+ python -m lidar_slam --no-model /working/6376223f-eee8-41d6-be3d-0c5e2e05034e Lidar SLAM 0.0.13 ===================================================== The recording path: /working/6376223f-eee8-41d6-be3d-0c5e2e05034e 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 0.026547615 Adjusted end_distance from 9.223372036854776e+18 to 81.826547615 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.026547615 meters Centerline goodness [0,1] 0.338333177088216 Centerline is valid? [0, False] SLAMing on 0.056547614999999996 meters Centerline goodness [0,1] 0.34989144179610143 Centerline is valid? [False, False] Translation: X:0.04, Y:0.01, Z:0.00 [[ 9.99772063e-01 1.71865226e-02 -1.26667330e-02 4.25277043e-02] [-1.77149588e-02 9.98924041e-01 -4.28595339e-02 5.96582948e-03] [ 1.19164978e-02 4.30741553e-02 9.99000808e-01 8.78849068e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.086547615 meters Centerline goodness [0,1] 0.3595833134228509 Centerline is valid? [False, False] Translation: X:0.06, Y:0.01, Z:-0.00 [[ 0.99967756 0.0211422 -0.01406383 0.05764261] [-0.02188024 0.99826983 -0.05457658 0.00664905] [ 0.01288562 0.05486671 0.99841054 -0.00120644] [ 0. 0. 0. 1. ]] SLAMing on 0.11654761499999998 meters Centerline goodness [0,1] 0.3625209805914754 Centerline is valid? [False, False] Translation: X:0.10, Y:0.01, Z:0.00 [[ 9.99666449e-01 2.08518270e-02 -1.52378707e-02 9.85171620e-02] [-2.13866457e-02 9.99129345e-01 -3.58212735e-02 7.41200780e-03] [ 1.44776648e-02 3.61352122e-02 9.99242035e-01 4.64132140e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.146547615 meters Centerline goodness [0,1] 0.3623571211519132 Centerline is valid? [False, False] Translation: X:0.12, Y:0.01, Z:0.00 [[ 9.99802150e-01 1.57528849e-02 -1.21452297e-02 1.16653522e-01] [-1.59066866e-02 9.99793169e-01 -1.26726966e-02 6.73985273e-03] [ 1.19430861e-02 1.28633797e-02 9.99845936e-01 5.27687120e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.17654761499999996 meters Centerline goodness [0,1] 0.37117465945139017 Centerline is valid? [False, False] Translation: X:0.15, Y:-0.00, Z:-0.00 [[ 0.9999633 -0.00419496 -0.00746984 0.14710079] [ 0.00431752 0.99985509 0.0164671 -0.0033266 ] [ 0.00739968 -0.01649875 0.9998365 -0.0023108 ] [ 0. 0. 0. 1. ]] SLAMing on 0.20654761499999996 meters Centerline goodness [0,1] 0.3768951376684241 Centerline is valid? [False, False] Translation: X:0.16, Y:-0.01, Z:-0.01 [[ 0.999873 -0.01284995 -0.00942685 0.15730313] [ 0.01295145 0.99985795 0.01078613 -0.00996188] [ 0.00928691 -0.01090685 0.99989739 -0.00552585] [ 0. 0. 0. 1. ]] SLAMing on 0.23654761499999996 meters Centerline goodness [0,1] 0.39384389365432915 Centerline is valid? [False, False] Translation: X:0.19, Y:-0.02, Z:-0.00 [[ 0.9994994 -0.03069167 -0.00767945 0.18670115] [ 0.03061778 0.99948544 -0.00956052 -0.02233597] [ 0.00796893 0.0093206 0.99992481 -0.00187932] [ 0. 0. 0. 1. ]] SLAMing on 0.26654761499999996 meters Centerline goodness [0,1] 0.4003287044756211 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.03, Z:0.00 [[ 9.99345960e-01 -3.61080932e-02 -1.96394600e-03 2.02427793e-01] [ 3.60564096e-02 9.99108884e-01 -2.19402266e-02 -2.72090507e-02] [ 2.75441564e-03 2.18550640e-02 9.99757355e-01 2.22076528e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.296547615 meters Centerline goodness [0,1] 0.41219144300524335 Centerline is valid? [False, False] Translation: X:0.24, Y:-0.04, Z:0.00 [[ 0.99929575 -0.03722673 0.00470838 0.24069951] [ 0.03737145 0.9986629 -0.03571813 -0.0356577 ] [-0.00337241 0.03586894 0.99935081 0.00411029] [ 0. 0. 0. 1. ]] SLAMing on 0.32654761499999996 meters Centerline goodness [0,1] 0.41110081497849693 Centerline is valid? [False, False] Translation: X:0.28, Y:-0.04, Z:0.01 [[ 0.99943166 -0.03356781 0.00309298 0.28023197] [ 0.03360749 0.99933956 -0.01381951 -0.03987257] [-0.00262705 0.0139156 0.99989972 0.00587487] [ 0. 0. 0. 1. ]] SLAMing on 0.356547615 meters Centerline goodness [0,1] 0.4059634649381261 Centerline is valid? [False, False] Translation: X:0.30, Y:-0.04, Z:0.01 [[ 9.99675380e-01 -2.54699168e-02 -6.47149003e-04 2.96078621e-01] [ 2.54691939e-02 9.99675000e-01 -1.10178938e-03 -3.70373586e-02] [ 6.75001163e-04 1.08494935e-03 9.99999184e-01 5.12249558e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.38654761499999996 meters Centerline goodness [0,1] 0.41199671322925224 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.04, Z:0.00 [[ 0.99971707 -0.02355237 -0.00332608 0.31203423] [ 0.02357299 0.99970227 0.00630037 -0.03719863] [ 0.0031767 -0.00637699 0.99997462 0.00431666] [ 0. 0. 0. 1. ]] SLAMing on 0.416547615 meters Centerline goodness [0,1] 0.4267359404619814 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.03, Z:0.01 [[ 0.9998166 -0.01843192 0.00519925 0.3533179 ] [ 0.01843914 0.99982908 -0.00134327 -0.03482652] [-0.0051736 0.0014389 0.99998558 0.0079845 ] [ 0. 0. 0. 1. ]] SLAMing on 0.44654761499999995 meters Centerline goodness [0,1] 0.42896635741729927 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.04, Z:0.01 [[ 0.99985485 -0.01320186 0.01077014 0.39417764] [ 0.01334805 0.9998182 -0.01361625 -0.0353749 ] [-0.01058842 0.01375804 0.99984929 0.0107055 ] [ 0. 0. 0. 1. ]] SLAMing on 0.476547615 meters Centerline goodness [0,1] 0.4328522047832586 Centerline is valid? [False, False] Translation: X:0.41, Y:-0.03, Z:0.01 [[ 0.99993921 -0.00880971 0.00663077 0.40939576] [ 0.00885667 0.99993566 -0.00708781 -0.03204717] [-0.0065679 0.0071461 0.9999529 0.00704205] [ 0. 0. 0. 1. ]] SLAMing on 0.5065476149999999 meters Centerline goodness [0,1] 0.42772277227722777 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.01, Z:-0.00 [[ 9.99999057e-01 1.35938102e-04 1.36667863e-03 4.50993263e-01] [-1.54206990e-04 9.99910523e-01 1.33761557e-02 -1.37546867e-02] [-1.36473801e-03 -1.33763539e-02 9.99909601e-01 -2.67237460e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5365476149999999 meters Centerline goodness [0,1] 0.4234702084147154 Centerline is valid? [False, False] Translation: X:0.46, Y:-0.01, Z:-0.01 [[ 0.99998248 0.00563646 -0.00180567 0.46345535] [-0.00560274 0.99981929 0.0181658 -0.00524015] [ 0.00190773 -0.01815537 0.99983336 -0.00883353] [ 0. 0. 0. 1. ]] SLAMing on 0.566547615 meters Centerline goodness [0,1] 0.4149453080023028 Centerline is valid? [False, False] Translation: X:0.50, Y:0.00, Z:-0.01 [[ 0.99992064 0.01244603 0.00195257 0.49804451] [-0.01244083 0.99991908 -0.00265759 0.00106123] [-0.00198549 0.00263309 0.99999456 -0.00946113] [ 0. 0. 0. 1. ]] SLAMing on 0.596547615 meters Centerline goodness [0,1] 0.4397220802156434 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.00, Z:-0.01 [[ 0.99992145 0.01156547 0.00483004 0.50977875] [-0.01147642 0.99977081 -0.01807285 -0.00420444] [-0.00503795 0.018016 0.99982501 -0.00890445] [ 0. 0. 0. 1. ]] SLAMing on 0.6265476149999999 meters Centerline goodness [0,1] 0.42063344201210995 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.02, Z:-0.00 [[ 0.99998547 0.00522852 0.00131239 0.54863896] [-0.00519271 0.99964985 -0.02594634 -0.01561306] [-0.00144759 0.02593915 0.99966248 -0.00328468] [ 0. 0. 0. 1. ]] SLAMing on 0.6565476149999999 meters Centerline goodness [0,1] 0.44325832334224846 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.02, Z:-0.00 [[ 9.99997458e-01 -1.59599445e-03 1.59304273e-03 5.67870253e-01] [ 1.60297683e-03 9.99989073e-01 -4.39143164e-03 -1.90494035e-02] [-1.58601663e-03 4.39397409e-03 9.99989089e-01 -6.14819667e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6865476149999999 meters Centerline goodness [0,1] 0.4400690767797496 Centerline is valid? [False, False] Translation: X:0.60, Y:-0.02, Z:0.00 [[ 9.99851854e-01 -1.35523054e-02 1.06115920e-02 5.99279966e-01] [ 1.31245809e-02 9.99137742e-01 3.93893167e-02 -1.80698758e-02] [-1.11362581e-02 -3.92442086e-02 9.99167591e-01 1.35600592e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.716547615 meters Centerline goodness [0,1] 0.4396346576615371 Centerline is valid? [False, False] Translation: X:0.63, Y:-0.01, Z:-0.00 [[ 0.99986546 -0.0146779 0.0073228 0.63370851] [ 0.01427968 0.9985578 0.05175341 -0.01402319] [-0.00807187 -0.05164188 0.99863305 -0.00135196] [ 0. 0. 0. 1. ]] SLAMing on 0.7465476149999999 meters Centerline goodness [0,1] 0.4421052631578948 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.01, Z:-0.00 [[ 0.99994735 -0.00938094 0.00415969 0.64940487] [ 0.00920187 0.99911019 0.04116005 -0.0109135 ] [-0.00454211 -0.0411196 0.99914391 -0.00409302] [ 0. 0. 0. 1. ]] SLAMing on 0.7765476149999999 meters Centerline goodness [0,1] 0.44062056656445925 Centerline is valid? [False, False] Translation: X:0.67, Y:-0.00, Z:-0.01 [[ 0.99999457 -0.0030747 -0.0011898 0.67106028] [ 0.00310288 0.99969619 0.02445203 -0.00440526] [ 0.00111426 -0.02445558 0.9997003 -0.00638185] [ 0. 0. 0. 1. ]] SLAMing on 0.8065476149999999 meters Centerline goodness [0,1] 0.44412057279015427 Centerline is valid? [False, False] Translation: X:0.71, Y:0.01, Z:-0.01 [[ 0.99983859 0.01546875 -0.00913827 0.71148481] [-0.0155002 0.99987415 -0.00338079 0.01054692] [ 0.00908482 0.00352189 0.99995253 -0.0111113 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8365476149999999 meters Centerline goodness [0,1] 0.3597468003511528 Centerline is valid? [False, False] Translation: X:0.72, Y:0.02, Z:-0.02 [[ 0.99976865 0.01750747 -0.01249501 0.7207929 ] [-0.01757699 0.99983052 -0.00547596 0.01533213] [ 0.01239703 0.00569432 0.99990694 -0.01523996] [ 0. 0. 0. 1. ]] SLAMing on 0.8665476149999999 meters Centerline goodness [0,1] 0.38414718494950895 Centerline is valid? [False, False] Translation: X:0.75, Y:0.02, Z:-0.02 [[ 0.999742 0.0203172 -0.01015589 0.745779 ] [-0.02044803 0.99970707 -0.01294805 0.019165 ] [ 0.00988985 0.01315238 0.99986459 -0.01651927] [ 0. 0. 0. 1. ]] SLAMing on 0.8965476149999999 meters Centerline goodness [0,1] 0.33896100933129525 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.01 [[ 0.99991267 0.01165409 -0.00623191 0.77717295] [-0.01166925 0.99992903 -0.00240214 0.01246626] [ 0.00620347 0.00247465 0.9999777 -0.00832775] [ 0. 0. 0. 1. ]] SLAMing on 0.9265476149999999 meters Centerline goodness [0,1] 0.41815687171278304 Centerline is valid? [False, False] Translation: X:0.78, Y:0.01, Z:-0.01 [[ 0.99999158 0.00347858 0.00217671 0.78077455] [-0.00349927 0.99994803 0.0095756 0.01007491] [-0.00214328 -0.00958314 0.99995178 -0.01272268] [ 0. 0. 0. 1. ]] SLAMing on 0.9565476149999999 meters Centerline goodness [0,1] 0.3712624960419777 Centerline is valid? [False, False] Translation: X:0.80, Y:0.01, Z:-0.01 [[ 9.99992359e-01 -6.39516305e-04 3.85649865e-03 8.02181142e-01] [ 5.60337754e-04 9.99789748e-01 2.04974460e-02 8.58541892e-03] [-3.86879627e-03 -2.04951284e-02 9.99782467e-01 -1.05365852e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9865476149999999 meters Centerline goodness [0,1] 0.4185582891577183 Centerline is valid? [False, False] Translation: X:0.84, Y:-0.00, Z:-0.01 [[ 9.99878525e-01 -1.28347327e-02 8.84330324e-03 8.38931446e-01] [ 1.25401680e-02 9.99389931e-01 3.25961762e-02 -5.24021317e-04] [-9.25627142e-03 -3.24813201e-02 9.99429480e-01 -5.42136701e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.016547615 meters Centerline goodness [0,1] 0.4430105070808589 Centerline is valid? [False, False] Translation: X:0.87, Y:-0.01, Z:-0.00 [[ 0.99977941 -0.01403783 0.01562259 0.86930029] [ 0.01385728 0.99983662 0.01160601 -0.00774139] [-0.01578296 -0.01138696 0.9998106 -0.00437311] [ 0. 0. 0. 1. ]] SLAMing on 1.0465476149999997 meters Centerline goodness [0,1] 0.3873768345621167 Centerline is valid? [False, False] Translation: X:0.88, Y:-0.01, Z:-0.01 [[ 0.9997565 -0.01269251 0.01805104 0.88099007] [ 0.01273038 0.999917 -0.00198482 -0.01021957] [-0.01802435 0.00221413 0.9998351 -0.00646991] [ 0. 0. 0. 1. ]] SLAMing on 1.0765476149999997 meters Centerline goodness [0,1] 0.41060288667387956 Centerline is valid? [False, False] Translation: X:0.90, Y:-0.01, Z:-0.00 [[ 0.99988806 -0.01199478 0.00894346 0.90159928] [ 0.01205451 0.99990519 -0.00665534 -0.01274167] [-0.00886279 0.0067624 0.99993786 -0.00249911] [ 0. 0. 0. 1. ]] SLAMing on 1.1065476149999998 meters Centerline goodness [0,1] 0.4302771362586605 Centerline is valid? [False, False] Translation: X:0.92, Y:-0.01, Z:-0.01 [[ 0.99993168 -0.01139887 0.0025884 0.92473042] [ 0.01140927 0.99992674 -0.00404252 -0.0121224 ] [-0.00254213 0.00407177 0.99998848 -0.00869589] [ 0. 0. 0. 1. ]] SLAMing on 1.1365476149999998 meters Centerline goodness [0,1] 0.419705753285447 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.01, Z:-0.01 [[ 9.99950285e-01 -9.46092387e-03 -3.14945463e-03 9.47381329e-01] [ 9.46374240e-03 9.99954829e-01 8.81226598e-04 -1.08127675e-02] [ 3.14097515e-03 -9.10988415e-04 9.99994652e-01 -1.36307604e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1665476149999998 meters Centerline goodness [0,1] 0.4208238459946181 Centerline is valid? [False, False] Translation: X:0.95, Y:-0.01, Z:-0.02 [[ 9.99933114e-01 -1.03141963e-02 -5.23314242e-03 9.54679453e-01] [ 1.03172121e-02 9.99946625e-01 5.49606682e-04 -1.17043495e-02] [ 5.22719435e-03 -6.03561361e-04 9.99986156e-01 -1.56574060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1965476149999998 meters Centerline goodness [0,1] 0.42868356651429096 Centerline is valid? [False, False] Translation: X:0.97, Y:-0.02, Z:-0.02 [[ 0.99986606 -0.01240791 -0.01067224 0.97427395] [ 0.01243165 0.99992039 0.00216124 -0.01513449] [ 0.01064457 -0.00229363 0.99994071 -0.01750675] [ 0. 0. 0. 1. ]] SLAMing on 1.2265476149999996 meters Centerline goodness [0,1] 0.43188964630815485 Centerline is valid? [False, False] Translation: X:0.98, Y:-0.01, Z:-0.02 [[ 0.99988374 -0.00976683 -0.01170954 0.98094008] [ 0.00983853 0.99993311 0.00608114 -0.00956965] [ 0.01164936 -0.00619564 0.99991295 -0.0198876 ] [ 0. 0. 0. 1. ]] SLAMing on 1.2565476149999997 meters Centerline goodness [0,1] 0.356947613346285 Centerline is valid? [False, False] Translation: X:1.01, Y:0.00, Z:-0.02 [[ 0.99994787 -0.0031026 -0.00972761 1.01158871] [ 0.00338507 0.9995691 0.02915739 0.00224741] [ 0.00963296 -0.0291888 0.9995275 -0.01625114] [ 0. 0. 0. 1. ]] SLAMing on 1.2865476149999997 meters Centerline goodness [0,1] 0.356947613346285 Centerline is valid? [False, False] Translation: X:1.01, Y:0.00, Z:-0.02 [[ 0.99994787 -0.0031026 -0.00972761 1.01158871] [ 0.00338507 0.9995691 0.02915739 0.00224741] [ 0.00963296 -0.0291888 0.9995275 -0.01625114] [ 0. 0. 0. 1. ]] SLAMing on 1.3165476149999997 meters Centerline goodness [0,1] 0.3475688249508796 Centerline is valid? [False, False] Translation: X:1.03, Y:0.01, Z:-0.02 [[ 0.9999742 0.00491769 -0.00523605 1.02678281] [-0.00480538 0.99976263 0.02125047 0.01165894] [ 0.00533931 -0.02122476 0.99976047 -0.02083195] [ 0. 0. 0. 1. ]] SLAMing on 1.3465476149999998 meters Centerline goodness [0,1] 0.3593098260889386 Centerline is valid? [False, False] Translation: X:1.04, Y:0.01, Z:-0.02 [[ 0.99996222 0.00769853 -0.00403743 1.03720284] [-0.00767116 0.99994779 0.00675001 0.01457335] [ 0.00408918 -0.00671878 0.99996907 -0.02235573] [ 0. 0. 0. 1. ]] SLAMing on 1.3765476149999998 meters Centerline goodness [0,1] 0.30139248927530915 Centerline is valid? [False, False] Translation: X:1.07, Y:0.02, Z:-0.02 [[ 0.9998625 0.01446514 -0.00810773 1.06673279] [-0.01458952 0.99977346 -0.01549739 0.01663384] [ 0.00788172 0.01561355 0.99984704 -0.02469742] [ 0. 0. 0. 1. ]] SLAMing on 1.4065476149999998 meters Centerline goodness [0,1] 0.3529357924122466 Centerline is valid? [False, False] Translation: X:1.08, Y:0.02, Z:-0.02 [[ 0.99980555 0.01589211 -0.01167448 1.07917827] [-0.01602185 0.99980997 -0.01110531 0.01620994] [ 0.01149577 0.01129019 0.99987018 -0.0236129 ] [ 0. 0. 0. 1. ]] SLAMing on 1.4365476149999996 meters Centerline goodness [0,1] 0.32571984788120245 Centerline is valid? [False, False] Translation: X:1.12, Y:0.02, Z:-0.02 [[ 0.99992496 0.01059323 -0.00615294 1.11596788] [-0.01056278 0.9999319 0.00496128 0.01502386] [ 0.00620508 -0.00489592 0.99996876 -0.02029171] [ 0. 0. 0. 1. ]] SLAMing on 1.4665476149999996 meters Centerline goodness [0,1] 0.3838342533905813 Centerline is valid? [False, False] Translation: X:1.12, Y:0.01, Z:-0.02 [[ 0.99993091 0.00848992 -0.00812943 1.12464659] [-0.0084509 0.99995266 0.00482208 0.01430849] [ 0.00816998 -0.00475305 0.99995533 -0.02212964] [ 0. 0. 0. 1. ]] SLAMing on 1.4965476149999997 meters Centerline goodness [0,1] 0.42641005925188835 Centerline is valid? [False, False] Translation: X:1.16, Y:0.01, Z:-0.03 [[ 0.99995088 -0.00436195 -0.00890042 1.15885928] [ 0.0045685 0.99971763 0.02331915 0.01312213] [ 0.00879619 -0.02335867 0.99968845 -0.02538363] [ 0. 0. 0. 1. ]] SLAMing on 1.5265476149999997 meters Centerline goodness [0,1] 0.4485279141867886 Centerline is valid? [False, False] Translation: X:1.17, Y:0.02, Z:-0.03 [[ 0.9999238 -0.00386056 -0.01172556 1.1721982 ] [ 0.00416524 0.99965139 0.02607214 0.01647357] [ 0.01162082 -0.02611899 0.99959129 -0.02904275] [ 0. 0. 0. 1. ]] SLAMing on 1.5565476149999997 meters Centerline goodness [0,1] 0.40265406289765493 Centerline is valid? [False, False] Translation: X:1.20, Y:0.02, Z:-0.04 [[ 0.99994824 -0.00334269 -0.00960957 1.2012914 ] [ 0.00349815 0.99986256 0.01620596 0.021294 ] [ 0.00955408 -0.01623874 0.9998225 -0.03684358] [ 0. 0. 0. 1. ]] SLAMing on 1.5865476149999997 meters Centerline goodness [0,1] 0.4499654457498272 Centerline is valid? [False, False] Translation: X:1.24, Y:0.03, Z:-0.04 [[ 0.99976778 0.00645068 -0.02056148 1.23993839] [-0.00663753 0.99993718 -0.0090318 0.02548895] [ 0.02050193 0.00916618 0.99974779 -0.03616802] [ 0. 0. 0. 1. ]] SLAMing on 1.6165476149999998 meters Centerline goodness [0,1] 0.4351057484974996 Centerline is valid? [False, False] Translation: X:1.25, Y:0.03, Z:-0.04 [[ 0.99968512 0.01240642 -0.02181152 1.2527903 ] [-0.01280603 0.99975093 -0.0182778 0.02688592] [ 0.02157932 0.01855136 0.99959501 -0.03669543] [ 0. 0. 0. 1. ]] SLAMing on 1.6465476149999996 meters Centerline goodness [0,1] 0.39575761731696724 Centerline is valid? [False, False] Translation: X:1.28, Y:0.03, Z:-0.04 [[ 0.99970567 0.0173298 -0.01697809 1.27686312] [-0.017661 0.99965277 -0.01955587 0.03005835] [ 0.01663329 0.01984997 0.9996646 -0.03827974] [ 0. 0. 0. 1. ]] SLAMing on 1.6765476149999996 meters Centerline goodness [0,1] 0.41309783597017635 Centerline is valid? [False, False] Translation: X:1.28, Y:0.03, Z:-0.04 [[ 0.99986398 0.01437339 -0.0080887 1.2806649 ] [-0.01443111 0.9998705 -0.00712286 0.03040581] [ 0.00798528 0.00723862 0.99994192 -0.0440822 ] [ 0. 0. 0. 1. ]] SLAMing on 1.7065476149999996 meters Centerline goodness [0,1] 0.4494364292155094 Centerline is valid? [False, False] Translation: X:1.32, Y:0.03, Z:-0.04 [[ 0.99995037 0.00706803 -0.00702074 1.31738372] [-0.00691018 0.99972835 0.02225931 0.03163012] [ 0.00717616 -0.02220969 0.99972758 -0.04391895] [ 0. 0. 0. 1. ]] SLAMing on 1.7365476149999997 meters Centerline goodness [0,1] 0.46898771211234636 Centerline is valid? [False, False] Translation: X:1.33, Y:0.03, Z:-0.04 [[ 0.99991713 0.00870937 -0.00948024 1.32727492] [-0.00845534 0.99961269 0.02651366 0.03081093] [ 0.00970749 -0.02643131 0.9996035 -0.04380102] [ 0. 0. 0. 1. ]] SLAMing on 1.7665476149999997 meters Centerline goodness [0,1] 0.49136567062971837 Centerline is valid? [False, False] Translation: X:1.36, Y:0.03, Z:-0.04 [[ 0.99997317 0.00340664 -0.00648468 1.35602156] [-0.00329932 0.99985858 0.01649036 0.02855661] [ 0.00653994 -0.01646852 0.999843 -0.03956298] [ 0. 0. 0. 1. ]] SLAMing on 1.7965476149999997 meters Centerline goodness [0,1] 0.4956665011510857 Centerline is valid? [False, False] Translation: X:1.37, Y:0.03, Z:-0.04 [[ 9.99999507e-01 1.68908018e-04 -9.78982279e-04 1.37466220e+00] [-1.64380666e-04 9.99989301e-01 4.62278676e-03 2.95596557e-02] [ 9.79752631e-04 -4.62262355e-03 9.99988836e-01 -3.99135810e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.8265476149999997 meters Centerline goodness [0,1] 0.5253610787870491 Centerline is valid? [False, False] Translation: X:1.42, Y:0.03, Z:-0.04 [[ 0.99997229 0.00690482 0.00278188 1.41835413] [-0.00683448 0.99967531 -0.02454722 0.02720052] [-0.00295047 0.02452752 0.9996948 -0.04033603] [ 0. 0. 0. 1. ]] SLAMing on 1.8565476149999995 meters Centerline goodness [0,1] 0.5221224824569397 Centerline is valid? [False, False] Translation: X:1.45, Y:0.02, Z:-0.04 [[ 0.99990007 0.01333527 0.00469302 1.45427871] [-0.0132337 0.9996909 -0.02104688 0.02356059] [-0.00497223 0.02098267 0.99976748 -0.03968914] [ 0. 0. 0. 1. ]] SLAMing on 1.8865476149999996 meters Centerline goodness [0,1] 0.495559946401399 Centerline is valid? [False, False] Translation: X:1.48, Y:0.02, Z:-0.04 [[ 0.99986802 0.01596388 0.00301736 1.47840136] [-0.01594037 0.99984357 -0.00766376 0.02484673] [-0.00313923 0.00761465 0.99996608 -0.03860831] [ 0. 0. 0. 1. ]] SLAMing on 1.9165476149999996 meters Centerline goodness [0,1] 0.5263979370249728 Centerline is valid? [False, False] Translation: X:1.52, Y:0.02, Z:-0.04 [[ 0.99997403 0.00647957 0.00315426 1.51718272] [-0.00653894 0.99979442 0.01919284 0.02093315] [-0.00302925 -0.01921297 0.99981082 -0.03940555] [ 0. 0. 0. 1. ]] SLAMing on 1.9465476149999996 meters Centerline goodness [0,1] 0.5284130833918897 Centerline is valid? [False, False] Translation: X:1.53, Y:0.02, Z:-0.04 [[ 0.99997733 0.00643441 0.00198378 1.52656657] [-0.00647434 0.99976207 0.02082979 0.01959269] [-0.00184928 -0.02084216 0.99978107 -0.04494358] [ 0. 0. 0. 1. ]] SLAMing on 1.9765476149999996 meters Centerline goodness [0,1] 0.5317223298757552 Centerline is valid? [False, False] Translation: X:1.56, Y:0.02, Z:-0.04 [[ 0.99994936 0.00553619 -0.00840404 1.56039983] [-0.00537511 0.99980371 0.01906952 0.01881297] [ 0.00850796 -0.01902338 0.99978284 -0.04335845] [ 0. 0. 0. 1. ]] SLAMing on 2.0065476149999997 meters Centerline goodness [0,1] 0.531859172891237 Centerline is valid? [False, False] Translation: X:1.57, Y:0.02, Z:-0.05 [[ 0.99991273 0.01118791 -0.00702531 1.57384818] [-0.01112182 0.99989418 0.00937733 0.02153343] [ 0.00712948 -0.00929837 0.99993135 -0.04745512] [ 0. 0. 0. 1. ]] SLAMing on 2.036547615 meters Centerline goodness [0,1] 0.5158008112381695 Centerline is valid? [False, False] Translation: X:1.61, Y:0.03, Z:-0.05 [[ 0.99951129 0.02829005 -0.01329865 1.61097299] [-0.02838933 0.99957002 -0.00733674 0.02739939] [ 0.01308537 0.00771069 0.99988465 -0.04716795] [ 0. 0. 0. 1. ]] SLAMing on 2.0665476149999997 meters Centerline goodness [0,1] 0.5078922506164021 Centerline is valid? [False, False] Translation: X:1.62, Y:0.03, Z:-0.05 [[ 0.99942923 0.02945355 -0.01654391 1.62051033] [-0.02960355 0.99952213 -0.00889609 0.03215836] [ 0.01627398 0.00938077 0.99982356 -0.04843836] [ 0. 0. 0. 1. ]] SLAMing on 2.096547615 meters Centerline goodness [0,1] 0.491733345631471 Centerline is valid? [False, False] Translation: X:1.64, Y:0.04, Z:-0.05 [[ 0.99927115 0.03102471 -0.02224035 1.64235956] [-0.03117305 0.9994938 -0.0063544 0.0367029 ] [ 0.02203195 0.00704307 0.99973246 -0.0506201 ] [ 0. 0. 0. 1. ]] SLAMing on 2.126547615 meters Centerline goodness [0,1] 0.4853273658469063 Centerline is valid? [False, False] Translation: X:1.65, Y:0.04, Z:-0.05 [[ 0.9991504 0.03392234 -0.02340425 1.64952678] [-0.03400558 0.99941662 -0.00316792 0.03826189] [ 0.02328314 0.00396111 0.99972106 -0.05437537] [ 0. 0. 0. 1. ]] SLAMing on 2.156547615 meters Centerline goodness [0,1] 0.4851936218678815 Centerline is valid? [False, False] Translation: X:1.66, Y:0.04, Z:-0.06 [[ 9.99014245e-01 3.70027654e-02 -2.45221141e-02 1.65613658e+00] [-3.69951559e-02 9.99315153e-01 7.64061335e-04 3.97124959e-02] [ 2.45335926e-02 1.43891278e-04 9.99698996e-01 -5.66464358e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.186547615 meters Centerline goodness [0,1] 0.4953605879650895 Centerline is valid? [False, False] Translation: X:1.69, Y:0.04, Z:-0.05 [[ 0.99932242 0.03009179 -0.02119389 1.68965024] [-0.02983615 0.99947941 0.0122768 0.03826322] [ 0.02155228 -0.01163614 0.9997 -0.05199776] [ 0. 0. 0. 1. ]] SLAMing on 2.2165476149999996 meters Centerline goodness [0,1] 0.48631622195339075 Centerline is valid? [False, False] Translation: X:1.73, Y:0.04, Z:-0.05 [[ 0.99961402 0.0242274 -0.0135961 1.72761671] [-0.02407011 0.99964279 0.01161548 0.03678229] [ 0.01387265 -0.01128373 0.9998401 -0.04527508] [ 0. 0. 0. 1. ]] SLAMing on 2.246547615 meters Centerline goodness [0,1] 0.4791927944362102 Centerline is valid? [False, False] Translation: X:1.74, Y:0.04, Z:-0.04 [[ 0.99969346 0.02409698 -0.00568608 1.74230861] [-0.0240635 0.99969312 0.00588327 0.0368507 ] [ 0.0058261 -0.00574464 0.99996653 -0.04405782] [ 0. 0. 0. 1. ]] SLAMing on 2.2765476149999997 meters Centerline goodness [0,1] 0.47203086249655557 Centerline is valid? [False, False] Translation: X:1.77, Y:0.04, Z:-0.05 [[ 9.99871621e-01 1.60042289e-02 7.78883255e-04 1.76700024e+00] [-1.60095291e-02 9.99844784e-01 7.35548041e-03 3.50674441e-02] [-6.61043568e-04 -7.36700567e-03 9.99972645e-01 -4.81593597e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.306547615 meters Centerline goodness [0,1] 0.4653015052174716 Centerline is valid? [False, False] Translation: X:1.77, Y:0.04, Z:-0.05 [[ 9.99823400e-01 1.87856153e-02 -5.18551643e-04 1.77397144e+00] [-1.87789864e-02 9.99766276e-01 1.07118100e-02 3.56217349e-02] [ 7.19658387e-04 -1.07001805e-02 9.99942492e-01 -5.12065163e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.3365476149999997 meters Centerline goodness [0,1] 0.45069038146501283 Centerline is valid? [False, False] Translation: X:1.80, Y:0.04, Z:-0.06 [[ 0.99980351 0.0196174 -0.0028454 1.79796091] [-0.01956951 0.99968075 0.01598213 0.04210923] [ 0.00315802 -0.0159233 0.99986823 -0.0604972 ] [ 0. 0. 0. 1. ]] SLAMing on 2.366547615 meters Centerline goodness [0,1] 0.44558047493403696 Centerline is valid? [False, False] Translation: X:1.81, Y:0.04, Z:-0.07 [[ 0.99985194 0.01667265 -0.00425602 1.80581772] [-0.01661863 0.99978469 0.01242587 0.04327795] [ 0.00446228 -0.0123533 0.99991374 -0.06563818] [ 0. 0. 0. 1. ]] SLAMing on 2.396547615 meters Centerline goodness [0,1] 0.4332594023514822 Centerline is valid? [False, False] Translation: X:1.83, Y:0.05, Z:-0.07 [[ 9.99902054e-01 1.39490171e-02 -1.14344723e-03 1.83123313e+00] [-1.39506133e-02 9.99901705e-01 -1.40008249e-03 4.82936157e-02] [ 1.12380506e-03 1.41589715e-03 9.99998366e-01 -7.34938587e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.4265476149999996 meters Centerline goodness [0,1] 0.4190980796432596 Centerline is valid? [False, False] Translation: X:1.85, Y:0.05, Z:-0.07 [[ 9.99803604e-01 1.92772679e-02 4.59792146e-03 1.85398150e+00] [-1.92722025e-02 9.99813620e-01 -1.14344554e-03 5.28401303e-02] [-4.61910700e-03 1.05460889e-03 9.99988776e-01 -7.30365672e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.456547615 meters Centerline goodness [0,1] 0.4154005441718235 Centerline is valid? [False, False] Translation: X:1.86, Y:0.05, Z:-0.07 [[ 0.99974718 0.022341 0.00253934 1.86069422] [-0.02234922 0.99974492 0.00325669 0.05468562] [-0.00246593 -0.00331262 0.99999147 -0.07117628] [ 0. 0. 0. 1. ]] SLAMing on 2.4865476149999997 meters Centerline goodness [0,1] 0.3970462171495751 Centerline is valid? [False, False] Translation: X:1.89, Y:0.06, Z:-0.07 [[ 9.99906396e-01 1.36793828e-02 2.72914919e-04 1.89039724e+00] [-1.36807129e-02 9.99890276e-01 5.68103096e-03 5.64120556e-02] [-1.95171976e-04 -5.68423286e-03 9.99983826e-01 -7.24755376e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.516547615 meters Centerline goodness [0,1] 0.3885862837335974 Centerline is valid? [False, False] Translation: X:1.90, Y:0.06, Z:-0.07 [[ 9.99916342e-01 1.28977203e-02 -9.78944858e-04 1.89607148e+00] [-1.28920761e-02 9.99901391e-01 5.56805420e-03 5.55766397e-02] [ 1.05066353e-03 -5.55496776e-03 9.99984019e-01 -7.41693389e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.5465476149999997 meters Centerline goodness [0,1] 0.3712570337620579 Centerline is valid? [False, False] Translation: X:1.91, Y:0.05, Z:-0.07 [[ 0.99992787 0.01106454 -0.00467197 1.91212729] [-0.01102927 0.99991098 0.00750921 0.05354822] [ 0.00475464 -0.00745714 0.99996089 -0.07456184] [ 0. 0. 0. 1. ]] SLAMing on 2.576547615 meters Centerline goodness [0,1] 0.35687384677602807 Centerline is valid? [False, False] Translation: X:1.92, Y:0.05, Z:-0.07 [[ 0.99995879 0.00673046 -0.00609178 1.91590256] [-0.00670803 0.99997067 0.00369578 0.05326373] [ 0.00611648 -0.00365476 0.99997462 -0.07256401] [ 0. 0. 0. 1. ]] SLAMing on 2.6065476149999998 meters Centerline goodness [0,1] 0.3300771735507525 Centerline is valid? [False, False] Translation: X:1.93, Y:0.05, Z:-0.07 [[ 9.99992562e-01 3.68258967e-03 1.14609838e-03 1.93375244e+00] [-3.67886723e-03 9.99988006e-01 -3.23325780e-03 5.11876127e-02] [-1.15799140e-03 3.22901741e-03 9.99994116e-01 -6.89777655e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6365476149999996 meters Centerline goodness [0,1] 0.2977925971877585 Centerline is valid? [False, False] Translation: X:1.94, Y:0.05, Z:-0.07 [[ 9.99995130e-01 3.11333373e-03 -2.18711029e-04 1.93851133e+00] [-3.11386660e-03 9.99992077e-01 -2.47985279e-03 4.91789307e-02] [ 2.10988687e-04 2.48052174e-03 9.99996901e-01 -6.79490000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.666547615 meters Centerline goodness [0,1] 0.24485478478896783 Centerline is valid? [False, False] Translation: X:1.97, Y:0.05, Z:-0.07 [[ 9.99998491e-01 1.45717624e-03 -9.45599381e-04 1.96654107e+00] [-1.45045854e-03 9.99973981e-01 7.06639143e-03 5.44598615e-02] [ 9.55871755e-04 -7.06500921e-03 9.99974586e-01 -7.42176983e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.6965476149999996 meters Centerline goodness [0,1] 0.21595652516342445 Centerline is valid? [False, False] Translation: X:1.97, Y:0.06, Z:-0.08 [[ 9.99988406e-01 4.42403835e-03 -1.90176826e-03 1.97360981e+00] [-4.40339358e-03 9.99932779e-01 1.07260347e-02 5.95581849e-02] [ 1.94909281e-03 -1.07175361e-02 9.99940666e-01 -7.74432409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.726547615 meters Centerline goodness [0,1] 0.1507068125549078 Centerline is valid? [False, False] Translation: X:2.00, Y:0.07, Z:-0.08 [[ 9.99954779e-01 9.29986774e-03 1.98823678e-03 1.99715161e+00] [-9.30842073e-03 9.99947272e-01 4.33671479e-03 6.93109465e-02] [-1.94780107e-03 -4.35502602e-03 9.99988620e-01 -8.36087314e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.7565476149999997 meters Centerline goodness [0,1] 0.11984325677587893 Centerline is valid? [False, False] Translation: X:2.00, Y:0.07, Z:-0.08 [[ 9.99999038e-01 1.37802138e-03 1.58265686e-04 2.00107643e+00] [-1.37722951e-03 9.99987051e-01 -4.89900902e-03 7.13972021e-02] [-1.65014576e-04 4.89878634e-03 9.99987987e-01 -8.14396912e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.786547615 meters Centerline goodness [0,1] 0.1238003309431881 Centerline is valid? [False, False] Translation: X:2.01, Y:0.07, Z:-0.08 [[ 9.99996236e-01 1.75961400e-03 2.10520216e-03 2.01006935e+00] [-1.71378655e-03 9.99765744e-01 -2.15759314e-02 7.19087578e-02] [-2.14267431e-03 2.15722423e-02 9.99764996e-01 -8.32780796e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8165476149999997 meters Centerline goodness [0,1] 0.12720848056537104 Centerline is valid? [False, False] Translation: X:2.03, Y:0.08, Z:-0.09 [[ 9.99997510e-01 2.23054654e-03 -6.26548273e-05 2.02827234e+00] [-2.23134309e-03 9.99808481e-01 -1.94428214e-02 7.63063941e-02] [ 1.92747096e-05 1.94429128e-02 9.99810969e-01 -9.32452842e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.8465476149999995 meters Centerline goodness [0,1] 0.12644467016224226 Centerline is valid? [False, False] Translation: X:2.06, Y:0.09, Z:-0.10 [[ 9.99978063e-01 1.00534704e-03 -6.54697692e-03 2.05768782e+00] [-8.38467145e-04 9.99675932e-01 2.54426575e-02 8.72461787e-02] [ 6.57043395e-03 -2.54366099e-02 9.99654845e-01 -9.95623879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.876547615 meters Centerline goodness [0,1] 0.12560399661488908 Centerline is valid? [False, False] Translation: X:2.07, Y:0.09, Z:-0.10 [[ 0.99991487 0.01060572 -0.0076011 2.06642496] [-0.01031714 0.99926022 0.03704827 0.09446478] [ 0.0079884 -0.0369667 0.99928457 -0.10258643] [ 0. 0. 0. 1. ]] SLAMing on 2.9065476149999996 meters Centerline goodness [0,1] 0.13516631417035185 Centerline is valid? [False, False] Translation: X:2.08, Y:0.11, Z:-0.11 [[ 9.99936683e-01 1.11472616e-02 -1.53895030e-03 2.08418715e+00] [-1.11014209e-02 9.99570246e-01 2.71308194e-02 1.06344492e-01] [ 1.84072327e-03 -2.71120170e-02 9.99630707e-01 -1.05858398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.936547615 meters Centerline goodness [0,1] 0.1415224722206866 Centerline is valid? [False, False] Translation: X:2.09, Y:0.11, Z:-0.11 [[ 0.99994538 0.0095069 0.00434232 2.09057958] [-0.00955155 0.99990052 0.01037878 0.10911275] [-0.00424322 -0.01041969 0.99993671 -0.10580337] [ 0. 0. 0. 1. ]] SLAMing on 2.9665476149999996 meters Centerline goodness [0,1] 0.15286606209565778 Centerline is valid? [False, False] Translation: X:2.12, Y:0.11, Z:-0.10 [[ 0.99980759 0.00966523 0.01706953 2.11916607] [-0.00924675 0.99965886 -0.02442678 0.10946035] [-0.0172998 0.02426424 0.99955588 -0.10204967] [ 0. 0. 0. 1. ]] SLAMing on 2.996547615 meters Centerline goodness [0,1] 0.16061202059350954 Centerline is valid? [False, False] Translation: X:2.15, Y:0.10, Z:-0.10 [[ 9.99747515e-01 -6.29362891e-04 2.24613235e-02 2.14738651e+00] [ 1.04135821e-03 9.99831349e-01 -1.83354525e-02 1.00135701e-01] [-2.24459957e-02 1.83542133e-02 9.99579562e-01 -9.54959919e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0265476149999997 meters Centerline goodness [0,1] 0.16183804664302803 Centerline is valid? [False, False] Translation: X:2.17, Y:0.09, Z:-0.09 [[ 9.99848160e-01 1.14491605e-03 1.73880988e-02 2.17044200e+00] [-9.54866755e-04 9.99939764e-01 -1.09342210e-02 9.26166624e-02] [-1.73995702e-02 1.09159574e-02 9.99789026e-01 -8.82958408e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0565476149999995 meters Centerline goodness [0,1] 0.16798264642082428 Centerline is valid? [False, False] Translation: X:2.20, Y:0.08, Z:-0.08 [[ 0.99994116 -0.00245532 0.01056663 2.19662167] [ 0.00236998 0.99996454 0.00808105 0.08405084] [-0.0105861 -0.00805553 0.99991152 -0.08336253] [ 0. 0. 0. 1. ]] SLAMing on 3.0865476149999997 meters Centerline goodness [0,1] 0.1869713089735764 Centerline is valid? [False, False] Translation: X:2.24, Y:0.08, Z:-0.08 [[ 0.99991484 -0.01256501 0.00352702 2.23959294] [ 0.01245789 0.99950452 0.02890515 0.07626774] [-0.00388847 -0.02885875 0.99957594 -0.08496051] [ 0. 0. 0. 1. ]] SLAMing on 3.1165476149999995 meters Centerline goodness [0,1] 0.1977915763575655 Centerline is valid? [False, False] Translation: X:2.27, Y:0.07, Z:-0.08 [[ 9.99914855e-01 -1.28510225e-02 -2.26565748e-03 2.26708079e+00] [ 1.29120447e-02 9.99485270e-01 2.93679192e-02 7.30934811e-02] [ 1.88708348e-03 -2.93946729e-02 9.99566102e-01 -8.33595374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.146547615 meters Centerline goodness [0,1] 0.20867336416934268 Centerline is valid? [False, False] Translation: X:2.27, Y:0.08, Z:-0.09 [[ 9.99963377e-01 -8.52500518e-03 7.54068812e-04 2.27352309e+00] [ 8.51227689e-03 9.99843302e-01 1.55213661e-02 7.53541693e-02] [-8.86270377e-04 -1.55143788e-02 9.99879252e-01 -8.73993889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1765476149999996 meters Centerline goodness [0,1] 0.20867336416934268 Centerline is valid? [False, False] Translation: X:2.27, Y:0.08, Z:-0.09 [[ 9.99963377e-01 -8.52500518e-03 7.54068812e-04 2.27352309e+00] [ 8.51227689e-03 9.99843302e-01 1.55213661e-02 7.53541693e-02] [-8.86270377e-04 -1.55143788e-02 9.99879252e-01 -8.73993889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.206547615 meters Centerline goodness [0,1] 0.22488764546563889 Centerline is valid? [False, False] Translation: X:2.28, Y:0.08, Z:-0.09 [[ 9.99976691e-01 -6.46487515e-03 2.19588269e-03 2.28379436e+00] [ 6.47284028e-03 9.99972427e-01 -3.63977178e-03 8.18614801e-02] [-2.17229147e-03 3.65390054e-03 9.99990965e-01 -9.33674026e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2365476149999997 meters Centerline goodness [0,1] 0.23108727566887377 Centerline is valid? [False, False] Translation: X:2.29, Y:0.09, Z:-0.09 [[ 9.99974289e-01 -7.03676889e-03 1.38038376e-03 2.28676037e+00] [ 7.04345650e-03 9.99963183e-01 -4.90123660e-03 8.51602200e-02] [-1.34584407e-03 4.91083326e-03 9.99987036e-01 -9.44190545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2665476149999995 meters Centerline goodness [0,1] 0.23413762287756923 Centerline is valid? [False, False] Translation: X:2.30, Y:0.09, Z:-0.10 [[ 9.99942451e-01 -1.06848095e-02 -9.63684325e-04 2.30086177e+00] [ 1.06952041e-02 9.99876477e-01 1.15171108e-02 9.28746114e-02] [ 8.40507152e-04 -1.15267548e-02 9.99933212e-01 -9.88016783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.2965476149999997 meters Centerline goodness [0,1] 0.23289173409205421 Centerline is valid? [False, False] Translation: X:2.31, Y:0.10, Z:-0.10 [[ 9.99970151e-01 -7.60211238e-03 -1.38049899e-03 2.30881167e+00] [ 7.62341938e-03 9.99840559e-01 1.61474455e-02 9.74061122e-02] [ 1.25752419e-03 -1.61574876e-02 9.99868668e-01 -1.04295693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.3265476149999995 meters Centerline goodness [0,1] 0.23618329225195256 Centerline is valid? [False, False] Translation: X:2.32, Y:0.10, Z:-0.11 [[ 0.99996937 -0.00738158 -0.00260324 2.32384743] [ 0.00743418 0.99975575 0.02081305 0.1003323 ] [ 0.00244897 -0.02083176 0.99978 -0.110708 ] [ 0. 0. 0. 1. ]] SLAMing on 3.3565476149999998 meters Centerline goodness [0,1] 0.23721221893756161 Centerline is valid? [False, False] Translation: X:2.33, Y:0.10, Z:-0.11 [[ 0.99992408 -0.01190447 -0.00317965 2.32649147] [ 0.01195456 0.99979688 0.01622607 0.10080089] [ 0.00298584 -0.01626285 0.99986329 -0.11184387] [ 0. 0. 0. 1. ]] SLAMing on 3.3865476149999996 meters Centerline goodness [0,1] 0.24421887200432457 Centerline is valid? [False, False] Translation: X:2.33, Y:0.10, Z:-0.11 [[ 9.99929581e-01 -1.14433317e-02 -3.14389270e-03 2.33031271e+00] [ 1.14436032e-02 9.99934517e-01 6.84047944e-05 1.01509144e-01] [ 3.14290405e-03 -1.04377438e-04 9.99995056e-01 -1.11066191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.416547615 meters Centerline goodness [0,1] 0.25028609287478165 Centerline is valid? [False, False] Translation: X:2.34, Y:0.10, Z:-0.10 [[ 0.99984486 -0.01702622 0.00451278 2.34165479] [ 0.01707389 0.99979651 -0.01074367 0.10116145] [-0.00432894 0.01081906 0.9999321 -0.10496251] [ 0. 0. 0. 1. ]] SLAMing on 3.4465476149999996 meters Centerline goodness [0,1] 0.2784 Centerline is valid? [False, False] Translation: X:2.34, Y:0.10, Z:-0.10 [[ 0.99986357 -0.01595172 0.00428883 2.34149206] [ 0.01599416 0.99982157 -0.01005082 0.10277472] [-0.00412773 0.01011804 0.99994029 -0.10218417] [ 0. 0. 0. 1. ]] SLAMing on 3.4765476149999994 meters Centerline goodness [0,1] 0.27475643229873614 Centerline is valid? [False, False] Translation: X:2.34, Y:0.10, Z:-0.11 [[ 0.99991545 -0.01233033 0.00413076 2.34415896] [ 0.01235866 0.9998998 -0.00690375 0.10434077] [-0.00404523 0.00695422 0.99996764 -0.10581623] [ 0. 0. 0. 1. ]] SLAMing on 3.5065476149999997 meters Centerline goodness [0,1] 0.2715833835039133 Centerline is valid? [False, False] Translation: X:2.35, Y:0.11, Z:-0.11 [[ 0.99995236 -0.00888058 0.00405142 2.34741859] [ 0.00889757 0.99995162 -0.00419478 0.10654082] [-0.00401397 0.00423063 0.99998299 -0.11093224] [ 0. 0. 0. 1. ]] SLAMing on 3.5365476149999995 meters Centerline goodness [0,1] 0.2900471939158926 Centerline is valid? [False, False] Translation: X:2.35, Y:0.10, Z:-0.11 [[ 0.99993743 -0.01063511 0.00346809 2.35148475] [ 0.01064525 0.99993908 -0.00291852 0.10383495] [-0.00343684 0.00295525 0.99998973 -0.11007569] [ 0. 0. 0. 1. ]] SLAMing on 3.5665476149999997 meters Centerline goodness [0,1] 0.3007849198411977 Centerline is valid? [False, False] Translation: X:2.35, Y:0.10, Z:-0.11 [[ 0.99989265 -0.01427954 0.00328452 2.35099839] [ 0.01430083 0.99987628 -0.00655041 0.10384391] [-0.00319058 0.00659668 0.99997315 -0.10842978] [ 0. 0. 0. 1. ]] SLAMing on 3.5965476149999995 meters Centerline goodness [0,1] 0.3224262255347513 Centerline is valid? [False, False] Translation: X:2.35, Y:0.10, Z:-0.10 [[ 0.99990084 -0.01377366 0.00293046 2.35109591] [ 0.01378671 0.99989492 -0.00447982 0.09968434] [-0.00286845 0.00451978 0.99998567 -0.10397192] [ 0. 0. 0. 1. ]] SLAMing on 3.626547615 meters Centerline goodness [0,1] 0.325190470431733 Centerline is valid? [False, False] Translation: X:2.35, Y:0.10, Z:-0.10 [[ 0.99989935 -0.01396715 0.00249038 2.35235542] [ 0.01397799 0.99989268 -0.00438678 0.09945472] [-0.00242884 0.00442115 0.99998728 -0.10378406] [ 0. 0. 0. 1. ]] SLAMing on 3.6565476149999996 meters Centerline goodness [0,1] 0.33122158229766596 Centerline is valid? [False, False] Translation: X:2.35, Y:0.10, Z:-0.10 [[ 9.99895944e-01 -1.42894476e-02 1.97806039e-03 2.35409903e+00] [ 1.42991065e-02 9.99885470e-01 -4.95816276e-03 1.01695442e-01] [-1.90698444e-03 4.98593133e-03 9.99985752e-01 -1.04357497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6865476149999994 meters Centerline goodness [0,1] 0.33789342189451876 Centerline is valid? [False, False] Translation: X:2.36, Y:0.10, Z:-0.11 [[ 9.99889425e-01 -1.47913824e-02 1.53357640e-03 2.35648275e+00] [ 1.47996136e-02 9.99875339e-01 -5.50257910e-03 1.01480855e-01] [-1.45199447e-03 5.52466700e-03 9.99983685e-01 -1.06506320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7165476149999996 meters Centerline goodness [0,1] 0.32377433909699305 Centerline is valid? [False, False] Translation: X:2.36, Y:0.10, Z:-0.11 [[ 9.99914945e-01 -1.30096300e-02 9.22908958e-04 2.36144308e+00] [ 1.30117689e-02 9.99912580e-01 -2.35066332e-03 1.00125678e-01] [-8.92247018e-04 2.36247206e-03 9.99996811e-01 -1.09811658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7465476149999994 meters Centerline goodness [0,1] 0.321957249238747 Centerline is valid? [False, False] Translation: X:2.37, Y:0.11, Z:-0.12 [[ 9.99920744e-01 -1.25884851e-02 1.91040363e-04 2.37023406e+00] [ 1.25891399e-02 9.99913001e-01 -3.93752951e-03 1.05773864e-01] [-1.41456211e-04 3.93962247e-03 9.99992230e-01 -1.21885037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7765476149999997 meters Centerline goodness [0,1] 0.3580340379141178 Centerline is valid? [False, False] Translation: X:2.36, Y:0.10, Z:-0.11 [[ 9.99951276e-01 -9.84532635e-03 7.17784281e-04 2.36460376e+00] [ 9.84541546e-03 9.99951525e-01 -1.20719677e-04 1.00919206e-01] [-7.16560962e-04 1.27780680e-04 9.99999735e-01 -1.13172687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8065476149999995 meters Centerline goodness [0,1] 0.3857331167039637 Centerline is valid? [False, False] Translation: X:2.36, Y:0.09, Z:-0.10 [[ 9.99891818e-01 -1.46631508e-02 1.15983344e-03 2.35853993e+00] [ 1.46666130e-02 9.99887833e-01 -3.03512466e-03 9.40830763e-02] [-1.11519886e-03 3.05180714e-03 9.99994721e-01 -1.03547503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8365476149999997 meters Centerline goodness [0,1] 0.38845973416731827 Centerline is valid? [False, False] Translation: X:2.35, Y:0.08, Z:-0.09 [[ 9.99810710e-01 -1.93256762e-02 2.25004934e-03 2.35143312e+00] [ 1.93342336e-02 9.99805680e-01 -3.84566979e-03 8.10971720e-02] [-2.17529194e-03 3.88844482e-03 9.99990074e-01 -9.15121257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8665476149999995 meters Centerline goodness [0,1] 0.38250154035736295 Centerline is valid? [False, False] Translation: X:2.36, Y:0.08, Z:-0.10 [[ 9.99839577e-01 -1.78450737e-02 1.54036543e-03 2.35706801e+00] [ 1.78464112e-02 9.99840371e-01 -8.58968425e-04 8.21628926e-02] [-1.52479119e-03 8.86320622e-04 9.99998445e-01 -9.52806480e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8965476149999994 meters Centerline goodness [0,1] 0.367109176196462 Centerline is valid? [False, False] Translation: X:2.37, Y:0.09, Z:-0.10 [[ 9.99865559e-01 -1.63698676e-02 9.43608960e-04 2.36759984e+00] [ 1.63670465e-02 9.99861776e-01 2.92373200e-03 8.65934011e-02] [-9.91339637e-04 -2.90789484e-03 9.99995281e-01 -1.03972115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.9265476149999996 meters Centerline goodness [0,1] 0.35078344352866586 Centerline is valid? [False, False] Translation: X:2.40, Y:0.09, Z:-0.12 [[ 0.99987205 -0.01389977 -0.00791712 2.40168863] [ 0.0140522 0.99971042 0.01953479 0.09235343] [ 0.0076433 -0.01964355 0.99977783 -0.11535069] [ 0. 