332815 -0.05305681 0.26302823 -3.87404565] [ 0. 0. 0. 1. ]] SLAMing on 115.19964924600002 meters Centerline goodness [0,1] 0.9125497714201445 Centerline is valid? [False, False] Translation: X:4.19, Y:-6.84, Z:-3.86 [[ 0.26996166 0.0283752 -0.96245288 4.19300627] [ 0.04561305 0.99806662 0.04221933 -6.83528013] [ 0.96179008 -0.05529801 0.26814544 -3.86037124] [ 0. 0. 0. 1. ]] SLAMing on 115.22964924600001 meters Centerline goodness [0,1] 0.9114392235767547 Centerline is valid? [False, False] Translation: X:4.20, Y:-6.83, Z:-3.85 [[ 0.27494286 0.0217759 -0.96121394 4.20087213] [ 0.04323097 0.99845236 0.03498519 -6.83454251] [ 0.96048816 -0.05117314 0.27357596 -3.84837425] [ 0. 0. 0. 1. ]] SLAMing on 115.25964924600001 meters Centerline goodness [0,1] 0.9135732922201139 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.84, Z:-3.83 [[ 0.27941101 0.01601615 -0.960038 4.20625533] [ 0.04142903 0.99872861 0.02871919 -6.83671512] [ 0.9592774 -0.04779791 0.27839224 -3.83486533] [ 0. 0. 0. 1. ]] SLAMing on 115.28964924600001 meters Centerline goodness [0,1] 0.914126106852083 Centerline is valid? [False, False] Translation: X:4.20, Y:-6.84, Z:-3.83 [[ 0.27670216 0.02382999 -0.96066021 4.20164241] [ 0.03956842 0.9985621 0.0361672 -6.8429189 ] [ 0.96014075 -0.04801935 0.27536137 -3.82658209] [ 0. 0. 0. 1. ]] SLAMing on 115.31964924600001 meters Centerline goodness [0,1] 0.9104029042432898 Centerline is valid? [False, False] Translation: X:4.20, Y:-6.84, Z:-3.82 [[ 0.27591579 0.02386745 -0.96088544 4.20265417] [ 0.040006 0.9985402 0.03629038 -6.84383343] [ 0.96034889 -0.04845427 0.27455817 -3.82428787] [ 0. 0. 0. 1. ]] SLAMing on 115.34964924600001 meters Centerline goodness [0,1] 0.9091778202676865 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.85, Z:-3.82 [[ 0.27443854 0.02345842 -0.96131846 4.20556501] [ 0.04134117 0.99849027 0.03616763 -6.84638077] [ 0.96071556 -0.04966782 0.27305442 -3.81940882] [ 0. 0. 0. 1. ]] SLAMing on 115.37964924600001 meters Centerline goodness [0,1] 0.9072063178677197 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.85, Z:-3.82 [[ 0.27307901 0.02323228 -0.96171103 4.20768086] [ 0.042537 0.99843894 0.03619796 -6.84853132] [ 0.9610507 -0.0507932 0.27166449 -3.815146 ] [ 0. 0. 0. 1. ]] SLAMing on 115.40964924600001 meters Centerline goodness [0,1] 0.906377245508982 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.85, Z:-3.81 [[ 0.27216863 0.02306924 -0.961973 4.20928615] [ 0.04320588 0.99841133 0.03616721 -6.85046921] [ 0.96127909 -0.05140647 0.27073952 -3.81233803] [ 0. 0. 0. 1. ]] SLAMing on 115.43964924600002 meters Centerline goodness [0,1] 0.9109656890703329 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.85, Z:-3.81 [[ 0.27075456 0.02244263 -0.96238677 4.21200143] [ 0.04378237 0.9984066 0.03560018 -6.85086935] [ 0.96165226 -0.05177449 0.26934055 -3.80863504] [ 0. 0. 0. 1. ]] SLAMing on 115.46964924600002 meters Centerline goodness [0,1] 0.9119510071748071 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.85, Z:-3.81 [[ 0.26955834 0.02229625 -0.96272591 4.2133326 ] [ 0.0444904 0.99837605 0.03557897 -6.85110181] [ 0.96195577 -0.05242267 0.26812863 -3.8052718 ] [ 0. 0. 0. 1. ]] SLAMing on 115.49964924600002 meters Centerline goodness [0,1] 0.9119510071748071 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.85, Z:-3.81 [[ 0.26955834 0.02229625 -0.96272591 4.2133326 ] [ 0.0444904 0.99837605 0.03557897 -6.85110181] [ 0.96195577 -0.05242267 0.26812863 -3.8052718 ] [ 0. 0. 0. 1. ]] SLAMing on 115.52964924600002 meters Centerline goodness [0,1] 0.9088095667327685 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.85, Z:-3.80 [[ 0.26859187 0.02260463 -0.96298881 4.21266685] [ 0.04498735 0.99833934 0.03598206 -6.85201683] [ 0.96220297 -0.0529868 0.2671289 -3.80301599] [ 0. 0. 0. 1. ]] SLAMing on 115.55964924600002 meters Centerline goodness [0,1] 0.9082884952542167 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.86, Z:-3.80 [[ 0.26649268 0.02530268 -0.96350476 4.20715127] [ 0.04600375 0.99818212 0.03893738 -6.85647119] [ 0.96273844 -0.05470136 0.26484421 -3.79764258] [ 0. 0. 0. 1. ]] SLAMing on 115.58964924600001 meters Centerline goodness [0,1] 0.9078753199819304 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.86, Z:-3.79 [[ 0.26625132 0.02668736 -0.96353413 4.21030858] [ 0.04582719 0.99813579 0.04030907 -6.85607339] [ 0.96281364 -0.05488841 0.26453196 -3.79470753] [ 0. 0. 0. 1. ]] SLAMing on 115.61964924600001 meters Centerline goodness [0,1] 0.9067048365225252 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.86, Z:-3.79 [[ 0.26562296 0.02617882 -0.96372149 4.21389897] [ 0.04648724 0.99812065 0.03992616 -6.85594409] [ 0.96295554 -0.05540606 0.26390678 -3.79186285] [ 0. 0. 0. 1. ]] SLAMing on 115.64964924600001 meters Centerline goodness [0,1] 0.9038027957312491 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.86, Z:-3.79 [[ 0.26500789 0.02610183 -0.9638929 4.21471858] [ 0.04681705 0.99810629 0.03989995 -6.85580094] [ 0.96310902 -0.05570042 0.26328403 -3.79015334] [ 0. 0. 0. 1. ]] SLAMing on 115.67964924600001 meters Centerline goodness [0,1] 0.9052758516731987 Centerline is valid? [False, False] Translation: X:4.22, Y:-6.85, Z:-3.79 [[ 0.26438886 0.02577581 -0.96407165 4.21518492] [ 0.04717752 0.99810032 0.03962367 -6.85444974] [ 0.96326155 -0.05595857 0.26267056 -3.7886978 ] [ 0. 0. 0. 1. ]] SLAMing on 115.70964924600001 meters Centerline goodness [0,1] 0.9072248847092865 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.86, Z:-3.79 [[ 0.26263971 0.03166024 -0.96437442 4.21350205] [ 0.04333665 0.99806591 0.04456872 -6.85701429] [ 0.96392029 -0.05349827 0.26075969 -3.78535698] [ 0. 0. 0. 1. ]] SLAMing on 115.73964924600001 meters Centerline goodness [0,1] 0.9161607924858808 Centerline is valid? [False, False] Translation: X:4.22, Y:-6.86, Z:-3.77 [[ 0.26573379 0.02616919 -0.9636912 4.22106121] [ 0.03958065 0.99849247 0.03802842 -6.85725576] [ 0.96323358 -0.04824896 0.2642974 -3.77125364] [ 0. 0. 0. 1. ]] SLAMing on 115.76964924600001 meters Centerline goodness [0,1] 0.9143995893595821 Centerline is valid? [False, False] Translation: X:4.22, Y:-6.86, Z:-3.77 [[ 0.26471698 0.02613774 -0.96397185 4.22156119] [ 0.03995542 0.99847689 0.03804551 -6.8576474 ] [ 0.96349805 -0.04858719 0.26326945 -3.76886826] [ 0. 0. 0. 1. ]] SLAMing on 115.79964924600002 meters Centerline goodness [0,1] 0.9096299882007685 Centerline is valid? [False, False] Translation: X:4.23, Y:-6.86, Z:-3.76 [[ 0.2633558 0.02527604 -0.96436759 4.22512472] [ 0.04138118 0.99844059 0.03746974 -6.85806525] [ 0.96381083 -0.04977455 0.26189917 -3.76412702] [ 0. 0. 0. 1. ]] SLAMing on 115.82964924600002 meters Centerline goodness [0,1] 0.906669494863792 Centerline is valid? [False, False] Translation: X:4.23, Y:-6.86, Z:-3.76 [[ 0.26242203 0.0252032 -0.96462401 4.22674844] [ 0.04209276 0.99840832 0.03753706 -6.85930222] [ 0.96403469 -0.05045424 0.26094347 -3.76113654] [ 0. 0. 0. 1. ]] SLAMing on 115.85964924600002 meters Centerline goodness [0,1] 0.904847070235533 Centerline is valid? [False, False] Translation: X:4.23, Y:-6.86, Z:-3.75 [[ 0.26045368 0.02469514 -0.96517047 4.22966436] [ 0.04408024 0.99832624 0.03743864 -6.86131758] [ 0.96447955 -0.05229598 0.25892918 -3.75469025] [ 0. 0. 0. 1. ]] SLAMing on 115.88964924600002 meters Centerline goodness [0,1] 0.9096209912536444 Centerline is valid? [False, False] Translation: X:4.23, Y:-6.86, Z:-3.75 [[ 0.25962191 0.02438454 -0.96540243 4.23107651] [ 0.04483469 0.99829885 0.03727267 -6.86168243] [ 0.96466902 -0.05296032 0.25808698 -3.75208432] [ 0. 0. 0. 1. ]] SLAMing on 115.91964924600002 meters Centerline goodness [0,1] 0.9038016327525283 Centerline is valid? [False, False] Translation: X:4.23, Y:-6.86, Z:-3.75 [[ 0.25794175 0.02486056 -0.96584057 4.23065347] [ 0.04554892 0.99824445 0.03785913 -6.86310444] [ 0.96508619 -0.05375844 0.25635655 -3.74796771] [ 0. 0. 0. 1. ]] SLAMing on 115.94964924600002 meters Centerline goodness [0,1] 0.9031293844933813 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.86, Z:-3.74 [[ 0.26294562 0.01689212 -0.96466277 4.23995107] [ 0.04312436 0.99864168 0.02924186 -6.86203382] [ 0.9638464 -0.04928948 0.26185999 -3.73688445] [ 0. 0. 0. 1. ]] SLAMing on 115.97964924600001 meters Centerline goodness [0,1] 0.9035743719666677 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.86, Z:-3.73 [[ 0.26182822 0.01768463 -0.96495245 4.23883709] [ 0.04354807 0.99859727 0.03011748 -6.86381834] [ 0.9641315 -0.04990743 0.26069081 -3.73404678] [ 0. 0. 0. 1. ]] SLAMing on 116.00964924600001 meters Centerline goodness [0,1] 0.8995474282918476 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.86, Z:-3.73 [[ 0.26038562 0.01735029 -0.96534879 4.2409186 ] [ 0.04491499 0.9985384 0.03006183 -6.86483543] [ 0.96445942 -0.0511863 0.25922575 -3.72928088] [ 0. 0. 0. 1. ]] SLAMing on 116.03964924600001 meters Centerline goodness [0,1] 0.9018269731003458 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.87, Z:-3.73 [[ 0.25938915 0.01710206 -0.96562145 4.24242964] [ 0.04568911 0.99850641 0.02995768 -6.86546547] [ 0.96469154 -0.05188908 0.25822035 -3.7262682 ] [ 0. 0. 0. 1. ]] SLAMing on 116.06964924600001 meters Centerline goodness [0,1] 0.8981685654783781 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.87, Z:-3.72 [[ 0.25788972 0.01702038 -0.96602443 4.24384444] [ 0.04660474 0.99846181 0.03003349 -6.86687747] [ 0.96504968 -0.05276665 0.2566998 -3.721955 ] [ 0. 0. 0. 1. ]] SLAMing on 116.09964924600001 meters Centerline goodness [0,1] 0.899091857397067 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.87, Z:-3.72 [[ 0.25670942 0.01689407 -0.96634097 4.24454442] [ 0.04730812 0.99842906 0.0300225 -6.86733956] [ 0.96533011 -0.05342283 0.25550692 -3.7189243 ] [ 0. 0. 0. 1. ]] SLAMing on 116.12964924600001 meters Centerline goodness [0,1] 0.9067752342909817 Centerline is valid? [False, False] Translation: X:4.25, Y:-6.87, Z:-3.70 [[ 0.26066569 0.00946447 -0.96538273 4.25473606] [ 0.04710706 0.99863618 0.02250999 -6.8657794 ] [ 0.96427917 -0.05134392 0.25986435 -3.70114921] [ 0. 0. 0. 1. ]] SLAMing on 116.15964924600001 meters Centerline goodness [0,1] 0.905044328951391 Centerline is valid? [False, False] Translation: X:4.25, Y:-6.87, Z:-3.70 [[ 0.25861606 0.01652341 -0.96583886 4.25138243] [ 0.04392735 0.99861818 0.02884632 -6.8699558 ] [ 0.96498089 -0.04988687 0.25753287 -3.69605593] [ 0. 0. 0. 1. ]] SLAMing on 116.18964924600002 meters Centerline goodness [0,1] 0.9038650608332309 Centerline is valid? [False, False] Translation: X:4.25, Y:-6.87, Z:-3.69 [[ 0.2564761 0.02146532 -0.96631219 4.25162078] [ 0.04154156 0.99858476 0.03320806 -6.87159634] [ 0.96565745 -0.04865919 0.25522142 -3.690296 ] [ 0. 0. 0. 1. ]] SLAMing on 116.21964924600002 meters Centerline goodness [0,1] 0.900205162752243 Centerline is valid? [False, False] Translation: X:4.25, Y:-6.87, Z:-3.69 [[ 0.25487318 0.02669454 -0.96660595 4.2517406 ] [ 0.03860609 0.99854096 0.03775608 -6.87310565] [ 0.96620351 -0.04693989 0.25347074 -3.68612319] [ 0. 0. 0. 1. ]] SLAMing on 116.24964924600002 meters Centerline goodness [0,1] 0.8989144355674819 Centerline is valid? [False, False] Translation: X:4.25, Y:-6.87, Z:-3.68 [[ 0.25294041 0.031636 -0.96696448 4.25240091] [ 0.03607302 0.99846187 0.04210254 -6.87393703] [ 0.96680913 -0.04553076 0.25141015 -3.68082928] [ 0. 0. 0. 1. ]] SLAMing on 116.27964924600002 meters Centerline goodness [0,1] 0.8986108990993742 Centerline is valid? [False, False] Translation: X:4.25, Y:-6.87, Z:-3.68 [[ 0.25221612 0.03133678 -0.9671634 4.25292078] [ 0.03647198 0.9984575 0.04186186 -6.8732611 ] [ 0.96698336 -0.0458326 0.25068416 -3.67906537] [ 0. 0. 0. 1. ]] SLAMing on 116.30964924600002 meters Centerline goodness [0,1] 0.8981091796279354 Centerline is valid? [False, False] Translation: X:4.25, Y:-6.87, Z:-3.68 [[ 0.25088214 0.03168232 -0.96749903 4.2513724 ] [ 0.03675218 0.99843191 0.04222548 -6.87216212] [ 0.96731971 -0.04615131 0.24932434 -3.67653524] [ 0. 0. 0. 1. ]] SLAMing on 116.33964924600001 meters Centerline goodness [0,1] 0.8960270756471629 Centerline is valid? [False, False] Translation: X:4.25, Y:-6.87, Z:-3.67 [[ 0.24903832 0.03745992 -0.96776891 4.24951222] [ 0.03363206 0.99831452 0.04729689 -6.87417413] [ 0.9679095 -0.0443268 0.24735872 -3.67251439] [ 0. 0. 0. 1. ]] SLAMing on 116.36964924600001 meters Centerline goodness [0,1] 0.896314272713484 Centerline is valid? [False, False] Translation: X:4.25, Y:-6.87, Z:-3.67 [[ 0.24709087 0.04225234 -0.96807068 4.2496398 ] [ 0.03112368 0.99818733 0.05151084 -6.8742526 ] [ 0.96849234 -0.04285778 0.24532793 -3.66751116] [ 0. 0. 0. 1. ]] SLAMing on 116.39964924600001 meters Centerline goodness [0,1] 0.8940883709638262 Centerline is valid? [False, False] Translation: X:4.25, Y:-6.88, Z:-3.66 [[ 0.24563565 0.04238119 -0.96843532 4.2493153 ] [ 0.03230517 0.99813095 0.05187469 -6.87598728] [ 0.96882377 -0.04402775 0.24380741 -3.66365172] [ 0. 0. 0. 1. ]] SLAMing on 116.42964924600001 meters Centerline goodness [0,1] 0.8936538286442685 Centerline is valid? [False, False] Translation: X:4.25, Y:-6.87, Z:-3.66 [[ 0.24391518 0.04065749 -0.96894394 4.2523385 ] [ 0.03452932 0.99812324 0.05057404 -6.87291672] [ 0.96918167 -0.04579275 0.24205353 -3.65815654] [ 0. 0. 0. 1. ]] SLAMing on 116.45964924600001 meters Centerline goodness [0,1] 0.8925624848337782 Centerline is valid? [False, False] Translation: X:4.25, Y:-6.87, Z:-3.65 [[ 0.24196708 0.04538808 -0.96922229 4.25307252] [ 0.03198923 0.99798911 0.05472135 -6.87494203] [ 0.96975699 -0.04424544 0.24002858 -3.65322651] [ 0. 0. 0. 1. ]] SLAMing on 116.48964924600001 meters Centerline goodness [0,1] 0.896324822609012 Centerline is valid? [False, False] Translation: X:4.25, Y:-6.88, Z:-3.65 [[ 0.23966106 0.04974429 -0.9695814 4.25448653] [ 0.02977001 0.99784033 0.05855266 -6.87547537] [ 0.97040008 -0.04289724 0.23766258 -3.64715329] [ 0. 0. 0. 1. ]] SLAMing on 116.51964924600001 meters Centerline goodness [0,1] 0.8991948959440984 Centerline is valid? [False, False] Translation: X:4.26, Y:-6.87, Z:-3.63 [[ 0.23806768 0.05273647 -0.96981578 4.25655266] [ 0.03290757 0.99751352 0.06232067 -6.87441344] [ 0.97069092 -0.04675082 0.2357403 -3.63436476] [ 0. 0. 0. 1. ]] SLAMing on 116.54964924600002 meters Centerline goodness [0,1] 0.8960908175409686 Centerline is valid? [False, False] Translation: X:4.27, Y:-6.87, Z:-3.62 [[ 0.24178652 0.04586467 -0.96924492 4.26674438] [ 0.03151598 0.99798408 0.05508654 -6.87366431] [ 0.96981752 -0.04386588 0.23985363 -3.61740998] [ 0. 0. 0. 1. ]] SLAMing on 116.57964924600002 meters Centerline goodness [0,1] 0.898135169723932 Centerline is valid? [False, False] Translation: X:4.27, Y:-6.87, Z:-3.61 [[ 0.24066386 0.04566576 -0.96953368 4.26738458] [ 0.03233128 0.9979611 0.05503019 -6.87364943] [ 0.97006989 -0.04459004 0.23869673 -3.61439315] [ 0. 0. 0. 1. ]] SLAMing on 116.60964924600002 meters Centerline goodness [0,1] 0.9001402182527587 Centerline is valid? [False, False] Translation: X:4.26, Y:-6.88, Z:-3.60 [[ 0.23742229 0.05207557 -0.97000969 4.264661 ] [ 0.03127465 0.9976346 0.0612135 -6.87650016] [ 0.97090296 -0.04487017 0.23523205 -3.60476338] [ 0. 0. 0. 1. ]] SLAMing on 116.63964924600002 meters Centerline goodness [0,1] 0.9002254447964904 Centerline is valid? [False, False] Translation: X:4.27, Y:-6.88, Z:-3.60 [[ 0.23644537 0.05122203 -0.97029371 4.26651366] [ 0.03235919 0.99764044 0.06055109 -6.8751704 ] [ 0.9711058 -0.04571494 0.23422996 -3.60173695] [ 0. 0. 0. 1. ]] SLAMing on 116.66964924600002 meters Centerline goodness [0,1] 0.8964363901727074 Centerline is valid? [False, False] Translation: X:4.27, Y:-6.88, Z:-3.60 [[ 0.2344182 0.05581783 -0.97053206 4.26758296] [ 0.02996591 0.99746093 0.06460442 -6.87548671] [ 0.97167389 -0.04422733 0.23215037 -3.59629956] [ 0. 