0. 0. 1. ]] SLAMing on 3.9565476149999994 meters Centerline goodness [0,1] 0.3847649821978877 Centerline is valid? [False, False] Translation: X:2.40, Y:0.10, Z:-0.12 [[ 0.99989178 -0.01205794 -0.008428 2.40089838] [ 0.01219115 0.99979867 0.015937 0.10081902] [ 0.00823414 -0.01603802 0.99983748 -0.11968067] [ 0. 0. 0. 1. ]] SLAMing on 3.9865476149999997 meters Centerline goodness [0,1] 0.44952467179719335 Centerline is valid? [False, False] Translation: X:2.38, Y:0.10, Z:-0.12 [[ 9.99953631e-01 -9.57336006e-03 -1.04263119e-03 2.37825351e+00] [ 9.58002999e-03 9.99932382e-01 6.59201895e-03 1.01290097e-01] [ 9.79452922e-04 -6.60170172e-03 9.99977729e-01 -1.18626913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.0165476149999995 meters Centerline goodness [0,1] 0.5217763379076378 Centerline is valid? [False, False] Translation: X:2.36, Y:0.10, Z:-0.11 [[ 9.99989415e-01 -1.48692934e-03 4.35426857e-03 2.35961548e+00] [ 1.60136646e-03 9.99650252e-01 -2.63971348e-02 9.60757838e-02] [-4.31349500e-03 2.64038281e-02 9.99642052e-01 -1.05605548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.046547615 meters Centerline goodness [0,1] 0.5646443642590667 Centerline is valid? [False, False] Translation: X:2.35, Y:0.09, Z:-0.10 [[ 9.99986272e-01 1.70555556e-03 4.95442592e-03 2.35367324e+00] [-1.59361940e-03 9.99745350e-01 -2.25099170e-02 9.09104308e-02] [-4.99155618e-03 2.25017125e-02 9.99734343e-01 -9.81935567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.076547615 meters Centerline goodness [0,1] 0.5906999273431823 Centerline is valid? [False, False] Translation: X:2.36, Y:0.09, Z:-0.10 [[ 9.99999316e-01 7.02061005e-04 -9.36002863e-04 2.35552906e+00] [-7.07962390e-04 9.99979781e-01 -6.31952712e-03 9.23690695e-02] [ 9.31547245e-04 6.32018545e-03 9.99979594e-01 -9.89819127e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.106547614999999 meters Centerline goodness [0,1] 0.6016578749058026 Centerline is valid? [False, False] Translation: X:2.36, Y:0.10, Z:-0.11 [[ 9.99997919e-01 1.64768979e-04 -2.03331826e-03 2.36461815e+00] [-1.74751960e-04 9.99987928e-01 -4.91049868e-03 9.60503980e-02] [ 2.03248462e-03 4.91084379e-03 9.99985876e-01 -1.05901212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.136547615 meters Centerline goodness [0,1] 0.679268586576696 Centerline is valid? [False, False] Translation: X:2.38, Y:0.10, Z:-0.11 [[ 0.9999699 -0.00514873 -0.00580391 2.38287628] [ 0.00513401 0.99998357 -0.00254852 0.09717077] [ 0.00581694 0.00251865 0.99997991 -0.11292298] [ 0. 0. 0. 1. ]] SLAMing on 4.166547615 meters Centerline goodness [0,1] 0.7101272388856681 Centerline is valid? [False, False] Translation: X:2.38, Y:0.09, Z:-0.10 [[ 9.99939180e-01 -9.79323908e-03 -5.07235377e-03 2.38206538e+00] [ 9.79100486e-03 9.99951959e-01 -4.65114684e-04 8.59486431e-02] [ 5.07666506e-03 4.15422955e-04 9.99987027e-01 -1.04502332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.196547614999999 meters Centerline goodness [0,1] 0.722858017135863 Centerline is valid? [False, False] Translation: X:2.38, Y:0.08, Z:-0.10 [[ 0.99995329 -0.00857174 -0.00446682 2.37853465] [ 0.00859205 0.99995274 0.00454883 0.07854194] [ 0.00442762 -0.004587 0.99997968 -0.09561911] [ 0. 0. 0. 1. ]] SLAMing on 4.226547614999999 meters Centerline goodness [0,1] 0.7783478072750873 Centerline is valid? [False, False] Translation: X:2.37, Y:0.07, Z:-0.09 [[ 0.9999536 -0.00868521 0.00416673 2.37496866] [ 0.00870974 0.99994463 -0.00590515 0.07088951] [-0.00411521 0.00594117 0.99997388 -0.08652659] [ 0. 0. 0. 1. ]] SLAMing on 4.256547615 meters Centerline goodness [0,1] 0.8053521213806742 Centerline is valid? [False, False] Translation: X:2.38, Y:0.07, Z:-0.09 [[ 9.99982242e-01 -4.76642310e-03 3.57717027e-03 2.37591541e+00] [ 4.76891750e-03 9.99988391e-01 -6.89106658e-04 6.73126970e-02] [-3.57384417e-03 7.06153651e-04 9.99993364e-01 -8.51812573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.286547615 meters Centerline goodness [0,1] 0.8392873430421696 Centerline is valid? [False, False] Translation: X:2.39, Y:0.07, Z:-0.10 [[ 9.99998732e-01 -1.14231775e-03 1.10931816e-03 2.38695078e+00] [ 1.14096171e-03 9.99998602e-01 1.22227860e-03 7.39119617e-02] [-1.11071284e-03 -1.22101136e-03 9.99998638e-01 -9.69338575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.316547614999999 meters Centerline goodness [0,1] 0.8577485116362981 Centerline is valid? [False, False] Translation: X:2.39, Y:0.08, Z:-0.10 [[ 9.99998762e-01 1.37602693e-03 7.62842136e-04 2.39023849e+00] [-1.37805804e-03 9.99995490e-01 2.66845309e-03 8.01780438e-02] [-7.59166832e-04 -2.66950102e-03 9.99996149e-01 -1.01274604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.3465476149999995 meters Centerline goodness [0,1] 0.880466644953069 Centerline is valid? [False, False] Translation: X:2.39, Y:0.09, Z:-0.10 [[ 9.99989694e-01 4.51469622e-03 4.79282238e-04 2.39125769e+00] [-4.51689300e-03 9.99978820e-01 4.68584178e-03 8.73551195e-02] [-4.58116934e-04 -4.68795836e-03 9.99988907e-01 -1.02089549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.376547615 meters Centerline goodness [0,1] 0.886518746122256 Centerline is valid? [False, False] Translation: X:2.39, Y:0.09, Z:-0.10 [[ 9.99988328e-01 4.82749477e-03 1.95743679e-04 2.39079902e+00] [-4.82830430e-03 9.99978791e-01 4.37084519e-03 8.87353610e-02] [-1.74639296e-04 -4.37173928e-03 9.99990429e-01 -1.01079904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.406547614999999 meters Centerline goodness [0,1] 0.8866993618529898 Centerline is valid? [False, False] Translation: X:2.39, Y:0.09, Z:-0.10 [[ 9.99998060e-01 1.95518303e-03 2.37709487e-04 2.38924500e+00] [-1.95517744e-03 9.99998088e-01 -2.37427246e-05 9.00633675e-02] [-2.37755454e-04 2.32779143e-05 9.99999971e-01 -1.00608941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.436547614999999 meters Centerline goodness [0,1] 0.8834075428301831 Centerline is valid? [False, False] Translation: X:2.39, Y:0.09, Z:-0.10 [[ 9.99996848e-01 2.47667638e-03 -4.11893980e-04 2.38913072e+00] [-2.47661613e-03 9.99996922e-01 1.46724211e-04 8.96347144e-02] [ 4.12256101e-04 -1.45703645e-04 9.99999904e-01 -9.90168247e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.466547615 meters Centerline goodness [0,1] 0.8781489193231473 Centerline is valid? [False, False] Translation: X:2.39, Y:0.09, Z:-0.10 [[ 9.99996409e-01 2.65810567e-03 -3.40354631e-04 2.38876899e+00] [-2.65840866e-03 9.99996068e-01 -8.92887653e-04 9.31604150e-02] [ 3.37979903e-04 8.93789249e-04 9.99999543e-01 -9.95758004e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.496547615 meters Centerline goodness [0,1] 0.8598076192146887 Centerline is valid? [False, False] Translation: X:2.39, Y:0.10, Z:-0.10 [[ 9.99997290e-01 2.24745385e-03 -6.06801645e-04 2.38927469e+00] [-2.24831647e-03 9.99996458e-01 -1.42465875e-03 9.52562466e-02] [ 6.03597641e-04 1.42601917e-03 9.99998801e-01 -9.94281555e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.526547614999999 meters Centerline goodness [0,1] 0.8708300441481741 Centerline is valid? [False, False] Translation: X:2.39, Y:0.10, Z:-0.10 [[ 9.99998497e-01 1.28958952e-03 -1.15863774e-03 2.39145178e+00] [-1.29156559e-03 9.99997710e-01 -1.70638846e-03 9.53604417e-02] [ 1.15643455e-03 1.70788235e-03 9.99997873e-01 -1.00275270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.5565476149999995 meters Centerline goodness [0,1] 0.8753024164164748 Centerline is valid? [False, False] Translation: X:2.40, Y:0.10, Z:-0.10 [[ 9.99997859e-01 -5.74830952e-04 -1.98792390e-03 2.39582161e+00] [ 5.69637515e-04 9.99996426e-01 -2.61207276e-03 9.57173457e-02] [ 1.98941829e-03 2.61093477e-03 9.99994613e-01 -1.03141004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.586547615 meters Centerline goodness [0,1] 0.8714728048139276 Centerline is valid? [False, False] Translation: X:2.39, Y:0.09, Z:-0.10 [[ 9.99998349e-01 -4.99304277e-04 -1.74705813e-03 2.39459062e+00] [ 4.99440170e-04 9.99999872e-01 7.73488771e-05 9.05578058e-02] [ 1.74701929e-03 -7.82213004e-05 9.99998471e-01 -9.90541486e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.616547614999999 meters Centerline goodness [0,1] 0.8644698301113064 Centerline is valid? [False, False] Translation: X:2.39, Y:0.09, Z:-0.10 [[ 9.99998308e-01 3.07295162e-04 -1.81381784e-03 2.39292264e+00] [-3.03101616e-04 9.99997282e-01 2.31182215e-03 8.54109626e-02] [ 1.81452332e-03 -2.31126847e-03 9.99995683e-01 -9.54662508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.646547614999999 meters Centerline goodness [0,1] 0.8615189947915134 Centerline is valid? [False, False] Translation: X:2.39, Y:0.08, Z:-0.09 [[ 9.99996934e-01 1.83528404e-03 -1.66248173e-03 2.39078653e+00] [-1.82777942e-03 9.99988185e-01 4.50443215e-03 7.96701992e-02] [ 1.67072900e-03 -4.50137969e-03 9.99988473e-01 -9.28733558e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.676547615 meters Centerline goodness [0,1] 0.8716985596403537 Centerline is valid? [False, False] Translation: X:2.39, Y:0.08, Z:-0.09 [[ 9.99994779e-01 -2.58101518e-03 -1.94411426e-03 2.39205015e+00] [ 2.58126782e-03 9.99996660e-01 1.27454685e-04 7.88565437e-02] [ 1.94377880e-03 -1.32472299e-04 9.99998102e-01 -9.39828020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.706547615 meters Centerline goodness [0,1] 0.8776017029328288 Centerline is valid? [False, False] Translation: X:2.40, Y:0.08, Z:-0.10 [[ 9.99984238e-01 -4.68867266e-03 -3.08877614e-03 2.39693452e+00] [ 4.68864054e-03 9.99989008e-01 -1.76407526e-05 7.72406567e-02] [ 3.08882490e-03 3.15831350e-06 9.99995230e-01 -9.55130035e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.736547614999999 meters Centerline goodness [0,1] 0.88412068045759 Centerline is valid? [False, False] Translation: X:2.40, Y:0.07, Z:-0.10 [[ 9.99975924e-01 -5.75047272e-03 -3.88368591e-03 2.39975580e+00] [ 5.75257770e-03 9.99983313e-01 5.31053494e-04 7.44140714e-02] [ 3.88056729e-03 -5.53381914e-04 9.99992317e-01 -9.58065398e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.7665476149999995 meters Centerline goodness [0,1] 0.8845536669440153 Centerline is valid? [False, False] Translation: X:2.40, Y:0.07, Z:-0.10 [[ 9.99959578e-01 -7.67549638e-03 -4.68283433e-03 2.40447706e+00] [ 7.67810832e-03 9.99970377e-01 5.40046494e-04 7.07835138e-02] [ 4.67855049e-03 -5.75979974e-04 9.99988890e-01 -9.82819778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.796547615 meters Centerline goodness [0,1] 0.8858906996764331 Centerline is valid? [False, False] Translation: X:2.41, Y:0.07, Z:-0.10 [[ 9.99956558e-01 -7.99583034e-03 -4.79046882e-03 2.40563323e+00] [ 7.99748988e-03 9.99967966e-01 3.27368136e-04 7.08464894e-02] [ 4.78769778e-03 -3.65665640e-04 9.99988472e-01 -9.95268692e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.826547614999999 meters Centerline goodness [0,1] 0.8837250659474198 Centerline is valid? [False, False] Translation: X:2.40, Y:0.07, Z:-0.10 [[ 9.99964628e-01 -7.18221904e-03 -4.37704003e-03 2.40342953e+00] [ 7.18824908e-03 9.99973235e-01 1.36348216e-03 6.99866497e-02] [ 4.36713005e-03 -1.39489718e-03 9.99989491e-01 -9.74915545e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.856547614999999 meters Centerline goodness [0,1] 0.8870116782263323 Centerline is valid? [False, False] Translation: X:2.40, Y:0.07, Z:-0.09 [[ 0.99997662 -0.00566519 -0.0038303 2.39986914] [ 0.0056758 0.99998007 0.00276453 0.06845672] [ 0.00381456 -0.00278621 0.99998884 -0.09446786] [ 0. 0. 0. 1. ]] SLAMing on 4.886547615 meters Centerline goodness [0,1] 0.884009942004971 Centerline is valid? [False, False] Translation: X:2.41, Y:0.07, Z:-0.09 [[ 9.99995582e-01 -1.58962328e-03 2.51184451e-03 2.40721918e+00] [ 1.59727800e-03 9.99994078e-01 -3.04838696e-03 6.74896797e-02] [-2.50698385e-03 3.05238561e-03 9.99992199e-01 -9.29429899e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.916547615 meters Centerline goodness [0,1] 0.8849442324191592 Centerline is valid? [False, False] Translation: X:2.41, Y:0.07, Z:-0.09 [[ 9.99996268e-01 -1.14170065e-03 2.48212664e-03 2.40645883e+00] [ 1.14767972e-03 9.99996440e-01 -2.40876181e-03 6.66804638e-02] [-2.47936771e-03 2.41160151e-03 9.99994018e-01 -9.16953234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.946547614999999 meters Centerline goodness [0,1] 0.8792566932832315 Centerline is valid? [False, False] Translation: X:2.41, Y:0.07, Z:-0.09 [[ 9.99997000e-01 1.63977965e-03 1.81966594e-03 2.40976493e+00] [-1.64054499e-03 9.99998566e-01 4.19181599e-04 6.84245482e-02] [-1.81897596e-03 -4.22165585e-04 9.99998257e-01 -9.40073614e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 4.976547614999999 meters Centerline goodness [0,1] 0.8740180474841573 Centerline is valid? [False, False] Translation: X:2.41, Y:0.07, Z:-0.10 [[ 9.99997260e-01 1.29717096e-03 1.94869678e-03 2.41090788e+00] [-1.29443267e-03 9.99998174e-01 -1.40579362e-03 7.29878490e-02] [-1.95051678e-03 1.40326731e-03 9.99997113e-01 -9.72199921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.006547615 meters Centerline goodness [0,1] 0.8648476790565929 Centerline is valid? [False, False] Translation: X:2.41, Y:0.08, Z:-0.10 [[ 9.99990504e-01 3.98817415e-03 1.75689035e-03 2.41322418e+00] [-3.98897935e-03 9.99991940e-01 4.55046709e-04 7.97544359e-02] [-1.75506138e-03 -4.62050588e-04 9.99998353e-01 -9.99881189e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.036547614999999 meters Centerline goodness [0,1] 0.8580780384162623 Centerline is valid? [False, False] Translation: X:2.41, Y:0.08, Z:-0.10 [[ 9.99992809e-01 3.53381457e-03 1.37648359e-03 2.41451925e+00] [-3.53243120e-03 9.99993255e-01 -1.00613980e-03 8.28443069e-02] [-1.38002982e-03 1.00127023e-03 9.99998546e-01 -1.01441487e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.066547614999999 meters Centerline goodness [0,1] 0.8439886600323999 Centerline is valid? [False, False] Translation: X:2.42, Y:0.08, Z:-0.10 [[ 9.99992723e-01 3.69055245e-03 9.66148975e-04 2.41521140e+00] [-3.68848806e-03 9.99990929e-01 -2.12985104e-03 8.44476327e-02] [-9.74000538e-04 2.12627191e-03 9.99997265e-01 -1.02579552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.0965476149999995 meters Centerline goodness [0,1] 0.8439886600323999 Centerline is valid? [False, False] Translation: X:2.42, Y:0.08, Z:-0.10 [[ 9.99992723e-01 3.69055245e-03 9.66148975e-04 2.41521140e+00] [-3.68848806e-03 9.99990929e-01 -2.12985104e-03 8.44476327e-02] [-9.74000538e-04 2.12627191e-03 9.99997265e-01 -1.02579552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.126547615 meters Centerline goodness [0,1] 0.830387461906835 Centerline is valid? [False, False] Translation: X:2.42, Y:0.08, Z:-0.10 [[ 9.99988823e-01 4.72527495e-03 1.59268595e-04 2.41560392e+00] [-4.72498700e-03 9.99987284e-01 -1.76226140e-03 8.08841777e-02] [-1.67593739e-04 1.76148916e-03 9.99998435e-01 -1.02094443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.156547614999999 meters Centerline goodness [0,1] 0.8483182406209573 Centerline is valid? [False, False] Translation: X:2.39, Y:0.08, Z:-0.10 [[ 9.99973237e-01 -3.89059064e-04 7.30578398e-03 2.39084808e+00] [ 3.80607022e-04 9.99999257e-01 1.15825205e-03 8.11904447e-02] [-7.30622918e-03 -1.15544042e-03 9.99972642e-01 -9.97692129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.186547614999999 meters Centerline goodness [0,1] 0.8494834086395948 Centerline is valid? [False, False] Translation: X:2.41, Y:0.08, Z:-0.10 [[ 9.99938166e-01 1.67037080e-03 1.09942415e-02 2.41156383e+00] [-1.70209414e-03 9.99994414e-01 2.87672675e-03 8.21187549e-02] [-1.09893749e-02 -2.89526211e-03 9.99935423e-01 -9.58940751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.216547615 meters Centerline goodness [0,1] 0.8752165377064326 Centerline is valid? [False, False] Translation: X:2.41, Y:0.08, Z:-0.09 [[ 9.99936523e-01 -2.32565325e-03 1.10245692e-02 2.41050468e+00] [ 2.30721067e-03 9.99995918e-01 1.68528535e-03 7.86014992e-02] [-1.10284436e-02 -1.65974237e-03 9.99937807e-01 -9.13382044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.246547614999999 meters Centerline goodness [0,1] 0.885616159264218 Centerline is valid? [False, False] Translation: X:2.41, Y:0.08, Z:-0.09 [[ 0.99991644 -0.00653274 0.01115546 2.41154136] [ 0.00656429 0.99997455 -0.0027932 0.07818369] [-0.01113693 0.0028662 0.99993387 -0.09347444] [ 0. 0. 0. 1. ]] SLAMing on 5.276547614999999 meters Centerline goodness [0,1] 0.8791521670357482 Centerline is valid? [False, False] Translation: X:2.42, Y:0.08, Z:-0.10 [[ 9.99938240e-01 -4.39329503e-03 1.02086208e-02 2.41665336e+00] [ 4.39423342e-03 9.99990343e-01 -6.94930966e-05 7.90088572e-02] [-1.02082169e-02 1.14347867e-04 9.99947888e-01 -9.68224482e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.3065476149999995 meters Centerline goodness [0,1] 0.8720910187898638 Centerline is valid? [False, False] Translation: X:2.42, Y:0.08, Z:-0.10 [[ 9.99938944e-01 -4.07117520e-03 1.02729288e-02 2.41627300e+00] [ 4.08008354e-03 9.99991318e-01 -8.46357390e-04 8.09693821e-02] [-1.02693939e-02 8.88220123e-04 9.99946874e-01 -9.76221145e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.336547615 meters Centerline goodness [0,1] 0.8353581409030739 Centerline is valid? [False, False] Translation: X:2.37, Y:0.08, Z:-0.10 [[ 0.99996831 0.0045596 0.00652543 2.37110778] [-0.00451173 0.99996295 -0.00733139 0.08482117] [-0.00655861 0.00730171 0.99995183 -0.10030951] [ 0. 0. 0. 1. ]] SLAMing on 5.366547614999999 meters Centerline goodness [0,1] 0.796401930671347 Centerline is valid? [False, False] Translation: X:2.37, Y:0.09, Z:-0.10 [[ 0.99992806 0.01024462 0.0062391 2.36942175] [-0.01021488 0.99993641 -0.00477899 0.0889518 ] [-0.00628766 0.00471492 0.99996912 -0.1003438 ] [ 0. 0. 0. 1. ]] SLAMing on 5.396547614999999 meters Centerline goodness [0,1] 0.7721111338817812 Centerline is valid? [False, False] Translation: X:2.37, Y:0.09, Z:-0.09 [[ 9.99921858e-01 1.10623597e-02 5.82248258e-03 2.36746028e+00] [-1.10504245e-02 9.99936783e-01 -2.07804479e-03 8.55723139e-02] [-5.84510258e-03 2.01354150e-03 9.99980890e-01 -9.43602387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.426547615 meters Centerline goodness [0,1] 0.8186081020922986 Centerline is valid? [False, False] Translation: X:2.36, Y:0.08, Z:-0.08 [[ 9.99959019e-01 5.07725098e-03 7.49548343e-03 2.36106455e+00] [-5.06684936e-03 9.99986175e-01 -1.40605626e-03 7.63503688e-02] [-7.50251871e-03 1.36802015e-03 9.99970920e-01 -8.02212621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.456547614999999 meters Centerline goodness [0,1] 0.8593128494840606 Centerline is valid? [False, False] Translation: X:2.40, Y:0.07, Z:-0.08 [[ 9.99981692e-01 7.65079731e-05 6.05053699e-03 2.39718150e+00] [-1.05503218e-04 9.99988513e-01 4.79200314e-03 7.15267113e-02] [-6.05010086e-03 -4.79255376e-03 9.99970213e-01 -7.56763687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.486547614999999 meters Centerline goodness [0,1] 0.8913030712314287 Centerline is valid? [False, False] Translation: X:2.39, Y:0.07, Z:-0.08 [[ 9.99985441e-01 -5.33474350e-03 8.11785551e-04 2.38943154e+00] [ 5.32574856e-03 9.99928505e-01 1.07061198e-02 7.11061148e-02] [-8.68841915e-04 -1.07016406e-02 9.99942358e-01 -7.79564758e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.5165476149999995 meters Centerline goodness [0,1] 0.8665454332140552 Centerline is valid? [False, False] Translation: X:2.40, Y:0.08, Z:-0.09 [[ 0.99989082 -0.01344475 -0.00613112 2.39517854] [ 0.01354885 0.99975912 0.01726634 0.07651336] [ 0.0058975 -0.01734753 0.99983213 -0.08751163] [ 0. 0. 0. 1. ]] SLAMing on 5.546547615 meters Centerline goodness [0,1] 0.8621935104977243 Centerline is valid? [False, False] Translation: X:2.39, Y:0.08, Z:-0.09 [[ 0.99983191 -0.01732833 -0.00599081 2.39464064] [ 0.01740144 0.99977201 0.01237387 0.07854946] [ 0.00577502 -0.01247604 0.99990549 -0.08811941] [ 0. 0. 0. 1. ]] SLAMing on 5.576547614999999 meters Centerline goodness [0,1] 0.8831503635257654 Centerline is valid? [False, False] Translation: X:2.40, Y:0.08, Z:-0.09 [[ 0.99993056 -0.00867821 -0.00797245 2.40287456] [ 0.00858884 0.99990066 -0.01117624 0.08053067] [ 0.00806865 0.01110699 0.99990576 -0.08518147] [ 0. 0. 0. 1. ]] SLAMing on 5.606547614999999 meters Centerline goodness [0,1] 0.877768521444371 Centerline is valid? [False, False] Translation: X:2.41, Y:0.08, Z:-0.09 [[ 0.99997902 -0.00358661 -0.00539354 2.41247227] [ 0.00347435 0.99978009 -0.02068102 0.08275515] [ 0.00546653 0.02066185 0.99977158 -0.08708092] [ 0. 0. 0. 1. ]] SLAMing on 5.636547615 meters Centerline goodness [0,1] 0.8009164672231627 Centerline is valid? [False, False] Translation: X:2.35, Y:0.09, Z:-0.09 [[ 0.99987169 0.01541717 -0.00434849 2.35209192] [-0.01547231 0.9997965 -0.0129448 0.09316934] [ 0.00414803 0.01301042 0.99990676 -0.09279492] [ 0. 0. 0. 1. ]] SLAMing on 5.666547614999999 meters Centerline goodness [0,1] 0.7829531051964512 Centerline is valid? [False, False] Translation: X:2.35, Y:0.10, Z:-0.09 [[ 0.99973546 0.02261187 -0.00420847 2.35325463] [-0.02263118 0.9997333 -0.00459898 0.09500058] [ 0.00410336 0.00469301 0.99998057 -0.09249885] [ 0. 0. 0. 1. ]] SLAMing on 5.696547614999999 meters Centerline goodness [0,1] 0.837629383261175 Centerline is valid? [False, False] Translation: X:2.35, Y:0.10, Z:-0.10 [[ 0.9998812 0.01514201 0.00288269 2.35014043] [-0.0151522 0.99987891 0.00354613 0.09895228] [-0.00282865 -0.00358939 0.99998956 -0.09897005] [ 0. 0. 0. 1. ]] SLAMing on 5.726547614999999 meters Centerline goodness [0,1] 0.8594336896850621 Centerline is valid? [False, False] Translation: X:2.35, Y:0.10, Z:-0.10 [[ 9.99941828e-01 1.04817970e-02 2.54413393e-03 2.35141260e+00] [-1.04807494e-02 9.99944985e-01 -4.24765711e-04 9.82277860e-02] [-2.54844628e-03 3.98076572e-04 9.99996673e-01 -9.94311307e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.756547615 meters Centerline goodness [0,1] 0.8681591313738654 Centerline is valid? [False, False] Translation: X:2.35, Y:0.09, Z:-0.10 [[ 9.99979082e-01 6.17590607e-03 1.92173066e-03 2.35222904e+00] [-6.16947076e-03 9.99975401e-01 -3.33680639e-03 9.44833641e-02] [-1.94229119e-03 3.32488053e-03 9.99992586e-01 -9.78520235e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.786547614999999 meters Centerline goodness [0,1] 0.8797730806888211 Centerline is valid? [False, False] Translation: X:2.36, Y:0.09, Z:-0.09 [[ 9.99966729e-01 -2.27549949e-03 7.83340074e-03 2.36002764e+00] [ 2.41828540e-03 9.99830222e-01 -1.82668791e-02 8.96349153e-02] [-7.79050452e-03 1.82852147e-02 9.99802460e-01 -9.18741825e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.816547614999999 meters Centerline goodness [0,1] 0.8773484170731003 Centerline is valid? [False, False] Translation: X:2.36, Y:0.09, Z:-0.09 [[ 0.99996843 -0.00237596 0.00758286 2.35943288] [ 0.00249523 0.99987271 -0.01575894 0.08633223] [-0.00754445 0.01577736 0.99984707 -0.08724358] [ 0. 0. 0. 1. ]] SLAMing on 5.8465476149999995 meters Centerline goodness [0,1] 0.8735845289369348 Centerline is valid? [False, False] Translation: X:2.37, Y:0.09, Z:-0.09 [[ 9.99980056e-01 2.83993631e-04 6.30922664e-03 2.36772455e+00] [-2.15095158e-04 9.99940371e-01 -1.09182683e-02 9.03731566e-02] [-6.31195115e-03 1.09166935e-02 9.99920489e-01 -9.10681907e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.876547614999999 meters Centerline goodness [0,1] 0.8759512291719709 Centerline is valid? [False, False] Translation: X:2.37, Y:0.09, Z:-0.09 [[ 0.9999825 0.00261774 0.00530589 2.37221532] [-0.00256956 0.99995559 -0.00906679 0.09437879] [-0.00532939 0.009053 0.99994482 -0.09460877] [ 0. 0. 0. 1. ]] SLAMing on 5.906547614999999 meters Centerline goodness [0,1] 0.8813118461973424 Centerline is valid? [False, False] Translation: X:2.38, Y:0.10, Z:-0.10 [[ 9.99990518e-01 1.24695951e-03 4.17249746e-03 2.37629831e+00] [-1.20086973e-03 9.99938442e-01 -1.10304215e-02 9.65114714e-02] [-4.18599510e-03 1.10253063e-02 9.99930458e-01 -9.76411374e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.936547614999999 meters Centerline goodness [0,1] 0.8842759727236261 Centerline is valid? [False, False] Translation: X:2.38, Y:0.09, Z:-0.10 [[ 9.99995117e-01 2.66152949e-04 3.11379496e-03 2.37876335e+00] [-2.34725226e-04 9.99949076e-01 -1.00890766e-02 9.15075470e-02] [-3.11632163e-03 1.00882965e-02 9.99944256e-01 -9.63053067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.966547615 meters Centerline goodness [0,1] 0.8901153164667267 Centerline is valid? [False, False] Translation: X:2.38, Y:0.09, Z:-0.10 [[ 9.99980444e-01 -6.00844426e-03 1.73485047e-03 2.38475944e+00] [ 6.03396221e-03 9.99867799e-01 -1.50988659e-02 8.78961642e-02] [-1.64390043e-03 1.51090387e-02 9.99884501e-01 -9.98553322e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.996547614999999 meters Centerline goodness [0,1] 0.888863309352518 Centerline is valid? [False, False] Translation: X:2.39, Y:0.09, Z:-0.10 [[ 9.99994433e-01 -3.25030474e-03 7.54174625e-04 2.39253455e+00] [ 3.25707191e-03 9.99952813e-01 -9.15226986e-03 8.89861893e-02] [-7.24391371e-04 9.15467532e-03 9.99957833e-01 -1.02936927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.026547614999999 meters Centerline goodness [0,1] 0.8789910237473014 Centerline is valid? [False, False] Translation: X:2.39, Y:0.10, Z:-0.10 [[ 9.99992018e-01 3.86692099e-03 1.00492073e-03 2.39322328e+00] [-3.86505940e-03 9.99990823e-01 -1.84786201e-03 9.60095708e-02] [-1.01205704e-03 1.84396318e-03 9.99997788e-01 -1.03556315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.0565476149999995 meters Centerline goodness [0,1] 0.8774922273881172 Centerline is valid? [False, False] Translation: X:2.39, Y:0.09, Z:-0.10 [[ 9.99984943e-01 5.31809651e-03 1.35348998e-03 2.38893109e+00] [-5.31977261e-03 9.99985084e-01 1.23778406e-03 9.31454107e-02] [-1.34688713e-03 -1.24496568e-03 9.99998318e-01 -9.64253242e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.086547614999999 meters Centerline goodness [0,1] 0.8827188807981193 Centerline is valid? [False, False] Translation: X:2.39, Y:0.09, Z:-0.09 [[ 9.99994759e-01 2.62799560e-03 1.89102765e-03 2.38565817e+00] [-2.62470409e-03 9.99995040e-01 -1.74097600e-03 9.14782363e-02] [-1.89559355e-03 1.73600348e-03 9.99996697e-01 -9.37930039e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.116547614999999 meters Centerline goodness [0,1] 0.8855087536834807 Centerline is valid? [False, False] Translation: X:2.38, Y:0.08, Z:-0.09 [[ 9.99994804e-01 1.18402335e-03 2.99819505e-03 2.37913826e+00] [-1.17916785e-03 9.99997991e-01 -1.62072559e-03 8.46318405e-02] [-3.00010800e-03 1.61718179e-03 9.99994192e-01 -8.57295475e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.146547614999999 meters Centerline goodness [0,1] 0.8830855765367618 Centerline is valid? [False, False] Translation: X:2.38, Y:0.08, Z:-0.08 [[ 9.99993695e-01 1.45053135e-03 3.24125152e-03 2.37812412e+00] [-1.44609986e-03 9.99998017e-01 -1.36914308e-03 8.44412402e-02] [-3.24323108e-03 1.36444728e-03 9.99993810e-01 -8.49656998e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.176547615 meters Centerline goodness [0,1] 0.8753744086442908 Centerline is valid? [False, False] Translation: X:2.40, Y:0.09, Z:-0.09 [[ 9.99983688e-01 5.44908326e-03 1.71234282e-03 2.40477155e+00] [-5.44912309e-03 9.99985153e-01 1.85918476e-05 8.85063253e-02] [-1.71221609e-03 -2.79223111e-05 9.99998534e-01 -8.67306601e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.206547614999999 meters Centerline goodness [0,1] 0.8720816166372376 Centerline is valid? [False, False] Translation: X:2.41, Y:0.09, Z:-0.09 [[ 9.99989277e-01 4.46458742e-03 1.23040622e-03 2.40724914e+00] [-4.46328767e-03 9.99989481e-01 -1.05708486e-03 9.04850524e-02] [-1.23511272e-03 1.05158187e-03 9.99998684e-01 -8.87101020e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.236547614999999 meters Centerline goodness [0,1] 0.8745083509091945 Centerline is valid? [False, False] Translation: X:2.41, Y:0.08, Z:-0.09 [[ 9.99999633e-01 -6.97120957e-04 4.98364350e-04 2.41037745e+00] [ 6.99378516e-04 9.99989430e-01 -4.54420700e-03 8.41885568e-02] [-4.95191220e-04 4.54455388e-03 9.99989551e-01 -8.96340396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2665476149999995 meters Centerline goodness [0,1] 0.8749891080194022 Centerline is valid? [False, False] Translation: X:2.40, Y:0.08, Z:-0.09 [[ 9.99966489e-01 -6.41606657e-03 -5.08486449e-03 2.39895311e+00] [ 6.41804129e-03 9.99979335e-01 3.72130171e-04 7.79263578e-02] [ 5.08237180e-03 -4.04752570e-04 9.99987003e-01 -8.75566889e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.296547614999999 meters Centerline goodness [0,1] 0.8702516033547114 Centerline is valid? [False, False] Translation: X:2.40, Y:0.08, Z:-0.09 [[ 9.99954344e-01 -7.81019190e-03 -5.50561426e-03 2.40212477e+00] [ 7.80207190e-03 9.99968446e-01 -1.49479712e-03 8.19355766e-02] [ 5.51711519e-03 1.45177367e-03 9.99983727e-01 -9.08985274e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.326547614999999 meters Centerline goodness [0,1] 0.8623900821680842 Centerline is valid? [False, False] Translation: X:2.41, Y:0.09, Z:-0.09 [[ 9.99943635e-01 -7.91920320e-03 -7.07201453e-03 2.40991855e+00] [ 7.91855649e-03 9.99968641e-01 -1.19442260e-04 8.85839104e-02] [ 7.07273864e-03 6.34353816e-05 9.99974986e-01 -9.45056420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.356547614999999 meters Centerline goodness [0,1] 0.8558459581357696 Centerline is valid? [False, False] Translation: X:2.41, Y:0.09, Z:-0.09 [[ 9.99936848e-01 -8.41356627e-03 -7.45068842e-03 2.41044803e+00] [ 8.41709451e-03 9.99964478e-01 4.42314315e-04 8.78684590e-02] [ 7.44670232e-03 -5.04999531e-04 9.99972145e-01 -9.30283965e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.386547615 meters Centerline goodness [0,1] 0.8581244359041547 Centerline is valid? [False, False] Translation: X:2.41, Y:0.08, Z:-0.08 [[ 0.9998539 -0.01581948 -0.0064743 2.40628974] [ 0.0157968 0.99986896 -0.00353952 0.08253454] [ 0.00652945 0.00343672 0.99997278 -0.08477433] [ 0. 0. 0. 1. ]] SLAMing on 6.416547614999999 meters Centerline goodness [0,1] 0.8572136547823805 Centerline is valid? [False, False] Translation: X:2.41, Y:0.08, Z:-0.08 [[ 9.99846551e-01 -1.62246665e-02 -6.60560322e-03 2.40563670e+00] [ 1.62131569e-02 9.99866952e-01 -1.79222790e-03 7.96204673e-02] [ 6.63380266e-03 1.68485521e-03 9.99976577e-01 -8.09344516e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.446547614999999 meters Centerline goodness [0,1] 0.856324346333944 Centerline is valid? [False, False] Translation: X:2.41, Y:0.08, Z:-0.08 [[ 9.99828715e-01 -1.70945559e-02 -7.09339731e-03 2.40659873e+00] [ 1.70815642e-02 9.99852317e-01 -1.88808018e-03 8.04732931e-02] [ 7.12462563e-03 1.76659046e-03 9.99973059e-01 -7.98902027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.476547614999999 meters Centerline goodness [0,1] 0.8571964667167022 Centerline is valid? [False, False] Translation: X:2.41, Y:0.08, Z:-0.08 [[ 9.99834974e-01 -1.59892887e-02 -8.62365504e-03 2.41119912e+00] [ 1.59980977e-02 9.99871568e-01 9.53471721e-04 8.35997180e-02] [ 8.60730215e-03 -1.09127645e-03 9.99962361e-01 -7.95060135e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.506547614999999 meters Centerline goodness [0,1] 0.8566921002811083 Centerline is valid? [False, False] Translation: X:2.41, Y:0.08, Z:-0.08 [[ 0.99988131 -0.01226612 -0.00932228 2.41221027] [ 0.01230899 0.99991386 0.00455544 0.08449825] [ 0.00926559 -0.00466964 0.99994617 -0.07907368] [ 0. 0. 0. 1. ]] SLAMing on 6.536547614999999 meters Centerline goodness [0,1] 0.8580415599202961 Centerline is valid? [False, False] Translation: X:2.41, Y:0.09, Z:-0.08 [[ 0.99991999 -0.00839605 -0.00946172 2.41307261] [ 0.00846911 0.99993443 0.00770732 0.0868146 ] [ 0.00939639 -0.00778684 0.99992553 -0.08050462] [ 0. 0. 0. 1. ]] SLAMing on 6.566547614999999 meters Centerline goodness [0,1] 0.8536297129994372 Centerline is valid? [False, False] Translation: X:2.41, Y:0.09, Z:-0.09 [[ 0.99994866 -0.004382 -0.00913641 2.41390139] [ 0.00445286 0.99996005 0.00775035 0.09389892] [ 0.00910209 -0.00779063 0.99992823 -0.08721646] [ 0. 0. 0. 1. ]] SLAMing on 6.5965476149999995 meters Centerline goodness [0,1] 0.8479718588545675 Centerline is valid? [False, False] Translation: X:2.42, Y:0.11, Z:-0.10 [[ 0.99989549 0.01001332 -0.01042836 2.41989073] [-0.00984466 0.99982192 0.01609996 0.1079287 ] [ 0.01058772 -0.01599561 0.999816 -0.09905784] [ 0. 0. 0. 1. ]] SLAMing on 6.626547614999999 meters Centerline goodness [0,1] 0.8462124717602548 Centerline is valid? [False, False] Translation: X:2.42, Y:0.11, Z:-0.10 [[ 0.99983899 0.01464035 -0.01037576 2.41929535] [-0.01445154 0.99973274 0.01804464 0.11472562] [ 0.01063716 -0.01789179 0.99978334 -0.10053445] [ 0. 0. 0. 1. ]] SLAMing on 6.656547614999999 meters Centerline goodness [0,1] 0.8506325008108985 Centerline is valid? [False, False] Translation: X:2.42, Y:0.12, Z:-0.10 [[ 0.99976339 0.02114946 -0.00508503 2.41877711] [-0.02111552 0.99975501 0.00663742 0.12272927] [ 0.00522417 -0.00652848 0.99996504 -0.09906187] [ 0. 0. 0. 1. ]] SLAMing on 6.686547614999999 meters Centerline goodness [0,1] 0.8482452601855587 Centerline is valid? [False, False] Translation: X:2.42, Y:0.13, Z:-0.09 [[ 9.99831216e-01 1.74869495e-02 -5.63436610e-03 2.41610692e+00] [-1.74780091e-02 9.99845916e-01 1.63212274e-03 1.29461787e-01] [ 5.66203879e-03 -1.53336977e-03 9.99982795e-01 -9.48121891e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.716547614999999 meters Centerline goodness [0,1] 0.8456948680901162 Centerline is valid? [False, False] Translation: X:2.42, Y:0.14, Z:-0.10 [[ 9.99860774e-01 1.54024162e-02 -6.41860866e-03 2.41935298e+00] [-1.54058985e-02 9.99881200e-01 -4.93440367e-04 1.35021455e-01] [ 6.41024596e-03 5.92256100e-04 9.99979279e-01 -9.65527738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.746547614999999 meters Centerline goodness [0,1] 0.8418954353293734 Centerline is valid? [False, False] Translation: X:2.42, Y:0.14, Z:-0.11 [[ 9.99999817e-01 5.15585247e-04 -3.15797584e-04 2.41824490e+00] [-5.17067183e-04 9.99988771e-01 -4.71071052e-03 1.43488372e-01] [ 3.13365265e-04 4.71087295e-03 9.99988855e-01 -1.05409520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.776547614999999 meters Centerline goodness [0,1] 0.8435810991598438 Centerline is valid? [False, False] Translation: X:2.42, Y:0.14, Z:-0.11 [[ 9.99983177e-01 -5.62576430e-03 -1.41288326e-03 2.42219585e+00] [ 5.61225460e-03 9.99940160e-01 -9.39034898e-03 1.42047019e-01] [ 1.46562661e-03 9.38226155e-03 9.99954912e-01 -1.06391044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.8065476149999995 meters Centerline goodness [0,1] 0.8618278989419133 Centerline is valid? [False, False] Translation: X:2.43, Y:0.14, Z:-0.11 [[ 0.99985119 -0.01687595 -0.00357662 2.43324887] [ 0.01681551 0.9997257 -0.01630205 0.14254655] [ 0.00385075 0.01623948 0.99986072 -0.10926638] [ 0. 0. 0. 1. ]] SLAMing on 6.836547614999999 meters Centerline goodness [0,1] 0.8584023078374807 Centerline is valid? [False, False] Translation: X:2.44, Y:0.14, Z:-0.11 [[ 0.99987531 -0.01513543 -0.00450265 2.43687814] [ 0.01507531 0.99980054 -0.01309984 0.14430998] [ 0.00470002 0.01303032 0.99990406 -0.11008399] [ 0. 0. 0. 1. ]] SLAMing on 6.866547614999999 meters Centerline goodness [0,1] 0.8488196085721114 Centerline is valid? [False, False] Translation: X:2.44, Y:0.15, Z:-0.10 [[ 0.99993946 -0.01028806 -0.00390209 2.4350106 ] [ 0.01027783 0.99994371 -0.00263398 0.15040188] [ 0.00392897 0.00259372 0.99998892 -0.09939219] [ 0. 0. 0. 1. ]] SLAMing on 6.896547614999999 meters Centerline goodness [0,1] 0.8489034162800506 Centerline is valid? [False, False] Translation: X:2.43, Y:0.15, Z:-0.09 [[ 9.99963896e-01 -7.78156674e-03 -3.41385604e-03 2.42944520e+00] [ 7.78055856e-03 9.99969683e-01 -3.08502113e-04 1.52484447e-01] [ 3.41615317e-03 2.81929268e-04 9.99994125e-01 -9.30096330e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.926547614999999 meters Centerline goodness [0,1] 0.8489092096668844 Centerline is valid? [False, False] Translation: X:2.44, Y:0.16, Z:-0.09 [[ 0.99998292 -0.00511476 0.00282755 2.4364613 ] [ 0.00513311 0.99996556 -0.00652106 0.15676271] [-0.0027941 0.00653546 0.99997474 -0.08871641] [ 0. 0. 0. 1. ]] SLAMing on 6.956547614999999 meters Centerline goodness [0,1] 0.854188966921651 Centerline is valid? [False, False] Translation: X:2.44, Y:0.16, Z:-0.09 [[ 9.99993633e-01 -3.01412593e-03 1.91044404e-03 2.43976894e+00] [ 3.02112298e-03 9.99988701e-01 -3.67028311e-03 1.58486277e-01] [-1.89935975e-03 3.67603142e-03 9.99991440e-01 -8.97843567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.986547614999999 meters Centerline goodness [0,1] 0.854188966921651 Centerline is valid? [False, False] Translation: X:2.44, Y:0.16, Z:-0.09 [[ 9.99993633e-01 -3.01412593e-03 1.91044404e-03 2.43976894e+00] [ 3.02112298e-03 9.99988701e-01 -3.67028311e-03 1.58486277e-01] [-1.89935975e-03 3.67603142e-03 9.99991440e-01 -8.97843567e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.0165476149999995 meters Centerline goodness [0,1] 0.8511852951717782 Centerline is valid? [False, False] Translation: X:2.44, Y:0.17, Z:-0.10 [[ 9.99973377e-01 -1.72225390e-03 -7.09073682e-03 2.44325590e+00] [ 1.76934759e-03 9.99976385e-01 6.64067188e-03 1.73134354e-01] [ 7.07913245e-03 -6.65304107e-03 9.99952810e-01 -9.86647304e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.046547614999999 meters Centerline goodness [0,1] 0.8506428535694632 Centerline is valid? [False, False] Translation: X:2.45, Y:0.19, Z:-0.11 [[ 0.99996091 0.00279709 -0.00838766 2.44945168] [-0.00273655 0.99997018 0.00722087 0.1929224 ] [ 0.0084076 -0.00719763 0.99993875 -0.10638656] [ 0. 0. 0. 1. ]] SLAMing on 7.076547614999999 meters Centerline goodness [0,1] 0.8508295513726657 Centerline is valid? [False, False] Translation: X:2.45, Y:0.20, Z:-0.10 [[ 0.99995869 0.00300167 -0.0085801 2.44764392] [-0.00295646 0.99998171 0.00527618 0.1998103 ] [ 0.00859578 -0.0052506 0.99994927 -0.10449374] [ 0. 0. 0. 1. ]] SLAMing on 7.106547614999999 meters Centerline goodness [0,1] 0.8590073845097029 Centerline is valid? [False, False] Translation: X:2.44, Y:0.21, Z:-0.09 [[ 0.99991063 0.00758715 -0.01100736 2.443898 ] [-0.00764239 0.99995837 -0.00498459 0.21177875] [ 0.01096908 0.00506827 0.99992699 -0.093156 ] [ 0. 0. 0. 1. ]] SLAMing on 7.136547614999999 meters Centerline goodness [0,1] 0.8593979353658829 Centerline is valid? [False, False] Translation: X:2.43, Y:0.23, Z:-0.09 [[ 9.99926573e-01 1.04871218e-02 -6.07192054e-03 2.43387924e+00] [-1.04730751e-02 9.99942417e-01 2.34058023e-03 2.30835568e-01] [ 6.09611685e-03 -2.27681669e-03 9.99978827e-01 -9.20934532e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.166547614999999 meters Centerline goodness [0,1] 0.8584282433168375 Centerline is valid? [False, False] Translation: X:2.44, Y:0.24, Z:-0.09 [[ 0.99985656 0.01531254 -0.00723723 2.43863511] [-0.01526046 0.99985765 0.00719673 0.24055224] [ 0.0073464 -0.00708526 0.99994791 -0.09407825] [ 0. 0. 0. 1. ]] SLAMing on 7.196547614999999 meters Centerline goodness [0,1] 0.8546354741065771 Centerline is valid? [False, False] Translation: X:2.44, Y:0.25, Z:-0.10 [[ 0.99982335 0.01714075 -0.00771099 2.44178921] [-0.01707988 0.99982298 0.00789189 0.25021232] [ 0.00784489 -0.00775879 0.99993913 -0.09695617] [ 0. 0. 0. 1. ]] SLAMing on 7.226547614999999 meters Centerline goodness [0,1] 0.8577230079820753 Centerline is valid? [False, False] Translation: X:2.44, Y:0.26, Z:-0.10 [[ 9.99878563e-01 1.35981829e-02 -7.61238984e-03 2.43969440e+00] [-1.35798117e-02 9.99904764e-01 2.45984013e-03 2.57606278e-01] [ 7.64511422e-03 -2.35616659e-03 9.99968000e-01 -9.51609417e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.256547614999999 meters Centerline goodness [0,1] 0.8602488082781072 Centerline is valid? [False, False] Translation: X:2.44, Y:0.26, Z:-0.09 [[ 9.99923535e-01 9.69345750e-03 -7.67857755e-03 2.43861574e+00] [-9.70657697e-03 9.99951490e-01 -1.67316034e-03 2.57641814e-01] [ 7.66198635e-03 1.74756510e-03 9.99969120e-01 -9.37339964e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.286547614999999 meters Centerline goodness [0,1] 0.8686903931146779 Centerline is valid? [False, False] Translation: X:2.44, Y:0.26, Z:-0.10 [[ 0.9999428 0.00638841 -0.00857802 2.44321404] [-0.00642548 0.99997011 -0.00430076 0.26118367] [ 0.00855029 0.00435563 0.99995396 -0.09665035] [ 0. 0. 0. 1. ]] SLAMing on 7.316547614999999 meters Centerline goodness [0,1] 0.8714609935581485 Centerline is valid? [False, False] Translation: X:2.45, Y:0.27, Z:-0.10 [[ 0.99992558 0.00656762 -0.01028092 2.45023151] [-0.00659691 0.99997427 -0.0028171 0.26669438] [ 0.01026216 0.00288472 0.99994318 -0.09965015] [ 0. 0. 0. 1. ]] SLAMing on 7.346547614999999 meters Centerline goodness [0,1] 0.867167406395812 Centerline is valid? [False, False] Translation: X:2.46, Y:0.28, Z:-0.10 [[ 9.99868469e-01 1.14114188e-02 -1.15249603e-02 2.45500352e+00] [-1.13891734e-02 9.99933153e-01 1.99398903e-03 2.77522518e-01] [ 1.15469441e-02 -1.86246699e-03 9.99931597e-01 -1.01364567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.376547614999999 meters Centerline goodness [0,1] 0.862458561667005 Centerline is valid? [False, False] Translation: X:2.45, Y:0.28, Z:-0.10 [[ 0.99979653 0.01673055 -0.01126896 2.45261437] [-0.0166868 0.9998529 0.00396474 0.28407749] [ 0.01133363 -0.0037759 0.99992864 -0.09992776] [ 0. 0. 0. 1. ]] SLAMing on 7.406547614999999 meters Centerline goodness [0,1] 0.8585071004853496 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:-0.10 [[ 0.99976804 0.01854064 -0.01095951 2.44988532] [-0.01850431 0.99982298 0.00340707 0.28853727] [ 0.01102074 -0.00320348 0.99993414 -0.0980508 ] [ 0. 0. 0. 1. ]] SLAMing on 7.436547614999999 meters Centerline goodness [0,1] 0.8558122873007343 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:-0.10 [[ 0.99966229 0.02366444 -0.01073789 2.4474097 ] [-0.02359068 0.99969758 0.00694504 0.29192481] [ 0.01089899 -0.00668939 0.99991823 -0.09548968] [ 0. 0. 0. 1. ]] SLAMing on 7.466547614999999 meters Centerline goodness [0,1] 0.8570144082107064 Centerline is valid? [False, False] Translation: X:2.44, Y:0.30, Z:-0.09 [[ 0.99923914 0.03768053 -0.01006537 2.44400647] [-0.03750704 0.9991534 0.01690255 0.30206857] [ 0.01069375 -0.01651217 0.99980648 -0.09269635] [ 0. 0. 0. 1. ]] SLAMing on 7.496547614999999 meters Centerline goodness [0,1] 0.8546123863144218 Centerline is valid? [False, False] Translation: X:2.45, Y:0.31, Z:-0.09 [[ 0.99873219 0.04928241 -0.01025988 2.44625087] [-0.048998 0.99845158 0.0263371 0.30932712] [ 0.01154195 -0.025801 0.99960047 -0.09478253] [ 0. 