0. 0. 1. ]] SLAMing on 116.69964924600002 meters Centerline goodness [0,1] 0.8949942287831845 Centerline is valid? [False, False] Translation: X:4.28, Y:-6.87, Z:-3.58 [[ 0.23909974 0.04862248 -0.96977686 4.2773696 ] [ 0.02629028 0.99805514 0.05652219 -6.87352697] [ 0.97063903 -0.03901014 0.23735643 -3.58493342] [ 0. 0. 0. 1. ]] SLAMing on 116.72964924600001 meters Centerline goodness [0,1] 0.8965600848613426 Centerline is valid? [False, False] Translation: X:4.28, Y:-6.87, Z:-3.57 [[ 0.24260337 0.045117 -0.96907588 4.28455974] [ 0.0213826 0.99842664 0.0518365 -6.87174269] [ 0.96988989 -0.03329707 0.24125695 -3.57003025] [ 0. 0. 0. 1. ]] SLAMing on 116.75964924600001 meters Centerline goodness [0,1] 0.8986236585217972 Centerline is valid? [False, False] Translation: X:4.29, Y:-6.87, Z:-3.56 [[ 0.24767778 0.03905658 -0.96805491 4.29274089] [ 0.01772456 0.99883723 0.04483335 -6.87071753] [ 0.96868032 -0.02826257 0.24669752 -3.5586303 ] [ 0. 0. 0. 1. ]] SLAMing on 116.78964924600001 meters Centerline goodness [0,1] 0.8983573827026046 Centerline is valid? [False, False] Translation: X:4.29, Y:-6.87, Z:-3.55 [[ 0.24501426 0.04508627 -0.96847057 4.29063687] [ 0.01545651 0.99860952 0.05039972 -6.87245688] [ 0.96939626 -0.02731783 0.24397669 -3.55185572] [ 0. 0. 0. 1. ]] SLAMing on 116.81964924600001 meters Centerline goodness [0,1] 0.894544906570223 Centerline is valid? [False, False] Translation: X:4.29, Y:-6.87, Z:-3.55 [[ 0.24255958 0.05050302 -0.96882108 4.29032874] [ 0.01355667 0.99837012 0.05543749 -6.87365844] [ 0.97004179 -0.02658088 0.24147959 -3.54511074] [ 0. 0. 0. 1. ]] SLAMing on 116.84964924600001 meters Centerline goodness [0,1] 0.8938911580970688 Centerline is valid? [False, False] Translation: X:4.29, Y:-6.87, Z:-3.54 [[ 0.24018227 0.05394313 -0.96922784 4.29409431] [ 0.0126841 0.99819517 0.05869855 -6.87180708] [ 0.97064493 -0.02639214 0.23906456 -3.53709893] [ 0. 0. 0. 1. ]] SLAMing on 116.87964924600001 meters Centerline goodness [0,1] 0.8976552219164972 Centerline is valid? [False, False] Translation: X:4.30, Y:-6.87, Z:-3.53 [[ 0.23736242 0.05801865 -0.96968702 4.29568065] [ 0.01053657 0.99800235 0.06229199 -6.87083369] [ 0.97136402 -0.02500296 0.23627694 -3.53023939] [ 0. 0. 0. 1. ]] SLAMing on 116.90964924600001 meters Centerline goodness [0,1] 0.8911751530536061 Centerline is valid? [False, False] Translation: X:4.29, Y:-6.87, Z:-3.53 [[ 0.23516125 0.06338458 -0.96988741 4.29457688] [ 0.00747796 0.99772382 0.06701688 -6.87273635] [ 0.9719276 -0.02301255 0.23415199 -3.52582244] [ 0. 0. 0. 1. ]] SLAMing on 116.93964924600002 meters Centerline goodness [0,1] 0.8970759535258803 Centerline is valid? [False, False] Translation: X:4.29, Y:-6.88, Z:-3.52 [[ 2.32593074e-01 6.92960527e-02 -9.70102324e-01 4.29220007e+00] [ 4.35020298e-03 9.97374375e-01 7.22871522e-02 -6.87521753e+00] [ 9.72564413e-01 -2.10336330e-02 2.31680920e-01 -3.52096326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.96964924600002 meters Centerline goodness [0,1] 0.902041547277937 Centerline is valid? [False, False] Translation: X:4.29, Y:-6.88, Z:-3.51 [[ 2.29482681e-01 7.69111359e-02 -9.70269229e-01 4.28646795e+00] [ 1.53252170e-03 9.96843246e-01 7.93800640e-02 -6.87872245e+00] [ 9.73311538e-01 -1.97033086e-02 2.28640393e-01 -3.51422790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 116.99964924600002 meters Centerline goodness [0,1] 0.9037606990546062 Centerline is valid? [False, False] Translation: X:4.29, Y:-6.88, Z:-3.51 [[ 2.28745749e-01 7.73014812e-02 -9.70412213e-01 4.28590287e+00] [ 1.82303043e-03 9.96806527e-01 7.98337350e-02 -6.87828302e+00] [ 9.73484493e-01 -2.00307185e-02 2.27874332e-01 -3.51245735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.02964924600002 meters Centerline goodness [0,1] 0.9058031458531935 Centerline is valid? [False, False] Translation: X:4.29, Y:-6.88, Z:-3.51 [[ 2.28025410e-01 7.72413095e-02 -9.70586520e-01 4.28676392e+00] [ 2.74488929e-03 9.96793349e-01 7.99717763e-02 -6.87706781e+00] [ 9.73651312e-01 -2.08997496e-02 2.27082193e-01 -3.50960607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.05964924600002 meters Centerline goodness [0,1] 0.9046968301595318 Centerline is valid? [False, False] Translation: X:4.29, Y:-6.88, Z:-3.51 [[ 2.27564571e-01 7.73548978e-02 -9.70685627e-01 4.28717037e+00] [ 2.90600846e-03 9.96781330e-01 8.01157659e-02 -6.87684921e+00] [ 9.73758657e-01 -2.10523305e-02 2.26607322e-01 -3.50829894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.08964924600001 meters Centerline goodness [0,1] 0.8897743153638012 Centerline is valid? [False, False] Translation: X:4.29, Y:-6.88, Z:-3.51 [[ 2.26259011e-01 7.78959347e-02 -9.70947518e-01 4.28526314e+00] [ 3.80108223e-03 9.96719092e-01 8.08492663e-02 -6.87729830e+00] [ 9.74059758e-01 -2.19835264e-02 2.25220587e-01 -3.50513198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.11964924600001 meters Centerline goodness [0,1] 0.8856351286939943 Centerline is valid? [False, False] Translation: X:4.28, Y:-6.88, Z:-3.50 [[ 0.22589403 0.07283857 -0.97142495 4.28474821] [ 0.00858835 0.99701305 0.07675432 -6.876643 ] [ 0.97411402 -0.02568128 0.22459374 -3.50347113] [ 0. 0. 0. 1. ]] SLAMing on 117.14964924600001 meters Centerline goodness [0,1] 0.8885842843946482 Centerline is valid? [False, False] Translation: X:4.29, Y:-6.88, Z:-3.50 [[ 0.22422899 0.07155986 -0.97190563 4.28717779] [ 0.01056887 0.99706319 0.07585052 -6.87598759] [ 0.97447917 -0.02727983 0.22281416 -3.49825551] [ 0. 0. 0. 1. ]] SLAMing on 117.17964924600001 meters Centerline goodness [0,1] 0.8885321919029784 Centerline is valid? [False, False] Translation: X:4.29, Y:-6.87, Z:-3.50 [[ 0.22382223 0.07019473 -0.97209892 4.29156177] [ 0.01143612 0.99714523 0.07463643 -6.87345002] [ 0.97456289 -0.02782233 0.22238051 -3.49568164] [ 0. 0. 0. 1. ]] SLAMing on 117.20964924600001 meters Centerline goodness [0,1] 0.8874870120231557 Centerline is valid? [False, False] Translation: X:4.30, Y:-6.87, Z:-3.49 [[ 0.22240566 0.07354997 -0.97217597 4.29679278] [ 0.00880676 0.99695815 0.07743959 -6.87266296] [ 0.97491444 -0.02578472 0.2210814 -3.49092532] [ 0. 0. 0. 1. ]] SLAMing on 117.23964924600001 meters Centerline goodness [0,1] 0.8859058411700139 Centerline is valid? [False, False] Translation: X:4.30, Y:-6.87, Z:-3.49 [[ 0.22203421 0.07333077 -0.97227743 4.29836913] [ 0.00881632 0.99697611 0.07720692 -6.87205243] [ 0.97499902 -0.02571449 0.2207163 -3.48963967] [ 0. 0. 0. 1. ]] SLAMing on 117.26964924600001 meters Centerline goodness [0,1] 0.8872749955444662 Centerline is valid? [False, False] Translation: X:4.30, Y:-6.87, Z:-3.49 [[ 0.221859 0.06820803 -0.97269021 4.30015324] [ 0.01207853 0.99728163 0.07268742 -6.870596 ] [ 0.97500395 -0.02787502 0.22043205 -3.48897276] [ 0. 0. 0. 1. ]] SLAMing on 117.29964924600002 meters Centerline goodness [0,1] 0.8916259113684779 Centerline is valid? [False, False] Translation: X:4.30, Y:-6.87, Z:-3.49 [[ 0.22004542 0.06497344 -0.97332341 4.29620166] [ 0.01625445 0.99739661 0.07025517 -6.8739091 ] [ 0.9753542 -0.03128017 0.21841645 -3.48517035] [ 0. 0. 0. 1. ]] SLAMing on 117.32964924600002 meters Centerline goodness [0,1] 0.8977702986958351 Centerline is valid? [False, False] Translation: X:4.30, Y:-6.87, Z:-3.47 [[ 0.22472074 0.05570236 -0.97282981 4.30452943] [ 0.0146153 0.99805979 0.06052307 -6.87440852] [ 0.9743136 -0.02781898 0.22347063 -3.47346415] [ 0. 0. 0. 1. ]] SLAMing on 117.35964924600002 meters Centerline goodness [0,1] 0.8971723139997588 Centerline is valid? [False, False] Translation: X:4.30, Y:-6.88, Z:-3.47 [[ 0.2233474 0.05565496 -0.97314874 4.30489237] [ 0.01547947 0.9980402 0.06063121 -6.8759063 ] [ 0.97461599 -0.02860565 0.22204818 -3.46992028] [ 0. 