0. 0. 1. ]] SLAMing on 7.526547614999999 meters Centerline goodness [0,1] 0.8543815549969662 Centerline is valid? [False, False] Translation: X:2.45, Y:0.31, Z:-0.10 [[ 0.99873894 0.04911082 -0.01042388 2.44706385] [-0.04883113 0.99847956 0.02557531 0.31104437] [ 0.01166406 -0.02503405 0.99961855 -0.09574581] [ 0. 0. 0. 1. ]] SLAMing on 7.556547614999999 meters Centerline goodness [0,1] 0.853677519782073 Centerline is valid? [False, False] Translation: X:2.45, Y:0.31, Z:-0.10 [[ 0.99892526 0.04524256 -0.01007144 2.44602799] [-0.04502038 0.99875917 0.02129042 0.31246983] [ 0.01102217 -0.02081412 0.9997226 -0.09604482] [ 0. 0. 0. 1. ]] SLAMing on 7.586547614999999 meters Centerline goodness [0,1] 0.8568358157628904 Centerline is valid? [False, False] Translation: X:2.44, Y:0.32, Z:-0.09 [[ 0.99909877 0.04136886 -0.00950034 2.44331087] [-0.04119805 0.99899736 0.01752129 0.31663008] [ 0.01021565 -0.0171141 0.99980135 -0.09400571] [ 0. 0. 0. 1. ]] SLAMing on 7.616547614999999 meters Centerline goodness [0,1] 0.857994254598465 Centerline is valid? [False, False] Translation: X:2.44, Y:0.32, Z:-0.09 [[ 0.99924178 0.03773829 -0.00957547 2.44225759] [-0.03761041 0.99920528 0.01320066 0.31982218] [ 0.01006603 -0.01283051 0.99986702 -0.09313351] [ 0. 0. 0. 1. ]] SLAMing on 7.646547614999999 meters Centerline goodness [0,1] 0.8588608544663336 Centerline is valid? [False, False] Translation: X:2.44, Y:0.32, Z:-0.09 [[ 0.99935022 0.03466988 -0.00985605 2.44080196] [-0.03457712 0.99935753 0.00943152 0.31986901] [ 0.0101767 -0.0090846 0.99990695 -0.09119055] [ 0. 0. 0. 1. ]] SLAMing on 7.676547614999999 meters Centerline goodness [0,1] 0.8587912911305688 Centerline is valid? [False, False] Translation: X:2.44, Y:0.32, Z:-0.09 [[ 0.99945888 0.03132454 -0.01003576 2.44044901] [-0.03127569 0.99949835 0.00498768 0.32147092] [ 0.01018696 -0.00467111 0.9999372 -0.09117513] [ 0. 0. 0. 1. ]] SLAMing on 7.706547614999999 meters Centerline goodness [0,1] 0.8592765957446808 Centerline is valid? [False, False] Translation: X:2.44, Y:0.33, Z:-0.09 [[ 0.9994641 0.03115412 -0.0100465 2.44146876] [-0.03112621 0.99951119 0.00292273 0.32724044] [ 0.01013264 -0.00260845 0.99994526 -0.09348879] [ 0. 0. 0. 1. ]] SLAMing on 7.736547614999999 meters Centerline goodness [0,1] 0.8616942402609782 Centerline is valid? [False, False] Translation: X:2.44, Y:0.33, Z:-0.10 [[ 9.99473667e-01 3.07187555e-02 -1.04281440e-02 2.44350007e+00] [-3.07064208e-02 9.99527547e-01 1.34092814e-03 3.31232476e-01] [ 1.04644088e-02 -1.02001139e-03 9.99944726e-01 -9.57288367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.766547614999999 meters Centerline goodness [0,1] 0.8556898052789161 Centerline is valid? [False, False] Translation: X:2.44, Y:0.33, Z:-0.10 [[ 9.99446957e-01 3.14811793e-02 -1.07105778e-02 2.44424326e+00] [-3.14772153e-02 9.99504325e-01 5.38514082e-04 3.33544553e-01] [ 1.07222219e-02 -2.01077095e-04 9.99942495e-01 -9.69524012e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.796547614999999 meters Centerline goodness [0,1] 0.8511923756036335 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:-0.10 [[ 0.99931205 0.03688418 -0.00386975 2.44880213] [-0.0369096 0.99929604 -0.00671627 0.3330803 ] [ 0.00361931 0.00685449 0.99996996 -0.09807462] [ 0. 0. 0. 1. ]] SLAMing on 7.826547614999999 meters Centerline goodness [0,1] 0.8465235501441846 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:-0.10 [[ 0.99928861 0.03752177 -0.0037938 2.44830555] [-0.03754625 0.99927308 -0.00660185 0.3334479 ] [ 0.00354333 0.0067396 0.99997101 -0.09782758] [ 0. 0. 0. 1. ]] SLAMing on 7.856547614999999 meters Centerline goodness [0,1] 0.8146603353867214 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:-0.10 [[ 9.99087697e-01 4.25331329e-02 -3.83487246e-03 2.44874671e+00] [-4.25396064e-02 9.99093464e-01 -1.62255938e-03 3.31404822e-01] [ 3.76238348e-03 1.78421308e-03 9.99991330e-01 -9.80656639e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.886547614999999 meters Centerline goodness [0,1] 0.8252251085055387 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:-0.10 [[ 9.99068440e-01 4.29970034e-02 -3.67562783e-03 2.44836171e+00] [-4.30006634e-02 9.99074618e-01 -9.22545370e-04 3.29963282e-01] [ 3.63255978e-03 1.07974040e-03 9.99992819e-01 -9.79684974e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.916547614999999 meters Centerline goodness [0,1] 0.8355351496513189 Centerline is valid? [False, False] Translation: X:2.45, Y:0.33, Z:-0.10 [[ 9.99063928e-01 4.30924685e-02 -3.78251083e-03 2.44880518e+00] [-4.30937191e-02 9.99071003e-01 -2.49724815e-04 3.28332368e-01] [ 3.76823563e-03 4.12493514e-04 9.99992815e-01 -9.81850172e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.946547614999999 meters Centerline goodness [0,1] 0.8310295207779183 Centerline is valid? [False, False] Translation: X:2.45, Y:0.32, Z:-0.10 [[ 9.99084727e-01 4.26005202e-02 -3.86052791e-03 2.45059682e+00] [-4.25987534e-02 9.99092116e-01 5.38767026e-04 3.24608853e-01] [ 3.87997475e-03 -3.73820231e-04 9.99992403e-01 -1.00032683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.9765476149999985 meters Centerline goodness [0,1] 0.8193433466012798 Centerline is valid? [False, False] Translation: X:2.45, Y:0.32, Z:-0.10 [[ 9.99208759e-01 3.95863294e-02 -3.84427840e-03 2.45288939e+00] [-3.95950771e-02 9.99213326e-01 -2.22670142e-03 3.18419191e-01] [ 3.75310727e-03 2.37715406e-03 9.99990132e-01 -1.03692883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.006547614999999 meters Centerline goodness [0,1] 0.8151188190904879 Centerline is valid? [False, False] Translation: X:2.45, Y:0.32, Z:-0.10 [[ 0.99932149 0.03661469 -0.0039901 2.45295329] [-0.0366377 0.99931146 -0.0058551 0.31688241] [ 0.00377297 0.00599731 0.9999749 -0.10437623] [ 0. 0. 0. 1. ]] SLAMing on 8.036547614999998 meters Centerline goodness [0,1] 0.7684420772303595 Centerline is valid? [False, False] Translation: X:2.45, Y:0.31, Z:-0.10 [[ 0.99926524 0.03810057 -0.00416254 2.45294798] [-0.03812111 0.99926076 -0.00497163 0.3135724 ] [ 0.00397004 0.00512665 0.99997898 -0.10451555] [ 0. 0. 0. 1. ]] SLAMing on 8.066547615 meters Centerline goodness [0,1] 0.750609999556364 Centerline is valid? [False, False] Translation: X:2.45, Y:0.31, Z:-0.11 [[ 0.99925906 0.038246 -0.00431003 2.45347324] [-0.03826908 0.99925284 -0.00540694 0.31489087] [ 0.00410002 0.00556788 0.99997609 -0.1050981 ] [ 0. 0. 0. 1. ]] SLAMing on 8.096547614999999 meters Centerline goodness [0,1] 0.7665681065338699 Centerline is valid? [False, False] Translation: X:2.45, Y:0.32, Z:-0.10 [[ 0.99921569 0.03941637 -0.00378802 2.4511205 ] [-0.03943267 0.99921285 -0.00432877 0.31613924] [ 0.00361441 0.00447475 0.99998346 -0.10327221] [ 0. 0. 0. 1. ]] SLAMing on 8.126547615 meters Centerline goodness [0,1] 0.7470825802708794 Centerline is valid? [False, False] Translation: X:2.45, Y:0.31, Z:-0.10 [[ 0.99937947 0.03369195 0.01027264 2.44824814] [-0.03361036 0.99940288 -0.00801402 0.30920625] [-0.01053651 0.00766378 0.99991512 -0.10251782] [ 0. 0. 0. 1. ]] SLAMing on 8.156547615 meters Centerline goodness [0,1] 0.7882743462073296 Centerline is valid? [False, False] Translation: X:2.45, Y:0.30, Z:-0.10 [[ 0.99949304 0.03011162 0.01034186 2.44720548] [-0.03001273 0.99950353 -0.00958804 0.30134453] [-0.01062544 0.00927279 0.99990055 -0.10071321] [ 0. 0. 0. 1. ]] SLAMing on 8.186547614999999 meters Centerline goodness [0,1] 0.8427247683446031 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:-0.10 [[ 0.99970809 0.02169627 0.01063002 2.4472136 ] [-0.02154733 0.99967077 -0.01393088 0.28995189] [-0.01092877 0.01369777 0.99984645 -0.09956735] [ 0. 0. 0. 1. ]] SLAMing on 8.216547615 meters Centerline goodness [0,1] 0.8443616242912018 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:-0.10 [[ 0.99976829 0.01875887 0.0105584 2.4503164 ] [-0.01859389 0.99970676 -0.01551295 0.28767303] [-0.01084631 0.01531303 0.99982392 -0.1028117 ] [ 0. 0. 0. 1. ]] SLAMing on 8.246547614999999 meters Centerline goodness [0,1] 0.8428964252978919 Centerline is valid? [False, False] Translation: X:2.46, Y:0.28, Z:-0.11 [[ 0.99993735 0.01034896 0.00426557 2.45820856] [-0.01032778 0.99993438 -0.00495721 0.28479432] [-0.00431659 0.00491284 0.99997862 -0.10778518] [ 0. 0. 0. 1. ]] SLAMing on 8.276547614999998 meters Centerline goodness [0,1] 0.8442361890795775 Centerline is valid? [False, False] Translation: X:2.46, Y:0.28, Z:-0.11 [[ 0.99995503 0.00887347 0.00334603 2.4620899 ] [-0.00885381 0.99994373 -0.00584418 0.28420528] [-0.0033977 0.00581429 0.99997732 -0.11036676] [ 0. 0. 0. 1. ]] SLAMing on 8.306547615 meters Centerline goodness [0,1] 0.8479522734601741 Centerline is valid? [False, False] Translation: X:2.46, Y:0.28, Z:-0.11 [[ 0.99998215 0.00529655 0.00276405 2.46280103] [-0.0052705 0.99994243 -0.00934613 0.28074565] [-0.00281339 0.0093314 0.9999525 -0.11000169] [ 0. 0. 0. 1. ]] SLAMing on 8.336547614999999 meters Centerline goodness [0,1] 0.8506914783090527 Centerline is valid? [False, False] Translation: X:2.46, Y:0.28, Z:-0.11 [[ 9.99995064e-01 2.12683599e-03 2.31272236e-03 2.46321815e+00] [-2.09745561e-03 9.99918002e-01 -1.26328772e-02 2.77010475e-01] [-2.33940078e-03 1.26279640e-02 9.99917527e-01 -1.09753768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.366547614999998 meters Centerline goodness [0,1] 0.860147969478396 Centerline is valid? [False, False] Translation: X:2.46, Y:0.27, Z:-0.11 [[ 9.99996926e-01 -8.95320367e-04 2.31207342e-03 2.46328588e+00] [ 9.31674756e-04 9.99875199e-01 -1.57708061e-02 2.73199154e-01] [-2.29766495e-03 1.57729117e-02 9.99872960e-01 -1.10254274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.396547615 meters Centerline goodness [0,1] 0.8561778518055845 Centerline is valid? [False, False] Translation: X:2.46, Y:0.27, Z:-0.11 [[ 9.99992173e-01 3.12539884e-03 2.42609083e-03 2.46230917e+00] [-3.09810573e-03 9.99932778e-01 -1.11732293e-02 2.74615842e-01] [-2.46084854e-03 1.11656255e-02 9.99934634e-01 -1.08745322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.426547614999999 meters Centerline goodness [0,1] 0.850337027304924 Centerline is valid? [False, False] Translation: X:2.46, Y:0.28, Z:-0.11 [[ 9.99932756e-01 1.13416882e-02 2.41867713e-03 2.46367969e+00] [-1.13395915e-02 9.99935319e-01 -8.78819339e-04 2.82819688e-01] [-2.42848798e-03 8.51333433e-04 9.99996689e-01 -1.07674951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.456547614999998 meters Centerline goodness [0,1] 0.846694892105982 Centerline is valid? [False, False] Translation: X:2.47, Y:0.29, Z:-0.11 [[ 9.99900684e-01 1.39666322e-02 1.88580551e-03 2.46670519e+00] [-1.39693983e-02 9.99901355e-01 1.46168526e-03 2.86420535e-01] [-1.86520466e-03 -1.48788366e-03 9.99997154e-01 -1.10233313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.486547615 meters Centerline goodness [0,1] 0.8507043539806844 Centerline is valid? [False, False] Translation: X:2.47, Y:0.29, Z:-0.11 [[ 9.99944573e-01 1.04795472e-02 1.01473285e-03 2.46929285e+00] [-1.04757180e-02 9.99938253e-01 -3.70811641e-03 2.86685568e-01] [-1.05352958e-03 3.69728082e-03 9.99992610e-01 -1.13144943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.516547614999999 meters Centerline goodness [0,1] 0.8568719502324182 Centerline is valid? [False, False] Translation: X:2.46, Y:0.28, Z:-0.11 [[ 9.99993741e-01 2.05149612e-03 2.88252562e-03 2.45789939e+00] [-2.00535873e-03 9.99871280e-01 -1.59186350e-02 2.77033585e-01] [-2.91481160e-03 1.59127549e-02 9.99869135e-01 -1.07945304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.546547615 meters Centerline goodness [0,1] 0.8573416517846789 Centerline is valid? [False, False] Translation: X:2.46, Y:0.27, Z:-0.11 [[ 9.99993796e-01 2.27450967e-03 2.68968222e-03 2.45695942e+00] [-2.23540117e-03 9.99893024e-01 -1.44548857e-02 2.72505215e-01] [-2.72227227e-03 1.44487835e-02 9.99891905e-01 -1.05450640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.576547614999999 meters Centerline goodness [0,1] 0.8537218762208996 Centerline is valid? [False, False] Translation: X:2.45, Y:0.28, Z:-0.11 [[ 9.99952889e-01 2.27745528e-03 9.43568402e-03 2.44915451e+00] [-2.23549628e-03 9.99987578e-01 -4.45500583e-03 2.77848516e-01] [-9.44571289e-03 4.43370252e-03 9.99945559e-01 -1.10128809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.606547614999998 meters Centerline goodness [0,1] 0.8513340935005701 Centerline is valid? [False, False] Translation: X:2.45, Y:0.28, Z:-0.11 [[ 9.99945181e-01 5.23048048e-03 9.07063393e-03 2.45093913e+00] [-5.21618491e-03 9.99985117e-01 -1.59896981e-03 2.82588207e-01] [-9.07886232e-03 1.55156805e-03 9.99957583e-01 -1.11460471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.636547615 meters Centerline goodness [0,1] 0.8461625717461829 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:-0.11 [[ 0.99986246 0.0134795 0.00966255 2.45046965] [-0.01353635 0.99989131 0.00584292 0.2859597 ] [-0.00958274 -0.00597291 0.99993625 -0.11257853] [ 0. 0. 0. 1. ]] SLAMing on 8.666547614999999 meters Centerline goodness [0,1] 0.8425652667423382 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:-0.11 [[ 0.99985609 0.01386711 0.00977221 2.45088911] [-0.01391695 0.9998904 0.00505056 0.28763317] [-0.0097011 -0.00518583 0.9999395 -0.11419665] [ 0. 0. 0. 1. ]] SLAMing on 8.696547614999998 meters Centerline goodness [0,1] 0.8369464475439112 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:-0.12 [[ 0.99986453 0.01369931 0.00912449 2.45342499] [-0.01372873 0.99990073 0.00316961 0.28902251] [-0.00908016 -0.00329445 0.99995335 -0.1173743 ] [ 0. 0. 0. 1. ]] SLAMing on 8.726547615 meters Centerline goodness [0,1] 0.8292507042253521 Centerline is valid? [False, False] Translation: X:2.45, Y:0.30, Z:-0.12 [[ 9.99865954e-01 1.37847281e-02 8.83494183e-03 2.45298905e+00] [-1.37982666e-02 9.99903714e-01 1.47325343e-03 2.95006220e-01] [-8.81378276e-03 -1.59496283e-03 9.99959886e-01 -1.16765416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.756547614999999 meters Centerline goodness [0,1] 0.8264760498467458 Centerline is valid? [False, False] Translation: X:2.45, Y:0.30, Z:-0.12 [[ 9.99870544e-01 1.35930556e-02 8.60957636e-03 2.45251616e+00] [-1.35951283e-02 9.99907565e-01 1.82262493e-04 2.99906539e-01] [-8.60630304e-03 -2.99287194e-04 9.99962920e-01 -1.15891972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.786547614999998 meters Centerline goodness [0,1] 0.8186747932865754 Centerline is valid? [False, False] Translation: X:2.45, Y:0.30, Z:-0.11 [[ 0.99990522 0.01108115 0.00817064 2.45062404] [-0.01105106 0.99993202 -0.00371887 0.30390983] [-0.0082113 0.00362822 0.9999597 -0.11299051] [ 0. 0. 0. 1. ]] SLAMing on 8.816547615 meters Centerline goodness [0,1] 0.831389088298636 Centerline is valid? [False, False] Translation: X:2.45, Y:0.30, Z:-0.11 [[ 0.99991859 0.01031577 0.00751052 2.45285421] [-0.01028493 0.99993857 -0.0041333 0.30192964] [-0.00755269 0.00405572 0.99996325 -0.11413961] [ 0. 0. 0. 1. ]] SLAMing on 8.846547614999999 meters Centerline goodness [0,1] 0.8266435674751383 Centerline is valid? [False, False] Translation: X:2.46, Y:0.30, Z:-0.12 [[ 0.99993015 0.00957196 0.00693361 2.45546233] [-0.00954097 0.99994441 -0.00448891 0.30064645] [-0.00697619 0.00442245 0.99996589 -0.11609097] [ 0. 0. 0. 1. ]] SLAMing on 8.876547614999998 meters Centerline goodness [0,1] 0.8421783953384132 Centerline is valid? [False, False] Translation: X:2.45, Y:0.30, Z:-0.13 [[ 0.99989856 0.00682598 0.01250103 2.4525327 ] [-0.00686564 0.99997153 0.00313217 0.30343101] [-0.0124793 -0.00321768 0.99991695 -0.12601723] [ 0. 0. 0. 1. ]] SLAMing on 8.906547615 meters Centerline goodness [0,1] 0.8421783953384132 Centerline is valid? [False, False] Translation: X:2.45, Y:0.30, Z:-0.13 [[ 0.99989856 0.00682598 0.01250103 2.4525327 ] [-0.00686564 0.99997153 0.00313217 0.30343101] [-0.0124793 -0.00321768 0.99991695 -0.12601723] [ 0. 0. 0. 1. ]] SLAMing on 8.936547614999999 meters Centerline goodness [0,1] 0.8406660075498832 Centerline is valid? [False, False] Translation: X:2.46, Y:0.30, Z:-0.13 [[ 9.99911051e-01 5.25977753e-03 1.22566059e-02 2.45521982e+00] [-5.28915474e-03 9.99983214e-01 2.36566633e-03 3.03845647e-01] [-1.22439573e-02 -2.43028299e-03 9.99922087e-01 -1.28706940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.966547615 meters Centerline goodness [0,1] 0.8402064189036259 Centerline is valid? [False, False] Translation: X:2.46, Y:0.30, Z:-0.13 [[ 9.99924859e-01 1.46016263e-03 1.21714656e-02 2.45557152e+00] [-1.44947467e-03 9.99998556e-01 -8.86891627e-04 2.99854883e-01] [-1.21727430e-02 8.69182754e-04 9.99925532e-01 -1.28833390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.996547614999999 meters Centerline goodness [0,1] 0.8405973299077855 Centerline is valid? [False, False] Translation: X:2.45, Y:0.29, Z:-0.13 [[ 0.99991463 -0.00462974 0.01221839 2.45292993] [ 0.00470466 0.99997027 -0.00611015 0.28864509] [-0.01218973 0.00616711 0.99990668 -0.12545851] [ 0. 0. 0. 1. ]] SLAMing on 9.026547614999998 meters Centerline goodness [0,1] 0.8383624167262166 Centerline is valid? [False, False] Translation: X:2.45, Y:0.28, Z:-0.12 [[ 0.99992026 -0.004039 0.01196513 2.45186237] [ 0.0040845 0.99998451 -0.0037804 0.28320715] [-0.01194968 0.00382897 0.99992127 -0.12211249] [ 0. 0. 0. 1. ]] SLAMing on 9.056547615 meters Centerline goodness [0,1] 0.8362251961236733 Centerline is valid? [False, False] Translation: X:2.45, Y:0.28, Z:-0.12 [[ 9.99916268e-01 -1.51194772e-03 1.28519066e-02 2.44668118e+00] [ 1.51450780e-03 9.99998835e-01 -1.89468254e-04 2.78785552e-01] [-1.28516051e-02 2.08916702e-04 9.99917393e-01 -1.16277746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.086547614999999 meters Centerline goodness [0,1] 0.8368452739313667 Centerline is valid? [False, False] Translation: X:2.45, Y:0.28, Z:-0.12 [[ 9.99915889e-01 -5.70724862e-04 1.29572107e-02 2.44593532e+00] [ 5.66019436e-04 9.99999773e-01 3.66815455e-04 2.78490916e-01] [-1.29574171e-02 -3.59450569e-04 9.99915985e-01 -1.15886253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.116547614999998 meters Centerline goodness [0,1] 0.8127094165222415 Centerline is valid? [False, False] Translation: X:2.45, Y:0.28, Z:-0.12 [[ 0.99989743 0.00550219 0.01322314 2.44550277] [-0.00557442 0.99996971 0.00543199 0.27681537] [-0.01319285 -0.00550514 0.99989782 -0.11709294] [ 0. 0. 0. 1. ]] SLAMing on 9.146547615 meters Centerline goodness [0,1] 0.7150535143399899 Centerline is valid? [False, False] Translation: X:2.46, Y:0.27, Z:-0.11 [[ 0.99979145 0.01938621 0.00642063 2.45528214] [-0.0194422 0.99977247 0.00877515 0.2705586 ] [-0.00624905 -0.00889815 0.99994088 -0.11489881] [ 0. 0. 0. 1. ]] SLAMing on 9.176547614999999 meters Centerline goodness [0,1] 0.7063170330561283 Centerline is valid? [False, False] Translation: X:2.46, Y:0.27, Z:-0.12 [[ 0.99975894 0.0209936 0.0064291 2.4557956 ] [-0.02104968 0.99973985 0.00878323 0.27082761] [-0.00624303 -0.00891644 0.99994076 -0.1169585 ] [ 0. 0. 0. 1. ]] SLAMing on 9.206547614999998 meters Centerline goodness [0,1] 0.6695985409885264 Centerline is valid? [False, False] Translation: X:2.46, Y:0.27, Z:-0.12 [[ 0.99952977 0.02996532 0.00650586 2.4579167 ] [-0.03006457 0.99942409 0.01573532 0.27304386] [-0.0060306 -0.01592352 0.99985503 -0.12165093] [ 0. 0. 0. 1. ]] SLAMing on 9.236547615 meters Centerline goodness [0,1] 0.655552487459156 Centerline is valid? [False, False] Translation: X:2.46, Y:0.28, Z:-0.12 [[ 0.99950431 0.0307926 0.006554 2.45754963] [-0.03089103 0.99940275 0.01548862 0.27548568] [-0.00607316 -0.0156834 0.99985856 -0.12203731] [ 0. 0. 0. 1. ]] SLAMing on 9.266547614999999 meters Centerline goodness [0,1] 0.6476429684411266 Centerline is valid? [False, False] Translation: X:2.45, Y:0.27, Z:-0.12 [[ 0.99956737 0.02827425 0.00810235 2.44918557] [-0.02836518 0.99953334 0.01133694 0.26779589] [-0.00777802 -0.01156186 0.99990291 -0.1178952 ] [ 0. 0. 0. 1. ]] SLAMing on 9.296547614999998 meters Centerline goodness [0,1] 0.6508456338159957 Centerline is valid? [False, False] Translation: X:2.45, Y:0.26, Z:-0.12 [[ 0.99971558 0.02222305 0.00865384 2.4467141 ] [-0.02226656 0.99973975 0.0049637 0.26217493] [-0.00854128 -0.00515498 0.99995024 -0.11722657] [ 0. 0. 0. 1. ]] SLAMing on 9.326547614999999 meters Centerline goodness [0,1] 0.6779427157674374 Centerline is valid? [False, False] Translation: X:2.45, Y:0.25, Z:-0.12 [[ 9.99840753e-01 1.53482145e-02 9.10504605e-03 2.44770486e+00] [-1.53417779e-02 9.99882007e-01 -7.76357792e-04 2.53088509e-01] [-9.11588742e-03 6.36546565e-04 9.99958247e-01 -1.19875746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.356547614999998 meters Centerline goodness [0,1] 0.6755288736420813 Centerline is valid? [False, False] Translation: X:2.45, Y:0.25, Z:-0.12 [[ 9.99859217e-01 1.43440848e-02 8.70592217e-03 2.45050585e+00] [-1.43375225e-02 9.99896880e-01 -8.15719730e-04 2.51199075e-01] [-8.71672517e-03 6.90783535e-04 9.99961770e-01 -1.22201331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.386547615 meters Centerline goodness [0,1] 0.6781501501501501 Centerline is valid? [False, False] Translation: X:2.46, Y:0.24, Z:-0.13 [[ 9.99865149e-01 1.41913111e-02 8.26381029e-03 2.45614261e+00] [-1.41987203e-02 9.99898841e-01 8.38609338e-04 2.44383453e-01] [-8.25107337e-03 -9.55831782e-04 9.99965502e-01 -1.27720681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.416547614999999 meters Centerline goodness [0,1] 0.6761683386346954 Centerline is valid? [False, False] Translation: X:2.45, Y:0.23, Z:-0.13 [[ 0.99990498 0.01034568 0.00911 2.45456665] [-0.01031776 0.99994194 -0.00310672 0.23097351] [-0.00914161 0.00301243 0.99995368 -0.12921564] [ 0. 0. 0. 1. ]] SLAMing on 9.446547614999998 meters Centerline goodness [0,1] 0.6786603248145502 Centerline is valid? [False, False] Translation: X:2.45, Y:0.22, Z:-0.13 [[ 0.99991928 0.00830936 0.00961185 2.45212605] [-0.00826446 0.9999548 -0.00470163 0.2234031 ] [-0.00965049 0.00462181 0.99994275 -0.12768941] [ 0. 0. 0. 1. ]] SLAMing on 9.476547615 meters Centerline goodness [0,1] 0.6821140458897741 Centerline is valid? [False, False] Translation: X:2.45, Y:0.21, Z:-0.13 [[ 0.99991571 0.00769921 0.0104547 2.44764829] [-0.00764957 0.99995932 -0.00477984 0.20874444] [-0.01049108 0.00469947 0.99993392 -0.12523585] [ 0. 0. 0. 1. ]] SLAMing on 9.506547614999999 meters Centerline goodness [0,1] 0.6815519765739385 Centerline is valid? [False, False] Translation: X:2.45, Y:0.20, Z:-0.13 [[ 0.99991169 0.00822059 0.01044228 2.44818917] [-0.00818582 0.99996082 -0.00336782 0.20297113] [-0.01046955 0.00328205 0.99993981 -0.12580404] [ 0. 0. 0. 1. ]] SLAMing on 9.536547614999998 meters Centerline goodness [0,1] 0.6744794311833417 Centerline is valid? [False, False] Translation: X:2.45, Y:0.20, Z:-0.13 [[ 9.99879639e-01 1.03090976e-02 1.15943814e-02 2.44693961e+00] [-1.03025023e-02 9.99946730e-01 -6.28418415e-04 1.95728728e-01] [-1.16002422e-02 5.08891637e-04 9.99932585e-01 -1.27308361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.566547615 meters Centerline goodness [0,1] 0.6648637616083274 Centerline is valid? [False, False] Translation: X:2.45, Y:0.19, Z:-0.13 [[ 9.99872596e-01 1.08020061e-02 1.17519687e-02 2.44733699e+00] [-1.08025395e-02 9.99941651e-01 -1.80914388e-05 1.93383630e-01] [-1.17514784e-02 -1.08861972e-04 9.99930943e-01 -1.28528607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.596547614999999 meters Centerline goodness [0,1] 0.6707076907337783 Centerline is valid? [False, False] Translation: X:2.45, Y:0.19, Z:-0.13 [[ 9.99864764e-01 1.14166614e-02 1.18369540e-02 2.44715215e+00] [-1.14309669e-02 9.99934013e-01 1.14159775e-03 1.89997749e-01] [-1.18231397e-02 -1.27675120e-03 9.99929289e-01 -1.28470444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.626547614999998 meters Centerline goodness [0,1] 0.6705524320420901 Centerline is valid? [False, False] Translation: X:2.44, Y:0.18, Z:-0.12 [[ 0.99988139 0.0089844 0.01250957 2.44361576] [-0.00902457 0.99995429 0.00315841 0.17971414] [-0.01248062 -0.00327093 0.99991676 -0.12075246] [ 0. 0. 0. 1. ]] SLAMing on 9.656547615 meters Centerline goodness [0,1] 0.6927566714867885 Centerline is valid? [False, False] Translation: X:2.44, Y:0.17, Z:-0.11 [[ 9.99918354e-01 -1.04361571e-03 1.27356345e-02 2.44038050e+00] [ 1.08834701e-03 9.99993262e-01 -3.50586938e-03 1.65129720e-01] [-1.27318899e-02 3.51944393e-03 9.99912752e-01 -1.14116204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.686547614999999 meters Centerline goodness [0,1] 0.703334396936822 Centerline is valid? [False, False] Translation: X:2.44, Y:0.16, Z:-0.11 [[ 0.99991149 -0.00489987 0.01236961 2.44148421] [ 0.00497427 0.99996968 -0.00599104 0.15691208] [-0.01233988 0.00605204 0.99990555 -0.11387709] [ 0. 0. 0. 1. ]] SLAMing on 9.716547614999998 meters Centerline goodness [0,1] 0.7087565487009515 Centerline is valid? [False, False] Translation: X:2.45, Y:0.15, Z:-0.12 [[ 0.99991034 -0.00635703 0.01178553 2.44897657] [ 0.00641516 0.99996741 -0.00490051 0.15020991] [-0.01175399 0.00497568 0.99991854 -0.12007714] [ 0. 0. 0. 1. ]] SLAMing on 9.746547614999999 meters Centerline goodness [0,1] 0.710155749946661 Centerline is valid? [False, False] Translation: X:2.45, Y:0.15, Z:-0.12 [[ 9.99928063e-01 -4.13211773e-03 1.12602876e-02 2.45305457e+00] [ 4.14680073e-03 9.99990582e-01 -1.28092764e-03 1.49409937e-01] [-1.12548886e-02 1.32752966e-03 9.99935781e-01 -1.22973348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.776547614999998 meters Centerline goodness [0,1] 0.709890286756619 Centerline is valid? [False, False] Translation: X:2.45, Y:0.14, Z:-0.12 [[ 9.99926096e-01 -3.51723055e-03 1.16375075e-02 2.45344598e+00] [ 3.51524385e-03 9.99993803e-01 1.91165695e-04 1.43567786e-01] [-1.16381077e-02 -1.50242890e-04 9.99932264e-01 -1.24324048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.806547615 meters Centerline goodness [0,1] 0.7021012261653973 Centerline is valid? [False, False] Translation: X:2.45, Y:0.14, Z:-0.12 [[ 9.99927809e-01 -2.09681440e-03 1.18313532e-02 2.45204128e+00] [ 2.07213269e-03 9.99995652e-01 2.09800086e-03 1.36279748e-01] [-1.18357009e-02 -2.07333327e-03 9.99927806e-01 -1.23126266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.836547614999999 meters Centerline goodness [0,1] 0.6851238322832935 Centerline is valid? [False, False] Translation: X:2.46, Y:0.12, Z:-0.12 [[ 9.99964617e-01 5.50205513e-03 6.36329661e-03 2.45619300e+00] [-5.51758744e-03 9.99981835e-01 2.42594739e-03 1.24730159e-01] [-6.34983333e-03 -2.46097160e-03 9.99976811e-01 -1.18585098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.866547614999998 meters Centerline goodness [0,1] 0.6875237423346177 Centerline is valid? [False, False] Translation: X:2.46, Y:0.13, Z:-0.12 [[ 9.99955841e-01 6.19850224e-03 7.06366939e-03 2.45525144e+00] [-6.21362198e-03 9.99978447e-01 2.12056247e-03 1.25288969e-01] [-7.05037284e-03 -2.16435980e-03 9.99972804e-01 -1.20344068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.896547615 meters Centerline goodness [0,1] 0.6816476367857047 Centerline is valid? [False, False] Translation: X:2.46, Y:0.13, Z:-0.12 [[ 9.99971998e-01 3.66175202e-03 6.52650223e-03 2.45880190e+00] [-3.66853928e-03 9.99992742e-01 1.02828552e-03 1.29724271e-01] [-6.52268953e-03 -1.05219945e-03 9.99978173e-01 -1.21534286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.926547614999999 meters Centerline goodness [0,1] 0.6872016183412002 Centerline is valid? [False, False] Translation: X:2.46, Y:0.13, Z:-0.12 [[ 9.99973402e-01 3.51483604e-03 6.39067586e-03 2.45872178e+00] [-3.51939496e-03 9.99993560e-01 7.02265407e-04 1.30845087e-01] [-6.38816636e-03 -7.24738041e-04 9.99979333e-01 -1.21061185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.956547614999998 meters Centerline goodness [0,1] 0.6940479103787693 Centerline is valid? [False, False] Translation: X:2.46, Y:0.13, Z:-0.12 [[ 9.99982879e-01 9.78886884e-04 5.76918234e-03 2.45806905e+00] [-9.64324337e-04 9.99996344e-01 -2.52643745e-03 1.27725171e-01] [-5.77163434e-03 2.52083084e-03 9.99980167e-01 -1.19615430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.986547615 meters Centerline goodness [0,1] 0.6989987484355444 Centerline is valid? [False, False] Translation: X:2.46, Y:0.13, Z:-0.12 [[ 9.99989611e-01 -7.44566183e-05 4.55772022e-03 2.46170550e+00] [ 8.78213013e-05 9.99995697e-01 -2.93218765e-03 1.25785578e-01] [-4.55748229e-03 2.93255745e-03 9.99985315e-01 -1.20550459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.016547614999999 meters Centerline goodness [0,1] 0.7111535836177474 Centerline is valid? [False, False] Translation: X:2.47, Y:0.13, Z:-0.13 [[ 0.99997754 -0.0061444 0.00267835 2.47399378] [ 0.00616268 0.99995741 -0.00686975 0.12728169] [-0.00263602 0.00688611 0.99997282 -0.12866213] [ 0. 0. 0. 1. ]] SLAMing on 10.046547614999998 meters Centerline goodness [0,1] 0.721304347826087 Centerline is valid? [False, False] Translation: X:2.49, Y:0.13, Z:-0.14 [[ 9.99978536e-01 -6.52717405e-03 5.68201773e-04 2.49013655e+00] [ 6.52923485e-03 9.99971825e-01 -3.70390463e-03 1.32658591e-01] [-5.44009734e-04 3.70753505e-03 9.99992979e-01 -1.39235013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.076547614999999 meters Centerline goodness [0,1] 0.7098043443108931 Centerline is valid? [False, False] Translation: X:2.49, Y:0.13, Z:-0.14 [[ 9.99993225e-01 -3.68058904e-03 -5.53750144e-05 2.49304386e+00] [ 3.68055982e-03 9.99993092e-01 -5.18842905e-04 1.34830288e-01] [ 5.72842794e-05 5.18635579e-04 9.99999864e-01 -1.40938071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.106547614999998 meters Centerline goodness [0,1] 0.707938582162692 Centerline is valid? [False, False] Translation: X:2.48, Y:0.13, Z:-0.13 [[ 9.99997816e-01 -1.52651373e-03 1.42722276e-03 2.48109725e+00] [ 1.52621692e-03 9.99998813e-01 2.09027185e-04 1.28707068e-01] [-1.42754015e-03 -2.06848477e-04 9.99998960e-01 -1.32001668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.136547614999998 meters Centerline goodness [0,1] 0.693887048646281 Centerline is valid? [False, False] Translation: X:2.47, Y:0.12, Z:-0.12 [[ 9.99995420e-01 -2.15425085e-03 2.12604898e-03 2.47403294e+00] [ 2.15400494e-03 9.99997673e-01 1.17949958e-04 1.20895364e-01] [-2.12629813e-03 -1.13369898e-04 9.99997733e-01 -1.24529357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.166547614999999 meters Centerline goodness [0,1] 0.7085849811091807 Centerline is valid? [False, False] Translation: X:2.47, Y:0.11, Z:-0.12 [[ 9.99991417e-01 -2.97852717e-03 2.87998733e-03 2.46763905e+00] [ 2.97924804e-03 9.99995532e-01 -2.46047464e-04 1.13743010e-01] [-2.87924160e-03 2.54625549e-04 9.99995823e-01 -1.18309814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.196547614999998 meters Centerline goodness [0,1] 0.7152718099409531 Centerline is valid? [False, False] Translation: X:2.46, Y:0.11, Z:-0.11 [[ 9.99989620e-01 -1.81169393e-03 4.18073016e-03 2.46409345e+00] [ 1.79718723e-03 9.99992361e-01 3.47104991e-03 1.06875078e-01] [-4.18698670e-03 -3.46350032e-03 9.99985237e-01 -1.14256960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.226547615 meters Centerline goodness [0,1] 0.7329327784361822 Centerline is valid? [False, False] Translation: X:2.48, Y:0.11, Z:-0.12 [[ 0.99997874 -0.00554338 0.00343358 2.47615444] [ 0.00553007 0.99997721 0.00387232 0.11304065] [-0.00345496 -0.00385325 0.99998661 -0.12209058] [ 0. 0. 0. 1. ]] SLAMing on 10.256547614999999 meters Centerline goodness [0,1] 0.734919332786437 Centerline is valid? [False, False] Translation: X:2.48, Y:0.12, Z:-0.13 [[ 9.99989020e-01 -4.03318065e-03 2.38586550e-03 2.48166806e+00] [ 4.01897084e-03 9.99974336e-01 5.93093820e-03 1.16441534e-01] [-2.40972481e-03 -5.92128435e-03 9.99979566e-01 -1.25750566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.286547614999998 meters Centerline goodness [0,1] 0.7318949702926922 Centerline is valid? [False, False] Translation: X:2.48, Y:0.12, Z:-0.13 [[ 9.99987040e-01 -4.70695827e-03 1.94023337e-03 2.48349024e+00] [ 4.69806047e-03 9.99978543e-01 4.56527349e-03 1.17976719e-01] [-1.96168029e-03 -4.55609899e-03 9.99987697e-01 -1.27454862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.316547615 meters Centerline goodness [0,1] 0.7300628654569412 Centerline is valid? [False, False] Translation: X:2.48, Y:0.11, Z:-0.13 [[ 9.99989660e-01 -4.32711092e-03 1.39843941e-03 2.48336289e+00] [ 4.32026991e-03 9.99978865e-01 4.85843675e-03 1.14646847e-01] [-1.41943285e-03 -4.85234488e-03 9.99987220e-01 -1.25986489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.346547614999999 meters Centerline goodness [0,1] 0.7233292628774423 Centerline is valid? [False, False] Translation: X:2.47, Y:0.11, Z:-0.12 [[ 9.99989994e-01 -3.75689662e-03 2.42836851e-03 2.47131656e+00] [ 3.79966815e-03 9.99833359e-01 -1.78554303e-02 1.10092933e-01] [-2.36088284e-03 1.78644786e-02 9.99837630e-01 -1.21202305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.376547614999998 meters Centerline goodness [0,1] 0.7226554911048819 Centerline is valid? [False, False] Translation: X:2.47, Y:0.10, Z:-0.11 [[ 9.99997347e-01 -8.20527136e-04 2.15248517e-03 2.47181755e+00] [ 8.42193468e-04 9.99948798e-01 -1.00842086e-02 1.03954091e-01] [-2.14410060e-03 1.00859946e-02 9.99946836e-01 -1.14910403e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.406547615 meters Centerline goodness [0,1] 0.7358989910128466 Centerline is valid? [False, False] Translation: X:2.48, Y:0.11, Z:-0.12 [[ 9.99996616e-01 2.44320731e-03 8.94134639e-04 2.48126124e+00] [-2.43948445e-03 9.99988449e-01 -4.14131941e-03 1.08435354e-01] [-9.04242413e-04 4.13912417e-03 9.99991025e-01 -1.19974909e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.436547614999999 meters Centerline goodness [0,1] 0.7328267310435641 Centerline is valid? [False, False] Translation: X:2.49, Y:0.11, Z:-0.13 [[ 9.99993378e-01 3.63882175e-03 5.20834882e-05 2.48795353e+00] [-3.63869404e-03 9.99990800e-01 -2.27173731e-03 1.12968321e-01] [-6.03494561e-05 2.27153275e-03 9.99997418e-01 -1.25340907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.466547614999998 meters Centerline goodness [0,1] 0.7564377093285016 Centerline is valid? [False, False] Translation: X:2.50, Y:0.12, Z:-0.14 [[ 9.99995605e-01 -5.88651424e-04 -2.90581598e-03 2.50484066e+00] [ 5.80076204e-04 9.99995478e-01 -2.95101508e-03 1.17646109e-01] [ 2.90753995e-03 2.94931651e-03 9.99991424e-01 -1.35526960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.496547614999999 meters Centerline goodness [0,1] 0.779208629134335 Centerline is valid? [False, False] Translation: X:2.51, Y:0.11, Z:-0.14 [[ 9.99992349e-01 -1.85381004e-03 -3.44461097e-03 2.50749616e+00] [ 1.84516648e-03 9.99995146e-01 -2.51078558e-03 1.14868950e-01] [ 3.44924876e-03 2.50441049e-03 9.99990915e-01 -1.35947181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.526547614999998 meters Centerline goodness [0,1] 0.7936882424780726 Centerline is valid? [False, False] Translation: X:2.50, Y:0.10, Z:-0.12 [[ 9.99967954e-01 -7.87635957e-03 -1.43349416e-03 2.50068332e+00] [ 7.87183469e-03 9.99964102e-01 -3.13527146e-03 1.04601048e-01] [ 1.45813723e-03 3.12388676e-03 9.99994058e-01 -1.23206579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.556547614999998 meters Centerline goodness [0,1] 0.8020074015924639 Centerline is valid? [False, False] Translation: X:2.49, Y:0.09, Z:-0.11 [[ 9.99960430e-01 -8.88138977e-03 -5.08349202e-04 2.49326144e+00] [ 8.88095773e-03 9.99960206e-01 -8.45941726e-04 9.48737866e-02] [ 5.15842111e-04 8.41393625e-04 9.99999513e-01 -1.11301117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.586547614999999 meters Centerline goodness [0,1] 0.7947630358556724 Centerline is valid? [False, False] Translation: X:2.49, Y:0.09, Z:-0.10 [[ 0.99996106 -0.00442003 -0.0076383 2.49061556] [ 0.00435731 0.99995682 -0.00820817 0.08630608] [ 0.00767425 0.00817457 0.99993714 -0.09634251] [ 0. 0. 0. 1. ]] SLAMing on 10.616547614999998 meters Centerline goodness [0,1] 0.7796753228483808 Centerline is valid? [False, False] Translation: X:2.49, Y:0.09, Z:-0.10 [[ 9.99967151e-01 -1.02407595e-03 -8.04045118e-03 2.49338338e+00] [ 9.81259261e-04 9.99985328e-01 -5.32730004e-03 8.82694384e-02] [ 8.04578877e-03 5.31923528e-03 9.99953484e-01 -9.92978031e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.646547615 meters Centerline goodness [0,1] 0.755452577834508 Centerline is valid? [False, False] Translation: X:2.50, Y:0.10, Z:-0.11 [[ 0.99983123 0.0085615 -0.01625461 2.50147493] [-0.00831903 0.99985399 0.01492631 0.09741288] [ 0.01638003 -0.01478857 0.99975647 -0.11313166] [ 0. 0. 0. 1. ]] SLAMing on 10.676547614999999 meters Centerline goodness [0,1] 0.7229812984310398 Centerline is valid? [False, False] Translation: X:2.51, Y:0.11, Z:-0.12 [[ 0.99971149 0.01652863 -0.01742812 2.51054247] [-0.01611925 0.99959684 0.02337379 0.10588376] [ 0.01780743 -0.02308612 0.99957487 -0.11953587] [ 0. 0. 0. 1. ]] SLAMing on 10.706547614999998 meters Centerline goodness [0,1] 0.7238155297214302 Centerline is valid? [False, False] Translation: X:2.51, Y:0.11, Z:-0.12 [[ 0.99975391 0.01434207 -0.01692406 2.50692946] [-0.01401716 0.99971811 0.01916299 0.10914944] [ 0.01719412 -0.01892105 0.99967312 -0.11854516] [ 0. 0. 0. 1. ]] SLAMing on 10.736547615 meters Centerline goodness [0,1] 0.7062140645731977 Centerline is valid? [False, False] Translation: X:2.50, Y:0.11, Z:-0.11 [[ 9.99887659e-01 1.11584453e-02 -1.00079547e-02 2.50478279e+00] [-1.11492472e-02 9.99937370e-01 9.74401313e-04 1.08394780e-01] [ 1.00182007e-02 -8.62710687e-04 9.99949444e-01 -1.14147044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.766547614999999 meters Centerline goodness [0,1] 0.7207167102554115 Centerline is valid? [False, False] Translation: X:2.50, Y:0.10, Z:-0.11 [[ 9.99908476e-01 9.31172960e-03 -9.81490096e-03 2.49971741e+00] [-9.30838446e-03 9.99956601e-01 3.86450126e-04 1.01893960e-01] [ 9.81807352e-03 -2.95053885e-04 9.99951758e-01 -1.07109348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.796547614999998 meters Centerline goodness [0,1] 0.7207167102554115 Centerline is valid? [False, False] Translation: X:2.50, Y:0.10, Z:-0.11 [[ 9.99908476e-01 9.31172960e-03 -9.81490096e-03 2.49971741e+00] [-9.30838446e-03 9.99956601e-01 3.86450126e-04 1.01893960e-01] [ 9.81807352e-03 -2.95053885e-04 9.99951758e-01 -1.07109348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.826547614999999 meters Centerline goodness [0,1] 0.7272395599461159 Centerline is valid? [False, False] Translation: X:2.49, Y:0.09, Z:-0.10 [[ 9.99945405e-01 6.78282388e-03 -7.94866568e-03 2.49376630e+00] [-6.76345430e-03 9.99974099e-01 2.46118636e-03 9.31157726e-02] [ 7.96515359e-03 -2.40729155e-03 9.99965380e-01 -9.74734619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.856547614999998 meters Centerline goodness [0,1] 0.7498742243836996 Centerline is valid? [False, False] Translation: X:2.50, Y:0.09, Z:-0.10 [[ 9.99951710e-01 5.62714952e-03 -8.05680612e-03 2.49611807e+00] [-5.61107264e-03 9.99982224e-01 2.01665597e-03 9.31254831e-02] [ 8.06801093e-03 -1.97135127e-03 9.99965510e-01 -9.95463719e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.886547614999998 meters Centerline goodness [0,1] 0.7549542577595976 Centerline is valid? [False, False] Translation: X:2.51, Y:0.09, Z:-0.11 [[ 0.99994558 0.00445357 -0.00943391 2.51024884] [-0.00424504 0.99974875 0.02200928 0.09459751] [ 0.00952956 -0.02196803 0.99971326 -0.10906165] [ 0. 0. 0. 1. ]] SLAMing on 10.916547614999999 meters Centerline goodness [0,1] 0.733721122567128 Centerline is valid? [False, False] Translation: X:2.51, Y:0.10, Z:-0.12 [[ 0.99994794 0.00450625 -0.00915431 2.51150784] [-0.00435658 0.9998576 0.01630342 0.10222105] [ 0.00922647 -0.01626269 0.99982518 -0.11959449] [ 0. 0. 0. 1. ]] SLAMing on 10.946547614999998 meters Centerline goodness [0,1] 0.7228087539865831 Centerline is valid? [False, False] Translation: X:2.51, Y:0.11, Z:-0.13 [[ 0.99994739 0.0051564 -0.00886724 2.51097667] [-0.0050564 0.99992379 0.01126255 0.11058414] [ 0.00892464 -0.01121712 0.99989726 -0.12673927] [ 0. 0. 0. 1. ]] SLAMing on 10.976547614999998 meters Centerline goodness [0,1] 0.7117848813280285 Centerline is valid? [False, False] Translation: X:2.51, Y:0.11, Z:-0.13 [[ 0.99995604 0.00316444 -0.0088262 2.50796769] [-0.00310698 0.99997394 0.00651624 0.11346374] [ 0.00884659 -0.00648853 0.99993982 -0.12587908] [ 0. 0. 0. 1. ]] SLAMing on 11.006547614999999 meters Centerline goodness [0,1] 0.7016073447106503 Centerline is valid? [False, False] Translation: X:2.51, Y:0.11, Z:-0.12 [[ 0.99997848 0.00568055 -0.003282 2.50538867] [-0.00570836 0.99994735 -0.0085271 0.11086123] [ 0.00323339 0.00854565 0.99995826 -0.12276435] [ 0. 0. 0. 1. ]] SLAMing on 11.036547614999998 meters Centerline goodness [0,1] 0.7043154556735144 Centerline is valid? [False, False] Translation: X:2.50, Y:0.11, Z:-0.12 [[ 0.9999716 0.00654391 -0.00373936 2.50454198] [-0.00657168 0.99995056 -0.00746267 0.1084819 ] [ 0.00369034 0.00748704 0.99996516 -0.12037848] [ 0. 0. 0. 1. ]] SLAMing on 11.066547615 meters Centerline goodness [0,1] 0.7077457987251303 Centerline is valid? [False, False] Translation: X:2.51, Y:0.11, Z:-0.13 [[ 0.99996515 0.00681246 -0.00482622 2.51223269] [-0.0068403 0.99995993 -0.00577541 0.10982843] [ 0.00478669 0.00580822 0.99997168 -0.12541003] [ 0. 0. 0. 1. ]] SLAMing on 11.096547614999999 meters Centerline goodness [0,1] 0.7203509843667564 Centerline is valid? [False, False] Translation: X:2.52, Y:0.11, Z:-0.13 [[ 9.99993266e-01 -2.92597115e-03 -2.21515718e-03 2.51726466e+00] [ 2.93972660e-03 9.99976259e-01 6.23211408e-03 1.07222404e-01] [ 2.19686961e-03 -6.23858407e-03 9.99978127e-01 -1.30514003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.126547614999998 meters Centerline goodness [0,1] 0.7480601829963567 Centerline is valid? [False, False] Translation: X:2.52, Y:0.10, Z:-0.13 [[ 9.99984879e-01 -5.01262679e-03 -2.26169504e-03 2.51998629e+00] [ 5.02811434e-03 9.99963589e-01 6.89484196e-03 1.04557239e-01] [ 2.22705142e-03 -6.90610976e-03 9.99973673e-01 -1.30985411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.156547615 meters Centerline goodness [0,1] 0.7683968280374869 Centerline is valid? [False, False] Translation: X:2.52, Y:0.10, Z:-0.13 [[ 0.99997018 -0.0071359 -0.00295286 2.52411232] [ 0.00715483 0.99995361 0.0064491 0.10394302] [ 0.00290671 -0.00647004 0.99997484 -0.13274479] [ 0. 0. 0. 1. ]] SLAMing on 11.186547614999999 meters Centerline goodness [0,1] 0.8065265486725663 Centerline is valid? [False, False] Translation: X:2.53, Y:0.10, Z:-0.14 [[ 0.99994085 -0.01015259 -0.00390129 2.5298446 ] [ 0.01017104 0.99993705 0.00473826 0.10469161] [ 0.00385294 -0.00477766 0.99998116 -0.13595319] [ 0. 0. 0. 1. ]] SLAMing on 11.216547614999998 meters Centerline goodness [0,1] 0.8008001333555592 Centerline is valid? [False, False] Translation: X:2.53, Y:0.10, Z:-0.13 [[ 0.99995132 -0.00914752 -0.00369902 2.52807196] [ 0.00916661 0.99994458 0.00517737 0.10303642] [ 0.00365146 -0.00521103 0.99997976 -0.1347584 ] [ 0. 0. 0. 1. ]] SLAMing on 11.246547614999999 meters Centerline goodness [0,1] 0.742414550713352 Centerline is valid? [False, False] Translation: X:2.52, Y:0.10, Z:-0.13 [[ 9.99990903e-01 -1.16929389e-03 4.10199732e-03 2.52038787e+00] [ 1.18901794e-03 9.99987729e-01 -4.80926320e-03 1.01504445e-01] [-4.09632354e-03 4.81409680e-03 9.99980022e-01 -1.29640246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.276547614999998 meters Centerline goodness [0,1] 0.7214662593723966 Centerline is valid? [False, False] Translation: X:2.51, Y:0.10, Z:-0.12 [[ 9.99957990e-01 7.10529843e-03 5.79068179e-03 2.50504649e+00] [-7.10723180e-03 9.99974694e-01 3.13365909e-04 9.84547443e-02] [-5.78830869e-03 -3.54508462e-04 9.99983185e-01 -1.18481369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.306547614999998 meters Centerline goodness [0,1] 0.7185520613401489 Centerline is valid? [False, False] Translation: X:2.51, Y:0.10, Z:-0.12 [[ 9.99956807e-01 7.26106695e-03 5.80184627e-03 2.50601564e+00] [-7.25737000e-03 9.99973448e-01 -6.58002413e-04 9.96669385e-02] [-5.80647002e-03 6.15867847e-04 9.99982953e-01 -1.21030071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.336547614999999 meters Centerline goodness [0,1] 0.7274167987321711 Centerline is valid? [False, False] Translation: X:2.51, Y:0.10, Z:-0.13 [[ 9.99995505e-01 2.15129348e-03 -2.08836251e-03 2.51220922e+00] [-2.13596683e-03 9.99970973e-01 7.31377253e-03 1.00742888e-01] [ 2.10403596e-03 -7.30927898e-03 9.99971073e-01 -1.31954107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.366547614999998 meters Centerline goodness [0,1] 0.7547263819304122 Centerline is valid? [False, False] Translation: X:2.52, Y:0.11, Z:-0.14 [[ 9.99993012e-01 -1.64370544e-03 -3.35782137e-03 2.52475316e+00] [ 1.66810734e-03 9.99972128e-01 7.27735466e-03 1.06226289e-01] [ 3.34576595e-03 -7.28290501e-03 9.99967882e-01 -1.39028154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.396547614999998 meters Centerline goodness [0,1] 0.7899129670812399 Centerline is valid? [False, False] Translation: X:2.53, Y:0.11, Z:-0.14 [[ 0.99997816 -0.00539116 -0.00382242 2.53001043] [ 0.00541258 0.99996958 0.00561555 0.11158107] [ 0.00379203 -0.00563612 0.99997693 -0.14160671] [ 0. 0. 0. 1. ]] SLAMing on 11.426547614999999 meters Centerline goodness [0,1] 0.7899555972310323 Centerline is valid? [False, False] Translation: X:2.53, Y:0.11, Z:-0.14 [[ 0.99996384 -0.0078651 -0.00323486 2.52581764] [ 0.00787449 0.99996479 0.00289862 0.1095631 ] [ 0.00321195 -0.00292399 0.99999057 -0.13802616] [ 0. 0. 0. 1. ]] SLAMing on 11.456547614999998 meters Centerline goodness [0,1] 0.7783531124048365 Centerline is valid? [False, False] Translation: X:2.52, Y:0.10, Z:-0.13 [[ 0.99993827 -0.01035821 0.0040199 2.51791781] [ 0.01042987 0.99977936 -0.01823305 0.1044122 ] [-0.00383015 0.01827385 0.99982568 -0.13277486] [ 0. 0. 0. 1. ]] SLAMing on 11.486547615 meters Centerline goodness [0,1] 0.7615591548506417 Centerline is valid? [False, False] Translation: X:2.51, Y:0.10, Z:-0.13 [[ 0.9999564 -0.00848542 0.00389765 2.51458022] [ 0.00854755 0.99983206 -0.01621096 0.10071585] [-0.00375944 0.01624357 0.999861 -0.12820342] [ 0. 0. 0. 1. ]] SLAMing on 11.516547614999999 meters Centerline goodness [0,1] 0.7469097995545657 Centerline is valid? [False, False] Translation: X:2.52, Y:0.11, Z:-0.13 [[ 9.99994268e-01 -1.86565286e-03 2.82547496e-03 2.51920755e+00] [ 1.89432538e-03 9.99946394e-01 -1.01794132e-02 1.05069350e-01] [-2.80633225e-03 1.01847073e-02 9.99944197e-01 -1.31767958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.546547614999998 meters Centerline goodness [0,1] 0.73762990324448 Centerline is valid? [False, False] Translation: X:2.53, Y:0.11, Z:-0.14 [[ 9.99990299e-01 3.91031271e-03 2.02753675e-03 2.52503973e+00] [-3.90144896e-03 9.99982896e-01 -4.35736045e-03 1.10622671e-01] [-2.04454071e-03 4.34940785e-03 9.99988451e-01 -1.36665459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.576547614999999 meters Centerline goodness [0,1] 0.7075836877112638 Centerline is valid? [False, False] Translation: X:2.53, Y:0.12, Z:-0.14 [[ 9.99888223e-01 1.47946292e-02 2.15885783e-03 2.52773065e+00] [-1.48075072e-02 9.99871899e-01 6.07640700e-03 1.17033942e-01] [-2.06868309e-03 -6.10769510e-03 9.99979208e-01 -1.40357233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.606547614999998 meters Centerline goodness [0,1] 0.7064044266695886 Centerline is valid? [False, False] Translation: X:2.52, Y:0.12, Z:-0.14 [[ 0.9999216 0.01220297 0.00280639 2.523866 ] [-0.01221233 0.99991984 0.00334175 0.11607315] [-0.00276539 -0.00337576 0.99999048 -0.13741245] [ 0. 0. 0. 1. ]] SLAMing on 11.636547614999998 meters Centerline goodness [0,1] 0.7406922305205663 Centerline is valid? [False, False] Translation: X:2.52, Y:0.10, Z:-0.13 [[ 9.99993565e-01 1.10568891e-03 3.41291983e-03 2.52012761e+00] [-1.10034453e-03 9.99998166e-01 -1.56740664e-03 1.03307311e-01] [-3.41464663e-03 1.56364117e-03 9.99992948e-01 -1.26084946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.666547614999999 meters Centerline goodness [0,1] 0.7642067656581445 Centerline is valid? [False, False] Translation: X:2.52, Y:0.10, Z:-0.13 [[ 0.99998887 -0.00373732 0.00288011 2.52199891] [ 0.00375177 0.99998031 -0.00503038 0.09982887] [-0.00286125 0.00504113 0.9999832 -0.12591721] [ 0. 0. 0. 1. ]] SLAMing on 11.696547614999998 meters Centerline goodness [0,1] 0.791496071705212 Centerline is valid? [False, False] Translation: X:2.53, Y:0.10, Z:-0.13 [[ 9.99989208e-01 -4.24265217e-03 1.89300348e-03 2.52961786e+00] [ 4.24886049e-03 9.99985569e-01 -3.28773244e-03 1.02976830e-01] [-1.87902746e-03 3.29574007e-03 9.99992804e-01 -1.29842809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.726547614999998 meters Centerline goodness [0,1] 0.7740261879272008 Centerline is valid? [False, False] Translation: X:2.53, Y:0.11, Z:-0.13 [[ 9.99998112e-01 -1.47036407e-03 1.27079078e-03 2.53289366e+00] [ 1.47237217e-03 9.99997667e-01 -1.58070757e-03 1.09168535e-01] [-1.26846360e-03 1.58257567e-03 9.99997943e-01 -1.33146737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.756547614999999 meters Centerline goodness [0,1] 0.725778310888174 Centerline is valid? [False, False] Translation: X:2.54, Y:0.12, Z:-0.14 [[ 9.99980236e-01 6.28458709e-03 -1.76252575e-04 2.53610935e+00] [-6.28471403e-03 9.99979985e-01 -7.29159203e-04 1.19986086e-01] [ 1.71666583e-04 7.30252489e-04 9.99999719e-01 -1.42438063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.786547614999998 meters Centerline goodness [0,1] 0.7155446756425949 Centerline is valid? [False, False] Translation: X:2.54, Y:0.12, Z:-0.14 [[ 9.99971036e-01 7.59928817e-03 -4.22193209e-04 2.53531050e+00] [-7.59979832e-03 9.99970377e-01 -1.22014275e-03 1.20302308e-01] [ 4.12908486e-04 1.22331600e-03 9.99999167e-01 -1.42654602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.816547614999998 meters Centerline goodness [0,1] 0.7096879773074405 Centerline is valid? [False, False] Translation: X:2.53, Y:0.11, Z:-0.14 [[ 9.99922479e-01 1.24513043e-02 -3.61293249e-05 2.52638752e+00] [-1.24512501e-02 9.99921716e-01 1.23649327e-03 1.13670764e-01] [ 5.15224505e-05 -1.23594756e-03 9.99999235e-01 -1.36129388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.846547614999999 meters Centerline goodness [0,1] 0.7056060730182137 Centerline is valid? [False, False] Translation: X:2.52, Y:0.11, Z:-0.13 [[ 9.99909785e-01 1.34260885e-02 4.01820206e-04 2.52363858e+00] [-1.34269897e-02 9.99907137e-01 2.33111827e-03 1.12954946e-01] [-3.70485091e-04 -2.33630321e-03 9.99997202e-01 -1.33628228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.876547614999998 meters Centerline goodness [0,1] 0.7072734175842057 Centerline is valid? [False, False] Translation: X:2.53, Y:0.12, Z:-0.14 [[ 9.99881911e-01 1.53444378e-02 8.44325326e-04 2.52599088e+00] [-1.53486788e-02 9.99868317e-01 5.26934560e-03 1.19117634e-01] [-7.63358998e-04 -5.28168262e-03 9.99985760e-01 -1.36004819e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.906547615 meters Centerline goodness [0,1] 0.7007127178125254 Centerline is valid? [False, False] Translation: X:2.52, Y:0.12, Z:-0.15 [[ 0.99992208 0.00919269 0.00844617 2.52166721] [-0.00927966 0.99990373 0.01031605 0.12349919] [-0.00835053 -0.01039362 0.99991112 -0.14554468] [ 0. 0. 0. 1. ]] SLAMing on 11.936547614999999 meters Centerline goodness [0,1] 0.7139472824311077 Centerline is valid? [False, False] Translation: X:2.52, Y:0.12, Z:-0.15 [[ 0.99995455 0.00476246 0.00825877 2.52224339] [-0.00481295 0.99996978 0.00610467 0.12283496] [-0.00822944 -0.00614414 0.99994726 -0.14577181] [ 0. 0. 0. 1. ]] SLAMing on 11.966547614999998 meters Centerline goodness [0,1] 0.7456558257373392 Centerline is valid? [False, False] Translation: X:2.52, Y:0.12, Z:-0.14 [[ 9.99961423e-01 -2.29902964e-03 8.47748608e-03 2.51878844e+00] [ 2.28821632e-03 9.99996556e-01 1.28501338e-03 1.16008996e-01] [-8.48041117e-03 -1.26556548e-03 9.99963240e-01 -1.38910450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.996547614999999 meters Centerline goodness [0,1] 0.7436236070986381 Centerline is valid? [False, False] Translation: X:2.52, Y:0.11, Z:-0.14 [[ 9.99948926e-01 -5.47460331e-03 8.49558988e-03 2.51681254e+00] [ 5.48918993e-03 9.99983498e-01 -1.69459729e-03 1.12349279e-01] [-8.48617244e-03 1.74114465e-03 9.99962476e-01 -1.36221247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.026547614999998 meters Centerline goodness [0,1] 0.7441622115730866 Centerline is valid? [False, False] Translation: X:2.52, Y:0.11, Z:-0.14 [[ 0.9999504 -0.00591455 0.0080132 2.51923056] [ 0.00593614 0.99997881 -0.00267234 0.111083 ] [-0.00799723 0.00271978 0.99996432 -0.13882075] [ 0. 0. 0. 1. ]] SLAMing on 12.056547614999998 meters Centerline goodness [0,1] 0.7350916799735697 Centerline is valid? [False, False] Translation: X:2.52, Y:0.12, Z:-0.14 [[ 9.99966512e-01 -2.93109288e-03 7.64093797e-03 2.52258442e+00] [ 2.93828393e-03 9.99995251e-01 -9.30065209e-04 1.15323867e-01] [-7.63817557e-03 9.52485308e-04 9.99970375e-01 -1.43530573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.086547614999999 meters Centerline goodness [0,1] 0.7122738065995251 Centerline is valid? [False, False] Translation: X:2.52, Y:0.12, Z:-0.15 [[ 9.99961185e-01 5.08441439e-03 7.19562200e-03 2.52490206e+00] [-5.10092512e-03 9.99984395e-01 2.27806351e-03 1.22771071e-01] [-7.18392709e-03 -2.31467942e-03 9.99971516e-01 -1.51911125e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.116547614999998 meters Centerline goodness [0,1] 0.7109048723897912 Centerline is valid? [False, False] Translation: X:2.52, Y:0.12, Z:-0.15 [[ 9.99958577e-01 5.61911266e-03 7.16034911e-03 2.52446533e+00] [-5.63577773e-03 9.99981452e-01 2.30936180e-03 1.23082695e-01] [-7.14723974e-03 -2.34962027e-03 9.99971698e-01 -1.51763820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.146547614999998 meters Centerline goodness [0,1] 0.7149850647195486 Centerline is valid? [False, False] Translation: X:2.52, Y:0.12, Z:-0.15 [[ 9.99968108e-01 3.20696974e-03 7.31431121e-03 2.52167777e+00] [-3.21738972e-03 9.99993826e-01 1.41327904e-03 1.15338614e-01] [-7.30973371e-03 -1.43676696e-03 9.99972251e-01 -1.47505222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.176547614999999 meters Centerline goodness [0,1] 0.7277842452464105 Centerline is valid? [False, False] Translation: X:2.52, Y:0.11, Z:-0.15 [[ 9.99973587e-01 -1.31848356e-03 7.14748481e-03 2.52319122e+00] [ 1.33554142e-03 9.99996270e-01 -2.38230703e-03 1.12972277e-01] [-7.14431712e-03 2.39178987e-03 9.99971619e-01 -1.48645099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.206547614999998 meters Centerline goodness [0,1] 0.7388780367017911 Centerline is valid? [False, False] Translation: X:2.53, Y:0.12, Z:-0.16 [[ 9.99974092e-01 -3.32904951e-03 6.38221075e-03 2.53472266e+00] [ 3.33844181e-03 9.99993359e-01 -1.46154912e-03 1.20233531e-01] [-6.37730280e-03 1.48281789e-03 9.99978565e-01 -1.56758036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.236547614999997 meters Centerline goodness [0,1] 0.7452489183416398 Centerline is valid? [False, False] Translation: X:2.54, Y:0.12, Z:-0.16 [[ 0.99997233 -0.00441333 0.00598902 2.53661724] [ 0.00442895 0.99998682 -0.0025979 0.12372226] [-0.00597748 0.00262435 0.99997869 -0.15802031] [ 0. 0. 0. 1. ]] SLAMing on 12.266547614999999 meters Centerline goodness [0,1] 0.7470797779802834 Centerline is valid? [False, False] Translation: X:2.53, Y:0.12, Z:-0.15 [[ 9.99962978e-01 -6.51508771e-03 5.62104526e-03 2.53213770e+00] [ 6.52735227e-03 9.99976350e-01 -2.16631970e-03 1.16924232e-01] [-5.60679856e-03 2.20293004e-03 9.99981855e-01 -1.47958582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.296547614999998 meters Centerline goodness [0,1] 0.7389246709605153 Centerline is valid? [False, False] Translation: X:2.52, Y:0.11, Z:-0.14 [[ 0.99995411 -0.00530122 0.00797977 2.51808499] [ 0.00548875 0.99970487 -0.02366533 0.10862861] [-0.00785196 0.02370804 0.99968809 -0.1417531 ] [ 0. 0. 0. 1. ]] SLAMing on 12.326547614999999 meters Centerline goodness [0,1] 0.7389141797336032 Centerline is valid? [False, False] Translation: X:2.52, Y:0.10, Z:-0.14 [[ 0.99995708 -0.00424054 0.00823802 2.51634961] [ 0.00442086 0.9997483 -0.02199527 0.10480021] [-0.00814267 0.02203074 0.99972413 -0.13996903] [ 0. 0. 0. 1. ]] SLAMing on 12.356547614999998 meters Centerline goodness [0,1] 0.7395772084558309 Centerline is valid? [False, False] Translation: X:2.52, Y:0.10, Z:-0.14 [[ 9.99968698e-01 -1.22835153e-03 7.81627670e-03 2.51869566e+00] [ 1.36594638e-03 9.99843775e-01 -1.76227123e-02 1.03977665e-01] [-7.79340871e-03 1.76328373e-02 9.99814156e-01 -1.40602174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.386547614999998 meters Centerline goodness [0,1] 0.7336273612382458 Centerline is valid? [False, False] Translation: X:2.53, Y:0.11, Z:-0.15 [[ 0.99997 0.00365666 0.00682877 2.53044544] [-0.00359718 0.99995565 -0.00870343 0.1087296 ] [-0.00686029 0.0086786 0.99993881 -0.14704902] [ 0. 0. 0. 1. ]] SLAMing on 12.416547614999999 meters Centerline goodness [0,1] 0.7528621413575927 Centerline is valid? [False, False] Translation: X:2.54, Y:0.11, Z:-0.15 [[ 9.99985463e-01 -2.16371018e-03 4.93884072e-03 2.54140219e+00] [ 2.21770976e-03 9.99937538e-01 -1.09544913e-02 1.06061196e-01] [-4.91482989e-03 1.09652850e-02 9.99927801e-01 -1.51652008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.446547614999998 meters Centerline goodness [0,1] 0.7644832358839646 Centerline is valid? [False, False] Translation: X:2.54, Y:0.10, Z:-0.15 [[ 0.99997407 -0.00555563 0.00458272 2.5414747 ] [ 0.00561764 0.9998913 -0.01363202 0.10067552] [-0.00450649 0.01365741 0.99989658 -0.15046135] [ 0. 0. 0. 1. ]] SLAMing on 12.476547614999998 meters Centerline goodness [0,1] 0.778106677292651 Centerline is valid? [False, False] Translation: X:2.54, Y:0.10, Z:-0.15 [[ 0.99995217 -0.00864167 0.00458054 2.54031272] [ 0.00871373 0.99983477 -0.01595327 0.09529079] [-0.00444192 0.01599242 0.99986225 -0.14853539] [ 0. 0. 0. 1. ]] SLAMing on 12.506547614999999 meters Centerline goodness [0,1] 0.7926745582432664 Centerline is valid? [False, False] Translation: X:2.54, Y:0.09, Z:-0.15 [[ 0.99994866 -0.00909268 0.00447112 2.54246732] [ 0.00916216 0.99983364 -0.01577141 0.09244608] [-0.00432697 0.01581157 0.99986563 -0.15078637] [ 0. 0. 0. 1. ]] SLAMing on 12.536547614999998 meters Centerline goodness [0,1] 0.7869716812654137 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:-0.15 [[ 0.99998485 -0.00352475 0.00422814 2.54569632] [ 0.00355566 0.99996685 -0.00732534 0.09241112] [-0.00420218 0.00734026 0.99996423 -0.15078812] [ 0. 0. 0. 1. ]] SLAMing on 12.566547614999998 meters Centerline goodness [0,1] 0.7750747869278094 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:-0.15 [[ 9.99993764e-01 -1.44433384e-03 3.22283565e-03 2.54873819e+00] [ 1.45107796e-03 9.99996761e-01 -2.09124763e-03 9.05346089e-02] [-3.21980475e-03 2.09591118e-03 9.99992620e-01 -1.48196581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.596547614999999 meters Centerline goodness [0,1] 0.7737437292747216 Centerline is valid? [False, False] Translation: X:2.55, Y:0.09, Z:-0.15 [[ 9.99996441e-01 -7.09490118e-04 2.57192928e-03 2.54863517e+00] [ 7.12643387e-04 9.99998995e-01 -1.22532371e-03 8.80319435e-02] [-2.57105734e-03 1.22715221e-03 9.99995942e-01 -1.46305091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.626547614999998 meters Centerline goodness [0,1] 0.7829943066403456 Centerline is valid? [False, False] Translation: X:2.55, Y:0.08, Z:-0.15 [[ 9.99989326e-01 -3.90245029e-03 2.47358957e-03 2.54828425e+00] [ 3.91414091e-03 9.99981110e-01 -4.73908575e-03 8.49690606e-02] [-2.45504880e-03 4.74871715e-03 9.99985711e-01 -1.46277945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.656547614999997 meters Centerline goodness [0,1] 0.7959737746584641 Centerline is valid? [False, False] Translation: X:2.55, Y:0.08, Z:-0.15 [[ 0.99997398 -0.00670445 0.00266446 2.54713796] [ 0.00672209 0.99995517 -0.00666823 0.07801511] [-0.00261964 0.00668596 0.99997422 -0.14500921] [ 0. 0. 0. 1. ]] SLAMing on 12.686547614999999 meters Centerline goodness [0,1] 0.8039869034856431 Centerline is valid? [False, False] Translation: X:2.55, Y:0.07, Z:-0.14 [[ 9.99974133e-01 -6.75427393e-03 2.47235033e-03 2.54716295e+00] [ 6.76515734e-03 9.99967345e-01 -4.42047776e-03 7.35637136e-02] [-2.44241248e-03 4.43708925e-03 9.99987173e-01 -1.42158277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.716547614999998 meters Centerline goodness [0,1] 0.8039869034856431 Centerline is valid? [False, False] Translation: X:2.55, Y:0.07, Z:-0.14 [[ 9.99974133e-01 -6.75427393e-03 2.47235033e-03 2.54716295e+00] [ 6.76515734e-03 9.99967345e-01 -4.42047776e-03 7.35637136e-02] [-2.44241248e-03 4.43708925e-03 9.99987173e-01 -1.42158277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.746547614999999 meters Centerline goodness [0,1] 0.8501667391619545 Centerline is valid? [False, False] Translation: X:2.55, Y:0.07, Z:-0.14 [[ 9.99959905e-01 -8.40680798e-03 3.08443584e-03 2.54747460e+00] [ 8.40825223e-03 9.99964546e-01 -4.55571616e-04 6.88967426e-02] [-3.08049658e-03 4.81488064e-04 9.99995139e-01 -1.36567328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.776547614999998 meters Centerline goodness [0,1] 0.8568603501424998 Centerline is valid? [False, False] Translation: X:2.55, Y:0.07, Z:-0.14 [[ 9.99956261e-01 -8.91077553e-03 2.84156777e-03 2.54842312e+00] [ 8.90931076e-03 9.99960172e-01 5.27720673e-04 6.69654693e-02] [-2.84615699e-03 -5.02381181e-04 9.99995823e-01 -1.35630680e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.806547614999998 meters Centerline goodness [0,1] 0.8594944836845485 Centerline is valid? [False, False] Translation: X:2.55, Y:0.06, Z:-0.14 [[ 9.99945619e-01 -1.02162705e-02 2.09446788e-03 2.55189232e+00] [ 1.02141821e-02 9.99947328e-01 1.00537845e-03 6.41373420e-02] [-2.10462878e-03 -9.83930504e-04 9.99997301e-01 -1.36323719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.836547614999999 meters Centerline goodness [0,1] 0.8682424457034938 Centerline is valid? [False, False] Translation: X:2.55, Y:0.06, Z:-0.13 [[ 9.99914721e-01 -1.29185958e-02 1.91339366e-03 2.55072623e+00] [ 1.29209434e-02 9.99915777e-01 -1.21969657e-03 5.76585537e-02] [-1.89747574e-03 1.24431540e-03 9.99997426e-01 -1.34236826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.866547614999998 meters Centerline goodness [0,1] 0.8735019973368842 Centerline is valid? [False, False] Translation: X:2.55, Y:0.05, Z:-0.13 [[ 9.99917983e-01 -1.27076615e-02 1.59426945e-03 2.55132294e+00] [ 1.27078720e-02 9.99919244e-01 -1.21962608e-04 5.35441994e-02] [-1.59259085e-03 1.42212377e-04 9.99998722e-01 -1.33440864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.896547614999998 meters Centerline goodness [0,1] 0.8726093907276926 Centerline is valid? [False, False] Translation: X:2.55, Y:0.05, Z:-0.13 [[ 9.99917606e-01 -1.27113810e-02 1.78933306e-03 2.55165068e+00] [ 1.27122800e-02 9.99919075e-01 -4.91979306e-04 5.39704222e-02] [-1.78293452e-03 5.14685273e-04 9.99998278e-01 -1.34854301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.926547614999999 meters Centerline goodness [0,1] 0.864560808836421 Centerline is valid? [False, False] Translation: X:2.56, Y:0.06, Z:-0.14 [[ 9.99937132e-01 -1.10751615e-02 1.75306627e-03 2.55661880e+00] [ 1.10764895e-02 9.99938373e-01 -7.49598980e-04 6.48219585e-02] [-1.74465630e-03 7.68969674e-04 9.99998182e-01 -1.42905092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.956547614999998 meters Centerline goodness [0,1] 0.8567440789663012 Centerline is valid? [False, False] Translation: X:2.56, Y:0.07, Z:-0.15 [[ 9.99986556e-01 -5.15991530e-03 5.12350838e-04 2.56176457e+00] [ 5.15729632e-03 9.99974262e-01 4.98780184e-03 7.06278643e-02] [-5.38074286e-04 -4.98509244e-03 9.99987430e-01 -1.46011056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.986547614999997 meters Centerline goodness [0,1] 0.8136792452830188 Centerline is valid? [False, False] Translation: X:2.56, Y:0.08, Z:-0.15 [[ 9.99998939e-01 -3.83975350e-04 -1.40535771e-03 2.56456001e+00] [ 3.88078581e-04 9.99995660e-01 2.92059880e-03 8.10529330e-02] [ 1.40423017e-03 -2.92114109e-03 9.99994748e-01 -1.54090988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.016547614999999 meters Centerline goodness [0,1] 0.7831612847571671 Centerline is valid? [False, False] Translation: X:2.56, Y:0.08, Z:-0.15 [[ 9.99999447e-01 9.75034655e-04 -3.93544493e-04 2.55504040e+00] [-9.75085598e-04 9.99999516e-01 -1.29275084e-04 7.88256549e-02] [ 3.93418255e-04 1.29658752e-04 9.99999914e-01 -1.50393450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.046547614999998 meters Centerline goodness [0,1] 0.7758506629850146 Centerline is valid? [False, False] Translation: X:2.55, Y:0.07, Z:-0.14 [[ 9.99997840e-01 2.01082330e-03 -5.25945954e-04 2.55214503e+00] [-2.00914915e-03 9.99992975e-01 3.16450583e-03 7.38231261e-02] [ 5.32305521e-04 -3.16344229e-03 9.99994855e-01 -1.43458244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.076547614999997 meters Centerline goodness [0,1] 0.7917489199782566 Centerline is valid? [False, False] Translation: X:2.55, Y:0.07, Z:-0.14 [[ 9.99993275e-01 3.59973120e-03 7.01602084e-04 2.54685594e+00] [-3.60351001e-03 9.99978594e-01 5.46125605e-03 7.45465080e-02] [-6.81928012e-04 -5.46374755e-03 9.99984841e-01 -1.38411275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.106547614999998 meters Centerline goodness [0,1] 0.8013565891472868 Centerline is valid? [False, False] Translation: X:2.55, Y:0.08, Z:-0.14 [[ 9.99995613e-01 2.78244549e-03 1.01592817e-03 2.54762915e+00] [-2.78676482e-03 9.99986978e-01 4.27524672e-03 7.81552217e-02] [-1.00401930e-03 -4.27805911e-03 9.99990345e-01 -1.40508017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.136547614999998 meters Centerline goodness [0,1] 0.8169919763273203 Centerline is valid? [False, False] Translation: X:2.55, Y:0.08, Z:-0.14 [[ 9.99999300e-01 1.10507160e-03 4.21771350e-04 2.55129372e+00] [-1.10647422e-03 9.99993810e-01 3.33993382e-03 7.89435538e-02] [-4.18077874e-04 -3.34039817e-03 9.99994333e-01 -1.42855532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.166547614999999 meters Centerline goodness [0,1] 0.8421414060488139 Centerline is valid? [False, False] Translation: X:2.56, Y:0.08, Z:-0.15 [[ 9.99996568e-01 -2.56986061e-03 5.10490594e-04 2.55506297e+00] [ 2.56976880e-03 9.99996682e-01 1.80425545e-04 7.60307968e-02] [-5.10952569e-04 -1.79113083e-04 9.99999853e-01 -1.47372196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.196547614999998 meters Centerline goodness [0,1] 0.8375980601911283 Centerline is valid? [False, False] Translation: X:2.56, Y:0.07, Z:-0.15 [[ 9.99999884e-01 4.71712310e-04 1.01930506e-04 2.55687879e+00] [-4.72168598e-04 9.99989656e-01 4.52379532e-03 7.45496657e-02] [-9.97955218e-05 -4.52384292e-03 9.99989762e-01 -1.47069776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.226547614999998 meters Centerline goodness [0,1] 0.8225875381064988 Centerline is valid? [False, False] Translation: X:2.55, Y:0.08, Z:-0.15 [[ 9.99998936e-01 1.25016880e-03 7.52187164e-04 2.55481308e+00] [-1.25280473e-03 9.99993041e-01 3.51414867e-03 7.76490480e-02] [-7.47788650e-04 -3.51508727e-03 9.99993542e-01 -1.47942795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.256547614999999 meters Centerline goodness [0,1] 0.7746398840810296 Centerline is valid? [False, False] Translation: X:2.55, Y:0.08, Z:-0.15 [[ 9.99996391e-01 2.61067741e-03 6.33976027e-04 2.55360090e+00] [-2.61182263e-03 9.99994947e-01 1.81235262e-03 8.19740947e-02] [-6.29241356e-04 -1.81400191e-03 9.99998157e-01 -1.49411417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.286547614999998 meters Centerline goodness [0,1] 0.7793866636322258 Centerline is valid? [False, False] Translation: X:2.55, Y:0.08, Z:-0.15 [[ 9.99996750e-01 2.53359595e-03 2.84303580e-04 2.55440557e+00] [-2.53394028e-03 9.99996049e-01 1.21739913e-03 8.23681255e-02] [-2.81218060e-04 -1.21811558e-03 9.99999219e-01 -1.49970722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.316547614999998 meters Centerline goodness [0,1] 0.7696427029050183 Centerline is valid? [False, False] Translation: X:2.55, Y:0.08, Z:-0.15 [[ 9.99999805e-01 -6.22210358e-04 5.38663359e-05 2.55390671e+00] [ 6.22332430e-04 9.99997169e-01 -2.29665231e-03 7.83405305e-02] [-5.24371826e-05 2.29668538e-03 9.99997361e-01 -1.49548925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.346547614999999 meters Centerline goodness [0,1] 0.7888624353986412 Centerline is valid? [False, False] Translation: X:2.55, Y:0.07, Z:-0.15 [[ 9.99999699e-01 -6.97184659e-04 -3.39258614e-04 2.55471632e+00] [ 6.96827210e-04 9.99999203e-01 -1.05259905e-03 7.24501663e-02] [ 3.39992199e-04 1.05236232e-03 9.99999388e-01 -1.48598009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.376547614999998 meters Centerline goodness [0,1] 0.8446999390297012 Centerline is valid? [False, False] Translation: X:2.56, Y:0.07, Z:-0.15 [[ 9.99974588e-01 -7.06267581e-03 -9.70221138e-04 2.56351600e+00] [ 7.06350113e-03 9.99974692e-01 8.49876763e-04 6.65392914e-02] [ 9.64194180e-04 -8.56708324e-04 9.99999168e-01 -1.46752696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.406547614999997 meters Centerline goodness [0,1] 0.864449681417474 Centerline is valid? [False, False] Translation: X:2.57, Y:0.07, Z:-0.15 [[ 9.99959734e-01 -8.89819619e-03 -1.16337704e-03 2.56687670e+00] [ 8.89877043e-03 9.99960285e-01 4.89358453e-04 6.72825427e-02] [ 1.15897643e-03 -4.99691374e-04 9.99999204e-01 -1.48888226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.436547614999999 meters Centerline goodness [0,1] 0.8625748940523162 Centerline is valid? [False, False] Translation: X:2.57, Y:0.07, Z:-0.15 [[ 9.99924649e-01 -1.21496533e-02 -1.75587466e-03 2.57265423e+00] [ 1.21506657e-02 9.99926017e-01 5.67016047e-04 6.57429190e-02] [ 1.74885570e-03 -5.88308367e-04 9.99998298e-01 -1.50899494e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.466547614999998 meters Centerline goodness [0,1] 0.867973044866111 Centerline is valid? [False, False] Translation: X:2.57, Y:0.06, Z:-0.15 [[ 9.99896317e-01 -1.42974525e-02 -1.71434930e-03 2.56912170e+00] [ 1.42953551e-02 9.99897060e-01 -1.22949863e-03 5.74329884e-02] [ 1.73175153e-03 1.20486392e-03 9.99997775e-01 -1.46750193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.496547614999997 meters Centerline goodness [0,1] 0.872899471527819 Centerline is valid? [False, False] Translation: X:2.57, Y:0.05, Z:-0.14 [[ 9.99914786e-01 -1.29349866e-02 -1.76263182e-03 2.56664799e+00] [ 1.29363257e-02 9.99916041e-01 7.50401108e-04 5.22143042e-02] [ 1.75277740e-03 -7.73139143e-04 9.99998165e-01 -1.43050971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.526547614999998 meters Centerline goodness [0,1] 0.871890768774117 Centerline is valid? [False, False] Translation: X:2.56, Y:0.05, Z:-0.14 [[ 9.99947992e-01 -1.01738259e-02 -7.11187908e-04 2.56104067e+00] [ 1.01749891e-02 9.99946870e-01 1.65144981e-03 5.06764207e-02] [ 6.94348559e-04 -1.65860025e-03 9.99998383e-01 -1.41126182e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.556547614999998 meters Centerline goodness [0,1] 0.8651416765053128 Centerline is valid? [False, False] Translation: X:2.56, Y:0.05, Z:-0.14 [[ 9.99977122e-01 -6.66032571e-03 -1.18139806e-03 2.56254481e+00] [ 6.66714930e-03 9.99960550e-01 5.86914969e-03 4.98704450e-02] [ 1.14226100e-03 -5.87689197e-03 9.99982079e-01 -1.41010666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.586547614999999 meters Centerline goodness [0,1] 0.8651368878194783 Centerline is valid? [False, False] Translation: X:2.57, Y:0.06, Z:-0.15 [[ 9.99985614e-01 -5.00495310e-03 -1.92905943e-03 2.56802744e+00] [ 5.01825810e-03 9.99963221e-01 6.95514521e-03 5.50171969e-02] [ 1.89417830e-03 -6.96472567e-03 9.99973952e-01 -1.46468827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.616547614999998 meters Centerline goodness [0,1] 0.8626443027935258 Centerline is valid? [False, False] Translation: X:2.57, Y:0.06, Z:-0.15 [[ 9.99981893e-01 -5.65634523e-03 -2.05389190e-03 2.56944631e+00] [ 5.66771981e-03 9.99968397e-01 5.57512994e-03 5.80632591e-02] [ 2.02229213e-03 -5.58666988e-03 9.99982350e-01 -1.48615577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.646547614999998 meters Centerline goodness [0,1] 0.8639114087651275 Centerline is valid? [False, False] Translation: X:2.57, Y:0.06, Z:-0.15 [[ 9.99977649e-01 -6.21531762e-03 -2.46387480e-03 2.57069747e+00] [ 6.22831959e-03 9.99966532e-01 5.30497046e-03 5.86203625e-02] [ 2.43082026e-03 -5.32019769e-03 9.99982893e-01 -1.48738395e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.676547614999999 meters Centerline goodness [0,1] 0.8661394258933802 Centerline is valid? [False, False] Translation: X:2.57, Y:0.06, Z:-0.15 [[ 9.99977688e-01 -6.29577149e-03 -2.23316068e-03 2.57064871e+00] [ 6.30570926e-03 9.99970122e-01 4.47132219e-03 6.07940193e-02] [ 2.20494354e-03 -4.48530408e-03 9.99987510e-01 -1.50066049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.706547614999998 meters Centerline goodness [0,1] 0.8486935797948092 Centerline is valid? [False, False] Translation: X:2.57, Y:0.07, Z:-0.16 [[ 9.99992463e-01 -3.19616444e-03 -2.20412932e-03 2.57292768e+00] [ 3.20664026e-03 9.99983502e-01 4.76577094e-03 6.80433853e-02] [ 2.18886077e-03 -4.77280287e-03 9.99986215e-01 -1.56401738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.736547614999997 meters Centerline goodness [0,1] 0.8107262828680644 Centerline is valid? [False, False] Translation: X:2.57, Y:0.07, Z:-0.15 [[ 9.99997073e-01 -1.13282610e-03 -2.13784467e-03 2.56898993e+00] [ 1.14473687e-03 9.99983785e-01 5.57841623e-03 6.74868610e-02] [ 2.13149063e-03 -5.58084717e-03 9.99982155e-01 -1.52927410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.766547614999999 meters Centerline goodness [0,1] 0.7957083042568039 Centerline is valid? [False, False] Translation: X:2.56, Y:0.07, Z:-0.15 [[ 9.99997227e-01 -1.71076363e-03 -1.61867646e-03 2.56297636e+00] [ 1.71541210e-03 9.99994397e-01 2.87475941e-03 6.68822135e-02] [ 1.61374936e-03 -2.87752814e-03 9.99994558e-01 -1.49478492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.796547614999998 meters Centerline goodness [0,1] 0.7869253626988288 Centerline is valid? [False, False] Translation: X:2.56, Y:0.07, Z:-0.15 [[ 9.99998395e-01 -8.90220652e-04 -1.55455250e-03 2.56101143e+00] [ 8.95830165e-04 9.99993077e-01 3.61148196e-03 6.61033821e-02] [ 1.55132672e-03 -3.61286878e-03 9.99992270e-01 -1.47162713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.826547614999997 meters Centerline goodness [0,1] 0.7866364270760642 Centerline is valid? [False, False] Translation: X:2.56, Y:0.07, Z:-0.15 [[ 9.99998692e-01 -9.17576986e-04 -1.33228857e-03 2.56038260e+00] [ 9.21123651e-04 9.99996028e-01 2.66391583e-03 6.96673676e-02] [ 1.32983893e-03 -2.66513955e-03 9.99995564e-01 -1.47686312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.856547614999998 meters Centerline goodness [0,1] 0.7981222013577929 Centerline is valid? [False, False] Translation: X:2.56, Y:0.07, Z:-0.15 [[ 9.99997997e-01 -1.82887898e-03 -8.13069663e-04 2.56128705e+00] [ 1.83045676e-03 9.99996435e-01 1.94403761e-03 7.39127629e-02] [ 8.09511355e-04 -1.94552201e-03 9.99997780e-01 -1.49690845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.886547614999998 meters Centerline goodness [0,1] 0.8134830163631641 Centerline is valid? [False, False] Translation: X:2.56, Y:0.07, Z:-0.15 [[ 9.99995462e-01 -2.77974685e-03 -1.16123993e-03 2.56322949e+00] [ 2.78199475e-03 9.99994251e-01 1.93866997e-03 7.35652402e-02] [ 1.15584424e-03 -1.94189174e-03 9.99997447e-01 -1.50293032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.916547614999997 meters Centerline goodness [0,1] 0.8338851135505605 Centerline is valid? [False, False] Translation: X:2.57, Y:0.07, Z:-0.15 [[ 9.99992416e-01 -3.65449342e-03 -1.34651129e-03 2.56514840e+00] [ 3.65786577e-03 9.99990158e-01 2.51061827e-03 7.04836045e-02] [ 1.33732300e-03 -2.51552459e-03 9.99995942e-01 -1.50880325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.946547614999998 meters Centerline goodness [0,1] 0.8301881323013596 Centerline is valid? [False, False] Translation: X:2.56, Y:0.07, Z:-0.15 [[ 9.99994829e-01 -3.04141255e-03 -1.04446883e-03 2.56364451e+00] [ 3.04479133e-03 9.99990088e-01 3.24871342e-03 6.89711382e-02] [ 1.03457780e-03 -3.25187681e-03 9.99994177e-01 -1.49655503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.976547614999998 meters Centerline goodness [0,1] 0.7927166830055936 Centerline is valid? [False, False] Translation: X:2.56, Y:0.07, Z:-0.15 [[ 9.99999706e-01 6.53337023e-04 -4.01425199e-04 2.55742545e+00] [-6.51727147e-04 9.99991797e-01 3.99752788e-03 7.16066677e-02] [ 4.04033639e-04 -3.99726509e-03 9.99991929e-01 -1.46903890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.006547614999999 meters Centerline goodness [0,1] 0.7569290225824128 Centerline is valid? [False, False] Translation: X:2.56, Y:0.08, Z:-0.15 [[ 9.99998200e-01 1.89453090e-03 -1.04550443e-04 2.55580504e+00] [-1.89431507e-03 9.99996151e-01 2.02723259e-03 7.61060010e-02] [ 1.08390695e-04 -2.02703089e-03 9.99997940e-01 -1.49253360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.036547614999998 meters Centerline goodness [0,1] 0.7422763758156725 Centerline is valid? [False, False] Translation: X:2.56, Y:0.08, Z:-0.16 [[ 9.99995808e-01 2.30563785e-03 -1.75149984e-03 2.55887196e+00] [-2.30930200e-03 9.99995143e-01 -2.09287236e-03 7.87529373e-02] [ 1.74666593e-03 2.09690833e-03 9.99996276e-01 -1.55821236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.066547614999998 meters Centerline goodness [0,1] 0.7388802128521025 Centerline is valid? [False, False] Translation: X:2.56, Y:0.08, Z:-0.16 [[ 9.99995360e-01 1.98777122e-03 -2.30834700e-03 2.56111225e+00] [-1.99494301e-03 9.99993178e-01 -3.10875885e-03 7.89693214e-02] [ 2.30215175e-03 3.11334944e-03 9.99992504e-01 -1.58016029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.096547614999999 meters Centerline goodness [0,1] 0.7415276105281265 Centerline is valid? [False, False] Translation: X:2.57, Y:0.09, Z:-0.16 [[ 9.99989855e-01 2.24591028e-03 -3.90470133e-03 2.56968522e+00] [-2.25473433e-03 9.99994911e-01 -2.25692030e-03 8.50186469e-02] [ 3.89961262e-03 2.26570147e-03 9.99989830e-01 -1.63392292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.126547614999998 meters Centerline goodness [0,1] 0.7540509095036749 Centerline is valid? [False, False] Translation: X:2.58, Y:0.09, Z:-0.17 [[ 0.99997864 0.00411 -0.00508293 2.57981359] [-0.0040952 0.99998735 0.00291917 0.09217606] [ 0.00509487 -0.0028983 0.99998282 -0.1676747 ] [ 0. 0. 0. 1. ]] SLAMing on 14.156547614999997 meters Centerline goodness [0,1] 0.763974979479777 Centerline is valid? [False, False] Translation: X:2.58, Y:0.09, Z:-0.17 [[ 9.99980961e-01 3.24918307e-03 -5.24596121e-03 2.58120688e+00] [-3.23626419e-03 9.99991715e-01 2.46924670e-03 9.32217948e-02] [ 5.25394078e-03 -2.45222237e-03 9.99983191e-01 -1.68547795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.186547614999999 meters Centerline goodness [0,1] 0.7651215134334312 Centerline is valid? [False, False] Translation: X:2.58, Y:0.09, Z:-0.16 [[ 9.99988663e-01 -2.23609678e-04 -4.75647383e-03 2.57816801e+00] [ 2.42438703e-04 9.99992136e-01 3.95840189e-03 8.54821098e-02] [ 4.75555129e-03 -3.95951017e-03 9.99980853e-01 -1.58586531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.216547614999998 meters Centerline goodness [0,1] 0.7842597372798715 Centerline is valid? [False, False] Translation: X:2.57, Y:0.08, Z:-0.15 [[ 9.99988338e-01 -2.15957669e-03 -4.31974530e-03 2.57278792e+00] [ 2.17355284e-03 9.99992411e-01 3.23333642e-03 7.94856837e-02] [ 4.31272988e-03 -3.24268791e-03 9.99985443e-01 -1.51578358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.246547614999997 meters Centerline goodness [0,1] 0.7653520881164811 Centerline is valid? [False, False] Translation: X:2.57, Y:0.07, Z:-0.14 [[ 0.99998395 -0.00398624 0.0040257 2.56904823] [ 0.00402229 0.99995154 -0.00898509 0.07015604] [-0.00398969 0.00900114 0.99995153 -0.14209709] [ 0. 0. 0. 1. ]] SLAMing on 14.276547614999998 meters Centerline goodness [0,1] 0.7715753722894714 Centerline is valid? [False, False] Translation: X:2.57, Y:0.07, Z:-0.14 [[ 9.99989170e-01 5.93135874e-04 4.61602084e-03 2.56814103e+00] [-5.77458491e-04 9.99994064e-01 -3.39689019e-03 6.76752336e-02] [-4.61800826e-03 3.39418784e-03 9.99983577e-01 -1.41626877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.306547614999998 meters Centerline goodness [0,1] 0.7683070809456619 Centerline is valid? [False, False] Translation: X:2.57, Y:0.07, Z:-0.15 [[ 9.99985445e-01 2.97934485e-03 4.49811919e-03 2.57242505e+00] [-2.97575381e-03 9.99995249e-01 -8.04824934e-04 7.13145690e-02] [-4.50049567e-03 7.91427924e-04 9.99989560e-01 -1.46496906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.336547614999997 meters Centerline goodness [0,1] 0.7909923400334044 Centerline is valid? [False, False] Translation: X:2.58, Y:0.07, Z:-0.15 [[ 9.99992531e-01 3.99479154e-04 3.84419798e-03 2.57813372e+00] [-3.91499093e-04 9.99997768e-01 -2.07640013e-03 7.24898978e-02] [-3.84501888e-03 2.07487962e-03 9.99990455e-01 -1.50530464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.366547614999998 meters Centerline goodness [0,1] 0.7980736252429405 Centerline is valid? [False, False] Translation: X:2.59, Y:0.08, Z:-0.16 [[ 9.99998140e-01 -3.44264112e-04 1.89776019e-03 2.58930653e+00] [ 3.47620245e-04 9.99998376e-01 -1.76842439e-03 7.82258548e-02] [-1.89714831e-03 1.76908080e-03 9.99996636e-01 -1.57724543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.396547614999998 meters Centerline goodness [0,1] 0.7857796852646638 Centerline is valid? [False, False] Translation: X:2.59, Y:0.08, Z:-0.16 [[ 9.99998714e-01 -1.18687416e-07 1.60398339e-03 2.58940922e+00] [ 3.78097872e-06 9.99997393e-01 -2.28324481e-03 7.97033404e-02] [-1.60397894e-03 2.28324794e-03 9.99996107e-01 -1.57880671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.426547614999999 meters Centerline goodness [0,1] 0.756395802619027 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.15 [[ 9.99998254e-01 5.74167614e-04 1.77807531e-03 2.58309263e+00] [-5.65023718e-04 9.99986637e-01 -5.13882019e-03 7.79023629e-02] [-1.78100209e-03 5.13780657e-03 9.99985215e-01 -1.54984061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.456547614999998 meters Centerline goodness [0,1] 0.7499491648511256 Centerline is valid? [False, False] Translation: X:2.58, Y:0.08, Z:-0.15 [[ 9.99996765e-01 1.70107418e-03 1.89111067e-03 2.58067658e+00] [-1.69395827e-03 9.99991504e-01 -3.75807713e-03 7.56847927e-02] [-1.89748737e-03 3.75486151e-03 9.99991150e-01 -1.51907404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.486547614999997 meters Centerline goodness [0,1] 0.7545125307837173 Centerline is valid? [False, False] Translation: X:2.58, Y:0.07, Z:-0.15 [[ 9.99995837e-01 2.17498859e-03 1.89613219e-03 2.57906403e+00] [-2.17348329e-03 9.99997322e-01 -7.95579732e-04 7.08225570e-02] [-1.89785749e-03 7.91455208e-04 9.99997886e-01 -1.46794044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.516547614999999 meters Centerline goodness [0,1] 0.7904987845239141 Centerline is valid? [False, False] Translation: X:2.58, Y:0.06, Z:-0.15 [[ 9.99994548e-01 -2.51515683e-03 2.13944624e-03 2.58032692e+00] [ 2.52164608e-03 9.99992212e-01 -3.03587198e-03 6.37517083e-02] [-2.13179388e-03 3.04125035e-03 9.99993103e-01 -1.46870218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.546547614999998 meters Centerline goodness [0,1] 0.8156744226988645 Centerline is valid? [False, False] Translation: X:2.58, Y:0.06, Z:-0.15 [[ 9.99993954e-01 -2.79140111e-03 2.07353587e-03 2.58096820e+00] [ 2.79420540e-03 9.99995184e-01 -1.35075713e-03 5.98350196e-02] [-2.06975538e-03 1.35654285e-03 9.99996938e-01 -1.45572323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.576547614999997 meters Centerline goodness [0,1] 0.8504884651600754 Centerline is valid? [False, False] Translation: X:2.58, Y:0.05, Z:-0.14 [[ 0.99998459 -0.00414544 0.00369298 2.57968925] [ 0.00412984 0.99998256 0.004222 0.05369089] [-0.00371042 -0.00420668 0.99998427 -0.13730427] [ 0. 0. 0. 1. ]] SLAMing on 14.606547614999998 meters Centerline goodness [0,1] 0.8504884651600754 Centerline is valid? [False, False] Translation: X:2.58, Y:0.05, Z:-0.14 [[ 0.99998459 -0.00414544 0.00369298 2.57968925] [ 0.00412984 0.99998256 0.004222 0.05369089] [-0.00371042 -0.00420668 0.99998427 -0.13730427] [ 0. 0. 0. 1. ]] SLAMing on 14.636547614999998 meters Centerline goodness [0,1] 0.8511270672709081 Centerline is valid? [False, False] Translation: X:2.58, Y:0.06, Z:-0.14 [[ 0.99998434 -0.00399327 0.00392162 2.57894702] [ 0.00397812 0.99998463 0.00386304 0.05500931] [-0.00393699 -0.00384737 0.99998485 -0.13748794] [ 0. 0. 0. 