0. 0. 1. ]] SLAMing on 117.38964924600002 meters Centerline goodness [0,1] 0.8900647033923929 Centerline is valid? [False, False] Translation: X:4.31, Y:-6.88, Z:-3.46 [[ 0.22165781 0.05531168 -0.97355453 4.30706551] [ 0.01701643 0.99801854 0.06057586 -6.87718706] [ 0.97497603 -0.02999353 0.2202774 -3.46434142] [ 0. 0. 0. 1. ]] SLAMing on 117.41964924600002 meters Centerline goodness [0,1] 0.8900647033923929 Centerline is valid? [False, False] Translation: X:4.31, Y:-6.88, Z:-3.46 [[ 0.22165781 0.05531168 -0.97355453 4.30706551] [ 0.01701643 0.99801854 0.06057586 -6.87718706] [ 0.97497603 -0.02999353 0.2202774 -3.46434142] [ 0. 0. 0. 1. ]] SLAMing on 117.44964924600002 meters Centerline goodness [0,1] 0.8896445411679361 Centerline is valid? [False, False] Translation: X:4.31, Y:-6.88, Z:-3.46 [[ 0.22033934 0.05507818 -0.97386702 4.3082816 ] [ 0.01812147 0.99800107 0.06054313 -6.87768797] [ 0.97525493 -0.03098794 0.2189008 -3.46042217] [ 0. 0. 0. 1. ]] SLAMing on 117.47964924600001 meters Centerline goodness [0,1] 0.8960253891491613 Centerline is valid? [False, False] Translation: X:4.31, Y:-6.88, Z:-3.45 [[ 0.21743671 0.05978958 -0.97424149 4.30970837] [ 0.0163488 0.99775903 0.06488168 -6.87972194] [ 0.97593749 -0.03003534 0.21597195 -3.45240219] [ 0. 0. 0. 1. ]] SLAMing on 117.50964924600001 meters Centerline goodness [0,1] 0.8947623079714527 Centerline is valid? [False, False] Translation: X:4.31, Y:-6.88, Z:-3.44 [[ 0.21419088 0.06389756 -0.97469963 4.31093816] [ 0.01473207 0.99753328 0.06863183 -6.87940819] [ 0.97668072 -0.02905966 0.21272118 -3.44432032] [ 0. 0. 0. 1. ]] SLAMing on 117.53964924600001 meters Centerline goodness [0,1] 0.8980507938420751 Centerline is valid? [False, False] Translation: X:4.31, Y:-6.88, Z:-3.44 [[ 0.21194044 0.06908897 -0.9748374 4.31006885] [ 0.01165403 0.99724838 0.07321101 -6.88086711] [ 0.97721309 -0.02687716 0.2105521 -3.43987153] [ 0. 0. 0. 1. ]] SLAMing on 117.56964924600001 meters Centerline goodness [0,1] 0.899244180794363 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.88, Z:-3.43 [[ 0.21539864 0.06439908 -0.97440042 4.31820934] [ 0.00694835 0.99769679 0.06747474 -6.87937578] [ 0.97650148 -0.02130444 0.21445507 -3.42520059] [ 0. 0. 0. 1. ]] SLAMing on 117.59964924600001 meters Centerline goodness [0,1] 0.9012441912756708 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.88, Z:-3.42 [[ 2.13512455e-01 6.97598622e-02 -9.74446506e-01 4.31709234e+00] [ 3.79538036e-03 9.97380542e-01 7.22333034e-02 -6.88085143e+00] [ 9.76932969e-01 -1.91211050e-02 2.12688402e-01 -3.42151475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.62964924600001 meters Centerline goodness [0,1] 0.8995120783069417 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.88, Z:-3.42 [[ 2.11692583e-01 7.47869015e-02 -9.74470713e-01 4.31673157e+00] [ 7.55932151e-04 9.97055131e-01 7.66843868e-02 -6.88161339e+00] [ 9.77336011e-01 -1.69701497e-02 2.11012642e-01 -3.41776448e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.65964924600001 meters Centerline goodness [0,1] 0.8974833015267175 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.88, Z:-3.41 [[ 2.09822549e-01 7.94214315e-02 -9.74508458e-01 4.31669871e+00] [-2.23657646e-03 9.96731792e-01 8.07510503e-02 -6.88007464e+00] [ 9.77736926e-01 -1.47638285e-02 2.09314437e-01 -3.41378252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.68964924600002 meters Centerline goodness [0,1] 0.9015255348310589 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.88, Z:-3.41 [[ 2.07998915e-01 8.47865866e-02 -9.74447375e-01 4.31531017e+00] [-5.57816604e-03 9.96322618e-01 8.54992723e-02 -6.88162866e+00] [ 9.78113151e-01 -1.23481266e-02 2.07706977e-01 -3.41056658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 117.71964924600002 meters Centerline goodness [0,1] 0.9085870112932388 Centerline is valid? [False, False] Translation: X:4.31, Y:-6.88, Z:-3.41 [[ 0.20618375 0.09023197 -0.97434411 4.31365283] [-0.00956219 0.99587753 0.09020266 -6.8824011 ] [ 0.97846657 -0.00928146 0.20619658 -3.40802896] [ 0. 0. 0. 1. ]] SLAMing on 117.74964924600002 meters Centerline goodness [0,1] 0.917434727202679 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.88, Z:-3.41 [[ 0.2054723 0.08999704 -0.97451612 4.31501484] [-0.01020455 0.99590566 0.08982079 -6.88086061] [ 0.97860973 -0.00851118 0.20554941 -3.40688843] [ 0. 0. 0. 1. ]] SLAMing on 117.77964924600002 meters Centerline goodness [0,1] 0.919546020269069 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.88, Z:-3.41 [[ 0.20511627 0.08967304 -0.97462098 4.31626758] [-0.01023028 0.99593597 0.08948115 -6.87989204] [ 0.97868415 -0.0083834 0.20520005 -3.40588147] [ 0. 0. 0. 1. ]] SLAMing on 117.80964924600002 meters Centerline goodness [0,1] 0.9210627533358975 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.88, Z:-3.41 [[ 0.20440852 0.08986647 -0.97475185 4.31649309] [-0.01100092 0.99592503 0.08951158 -6.87923623] [ 0.97882385 -0.00757377 0.20456417 -3.40507091] [ 0. 0. 0. 1. ]] SLAMing on 117.83964924600001 meters Centerline goodness [0,1] 0.9225716737181573 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.88, Z:-3.40 [[ 0.20367189 0.0901814 -0.97487695 4.31615429] [-0.01094723 0.99589616 0.08983869 -6.87986884] [ 0.978978 -0.00762541 0.20382329 -3.40362824] [ 0. 0. 0. 1. ]] SLAMing on 117.86964924600001 meters Centerline goodness [0,1] 0.9226895734597156 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.88, Z:-3.40 [[ 0.20271264 0.09057281 -0.97504059 4.31602364] [-0.01051263 0.99585723 0.0903209 -6.88182642] [ 0.97918184 -0.00805895 0.20282501 -3.40129322] [ 0. 0. 0. 1. ]] SLAMing on 117.89964924600001 meters Centerline goodness [0,1] 0.920869720192479 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.88, Z:-3.40 [[ 0.20155575 0.09040127 -0.97529631 4.31827389] [-0.00972307 0.99586727 0.09029864 -6.88350334] [ 0.97942878 -0.00871733 0.20160175 -3.39745573] [ 0. 0. 0. 1. ]] SLAMing on 117.92964924600001 meters Centerline goodness [0,1] 0.9178700897367327 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.88, Z:-3.39 [[ 0.20069947 0.08991902 -0.97551745 4.3203103 ] [-0.0093304 0.99590898 0.08987902 -6.88321818] [ 0.97960843 -0.0089367 0.20071738 -3.3949283 ] [ 0. 0. 0. 1. ]] SLAMing on 117.95964924600001 meters Centerline goodness [0,1] 0.9161113755354593 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.88, Z:-3.39 [[ 0.20034517 0.08970671 -0.97560982 4.32158225] [-0.00914565 0.99592713 0.08969678 -6.88299332] [ 0.97968269 -0.00904773 0.20034962 -3.39362634] [ 0. 0. 0. 1. ]] SLAMing on 117.98964924600001 meters Centerline goodness [0,1] 0.9167359297079078 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.88, Z:-3.39 [[ 0.19965979 0.0898474 -0.97573737 4.3222765 ] [-0.00909357 0.99591429 0.08984455 -6.88307493] [ 0.97982308 -0.00906541 0.19966107 -3.39182524] [ 0. 0. 0. 1. ]] SLAMing on 118.01964924600001 meters Centerline goodness [0,1] 0.9122273864855202 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.88, Z:-3.39 [[ 0.19864656 0.08930983 -0.97599349 4.32399243] [-0.00766847 0.99595054 0.08957525 -6.88433551] [ 0.98004119 -0.01030944 0.19852701 -3.3881738 ] [ 0. 0. 0. 1. ]] SLAMing on 118.04964924600002 meters Centerline goodness [0,1] 0.9043746999519924 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.89, Z:-3.39 [[ 1.98064324e-01 8.65652485e-02 -9.76359043e-01 4.32004791e+00] [-4.10794128e-03 9.96157170e-01 8.74872384e-02 -6.88714849e+00] [ 9.80180416e-01 -1.33172751e-02 1.97658802e-01 -3.38705888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.07964924600002 meters Centerline goodness [0,1] 0.901978444264313 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.89, Z:-3.39 [[ 1.97156289e-01 8.77324605e-02 -9.76438638e-01 4.31792043e+00] [-4.01987942e-03 9.96051787e-01 8.86830224e-02 -6.88911603e+00] [ 9.80363830e-01 -1.35592500e-02 1.96730547e-01 -3.38540707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.10964924600002 meters Centerline goodness [0,1] 0.8989984058712064 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.89, Z:-3.38 [[ 1.96708439e-01 8.80635121e-02 -9.76499159e-01 4.31835054e+00] [-4.01571017e-03 9.96022171e-01 8.90152189e-02 -6.88930131e+00] [ 9.80453805e-01 -1.35887072e-02 1.96279604e-01 -3.38398740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.13964924600002 meters Centerline goodness [0,1] 0.9012430732364834 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.89, Z:-3.38 [[ 1.96409622e-01 8.84616145e-02 -9.76523325e-01 4.31797502e+00] [-4.45876949e-03 9.95992241e-01 8.93284720e-02 -6.88871182e+00] [ 9.80511795e-01 -1.31908790e-02 1.96016889e-01 -3.38368141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.16964924600002 meters Centerline goodness [0,1] 0.9059521668764611 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.89, Z:-3.38 [[ 0.19473059 0.09360427 -0.97638017 4.31779581] [-0.00821902 0.99555681 0.09380349 -6.89023949] [ 0.98082233 -0.01024152 0.1946347 -3.38071823] [ 0. 0. 0. 1. ]] SLAMing on 118.19964924600002 meters Centerline goodness [0,1] 0.9094203983825071 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.89, Z:-3.38 [[ 0.19427076 0.0939815 -0.97643553 4.31771269] [-0.00846996 0.99552355 0.09413353 -6.89082845] [ 0.98091138 -0.01001702 0.19419714 -3.37988013] [ 0. 0. 0. 1. ]] SLAMing on 118.22964924600001 meters Centerline goodness [0,1] 0.9091536614645859 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.89, Z:-3.38 [[ 1.94380952e-01 9.00704599e-02 -9.76782144e-01 4.31679030e+00] [-5.76518320e-03 9.95863151e-01 9.06826674e-02 -6.89212749e+00] [ 9.80909174e-01 -1.19956552e-02 1.94096100e-01 -3.38050888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.25964924600001 meters Centerline goodness [0,1] 0.9113102038362095 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.89, Z:-3.38 [[ 1.93810514e-01 9.08708678e-02 -9.76821360e-01 4.31592985e+00] [-5.99825441e-03 9.95792013e-01 9.14455429e-02 -6.89393632e+00] [ 9.81020645e-01 -1.18638846e-02 1.93540028e-01 -3.37948668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.28964924600001 meters Centerline goodness [0,1] 0.9047604727393017 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.90, Z:-3.38 [[ 1.93146331e-01 9.12766752e-02 -9.76915075e-01 4.31694243e+00] [-5.98275217e-03 9.95754507e-01 9.18540582e-02 -6.89536255e+00] [ 9.81151722e-01 -1.18966336e-02 1.92872416e-01 -3.37740978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.31964924600001 meters Centerline goodness [0,1] 0.9049270293088891 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.90, Z:-3.38 [[ 1.92380198e-01 9.14171667e-02 -9.77053100e-01 4.31791052e+00] [-5.85059486e-03 9.95740556e-01 9.20136703e-02 -6.89647598e+00] [ 9.81303027e-01 -1.19852662e-02 1.92095610e-01 -3.37527874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.34964924600001 meters Centerline goodness [0,1] 0.9018791662896268 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.90, Z:-3.37 [[ 1.91708255e-01 9.20336064e-02 -9.77127300e-01 4.31762191e+00] [-5.88938609e-03 9.95683562e-01 9.26259098e-02 -6.89787010e+00] [ 9.81434287e-01 -1.20024716e-02 1.91422780e-01 -3.37378729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.37964924600001 meters Centerline goodness [0,1] 0.9028830188679245 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.90, Z:-3.37 [[ 1.91080198e-01 9.28052674e-02 -9.77177333e-01 4.31707544e+00] [-6.06027476e-03 9.95612932e-01 9.33711035e-02 -6.89986309e+00] [ 9.81555720e-01 -1.19194058e-02 1.90804341e-01 -3.37249340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.40964924600001 meters Centerline goodness [0,1] 0.9016697024893746 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.90, Z:-3.37 [[ 1.89933950e-01 9.38610079e-02 -9.77299957e-01 4.31667898e+00] [-5.93281488e-03 9.95511262e-01 9.44570260e-02 -6.90380582e+00] [ 9.81778945e-01 -1.21424564e-02 1.89638246e-01 -3.36968340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.43964924600002 meters Centerline goodness [0,1] 0.9015413556647854 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.91, Z:-3.37 [[ 1.89122822e-01 9.42908242e-02 -9.77415878e-01 4.31727539e+00] [-5.64220921e-03 9.95466961e-01 9.49404771e-02 -6.90592687e+00] [ 9.81937230e-01 -1.24406261e-02 1.88797530e-01 -3.36734059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.46964924600002 meters Centerline goodness [0,1] 0.9013595074071816 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.91, Z:-3.36 [[ 1.87948388e-01 9.08586625e-02 -9.77967334e-01 4.31893704e+00] [-2.45693437e-03 9.95752389e-01 9.20388138e-02 -6.90964637e+00] [ 9.82175833e-01 -1.48957452e-02 1.87373290e-01 -3.36387080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.49964924600002 meters Centerline goodness [0,1] 0.9085099846390169 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.91, Z:-3.36 [[ 1.87139756e-01 8.72116112e-02 -9.78454315e-01 4.31860775e+00] [ 1.80882646e-03 9.96018973e-01 8.91231419e-02 -6.91434681e+00] [ 9.82331634e-01 -1.84483371e-02 1.86236997e-01 -3.36088220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.52964924600002 meters Centerline goodness [0,1] 0.9110343338371842 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.92, Z:-3.36 [[ 1.86032485e-01 8.85549313e-02 -9.78544807e-01 4.31716350e+00] [ 2.38763813e-03 9.95886483e-01 9.05782104e-02 -6.91886271e+00] [ 9.82540693e-01 -1.91869005e-02 1.85055800e-01 -3.35788308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.55964924600002 meters Centerline goodness [0,1] 0.91400969165715 Centerline is valid? [False, False] Translation: X:4.32, Y:-6.92, Z:-3.35 [[ 1.84847530e-01 8.97072999e-02 -9.78664391e-01 4.31615301e+00] [ 3.31164686e-03 9.95762727e-01 9.19000794e-02 -6.92215319e+00] [ 9.82761631e-01 -2.02284936e-02 1.83767202e-01 -3.35427766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.58964924600001 meters Centerline goodness [0,1] 0.9118645113524185 Centerline is valid? [False, False] Translation: X:4.31, Y:-6.92, Z:-3.35 [[ 1.84075562e-01 9.10515758e-02 -9.78685750e-01 4.31327519e+00] [ 3.75782042e-03 9.95627712e-01 9.33345509e-02 -6.92428034e+00] [ 9.82904912e-01 -2.08583352e-02 1.82928575e-01 -3.35242562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.61964924600001 meters Centerline goodness [0,1] 0.9102306144559665 Centerline is valid? [False, False] Translation: X:4.31, Y:-6.93, Z:-3.35 [[ 1.83036570e-01 9.21654863e-02 -9.78776347e-01 4.31107234e+00] [ 4.29337534e-03 9.95511406e-01 9.45442110e-02 -6.92555334e+00] [ 9.83096730e-01 -2.15073023e-02 1.81819292e-01 -3.35003847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.64964924600001 meters Centerline goodness [0,1] 0.9115375108144852 Centerline is valid? [False, False] Translation: X:4.31, Y:-6.93, Z:-3.35 [[ 1.81604672e-01 9.34602555e-02 -9.78920285e-01 4.30840397e+00] [ 5.29479002e-03 9.95366032e-01 9.60126414e-02 -6.92679577e+00] [ 9.83357365e-01 -2.26195216e-02 1.80268269e-01 -3.34641849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.67964924600001 meters Centerline goodness [0,1] 0.9079565109957993 Centerline is valid? [False, False] Translation: X:4.31, Y:-6.93, Z:-3.34 [[ 1.80914932e-01 9.37877648e-02 -9.79016671e-01 4.30826498e+00] [ 5.71622507e-03 9.95325636e-01 9.64064453e-02 -6.92725926e+00] [ 9.83482136e-01 -2.30376451e-02 1.79533158e-01 -3.34453425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.70964924600001 meters Centerline goodness [0,1] 0.9023848455866473 Centerline is valid? [False, False] Translation: X:4.31, Y:-6.93, Z:-3.34 [[ 0.1791536 0.09382756 -0.9793367 4.30828976] [ 0.00785201 0.99527377 0.09679085 -6.92771958] [ 0.98378978 -0.02503019 0.17757014 -3.33881777] [ 0. 