1. ]] SLAMing on 14.666547614999997 meters Centerline goodness [0,1] 0.8455341711339602 Centerline is valid? [False, False] Translation: X:2.58, Y:0.06, Z:-0.14 [[ 9.99981907e-01 -4.82422403e-03 3.59336672e-03 2.58196900e+00] [ 4.82041961e-03 9.99987813e-01 1.06664505e-03 5.94942357e-02] [-3.59846866e-03 -1.04930422e-03 9.99992975e-01 -1.42953207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.696547614999998 meters Centerline goodness [0,1] 0.8200921128382268 Centerline is valid? [False, False] Translation: X:2.60, Y:0.07, Z:-0.16 [[ 9.99986146e-01 8.40076863e-04 -5.19636332e-03 2.59850271e+00] [-8.37307384e-04 9.99999506e-01 5.35117365e-04 6.99089378e-02] [ 5.19681029e-03 -5.30758998e-04 9.99986356e-01 -1.59567770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.726547614999998 meters Centerline goodness [0,1] 0.765042651857789 Centerline is valid? [False, False] Translation: X:2.60, Y:0.08, Z:-0.16 [[ 9.99969547e-01 5.18232746e-03 -5.83504362e-03 2.59844585e+00] [-5.17147200e-03 9.99984872e-01 1.87394325e-03 7.52714898e-02] [ 5.84466673e-03 -1.84371042e-03 9.99981220e-01 -1.60561343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.756547614999997 meters Centerline goodness [0,1] 0.7623173337954139 Centerline is valid? [False, False] Translation: X:2.59, Y:0.07, Z:-0.16 [[ 9.99978426e-01 4.08824492e-03 -5.14140796e-03 2.59156104e+00] [-4.09028480e-03 9.99991560e-01 -3.86302836e-04 7.20269024e-02] [ 5.13978527e-03 4.07324325e-04 9.99986708e-01 -1.55360152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.786547614999998 meters Centerline goodness [0,1] 0.7792044088763814 Centerline is valid? [False, False] Translation: X:2.59, Y:0.06, Z:-0.14 [[ 9.99997902e-01 -1.30789906e-03 1.57638843e-03 2.59310891e+00] [ 1.32887266e-03 9.99909627e-01 -1.33780570e-02 6.12364892e-02] [-1.55874881e-03 1.33801237e-02 9.99909267e-01 -1.44697716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.816547614999998 meters Centerline goodness [0,1] 0.8193666332488058 Centerline is valid? [False, False] Translation: X:2.59, Y:0.06, Z:-0.14 [[ 9.99995981e-01 -2.46713071e-03 1.39701246e-03 2.59478103e+00] [ 2.47994293e-03 9.99954190e-01 -9.24492044e-03 5.50002372e-02] [-1.37414004e-03 9.24834779e-03 9.99956289e-01 -1.39697845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.846547614999999 meters Centerline goodness [0,1] 0.8609170433863677 Centerline is valid? [False, False] Translation: X:2.61, Y:0.06, Z:-0.15 [[ 9.99928913e-01 -1.16693960e-02 2.44836743e-03 2.61397372e+00] [ 1.16399327e-02 9.99863550e-01 1.17214769e-02 5.56903014e-02] [-2.58481591e-03 -1.16921449e-02 9.99928304e-01 -1.45271089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.876547614999998 meters Centerline goodness [0,1] 0.8497471425648221 Centerline is valid? [False, False] Translation: X:2.62, Y:0.06, Z:-0.15 [[ 9.99915758e-01 -1.28683910e-02 1.69725501e-03 2.62281886e+00] [ 1.28443000e-02 9.99826185e-01 1.35138092e-02 5.95536340e-02] [-1.87086099e-03 -1.34908708e-02 9.99907244e-01 -1.50391452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.906547614999997 meters Centerline goodness [0,1] 0.8460138012039349 Centerline is valid? [False, False] Translation: X:2.62, Y:0.06, Z:-0.15 [[ 9.99869200e-01 -1.60247689e-02 2.18872945e-03 2.62017454e+00] [ 1.60004640e-02 9.99814687e-01 1.07040208e-02 5.77886017e-02] [-2.35985331e-03 -1.06676000e-02 9.99940315e-01 -1.47659833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.936547614999999 meters Centerline goodness [0,1] 0.8488667968518847 Centerline is valid? [False, False] Translation: X:2.62, Y:0.05, Z:-0.14 [[ 9.99897343e-01 -1.33329378e-02 -5.24757127e-03 2.62338364e+00] [ 1.33408125e-02 9.99909929e-01 1.46851086e-03 5.17235949e-02] [ 5.22751905e-03 -1.53836697e-03 9.99985153e-01 -1.38163382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.966547614999998 meters Centerline goodness [0,1] 0.8605046528274874 Centerline is valid? [False, False] Translation: X:2.62, Y:0.05, Z:-0.14 [[ 9.99927869e-01 -1.20083690e-02 -2.38276494e-04 2.61702024e+00] [ 1.20012036e-02 9.99728006e-01 -1.99971349e-02 4.89937137e-02] [ 4.78344660e-04 1.99928329e-02 9.99800009e-01 -1.39229399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.996547614999997 meters Centerline goodness [0,1] 0.8029004999853806 Centerline is valid? [False, False] Translation: X:2.62, Y:0.05, Z:-0.14 [[ 9.99999510e-01 9.08831292e-04 -3.92257544e-04 2.61644844e+00] [-9.12198655e-04 9.99961986e-01 -8.67150892e-03 5.40271036e-02] [ 3.84361694e-04 8.67186249e-03 9.99962325e-01 -1.39561797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.026547614999998 meters Centerline goodness [0,1] 0.8030122408629663 Centerline is valid? [False, False] Translation: X:2.62, Y:0.06, Z:-0.14 [[ 9.99995603e-01 2.69527120e-03 -1.23672569e-03 2.62137614e+00] [-2.70315007e-03 9.99975777e-01 -6.41392976e-03 5.90084357e-02] [ 1.21940845e-03 6.41724462e-03 9.99978666e-01 -1.42467945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.056547614999998 meters Centerline goodness [0,1] 0.8296469097402224 Centerline is valid? [False, False] Translation: X:2.64, Y:0.07, Z:-0.15 [[ 9.99989986e-01 3.15857135e-03 -3.17040661e-03 2.63540550e+00] [-3.16646703e-03 9.99991890e-01 -2.48850960e-03 6.64138261e-02] [ 3.16252076e-03 2.49852367e-03 9.99991878e-01 -1.48870930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.086547614999997 meters Centerline goodness [0,1] 0.8327778582814085 Centerline is valid? [False, False] Translation: X:2.64, Y:0.06, Z:-0.15 [[ 9.99989264e-01 2.63790611e-03 -3.80974307e-03 2.63685953e+00] [-2.64401072e-03 9.99995227e-01 -1.59822099e-03 6.38320459e-02] [ 3.80550893e-03 1.60827683e-03 9.99991466e-01 -1.47650004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.116547614999998 meters Centerline goodness [0,1] 0.8508664090855872 Centerline is valid? [False, False] Translation: X:2.63, Y:0.05, Z:-0.14 [[ 9.99996621e-01 -8.88172893e-04 -2.44299833e-03 2.63289816e+00] [ 8.91453093e-04 9.99998702e-01 1.34193353e-03 5.37469483e-02] [ 2.44180329e-03 -1.34410681e-03 9.99996115e-01 -1.36355451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.146547614999998 meters Centerline goodness [0,1] 0.8479770310256936 Centerline is valid? [False, False] Translation: X:2.63, Y:0.05, Z:-0.13 [[ 9.99997728e-01 -5.53649194e-04 -2.05866435e-03 2.63102072e+00] [ 5.60152403e-04 9.99994851e-01 3.15971220e-03 5.07790679e-02] [ 2.05690437e-03 -3.16085818e-03 9.99992889e-01 -1.33122036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.176547614999997 meters Centerline goodness [0,1] 0.8403273246163254 Centerline is valid? [False, False] Translation: X:2.63, Y:0.05, Z:-0.13 [[ 9.99999256e-01 1.06422630e-04 -1.21511706e-03 2.62881436e+00] [-1.03300538e-04 9.99996694e-01 2.56914943e-03 5.49008650e-02] [ 1.21538646e-03 -2.56902199e-03 9.99995961e-01 -1.33723597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.206547614999998 meters Centerline goodness [0,1] 0.8175615115505825 Centerline is valid? [False, False] Translation: X:2.63, Y:0.06, Z:-0.14 [[ 9.99984083e-01 5.08700446e-03 -2.44032217e-03 2.63061376e+00] [-5.08453009e-03 9.99986554e-01 1.01908962e-03 6.30669466e-02] [ 2.44547347e-03 -1.00666550e-03 9.99996503e-01 -1.42060932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.236547614999997 meters Centerline goodness [0,1] 0.8081167984704962 Centerline is valid? [False, False] Translation: X:2.63, Y:0.06, Z:-0.14 [[ 9.99983647e-01 4.71375659e-03 -3.23823489e-03 2.63251777e+00] [-4.71429636e-03 9.99988875e-01 -1.59071915e-04 6.32226609e-02] [ 3.23744904e-03 1.74335312e-04 9.99994744e-01 -1.43253899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.266547614999999 meters Centerline goodness [0,1] 0.7634249164122693 Centerline is valid? [False, False] Translation: X:2.63, Y:0.06, Z:-0.14 [[ 9.99971348e-01 6.39230162e-03 -4.05477110e-03 2.63152395e+00] [-6.39530935e-03 9.99979284e-01 -7.29244407e-04 6.15243921e-02] [ 4.05002555e-03 7.55155029e-04 9.99991513e-01 -1.42752564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.296547614999998 meters Centerline goodness [0,1] 0.7793578782062467 Centerline is valid? [False, False] Translation: X:2.63, Y:0.06, Z:-0.14 [[ 9.99972629e-01 5.91128812e-03 -4.44958954e-03 2.63272270e+00] [-5.91517911e-03 9.99982134e-01 -8.61808723e-04 6.14348034e-02] [ 4.44441564e-03 8.88105253e-04 9.99989729e-01 -1.42825979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.326547614999997 meters Centerline goodness [0,1] 0.8026613249391902 Centerline is valid? [False, False] Translation: X:2.63, Y:0.07, Z:-0.15 [[ 0.99999122 0.00300922 0.00291728 2.63084739] [-0.0030372 0.99994899 0.00963326 0.07013797] [-0.00288814 -0.00964204 0.99994934 -0.15116099] [ 0. 0. 0. 1. ]] SLAMing on 15.356547614999998 meters Centerline goodness [0,1] 0.8353531609113463 Centerline is valid? [False, False] Translation: X:2.64, Y:0.08, Z:-0.16 [[ 9.99997889e-01 1.04135342e-03 1.77148671e-03 2.64130943e+00] [-1.06170831e-03 9.99932982e-01 1.15284179e-02 7.65928948e-02] [-1.75936283e-03 -1.15302743e-02 9.99931976e-01 -1.55762731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.386547614999998 meters Centerline goodness [0,1] 0.8353531609113463 Centerline is valid? [False, False] Translation: X:2.64, Y:0.08, Z:-0.16 [[ 9.99997889e-01 1.04135342e-03 1.77148671e-03 2.64130943e+00] [-1.06170831e-03 9.99932982e-01 1.15284179e-02 7.65928948e-02] [-1.75936283e-03 -1.15302743e-02 9.99931976e-01 -1.55762731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.416547614999997 meters Centerline goodness [0,1] 0.8417746931283698 Centerline is valid? [False, False] Translation: X:2.64, Y:0.07, Z:-0.15 [[ 9.99995749e-01 -2.57570018e-03 1.36658969e-03 2.64064750e+00] [ 2.56482766e-03 9.99965514e-01 7.89892997e-03 7.44137559e-02] [-1.38688784e-03 -7.89539132e-03 9.99967869e-01 -1.53834090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.446547614999998 meters Centerline goodness [0,1] 0.8158905216964518 Centerline is valid? [False, False] Translation: X:2.63, Y:0.07, Z:-0.15 [[ 9.99961340e-01 9.29328129e-04 8.74386280e-03 2.63305347e+00] [-8.79119664e-04 9.99983115e-01 -5.74423014e-03 6.98944452e-02] [-8.74905344e-03 5.73632116e-03 9.99945273e-01 -1.47328254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.476547614999998 meters Centerline goodness [0,1] 0.7740324954546767 Centerline is valid? [False, False] Translation: X:2.63, Y:0.07, Z:-0.14 [[ 0.99994285 0.00463959 0.00963172 2.62532382] [-0.00461141 0.99998503 -0.00294638 0.06670372] [-0.00964525 0.00290179 0.99994927 -0.14098697] [ 0. 0. 0. 1. ]] SLAMing on 15.506547614999997 meters Centerline goodness [0,1] 0.7375399178832116 Centerline is valid? [False, False] Translation: X:2.62, Y:0.07, Z:-0.14 [[ 0.99982873 0.01505058 0.01077008 2.62164501] [-0.01509273 0.99987871 0.00384338 0.07276191] [-0.01071093 -0.00400527 0.99993461 -0.14335487] [ 0. 0. 0. 1. ]] SLAMing on 15.536547614999998 meters Centerline goodness [0,1] 0.7329419771992514 Centerline is valid? [False, False] Translation: X:2.61, Y:0.08, Z:-0.15 [[ 0.99989041 0.01409495 0.00452755 2.61451723] [-0.01415027 0.99982266 0.01242684 0.07576964] [-0.00435159 -0.01248954 0.99991253 -0.14594562] [ 0. 0. 0. 1. ]] SLAMing on 15.566547614999998 meters Centerline goodness [0,1] 0.7376385216853237 Centerline is valid? [False, False] Translation: X:2.63, Y:0.08, Z:-0.15 [[ 9.99885297e-01 1.48769239e-02 2.84078016e-03 2.62803319e+00] [-1.49203647e-02 9.99761660e-01 1.59375600e-02 8.32116426e-02] [-2.60300123e-03 -1.59781173e-02 9.99868953e-01 -1.54069435e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.596547614999999 meters Centerline goodness [0,1] 0.7427982376863986 Centerline is valid? [False, False] Translation: X:2.63, Y:0.08, Z:-0.16 [[ 9.99935045e-01 1.10675466e-02 2.72325787e-03 2.62815873e+00] [-1.10976781e-02 9.99874455e-01 1.13100053e-02 8.35037819e-02] [-2.59774197e-03 -1.13394925e-02 9.99932332e-01 -1.55048423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.626547614999998 meters Centerline goodness [0,1] 0.7551842158244413 Centerline is valid? [False, False] Translation: X:2.62, Y:0.07, Z:-0.15 [[ 9.99990952e-01 2.95976365e-03 3.05557614e-03 2.62130011e+00] [-2.96650992e-03 9.99993167e-01 2.20568857e-03 7.48648447e-02] [-3.04902695e-03 -2.21473301e-03 9.99992899e-01 -1.49559307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.656547614999997 meters Centerline goodness [0,1] 0.784348329234775 Centerline is valid? [False, False] Translation: X:2.62, Y:0.07, Z:-0.14 [[ 9.99995819e-01 -2.49545670e-04 2.88080079e-03 2.61948090e+00] [ 2.43930156e-04 9.99998070e-01 1.94947603e-03 6.72255346e-02] [-2.88128171e-03 -1.94876516e-03 9.99993950e-01 -1.43385269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.686547614999999 meters Centerline goodness [0,1] 0.7879426887746259 Centerline is valid? [False, False] Translation: X:2.62, Y:0.07, Z:-0.15 [[ 9.99994834e-01 -3.70661900e-04 3.19283634e-03 2.61978371e+00] [ 3.66013517e-04 9.99998873e-01 1.45634039e-03 6.90968640e-02] [-3.19337255e-03 -1.45516425e-03 9.99993842e-01 -1.45021337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.716547614999998 meters Centerline goodness [0,1] 0.8078728366976704 Centerline is valid? [False, False] Translation: X:2.62, Y:0.07, Z:-0.15 [[ 9.99992588e-01 -2.36851716e-03 3.03560247e-03 2.62389562e+00] [ 2.36865270e-03 9.99997194e-01 -4.10582843e-05 7.29735780e-02] [-3.03549671e-03 4.82482679e-05 9.99995392e-01 -1.49136222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.746547614999997 meters Centerline goodness [0,1] 0.8095183122168028 Centerline is valid? [False, False] Translation: X:2.63, Y:0.07, Z:-0.15 [[ 9.99992323e-01 -2.80253402e-03 2.73858609e-03 2.62554870e+00] [ 2.80392899e-03 9.99995941e-01 -5.05667096e-04 7.32426051e-02] [-2.73715783e-03 5.13342015e-04 9.99996122e-01 -1.50536033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.776547614999998 meters Centerline goodness [0,1] 0.7841352779053744 Centerline is valid? [False, False] Translation: X:2.63, Y:0.07, Z:-0.15 [[ 9.99997859e-01 5.24555375e-04 2.00149673e-03 2.62809802e+00] [-5.29911968e-04 9.99996277e-01 2.67670259e-03 7.25229962e-02] [-2.00008520e-03 -2.67775748e-03 9.99994415e-01 -1.51877317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.806547614999998 meters Centerline goodness [0,1] 0.7728185416786185 Centerline is valid? [False, False] Translation: X:2.63, Y:0.07, Z:-0.15 [[ 9.99997175e-01 1.07784230e-03 2.11868530e-03 2.62671364e+00] [-1.08293197e-03 9.99996527e-01 2.40259829e-03 7.36123026e-02] [-2.11608832e-03 -2.40488590e-03 9.99994869e-01 -1.51123045e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.836547614999997 meters Centerline goodness [0,1] 0.7442073345157045 Centerline is valid? [False, False] Translation: X:2.62, Y:0.08, Z:-0.15 [[ 9.99973846e-01 6.80951197e-03 2.43658195e-03 2.61925606e+00] [-6.82040237e-03 9.99966663e-01 4.48949748e-03 7.71625240e-02] [-2.40592943e-03 -4.50599853e-03 9.99986954e-01 -1.46915156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.866547614999998 meters Centerline goodness [0,1] 0.7403985972115302 Centerline is valid? [False, False] Translation: X:2.62, Y:0.08, Z:-0.15 [[ 9.99974984e-01 6.71397800e-03 2.22562489e-03 2.61966970e+00] [-6.72078296e-03 9.99972720e-01 3.06430031e-03 8.10647459e-02] [-2.20499053e-03 -3.07918160e-03 9.99992828e-01 -1.48041317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.896547614999998 meters Centerline goodness [0,1] 0.7424713841235406 Centerline is valid? [False, False] Translation: X:2.62, Y:0.08, Z:-0.15 [[ 9.99992457e-01 3.24028559e-03 2.14137796e-03 2.61934499e+00] [-3.23664226e-03 9.99993312e-01 -1.70267868e-03 8.38234200e-02] [-2.14688081e-03 1.69573496e-03 9.99996258e-01 -1.48896314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.926547614999997 meters Centerline goodness [0,1] 0.7532077844140257 Centerline is valid? [False, False] Translation: X:2.62, Y:0.08, Z:-0.15 [[ 9.99996777e-01 2.06635095e-03 1.47524819e-03 2.62218206e+00] [-2.06397050e-03 9.99996569e-01 -1.61329965e-03 8.34300872e-02] [-1.47857677e-03 1.61024958e-03 9.99997610e-01 -1.49498203e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.956547614999998 meters Centerline goodness [0,1] 0.7769246139354323 Centerline is valid? [False, False] Translation: X:2.63, Y:0.08, Z:-0.15 [[ 9.99997233e-01 -2.34490265e-03 1.90375956e-04 2.63016778e+00] [ 2.34513559e-03 9.99996490e-01 -1.23275691e-03 8.28168605e-02] [-1.87484593e-04 1.23319996e-03 9.99999222e-01 -1.50140963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 15.986547614999997 meters Centerline goodness [0,1] 0.7943599130534263 Centerline is valid? [False, False] Translation: X:2.63, Y:0.08, Z:-0.15 [[ 9.99996500e-01 -2.64502532e-03 6.47343240e-05 2.63068533e+00] [ 2.64504529e-03 9.99996454e-01 -3.10346757e-04 8.07287994e-02] [-6.39132194e-05 3.10516896e-04 9.99999950e-01 -1.49246104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.016547614999997 meters Centerline goodness [0,1] 0.7911462947615101 Centerline is valid? [False, False] Translation: X:2.63, Y:0.08, Z:-0.15 [[ 9.99997133e-01 -2.37579352e-03 2.98499816e-04 2.62953976e+00] [ 2.37570476e-03 9.99997134e-01 2.97355597e-04 7.90498959e-02] [-2.99205416e-04 -2.96645597e-04 9.99999911e-01 -1.47919662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.046547614999994 meters Centerline goodness [0,1] 0.7684074974960653 Centerline is valid? [False, False] Translation: X:2.63, Y:0.08, Z:-0.14 [[ 9.99999660e-01 -5.62863082e-04 6.02517168e-04 2.62552141e+00] [ 5.62150955e-04 9.99999144e-01 1.18143722e-03 7.70367987e-02] [-6.03181640e-04 -1.18109812e-03 9.99999121e-01 -1.44614379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.076547614999996 meters Centerline goodness [0,1] 0.7624 Centerline is valid? [False, False] Translation: X:2.62, Y:0.08, Z:-0.14 [[ 9.99999920e-01 6.32449793e-05 3.94840299e-04 2.62481665e+00] [-6.36676327e-05 9.99999425e-01 1.07052053e-03 7.72200144e-02] [-3.94772367e-04 -1.07054558e-03 9.99999349e-01 -1.43882670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.106547614999997 meters Centerline goodness [0,1] 0.7364142062473256 Centerline is valid? [False, False] Translation: X:2.63, Y:0.08, Z:-0.15 [[ 9.99987329e-01 5.03300552e-03 -9.88447884e-05 2.62583704e+00] [-5.03306781e-03 9.99987129e-01 -6.40440738e-04 8.38585377e-02] [ 9.56201744e-05 6.40930115e-04 9.99999790e-01 -1.53491421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.136547614999994 meters Centerline goodness [0,1] 0.7322720282508401 Centerline is valid? [False, False] Translation: X:2.63, Y:0.09, Z:-0.16 [[ 9.99990405e-01 4.37331517e-03 -2.51338651e-04 2.62823106e+00] [-4.37395785e-03 9.99987012e-01 -2.61608098e-03 8.94463408e-02] [ 2.39894440e-04 2.61715523e-03 9.99996546e-01 -1.57413239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.166547614999995 meters Centerline goodness [0,1] 0.747387795554297 Centerline is valid? [False, False] Translation: X:2.64, Y:0.09, Z:-0.16 [[ 9.99995522e-01 2.20792027e-03 -2.02019166e-03 2.63929844e+00] [-2.21109324e-03 9.99996323e-01 -1.56974374e-03 9.36486491e-02] [ 2.01671837e-03 1.57420354e-03 9.99996727e-01 -1.61937951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.196547614999997 meters Centerline goodness [0,1] 0.7449531413686684 Centerline is valid? [False, False] Translation: X:2.64, Y:0.09, Z:-0.16 [[ 9.99995988e-01 1.41209463e-03 -2.45560351e-03 2.64146078e+00] [-1.41716106e-03 9.99996868e-01 -2.06269946e-03 9.46432517e-02] [ 2.45268309e-03 2.06617117e-03 9.99994858e-01 -1.63242396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.226547614999998 meters Centerline goodness [0,1] 0.756012766442494 Centerline is valid? [False, False] Translation: X:2.64, Y:0.09, Z:-0.16 [[ 9.99994497e-01 -2.34232505e-03 -2.34921771e-03 2.64092014e+00] [ 2.33049708e-03 9.99984659e-01 -5.02501689e-03 9.15960816e-02] [ 2.36095190e-03 5.01951439e-03 9.99984615e-01 -1.62256631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.256547614999995 meters Centerline goodness [0,1] 0.7646689139004742 Centerline is valid? [False, False] Translation: X:2.64, Y:0.09, Z:-0.16 [[ 9.99995601e-01 -1.73609914e-03 -2.40513307e-03 2.63995544e+00] [ 1.72827456e-03 9.99993220e-01 -3.25154996e-03 8.73208277e-02] [ 2.41076178e-03 3.24737893e-03 9.99991821e-01 -1.59846019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.286547614999996 meters Centerline goodness [0,1] 0.7497370590409052 Centerline is valid? [False, False] Translation: X:2.64, Y:0.09, Z:-0.16 [[ 9.99992798e-01 3.39044368e-03 -1.70577347e-03 2.63670506e+00] [-3.38811246e-03 9.99993325e-01 1.36770015e-03 8.83623684e-02] [ 1.71039919e-03 -1.36191094e-03 9.99997610e-01 -1.57675268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.316547614999998 meters Centerline goodness [0,1] 0.7296302587622445 Centerline is valid? [False, False] Translation: X:2.63, Y:0.09, Z:-0.16 [[ 9.99986584e-01 5.06632582e-03 -1.07928864e-03 2.63303326e+00] [-5.06464001e-03 9.99985959e-01 1.55901662e-03 9.03981346e-02] [ 1.08717197e-03 -1.55352950e-03 9.99998202e-01 -1.56033699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.346547614999995 meters Centerline goodness [0,1] 0.726794747911101 Centerline is valid? [False, False] Translation: X:2.62, Y:0.09, Z:-0.15 [[ 9.99987857e-01 4.91769314e-03 3.18293062e-04 2.62430681e+00] [-4.91767046e-03 9.99987906e-01 -7.19815613e-05 8.64890599e-02] [-3.18643196e-04 7.04154269e-05 9.99999947e-01 -1.50667080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.376547614999996 meters Centerline goodness [0,1] 0.7266725477362626 Centerline is valid? [False, False] Translation: X:2.62, Y:0.08, Z:-0.15 [[ 9.99987646e-01 4.97058858e-03 3.46054219e-05 2.62441398e+00] [-4.97061995e-03 9.99987172e-01 9.74555337e-04 8.27801293e-02] [-2.97608643e-05 -9.74715308e-04 9.99999525e-01 -1.49147591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.406547614999997 meters Centerline goodness [0,1] 0.7339776485346106 Centerline is valid? [False, False] Translation: X:2.63, Y:0.08, Z:-0.15 [[ 9.99991694e-01 4.07570408e-03 -2.96700508e-06 2.62573286e+00] [-4.07569576e-03 9.99990688e-01 1.41882714e-03 8.09470430e-02] [ 8.74969702e-06 -1.41880327e-03 9.99998993e-01 -1.49347777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.436547614999995 meters Centerline goodness [0,1] 0.7487001733102253 Centerline is valid? [False, False] Translation: X:2.64, Y:0.08, Z:-0.15 [[ 9.99997480e-01 1.63609504e-03 -1.53696834e-03 2.63719778e+00] [-1.63204719e-03 9.99995207e-01 2.63123153e-03 8.45589958e-02] [ 1.54126592e-03 -2.62871650e-03 9.99995357e-01 -1.54592507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.466547614999996 meters Centerline goodness [0,1] 0.7654348997475965 Centerline is valid? [False, False] Translation: X:2.64, Y:0.09, Z:-0.16 [[ 9.99996995e-01 -3.55671240e-04 -2.42562568e-03 2.64248483e+00] [ 3.57804112e-04 9.99999550e-01 8.78930789e-04 8.77209351e-02] [ 2.42531198e-03 -8.79796046e-04 9.99996672e-01 -1.58614082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.496547614999997 meters Centerline goodness [0,1] 0.7740497885264981 Centerline is valid? [False, False] Translation: X:2.65, Y:0.09, Z:-0.16 [[ 9.99992697e-01 -2.09753918e-03 -3.19463130e-03 2.64748099e+00] [ 2.09256916e-03 9.99996596e-01 -1.55829012e-03 9.07150881e-02] [ 3.19788900e-03 1.55159375e-03 9.99993683e-01 -1.63798756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.526547614999995 meters Centerline goodness [0,1] 0.7740497885264981 Centerline is valid? [False, False] Translation: X:2.65, Y:0.09, Z:-0.16 [[ 9.99992697e-01 -2.09753918e-03 -3.19463130e-03 2.64748099e+00] [ 2.09256916e-03 9.99996596e-01 -1.55829012e-03 9.07150881e-02] [ 3.19788900e-03 1.55159375e-03 9.99993683e-01 -1.63798756e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.556547614999996 meters Centerline goodness [0,1] 0.7693264717525307 Centerline is valid? [False, False] Translation: X:2.65, Y:0.09, Z:-0.16 [[ 9.99990171e-01 -2.57100162e-03 -3.61220125e-03 2.64887914e+00] [ 2.56302109e-03 9.99994268e-01 -2.21222136e-03 9.15549996e-02] [ 3.61786817e-03 2.20294147e-03 9.99991029e-01 -1.64568180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.586547614999997 meters Centerline goodness [0,1] 0.7679703418609916 Centerline is valid? [False, False] Translation: X:2.65, Y:0.09, Z:-0.16 [[ 0.99998705 -0.00280406 -0.00424586 2.64981409] [ 0.00279226 0.99999223 -0.00278279 0.09030915] [ 0.00425363 0.0027709 0.99998711 -0.16418412] [ 0. 0. 0. 1. ]] SLAMing on 16.616547614999995 meters Centerline goodness [0,1] 0.7444657088177327 Centerline is valid? [False, False] Translation: X:2.64, Y:0.09, Z:-0.16 [[ 9.99993515e-01 -9.50087299e-04 -3.47367518e-03 2.64043972e+00] [ 9.33973946e-04 9.99988811e-01 -4.63738783e-03 8.66566025e-02] [ 3.47804223e-03 4.63411344e-03 9.99983214e-01 -1.59606930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.646547614999996 meters Centerline goodness [0,1] 0.7331101382092884 Centerline is valid? [False, False] Translation: X:2.64, Y:0.08, Z:-0.16 [[ 9.99994727e-01 1.61098326e-03 -2.81970621e-03 2.63601017e+00] [-1.61831318e-03 9.99995313e-01 -2.59918410e-03 8.30135724e-02] [ 2.81550575e-03 2.60373356e-03 9.99992647e-01 -1.56661555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.676547614999997 meters Centerline goodness [0,1] 0.7607356690635116 Centerline is valid? [False, False] Translation: X:2.64, Y:0.08, Z:-0.16 [[ 9.99996365e-01 -1.01898008e-03 -2.49652754e-03 2.63863125e+00] [ 1.01677817e-03 9.99999093e-01 -8.83101427e-04 8.08028314e-02] [ 2.49742514e-03 8.80559802e-04 9.99996494e-01 -1.55277503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.706547614999995 meters Centerline goodness [0,1] 0.7885044962483533 Centerline is valid? [False, False] Translation: X:2.64, Y:0.08, Z:-0.15 [[ 9.99988287e-01 -3.77244438e-03 -3.03224746e-03 2.64283409e+00] [ 3.77427376e-03 9.99992699e-01 5.97812467e-04 7.96589149e-02] [ 3.02997011e-03 -6.09249997e-04 9.99995224e-01 -1.53889565e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.736547614999996 meters Centerline goodness [0,1] 0.8059512867647058 Centerline is valid? [False, False] Translation: X:2.65, Y:0.08, Z:-0.16 [[ 9.99981057e-01 -4.97803688e-03 -3.62003452e-03 2.64596789e+00] [ 4.98019075e-03 9.99987427e-01 5.86215645e-04 7.88338574e-02] [ 3.61707081e-03 -6.04233002e-04 9.99993276e-01 -1.55144674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.766547614999997 meters Centerline goodness [0,1] 0.8135549505659837 Centerline is valid? [False, False] Translation: X:2.65, Y:0.08, Z:-0.16 [[ 9.99972116e-01 -6.35677392e-03 -3.91908263e-03 2.64979970e+00] [ 6.35288456e-03 9.99979316e-01 -1.00406571e-03 8.13637682e-02] [ 3.92538419e-03 9.79140229e-04 9.99991816e-01 -1.59435255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.796547614999994 meters Centerline goodness [0,1] 0.7979065335495065 Centerline is valid? [False, False] Translation: X:2.65, Y:0.09, Z:-0.16 [[ 9.99987002e-01 -2.99543427e-03 -4.12584646e-03 2.65114379e+00] [ 3.00060127e-03 9.99994721e-01 1.24672869e-03 8.51782002e-02] [ 4.12209018e-03 -1.25909250e-03 9.99990711e-01 -1.61496171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.826547614999996 meters Centerline goodness [0,1] 0.7780306694358303 Centerline is valid? [False, False] Translation: X:2.65, Y:0.09, Z:-0.16 [[ 9.99990236e-01 -1.93451266e-03 -3.97309809e-03 2.64922811e+00] [ 1.93858986e-03 9.99997598e-01 1.02260705e-03 8.50848241e-02] [ 3.97111030e-03 -1.03029927e-03 9.99991584e-01 -1.60779141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.856547614999997 meters Centerline goodness [0,1] 0.7394256776198423 Centerline is valid? [False, False] Translation: X:2.64, Y:0.08, Z:-0.16 [[ 9.99995492e-01 1.23118418e-03 -2.73879611e-03 2.63709509e+00] [-1.23722902e-03 9.99996800e-01 -2.20651850e-03 8.03693889e-02] [ 2.73607072e-03 2.20989707e-03 9.99993815e-01 -1.57316912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.886547614999994 meters Centerline goodness [0,1] 0.7235881729971091 Centerline is valid? [False, False] Translation: X:2.64, Y:0.08, Z:-0.16 [[ 9.99978745e-01 5.78704294e-03 -3.00325634e-03 2.63716876e+00] [-5.78291496e-03 9.99982325e-01 1.38137001e-03 8.10715965e-02] [ 3.01119731e-03 -1.36397308e-03 9.99994536e-01 -1.57679611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.916547614999995 meters Centerline goodness [0,1] 0.730909195105877 Centerline is valid? [False, False] Translation: X:2.64, Y:0.08, Z:-0.16 [[ 9.99985089e-01 4.09049911e-03 -3.61800344e-03 2.64088183e+00] [-4.08822876e-03 9.99991442e-01 6.34687959e-04 8.14124403e-02] [ 3.62056866e-03 -6.19887270e-04 9.99993254e-01 -1.59836890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.946547614999997 meters Centerline goodness [0,1] 0.767299011485058 Centerline is valid? [False, False] Translation: X:2.66, Y:0.08, Z:-0.17 [[ 9.99987628e-01 -7.67623166e-04 -4.91482723e-03 2.65535297e+00] [ 7.78619637e-04 9.99997197e-01 2.23588504e-03 8.28127343e-02] [ 4.91309714e-03 -2.23968416e-03 9.99985423e-01 -1.66314861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.976547614999994 meters Centerline goodness [0,1] 0.8081593006313744 Centerline is valid? [False, False] Translation: X:2.66, Y:0.08, Z:-0.17 [[ 0.99997919 -0.00391311 -0.00512978 2.65951343] [ 0.0039289 0.99998757 0.00306998 0.08206361] [ 0.00511771 -0.00309007 0.99998213 -0.1662559 ] [ 0. 0. 0. 1. ]] SLAMing on 17.006547614999995 meters Centerline goodness [0,1] 0.8177524052393648 Centerline is valid? [False, False] Translation: X:2.65, Y:0.07, Z:-0.16 [[ 9.99971690e-01 -6.94750645e-03 -2.88984157e-03 2.64809393e+00] [ 6.95328846e-03 9.99973834e-01 1.99559174e-03 7.12306517e-02] [ 2.87590157e-03 -2.01562915e-03 9.99993833e-01 -1.55055795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.036547614999996 meters Centerline goodness [0,1] 0.8112532712997964 Centerline is valid? [False, False] Translation: X:2.64, Y:0.06, Z:-0.15 [[ 9.99990300e-01 -4.33112743e-03 -8.00477791e-04 2.63504086e+00] [ 4.33316811e-03 9.99987321e-01 2.56542848e-03 6.45106903e-02] [ 7.89356444e-04 -2.56887220e-03 9.99996389e-01 -1.47378696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.066547614999998 meters Centerline goodness [0,1] 0.7888238362993449 Centerline is valid? [False, False] Translation: X:2.63, Y:0.07, Z:-0.15 [[ 9.99994203e-01 -3.40052180e-03 -1.75782978e-04 2.63298213e+00] [ 3.40085610e-03 9.99992340e-01 1.93780628e-03 6.71273219e-02] [ 1.69192079e-04 -1.93839286e-03 9.99998107e-01 -1.48013532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.096547614999995 meters Centerline goodness [0,1] 0.7690533840654906 Centerline is valid? [False, False] Translation: X:2.64, Y:0.07, Z:-0.15 [[ 9.99999356e-01 -6.86580532e-04 -9.03554711e-04 2.63654824e+00] [ 6.90326089e-04 9.99991144e-01 4.15159467e-03 6.93268138e-02] [ 9.00696305e-04 -4.15221574e-03 9.99990974e-01 -1.50998391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.126547614999996 meters Centerline goodness [0,1] 0.7583397871669104 Centerline is valid? [False, False] Translation: X:2.64, Y:0.07, Z:-0.16 [[ 9.99997318e-01 2.83723633e-04 -2.29860762e-03 2.64431548e+00] [-2.79700630e-04 9.99998429e-01 1.75032378e-03 7.48595817e-02] [ 2.29910062e-03 -1.74967617e-03 9.99995826e-01 -1.62149192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.156547614999997 meters Centerline goodness [0,1] 0.7443475775332284 Centerline is valid? [False, False] Translation: X:2.65, Y:0.08, Z:-0.17 [[ 9.99997327e-01 1.32703981e-04 -2.30813723e-03 2.64559741e+00] [-1.34242668e-04 9.99999769e-01 -6.66493707e-04 8.07979817e-02] [ 2.30804825e-03 6.66801776e-04 9.99997114e-01 -1.66178228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.186547614999995 meters Centerline goodness [0,1] 0.7381957002210167 Centerline is valid? [False, False] Translation: X:2.65, Y:0.09, Z:-0.17 [[ 9.99997068e-01 7.52565710e-04 -2.30177729e-03 2.64526927e+00] [-7.59688487e-04 9.99994921e-01 -3.09516123e-03 8.68024174e-02] [ 2.29943629e-03 3.09690079e-03 9.99992561e-01 -1.69154885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.216547614999996 meters Centerline goodness [0,1] 0.7402747650036153 Centerline is valid? [False, False] Translation: X:2.64, Y:0.08, Z:-0.17 [[ 9.99994124e-01 -2.36618162e-03 -2.48051590e-03 2.64474296e+00] [ 2.35079059e-03 9.99978082e-01 -6.18943324e-03 8.21692818e-02] [ 2.49510685e-03 6.18356569e-03 9.99977769e-01 -1.68466142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.246547614999997 meters Centerline goodness [0,1] 0.7439413265306123 Centerline is valid? [False, False] Translation: X:2.64, Y:0.08, Z:-0.17 [[ 9.99993943e-01 -2.01316898e-03 -2.83914287e-03 2.64456241e+00] [ 2.00164761e-03 9.99989775e-01 -4.05506419e-03 7.75340495e-02] [ 2.84727737e-03 4.04935667e-03 9.99987748e-01 -1.65592800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.276547614999995 meters Centerline goodness [0,1] 0.7697250361794501 Centerline is valid? [False, False] Translation: X:2.65, Y:0.07, Z:-0.16 [[ 9.99987026e-01 -4.07761750e-03 -3.05298725e-03 2.64727308e+00] [ 4.08393382e-03 9.99989527e-01 2.06553027e-03 7.09870012e-02] [ 3.04453284e-03 -2.07797167e-03 9.99993206e-01 -1.56901079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.306547614999996 meters Centerline goodness [0,1] 0.8080259988973681 Centerline is valid? [False, False] Translation: X:2.65, Y:0.07, Z:-0.16 [[ 9.99973528e-01 -6.63024899e-03 -2.99708146e-03 2.65143151e+00] [ 6.63638541e-03 9.99975894e-01 2.04217677e-03 7.06717456e-02] [ 2.98346907e-03 -2.06201249e-03 9.99993423e-01 -1.59439663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.336547614999997 meters Centerline goodness [0,1] 0.8208350341127763 Centerline is valid? [False, False] Translation: X:2.65, Y:0.07, Z:-0.16 [[ 9.99963888e-01 -7.78594528e-03 -3.40623964e-03 2.65447656e+00] [ 7.79048416e-03 9.99968781e-01 1.32128814e-03 7.11493123e-02] [ 3.39584582e-03 -1.34777668e-03 9.99993326e-01 -1.61785405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.366547614999995 meters Centerline goodness [0,1] 0.8042638473379999 Centerline is valid? [False, False] Translation: X:2.65, Y:0.07, Z:-0.16 [[ 9.99965945e-01 -7.32717499e-03 -3.79747082e-03 2.65425866e+00] [ 7.33354648e-03 9.99971720e-01 1.66662455e-03 6.97622596e-02] [ 3.78515178e-03 -1.69441672e-03 9.99991401e-01 -1.60609081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.396547614999996 meters Centerline goodness [0,1] 0.7658557902403496 Centerline is valid? [False, False] Translation: X:2.65, Y:0.07, Z:-0.16 [[ 9.99984955e-01 -3.80286683e-03 -3.95313535e-03 2.64737995e+00] [ 3.80936466e-03 9.99991404e-01 1.63748917e-03 6.55872502e-02] [ 3.94687421e-03 -1.65252347e-03 9.99990846e-01 -1.56812307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.426547614999997 meters Centerline goodness [0,1] 0.7395942637285764 Centerline is valid? [False, False] Translation: X:2.64, Y:0.07, Z:-0.16 [[ 9.99990269e-01 -2.31644223e-03 -3.75456256e-03 2.64498938e+00] [ 2.32124118e-03 9.99996494e-01 1.27431217e-03 6.58227913e-02] [ 3.75159753e-03 -1.28301502e-03 9.99992140e-01 -1.56458093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.456547614999995 meters Centerline goodness [0,1] 0.7411682406435817 Centerline is valid? [False, False] Translation: X:2.65, Y:0.07, Z:-0.16 [[ 9.99988692e-01 -2.86303875e-03 -3.79716886e-03 2.64636875e+00] [ 2.86242597e-03 9.99995889e-01 -1.66803153e-04 6.91939845e-02] [ 3.79763082e-03 1.55932153e-04 9.99992777e-01 -1.58942925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.486547614999996 meters Centerline goodness [0,1] 0.7713615838832928 Centerline is valid? [False, False] Translation: X:2.66, Y:0.08, Z:-0.16 [[ 9.99976123e-01 -4.99524722e-03 -4.77500240e-03 2.65763049e+00] [ 5.00558476e-03 9.99985149e-01 2.15543480e-03 7.60116649e-02] [ 4.76416456e-03 -2.17928502e-03 9.99986277e-01 -1.63897856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.516547614999997 meters Centerline goodness [0,1] 0.7751631344921176 Centerline is valid? [False, False] Translation: X:2.66, Y:0.08, Z:-0.16 [[ 9.99972026e-01 -5.48864430e-03 -5.08153383e-03 2.65868888e+00] [ 5.49776063e-03 9.99983300e-01 1.78178261e-03 7.77354868e-02] [ 5.07166939e-03 -1.80966983e-03 9.99985502e-01 -1.64201594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.546547614999994 meters Centerline goodness [0,1] 0.7808506914055663 Centerline is valid? [False, False] Translation: X:2.66, Y:0.07, Z:-0.16 [[ 9.99952405e-01 -8.34607703e-03 -5.05288626e-03 2.65619441e+00] [ 8.34414889e-03 9.99965106e-01 -4.02553158e-04 7.41051482e-02] [ 5.05606969e-03 3.60371963e-04 9.99987153e-01 -1.60545011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.576547614999996 meters Centerline goodness [0,1] 0.7841426515084751 Centerline is valid? [False, False] Translation: X:2.65, Y:0.07, Z:-0.15 [[ 9.99945040e-01 -9.63848669e-03 -4.12520136e-03 2.64984846e+00] [ 9.63797823e-03 9.99953543e-01 -1.43118309e-04 6.56008678e-02] [ 4.12638916e-03 1.03351842e-04 9.99991481e-01 -1.53107215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.606547614999997 meters Centerline goodness [0,1] 0.7704145820533076 Centerline is valid? [False, False] Translation: X:2.65, Y:0.06, Z:-0.15 [[ 0.99998112 -0.00485634 -0.00376475 2.6480074 ] [ 0.004876 0.99997444 0.00522871 0.063544 ] [ 0.00373926 -0.00524697 0.99997924 -0.1510163 ] [ 0. 0. 0. 1. ]] SLAMing on 17.636547614999994 meters Centerline goodness [0,1] 0.7577249428050158 Centerline is valid? [False, False] Translation: X:2.65, Y:0.07, Z:-0.16 [[ 9.99993376e-01 -1.39839325e-03 -3.36054653e-03 2.65009901e+00] [ 1.41149114e-03 9.99991405e-01 3.89834086e-03 7.37515180e-02] [ 3.35506623e-03 -3.90305842e-03 9.99986755e-01 -1.61275041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.666547614999995 meters Centerline goodness [0,1] 0.734969219262413 Centerline is valid? [False, False] Translation: X:2.65, Y:0.08, Z:-0.16 [[ 9.99992012e-01 1.97627489e-03 -3.47429750e-03 2.65139860e+00] [-1.95791286e-03 9.99984141e-01 5.28058670e-03 8.00159289e-02] [ 3.48467829e-03 -5.27374214e-03 9.99980022e-01 -1.64447879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.696547614999997 meters Centerline goodness [0,1] 0.7216903363896683 Centerline is valid? [False, False] Translation: X:2.65, Y:0.08, Z:-0.16 [[ 9.99990794e-01 5.39841985e-04 -4.25692495e-03 2.64921919e+00] [-5.38740216e-04 9.99999821e-01 2.59960427e-04 8.08146831e-02] [ 4.25706453e-03 -2.57664657e-04 9.99990905e-01 -1.64031696e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.726547614999994 meters Centerline goodness [0,1] 0.7181633246149375 Centerline is valid? [False, False] Translation: X:2.65, Y:0.08, Z:-0.16 [[ 9.99989912e-01 2.06733264e-03 -3.98775333e-03 2.64625946e+00] [-2.06519438e-03 9.99997722e-01 5.40250165e-04 8.05831614e-02] [ 3.98886112e-03 -5.32009229e-04 9.99991903e-01 -1.62283122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.756547614999995 meters Centerline goodness [0,1] 0.7111812831921918 Centerline is valid? [False, False] Translation: X:2.65, Y:0.09, Z:-0.17 [[ 9.99985330e-01 3.50470815e-03 -4.13006402e-03 2.65069080e+00] [-3.49431683e-03 9.99990718e-01 2.52055574e-03 8.87337898e-02] [ 4.13885950e-03 -2.50608701e-03 9.99988295e-01 -1.65893972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.786547614999996 meters Centerline goodness [0,1] 0.7163092097717628 Centerline is valid? [False, False] Translation: X:2.65, Y:0.09, Z:-0.17 [[ 9.99990373e-01 2.04502446e-03 -3.88216303e-03 2.65360212e+00] [-2.04106635e-03 9.99997393e-01 1.02325289e-03 9.47286843e-02] [ 3.88424549e-03 -1.01531929e-03 9.99991941e-01 -1.69815621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.816547614999994 meters Centerline goodness [0,1] 0.710095850312805 Centerline is valid? [False, False] Translation: X:2.66, Y:0.09, Z:-0.17 [[ 9.99987051e-01 1.70077311e-03 -4.79627163e-03 2.65502188e+00] [-1.69194544e-03 9.99996869e-01 1.84398428e-03 9.18444180e-02] [ 4.79939281e-03 -1.83584537e-03 9.99986798e-01 -1.67953050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.846547614999995 meters Centerline goodness [0,1] 0.717751207174063 Centerline is valid? [False, False] Translation: X:2.66, Y:0.09, Z:-0.17 [[ 9.99985138e-01 1.59696471e-03 -5.21276198e-03 2.65549455e+00] [-1.58402842e-03 9.99995658e-01 2.48484295e-03 8.92157222e-02] [ 5.21670755e-03 -2.47654886e-03 9.99983326e-01 -1.66701881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.876547614999996 meters Centerline goodness [0,1] 0.7218863361547763 Centerline is valid? [False, False] Translation: X:2.65, Y:0.09, Z:-0.16 [[ 9.99990596e-01 -6.63638125e-04 -4.28572902e-03 2.65107633e+00] [ 6.62431627e-04 9.99999741e-01 -2.82928543e-04 8.76738087e-02] [ 4.28591567e-03 2.80086880e-04 9.99990776e-01 -1.64313431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.906547614999997 meters Centerline goodness [0,1] 0.714350849196398 Centerline is valid? [False, False] Translation: X:2.65, Y:0.09, Z:-0.17 [[ 9.99987235e-01 2.01335924e-03 -4.63431263e-03 2.65491066e+00] [-2.00640723e-03 9.99996856e-01 1.50427857e-03 9.11443463e-02] [ 4.63732671e-03 -1.49496105e-03 9.99988130e-01 -1.69081447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.936547614999995 meters Centerline goodness [0,1] 0.7108213745684859 Centerline is valid? [False, False] Translation: X:2.65, Y:0.09, Z:-0.17 [[ 9.99986350e-01 2.19971115e-03 -4.73939284e-03 2.65497219e+00] [-2.19754162e-03 9.99997478e-01 4.62924809e-04 9.47917222e-02] [ 4.74039918e-03 -4.52503477e-04 9.99988662e-01 -1.70019485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.966547614999996 meters Centerline goodness [0,1] 0.7070047344703667 Centerline is valid? [False, False] Translation: X:2.66, Y:0.09, Z:-0.17 [[ 9.99983952e-01 2.44415275e-03 -5.11101557e-03 2.65575053e+00] [-2.44358187e-03 9.99997007e-01 1.17937479e-04 9.43605022e-02] [ 5.11128854e-03 -1.05446401e-04 9.99986932e-01 -1.70707905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.996547614999997 meters Centerline goodness [0,1] 0.7070995867066749 Centerline is valid? [False, False] Translation: X:2.66, Y:0.10, Z:-0.17 [[ 9.99971862e-01 3.44964844e-03 -6.66141172e-03 2.66262515e+00] [-3.43757218e-03 9.99992429e-01 1.82346776e-03 9.95748073e-02] [ 6.66765161e-03 -1.80051737e-03 9.99976150e-01 -1.73875831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.026547614999995 meters Centerline goodness [0,1] 0.7100730173944914 Centerline is valid? [False, False] Translation: X:2.66, Y:0.11, Z:-0.18 [[ 9.99972941e-01 2.38160498e-03 -6.96024818e-03 2.66467708e+00] [-2.38308903e-03 9.99997139e-01 -2.04932262e-04 1.05106376e-01] [ 6.95974020e-03 2.21513608e-04 9.99975756e-01 -1.76364414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.056547614999996 meters Centerline goodness [0,1] 0.711021885426681 Centerline is valid? [False, False] Translation: X:2.66, Y:0.10, Z:-0.18 [[ 9.99970986e-01 2.33325409e-03 -7.25139523e-03 2.66485534e+00] [-2.33166263e-03 9.99997256e-01 2.27914808e-04 1.02493610e-01] [ 7.25190712e-03 -2.11000388e-04 9.99973682e-01 -1.75398955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.086547614999997 meters Centerline goodness [0,1] 0.7173869519206018 Centerline is valid? [False, False] Translation: X:2.66, Y:0.09, Z:-0.17 [[ 9.99981829e-01 -2.12361358e-03 -5.64200235e-03 2.65610323e+00] [ 2.11318930e-03 9.99996051e-01 -1.85293931e-03 9.26765614e-02] [ 5.64591500e-03 1.84098302e-03 9.99982367e-01 -1.65387648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.116547614999995 meters Centerline goodness [0,1] 0.7159953381278603 Centerline is valid? [False, False] Translation: X:2.66, Y:0.09, Z:-0.16 [[ 9.99982199e-01 1.39188693e-03 -5.80202636e-03 2.65700608e+00] [-1.37280806e-03 9.99993642e-01 3.29099796e-03 9.09308971e-02] [ 5.80657017e-03 -3.28297431e-03 9.99977753e-01 -1.64212631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.146547614999996 meters Centerline goodness [0,1] 0.719902208829633 Centerline is valid? [False, False] Translation: X:2.66, Y:0.09, Z:-0.17 [[ 9.99983480e-01 6.82137664e-04 -5.70738068e-03 2.65845481e+00] [-6.65743100e-04 9.99995649e-01 2.87392656e-03 9.20005150e-02] [ 5.70931626e-03 -2.87007943e-03 9.99979583e-01 -1.66112501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.176547614999997 meters Centerline goodness [0,1] 0.7284713755068477 Centerline is valid? [False, False] Translation: X:2.66, Y:0.09, Z:-0.17 [[ 9.99981609e-01 -4.04828344e-04 -6.05131590e-03 2.66049916e+00] [ 4.20572440e-04 9.99996530e-01 2.60071791e-03 9.27633282e-02] [ 6.05024206e-03 -2.60321510e-03 9.99978309e-01 -1.66868206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.206547614999995 meters Centerline goodness [0,1] 0.731016330342739 Centerline is valid? [False, False] Translation: X:2.66, Y:0.10, Z:-0.17 [[ 9.99976933e-01 -1.56427368e-03 -6.60960269e-03 2.66368597e+00] [ 1.56393663e-03 9.99998775e-01 -5.61625483e-05 9.80186222e-02] [ 6.60968245e-03 4.58242531e-05 9.99978155e-01 -1.70935873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.236547614999996 meters Centerline goodness [0,1] 0.7325064157399487 Centerline is valid? [False, False] Translation: X:2.66, Y:0.10, Z:-0.17 [[ 0.99997343 -0.00391999 -0.00614536 2.66042707] [ 0.00389508 0.99998417 -0.00406071 0.09709263] [ 0.00616118 0.00403666 0.99997287 -0.16992079] [ 0. 0. 0. 1. ]] SLAMing on 18.266547614999997 meters Centerline goodness [0,1] 0.7349158394475614 Centerline is valid? [False, False] Translation: X:2.66, Y:0.09, Z:-0.17 [[ 0.99996413 -0.00613856 -0.00583509 2.65707307] [ 0.00610927 0.99996871 -0.00502528 0.08789933] [ 0.00586575 0.00498945 0.99997035 -0.16534399] [ 0. 0. 0. 1. ]] SLAMing on 18.296547614999994 meters Centerline goodness [0,1] 0.7470812622818171 Centerline is valid? [False, False] Translation: X:2.66, Y:0.08, Z:-0.17 [[ 0.99995844 -0.00699208 -0.00585038 2.65917407] [ 0.00697091 0.99996911 -0.00363099 0.08209495] [ 0.00587559 0.00359005 0.99997629 -0.16585056] [ 0. 0. 0. 1. ]] SLAMing on 18.326547614999996 meters Centerline goodness [0,1] 0.7514575997229117 Centerline is valid? [False, False] Translation: X:2.66, Y:0.08, Z:-0.16 [[ 9.99961544e-01 -6.73638351e-03 -5.61539318e-03 2.65878447e+00] [ 6.72415926e-03 9.99974988e-01 -2.19296220e-03 7.92397345e-02] [ 5.63002537e-03 2.15511907e-03 9.99981829e-01 -1.64927657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.356547614999997 meters Centerline goodness [0,1] 0.7958561852528946 Centerline is valid? [False, False] Translation: X:2.66, Y:0.07, Z:-0.16 [[ 9.99925837e-01 -1.05948061e-02 -6.00592753e-03 2.66412558e+00] [ 1.06011910e-02 9.99943273e-01 1.03226517e-03 7.33215401e-02] [ 5.99465018e-03 -1.09585860e-03 9.99981431e-01 -1.61377127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.386547614999994 meters Centerline goodness [0,1] 0.8018747460676766 Centerline is valid? [False, False] Translation: X:2.67, Y:0.08, Z:-0.17 [[ 9.99907379e-01 -1.14080929e-02 -7.42214509e-03 2.67435593e+00] [ 1.14183256e-02 9.99933914e-01 1.33776115e-03 7.74356417e-02] [ 7.40639328e-03 -1.42238571e-03 9.99971561e-01 -1.68713552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.416547614999995 meters Centerline goodness [0,1] 0.8018747460676766 Centerline is valid? [False, False] Translation: X:2.67, Y:0.08, Z:-0.17 [[ 9.99907379e-01 -1.14080929e-02 -7.42214509e-03 2.67435593e+00] [ 1.14183256e-02 9.99933914e-01 1.33776115e-03 7.74356417e-02] [ 7.40639328e-03 -1.42238571e-03 9.99971561e-01 -1.68713552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.446547614999997 meters Centerline goodness [0,1] 0.7780280063519561 Centerline is valid? [False, False] Translation: X:2.68, Y:0.08, Z:-0.17 [[ 9.99908882e-01 -1.09839610e-02 -7.84732281e-03 2.67504747e+00] [ 1.09822604e-02 9.99939659e-01 -2.59763865e-04 7.88107992e-02] [ 7.84970254e-03 1.73558853e-04 9.99969176e-01 -1.70831459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.476547614999994 meters Centerline goodness [0,1] 0.7569137810829654 Centerline is valid? [False, False] Translation: X:2.67, Y:0.08, Z:-0.17 [[ 9.99933960e-01 -8.57765070e-03 -7.64843557e-03 2.67064175e+00] [ 8.58242124e-03 9.99962996e-01 5.91123858e-04 7.65815448e-02] [ 7.64308209e-03 -6.56726917e-04 9.99970576e-01 -1.67715414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.506547614999995 meters Centerline goodness [0,1] 0.7539347743868734 Centerline is valid? [False, False] Translation: X:2.67, Y:0.08, Z:-0.17 [[ 9.99933574e-01 -8.54264895e-03 -7.73762824e-03 2.67106352e+00] [ 8.54454954e-03 9.99963472e-01 2.12605143e-04 7.65564268e-02] [ 7.73552939e-03 -2.78705568e-04 9.99970042e-01 -1.68530563e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.536547614999996 meters Centerline goodness [0,1] 0.7765325726261862 Centerline is valid? [False, False] Translation: X:2.67, Y:0.07, Z:-0.17 [[ 9.99919925e-01 -9.82921484e-03 -7.97054230e-03 2.67321510e+00] [ 9.84373861e-03 9.99949956e-01 1.78500084e-03 7.21060902e-02] [ 7.95259827e-03 -1.86331784e-03 9.99966642e-01 -1.67368531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.566547614999994 meters Centerline goodness [0,1] 0.8182698799424664 Centerline is valid? [False, False] Translation: X:2.67, Y:0.07, Z:-0.16 [[ 9.99875766e-01 -1.39288184e-02 -7.37843885e-03 2.67189879e+00] [ 1.39435728e-02 9.99900878e-01 1.95201765e-03 6.52422817e-02] [ 7.35051819e-03 -2.05465694e-03 9.99970874e-01 -1.62039008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.596547614999995 meters Centerline goodness [0,1] 0.8316656335783228 Centerline is valid? [False, False] Translation: X:2.68, Y:0.06, Z:-0.16 [[ 0.99984132 -0.01617476 -0.00746383 2.67543968] [ 0.01619795 0.99986413 0.0030574 0.06111964] [ 0.00741336 -0.00317781 0.99996747 -0.16233542] [ 0. 0. 0. 1. ]] SLAMing on 18.626547614999996 meters Centerline goodness [0,1] 0.8271833259944225 Centerline is valid? [False, False] Translation: X:2.68, Y:0.06, Z:-0.16 [[ 0.99987396 -0.01369666 -0.0080288 2.67900189] [ 0.01374556 0.99988711 0.00606806 0.06408277] [ 0.00794478 -0.00617766 0.99994936 -0.16463157] [ 0. 0. 0. 1. ]] SLAMing on 18.656547614999994 meters Centerline goodness [0,1] 0.8189543636791343 Centerline is valid? [False, False] Translation: X:2.68, Y:0.07, Z:-0.17 [[ 9.99947597e-01 -9.99387401e-03 -2.21950368e-03 2.68056659e+00] [ 9.97573944e-03 9.99917945e-01 -8.03661185e-03 6.79949723e-02] [ 2.29963845e-03 8.01404952e-03 9.99965243e-01 -1.68006580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.686547614999995 meters Centerline goodness [0,1] 0.7981000410484959 Centerline is valid? [False, False] Translation: X:2.68, Y:0.07, Z:-0.16 [[ 0.99996482 -0.00793951 -0.00270475 2.67762798] [ 0.00791939 0.99994148 -0.00737045 0.06552298] [ 0.00276311 0.00734877 0.99996918 -0.1646418 ] [ 0. 0. 0. 1. ]] SLAMing on 18.716547614999996 meters Centerline goodness [0,1] 0.7778821871145827 Centerline is valid? [False, False] Translation: X:2.68, Y:0.07, Z:-0.17 [[ 0.99997662 -0.00566315 -0.00383247 2.68261823] [ 0.00564455 0.99997232 -0.00484681 0.0655778 ] [ 0.00385981 0.00482507 0.99998091 -0.16767711] [ 0. 0. 0. 1. ]] SLAMing on 18.746547614999997 meters Centerline goodness [0,1] 0.8014198901484165 Centerline is valid? [False, False] Translation: X:2.69, Y:0.07, Z:-0.17 [[ 9.99978953e-01 -4.56295368e-03 -4.61218336e-03 2.68819705e+00] [ 4.55623292e-03 9.99988545e-01 -1.46663399e-03 6.83892769e-02] [ 4.61882271e-03 1.44558894e-03 9.99988288e-01 -1.69536564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.776547614999995 meters Centerline goodness [0,1] 0.8199779185310012 Centerline is valid? [False, False] Translation: X:2.70, Y:0.07, Z:-0.17 [[ 9.99974417e-01 -4.31727067e-03 -5.70324689e-03 2.69560009e+00] [ 4.32585710e-03 9.99989527e-01 1.49405708e-03 7.29449336e-02] [ 5.69673691e-03 -1.51869028e-03 9.99982620e-01 -1.72127275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.806547614999996 meters Centerline goodness [0,1] 0.8236889692585895 Centerline is valid? [False, False] Translation: X:2.70, Y:0.07, Z:-0.17 [[ 0.99997348 -0.00418553 -0.00595915 2.69523609] [ 0.00420425 0.99998625 0.00313316 0.069077 ] [ 0.00594596 -0.00315813 0.99997734 -0.16927247] [ 0. 0. 0. 1. ]] SLAMing on 18.836547614999997 meters Centerline goodness [0,1] 0.7810083154038495 Centerline is valid? [False, False] Translation: X:2.68, Y:0.07, Z:-0.16 [[ 9.99989948e-01 2.38654439e-03 -3.79572374e-03 2.68187796e+00] [-2.36857776e-03 9.99986004e-01 4.73086032e-03 6.93096015e-02] [ 3.80696103e-03 -4.72182230e-03 9.99981606e-01 -1.64155510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.866547614999995 meters Centerline goodness [0,1] 0.7586706039024955 Centerline is valid? [False, False] Translation: X:2.68, Y:0.07, Z:-0.16 [[ 0.99998594 0.00424178 -0.00318099 2.67796275] [-0.00422765 0.99998122 0.00443686 0.07201779] [ 0.00319975 -0.00442335 0.9999851 -0.16296887] [ 0. 0. 0. 1. ]] SLAMing on 18.896547614999996 meters Centerline goodness [0,1] 0.7342421535003026 Centerline is valid? [False, False] Translation: X:2.67, Y:0.08, Z:-0.16 [[ 9.99972840e-01 6.90619088e-03 -2.57386133e-03 2.67258203e+00] [-6.89483143e-03 9.99966566e-01 4.39643442e-03 7.61089393e-02] [ 2.60413789e-03 -4.37856867e-03 9.99987023e-01 -1.60426644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.926547614999997 meters Centerline goodness [0,1] 0.7543550992155053 Centerline is valid? [False, False] Translation: X:2.68, Y:0.08, Z:-0.17 [[ 9.99984475e-01 3.64881152e-03 -4.21137917e-03 2.68115083e+00] [-3.64851588e-03 9.99993341e-01 7.78803916e-05 8.07710205e-02] [ 4.21163530e-03 -6.25138987e-05 9.99991129e-01 -1.68882010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.956547614999995 meters Centerline goodness [0,1] 0.7653539682996289 Centerline is valid? [False, False] Translation: X:2.68, Y:0.08, Z:-0.17 [[ 9.99986024e-01 2.60207104e-03 -4.60219565e-03 2.68381645e+00] [-2.60595700e-03 9.99996253e-01 -8.38575705e-04 8.30359277e-02] [ 4.59999637e-03 8.50557110e-04 9.99989058e-01 -1.71013584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.986547614999996 meters Centerline goodness [0,1] 0.7691232274815258 Centerline is valid? [False, False] Translation: X:2.69, Y:0.09, Z:-0.17 [[ 9.99974848e-01 4.64268934e-03 -5.36180695e-03 2.68771355e+00] [-4.63244566e-03 9.99987424e-01 1.92133180e-03 8.75970207e-02] [ 5.37065967e-03 -1.89644520e-03 9.99983780e-01 -1.72654456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.016547614999997 meters Centerline goodness [0,1] 0.7458707206949763 Centerline is valid? [False, False] Translation: X:2.68, Y:0.09, Z:-0.17 [[ 9.99966791e-01 6.16795089e-03 -5.32662618e-03 2.68022122e+00] [-6.16338444e-03 9.99980625e-01 8.73277192e-04 8.76062867e-02] [ 5.33190930e-03 -8.40418147e-04 9.99985432e-01 -1.66754889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.046547614999994 meters Centerline goodness [0,1] 0.7417896784529122 Centerline is valid? [False, False] Translation: X:2.68, Y:0.09, Z:-0.17 [[ 9.99966055e-01 5.83425526e-03 -5.81802277e-03 2.68245053e+00] [-5.83977573e-03 9.99982514e-01 -9.32319209e-04 8.89164750e-02] [ 5.81248164e-03 9.66263510e-04 9.99982641e-01 -1.70065358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.076547614999996 meters Centerline goodness [0,1] 0.7353448519639171 Centerline is valid? [False, False] Translation: X:2.69, Y:0.10, Z:-0.18 [[ 9.99947503e-01 8.25903997e-03 -6.06460798e-03 2.68668793e+00] [-8.26352561e-03 9.99965601e-01 -7.14957038e-04 9.73470438e-02] [ 6.05849451e-03 7.65034548e-04 9.99981355e-01 -1.76943260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.106547614999997 meters Centerline goodness [0,1] 0.7236842105263157 Centerline is valid? [False, False] Translation: X:2.69, Y:0.10, Z:-0.18 [[ 9.99948553e-01 8.21625462e-03 -5.94844183e-03 2.68691570e+00] [-8.22840800e-03 9.99964103e-01 -2.02153769e-03 1.01447466e-01] [ 5.93161883e-03 2.07037990e-03 9.99980265e-01 -1.78580899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.136547614999994 meters Centerline goodness [0,1] 0.7262809823926745 Centerline is valid? [False, False] Translation: X:2.68, Y:0.10, Z:-0.17 [[ 9.99941457e-01 9.00993932e-03 -5.99189267e-03 2.68491695e+00] [-9.01219601e-03 9.99959328e-01 -3.49729753e-04 9.75291593e-02] [ 5.98849792e-03 4.03709390e-04 9.99981987e-01 -1.74848955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.166547614999995 meters Centerline goodness [0,1] 0.7303921568627452 Centerline is valid? [False, False] Translation: X:2.68, Y:0.09, Z:-0.17 [[ 9.99963094e-01 6.35864926e-03 -5.77743675e-03 2.68184739e+00] [-6.36771931e-03 9.99978520e-01 -1.55287319e-03 9.10483561e-02] [ 5.76743848e-03 1.58960498e-03 9.99982105e-01 -1.70302834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.196547614999997 meters Centerline goodness [0,1] 0.7533468444038478 Centerline is valid? [False, False] Translation: X:2.69, Y:0.09, Z:-0.17 [[ 9.99975708e-01 6.85193586e-04 -6.93644565e-03 2.68951325e+00] [-7.13261705e-04 9.99991565e-01 -4.04480523e-03 8.58226991e-02] [ 6.93361567e-03 4.04965447e-03 9.99967762e-01 -1.73320628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.226547614999994 meters Centerline goodness [0,1] 0.7763109015573654 Centerline is valid? [False, False] Translation: X:2.69, Y:0.08, Z:-0.17 [[ 9.99975831e-01 -5.73982082e-04 -6.92872532e-03 2.69140183e+00] [ 5.53499023e-04 9.99995472e-01 -2.95780776e-03 8.37503918e-02] [ 6.93039168e-03 2.95390124e-03 9.99971622e-01 -1.73080138e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.256547614999995 meters Centerline goodness [0,1] 0.7919751680145802 Centerline is valid? [False, False] Translation: X:2.69, Y:0.08, Z:-0.17 [[ 9.99974515e-01 -9.45614157e-04 -7.07631621e-03 2.69169113e+00] [ 9.31154710e-04 9.99997473e-01 -2.04637378e-03 8.35449157e-02] [ 7.07823340e-03 2.03973248e-03 9.99972869e-01 -1.71501114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.286547614999996 meters Centerline goodness [0,1] 0.7971006269681409 Centerline is valid? [False, False] Translation: X:2.69, Y:0.09, Z:-0.17 [[ 9.99974798e-01 -1.17441134e-03 -7.00167153e-03 2.69219795e+00] [ 1.15419275e-03 9.99995155e-01 -2.89102170e-03 8.63354516e-02] [ 7.00503286e-03 2.88286757e-03 9.99971309e-01 -1.72865177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.316547614999994 meters Centerline goodness [0,1] 0.7623084264301353 Centerline is valid? [False, False] Translation: X:2.70, Y:0.09, Z:-0.18 [[ 9.99955948e-01 5.32799956e-03 -7.72752251e-03 2.69599864e+00] [-5.31387834e-03 9.99984176e-01 1.84677527e-03 9.44610160e-02] [ 7.73723985e-03 -1.80563081e-03 9.99968437e-01 -1.77045373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.346547614999995 meters Centerline goodness [0,1] 0.7324370596985601 Centerline is valid? [False, False] Translation: X:2.70, Y:0.10, Z:-0.18 [[ 0.99993138 0.00759671 -0.00891778 2.69566008] [-0.00762909 0.99996441 -0.00360311 0.10288733] [ 0.00889009 0.0036709 0.99995374 -0.18380461] [ 0. 0. 0. 1. ]] SLAMing on 19.376547614999996 meters Centerline goodness [0,1] 0.7109606432501058 Centerline is valid? [False, False] Translation: X:2.69, Y:0.10, Z:-0.18 [[ 0.99992532 0.00887773 -0.00839828 2.6868123 ] [-0.00893825 0.99993416 -0.00719633 0.09798024] [ 0.00833384 0.00727086 0.99993884 -0.18068025] [ 0. 0. 0. 1. ]] SLAMing on 19.406547614999994 meters Centerline goodness [0,1] 0.7131692622484938 Centerline is valid? [False, False] Translation: X:2.68, Y:0.09, Z:-0.17 [[ 0.99994132 0.00878418 -0.00633927 2.6773693 ] [-0.00880576 0.99995551 -0.00338316 0.08907212] [ 0.00630927 0.00343878 0.99997418 -0.1680154 ] [ 0. 0. 0. 1. ]] SLAMing on 19.436547614999995 meters Centerline goodness [0,1] 0.7386864635776659 Centerline is valid? [False, False] Translation: X:2.67, Y:0.09, Z:-0.17 [[ 9.99998970e-01 -7.80407512e-04 1.20465384e-03 2.67438405e+00] [ 7.71165917e-04 9.99970417e-01 7.65307249e-03 8.59549629e-02] [-1.21059071e-03 -7.65213562e-03 9.99969989e-01 -1.68358192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.466547614999996 meters Centerline goodness [0,1] 0.7797150933363186 Centerline is valid? [False, False] Translation: X:2.71, Y:0.09, Z:-0.17 [[ 9.99982557e-01 -1.47572086e-03 -5.71909261e-03 2.70549730e+00] [ 1.61641765e-03 9.99694214e-01 2.46752168e-02 9.13491862e-02] [ 5.68093005e-03 -2.46840309e-02 9.99679161e-01 -1.70904564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.496547614999994 meters Centerline goodness [0,1] 0.7837309892563137 Centerline is valid? [False, False] Translation: X:2.71, Y:0.10, Z:-0.17 [[ 9.99979722e-01 -2.00149309e-03 -6.04556424e-03 2.70534839e+00] [ 2.14062103e-03 9.99730981e-01 2.30951108e-02 9.93328564e-02] [ 5.99771316e-03 -2.31075838e-02 9.99714993e-01 -1.70441733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.526547614999995 meters Centerline goodness [0,1] 0.7353675295173459 Centerline is valid? [False, False] Translation: X:2.68, Y:0.10, Z:-0.17 [[ 9.99988605e-01 1.48118858e-03 -4.53827653e-03 2.67980594e+00] [-1.50933453e-03 9.99979611e-01 -6.20476802e-03 9.90534054e-02] [ 4.52899357e-03 6.21154710e-03 9.99970452e-01 -1.66015249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.556547614999996 meters Centerline goodness [0,1] 0.7171805176920266 Centerline is valid? [False, False] Translation: X:2.67, Y:0.10, Z:-0.16 [[ 0.9999848 0.00364866 -0.00413471 2.67060493] [-0.00368803 0.99994754 -0.00955557 0.09831392] [ 0.00409963 0.00957067 0.9999458 -0.16248629] [ 0. 0. 0. 1. ]] SLAMing on 19.586547614999997 meters Centerline goodness [0,1] 0.7048171052996478 Centerline is valid? [False, False] Translation: X:2.68, Y:0.11, Z:-0.17 [[ 0.99994995 0.00890834 -0.00455395 2.67671441] [-0.00892598 0.99995268 -0.00386818 0.10877589] [ 0.00451928 0.00390863 0.99998215 -0.16691633] [ 0. 0. 0. 1. ]] SLAMing on 19.616547614999995 meters Centerline goodness [0,1] 0.7078955351479551 Centerline is valid? [False, False] Translation: X:2.69, Y:0.11, Z:-0.17 [[ 9.99924852e-01 1.05129649e-02 -6.30624665e-03 2.68845780e+00] [-1.05046896e-02 9.99943921e-01 1.34392967e-03 1.13468474e-01] [ 6.32002168e-03 -1.27758351e-03 9.99979212e-01 -1.71618355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.646547614999996 meters Centerline goodness [0,1] 0.7293180935471342 Centerline is valid? [False, False] Translation: X:2.70, Y:0.11, Z:-0.18 [[ 9.99960664e-01 4.04776667e-03 -7.89213936e-03 2.70035960e+00] [-4.06356000e-03 9.99989771e-01 -1.98614009e-03 1.11918398e-01] [ 7.88401920e-03 2.01813214e-03 9.99966884e-01 -1.78848451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.676547614999997 meters Centerline goodness [0,1] 0.7604527924978498 Centerline is valid? [False, False] Translation: X:2.70, Y:0.11, Z:-0.18 [[ 9.99961046e-01 1.97916203e-03 -8.60173712e-03 2.70470926e+00] [-2.00270899e-03 9.99994269e-01 -2.72971486e-03 1.12736903e-01] [ 8.59628528e-03 2.74683531e-03 9.99959279e-01 -1.81105354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.706547614999995 meters Centerline goodness [0,1] 0.7332054809750133 Centerline is valid? [False, False] Translation: X:2.69, Y:0.11, Z:-0.17 [[ 9.99963287e-01 4.84444262e-03 -7.06793852e-03 2.69223902e+00] [-4.86120460e-03 9.99985408e-01 -2.35630180e-03 1.12133126e-01] [ 7.05642042e-03 2.39057399e-03 9.99972246e-01 -1.72339104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.736547614999996 meters Centerline goodness [0,1] 0.7048005333925992 Centerline is valid? [False, False] Translation: X:2.67, Y:0.11, Z:-0.17 [[ 9.99940928e-01 1.07700992e-02 -1.46447594e-03 2.67167952e+00] [-1.07768061e-02 9.99931109e-01 -4.65165169e-03 1.13244986e-01] [ 1.41427630e-03 4.66715928e-03 9.99988109e-01 -1.66661279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.766547614999997 meters Centerline goodness [0,1] 0.6810828656322219 Centerline is valid? [False, False] Translation: X:2.67, Y:0.12, Z:-0.17 [[ 9.99824408e-01 1.86887993e-02 -1.37197547e-03 2.67246490e+00] [-1.86867229e-02 9.99824246e-01 1.51091948e-03 1.18097802e-01] [ 1.39997162e-03 -1.48501645e-03 9.99997917e-01 -1.69109295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.796547614999994 meters Centerline goodness [0,1] 0.68992903930131 Centerline is valid? [False, False] Translation: X:2.67, Y:0.13, Z:-0.18 [[ 0.99984587 0.01683976 0.00496671 2.67230152] [-0.0168828 0.99981916 0.00875362 0.12615668] [-0.0048184 -0.00883612 0.99994935 -0.17986184] [ 0. 0. 0. 1. ]] SLAMing on 19.826547614999996 meters Centerline goodness [0,1] 0.6950757059064248 Centerline is valid? [False, False] Translation: X:2.67, Y:0.13, Z:-0.18 [[ 0.99990815 0.01263772 0.00489636 2.67281269] [-0.01265443 0.99991416 0.00339558 0.13107658] [-0.00485303 -0.00345723 0.99998225 -0.18146701] [ 0. 0. 0. 1. ]] SLAMing on 19.856547614999997 meters Centerline goodness [0,1] 0.6986774008050604 Centerline is valid? [False, False] Translation: X:2.67, Y:0.13, Z:-0.18 [[ 9.99958531e-01 8.18509276e-03 3.99266813e-03 2.67386072e+00] [-8.18269875e-03 9.99966332e-01 -6.15568845e-04 1.27709736e-01] [-3.99757220e-03 5.82872517e-04 9.99991840e-01 -1.79927187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.886547614999994 meters Centerline goodness [0,1] 0.7072773901773157 Centerline is valid? [False, False] Translation: X:2.67, Y:0.12, Z:-0.18 [[ 9.99989581e-01 2.62853950e-03 3.73205304e-03 2.67129866e+00] [-2.59697828e-03 9.99961039e-01 -8.43660921e-03 1.23414258e-01] [-3.75408360e-03 8.42682925e-03 9.99957447e-01 -1.79157546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.916547614999995 meters Centerline goodness [0,1] 0.7046078646748681 Centerline is valid? [False, False] Translation: X:2.68, Y:0.13, Z:-0.18 [[ 0.99997929 0.00541075 0.00348585 2.67512688] [-0.005391 0.99996951 -0.00565031 0.12717964] [-0.00351631 0.0056314 0.99997796 -0.18335538] [ 0. 0. 0. 1. ]] SLAMing on 19.946547614999997 meters Centerline goodness [0,1] 0.6987553905780883 Centerline is valid? [False, False] Translation: X:2.68, Y:0.13, Z:-0.19 [[ 9.99951393e-01 9.44996036e-03 2.81251104e-03 2.68295594e+00] [-9.45263058e-03 9.99954883e-01 9.37634758e-04 1.30189219e-01] [-2.80352354e-03 -9.64174810e-04 9.99995605e-01 -1.88287728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.976547614999994 meters Centerline goodness [0,1] 0.7018053310686793 Centerline is valid? [False, False] Translation: X:2.68, Y:0.13, Z:-0.19 [[ 9.99974860e-01 6.36571149e-03 3.12358279e-03 2.68156936e+00] [-6.35732784e-03 9.99976183e-01 -2.68661199e-03 1.30331591e-01] [-3.14061059e-03 2.66668681e-03 9.99991513e-01 -1.88146629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.006547614999995 meters Centerline goodness [0,1] 0.7012070206522341 Centerline is valid? [False, False] Translation: X:2.67, Y:0.12, Z:-0.18 [[ 0.99998674 0.0027426 0.00435969 2.67309048] [-0.00270805 0.99996505 -0.00791029 0.12330344] [-0.00438123 0.00789838 0.99995921 -0.1832461 ] [ 0. 0. 0. 1. ]] SLAMing on 20.036547614999996 meters Centerline goodness [0,1] 0.6984912056461696 Centerline is valid? [False, False] Translation: X:2.67, Y:0.12, Z:-0.18 [[ 0.99998485 0.00359058 0.00417236 2.67151818] [-0.00356593 0.99997624 -0.00589938 0.11805407] [-0.00419344 0.00588442 0.99997389 -0.179544 ] [ 0. 0. 0. 1. ]] SLAMing on 20.066547614999994 meters Centerline goodness [0,1] 0.7009037240144371 Centerline is valid? [False, False] Translation: X:2.67, Y:0.11, Z:-0.18 [[ 0.9999684 0.00576089 0.00547912 2.66661625] [-0.00574574 0.99997964 -0.0027772 0.11071152] [-0.00549501 0.00274564 0.99998113 -0.17589205] [ 0. 0. 0. 1. ]] SLAMing on 20.096547614999995 meters Centerline goodness [0,1] 0.7092519630033252 Centerline is valid? [False, False] Translation: X:2.67, Y:0.11, Z:-0.18 [[ 0.99997726 0.00396073 0.005458 2.67047061] [-0.00394263 0.99998671 -0.00332277 0.11362596] [-0.00547109 0.00330118 0.99997958 -0.17928524] [ 0. 0. 0. 1. ]] SLAMing on 20.126547614999996 meters Centerline goodness [0,1] 0.7053153632772002 Centerline is valid? [False, False] Translation: X:2.68, Y:0.12, Z:-0.18 [[ 9.99989334e-01 1.93534753e-03 4.19358947e-03 2.67560882e+00] [-1.91800548e-03 9.99989610e-01 -4.13545556e-03 1.15023078e-01] [-4.20154944e-03 4.12736812e-03 9.99982656e-01 -1.81201000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.156547614999994 meters Centerline goodness [0,1] 0.7205504949378154 Centerline is valid? [False, False] Translation: X:2.68, Y:0.11, Z:-0.18 [[ 9.99994527e-01 1.09256974e-03 3.12272960e-03 2.67826564e+00] [-1.07986953e-03 9.99991151e-01 -4.06581905e-03 1.09180402e-01] [-3.12714416e-03 4.06242466e-03 9.99986859e-01 -1.81119977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.186547614999995 meters Centerline goodness [0,1] 0.7238835500282645 Centerline is valid? [False, False] Translation: X:2.68, Y:0.11, Z:-0.18 [[ 9.99997803e-01 -4.18372965e-05 2.09559566e-03 2.68235758e+00] [ 5.23516322e-05 9.99987411e-01 -5.01754589e-03 1.06982710e-01] [-2.09535936e-03 5.01764458e-03 9.99985216e-01 -1.83788099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.216547614999996 meters Centerline goodness [0,1] 0.7249342049409967 Centerline is valid? [False, False] Translation: X:2.69, Y:0.11, Z:-0.19 [[ 9.99999120e-01 4.20415069e-04 1.25803607e-03 2.68876708e+00] [-4.15317410e-04 9.99991714e-01 -4.04959838e-03 1.07387849e-01] [-1.25972816e-03 4.04907233e-03 9.99991009e-01 -1.89007629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.246547614999994 meters Centerline goodness [0,1] 0.7211432448477653 Centerline is valid? [False, False] Translation: X:2.69, Y:0.11, Z:-0.19 [[ 9.99999210e-01 1.88648595e-04 1.24294668e-03 2.68940408e+00] [-1.83723786e-04 9.99992138e-01 -3.96112837e-03 1.07956263e-01] [-1.24368417e-03 3.96089688e-03 9.99991382e-01 -1.89483606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.276547614999995 meters Centerline goodness [0,1] 0.7320389451872038 Centerline is valid? [False, False] Translation: X:2.69, Y:0.10, Z:-0.18 [[ 9.99998718e-01 1.13090067e-04 1.59731445e-03 2.68828386e+00] [-1.11907181e-04 9.99999719e-01 -7.40616774e-04 1.02746929e-01] [-1.59739776e-03 7.40437074e-04 9.99998450e-01 -1.84799034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.306547614999996 meters Centerline goodness [0,1] 0.7469464453492014 Centerline is valid? [False, False] Translation: X:2.68, Y:0.09, Z:-0.17 [[ 9.99985449e-01 -3.82845288e-03 3.80071740e-03 2.68433843e+00] [ 3.81914517e-03 9.99989698e-01 2.45317827e-03 9.35936453e-02] [-3.81007012e-03 -2.43862708e-03 9.99989768e-01 -1.73685155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.336547614999994 meters Centerline goodness [0,1] 0.7469464453492014 Centerline is valid? [False, False] Translation: X:2.68, Y:0.09, Z:-0.17 [[ 9.99985449e-01 -3.82845288e-03 3.80071740e-03 2.68433843e+00] [ 3.81914517e-03 9.99989698e-01 2.45317827e-03 9.35936453e-02] [-3.81007012e-03 -2.43862708e-03 9.99989768e-01 -1.73685155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.366547614999995 meters Centerline goodness [0,1] 0.752766692140047 Centerline is valid? [False, False] Translation: X:2.68, Y:0.09, Z:-0.17 [[ 0.99998577 -0.00338229 0.00412584 2.68262138] [ 0.00336866 0.99998886 0.00330623 0.09362735] [-0.00413698 -0.00329228 0.99998602 -0.17174788] [ 0. 0. 0. 1. ]] SLAMing on 20.396547614999996 meters Centerline goodness [0,1] 0.733352224426183 Centerline is valid? [False, False] Translation: X:2.68, Y:0.10, Z:-0.17 [[ 9.99989992e-01 -1.95868255e-03 4.02243862e-03 2.68170388e+00] [ 1.95217100e-03 9.99996779e-01 1.62209626e-03 9.76647620e-02] [-4.02560283e-03 -1.61422754e-03 9.99990594e-01 -1.73925830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.426547614999997 meters Centerline goodness [0,1] 0.7205399592483586 Centerline is valid? [False, False] Translation: X:2.68, Y:0.10, Z:-0.18 [[ 9.99992020e-01 -2.13040420e-03 3.37959503e-03 2.68470288e+00] [ 2.13307889e-03 9.99997415e-01 -7.88014374e-04 9.89417732e-02] [-3.37790750e-03 7.95217028e-04 9.99993979e-01 -1.78962194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.456547614999995 meters Centerline goodness [0,1] 0.7208294382595394 Centerline is valid? [False, False] Translation: X:2.69, Y:0.11, Z:-0.19 [[ 9.99991177e-01 -3.67262297e-03 2.03909893e-03 2.69045019e+00] [ 3.68711499e-03 9.99967645e-01 -7.14939200e-03 1.05902391e-01] [-2.01277593e-03 7.15684731e-03 9.99972364e-01 -1.90256978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.486547614999996 meters Centerline goodness [0,1] 0.7141398962261476 Centerline is valid? [False, False] Translation: X:2.69, Y:0.10, Z:-0.19 [[ 9.99999023e-01 -6.23322253e-04 1.25130426e-03 2.69346506e+00] [ 6.27251704e-04 9.99994866e-01 -3.14235153e-03 1.04239219e-01] [-1.24933914e-03 3.14313334e-03 9.99994280e-01 -1.91045869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.516547614999997 meters Centerline goodness [0,1] 0.7220340912324634 Centerline is valid? [False, False] Translation: X:2.69, Y:0.10, Z:-0.19 [[ 9.99999042e-01 -9.29362420e-04 1.02618482e-03 2.69388766e+00] [ 9.31247060e-04 9.99997878e-01 -1.83760267e-03 1.01391241e-01] [-1.02447484e-03 1.83855654e-03 9.99997785e-01 -1.89378963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.546547614999994 meters Centerline goodness [0,1] 0.7477936571200821 Centerline is valid? [False, False] Translation: X:2.70, Y:0.10, Z:-0.19 [[ 9.99996340e-01 -2.60341501e-03 7.36965180e-04 2.69638249e+00] [ 2.60442830e-03 9.99995660e-01 -1.37734249e-03 1.01378661e-01] [-7.33376188e-04 1.37925682e-03 9.99998780e-01 -1.89379496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.576547614999996 meters Centerline goodness [0,1] 0.7510779530239419 Centerline is valid? [False, False] Translation: X:2.70, Y:0.10, Z:-0.19 [[ 9.99995984e-01 -2.70219103e-03 8.54868782e-04 2.69515242e+00] [ 2.70156799e-03 9.99996085e-01 7.29128960e-04 9.92809166e-02] [-8.56835681e-04 -7.26816545e-04 9.99999369e-01 -1.85189958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.606547614999997 meters Centerline goodness [0,1] 0.7493654279439865 Centerline is valid? [False, False] Translation: X:2.69, Y:0.09, Z:-0.18 [[ 9.99991322e-01 -3.74205567e-03 1.83130323e-03 2.68796587e+00] [ 3.74094024e-03 9.99992815e-01 6.12138240e-04 9.31887781e-02] [-1.83358073e-03 -6.05282132e-04 9.99998136e-01 -1.77152340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.636547614999994 meters Centerline goodness [0,1] 0.7317877944509799 Centerline is valid? [False, False] Translation: X:2.68, Y:0.09, Z:-0.18 [[ 9.99995092e-01 -1.92925975e-03 2.46853274e-03 2.68479949e+00] [ 1.92590025e-03 9.99997217e-01 1.36258307e-03 8.96465803e-02] [-2.47115465e-03 -1.35782223e-03 9.99996025e-01 -1.76227239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.666547614999995 meters Centerline goodness [0,1] 0.7345846805344931 Centerline is valid? [False, False] Translation: X:2.69, Y:0.09, Z:-0.18 [[ 9.99992084e-01 -3.04422072e-03 2.56205610e-03 2.68753192e+00] [ 3.04539623e-03 9.99995259e-01 -4.55039016e-04 9.35184798e-02] [-2.56065872e-03 4.62837890e-04 9.99996614e-01 -1.80755846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.696547614999997 meters Centerline goodness [0,1] 0.7473681215501053 Centerline is valid? [False, False] Translation: X:2.70, Y:0.10, Z:-0.19 [[ 9.99993631e-01 -3.38518069e-03 1.13115096e-03 2.69674601e+00] [ 3.38371885e-03 9.99993441e-01 1.29177397e-03 9.57790478e-02] [-1.13551643e-03 -1.28793824e-03 9.99998526e-01 -1.85865993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.726547614999994 meters Centerline goodness [0,1] 0.7510751616302583 Centerline is valid? [False, False] Translation: X:2.70, Y:0.10, Z:-0.19 [[ 9.99989379e-01 -4.60037614e-03 2.80987580e-04 2.70044380e+00] [ 4.60040507e-03 9.99989413e-01 -1.02417423e-04 9.79096237e-02] [-2.80513447e-04 1.03708992e-04 9.99999955e-01 -1.88476359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.756547614999995 meters Centerline goodness [0,1] 0.7434513097380524 Centerline is valid? [False, False] Translation: X:2.70, Y:0.10, Z:-0.19 [[ 9.99988582e-01 -4.76052521e-03 -4.16807971e-04 2.70248037e+00] [ 4.75957148e-03 9.99986119e-01 -2.26002040e-03 1.01518825e-01] [ 4.27561069e-04 2.25801077e-03 9.99997359e-01 -1.91515213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.786547614999996 meters Centerline goodness [0,1] 0.7360760944304378 Centerline is valid? [False, False] Translation: X:2.70, Y:0.10, Z:-0.19 [[ 9.99994655e-01 -3.23419050e-03 -4.79866770e-04 2.69997859e+00] [ 3.23363561e-03 9.99994107e-01 -1.15264559e-03 9.69245786e-02] [ 4.83591817e-04 1.15108772e-03 9.99999221e-01 -1.88814283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.816547614999994 meters Centerline goodness [0,1] 0.7465355643723766 Centerline is valid? [False, False] Translation: X:2.70, Y:0.09, Z:-0.19 [[ 9.99996327e-01 -2.69825584e-03 2.55459330e-04 2.69772696e+00] [ 2.69795539e-03 9.99995677e-01 1.16925613e-03 9.22010296e-02] [-2.58613178e-04 -1.16856262e-03 9.99999284e-01 -1.85853464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.846547614999995 meters Centerline goodness [0,1] 0.7652670665524136 Centerline is valid? [False, False] Translation: X:2.70, Y:0.09, Z:-0.18 [[ 9.99987053e-01 -5.08687969e-03 1.28919855e-04 2.70063677e+00] [ 5.08637218e-03 9.99980326e-01 3.67113254e-03 8.97230665e-02] [-1.47591928e-04 -3.67042928e-03 9.99993253e-01 -1.82811596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.876547614999996 meters Centerline goodness [0,1] 0.7821731458819512 Centerline is valid? [False, False] Translation: X:2.70, Y:0.09, Z:-0.18 [[ 9.99984068e-01 -5.63179485e-03 3.83609544e-04 2.70076460e+00] [ 5.63030614e-03 9.99977016e-01 3.77721652e-03 9.32170399e-02] [-4.04873236e-04 -3.77499651e-03 9.99992793e-01 -1.82730737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.906547614999994 meters Centerline goodness [0,1] 0.7576850957440764 Centerline is valid? [False, False] Translation: X:2.70, Y:0.10, Z:-0.19 [[ 9.99991429e-01 -3.97113962e-03 -1.17092717e-03 2.70353759e+00] [ 3.97332543e-03 9.99990357e-01 1.87035851e-03 9.65220751e-02] [ 1.16348842e-03 -1.87499495e-03 9.99997565e-01 -1.87061301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.936547614999995 meters Centerline goodness [0,1] 0.74181156490093 Centerline is valid? [False, False] Translation: X:2.69, Y:0.09, Z:-0.18 [[ 9.99996412e-01 -2.65593138e-03 -3.48278389e-04 2.69396609e+00] [ 2.65514383e-03 9.99993961e-01 -2.24256320e-03 9.03476095e-02] [ 3.54232379e-04 2.24163043e-03 9.99997425e-01 -1.84890745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.966547614999996 meters Centerline goodness [0,1] 0.7383570786060413 Centerline is valid? [False, False] Translation: X:2.69, Y:0.08, Z:-0.18 [[ 9.99998430e-01 -1.48594657e-03 -9.65806570e-04 2.69248626e+00] [ 1.48497849e-03 9.99998395e-01 -1.00229751e-03 8.36441354e-02] [ 9.67294381e-04 1.00086173e-03 9.99999031e-01 -1.81718388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.996547614999994 meters Centerline goodness [0,1] 0.7634732272069464 Centerline is valid? [False, False] Translation: X:2.70, Y:0.08, Z:-0.18 [[ 9.99989413e-01 -4.29137122e-03 -1.66096792e-03 2.69831027e+00] [ 4.28938768e-03 9.99990085e-01 -1.19593360e-03 8.24829603e-02] [ 1.66608365e-03 1.18879640e-03 9.99997905e-01 -1.84457283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.026547614999995 meters Centerline goodness [0,1] 0.8027529568260028 Centerline is valid? [False, False] Translation: X:2.71, Y:0.08, Z:-0.19 [[ 9.99952978e-01 -9.08615465e-03 -3.38866247e-03 2.71259792e+00] [ 9.09332516e-03 9.99956436e-01 2.10666045e-03 8.26935893e-02] [ 3.36937340e-03 -2.13737560e-03 9.99992039e-01 -1.87777988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.056547614999996 meters Centerline goodness [0,1] 0.8141807876930195 Centerline is valid? [False, False] Translation: X:2.71, Y:0.08, Z:-0.19 [[ 0.99993828 -0.01049221 -0.00365265 2.71478154] [ 0.01050474 0.99993895 0.00342821 0.08128742] [ 0.00361646 -0.00346637 0.99998745 -0.18681994] [ 0. 0. 0. 1. ]] SLAMing on 21.086547614999994 meters Centerline goodness [0,1] 0.8176634010820295 Centerline is valid? [False, False] Translation: X:2.71, Y:0.08, Z:-0.18 [[ 9.99939962e-01 -1.07129173e-02 -2.30332626e-03 2.70556552e+00] [ 1.07187624e-02 9.99939325e-01 2.54049367e-03 7.58258638e-02] [ 2.27597040e-03 -2.56502996e-03 9.99994120e-01 -1.79986571e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.116547614999995 meters Centerline goodness [0,1] 0.8085311377769993 Centerline is valid? [False, False] Translation: X:2.71, Y:0.07, Z:-0.17 [[ 0.99994054 -0.00514967 -0.00961245 2.70893125] [ 0.00511931 0.99998184 -0.0031803 0.07238993] [ 0.00962865 0.0031309 0.99994874 -0.17068278] [ 0. 0. 0. 1. ]] SLAMing on 21.146547614999996 meters Centerline goodness [0,1] 0.7943009274158158 Centerline is valid? [False, False] Translation: X:2.71, Y:0.07, Z:-0.17 [[ 0.99995174 -0.00393674 -0.00900133 2.70654625] [ 0.00390566 0.99998636 -0.00346809 0.0729724 ] [ 0.00901486 0.00343276 0.99995347 -0.17091956] [ 0. 0. 0. 1. ]] SLAMing on 21.176547614999993 meters Centerline goodness [0,1] 0.7933553458200625 Centerline is valid? [False, False] Translation: X:2.71, Y:0.07, Z:-0.17 [[ 9.99949977e-01 -3.65376681e-03 -9.31096241e-03 2.70684779e+00] [ 3.62951946e-03 9.99989982e-01 -2.61974043e-03 7.01722104e-02] [ 9.32044105e-03 2.58581507e-03 9.99953220e-01 -1.70048936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.206547614999995 meters Centerline goodness [0,1] 0.8091703439609573 Centerline is valid? [False, False] Translation: X:2.71, Y:0.07, Z:-0.17 [[ 9.99939764e-01 -4.60838762e-03 -9.96147730e-03 2.71340903e+00] [ 4.58558999e-03 9.99986818e-01 -2.31020896e-03 7.01462489e-02] [ 9.97199232e-03 2.26439056e-03 9.99947715e-01 -1.74648324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.236547614999996 meters Centerline goodness [0,1] 0.8154136429608128 Centerline is valid? [False, False] Translation: X:2.72, Y:0.08, Z:-0.19 [[ 0.99996811 -0.00659355 -0.00450649 2.72010973] [ 0.00662806 0.9999485 0.00768564 0.07782599] [ 0.00445559 -0.00771526 0.99996031 -0.18808025] [ 0. 0. 0. 1. ]] SLAMing on 21.266547614999997 meters Centerline goodness [0,1] 0.805029815919108 Centerline is valid? [False, False] Translation: X:2.72, Y:0.08, Z:-0.19 [[ 0.99996718 -0.00670785 -0.00454413 2.7208086 ] [ 0.00673336 0.99996153 0.00562185 0.08477713] [ 0.00450624 -0.00565226 0.99997387 -0.19085284] [ 0. 0. 0. 1. ]] SLAMing on 21.296547614999994 meters Centerline goodness [0,1] 0.7940717177559282 Centerline is valid? [False, False] Translation: X:2.72, Y:0.08, Z:-0.18 [[ 9.99936438e-01 -2.62276189e-03 -1.09654380e-02 2.72106298e+00] [ 2.58985178e-03 9.99992103e-01 -3.01438183e-03 8.19217426e-02] [ 1.09732574e-02 2.98579137e-03 9.99935334e-01 -1.79003839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.326547614999996 meters Centerline goodness [0,1] 0.7809825029742042 Centerline is valid? [False, False] Translation: X:2.71, Y:0.07, Z:-0.17 [[ 9.99965901e-01 7.34176259e-04 -8.22548833e-03 2.70603340e+00] [-7.34668442e-04 9.99999729e-01 -5.68150154e-05 7.35338657e-02] [ 8.22544438e-03 6.28560847e-05 9.99966168e-01 -1.67898555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.356547614999997 meters Centerline goodness [0,1] 0.7872777809948462 Centerline is valid? [False, False] Translation: X:2.70, Y:0.07, Z:-0.17 [[ 9.99971117e-01 9.98567983e-04 -7.53443482e-03 2.70445761e+00] [-9.97245436e-04 9.99999487e-01 1.79288540e-04 7.49248660e-02] [ 7.53460998e-03 -1.71769681e-04 9.99971600e-01 -1.67687928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.386547614999994 meters Centerline goodness [0,1] 0.7986999855553951 Centerline is valid? [False, False] Translation: X:2.70, Y:0.08, Z:-0.17 [[ 9.99976239e-01 1.12300224e-03 -6.80154588e-03 2.70260022e+00] [-1.11716727e-03 9.99999005e-01 8.61627359e-04 7.76764645e-02] [ 6.80250672e-03 -8.54008421e-04 9.99976498e-01 -1.66374072e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.416547614999995 meters Centerline goodness [0,1] 0.8166540234580149 Centerline is valid? [False, False] Translation: X:2.70, Y:0.07, Z:-0.17 [[ 9.99968136e-01 -3.20191605e-03 -7.31258065e-03 2.70383166e+00] [ 3.18354848e-03 9.99991752e-01 -2.52203716e-03 7.45559890e-02] [ 7.32059569e-03 2.49867684e-03 9.99970082e-01 -1.65851261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.446547614999997 meters Centerline goodness [0,1] 0.8176726639582124 Centerline is valid? [False, False] Translation: X:2.71, Y:0.08, Z:-0.17 [[ 0.99994826 -0.004086 -0.009316 2.71440699] [ 0.00405704 0.99998689 -0.00312552 0.07626537] [ 0.00932865 0.00308756 0.99995172 -0.17355175] [ 0. 0. 0. 1. ]] SLAMing on 21.476547614999994 meters Centerline goodness [0,1] 0.8152525719569992 Centerline is valid? [False, False] Translation: X:2.72, Y:0.08, Z:-0.17 [[ 9.99952232e-01 -1.14229034e-03 -9.70716798e-03 2.71662165e+00] [ 1.14260254e-03 9.99999347e-01 2.66165194e-05 7.90867389e-02] [ 9.70713123e-03 -3.77066828e-05 9.99952884e-01 -1.74794359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.506547614999995 meters Centerline goodness [0,1] 0.8214876033057852 Centerline is valid? [False, False] Translation: X:2.71, Y:0.08, Z:-0.17 [[ 9.99943458e-01 -4.59222692e-03 -9.59124864e-03 2.71459520e+00] [ 4.57145211e-03 9.99987160e-01 -2.18681944e-03 7.58499385e-02] [ 9.60116786e-03 2.14284986e-03 9.99951612e-01 -1.71082581e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.536547614999996 meters Centerline goodness [0,1] 0.8308426916615086 Centerline is valid? [False, False] Translation: X:2.71, Y:0.07, Z:-0.16 [[ 0.99989024 -0.011451 -0.00940075 2.711278 ] [ 0.01140319 0.99992185 -0.00512424 0.06542595] [ 0.0094587 0.00501648 0.99994268 -0.16267871] [ 0. 0. 0. 1. ]] SLAMing on 21.566547614999994 meters Centerline goodness [0,1] 0.8229018492176388 Centerline is valid? [False, False] Translation: X:2.72, Y:0.06, Z:-0.16 [[ 0.99984552 -0.01476957 -0.00952817 2.71530063] [ 0.01474276 0.99988718 -0.00287825 0.06061844] [ 0.0095696 0.00273734 0.99995046 -0.16026958] [ 0. 0. 0. 1. ]] SLAMing on 21.596547614999995 meters Centerline goodness [0,1] 0.8096677623855365 Centerline is valid? [False, False] Translation: X:2.72, Y:0.07, Z:-0.17 [[ 0.99988027 -0.01155019 -0.01029735 2.72475746] [ 0.0115833 0.99992791 0.00316131 0.06710249] [ 0.01026009 -0.0032802 0.99994198 -0.16599642] [ 0. 0. 0. 1. ]] SLAMing on 21.626547614999996 meters Centerline goodness [0,1] 0.8095376478451658 Centerline is valid? [False, False] Translation: X:2.73, Y:0.07, Z:-0.17 [[ 0.99990082 -0.00884483 -0.01096006 2.72837963] [ 0.00889429 0.99995045 0.00447202 0.07256056] [ 0.01091996 -0.00456906 0.99992994 -0.17031589] [ 0. 0. 0. 1. ]] SLAMing on 21.656547614999994 meters Centerline goodness [0,1] 0.8193458270282854 Centerline is valid? [False, False] Translation: X:2.73, Y:0.07, Z:-0.17 [[ 0.99996947 -0.00433457 -0.00650117 2.72985851] [ 0.00427202 0.99994474 -0.00960538 0.07441048] [ 0.00654244 0.00957731 0.99993273 -0.17241538] [ 0. 0. 0. 1. ]] SLAMing on 21.686547614999995 meters Centerline goodness [0,1] 0.8199740222254294 Centerline is valid? [False, False] Translation: X:2.72, Y:0.08, Z:-0.17 [[ 9.99978220e-01 2.67082163e-03 -6.03537963e-03 2.71901151e+00] [-2.71204346e-03 9.99972983e-01 -6.83219976e-03 7.50022697e-02] [ 6.01696898e-03 6.84841916e-03 9.99958447e-01 -1.65053776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.716547614999996 meters Centerline goodness [0,1] 0.8036750207184293 Centerline is valid? [False, False] Translation: X:2.72, Y:0.08, Z:-0.17 [[ 9.99931843e-01 9.45231068e-03 -6.85300261e-03 2.72166445e+00] [-9.45576667e-03 9.99955182e-01 -4.72078432e-04 8.20211842e-02] [ 6.84823324e-03 5.36846650e-04 9.99976406e-01 -1.65754725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.746547614999994 meters Centerline goodness [0,1] 0.8179795155630367 Centerline is valid? [False, False] Translation: X:2.73, Y:0.08, Z:-0.17 [[ 9.99950890e-01 5.69181168e-03 -8.11299649e-03 2.72946781e+00] [-5.70738678e-03 9.99981912e-01 -1.89791331e-03 8.28024947e-02] [ 8.10204717e-03 1.94412411e-03 9.99965288e-01 -1.69477116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.776547614999995 meters Centerline goodness [0,1] 0.815133522645785 Centerline is valid? [False, False] Translation: X:2.73, Y:0.08, Z:-0.17 [[ 0.99995019 -0.00819631 -0.00569526 2.73421391] [ 0.00822537 0.99995318 0.00509675 0.08217223] [ 0.00565322 -0.00514335 0.99997079 -0.17410201] [ 0. 0. 0. 1. ]] SLAMing on 21.806547614999996 meters Centerline goodness [0,1] 0.8056802905929126 Centerline is valid? [False, False] Translation: X:2.73, Y:0.08, Z:-0.17 [[ 0.99993641 -0.00987009 -0.00545562 2.73413758] [ 0.00990198 0.99993386 0.005851 0.08342356] [ 0.0053975 -0.00590465 0.999968 -0.17118222] [ 0. 0. 0. 1. ]] SLAMing on 21.836547614999994 meters Centerline goodness [0,1] 0.8147407513212398 Centerline is valid? [False, False] Translation: X:2.73, Y:0.09, Z:-0.17 [[ 0.99997816 -0.00505396 -0.00425799 2.72918733] [ 0.00501035 0.99993551 -0.010192 0.0870598 ] [ 0.00430923 0.01017044 0.99993899 -0.16731314] [ 0. 0. 0. 