0. 0. 1. ]] SLAMing on 118.73964924600001 meters Centerline goodness [0,1] 0.898381656713185 Centerline is valid? [False, False] Translation: X:4.31, Y:-6.93, Z:-3.34 [[ 0.17816134 0.09346002 -0.97955284 4.30946735] [ 0.00909846 0.9952802 0.09661541 -6.92743567] [ 0.98395922 -0.02612555 0.17647011 -3.33538437] [ 0. 0. 0. 1. ]] SLAMing on 118.76964924600001 meters Centerline goodness [0,1] 0.8964377297865109 Centerline is valid? [False, False] Translation: X:4.31, Y:-6.93, Z:-3.33 [[ 0.1766299 0.09309431 -0.97986495 4.31000321] [ 0.01063775 0.99527844 0.09647626 -6.92707913] [ 0.98421985 -0.02746415 0.17480561 -3.33092131] [ 0. 0. 0. 1. ]] SLAMing on 118.79964924600002 meters Centerline goodness [0,1] 0.8961371273545642 Centerline is valid? [False, False] Translation: X:4.31, Y:-6.93, Z:-3.33 [[ 0.17575888 0.09319921 -0.98001159 4.30982038] [ 0.011216 0.99525423 0.09666031 -6.92703956] [ 0.98436935 -0.02798071 0.17387945 -3.32874406] [ 0. 0. 0. 1. ]] SLAMing on 118.82964924600002 meters Centerline goodness [0,1] 0.8959492888064317 Centerline is valid? [False, False] Translation: X:4.31, Y:-6.93, Z:-3.32 [[ 0.17308807 0.09845598 -0.97997293 4.30809087] [ 0.00885817 0.99479511 0.10150972 -6.92832531] [ 0.98486652 -0.02625089 0.17131502 -3.32315864] [ 0. 0. 0. 1. ]] SLAMing on 118.85964924600002 meters Centerline goodness [0,1] 0.8953799747606882 Centerline is valid? [False, False] Translation: X:4.31, Y:-6.93, Z:-3.32 [[ 1.71559533e-01 1.04303047e-01 -9.79636770e-01 4.30576392e+00] [ 5.38583738e-03 9.94265530e-01 1.06803787e-01 -6.92991401e+00] [ 9.85159033e-01 -2.35993721e-02 1.70013971e-01 -3.32072471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.88964924600002 meters Centerline goodness [0,1] 0.898556511056511 Centerline is valid? [False, False] Translation: X:4.30, Y:-6.93, Z:-3.32 [[ 1.70266946e-01 1.09498903e-01 -9.79295235e-01 4.30442070e+00] [ 1.56925310e-03 9.93775437e-01 1.11390833e-01 -6.93021383e+00] [ 9.85396724e-01 -2.05029391e-02 1.69035277e-01 -3.31905652e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.91964924600002 meters Centerline goodness [0,1] 0.89977290861106 Centerline is valid? [False, False] Translation: X:4.31, Y:-6.93, Z:-3.32 [[ 1.69709562e-01 1.09223877e-01 -9.79422692e-01 4.30552492e+00] [ 1.63533997e-03 9.93806622e-01 1.11111316e-01 -6.92884262e+00] [ 9.85492765e-01 -2.04583420e-02 1.68479869e-01 -3.31765185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.94964924600002 meters Centerline goodness [0,1] 0.9036306863405376 Centerline is valid? [False, False] Translation: X:4.31, Y:-6.93, Z:-3.32 [[ 1.68747473e-01 1.08704540e-01 -9.79646678e-01 4.30716826e+00] [ 1.37118621e-03 9.93873029e-01 1.10519330e-01 -6.92722984e+00] [ 9.85658364e-01 -1.99931357e-02 1.67564508e-01 -3.31590870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 118.97964924600001 meters Centerline goodness [0,1] 0.9026624328285295 Centerline is valid? [False, False] Translation: X:4.31, Y:-6.93, Z:-3.31 [[ 1.68191244e-01 1.08931893e-01 -9.79717076e-01 4.30738814e+00] [ 1.44441943e-03 9.93847142e-01 1.10750942e-01 -6.92759247e+00] [ 9.85753326e-01 -2.00424611e-02 1.66999044e-01 -3.31454624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.00964924600001 meters Centerline goodness [0,1] 0.9050219345338528 Centerline is valid? [False, False] Translation: X:4.31, Y:-6.93, Z:-3.31 [[ 1.67409823e-01 1.09295142e-01 -9.79810453e-01 4.30686563e+00] [ 1.66854172e-03 9.93803238e-01 1.11141085e-01 -6.92865347e+00] [ 9.85885981e-01 -2.02409640e-02 1.66190061e-01 -3.31277206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.03964924600001 meters Centerline goodness [0,1] 0.9055475482228832 Centerline is valid? [False, False] Translation: X:4.31, Y:-6.93, Z:-3.31 [[ 1.66688066e-01 1.09769354e-01 -9.79880491e-01 4.30632716e+00] [ 1.85568873e-03 9.93747161e-01 1.11638415e-01 -6.92943850e+00] [ 9.86007934e-01 -2.04271448e-02 1.65442095e-01 -3.31120556e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.06964924600001 meters Centerline goodness [0,1] 0.8952258301904149 Centerline is valid? [False, False] Translation: X:4.31, Y:-6.93, Z:-3.31 [[ 1.65940318e-01 1.10511219e-01 -9.79924018e-01 4.30517321e+00] [ 1.82023692e-03 9.93664871e-01 1.12369086e-01 -6.93010568e+00] [ 9.86134117e-01 -2.04302558e-02 1.64687908e-01 -3.30985867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.09964924600001 meters Centerline goodness [0,1] 0.9065008271551989 Centerline is valid? [False, False] Translation: X:4.30, Y:-6.93, Z:-3.31 [[ 1.65581656e-01 1.10665442e-01 -9.79967283e-01 4.30483967e+00] [ 1.89552635e-03 9.93646465e-01 1.12530481e-01 -6.92931145e+00] [ 9.86194262e-01 -2.04905372e-02 1.64319858e-01 -3.30912039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.12964924600001 meters Centerline goodness [0,1] 0.9054004408523144 Centerline is valid? [False, False] Translation: X:4.30, Y:-6.93, Z:-3.31 [[ 1.65176835e-01 1.11311470e-01 -9.79962433e-01 4.30304199e+00] [ 1.35255693e-03 9.93584202e-01 1.13086712e-01 -6.92802896e+00] [ 9.86263040e-01 -2.00047601e-02 1.63966539e-01 -3.30923592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.15964924600001 meters Centerline goodness [0,1] 0.909557879288204 Centerline is valid? [False, False] Translation: X:4.30, Y:-6.93, Z:-3.31 [[ 1.64788294e-01 1.11883533e-01 -9.79962700e-01 4.30180336e+00] [ 1.06470847e-03 9.93524743e-01 1.13610967e-01 -6.92786052e+00] [ 9.86328386e-01 -1.97651319e-02 1.63602124e-01 -3.30899018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.18964924600002 meters Centerline goodness [0,1] 0.9080354694213365 Centerline is valid? [False, False] Translation: X:4.30, Y:-6.93, Z:-3.31 [[ 1.64646219e-01 1.12174341e-01 -9.79953336e-01 4.30101314e+00] [ 6.31805624e-04 9.93499909e-01 1.13831157e-01 -6.92613717e+00] [ 9.86352484e-01 -1.93610096e-02 1.63505131e-01 -3.30921420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.21964924600002 meters Centerline goodness [0,1] 0.9073237717424474 Centerline is valid? [False, False] Translation: X:4.29, Y:-6.92, Z:-3.33 [[ 1.63540935e-01 1.18813934e-01 -9.79355713e-01 4.29276360e+00] [ 3.96179175e-03 9.92634064e-01 1.21086416e-01 -6.92497985e+00] [ 9.86528594e-01 -2.36825891e-02 1.61865587e-01 -3.32502073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.24964924600002 meters Centerline goodness [0,1] 0.9064816226933049 Centerline is valid? [False, False] Translation: X:4.28, Y:-6.93, Z:-3.34 [[ 1.62375637e-01 1.26323015e-01 -9.78609549e-01 4.28147255e+00] [ 5.52911749e-03 9.91639276e-01 1.28922365e-01 -6.92547913e+00] [ 9.86713526e-01 -2.63446982e-02 1.60319604e-01 -3.34454346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 119.27964924600002 meters Centerline goodness [0,1] 0.9090742382102143 Centerline is valid? [False, False] Translation: X:4.27, Y:-6.93, Z:-3.36 [[ 0.16051624 0.13343714 -0.97797192 4.2722301 ] [ 0.00906092 0.99057872 0.13664443 -6.92504086] [ 0.98699161 -0.03079497 0.15779491 -3.35969421] [ 0. 0. 0. 1. ]] SLAMing on 119.30964924600002 meters Centerline goodness [0,1] 0.9090742382102143 Centerline is valid? [False, False] Translation: X:4.27, Y:-6.92, Z:-3.37 [[ 0.155117 0.13957406 -0.9779866 4.26544152] [ 0.01439536 0.98954463 0.1435068 -6.92374548] [ 0.98779122 -0.03633881 0.15148597 -3.36829891] [ 0. 0. 0. 1. ]] SLAMing on 119.33964924600002 meters Centerline goodness [0,1] 0.9048331450554148 Centerline is valid? [False, False] Translation: X:4.25, Y:-6.92, Z:-3.40 [[ 0.15797238 0.14719134 -0.97641151 4.25368606] [ 0.02065343 0.98811885 0.15229768 -6.92281752] [ 0.98722751 -0.04422508 0.15305548 -3.40434675] [ 0. 0. 0. 1. ]] SLAMing on 119.36964924600001 meters Centerline goodness [0,1] 0.9038819260207971 Centerline is valid? [False, False] Translation: X:4.24, Y:-6.92, Z:-3.44 [[ 0.15949063 0.15452674 -0.97503037 4.24328692] [ 0.02633219 0.98665581 0.16067647 -6.92191941] [ 0.98684819 -0.05130107 0.15329333 -3.44065147] [ 0. 