1. ]] SLAMing on 21.866547614999995 meters Centerline goodness [0,1] 0.7849423022797636 Centerline is valid? [False, False] Translation: X:2.71, Y:0.09, Z:-0.17 [[ 9.99934213e-01 1.12474884e-02 -2.25041513e-03 2.71232060e+00] [-1.12731203e-02 9.99867756e-01 -1.17212410e-02 9.38961770e-02] [ 2.11828301e-03 1.17458391e-02 9.99928772e-01 -1.71498886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.896547614999996 meters Centerline goodness [0,1] 0.7440652404624923 Centerline is valid? [False, False] Translation: X:2.71, Y:0.10, Z:-0.17 [[ 9.99812641e-01 1.92137293e-02 -2.34853740e-03 2.71323821e+00] [-1.92244454e-02 9.99804478e-01 -4.62878533e-03 9.74543822e-02] [ 2.25914198e-03 4.67306742e-03 9.99986529e-01 -1.72591777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.926547614999993 meters Centerline goodness [0,1] 0.7073966542236969 Centerline is valid? [False, False] Translation: X:2.72, Y:0.10, Z:-0.18 [[ 9.99401744e-01 3.45129977e-02 -2.23748077e-03 2.71621730e+00] [-3.44883211e-02 9.99352421e-01 1.02613328e-02 1.03513058e-01] [ 2.59018118e-03 -1.01780270e-02 9.99944848e-01 -1.75404640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.956547614999995 meters Centerline goodness [0,1] 0.6863160210057464 Centerline is valid? [False, False] Translation: X:2.72, Y:0.11, Z:-0.18 [[ 9.99230392e-01 3.91684119e-02 -2.11164753e-03 2.71624842e+00] [-3.91347446e-02 9.99133876e-01 1.41410904e-02 1.08829277e-01] [ 2.66370263e-03 -1.40475685e-02 9.99897780e-01 -1.75975913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.986547614999996 meters Centerline goodness [0,1] 0.6915352697095436 Centerline is valid? [False, False] Translation: X:2.71, Y:0.11, Z:-0.18 [[ 9.99444311e-01 3.32507222e-02 -2.33644949e-03 2.71418746e+00] [-3.32351439e-02 9.99426960e-01 6.41690458e-03 1.09204894e-01] [ 2.54847732e-03 -6.33568654e-03 9.99976682e-01 -1.75808894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.016547614999993 meters Centerline goodness [0,1] 0.7003261831048209 Centerline is valid? [False, False] Translation: X:2.71, Y:0.11, Z:-0.17 [[ 9.99555188e-01 2.97469952e-02 -2.13125648e-03 2.71227022e+00] [-2.97401785e-02 9.99552662e-01 3.16178369e-03 1.06427281e-01] [ 2.22435665e-03 -3.09699334e-03 9.99992730e-01 -1.74044587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.046547614999994 meters Centerline goodness [0,1] 0.6933131535498074 Centerline is valid? [False, False] Translation: X:2.71, Y:0.11, Z:-0.17 [[ 9.99552565e-01 2.98637374e-02 -1.68133957e-03 2.71093985e+00] [-2.98591336e-02 9.99550471e-01 2.69972737e-03 1.07408733e-01] [ 1.76120771e-03 -2.64831608e-03 9.99994942e-01 -1.73875386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.076547614999996 meters Centerline goodness [0,1] 0.6869167935760765 Centerline is valid? [False, False] Translation: X:2.71, Y:0.11, Z:-0.18 [[ 9.99552386e-01 2.98542284e-02 -1.93719162e-03 2.71220138e+00] [-2.98524793e-02 9.99553887e-01 9.25618358e-04 1.08688969e-01] [ 1.96396104e-03 -8.67374065e-04 9.99997695e-01 -1.76818947e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.106547614999997 meters Centerline goodness [0,1] 0.6790096103248677 Centerline is valid? [False, False] Translation: X:2.71, Y:0.11, Z:-0.18 [[ 9.99508485e-01 3.13010680e-02 -1.74096017e-03 2.71139536e+00] [-3.13004702e-02 9.99509952e-01 3.69589277e-04 1.08543858e-01] [ 1.75167556e-03 -3.14914746e-04 9.99998416e-01 -1.78769390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.136547614999994 meters Centerline goodness [0,1] 0.6706052033061518 Centerline is valid? [False, False] Translation: X:2.71, Y:0.11, Z:-0.18 [[ 9.99439251e-01 3.34771118e-02 -6.82638045e-04 2.70685465e+00] [-3.34758664e-02 9.99437975e-01 1.76082944e-03 1.08213947e-01] [ 7.41201869e-04 -1.73699015e-03 9.99998217e-01 -1.76592296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.166547614999995 meters Centerline goodness [0,1] 0.6927239590635077 Centerline is valid? [False, False] Translation: X:2.70, Y:0.10, Z:-0.18 [[ 0.99977202 0.02071482 0.00517807 2.70339792] [-0.02073639 0.99977638 0.00414693 0.10421433] [-0.00509101 -0.00425336 0.99997799 -0.1811302 ] [ 0. 0. 0. 1. ]] SLAMing on 22.196547614999997 meters Centerline goodness [0,1] 0.704896943255866 Centerline is valid? [False, False] Translation: X:2.72, Y:0.11, Z:-0.19 [[ 9.99854300e-01 1.69846756e-02 1.70276028e-03 2.71935918e+00] [-1.69879752e-02 9.99853807e-01 1.94240463e-03 1.06856398e-01] [-1.66952024e-03 -1.97104807e-03 9.99996664e-01 -1.91800861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.226547614999994 meters Centerline goodness [0,1] 0.704896943255866 Centerline is valid? [False, False] Translation: X:2.72, Y:0.11, Z:-0.19 [[ 9.99854300e-01 1.69846756e-02 1.70276028e-03 2.71935918e+00] [-1.69879752e-02 9.99853807e-01 1.94240463e-03 1.06856398e-01] [-1.66952024e-03 -1.97104807e-03 9.99996664e-01 -1.91800861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.256547614999995 meters Centerline goodness [0,1] 0.7080448861098705 Centerline is valid? [False, False] Translation: X:2.72, Y:0.11, Z:-0.20 [[ 9.99875767e-01 1.57265287e-02 1.06140794e-03 2.72336792e+00] [-1.57259193e-02 9.99876172e-01 -5.80052983e-04 1.11051968e-01] [-1.07039873e-03 5.63289305e-04 9.99999268e-01 -1.96619847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.286547614999996 meters Centerline goodness [0,1] 0.6846726314909273 Centerline is valid? [False, False] Translation: X:2.71, Y:0.11, Z:-0.19 [[ 9.99792771e-01 2.01622600e-02 2.81056199e-03 2.71454746e+00] [-2.01616724e-02 9.99796705e-01 -2.37248370e-04 1.10115252e-01] [-2.81477408e-03 1.80533575e-04 9.99996022e-01 -1.94193823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.316547614999994 meters Centerline goodness [0,1] 0.6827111434488162 Centerline is valid? [False, False] Translation: X:2.71, Y:0.10, Z:-0.19 [[ 9.99792824e-01 1.99511471e-02 4.03253373e-03 2.70575717e+00] [-1.99478908e-02 9.99800663e-01 -8.46138966e-04 1.04151283e-01] [-4.04861134e-03 7.65523124e-04 9.99991511e-01 -1.86811983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.346547614999995 meters Centerline goodness [0,1] 0.6869701903104475 Centerline is valid? [False, False] Translation: X:2.70, Y:0.10, Z:-0.18 [[ 9.99792370e-01 1.99476109e-02 4.16057003e-03 2.70489630e+00] [-1.99489355e-02 9.99800962e-01 2.77111696e-04 1.02842483e-01] [-4.15421420e-03 -3.60053102e-04 9.99991306e-01 -1.84829364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.376547614999996 meters Centerline goodness [0,1] 0.6923916389176483 Centerline is valid? [False, False] Translation: X:2.70, Y:0.11, Z:-0.19 [[ 0.99983341 0.01469351 0.0108284 2.70243856] [-0.01475891 0.99987317 0.00598538 0.10656347] [-0.01073908 -0.0061442 0.99992346 -0.19407547] [ 0. 0. 0. 1. ]] SLAMing on 22.406547614999994 meters Centerline goodness [0,1] 0.7073122529644269 Centerline is valid? [False, False] Translation: X:2.71, Y:0.10, Z:-0.20 [[ 9.99911011e-01 9.14837837e-03 9.70962814e-03 2.70721100e+00] [-9.16540586e-03 9.99956534e-01 1.71062356e-03 1.04055087e-01] [-9.69355667e-03 -1.79946402e-03 9.99951397e-01 -1.96702161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.436547614999995 meters Centerline goodness [0,1] 0.7344896218367927 Centerline is valid? [False, False] Translation: X:2.71, Y:0.10, Z:-0.19 [[ 9.99952619e-01 1.37050553e-03 9.63745472e-03 2.70658508e+00] [-1.33586548e-03 9.99992628e-01 -3.59983428e-03 9.60489960e-02] [-9.64231727e-03 3.58678938e-03 9.99947079e-01 -1.93443143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.466547614999996 meters Centerline goodness [0,1] 0.7628939217413543 Centerline is valid? [False, False] Translation: X:2.71, Y:0.09, Z:-0.19 [[ 9.99946043e-01 -7.61322956e-04 1.03600790e-02 2.70716999e+00] [ 7.48489068e-04 9.99998948e-01 1.24260374e-03 8.97809129e-02] [-1.03610141e-02 -1.23478229e-03 9.99945561e-01 -1.85328307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.496547614999994 meters Centerline goodness [0,1] 0.7730033490378612 Centerline is valid? [False, False] Translation: X:2.71, Y:0.09, Z:-0.18 [[ 9.99944896e-01 -8.34741435e-04 1.04645934e-02 2.70627398e+00] [ 8.17512100e-04 9.99998304e-01 1.65061038e-03 9.15859018e-02] [-1.04659535e-02 -1.64196449e-03 9.99943882e-01 -1.83723491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.526547614999995 meters Centerline goodness [0,1] 0.7779445923743697 Centerline is valid? [False, False] Translation: X:2.71, Y:0.09, Z:-0.19 [[ 9.99953345e-01 -2.57868820e-03 9.30904149e-03 2.71175073e+00] [ 2.58169550e-03 9.99996619e-01 -3.11048979e-04 9.38678759e-02] [-9.30820792e-03 3.35067577e-04 9.99956622e-01 -1.88055939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.556547614999996 meters Centerline goodness [0,1] 0.772885838068981 Centerline is valid? [False, False] Translation: X:2.72, Y:0.10, Z:-0.20 [[ 9.99970834e-01 -1.89576661e-03 7.39845487e-03 2.72057628e+00] [ 1.90448519e-03 9.99997500e-01 -1.17156533e-03 9.97559657e-02] [-7.39621536e-03 1.18562141e-03 9.99971945e-01 -1.96542524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.586547614999994 meters Centerline goodness [0,1] 0.7377123060023096 Centerline is valid? [False, False] Translation: X:2.72, Y:0.10, Z:-0.19 [[ 9.99969124e-01 7.72532822e-04 7.82015687e-03 2.71533563e+00] [-7.68958867e-04 9.99999599e-01 -4.60014742e-04 1.00004410e-01] [-7.82050911e-03 4.53987160e-04 9.99969316e-01 -1.92543568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.616547614999995 meters Centerline goodness [0,1] 0.7004478965869146 Centerline is valid? [False, False] Translation: X:2.70, Y:0.10, Z:-0.19 [[ 9.99933202e-01 6.04056193e-03 9.85411074e-03 2.70061849e+00] [-6.03154215e-03 9.99981364e-01 -9.44793569e-04 9.64831411e-02] [-9.85963418e-03 8.85294975e-04 9.99951001e-01 -1.87094495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.646547614999996 meters Centerline goodness [0,1] 0.6983600101268672 Centerline is valid? [False, False] Translation: X:2.70, Y:0.10, Z:-0.19 [[ 9.99908601e-01 9.74544176e-03 9.37099052e-03 2.70327442e+00] [-9.75283348e-03 9.99952164e-01 7.43413204e-04 1.02476905e-01] [-9.36329735e-03 -8.34738968e-04 9.99955815e-01 -1.91716284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.676547614999993 meters Centerline goodness [0,1] 0.7114583333333333 Centerline is valid? [False, False] Translation: X:2.71, Y:0.11, Z:-0.19 [[ 9.99942046e-01 6.78256552e-03 8.36069035e-03 2.70942916e+00] [-6.77892324e-03 9.99976915e-01 -4.63904914e-04 1.06717734e-01] [-8.36364381e-03 4.07201551e-04 9.99964941e-01 -1.94818398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.706547614999995 meters Centerline goodness [0,1] 0.7186613089049372 Centerline is valid? [False, False] Translation: X:2.71, Y:0.10, Z:-0.19 [[ 9.99942788e-01 6.39541644e-03 8.57435463e-03 2.70925090e+00] [-6.40606251e-03 9.99978743e-01 1.21472852e-03 1.04029193e-01] [-8.56640367e-03 -1.26958688e-03 9.99962502e-01 -1.92930443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.736547614999996 meters Centerline goodness [0,1] 0.6995817778651023 Centerline is valid? [False, False] Translation: X:2.71, Y:0.10, Z:-0.19 [[ 9.99949285e-01 5.96257654e-03 8.11630193e-03 2.70996897e+00] [-5.97813224e-03 9.99980338e-01 1.89369030e-03 1.02544002e-01] [-8.10485107e-03 -1.94211459e-03 9.99965269e-01 -1.91391510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.766547614999993 meters Centerline goodness [0,1] 0.7178873913165817 Centerline is valid? [False, False] Translation: X:2.71, Y:0.10, Z:-0.19 [[ 9.99942060e-01 6.66680753e-03 8.45160340e-03 2.70824489e+00] [-6.67913140e-03 9.99976671e-01 1.43078317e-03 1.03616335e-01] [-8.44186748e-03 -1.48714965e-03 9.99963261e-01 -1.91027490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.796547614999994 meters Centerline goodness [0,1] 0.6846674721137367 Centerline is valid? [False, False] Translation: X:2.71, Y:0.11, Z:-0.19 [[ 9.99926739e-01 8.63213607e-03 8.48541861e-03 2.70604780e+00] [-8.63385744e-03 9.99962714e-01 1.66249975e-04 1.06265381e-01] [-8.48366713e-03 -2.39499690e-04 9.99963984e-01 -1.91677130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.826547614999996 meters Centerline goodness [0,1] 0.6862216228365925 Centerline is valid? [False, False] Translation: X:2.70, Y:0.11, Z:-0.19 [[ 9.99905934e-01 1.07892951e-02 8.46847937e-03 2.70366670e+00] [-1.07903430e-02 9.99941780e-01 7.80510432e-05 1.05331587e-01] [-8.46714422e-03 -1.69421498e-04 9.99964139e-01 -1.91092027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.856547614999993 meters Centerline goodness [0,1] 0.6877587226493199 Centerline is valid? [False, False] Translation: X:2.71, Y:0.10, Z:-0.19 [[ 9.99912670e-01 1.04728139e-02 8.06058387e-03 2.70576038e+00] [-1.04726853e-02 9.99945158e-01 -5.81531344e-05 1.03638046e-01] [-8.06075084e-03 -2.62679027e-05 9.99967511e-01 -1.92861970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.886547614999994 meters Centerline goodness [0,1] 0.7012516838796587 Centerline is valid? [False, False] Translation: X:2.71, Y:0.10, Z:-0.19 [[ 9.99975853e-01 6.94835906e-03 1.15326911e-04 2.70538978e+00] [-6.94919258e-03 9.99919311e-01 1.06338724e-02 1.03401317e-01] [-4.14296415e-05 -1.06344170e-02 9.99943452e-01 -1.93607270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.916547614999995 meters Centerline goodness [0,1] 0.7117112043477036 Centerline is valid? [False, False] Translation: X:2.71, Y:0.11, Z:-0.20 [[ 9.99994573e-01 3.05652391e-03 -1.22925434e-03 2.71441720e+00] [-3.04575893e-03 9.99957812e-01 8.66587211e-03 1.05026587e-01] [ 1.25568992e-03 -8.66208107e-03 9.99961695e-01 -1.99589400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.946547614999997 meters Centerline goodness [0,1] 0.7236071418465805 Centerline is valid? [False, False] Translation: X:2.71, Y:0.10, Z:-0.20 [[ 9.99999341e-01 -4.72660482e-04 -1.04666431e-03 2.71281340e+00] [ 4.79536209e-04 9.99978245e-01 6.57870287e-03 1.00396438e-01] [ 1.04353205e-03 -6.57920044e-03 9.99977812e-01 -1.96607539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.976547614999994 meters Centerline goodness [0,1] 0.7223804100227791 Centerline is valid? [False, False] Translation: X:2.70, Y:0.09, Z:-0.19 [[ 9.99997773e-01 -1.89786401e-03 9.22858450e-04 2.69951433e+00] [ 1.89344825e-03 9.99986867e-01 4.76243599e-03 9.29687778e-02] [-9.31884786e-04 -4.76067800e-03 9.99988234e-01 -1.85388848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.006547614999995 meters Centerline goodness [0,1] 0.7297810798548094 Centerline is valid? [False, False] Translation: X:2.70, Y:0.09, Z:-0.19 [[ 9.99995075e-01 -3.11879638e-03 3.51207321e-04 2.70330165e+00] [ 3.11770518e-03 9.99990440e-01 3.06583421e-03 9.40412014e-02] [-3.60765676e-04 -3.06472415e-03 9.99995239e-01 -1.89365548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.036547614999996 meters Centerline goodness [0,1] 0.726111409433909 Centerline is valid? [False, False] Translation: X:2.71, Y:0.10, Z:-0.20 [[ 9.99996708e-01 -2.41040431e-03 -8.80162197e-04 2.71143786e+00] [ 2.41364825e-03 9.99990230e-01 3.70333595e-03 9.76937484e-02] [ 8.71227060e-04 -3.70544816e-03 9.99992755e-01 -1.96492431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.066547614999994 meters Centerline goodness [0,1] 0.7288130774697938 Centerline is valid? [False, False] Translation: X:2.71, Y:0.09, Z:-0.20 [[ 9.99996417e-01 -2.32097590e-03 -1.33381195e-03 2.71236866e+00] [ 2.32692213e-03 9.99987285e-01 4.47394553e-03 9.33661758e-02] [ 1.32341107e-03 -4.47703318e-03 9.99989102e-01 -1.95995804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.096547614999995 meters Centerline goodness [0,1] 0.7340739256162854 Centerline is valid? [False, False] Translation: X:2.71, Y:0.09, Z:-0.19 [[ 9.99989567e-01 -4.49237399e-03 -8.26907452e-04 2.70855100e+00] [ 4.49409025e-03 9.99987727e-01 2.08548800e-03 8.93098416e-02] [ 8.17528511e-04 -2.08918244e-03 9.99997483e-01 -1.92938817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.126547614999996 meters Centerline goodness [0,1] 0.7445582035619032 Centerline is valid? [False, False] Translation: X:2.71, Y:0.09, Z:-0.19 [[ 9.99983864e-01 -5.42869082e-03 -1.67352742e-03 2.71084083e+00] [ 5.43401709e-03 9.99980132e-01 3.19471766e-03 8.53187413e-02] [ 1.65615104e-03 -3.20376008e-03 9.99993497e-01 -1.91517742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.156547614999994 meters Centerline goodness [0,1] 0.7696395231940256 Centerline is valid? [False, False] Translation: X:2.71, Y:0.08, Z:-0.19 [[ 9.99971912e-01 -7.30056944e-03 -1.69611983e-03 2.71377014e+00] [ 7.30687494e-03 9.99966304e-01 3.74163825e-03 8.23390203e-02] [ 1.66874659e-03 -3.75392649e-03 9.99991562e-01 -1.92630635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.186547614999995 meters Centerline goodness [0,1] 0.7869341829558828 Centerline is valid? [False, False] Translation: X:2.71, Y:0.09, Z:-0.19 [[ 9.99965368e-01 -8.22161216e-03 -1.29184229e-03 2.71419569e+00] [ 8.22657998e-03 9.99958601e-01 3.88846031e-03 8.53215174e-02] [ 1.25981939e-03 -3.89895309e-03 9.99991605e-01 -1.92928669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.216547614999996 meters Centerline goodness [0,1] 0.7717636961808039 Centerline is valid? [False, False] Translation: X:2.71, Y:0.09, Z:-0.19 [[ 9.99970300e-01 -7.66550078e-03 -7.99065673e-04 2.71230604e+00] [ 7.66884483e-03 9.99961480e-01 4.26944842e-03 8.57569015e-02] [ 7.66307433e-04 -4.27544953e-03 9.99990567e-01 -1.91962585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.246547614999994 meters Centerline goodness [0,1] 0.7559224694903087 Centerline is valid? [False, False] Translation: X:2.71, Y:0.08, Z:-0.19 [[ 9.99986197e-01 -5.25301359e-03 -1.12472619e-04 2.70739241e+00] [ 5.25354244e-03 9.99971743e-01 5.37704413e-03 8.26807412e-02] [ 8.42237551e-05 -5.37756078e-03 9.99985537e-01 -1.89029452e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.276547614999995 meters Centerline goodness [0,1] 0.7191413750609005 Centerline is valid? [False, False] Translation: X:2.70, Y:0.08, Z:-0.19 [[ 9.99995134e-01 -3.11387661e-03 1.87964139e-04 2.70406474e+00] [ 3.11298192e-03 9.99984639e-01 4.58603238e-03 8.39917168e-02] [-2.02241591e-04 -4.58542494e-03 9.99989466e-01 -1.88756757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.306547614999996 meters Centerline goodness [0,1] 0.7241745926841183 Centerline is valid? [False, False] Translation: X:2.70, Y:0.08, Z:-0.19 [[ 9.99995120e-01 -3.12319594e-03 -7.54353153e-05 2.70478978e+00] [ 3.12348869e-03 9.99986066e-01 4.25566470e-03 8.32377539e-02] [ 6.21429895e-05 -4.25587956e-03 9.99990942e-01 -1.89362551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.336547614999994 meters Centerline goodness [0,1] 0.7416642836717187 Centerline is valid? [False, False] Translation: X:2.72, Y:0.08, Z:-0.20 [[ 9.99984242e-01 -5.45970762e-03 -1.30635237e-03 2.71517361e+00] [ 5.46531019e-03 9.99975715e-01 4.32428383e-03 8.39406340e-02] [ 1.28271132e-03 -4.33135531e-03 9.99989797e-01 -1.95615307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.366547614999995 meters Centerline goodness [0,1] 0.7566699179528372 Centerline is valid? [False, False] Translation: X:2.72, Y:0.08, Z:-0.20 [[ 9.99968654e-01 -7.67942306e-03 -1.92824754e-03 2.72023330e+00] [ 7.68591316e-03 9.99964746e-01 3.38125718e-03 8.45237599e-02] [ 1.90221346e-03 -3.39597153e-03 9.99992424e-01 -1.99139102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.396547614999996 meters Centerline goodness [0,1] 0.7816901408450705 Centerline is valid? [False, False] Translation: X:2.72, Y:0.08, Z:-0.20 [[ 9.99954831e-01 -9.28470058e-03 -2.03212095e-03 2.72323016e+00] [ 9.29306646e-03 9.99948220e-01 4.14684379e-03 8.07520785e-02] [ 1.99351353e-03 -4.16554112e-03 9.99989337e-01 -2.00294738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.426547614999993 meters Centerline goodness [0,1] 0.7829064748201439 Centerline is valid? [False, False] Translation: X:2.72, Y:0.08, Z:-0.20 [[ 9.99963584e-01 -8.38166158e-03 -1.60556727e-03 2.72067430e+00] [ 8.39003931e-03 9.99950841e-01 5.28426113e-03 7.92109113e-02] [ 1.56119746e-03 -5.29753947e-03 9.99984749e-01 -1.97939276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.456547614999995 meters Centerline goodness [0,1] 0.7619006203977503 Centerline is valid? [False, False] Translation: X:2.71, Y:0.08, Z:-0.19 [[ 9.99973861e-01 -7.21211507e-03 -5.12406261e-04 2.71103593e+00] [ 7.21442632e-03 9.99963109e-01 4.66179615e-03 7.51074401e-02] [ 4.78765948e-04 -4.66537102e-03 9.99989002e-01 -1.91394539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.486547614999996 meters Centerline goodness [0,1] 0.7598316644899143 Centerline is valid? [False, False] Translation: X:2.71, Y:0.07, Z:-0.19 [[ 9.99973794e-01 -7.20798726e-03 -6.76163594e-04 2.71135759e+00] [ 7.21134325e-03 9.99960995e-01 5.09959182e-03 7.23409961e-02] [ 6.39379427e-04 -5.10433422e-03 9.99986768e-01 -1.90980225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.516547614999993 meters Centerline goodness [0,1] 0.758911846920838 Centerline is valid? [False, False] Translation: X:2.72, Y:0.08, Z:-0.20 [[ 9.99979736e-01 -6.10312017e-03 -1.81082382e-03 2.71883515e+00] [ 6.11231881e-03 9.99968220e-01 5.11852186e-03 7.87737474e-02] [ 1.77952731e-03 -5.12948647e-03 9.99985261e-01 -1.98687464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.546547614999994 meters Centerline goodness [0,1] 0.7587409563888969 Centerline is valid? [False, False] Translation: X:2.72, Y:0.08, Z:-0.20 [[ 9.99974810e-01 -6.82981633e-03 -1.93201972e-03 2.72086730e+00] [ 6.83622017e-03 9.99971096e-01 3.32762838e-03 8.18479313e-02] [ 1.90923679e-03 -3.34075227e-03 9.99992597e-01 -2.02091310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.576547614999996 meters Centerline goodness [0,1] 0.792479633548836 Centerline is valid? [False, False] Translation: X:2.72, Y:0.08, Z:-0.20 [[ 9.99938474e-01 -1.08602709e-02 -2.25904507e-03 2.72038483e+00] [ 1.08595394e-02 9.99940977e-01 -3.35830903e-04 8.07619097e-02] [ 2.26255895e-03 3.11278052e-04 9.99997392e-01 -1.99923974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.606547614999993 meters Centerline goodness [0,1] 0.7719635421216622 Centerline is valid? [False, False] Translation: X:2.72, Y:0.09, Z:-0.21 [[ 0.99994335 -0.01028695 -0.00273256 2.72161571] [ 0.01027637 0.99993975 -0.00385847 0.08593281] [ 0.00277208 0.00383017 0.99998882 -0.20589832] [ 0. 0. 0. 1. ]] SLAMing on 23.636547614999994 meters Centerline goodness [0,1] 0.7617343227120617 Centerline is valid? [False, False] Translation: X:2.72, Y:0.08, Z:-0.20 [[ 9.99971617e-01 -6.68303977e-03 -3.47888078e-03 2.72313624e+00] [ 6.68662756e-03 9.99977123e-01 1.02069861e-03 8.40444417e-02] [ 3.47197983e-03 -1.04393162e-03 9.99993428e-01 -2.04523296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.666547614999995 meters Centerline goodness [0,1] 0.7923025687063798 Centerline is valid? [False, False] Translation: X:2.72, Y:0.08, Z:-0.20 [[ 9.99958116e-01 -8.49300792e-03 -3.41091218e-03 2.72470165e+00] [ 8.50012735e-03 9.99961714e-01 2.07820769e-03 8.08425923e-02] [ 3.39313135e-03 -2.10711384e-03 9.99992023e-01 -2.03107420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.696547614999997 meters Centerline goodness [0,1] 0.7869518839911206 Centerline is valid? [False, False] Translation: X:2.73, Y:0.08, Z:-0.21 [[ 0.99997693 -0.00572674 -0.00365233 2.72730406] [ 0.00574491 0.99997108 0.00498383 0.08489529] [ 0.00362368 -0.0050047 0.99998091 -0.20551347] [ 0. 0. 0. 1. ]] SLAMing on 23.726547614999994 meters Centerline goodness [0,1] 0.7917887720507959 Centerline is valid? [False, False] Translation: X:2.72, Y:0.08, Z:-0.20 [[ 0.99998277 -0.00495749 -0.00314228 2.7238595 ] [ 0.00497845 0.99996516 0.00669988 0.08360954] [ 0.00310896 -0.00671541 0.99997262 -0.20107072] [ 0. 0. 0. 1. ]] SLAMing on 23.756547614999995 meters Centerline goodness [0,1] 0.7725653722526279 Centerline is valid? [False, False] Translation: X:2.72, Y:0.08, Z:-0.20 [[ 9.99979849e-01 -5.79986317e-03 -2.58121606e-03 2.71657159e+00] [ 5.81196971e-03 9.99972029e-01 4.70772578e-03 7.70658937e-02] [ 2.55383970e-03 -4.72263287e-03 9.99985587e-01 -1.95372777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.786547614999996 meters Centerline goodness [0,1] 0.7599825758675766 Centerline is valid? [False, False] Translation: X:2.72, Y:0.08, Z:-0.20 [[ 9.99983666e-01 -5.15001576e-03 -2.47890876e-03 2.71695349e+00] [ 5.15708983e-03 9.99982624e-01 2.85582045e-03 7.80987580e-02] [ 2.46415817e-03 -2.86855776e-03 9.99992850e-01 -1.99332482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.816547614999994 meters Centerline goodness [0,1] 0.7585238784370477 Centerline is valid? [False, False] Translation: X:2.72, Y:0.08, Z:-0.20 [[ 9.99977301e-01 -6.21430585e-03 -2.60374388e-03 2.71886673e+00] [ 6.21656645e-03 9.99980306e-01 8.61022261e-04 8.35090756e-02] [ 2.59834194e-03 -8.77189064e-04 9.99996240e-01 -2.02221259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.846547614999995 meters Centerline goodness [0,1] 0.7786292654713707 Centerline is valid? [False, False] Translation: X:2.72, Y:0.08, Z:-0.20 [[ 9.99970414e-01 -7.01128898e-03 -3.16445965e-03 2.72037665e+00] [ 7.01608270e-03 9.99974252e-01 1.50631079e-03 8.29667744e-02] [ 3.15381699e-03 -1.52846833e-03 9.99993859e-01 -2.01009153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.876547614999996 meters Centerline goodness [0,1] 0.7852094466471298 Centerline is valid? [False, False] Translation: X:2.73, Y:0.09, Z:-0.20 [[ 0.99997734 -0.00503646 -0.00446791 2.72578031] [ 0.00505635 0.99997731 0.00445075 0.08542466] [ 0.00444539 -0.00447324 0.99998011 -0.20314589] [ 0. 0. 0. 1. ]] SLAMing on 23.906547614999994 meters Centerline goodness [0,1] 0.7680210448059932 Centerline is valid? [False, False] Translation: X:2.73, Y:0.09, Z:-0.20 [[ 9.99985571e-01 -1.74448368e-03 -5.08089930e-03 2.72789033e+00] [ 1.78084507e-03 9.99972776e-01 7.16077693e-03 8.88935731e-02] [ 5.06826911e-03 -7.16972190e-03 9.99961453e-01 -2.04560027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.936547614999995 meters Centerline goodness [0,1] 0.7527044817125522 Centerline is valid? [False, False] Translation: X:2.72, Y:0.09, Z:-0.20 [[ 9.99992692e-01 -8.71558888e-04 -3.72229136e-03 2.71835084e+00] [ 8.89202392e-04 9.99988366e-01 4.74093620e-03 8.86716540e-02] [ 3.71811605e-03 -4.74421142e-03 9.99981834e-01 -2.00384039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.966547614999996 meters Centerline goodness [0,1] 0.7330301307561115 Centerline is valid? [False, False] Translation: X:2.71, Y:0.09, Z:-0.20 [[ 9.99994274e-01 2.29066304e-03 -2.49093406e-03 2.71089402e+00] [-2.27478058e-03 9.99977185e-01 6.36035333e-03 8.97568267e-02] [ 2.50544665e-03 -6.35465059e-03 9.99976670e-01 -1.95402503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.996547614999994 meters Centerline goodness [0,1] 0.7372639778724845 Centerline is valid? [False, False] Translation: X:2.71, Y:0.10, Z:-0.20 [[ 9.99997118e-01 1.22222097e-03 -2.06620155e-03 2.71125711e+00] [-1.21395075e-03 9.99991267e-01 3.99915098e-03 9.74774621e-02] [ 2.07107135e-03 -3.99663119e-03 9.99989869e-01 -1.97881683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.026547614999995 meters Centerline goodness [0,1] 0.7240330412457443 Centerline is valid? [False, False] Translation: X:2.71, Y:0.10, Z:-0.20 [[ 9.99997620e-01 6.23296404e-04 -2.09065498e-03 2.71249303e+00] [-6.19424266e-04 9.99998093e-01 1.85225376e-03 1.03816355e-01] [ 2.09180550e-03 -1.85095435e-03 9.99996099e-01 -2.00732650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.056547614999996 meters Centerline goodness [0,1] 0.7179458460504577 Centerline is valid? [False, False] Translation: X:2.71, Y:0.11, Z:-0.20 [[ 9.99995074e-01 2.19409476e-03 -2.24437789e-03 2.71149857e+00] [-2.19678203e-03 9.99996872e-01 -1.19556997e-03 1.10195576e-01] [ 2.24174768e-03 1.20049449e-03 9.99996767e-01 -2.04570515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.086547614999994 meters Centerline goodness [0,1] 0.7068332313171221 Centerline is valid? [False, False] Translation: X:2.71, Y:0.11, Z:-0.21 [[ 9.99987945e-01 3.99151694e-03 -2.85969179e-03 2.71082607e+00] [-3.99813495e-03 9.99989334e-01 -2.31227033e-03 1.13201401e-01] [ 2.85043182e-03 2.32367589e-03 9.99993238e-01 -2.05324601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.116547614999995 meters Centerline goodness [0,1] 0.6827994140247104 Centerline is valid? [False, False] Translation: X:2.71, Y:0.12, Z:-0.21 [[ 9.99969447e-01 7.23058583e-03 -2.97059543e-03 2.71209494e+00] [-7.22960099e-03 9.99973808e-01 3.42135006e-04 1.17644800e-01] [ 2.97299146e-03 -3.20648333e-04 9.99995529e-01 -2.06838106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.146547614999996 meters Centerline goodness [0,1] 0.6827994140247104 Centerline is valid? [False, False] Translation: X:2.71, Y:0.12, Z:-0.21 [[ 9.99969447e-01 7.23058583e-03 -2.97059543e-03 2.71209494e+00] [-7.22960099e-03 9.99973808e-01 3.42135006e-04 1.17644800e-01] [ 2.97299146e-03 -3.20648333e-04 9.99995529e-01 -2.06838106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.176547614999993 meters Centerline goodness [0,1] 0.7025993673497455 Centerline is valid? [False, False] Translation: X:2.71, Y:0.12, Z:-0.21 [[ 0.99994392 0.00993896 -0.00365785 2.71457629] [-0.00992751 0.99994581 0.00313408 0.12221025] [ 0.0036888 -0.00309759 0.9999884 -0.2075979 ] [ 0. 0. 0. 1. ]] SLAMing on 24.206547614999995 meters Centerline goodness [0,1] 0.7115469491338409 Centerline is valid? [False, False] Translation: X:2.72, Y:0.12, Z:-0.21 [[ 9.99977763e-01 5.25639357e-03 -4.10418333e-03 2.71645390e+00] [-5.26513086e-03 9.99983890e-01 -2.12097882e-03 1.23147839e-01] [ 4.09296851e-03 2.14254071e-03 9.99989329e-01 -2.09626146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.236547614999996 meters Centerline goodness [0,1] 0.7199724328049621 Centerline is valid? [False, False] Translation: X:2.72, Y:0.12, Z:-0.21 [[ 9.99979396e-01 4.83790570e-03 -4.21925965e-03 2.71643427e+00] [-4.84438854e-03 9.99987099e-01 -1.52762470e-03 1.21894835e-01] [ 4.21181471e-03 1.54803296e-03 9.99989932e-01 -2.08133932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.266547614999993 meters Centerline goodness [0,1] 0.7249163185703615 Centerline is valid? [False, False] Translation: X:2.71, Y:0.12, Z:-0.20 [[ 9.99991563e-01 1.84776586e-03 -3.66885293e-03 2.71286444e+00] [-1.86413641e-03 9.99988300e-01 -4.46364163e-03 1.22287143e-01] [ 3.66056224e-03 4.47044321e-03 9.99983308e-01 -2.04896023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.296547614999994 meters Centerline goodness [0,1] 0.7357085290275964 Centerline is valid? [False, False] Translation: X:2.71, Y:0.12, Z:-0.20 [[ 9.99988837e-01 1.56867284e-03 -4.45707342e-03 2.71371377e+00] [-1.57870776e-03 9.99996225e-01 -2.24883359e-03 1.16033979e-01] [ 4.45352891e-03 2.25584490e-03 9.99987539e-01 -2.01310294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.326547614999996 meters Centerline goodness [0,1] 0.7332630469161834 Centerline is valid? [False, False] Translation: X:2.72, Y:0.12, Z:-0.20 [[ 9.99989155e-01 1.08012134e-03 -4.53030346e-03 2.71514937e+00] [-1.09254229e-03 9.99995649e-01 -2.74016961e-03 1.17407380e-01] [ 4.52732403e-03 2.74508944e-03 9.99985984e-01 -2.03026355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.356547614999993 meters Centerline goodness [0,1] 0.7262801826082174 Centerline is valid? [False, False] Translation: X:2.72, Y:0.12, Z:-0.21 [[ 9.99979754e-01 3.79501401e-03 -5.10782107e-03 2.71821991e+00] [-3.79669366e-03 9.99992742e-01 -3.19182817e-04 1.22498396e-01] [ 5.10657269e-03 3.38569187e-04 9.99986904e-01 -2.05379710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.386547614999994 meters Centerline goodness [0,1] 0.7021622366065281 Centerline is valid? [False, False] Translation: X:2.72, Y:0.12, Z:-0.21 [[ 9.99976528e-01 5.08659024e-03 -4.59032115e-03 2.71596574e+00] [-5.08914656e-03 9.99986901e-01 -5.45384963e-04 1.23697087e-01] [ 4.58748687e-03 5.68732978e-04 9.99989316e-01 -2.05342892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.416547614999995 meters Centerline goodness [0,1] 0.7157778999450247 Centerline is valid? [False, False] Translation: X:2.72, Y:0.12, Z:-0.21 [[ 9.99974489e-01 4.94388226e-03 -5.15543316e-03 2.71742616e+00] [-4.95176421e-03 9.99986589e-01 -1.51722029e-03 1.24420833e-01] [ 5.14786306e-03 1.54271008e-03 9.99985560e-01 -2.06539709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.446547614999993 meters Centerline goodness [0,1] 0.706801952080289 Centerline is valid? [False, False] Translation: X:2.72, Y:0.12, Z:-0.21 [[ 9.99972857e-01 5.34584844e-03 -5.07027142e-03 2.71673929e+00] [-5.35334195e-03 9.99984597e-01 -1.46551321e-03 1.23900711e-01] [ 5.06235891e-03 1.49261633e-03 9.99986072e-01 -2.06223946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.476547614999994 meters Centerline goodness [0,1] 0.6971081088517734 Centerline is valid? [False, False] Translation: X:2.71, Y:0.12, Z:-0.20 [[ 9.99970875e-01 6.13723203e-03 -4.53694222e-03 2.71380545e+00] [-6.13883025e-03 9.99981100e-01 -3.38427465e-04 1.23388902e-01] [ 4.53477946e-03 3.66269126e-04 9.99989651e-01 -2.03326817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.506547614999995 meters Centerline goodness [0,1] 0.7059744540585084 Centerline is valid? [False, False] Translation: X:2.71, Y:0.12, Z:-0.20 [[ 9.99971155e-01 5.92808929e-03 -4.74830120e-03 2.71429162e+00] [-5.92657533e-03 9.99982382e-01 3.32850718e-04 1.21762488e-01] [ 4.75019072e-03 -3.04699952e-04 9.99988671e-01 -2.02628389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.536547614999996 meters Centerline goodness [0,1] 0.7052097969529163 Centerline is valid? [False, False] Translation: X:2.72, Y:0.12, Z:-0.21 [[ 9.99977483e-01 4.18290602e-03 -5.24747378e-03 2.71893153e+00] [-4.18510412e-03 9.99991159e-01 -4.07975541e-04 1.18939919e-01] [ 5.24572086e-03 4.29927579e-04 9.99986149e-01 -2.06622587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.566547614999994 meters Centerline goodness [0,1] 0.71433683862798 Centerline is valid? [False, False] Translation: X:2.72, Y:0.12, Z:-0.21 [[ 9.99978124e-01 4.37489390e-03 -4.96109923e-03 2.71799195e+00] [-4.37722418e-03 9.99990315e-01 -4.58950623e-04 1.19751024e-01] [ 4.95904332e-03 4.80656426e-04 9.99987588e-01 -2.06325983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.596547614999995 meters Centerline goodness [0,1] 0.7104171276831157 Centerline is valid? [False, False] Translation: X:2.71, Y:0.12, Z:-0.20 [[ 9.99985821e-01 2.27235757e-03 -4.81612071e-03 2.71409995e+00] [-2.28914452e-03 9.99991314e-01 -3.48293401e-03 1.18920578e-01] [ 4.80816441e-03 3.49390942e-03 9.99982337e-01 -2.02750654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.626547614999996 meters Centerline goodness [0,1] 0.714202528837622 Centerline is valid? [False, False] Translation: X:2.71, Y:0.12, Z:-0.20 [[ 9.99983018e-01 2.40371796e-03 -5.30910270e-03 2.71433759e+00] [-2.41651804e-03 9.99994186e-01 -2.40586960e-03 1.15685092e-01] [ 5.30328880e-03 2.41865828e-03 9.99983012e-01 -2.00870217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.656547614999994 meters Centerline goodness [0,1] 0.7138872010164061 Centerline is valid? [False, False] Translation: X:2.72, Y:0.12, Z:-0.20 [[ 9.99971954e-01 3.63408196e-03 -6.54867892e-03 2.72088976e+00] [-3.63521741e-03 9.99993380e-01 -1.61491572e-04 1.17663053e-01] [ 6.54804869e-03 1.85292914e-04 9.99978544e-01 -2.04598465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.686547614999995 meters Centerline goodness [0,1] 0.7224594363791631 Centerline is valid? [False, False] Translation: X:2.73, Y:0.12, Z:-0.21 [[ 9.99962646e-01 3.62446958e-03 -7.84670529e-03 2.72928951e+00] [-3.61297362e-03 9.99992380e-01 1.47874821e-03 1.20940456e-01] [ 7.85200517e-03 -1.45034303e-03 9.99968121e-01 -2.09482977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.716547614999996 meters Centerline goodness [0,1] 0.7250745279894004 Centerline is valid? [False, False] Translation: X:2.73, Y:0.12, Z:-0.21 [[ 9.99960868e-01 3.07625029e-03 -8.29447315e-03 2.73043497e+00] [-3.06151389e-03 9.99993714e-01 1.78876488e-03 1.18685591e-01] [ 8.29992370e-03 -1.76330123e-03 9.99964000e-01 -2.08907050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.746547614999994 meters Centerline goodness [0,1] 0.7179016976466339 Centerline is valid? [False, False] Translation: X:2.72, Y:0.11, Z:-0.20 [[ 9.99972584e-01 1.99490597e-03 -7.13099238e-03 2.72316676e+00] [-1.99223651e-03 9.99997943e-01 3.81430948e-04 1.14729939e-01] [ 7.13173863e-03 -3.67213867e-04 9.99974501e-01 -2.03132843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.776547614999995 meters Centerline goodness [0,1] 0.7233585999331178 Centerline is valid? [False, False] Translation: X:2.72, Y:0.11, Z:-0.20 [[ 9.99968412e-01 2.79204099e-03 -7.44178327e-03 2.72153410e+00] [-2.77514029e-03 9.99993549e-01 2.28041559e-03 1.10832612e-01] [ 7.44810227e-03 -2.25969156e-03 9.99969709e-01 -1.98990053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.806547614999996 meters Centerline goodness [0,1] 0.7204486147354394 Centerline is valid? [False, False] Translation: X:2.72, Y:0.11, Z:-0.20 [[ 9.99969087e-01 2.11081202e-03 -7.57428633e-03 2.72317258e+00] [-2.10133848e-03 9.99997000e-01 1.25849106e-03 1.13075140e-01] [ 7.57692005e-03 -1.24253601e-03 9.99970523e-01 -2.00991903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.836547614999994 meters Centerline goodness [0,1] 0.7321671525753158 Centerline is valid? [False, False] Translation: X:2.73, Y:0.12, Z:-0.21 [[ 9.99959429e-01 1.32571280e-04 -9.00686664e-03 2.73425311e+00] [-1.21804237e-04 9.99999277e-01 1.19596402e-03 1.16553993e-01] [ 9.00701868e-03 -1.19481842e-03 9.99958722e-01 -2.08216220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.866547614999995 meters Centerline goodness [0,1] 0.7262449081386648 Centerline is valid? [False, False] Translation: X:2.74, Y:0.12, Z:-0.21 [[ 9.99959872e-01 -4.14066386e-04 -8.94891913e-03 2.73537641e+00] [ 4.10349065e-04 9.99999829e-01 -4.17225348e-04 1.20325362e-01] [ 8.94909035e-03 4.13536424e-04 9.99959871e-01 -2.10718745e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.896547614999996 meters Centerline goodness [0,1] 0.7254077826643657 Centerline is valid? [False, False] Translation: X:2.73, Y:0.12, Z:-0.21 [[ 9.99961925e-01 1.21184962e-03 -8.64181127e-03 2.73153082e+00] [-1.20232350e-03 9.99998664e-01 1.10743922e-03 1.17530875e-01] [ 8.64314177e-03 -1.09700681e-03 9.99962046e-01 -2.06640389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.926547614999993 meters Centerline goodness [0,1] 0.7175487465181059 Centerline is valid? [False, False] Translation: X:2.73, Y:0.11, Z:-0.20 [[ 9.99959282e-01 2.28846589e-03 -8.72908983e-03 2.72986916e+00] [-2.26769090e-03 9.99994575e-01 2.38912805e-03 1.13442549e-01] [ 8.73450991e-03 -2.36923589e-03 9.99959047e-01 -2.04188476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.956547614999995 meters Centerline goodness [0,1] 0.7280432721797803 Centerline is valid? [False, False] Translation: X:2.73, Y:0.11, Z:-0.21 [[ 9.99957690e-01 1.12270273e-03 -9.13002399e-03 2.73321144e+00] [-1.11191228e-03 9.99998678e-01 1.18685422e-03 1.14673938e-01] [ 9.13134440e-03 -1.17665222e-03 9.99957616e-01 -2.07625603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 24.986547614999996 meters Centerline goodness [0,1] 0.7413908020439902 Centerline is valid? [False, False] Translation: X:2.74, Y:0.12, Z:-0.21 [[ 9.99942022e-01 -1.54457612e-03 -1.06567801e-02 2.74435315e+00] [ 1.56489974e-03 9.99996972e-01 1.89903195e-03 1.19560205e-01] [ 1.06538146e-02 -1.91559864e-03 9.99941412e-01 -2.12636041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.016547614999993 meters Centerline goodness [0,1] 0.7379717901544294 Centerline is valid? [False, False] Translation: X:2.74, Y:0.12, Z:-0.21 [[ 9.99942174e-01 -1.68772442e-03 -1.06207681e-02 2.74389918e+00] [ 1.70373359e-03 9.99997426e-01 1.49847850e-03 1.21700337e-01] [ 1.06182117e-02 -1.51648680e-03 9.99942475e-01 -2.12112725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.046547614999994 meters Centerline goodness [0,1] 0.7381012480717992 Centerline is valid? [False, False] Translation: X:2.74, Y:0.12, Z:-0.21 [[ 9.99940699e-01 -3.65052755e-03 -1.02602065e-02 2.73932610e+00] [ 3.63998167e-03 9.99992828e-01 -1.04632903e-03 1.17442079e-01] [ 1.02639525e-02 1.00892002e-03 9.99946815e-01 -2.07879283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.076547614999996 meters Centerline goodness [0,1] 0.7364423942394239 Centerline is valid? [False, False] Translation: X:2.74, Y:0.11, Z:-0.20 [[ 0.99993316 -0.00590564 -0.00993951 2.73571856] [ 0.00587176 0.99997686 -0.0034346 0.11372351] [ 0.00995956 0.00337601 0.9999447 -0.20439059] [ 0. 0. 0. 1. ]] SLAMing on 25.106547614999993 meters Centerline goodness [0,1] 0.7440563380281691 Centerline is valid? [False, False] Translation: X:2.74, Y:0.11, Z:-0.21 [[ 9.99940737e-01 -2.89588769e-03 -1.04945467e-02 2.73874675e+00] [ 2.90648497e-03 9.99995281e-01 9.94677488e-04 1.11234380e-01] [ 1.04916167e-02 -1.02512078e-03 9.99944436e-01 -2.05425925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.136547614999994 meters Centerline goodness [0,1] 0.735507145054392 Centerline is valid? [False, False] Translation: X:2.75, Y:0.12, Z:-0.21 [[ 9.99931607e-01 2.66865275e-03 -1.13868435e-02 2.74555701e+00] [-2.58595804e-03 9.99970223e-01 7.27085608e-03 1.15349039e-01] [ 1.14059079e-02 -7.24091291e-03 9.99908733e-01 -2.10668827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.166547614999995 meters Centerline goodness [0,1] 0.7325091396199035 Centerline is valid? [False, False] Translation: X:2.75, Y:0.12, Z:-0.21 [[ 9.99934853e-01 1.59944840e-03 -1.13018574e-02 2.74663727e+00] [-1.53072485e-03 9.99980304e-01 6.08676705e-03 1.19754502e-01] [ 1.13113703e-02 -6.06907048e-03 9.99917606e-01 -2.12165055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.196547614999993 meters Centerline goodness [0,1] 0.737411487018096 Centerline is valid? [False, False] Translation: X:2.75, Y:0.12, Z:-0.21 [[ 9.99989672e-01 -1.48004336e-03 -4.29711022e-03 2.75257187e+00] [ 1.45181418e-03 9.99977396e-01 -6.56504549e-03 1.17409847e-01] [ 4.30672964e-03 6.55873908e-03 9.99969217e-01 -2.09434026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.226547614999994 meters Centerline goodness [0,1] 0.7470046735589859 Centerline is valid? [False, False] Translation: X:2.75, Y:0.11, Z:-0.21 [[ 0.99998086 -0.00458822 -0.00414982 2.75152329] [ 0.00454772 0.99994244 -0.00971769 0.11219055] [ 0.00419417 0.00969863 0.99994417 -0.20890843] [ 0. 0. 0. 