0. 0. 1. ]] SLAMing on 119.39964924600001 meters Centerline goodness [0,1] 0.9026140597324864 Centerline is valid? [False, False] Translation: X:4.23, Y:-6.92, Z:-3.49 [[ 0.16251082 0.15913894 -0.97378901 4.23493134] [ 0.02918482 0.98570117 0.16595617 -6.92067651] [ 0.98627505 -0.05538953 0.15554267 -3.48708878] [ 0. 0. 0. 1. ]] SLAMing on 119.42964924600001 meters Centerline goodness [0,1] 0.9033044750640166 Centerline is valid? [False, False] Translation: X:4.23, Y:-6.92, Z:-3.53 [[ 0.16523005 0.16201259 -0.97285711 4.22696071] [ 0.03234937 0.98499429 0.16952804 -6.91813959] [ 0.98572438 -0.05948244 0.15750965 -3.53330221] [ 0. 0. 0. 1. ]] SLAMing on 119.45964924600001 meters Centerline goodness [0,1] 0.9064338179269148 Centerline is valid? [False, False] Translation: X:4.22, Y:-6.92, Z:-3.58 [[ 0.1676997 0.16487813 -0.97195268 4.21905983] [ 0.03624783 0.98421716 0.17321279 -6.91613068] [ 0.98517151 -0.06427891 0.15907645 -3.57750101] [ 0. 0. 0. 1. ]] SLAMing on 119.48964924600001 meters Centerline goodness [0,1] 0.9056983444617214 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.91, Z:-3.62 [[ 0.17059953 0.16865881 -0.97079864 4.21088835] [ 0.0404589 0.98321192 0.17792528 -6.91397852] [ 0.98450946 -0.06963141 0.16091174 -3.61923751] [ 0. 0. 0. 1. ]] SLAMing on 119.51964924600001 meters Centerline goodness [0,1] 0.9051241480038948 Centerline is valid? [False, False] Translation: X:4.20, Y:-6.91, Z:-3.67 [[ 0.17387053 0.16988192 -0.97000473 4.20230497] [ 0.04476955 0.98262582 0.18011713 -6.9094767 ] [ 0.98375034 -0.07474374 0.16324413 -3.66545994] [ 0. 0. 0. 1. ]] SLAMing on 119.54964924600002 meters Centerline goodness [0,1] 0.9055175558595532 Centerline is valid? [False, False] Translation: X:4.19, Y:-6.91, Z:-3.71 [[ 0.17607203 0.17262795 -0.9691224 4.19390047] [ 0.04992541 0.98166995 0.18393356 -6.90752963] [ 0.98311042 -0.08076939 0.1642261 -3.70655861] [ 0. 0. 0. 1. ]] SLAMing on 119.57964924600002 meters Centerline goodness [0,1] 0.9036323877786552 Centerline is valid? [False, False] Translation: X:4.19, Y:-6.90, Z:-3.75 [[ 0.18070986 0.17051726 -0.96864225 4.18588055] [ 0.0571523 0.98137177 0.18342046 -6.90405588] [ 0.98187451 -0.08850602 0.1675981 -3.75321878] [ 0. 0. 0. 1. ]] SLAMing on 119.60964924600002 meters Centerline goodness [0,1] 0.9018880544829893 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.90, Z:-3.78 [[ 0.18267147 0.16771591 -0.96876339 4.18077049] [ 0.05992911 0.98161112 0.18124048 -6.90312228] [ 0.98134583 -0.09116459 0.16926128 -3.78376619] [ 0. 0. 0. 1. ]] SLAMing on 119.63964924600002 meters Centerline goodness [0,1] 0.884573370554679 Centerline is valid? [False, False] Translation: X:4.17, Y:-6.90, Z:-3.82 [[ 0.18668788 0.16804563 -0.96794024 4.17281574] [ 0.07039486 0.98044106 0.18379306 -6.89859219] [ 0.97989397 -0.10244996 0.17120691 -3.82078513] [ 0. 0. 0. 1. ]] SLAMing on 119.66964924600002 meters Centerline goodness [0,1] 0.8515587240212663 Centerline is valid? [False, False] Translation: X:4.17, Y:-6.89, Z:-3.86 [[ 0.19028653 0.16704362 -0.96741277 4.16887321] [ 0.07989902 0.97951366 0.18484893 -6.89180316] [ 0.97847186 -0.1124696 0.17304163 -3.8586008 ] [ 0. 0. 0. 1. ]] SLAMing on 119.69964924600002 meters Centerline goodness [0,1] 0.8394953935087613 Centerline is valid? [False, False] Translation: X:4.17, Y:-6.89, Z:-3.88 [[ 0.19130545 0.16177229 -0.96810741 4.17015168] [ 0.0852394 0.97985973 0.18058008 -6.88591989] [ 0.97782231 -0.11706684 0.17366313 -3.88134437] [ 0. 0. 0. 1. ]] SLAMing on 119.72964924600001 meters Centerline goodness [0,1] 0.8351049575703439 Centerline is valid? [False, False] Translation: X:4.17, Y:-6.88, Z:-3.92 [[ 0.19535958 0.15384188 -0.96859037 4.17145237] [ 0.08545682 0.98119341 0.17307982 -6.87571591] [ 0.97700142 -0.11658545 0.17853869 -3.91626279] [ 0. 0. 0. 1. ]] SLAMing on 119.75964924600001 meters Centerline goodness [0,1] 0.8367884075114594 Centerline is valid? [False, False] Translation: X:4.17, Y:-6.87, Z:-3.95 [[ 0.19953383 0.14663777 -0.96885686 4.17386859] [ 0.08683125 0.98220394 0.16654056 -6.86712214] [ 0.97603616 -0.11735753 0.18325017 -3.94666249] [ 0. 0. 0. 1. ]] SLAMing on 119.78964924600001 meters Centerline goodness [0,1] 0.8568205128205129 Centerline is valid? [False, False] Translation: X:4.17, Y:-6.86, Z:-3.98 [[ 0.20305302 0.14165533 -0.96886699 4.17455869] [ 0.0876904 0.98287339 0.16208113 -6.85872394] [ 0.97523324 -0.1178714 0.1871536 -3.975705 ] [ 0. 0. 0. 1. ]] SLAMing on 119.81964924600001 meters Centerline goodness [0,1] 0.8788525299120657 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.84, Z:-4.01 [[ 0.20703136 0.13714058 -0.9686746 4.17555758] [ 0.08672038 0.98365643 0.15779607 -6.84387011] [ 0.97448324 -0.11667257 0.19175484 -4.00663976] [ 0. 0. 0. 1. ]] SLAMing on 119.84964924600001 meters Centerline goodness [0,1] 0.848140143328404 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.83, Z:-4.03 [[ 0.21000994 0.1310956 -0.96887036 4.17780303] [ 0.08880937 0.98431515 0.1524355 -6.8286545 ] [ 0.97365739 -0.11805774 0.19507344 -4.0336711 ] [ 0. 0. 0. 1. ]] SLAMing on 119.87964924600001 meters Centerline goodness [0,1] 0.8669504905830607 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.82, Z:-4.03 [[ 0.20968334 0.12879849 -0.96924911 4.18047346] [ 0.08999002 0.98453659 0.15029804 -6.82203421] [ 0.97361938 -0.11873775 0.19485034 -4.0329325 ] [ 0. 0. 0. 1. ]] SLAMing on 119.90964924600001 meters Centerline goodness [0,1] 0.8849850016664815 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.81, Z:-4.06 [[ 0.21154158 0.12631581 -0.96917206 4.18265572] [ 0.09054068 0.98481658 0.14811717 -6.80763587] [ 0.97316625 -0.11908244 0.19689294 -4.05596603] [ 0. 0. 0. 1. ]] SLAMing on 119.93964924600002 meters Centerline goodness [0,1] 0.8768439013650374 Centerline is valid? [False, False] Translation: X:4.19, Y:-6.80, Z:-4.06 [[ 0.21191226 0.12563572 -0.96917948 4.18557865] [ 0.09075451 0.9848872 0.14751551 -6.79935725] [ 0.97306568 -0.11921776 0.19730766 -4.05608842] [ 0. 0. 0. 1. ]] SLAMing on 119.96964924600002 meters Centerline goodness [0,1] 0.7536735979836169 Centerline is valid? [False, False] Translation: X:4.19, Y:-6.79, Z:-4.07 [[ 0.20866041 0.12753202 -0.96963726 4.18678218] [ 0.08944638 0.98481713 0.14877691 -6.78537769] [ 0.9738892 -0.11777439 0.19408507 -4.07303012] [ 0. 0. 0. 1. ]] SLAMing on 119.99964924600002 meters Centerline goodness [0,1] 0.9008475716399839 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.78, Z:-4.16 [[ 0.20710477 0.11780697 -0.97119984 4.17620425] [ 0.08768545 0.98649258 0.13836059 -6.78142875] [ 0.97438128 -0.11381523 0.19397737 -4.16252434] [ 0. 0. 0. 1. ]] SLAMing on 120.02964924600002 meters Centerline goodness [0,1] 0.9015697581291046 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.77, Z:-4.16 [[ 0.20714829 0.11637884 -0.97136273 4.1780144 ] [ 0.08793881 0.98666468 0.13696559 -6.7748613 ] [ 0.97434919 -0.11379267 0.19415169 -4.16301591] [ 0. 0. 0. 1. ]] SLAMing on 120.05964924600002 meters Centerline goodness [0,1] 0.8974365736589482 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.76, Z:-4.19 [[ 0.20786721 0.11495979 -0.97137813 4.17909526] [ 0.08737343 0.98691778 0.13549608 -6.76209226] [ 0.97424694 -0.11303783 0.19510341 -4.18525715] [ 0. 0. 0. 1. ]] SLAMing on 120.08964924600002 meters Centerline goodness [0,1] 0.896746046173423 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.75, Z:-4.21 [[ 0.20692751 0.11433975 -0.97165191 4.18115421] [ 0.08455467 0.98734123 0.13419315 -6.75167342] [ 0.9746956 -0.10992596 0.1946401 -4.20993219] [ 0. 0. 0. 1. ]] SLAMing on 120.11964924600001 meters Centerline goodness [0,1] 0.892607405496065 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.75, Z:-4.23 [[ 0.20545455 0.11301611 -0.97211922 4.18103465] [ 0.0856687 0.98742 0.13290077 -6.74611755] [ 0.97490989 -0.11058526 0.19318799 -4.23155224] [ 0. 0. 0. 1. ]] SLAMing on 120.14964924600001 meters Centerline goodness [0,1] 0.896542015408636 Centerline is valid? [False, False] Translation: X:4.18, Y:-6.74, Z:-4.26 [[ 0.20533356 0.10765315 -0.97275327 4.18315124] [ 0.08393012 0.9883334 0.12709377 -6.73917214] [ 0.97508659 -0.10773992 0.19390267 -4.26073069] [ 0. 0. 0. 1. ]] SLAMing on 120.17964924600001 meters Centerline goodness [0,1] 0.9053267965554906 Centerline is valid? [False, False] Translation: X:4.19, Y:-6.73, Z:-4.26 [[ 0.20664945 0.10481627 -0.97278443 4.18636793] [ 0.08434573 0.98863544 0.12444183 -6.73499587] [ 0.97477269 -0.10776605 0.19546016 -4.26316896] [ 0. 0. 0. 1. ]] SLAMing on 120.20964924600001 meters Centerline goodness [0,1] 0.899306079348318 Centerline is valid? [False, False] Translation: X:4.19, Y:-6.73, Z:-4.29 [[ 0.20636128 0.10189018 -0.97315642 4.18827025] [ 0.08326718 0.9891271 0.12121943 -6.72709151] [ 0.97492646 -0.10604699 0.19563343 -4.28967054] [ 0. 0. 0. 1. ]] SLAMing on 120.23964924600001 meters Centerline goodness [0,1] 0.9030736989172197 Centerline is valid? [False, False] Translation: X:4.19, Y:-6.72, Z:-4.32 [[ 0.20649834 0.09875245 -0.97345076 4.18765663] [ 0.08029406 0.98982784 0.11744663 -6.72022214] [ 0.97514681 -0.10241485 0.19646858 -4.32128589] [ 0. 0. 0. 1. ]] SLAMing on 120.26964924600001 meters Centerline goodness [0,1] 0.9042213023324989 Centerline is valid? [False, False] Translation: X:4.19, Y:-6.72, Z:-4.33 [[ 0.20879569 0.09326043 -0.97350236 4.18993559] [ 0.08135312 0.99033607 0.1123216 -6.71576753] [ 0.97456966 -0.10264972 0.19919088 -4.32720682] [ 0. 0. 0. 1. ]] SLAMing on 120.29964924600002 meters Centerline goodness [0,1] 0.906653794742314 Centerline is valid? [False, False] Translation: X:4.19, Y:-6.71, Z:-4.33 [[ 0.21063006 0.0865579 -0.9737262 4.19236903] [ 0.08422148 0.99076186 0.10629049 -6.71087019] [ 0.97393106 -0.10439664 0.2013942 -4.33114857] [ 0. 0. 0. 1. ]] SLAMing on 120.32964924600002 meters Centerline goodness [0,1] 0.9088088723861638 Centerline is valid? [False, False] Translation: X:4.19, Y:-6.70, Z:-4.34 [[ 0.21277304 0.07962217 -0.97385212 4.19286408] [ 0.08774087 0.99109089 0.10020177 -6.70259161] [ 0.97315424 -0.10676686 0.2038913 -4.33631552] [ 0. 0. 0. 1. ]] SLAMing on 120.35964924600002 meters Centerline goodness [0,1] 0.9133523072806441 Centerline is valid? [False, False] Translation: X:4.19, Y:-6.70, Z:-4.34 [[ 0.21321043 0.07650928 -0.97400598 4.19427129] [ 0.0900694 0.99114442 0.09757176 -6.69622283] [ 0.97284573 -0.10853145 0.20443119 -4.33667571] [ 0. 0. 0. 1. ]] SLAMing on 120.38964924600002 meters Centerline goodness [0,1] 0.9082540437678401 Centerline is valid? [False, False] Translation: X:4.20, Y:-6.68, Z:-4.35 [[ 0.22086103 0.07149089 -0.97268158 4.19720372] [ 0.09514438 0.99097365 0.0944392 -6.68287122] [ 0.97065336 -0.11340312 0.2120655 -4.34949751] [ 0. 0. 0. 1. ]] SLAMing on 120.41964924600002 meters Centerline goodness [0,1] 0.9064692127825409 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.68, Z:-4.34 [[ 0.22687194 0.06077983 -0.9720262 4.20532327] [ 0.09497865 0.99191273 0.08419144 -6.67555214] [ 0.9692823 -0.11142241 0.21926437 -4.33974498] [ 0. 0. 0. 1. ]] SLAMing on 120.44964924600002 meters Centerline goodness [0,1] 0.9054498309950456 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.66, Z:-4.33 [[ 0.23334141 0.0493451 -0.97114203 4.20998287] [ 0.09639905 0.99261799 0.07359863 -6.6637079 ] [ 0.96760478 -0.11079077 0.22686206 -4.33111613] [ 0. 0. 0. 1. ]] SLAMing on 120.47964924600001 meters Centerline goodness [0,1] 0.9075874373813391 Centerline is valid? [False, False] Translation: X:4.22, Y:-6.66, Z:-4.32 [[ 0.2405324 0.03849309 -0.96987754 4.21712686] [ 0.09554349 0.99342185 0.06312259 -6.65603833] [ 0.96592733 -0.10784851 0.23527238 -4.32479857] [ 0. 0. 0. 1. ]] SLAMing on 120.50964924600001 meters Centerline goodness [0,1] 0.8979322087057822 Centerline is valid? [False, False] Translation: X:4.22, Y:-6.64, Z:-4.33 [[ 0.24544878 0.03760307 -0.96867998 4.21644726] [ 0.09750796 0.99322204 0.0632628 -6.64085859] [ 0.96449318 -0.10998179 0.24011854 -4.33410817] [ 0. 0. 0. 1. ]] SLAMing on 120.53964924600001 meters Centerline goodness [0,1] 0.887940164151443 Centerline is valid? [False, False] Translation: X:4.22, Y:-6.63, Z:-4.33 [[ 0.24585193 0.03876054 -0.96853211 4.2169032 ] [ 0.09655865 0.99325075 0.0642602 -6.63277595] [ 0.96448601 -0.10931864 0.24044995 -4.33493776] [ 0. 0. 0. 1. ]] SLAMing on 120.56964924600001 meters Centerline goodness [0,1] 0.8768464370803553 Centerline is valid? [False, False] Translation: X:4.22, Y:-6.63, Z:-4.34 [[ 0.24563347 0.04098826 -0.96849582 4.21703453] [ 0.09451057 0.99333302 0.06600953 -6.62524673] [ 0.9647445 -0.10774724 0.24012201 -4.33509671] [ 0. 0. 0. 1. ]] SLAMing on 120.59964924600001 meters Centerline goodness [0,1] 0.8663143266234313 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.61, Z:-4.36 [[ 0.25138696 0.04204732 -0.96697291 4.21106993] [ 0.08956954 0.9937582 0.06649771 -6.6096643 ] [ 0.96373331 -0.10332797 0.2460517 -4.36489784] [ 0. 0. 0. 1. ]] SLAMing on 120.62964924600001 meters Centerline goodness [0,1] 0.8789726993610489 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.59, Z:-4.40 [[ 0.2586439 0.04393671 -0.964973 4.20627214] [ 0.0791653 0.99464052 0.06650637 -6.59343327] [ 0.96272332 -0.09359384 0.25377944 -4.401196 ] [ 0. 0. 0. 1. ]] SLAMing on 120.65964924600001 meters Centerline goodness [0,1] 0.881442766542029 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.59, Z:-4.42 [[ 0.26648003 0.04946032 -0.96257055 4.20664026] [ 0.07029564 0.9950255 0.07058876 -6.58616204] [ 0.96127359 -0.08647501 0.26167758 -4.41803469] [ 0. 0. 0. 1. ]] SLAMing on 120.68964924600002 meters Centerline goodness [0,1] 0.8824633019957117 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.56, Z:-4.43 [[ 0.27176883 0.05935964 -0.96053013 4.2061916 ] [ 0.06081836 0.99504142 0.07870012 -6.5633764 ] [ 0.96043887 -0.0798061 0.26681108 -4.43039986] [ 0. 0. 0. 1. ]] SLAMing on 120.71964924600002 meters Centerline goodness [0,1] 0.8864429530201342 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.55, Z:-4.43 [[ 0.27142129 0.06555275 -0.96022566 4.20546385] [ 0.05511827 0.99498182 0.08350544 -6.55333029] [ 0.96088108 -0.07559113 0.26644609 -4.43119202] [ 0. 0. 0. 1. ]] SLAMing on 120.74964924600002 meters Centerline goodness [0,1] 0.8761272441466038 Centerline is valid? [False, False] Translation: X:4.21, Y:-6.53, Z:-4.42 [[ 0.27688182 0.06931044 -0.95840102 4.21114355] [ 0.04295824 0.99550514 0.08440439 -6.53358054] [ 0.95994325 -0.06454126 0.27265982 -4.42311153] [ 0. 0. 0. 1. ]] SLAMing on 120.77964924600002 meters Centerline goodness [0,1] 0.8738425925925926 Centerline is valid? [False, False] Translation: X:4.22, Y:-6.52, Z:-4.41 [[ 0.28306064 0.0693815 -0.95658919 4.21755903] [ 0.03496255 0.99597068 0.08258348 -6.52413472] [ 0.95846455 -0.05682093 0.27949434 -4.41450351] [ 0. 0. 0. 1. ]] SLAMing on 120.80964924600002 meters Centerline goodness [0,1] 0.8620675410513271 Centerline is valid? [False, False] Translation: X:4.23, Y:-6.50, Z:-4.40 [[ 0.28809464 0.07420867 -0.95472224 4.22565995] [ 0.02272393 0.99618226 0.08428839 -6.5046758 ] [ 0.95733228 -0.04597807 0.28530846 -4.40451836] [ 0. 0. 0. 1. ]] SLAMing on 120.83964924600002 meters Centerline goodness [0,1] 0.859959084991631 Centerline is valid? [False, False] Translation: X:4.23, Y:-6.50, Z:-4.39 [[ 0.29369693 0.07473025 -0.95297298 4.23314986] [ 0.01462908 0.99647127 0.08264983 -6.49576834] [ 0.95578664 -0.03821512 0.29156732 -4.39476348] [ 0. 0. 0. 1. ]] Total time of SLAM: 14994.27 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%| | 0/4028 [00:00