1. ]] SLAMing on 25.256547614999995 meters Centerline goodness [0,1] 0.7287247528099383 Centerline is valid? [False, False] Translation: X:2.75, Y:0.11, Z:-0.21 [[ 9.99985841e-01 3.42049208e-03 -4.07657940e-03 2.75224075e+00] [-3.42925201e-03 9.99991822e-01 -2.14379475e-03 1.14874101e-01] [ 4.06921323e-03 2.15774402e-03 9.99989393e-01 -2.10295449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.286547614999993 meters Centerline goodness [0,1] 0.7285850968032418 Centerline is valid? [False, False] Translation: X:2.75, Y:0.12, Z:-0.21 [[ 9.99986650e-01 3.07106336e-03 -4.15544421e-03 2.75236798e+00] [-3.08027695e-03 9.99992808e-01 -2.21265367e-03 1.16192974e-01] [ 4.14861913e-03 2.22542405e-03 9.99988918e-01 -2.09780052e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.316547614999994 meters Centerline goodness [0,1] 0.7267302090109455 Centerline is valid? [False, False] Translation: X:2.75, Y:0.11, Z:-0.21 [[ 9.99984265e-01 3.07655309e-03 -4.69098716e-03 2.75362323e+00] [-3.08359007e-03 9.99994130e-01 -1.49361265e-03 1.12311743e-01] [ 4.68636445e-03 1.50805423e-03 9.99987882e-01 -2.09541095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.346547614999995 meters Centerline goodness [0,1] 0.7346200582134682 Centerline is valid? [False, False] Translation: X:2.76, Y:0.11, Z:-0.21 [[ 9.99983722e-01 1.73175716e-03 -5.43655112e-03 2.75799704e+00] [-1.74583625e-03 9.99995132e-01 -2.58603289e-03 1.12684408e-01] [ 5.43204628e-03 2.59548212e-03 9.99981878e-01 -2.13090473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.376547614999996 meters Centerline goodness [0,1] 0.7316615298402914 Centerline is valid? [False, False] Translation: X:2.76, Y:0.12, Z:-0.21 [[ 9.99971566e-01 4.44706748e-03 -6.09014755e-03 2.75942509e+00] [-4.44054359e-03 9.99989553e-01 1.08432263e-03 1.16844693e-01] [ 6.09490598e-03 -1.05724823e-03 9.99980867e-01 -2.11497792e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.406547614999994 meters Centerline goodness [0,1] 0.7298819818043545 Centerline is valid? [False, False] Translation: X:2.76, Y:0.12, Z:-0.21 [[ 9.99971016e-01 4.53017243e-03 -6.11916752e-03 2.75960028e+00] [-4.52554961e-03 9.99989464e-01 7.69100878e-04 1.16435546e-01] [ 6.12258721e-03 -7.41385990e-04 9.99980982e-01 -2.12023623e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.436547614999995 meters Centerline goodness [0,1] 0.7248922956414704 Centerline is valid? [False, False] Translation: X:2.76, Y:0.12, Z:-0.22 [[ 9.99974055e-01 4.15825946e-03 -5.88201212e-03 2.76021101e+00] [-4.16685937e-03 9.99990267e-01 -1.45057157e-03 1.21829608e-01] [ 5.87592302e-03 1.47504345e-03 9.99981649e-01 -2.15016957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.466547614999996 meters Centerline goodness [0,1] 0.7231215808864575 Centerline is valid? [False, False] Translation: X:2.76, Y:0.12, Z:-0.21 [[ 9.99973882e-01 4.61751376e-03 -5.56005847e-03 2.75827452e+00] [-4.62838780e-03 9.99987398e-01 -1.94446565e-03 1.24548099e-01] [ 5.55100981e-03 1.97014897e-03 9.99982652e-01 -2.13971047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.496547614999994 meters Centerline goodness [0,1] 0.71994863491709 Centerline is valid? [False, False] Translation: X:2.76, Y:0.12, Z:-0.21 [[ 9.99971849e-01 5.39100996e-03 -5.21908269e-03 2.75618959e+00] [-5.39874958e-03 9.99984346e-01 -1.46999628e-03 1.24247026e-01] [ 5.21107623e-03 1.49813142e-03 9.99985300e-01 -2.12422528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.526547614999995 meters Centerline goodness [0,1] 0.7092326471730567 Centerline is valid? [False, False] Translation: X:2.76, Y:0.13, Z:-0.22 [[ 9.99950135e-01 7.81399274e-03 -6.21847049e-03 2.76058587e+00] [-7.81468706e-03 9.99969461e-01 -8.73638384e-05 1.29159285e-01] [ 6.21759793e-03 1.35954883e-04 9.99980661e-01 -2.16098060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.556547614999996 meters Centerline goodness [0,1] 0.7146500346500346 Centerline is valid? [False, False] Translation: X:2.76, Y:0.13, Z:-0.21 [[ 9.99951100e-01 7.39423008e-03 -6.56676443e-03 2.76089765e+00] [-7.39240484e-03 9.99972630e-01 3.02181629e-04 1.29031867e-01] [ 6.56881910e-03 -2.53622671e-04 9.99978393e-01 -2.14619250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.586547614999994 meters Centerline goodness [0,1] 0.726675354201902 Centerline is valid? [False, False] Translation: X:2.76, Y:0.13, Z:-0.21 [[ 0.99997321 0.00353121 -0.00641191 2.76035992] [-0.00355271 0.99998809 -0.00334492 0.12865057] [ 0.00640003 0.00336761 0.99997385 -0.21434478] [ 0. 0. 0. 1. ]] SLAMing on 25.616547614999995 meters Centerline goodness [0,1] 0.7332743558553577 Centerline is valid? [False, False] Translation: X:2.77, Y:0.13, Z:-0.22 [[ 9.99964975e-01 2.95749341e-03 -7.82955312e-03 2.76859823e+00] [-2.96990551e-03 9.99994351e-01 -1.57413717e-03 1.32653438e-01] [ 7.82485339e-03 1.59733507e-03 9.99968110e-01 -2.17761126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.646547614999996 meters Centerline goodness [0,1] 0.7379226384815449 Centerline is valid? [False, False] Translation: X:2.77, Y:0.13, Z:-0.22 [[ 9.99964063e-01 2.43487539e-03 -8.12057984e-03 2.76853603e+00] [-2.44139606e-03 9.99996705e-01 -7.93164414e-04 1.31323520e-01] [ 8.11862183e-03 8.12961462e-04 9.99966713e-01 -2.15303171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.676547614999993 meters Centerline goodness [0,1] 0.7422893348591844 Centerline is valid? [False, False] Translation: X:2.76, Y:0.12, Z:-0.21 [[ 9.99971529e-01 3.84165025e-04 -7.53614305e-03 2.76366628e+00] [-3.96962720e-04 9.99998482e-01 -1.69675347e-03 1.24594956e-01] [ 7.53547978e-03 1.69969673e-03 9.99970163e-01 -2.09411233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.706547614999995 meters Centerline goodness [0,1] 0.7581487584839259 Centerline is valid? [False, False] Translation: X:2.76, Y:0.12, Z:-0.20 [[ 9.99970010e-01 4.16184730e-04 -7.73347741e-03 2.76275115e+00] [-4.09886977e-04 9.99999583e-01 8.15916497e-04 1.19001964e-01] [ 7.73381376e-03 -8.12722176e-04 9.99969763e-01 -2.04782016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.736547614999996 meters Centerline goodness [0,1] 0.7273132664437012 Centerline is valid? [False, False] Translation: X:2.76, Y:0.12, Z:-0.21 [[ 9.99974435e-01 7.12202521e-04 -7.11489553e-03 2.76219414e+00] [-7.10991194e-04 9.99999732e-01 1.72780240e-04 1.21045977e-01] [ 7.11501668e-03 -1.67717195e-04 9.99974674e-01 -2.06759380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.766547614999993 meters Centerline goodness [0,1] 0.7338311219674679 Centerline is valid? [False, False] Translation: X:2.77, Y:0.12, Z:-0.21 [[ 9.99966091e-01 3.74450053e-03 -7.33452505e-03 2.76528435e+00] [-3.72551204e-03 9.99989678e-01 2.60087234e-03 1.24669436e-01] [ 7.34418831e-03 -2.57345929e-03 9.99969720e-01 -2.10744516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.796547614999994 meters Centerline goodness [0,1] 0.7264098269123395 Centerline is valid? [False, False] Translation: X:2.77, Y:0.12, Z:-0.21 [[ 9.99965182e-01 4.12542222e-03 -7.25360953e-03 2.76605323e+00] [-4.11253084e-03 9.99989939e-01 1.79125465e-03 1.24818992e-01] [ 7.26092623e-03 -1.76136159e-03 9.99972088e-01 -2.13408557e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.826547614999996 meters Centerline goodness [0,1] 0.7182837393576667 Centerline is valid? [False, False] Translation: X:2.75, Y:0.12, Z:-0.21 [[ 9.99961987e-01 6.76204098e-03 -5.50452693e-03 2.75485998e+00] [-6.75728238e-03 9.99976780e-01 8.82627961e-04 1.20476161e-01] [ 5.51036748e-03 -8.45398766e-04 9.99984460e-01 -2.08946322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.856547614999993 meters Centerline goodness [0,1] 0.7169709989258861 Centerline is valid? [False, False] Translation: X:2.75, Y:0.12, Z:-0.21 [[ 9.99977513e-01 3.58927672e-03 -5.66487517e-03 2.75390182e+00] [-3.60248433e-03 9.99990813e-01 -2.32301228e-03 1.16299515e-01] [ 5.65648519e-03 2.34336766e-03 9.99981256e-01 -2.07684122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.886547614999994 meters Centerline goodness [0,1] 0.7170162906914368 Centerline is valid? [False, False] Translation: X:2.76, Y:0.12, Z:-0.21 [[ 0.99997733 0.00318792 -0.00593097 2.75624938] [-0.00320526 0.99999061 -0.00291637 0.11563104] [ 0.00592162 0.00293532 0.99997816 -0.21041014] [ 0. 0. 0. 1. ]] SLAMing on 25.916547614999995 meters Centerline goodness [0,1] 0.733763671214342 Centerline is valid? [False, False] Translation: X:2.77, Y:0.12, Z:-0.22 [[ 9.99973096e-01 -1.93326462e-03 -7.07593238e-03 2.76625314e+00] [ 2.01900723e-03 9.99924385e-01 1.21304831e-02 1.15329160e-01] [ 7.05194590e-03 -1.21444431e-02 9.99901386e-01 -2.17769925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 25.946547614999993 meters Centerline goodness [0,1] 0.735084544477747 Centerline is valid? [False, False] Translation: X:2.76, Y:0.11, Z:-0.22 [[ 0.99996656 -0.0052049 -0.00630741 2.76328606] [ 0.00526147 0.99994578 0.00898618 0.11411098] [ 0.00626029 -0.00901906 0.99993973 -0.21588137] [ 0. 0. 0. 1. ]] SLAMing on 25.976547614999994 meters Centerline goodness [0,1] 0.7307170323456231 Centerline is valid? [False, False] Translation: X:2.77, Y:0.11, Z:-0.22 [[ 9.99978936e-01 -6.49021691e-03 6.15732438e-05 2.77349434e+00] [ 6.49028987e-03 9.99978132e-01 -1.26982198e-03 1.13304117e-01] [-5.33304772e-05 1.27019486e-03 9.99999192e-01 -2.16530181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.006547614999995 meters Centerline goodness [0,1] 0.7427101688171431 Centerline is valid? [False, False] Translation: X:2.78, Y:0.12, Z:-0.22 [[ 9.99971742e-01 -7.50425544e-03 -4.47666367e-04 2.77694391e+00] [ 7.50288856e-03 9.99967411e-01 -2.98065339e-03 1.15163864e-01] [ 4.70019363e-04 2.97721037e-03 9.99995458e-01 -2.20449366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.036547614999993 meters Centerline goodness [0,1] 0.7427101688171431 Centerline is valid? [False, False] Translation: X:2.78, Y:0.12, Z:-0.22 [[ 9.99971742e-01 -7.50425544e-03 -4.47666367e-04 2.77694391e+00] [ 7.50288856e-03 9.99967411e-01 -2.98065339e-03 1.15163864e-01] [ 4.70019363e-04 2.97721037e-03 9.99995458e-01 -2.20449366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.066547614999994 meters Centerline goodness [0,1] 0.7376672062707677 Centerline is valid? [False, False] Translation: X:2.78, Y:0.12, Z:-0.22 [[ 9.99971433e-01 -7.54496209e-03 -4.55315520e-04 2.77733357e+00] [ 7.54324408e-03 9.99964837e-01 -3.66381464e-03 1.16501933e-01] [ 4.82942853e-04 3.66027542e-03 9.99993185e-01 -2.21563464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.096547614999995 meters Centerline goodness [0,1] 0.73868843069874 Centerline is valid? [False, False] Translation: X:2.77, Y:0.11, Z:-0.22 [[ 9.99948481e-01 -1.01445445e-02 -3.51484218e-04 2.77480356e+00] [ 1.01424299e-02 9.99933048e-01 -5.57056232e-03 1.11566441e-01] [ 4.07971503e-04 5.56671043e-03 9.99984423e-01 -2.18042605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.126547614999993 meters Centerline goodness [0,1] 0.7559014117102523 Centerline is valid? [False, False] Translation: X:2.78, Y:0.11, Z:-0.22 [[ 9.99895385e-01 -1.44361114e-02 -9.03763792e-04 2.77739573e+00] [ 1.44276882e-02 9.99857890e-01 -8.72023807e-03 1.05955123e-01] [ 1.02952169e-03 8.70628659e-03 9.99961570e-01 -2.19197076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.156547614999994 meters Centerline goodness [0,1] 0.781067472306143 Centerline is valid? [False, False] Translation: X:2.79, Y:0.11, Z:-0.23 [[ 9.99858595e-01 -1.66894091e-02 -2.06230005e-03 2.78860883e+00] [ 1.66748656e-02 9.99837302e-01 -6.87879721e-03 1.06124295e-01] [ 2.17676757e-03 6.84343594e-03 9.99974214e-01 -2.25233953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.186547614999995 meters Centerline goodness [0,1] 0.7989463436981046 Centerline is valid? [False, False] Translation: X:2.79, Y:0.10, Z:-0.23 [[ 9.99874613e-01 -1.56316220e-02 -2.53197510e-03 2.79295125e+00] [ 1.56254346e-02 9.99874925e-01 -2.44531498e-03 1.04599237e-01] [ 2.56988265e-03 2.40544516e-03 9.99993805e-01 -2.25489746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.216547614999996 meters Centerline goodness [0,1] 0.7949013394786115 Centerline is valid? [False, False] Translation: X:2.78, Y:0.10, Z:-0.22 [[ 9.99845310e-01 -1.75646875e-02 -9.15545110e-04 2.78133876e+00] [ 1.75598702e-02 9.99833171e-01 -5.02802187e-03 9.74245750e-02] [ 1.00370800e-03 5.01116723e-03 9.99986940e-01 -2.16316635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.246547614999994 meters Centerline goodness [0,1] 0.803520677454904 Centerline is valid? [False, False] Translation: X:2.77, Y:0.09, Z:-0.21 [[ 9.99835607e-01 -1.81251861e-02 4.85773619e-04 2.77264385e+00] [ 1.81267158e-02 9.99830068e-01 -3.35516393e-03 8.93133539e-02] [-4.24878100e-04 3.36341784e-03 9.99994253e-01 -2.05972950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.276547614999995 meters Centerline goodness [0,1] 0.8060180367672564 Centerline is valid? [False, False] Translation: X:2.78, Y:0.09, Z:-0.21 [[ 9.99860173e-01 -1.67148208e-02 -4.99333310e-04 2.77893890e+00] [ 1.67141344e-02 9.99859400e-01 -1.34852660e-03 9.17330053e-02] [ 5.21803484e-04 1.33999212e-03 9.99998966e-01 -2.10695493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.306547614999996 meters Centerline goodness [0,1] 0.8083323769080684 Centerline is valid? [False, False] Translation: X:2.79, Y:0.10, Z:-0.22 [[ 9.99855816e-01 -1.68429306e-02 -2.15922058e-03 2.78852730e+00] [ 1.68401410e-02 9.99857345e-01 -1.30364983e-03 9.87907389e-02] [ 2.18086984e-03 1.26710029e-03 9.99996819e-01 -2.17880906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.336547614999994 meters Centerline goodness [0,1] 0.7951402834356532 Centerline is valid? [False, False] Translation: X:2.78, Y:0.10, Z:-0.21 [[ 9.99882510e-01 -1.52374109e-02 -1.66928901e-03 2.78425854e+00] [ 1.52375100e-02 9.99883901e-01 4.66123894e-05 9.82700572e-02] [ 1.66838496e-03 -7.20427209e-05 9.99998606e-01 -2.13764655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.366547614999995 meters Centerline goodness [0,1] 0.7769346182699521 Centerline is valid? [False, False] Translation: X:2.77, Y:0.09, Z:-0.21 [[ 9.99911586e-01 -1.32890335e-02 -4.70258530e-04 2.77373040e+00] [ 1.32891541e-02 9.99911663e-01 2.54415499e-04 9.25953635e-02] [ 4.66836053e-04 -2.60642343e-04 9.99999857e-01 -2.06593529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.396547614999996 meters Centerline goodness [0,1] 0.7829746889993392 Centerline is valid? [False, False] Translation: X:2.77, Y:0.09, Z:-0.20 [[ 9.99947607e-01 -1.01834053e-02 -1.04000448e-03 2.77487932e+00] [ 1.01887057e-02 9.99934442e-01 5.22511992e-03 9.24974828e-02] [ 9.86726787e-04 -5.23544246e-03 9.99985808e-01 -2.04291936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.426547614999993 meters Centerline goodness [0,1] 0.7890899734110988 Centerline is valid? [False, False] Translation: X:2.78, Y:0.10, Z:-0.21 [[ 9.99961081e-01 -8.52529563e-03 -2.27086177e-03 2.78062400e+00] [ 8.54196531e-03 9.99935876e-01 7.43502555e-03 9.66952578e-02] [ 2.20733037e-03 -7.45413380e-03 9.99969781e-01 -2.07553250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.456547614999995 meters Centerline goodness [0,1] 0.7690926706941753 Centerline is valid? [False, False] Translation: X:2.79, Y:0.10, Z:-0.22 [[ 0.99997362 -0.00650236 -0.00323695 2.78631218] [ 0.00652156 0.99996099 0.00595744 0.10397052] [ 0.00319809 -0.00597839 0.99997702 -0.21684915] [ 0. 0. 0. 1. ]] SLAMing on 26.486547614999996 meters Centerline goodness [0,1] 0.7530496535135445 Centerline is valid? [False, False] Translation: X:2.78, Y:0.10, Z:-0.22 [[ 9.99989782e-01 -4.35191491e-03 -1.22335837e-03 2.77528497e+00] [ 4.35553646e-03 9.99986094e-01 2.97342509e-03 1.02439283e-01] [ 1.21040127e-03 -2.97872309e-03 9.99994831e-01 -2.15473738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.516547614999993 meters Centerline goodness [0,1] 0.757507831134868 Centerline is valid? [False, False] Translation: X:2.77, Y:0.10, Z:-0.21 [[ 9.99979062e-01 -6.46432050e-03 -2.95489546e-04 2.77025951e+00] [ 6.46459938e-03 9.99978650e-01 9.52757188e-04 9.86984071e-02] [ 2.89324310e-04 -9.54647461e-04 9.99999502e-01 -2.11231285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.546547614999994 meters Centerline goodness [0,1] 0.7351363623463972 Centerline is valid? [False, False] Translation: X:2.77, Y:0.10, Z:-0.21 [[ 9.99999047e-01 -1.36992224e-03 1.71329656e-04 2.76797513e+00] [ 1.36904942e-03 9.99986589e-01 4.99478874e-03 1.03928352e-01] [-1.78169831e-04 -4.99454942e-03 9.99987511e-01 -2.10495671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.576547614999996 meters Centerline goodness [0,1] 0.738685924667233 Centerline is valid? [False, False] Translation: X:2.77, Y:0.11, Z:-0.21 [[ 9.99997620e-01 -2.17982243e-03 9.21983745e-05 2.76871923e+00] [ 2.17946761e-03 9.99990825e-01 3.68784343e-03 1.09086021e-01] [-1.00236372e-04 -3.68763371e-03 9.99993196e-01 -2.11475003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.606547614999993 meters Centerline goodness [0,1] 0.7474358247860826 Centerline is valid? [False, False] Translation: X:2.77, Y:0.11, Z:-0.21 [[ 9.99992682e-01 -3.71814727e-03 -9.00572567e-04 2.77324054e+00] [ 3.72025948e-03 9.99990306e-01 2.35519941e-03 1.08847676e-01] [ 8.91806858e-04 -2.35853254e-03 9.99996821e-01 -2.14532567e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.636547614999994 meters Centerline goodness [0,1] 0.7464604164886193 Centerline is valid? [False, False] Translation: X:2.78, Y:0.10, Z:-0.22 [[ 9.99988093e-01 -4.57446056e-03 -1.69935375e-03 2.77579683e+00] [ 4.57790913e-03 9.99987459e-01 2.03102342e-03 1.04465132e-01] [ 1.69004160e-03 -2.03877873e-03 9.99996494e-01 -2.15330908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.666547614999995 meters Centerline goodness [0,1] 0.7357933367738976 Centerline is valid? [False, False] Translation: X:2.77, Y:0.10, Z:-0.21 [[ 9.99995454e-01 -2.73447561e-03 -1.27076987e-03 2.77236567e+00] [ 2.73948723e-03 9.99988411e-01 3.95890553e-03 9.87746547e-02] [ 1.25992961e-03 -3.96236879e-03 9.99991356e-01 -2.12280816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.696547614999993 meters Centerline goodness [0,1] 0.7466368356136879 Centerline is valid? [False, False] Translation: X:2.78, Y:0.10, Z:-0.21 [[ 9.99988741e-01 -4.53758814e-03 -1.38831711e-03 2.77580698e+00] [ 4.54332040e-03 9.99981051e-01 4.15401256e-03 9.61579591e-02] [ 1.36944161e-03 -4.16027336e-03 9.99990408e-01 -2.14363291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.726547614999994 meters Centerline goodness [0,1] 0.6993866625084464 Centerline is valid? [False, False] Translation: X:2.85, Y:0.09, Z:-0.21 [[ 0.99997229 -0.00674247 0.00315512 2.84706086] [ 0.00665075 0.9995794 0.02822734 0.09441945] [-0.00334412 -0.02820557 0.99959655 -0.21221096] [ 0. 0. 0. 1. ]] SLAMing on 26.756547614999995 meters Centerline goodness [0,1] 0.7734229723930768 Centerline is valid? [False, False] Translation: X:2.77, Y:0.09, Z:-0.21 [[ 0.99995958 -0.00720727 0.0053746 2.772066 ] [ 0.00710142 0.99978541 0.01946038 0.09239325] [-0.0055137 -0.01942143 0.99979618 -0.21115081] [ 0. 0. 0. 1. ]] SLAMing on 26.786547614999993 meters Centerline goodness [0,1] 0.7808740978348035 Centerline is valid? [False, False] Translation: X:2.77, Y:0.09, Z:-0.21 [[ 0.99993262 -0.01003892 0.00582886 2.76897885] [ 0.00994308 0.99981861 0.01624443 0.09160933] [-0.00599088 -0.01618537 0.99985106 -0.2086419 ] [ 0. 0. 0. 1. ]] SLAMing on 26.816547614999994 meters Centerline goodness [0,1] 0.757940948609796 Centerline is valid? [False, False] Translation: X:2.77, Y:0.09, Z:-0.20 [[ 9.99983891e-01 -5.54549194e-03 -1.21024670e-03 2.77283723e+00] [ 5.55809458e-03 9.99927616e-01 1.06709739e-02 9.09525551e-02] [ 1.15098329e-03 -1.06775287e-02 9.99942331e-01 -2.00033217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.846547614999995 meters Centerline goodness [0,1] 0.7297993531213327 Centerline is valid? [False, False] Translation: X:2.77, Y:0.10, Z:-0.21 [[ 9.99998724e-01 -3.94197212e-05 -1.59722279e-03 2.77264289e+00] [ 5.39676937e-05 9.99958508e-01 9.10927355e-03 1.00085286e-01] [ 1.59679743e-03 -9.10934812e-03 9.99957234e-01 -2.08514316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.876547614999993 meters Centerline goodness [0,1] 0.7134072037860968 Centerline is valid? [False, False] Translation: X:2.78, Y:0.11, Z:-0.22 [[ 9.99993228e-01 3.16096403e-03 -1.88494980e-03 2.77501519e+00] [-3.14635290e-03 9.99965368e-01 7.70469755e-03 1.09599741e-01] [ 1.90923880e-03 -7.69871465e-03 9.99968542e-01 -2.16341279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.906547614999994 meters Centerline goodness [0,1] 0.715898454119983 Centerline is valid? [False, False] Translation: X:2.77, Y:0.11, Z:-0.22 [[ 9.99996152e-01 9.69174464e-04 -2.59937107e-03 2.77460468e+00] [-9.59966031e-04 9.99993268e-01 3.54147301e-03 1.12868872e-01] [ 2.60278588e-03 -3.53896407e-03 9.99990351e-01 -2.16327765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.936547614999995 meters Centerline goodness [0,1] 0.7164090030692282 Centerline is valid? [False, False] Translation: X:2.78, Y:0.11, Z:-0.22 [[ 9.99994842e-01 9.95318105e-04 -3.05365172e-03 2.77544406e+00] [-9.81656580e-04 9.99989518e-01 4.47207375e-03 1.08684949e-01] [ 3.05807085e-03 -4.46905305e-03 9.99985338e-01 -2.15517248e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.966547614999993 meters Centerline goodness [0,1] 0.7288795430649881 Centerline is valid? [False, False] Translation: X:2.78, Y:0.11, Z:-0.22 [[ 9.99994830e-01 -5.57791282e-04 -3.16679183e-03 2.77767350e+00] [ 5.70858702e-04 9.99991321e-01 4.12698744e-03 1.10177007e-01] [ 3.16446234e-03 -4.12877390e-03 9.99986470e-01 -2.16734063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 26.996547614999994 meters Centerline goodness [0,1] 0.7354136470855714 Centerline is valid? [False, False] Translation: X:2.78, Y:0.10, Z:-0.21 [[ 9.99996595e-01 -1.00810389e-03 -2.40705201e-03 2.77579887e+00] [ 1.03097949e-03 9.99954140e-01 9.52132527e-03 1.03841189e-01] [ 2.39734314e-03 -9.52377447e-03 9.99951774e-01 -2.07560818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.026547614999995 meters Centerline goodness [0,1] 0.7604507139170824 Centerline is valid? [False, False] Translation: X:2.77, Y:0.10, Z:-0.20 [[ 9.99989996e-01 -4.02017124e-03 -1.96119599e-03 2.77306359e+00] [ 4.03742023e-03 9.99952493e-01 8.87192530e-03 9.50997315e-02] [ 1.92543616e-03 -8.87975472e-03 9.99958720e-01 -2.02645692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.056547614999996 meters Centerline goodness [0,1] 0.7466567819566023 Centerline is valid? [False, False] Translation: X:2.77, Y:0.10, Z:-0.21 [[ 9.99992202e-01 -3.74218593e-03 -1.26149574e-03 2.77293772e+00] [ 3.75037390e-03 9.99971502e-01 6.55203547e-03 9.87065451e-02] [ 1.23694086e-03 -6.55671546e-03 9.99977739e-01 -2.07520228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.086547614999994 meters Centerline goodness [0,1] 0.733179447721638 Centerline is valid? [False, False] Translation: X:2.77, Y:0.10, Z:-0.21 [[ 9.99994415e-01 -3.20978017e-03 -9.31305564e-04 2.77234015e+00] [ 3.21412301e-03 9.99983791e-01 4.69977161e-03 1.02765176e-01] [ 9.16205235e-04 -4.70273869e-03 9.99988522e-01 -2.10240360e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.116547614999995 meters Centerline goodness [0,1] 0.7337298508749246 Centerline is valid? [False, False] Translation: X:2.77, Y:0.10, Z:-0.21 [[ 9.99984983e-01 -5.47002918e-03 -3.36074886e-04 2.76899758e+00] [ 5.47028281e-03 9.99984750e-01 7.58458729e-04 1.02341657e-01] [ 3.31920969e-04 -7.60285763e-04 9.99999656e-01 -2.09453120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.146547614999996 meters Centerline goodness [0,1] 0.7441087093629952 Centerline is valid? [False, False] Translation: X:2.78, Y:0.10, Z:-0.22 [[ 9.99980443e-01 -6.15142689e-03 -1.12854058e-03 2.77671263e+00] [ 6.15318045e-03 9.99979857e-01 1.55699653e-03 1.02446809e-01] [ 1.11894010e-03 -1.56391019e-03 9.99998151e-01 -2.15225552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.176547614999993 meters Centerline goodness [0,1] 0.7533398314316839 Centerline is valid? [False, False] Translation: X:2.78, Y:0.10, Z:-0.22 [[ 9.99974859e-01 -6.97398453e-03 -1.28217817e-03 2.77840434e+00] [ 6.97508834e-03 9.99975305e-01 8.58444728e-04 1.04732018e-01] [ 1.27615973e-03 -8.67366452e-04 9.99998810e-01 -2.16786474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.206547614999995 meters Centerline goodness [0,1] 0.7628948649654896 Centerline is valid? [False, False] Translation: X:2.78, Y:0.10, Z:-0.22 [[ 9.99964307e-01 -8.25796951e-03 -1.78612755e-03 2.78095361e+00] [ 8.26043148e-03 9.99964936e-01 1.37542552e-03 1.03219682e-01] [ 1.77470669e-03 -1.39013061e-03 9.99997459e-01 -2.16857423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.236547614999996 meters Centerline goodness [0,1] 0.7530619854860454 Centerline is valid? [False, False] Translation: X:2.78, Y:0.10, Z:-0.21 [[ 9.99977315e-01 -6.57360066e-03 -1.46847964e-03 2.77719294e+00] [ 6.57834662e-03 9.99973079e-01 3.25077752e-03 9.87116948e-02] [ 1.44707080e-03 -3.26036395e-03 9.99993638e-01 -2.12839592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.266547614999993 meters Centerline goodness [0,1] 0.7391254315304948 Centerline is valid? [False, False] Translation: X:2.77, Y:0.09, Z:-0.21 [[ 9.99991337e-01 -4.12242858e-03 -5.75169527e-04 2.77141517e+00] [ 4.12529975e-03 9.99978571e-01 5.08332103e-03 9.49463483e-02] [ 5.54201573e-04 -5.08564974e-03 9.99986914e-01 -2.08749588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.296547614999994 meters Centerline goodness [0,1] 0.7404953917050692 Centerline is valid? [False, False] Translation: X:2.77, Y:0.09, Z:-0.21 [[ 9.99991192e-01 -4.14724094e-03 -6.45416285e-04 2.77176151e+00] [ 4.15047624e-03 9.99978408e-01 5.09483798e-03 9.43922256e-02] [ 6.24272828e-04 -5.09747189e-03 9.99986813e-01 -2.09009249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.326547614999996 meters Centerline goodness [0,1] 0.7564091497626241 Centerline is valid? [False, False] Translation: X:2.78, Y:0.09, Z:-0.21 [[ 9.99981250e-01 -5.98765847e-03 -1.28377016e-03 2.77614506e+00] [ 5.99308204e-03 9.99972953e-01 4.26333723e-03 9.45465028e-02] [ 1.25820803e-03 -4.27095103e-03 9.99990088e-01 -2.11913207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.356547614999993 meters Centerline goodness [0,1] 0.7642924758325923 Centerline is valid? [False, False] Translation: X:2.79, Y:0.10, Z:-0.22 [[ 9.99971093e-01 -7.13223329e-03 -2.63536065e-03 2.78600450e+00] [ 7.14640075e-03 9.99959850e-01 5.40617902e-03 9.74813972e-02] [ 2.59669671e-03 -5.42485608e-03 9.99981914e-01 -2.17463793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.386547614999994 meters Centerline goodness [0,1] 0.7559596882405002 Centerline is valid? [False, False] Translation: X:2.79, Y:0.10, Z:-0.22 [[ 9.99968032e-01 -7.50969507e-03 -2.74589739e-03 2.78788412e+00] [ 7.51769242e-03 9.99967496e-01 2.91384514e-03 1.00980382e-01] [ 2.72392605e-03 -2.93439480e-03 9.99991985e-01 -2.22036774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.416547614999995 meters Centerline goodness [0,1] 0.7474933203091332 Centerline is valid? [False, False] Translation: X:2.78, Y:0.10, Z:-0.22 [[ 9.99973407e-01 -6.92913315e-03 -2.27421346e-03 2.78052699e+00] [ 6.93341339e-03 9.99974197e-01 1.87961645e-03 9.79165194e-02] [ 2.26113067e-03 -1.89533452e-03 9.99995647e-01 -2.16416388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.446547614999993 meters Centerline goodness [0,1] 0.7628104915754733 Centerline is valid? [False, False] Translation: X:2.78, Y:0.09, Z:-0.21 [[ 9.99951514e-01 -9.67363771e-03 -1.84109887e-03 2.77795700e+00] [ 9.67410769e-03 9.99953174e-01 2.46538058e-04 9.21670945e-02] [ 1.83862774e-03 -2.64337093e-04 9.99998275e-01 -2.13410793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.476547614999994 meters Centerline goodness [0,1] 0.7621272423141259 Centerline is valid? [False, False] Translation: X:2.78, Y:0.09, Z:-0.21 [[ 9.99968039e-01 -7.71972777e-03 -2.08019428e-03 2.78086194e+00] [ 7.72905106e-03 9.99959952e-01 4.51180233e-03 9.02413861e-02] [ 2.04528109e-03 -4.52773605e-03 9.99987658e-01 -2.13756924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.506547614999995 meters Centerline goodness [0,1] 0.7886599419490186 Centerline is valid? [False, False] Translation: X:2.79, Y:0.09, Z:-0.22 [[ 9.99973395e-01 -6.74053522e-03 -2.78835008e-03 2.78618937e+00] [ 6.76231583e-03 9.99946110e-01 7.87704088e-03 9.24044588e-02] [ 2.73510434e-03 -7.89568701e-03 9.99965088e-01 -2.15520283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.536547614999993 meters Centerline goodness [0,1] 0.7666638022399817 Centerline is valid? [False, False] Translation: X:2.78, Y:0.09, Z:-0.22 [[ 9.99979046e-01 -6.00161266e-03 -2.42676460e-03 2.78468016e+00] [ 6.01823579e-03 9.99958073e-01 6.90163701e-03 9.49526631e-02] [ 2.38524190e-03 -6.91609723e-03 9.99973239e-01 -2.16349659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.566547614999994 meters Centerline goodness [0,1] 0.7506204189992497 Centerline is valid? [False, False] Translation: X:2.77, Y:0.09, Z:-0.21 [[ 9.99999844e-01 1.24084584e-05 5.57638626e-04 2.76917497e+00] [-6.70992052e-06 9.99947796e-01 -1.02178918e-02 9.19131445e-02] [-5.57736303e-04 1.02178864e-02 9.99947640e-01 -2.09496515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.596547614999995 meters Centerline goodness [0,1] 0.7250856139745029 Centerline is valid? [False, False] Translation: X:2.77, Y:0.09, Z:-0.21 [[ 9.99993131e-01 3.70220311e-03 -1.77869653e-04 2.77012710e+00] [-3.70300580e-03 9.99981877e-01 -4.74697283e-03 8.96273773e-02] [ 1.60292172e-04 4.74759888e-03 9.99988717e-01 -2.06685691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.626547614999993 meters Centerline goodness [0,1] 0.729929314407218 Centerline is valid? [False, False] Translation: X:2.77, Y:0.09, Z:-0.21 [[ 9.99996272e-01 2.69794232e-03 -4.20222197e-04 2.77207688e+00] [-2.70007145e-03 9.99983087e-01 -5.15132110e-03 9.15212461e-02] [ 4.06317122e-04 5.15243653e-03 9.99986644e-01 -2.07780529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.656547614999994 meters Centerline goodness [0,1] 0.7680387270487812 Centerline is valid? [False, False] Translation: X:2.78, Y:0.09, Z:-0.21 [[ 9.99998871e-01 8.54171600e-04 -1.23605006e-03 2.78089772e+00] [-8.58100921e-04 9.99994570e-01 -3.18190209e-03 9.23757571e-02] [ 1.23332546e-03 3.18295916e-03 9.99994174e-01 -2.11418468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.686547614999995 meters Centerline goodness [0,1] 0.7639778184312829 Centerline is valid? [False, False] Translation: X:2.78, Y:0.10, Z:-0.21 [[ 9.99999031e-01 6.71567880e-04 -1.21968343e-03 2.78137818e+00] [-6.76526114e-04 9.99991491e-01 -4.06932826e-03 9.62680419e-02] [ 1.21694023e-03 4.07014947e-03 9.99990976e-01 -2.12655408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.716547614999993 meters Centerline goodness [0,1] 0.745055509575045 Centerline is valid? [False, False] Translation: X:2.78, Y:0.10, Z:-0.21 [[ 9.99997202e-01 2.18837926e-03 -8.97929632e-04 2.77950899e+00] [-2.19250836e-03 9.99986908e-01 -4.62354721e-03 9.66939909e-02] [ 8.87799802e-04 4.62550299e-03 9.99988908e-01 -2.13521592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.746547614999994 meters Centerline goodness [0,1] 0.7338783970520497 Centerline is valid? [False, False] Translation: X:2.78, Y:0.10, Z:-0.21 [[ 9.99999448e-01 9.51635064e-04 -4.44682407e-04 2.77553004e+00] [-9.55502433e-04 9.99961006e-01 -8.77918754e-03 9.76095690e-02] [ 4.36310484e-04 8.77960760e-03 9.99961363e-01 -2.13220834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.776547614999995 meters Centerline goodness [0,1] 0.7207266485481334 Centerline is valid? [False, False] Translation: X:2.77, Y:0.10, Z:-0.21 [[ 9.99984959e-01 5.47686376e-03 -2.93281146e-04 2.77443118e+00] [-5.47820653e-03 9.99973512e-01 -4.79214112e-03 9.95460722e-02] [ 2.67027473e-04 4.79367570e-03 9.99988475e-01 -2.12418823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.806547614999992 meters Centerline goodness [0,1] 0.7254896346352079 Centerline is valid? [False, False] Translation: X:2.77, Y:0.10, Z:-0.21 [[ 9.99984553e-01 5.52600221e-03 -5.97009328e-04 2.77430708e+00] [-5.52818552e-03 9.99977802e-01 -3.71952752e-03 9.79200528e-02] [ 5.76441958e-04 3.72277044e-03 9.99992904e-01 -2.10393416e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.836547614999994 meters Centerline goodness [0,1] 0.740798341109383 Centerline is valid? [False, False] Translation: X:2.78, Y:0.09, Z:-0.21 [[ 9.99998654e-01 1.42129534e-03 -8.20008659e-04 2.77519544e+00] [-1.42644775e-03 9.99979028e-01 -6.31736502e-03 9.25222327e-02] [ 8.11012620e-04 6.31852622e-03 9.99979709e-01 -2.09904594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.866547614999995 meters Centerline goodness [0,1] 0.7630116074771739 Centerline is valid? [False, False] Translation: X:2.79, Y:0.09, Z:-0.21 [[ 9.99995610e-01 -1.75895170e-03 -2.38444195e-03 2.78658097e+00] [ 1.74990555e-03 9.99991284e-01 -3.79061626e-03 8.86243951e-02] [ 2.39108868e-03 3.78642707e-03 9.99989973e-01 -2.12627150e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.896547614999996 meters Centerline goodness [0,1] 0.7671579189290126 Centerline is valid? [False, False] Translation: X:2.79, Y:0.09, Z:-0.22 [[ 9.99995683e-01 -1.70210764e-03 -2.39511900e-03 2.79187837e+00] [ 1.69738963e-03 9.99996618e-01 -1.97049741e-03 8.90466967e-02] [ 2.39846490e-03 1.96642346e-03 9.99995190e-01 -2.16787976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.926547614999993 meters Centerline goodness [0,1] 0.7676531671858775 Centerline is valid? [False, False] Translation: X:2.79, Y:0.08, Z:-0.21 [[ 9.99994739e-01 -1.59887453e-03 -2.82222356e-03 2.79182044e+00] [ 1.59591610e-03 9.99998175e-01 -1.05020229e-03 8.32120111e-02] [ 2.82389755e-03 1.04569274e-03 9.99995466e-01 -2.14840764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.956547614999995 meters Centerline goodness [0,1] 0.7676531671858775 Centerline is valid? [False, False] Translation: X:2.79, Y:0.08, Z:-0.21 [[ 9.99994739e-01 -1.59887453e-03 -2.82222356e-03 2.79182044e+00] [ 1.59591610e-03 9.99998175e-01 -1.05020229e-03 8.32120111e-02] [ 2.82389755e-03 1.04569274e-03 9.99995466e-01 -2.14840764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.986547614999996 meters Centerline goodness [0,1] 0.7687152140338608 Centerline is valid? [False, False] Translation: X:2.78, Y:0.08, Z:-0.21 [[ 9.99996602e-01 -2.13746553e-03 -1.49247124e-03 2.78419528e+00] [ 2.13383621e-03 9.99994773e-01 -2.42912536e-03 7.77672268e-02] [ 1.49765561e-03 2.42593242e-03 9.99995936e-01 -2.10389558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.016547614999993 meters Centerline goodness [0,1] 0.7740112994350282 Centerline is valid? [False, False] Translation: X:2.78, Y:0.08, Z:-0.21 [[ 9.99999609e-01 -5.88084576e-04 -6.60790813e-04 2.78368805e+00] [ 5.88516594e-04 9.99999613e-01 6.53784785e-04 7.90137011e-02] [ 6.60406077e-04 -6.54173416e-04 9.99999568e-01 -2.09420390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.046547614999994 meters Centerline goodness [0,1] 0.7852093212696012 Centerline is valid? [False, False] Translation: X:2.78, Y:0.08, Z:-0.21 [[ 9.99998776e-01 -1.12419125e-03 -1.08860910e-03 2.78487922e+00] [ 1.12528165e-03 9.99998865e-01 1.00154773e-03 7.86795470e-02] [ 1.08748194e-03 -1.00277150e-03 9.99998906e-01 -2.08833081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.076547614999996 meters Centerline goodness [0,1] 0.7964617270975652 Centerline is valid? [False, False] Translation: X:2.79, Y:0.08, Z:-0.21 [[ 9.99987422e-01 -4.58926336e-03 -2.02330693e-03 2.79122569e+00] [ 4.58757709e-03 9.99989126e-01 -8.37276581e-04 7.50550140e-02] [ 2.02712741e-03 8.27983974e-04 9.99997603e-01 -2.12654312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.106547614999993 meters Centerline goodness [0,1] 0.8048687936016813 Centerline is valid? [False, False] Translation: X:2.79, Y:0.08, Z:-0.22 [[ 9.99982877e-01 -5.45987742e-03 -2.10611889e-03 2.79326089e+00] [ 5.45630876e-03 9.99983675e-01 -1.69646720e-03 7.64580403e-02] [ 2.11534702e-03 1.68494651e-03 9.99996343e-01 -2.15065251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.136547614999994 meters Centerline goodness [0,1] 0.7973372781065089 Centerline is valid? [False, False] Translation: X:2.79, Y:0.08, Z:-0.21 [[ 9.99992141e-01 -3.75722021e-03 -1.26552910e-03 2.78932857e+00] [ 3.75609722e-03 9.99992551e-01 -8.88578402e-04 7.90046432e-02] [ 1.26885825e-03 8.83817968e-04 9.99998804e-01 -2.13137231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.166547614999995 meters Centerline goodness [0,1] 0.7787505435570372 Centerline is valid? [False, False] Translation: X:2.78, Y:0.08, Z:-0.21 [[ 9.99999962e-01 2.73907230e-04 2.05562436e-06 2.78115396e+00] [-2.73908907e-04 9.99999588e-01 8.65821817e-04 7.95790812e-02] [-1.81846866e-06 -8.65822348e-04 9.99999625e-01 -2.09017015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.196547614999993 meters Centerline goodness [0,1] 0.7564998844464987 Centerline is valid? [False, False] Translation: X:2.78, Y:0.08, Z:-0.21 [[ 9.99998642e-01 1.63797111e-03 1.84299933e-04 2.77852184e+00] [-1.63811157e-03 9.99998366e-01 7.64564893e-04 8.10254682e-02] [-1.83047297e-04 -7.64865758e-04 9.99999691e-01 -2.07586434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.226547614999994 meters Centerline goodness [0,1] 0.7328158689090125 Centerline is valid? [False, False] Translation: X:2.78, Y:0.09, Z:-0.21 [[ 9.99989430e-01 4.58752485e-03 -3.08264326e-04 2.78088417e+00] [-4.58661133e-03 9.99985272e-01 2.90154000e-03 8.54209107e-02] [ 3.21570673e-04 -2.90009544e-03 9.99995743e-01 -2.09841504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.256547614999995 meters Centerline goodness [0,1] 0.7297660584567867 Centerline is valid? [False, False] Translation: X:2.78, Y:0.09, Z:-0.21 [[ 9.99966620e-01 8.14848481e-03 -6.01029908e-04 2.78207701e+00] [-8.14543811e-03 9.99954779e-01 4.90842964e-03 9.05401716e-02] [ 6.40998993e-04 -4.90337014e-03 9.99987773e-01 -2.11871204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.286547614999993 meters Centerline goodness [0,1] 0.7291181460076483 Centerline is valid? [False, False] Translation: X:2.78, Y:0.09, Z:-0.21 [[ 9.99987228e-01 5.02415402e-03 -5.48986932e-04 2.78053741e+00] [-5.02367633e-03 9.99987004e-01 8.68062032e-04 8.97165194e-02] [ 5.53341075e-04 -8.65293013e-04 9.99999473e-01 -2.11200766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.316547614999994 meters Centerline goodness [0,1] 0.7380809380809381 Centerline is valid? [False, False] Translation: X:2.78, Y:0.09, Z:-0.21 [[ 9.99991123e-01 4.08388937e-03 -1.03684200e-03 2.78292247e+00] [-4.08373618e-03 9.99991650e-01 1.49821895e-04 9.07878580e-02] [ 1.03744519e-03 -1.45586376e-04 9.99999451e-01 -2.12736062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.346547614999995 meters Centerline goodness [0,1] 0.7379952321489386 Centerline is valid? [False, False] Translation: X:2.79, Y:0.10, Z:-0.22 [[ 9.99977781e-01 6.31006080e-03 -2.14964171e-03 2.79338538e+00] [-6.29977865e-03 9.99968842e-01 4.75684550e-03 9.68928781e-02] [ 2.17959071e-03 -4.74319754e-03 9.99986376e-01 -2.19016810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.376547614999993 meters Centerline goodness [0,1] 0.7248288105503424 Centerline is valid? [False, False] Translation: X:2.79, Y:0.10, Z:-0.22 [[ 9.99948567e-01 9.90355915e-03 -2.18698712e-03 2.79382039e+00] [-9.88671728e-03 9.99922380e-01 7.58196437e-03 1.01448244e-01] [ 2.26190580e-03 -7.55995228e-03 9.99968865e-01 -2.19795496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.406547614999994 meters Centerline goodness [0,1] 0.7098919133042838 Centerline is valid? [False, False] Translation: X:2.78, Y:0.10, Z:-0.21 [[ 9.99932401e-01 1.15900390e-02 -9.30228229e-04 2.78237029e+00] [-1.15840787e-02 9.99913832e-01 6.17560502e-03 9.73262613e-02] [ 1.00172358e-03 -6.16441171e-03 9.99980498e-01 -2.12788074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.436547614999995 meters Centerline goodness [0,1] 0.7062630063570797 Centerline is valid? [False, False] Translation: X:2.77, Y:0.09, Z:-0.21 [[ 9.99949259e-01 1.00696473e-02 2.85411824e-04 2.77132493e+00] [-1.00698815e-02 9.99948952e-01 8.31358545e-04 9.39427081e-02] [-2.77025767e-04 -8.34190424e-04 9.99999614e-01 -2.07811038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.466547614999993 meters Centerline goodness [0,1] 0.7025327214006459 Centerline is valid? [False, False] Translation: X:2.77, Y:0.10, Z:-0.21 [[ 9.99949789e-01 9.99456056e-03 7.27294331e-04 2.77131321e+00] [-9.99426997e-03 9.99949975e-01 -4.02093187e-04 9.77994522e-02] [-7.31276693e-04 3.94804222e-04 9.99999655e-01 -2.10098358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.496547614999994 meters Centerline goodness [0,1] 0.7111423352536181 Centerline is valid? [False, False] Translation: X:2.78, Y:0.10, Z:-0.22 [[ 9.99927906e-01 1.20000980e-02 -4.24453844e-04 2.78197941e+00] [-1.19981228e-02 9.99918407e-01 4.38466315e-03 1.03746931e-01] [ 4.77035599e-04 -4.37925440e-03 9.99990297e-01 -2.16002927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.526547614999995 meters Centerline goodness [0,1] 0.7161707778813823 Centerline is valid? [False, False] Translation: X:2.79, Y:0.10, Z:-0.22 [[ 9.99976692e-01 6.75021087e-03 -1.02490398e-03 2.78549663e+00] [-6.75141274e-03 9.99976520e-01 -1.17377171e-03 1.03873548e-01] [ 1.01695671e-03 1.18066390e-03 9.99998786e-01 -2.19605655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.556547614999992 meters Centerline goodness [0,1] 0.726485323671771 Centerline is valid? [False, False] Translation: X:2.79, Y:0.10, Z:-0.22 [[ 9.99995826e-01 2.64363950e-03 -1.16583813e-03 2.78625684e+00] [-2.64942873e-03 9.99984028e-01 -4.99245740e-03 1.00842921e-01] [ 1.15262126e-03 4.99552537e-03 9.99986858e-01 -2.20218093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.586547614999994 meters Centerline goodness [0,1] 0.736244120813736 Centerline is valid? [False, False] Translation: X:2.79, Y:0.10, Z:-0.22 [[ 9.99995590e-01 2.62229106e-03 -1.39390697e-03 2.78569371e+00] [-2.62744145e-03 9.99989681e-01 -3.70603317e-03 9.90445948e-02] [ 1.38417428e-03 3.70967923e-03 9.99992161e-01 -2.17389285e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.616547614999995 meters Centerline goodness [0,1] 0.7459298195766444 Centerline is valid? [False, False] Translation: X:2.79, Y:0.10, Z:-0.22 [[ 9.99995529e-01 2.05474567e-03 -2.17250301e-03 2.78723408e+00] [-2.06012239e-03 9.99994814e-01 -2.47556465e-03 9.57602217e-02] [ 2.16740509e-03 2.48002920e-03 9.99994576e-01 -2.15395407e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.646547614999992 meters Centerline goodness [0,1] 0.7592206977208547 Centerline is valid? [False, False] Translation: X:2.79, Y:0.09, Z:-0.22 [[ 9.99995283e-01 3.58724801e-04 -3.05039274e-03 2.79168671e+00] [-3.67008420e-04 9.99996246e-01 -2.71546482e-03 9.27278061e-02] [ 3.04940719e-03 2.71657153e-03 9.99991661e-01 -2.17385568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.676547614999993 meters Centerline goodness [0,1] 0.7687241625089095 Centerline is valid? [False, False] Translation: X:2.80, Y:0.09, Z:-0.22 [[ 9.99995878e-01 1.97635972e-04 -2.86451503e-03 2.79675261e+00] [-2.00621288e-04 9.99999437e-01 -1.04192154e-03 9.24805510e-02] [ 2.86430750e-03 1.04249193e-03 9.99995354e-01 -2.21757126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.706547614999995 meters Centerline goodness [0,1] 0.7666657158342128 Centerline is valid? [False, False] Translation: X:2.80, Y:0.09, Z:-0.22 [[ 9.99996530e-01 7.91756737e-04 -2.51260269e-03 2.79529530e+00] [-7.92643605e-04 9.99999624e-01 -3.51991746e-04 9.12703871e-02] [ 2.51232305e-03 3.53982123e-04 9.99996781e-01 -2.20857626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.736547614999996 meters Centerline goodness [0,1] 0.7599451303155007 Centerline is valid? [False, False] Translation: X:2.79, Y:0.09, Z:-0.22 [[ 9.99994021e-01 3.04211965e-03 -1.64435036e-03 2.78991347e+00] [-3.03892465e-03 9.99993497e-01 1.94203374e-03 8.86431285e-02] [ 1.65024756e-03 -1.93702507e-03 9.99996762e-01 -2.16238525e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.766547614999993 meters Centerline goodness [0,1] 0.7462404399759388 Centerline is valid? [False, False] Translation: X:2.79, Y:0.09, Z:-0.22 [[ 9.99992118e-01 3.59572900e-03 -1.68368027e-03 2.78986251e+00] [-3.59362233e-03 9.99992758e-01 1.25258826e-03 8.83329115e-02] [ 1.68817205e-03 -1.24652787e-03 9.99997798e-01 -2.17587346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.796547614999994 meters Centerline goodness [0,1] 0.7466974806699193 Centerline is valid? [False, False] Translation: X:2.79, Y:0.09, Z:-0.22 [[ 9.99993077e-01 3.41485643e-03 -1.47794463e-03 2.78968859e+00] [-3.41428661e-03 9.99994096e-01 3.87901487e-04 9.10823569e-02] [ 1.47926054e-03 -3.82852675e-04 9.99998833e-01 -2.18437614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.826547614999996 meters Centerline goodness [0,1] 0.7513747613756161 Centerline is valid? [False, False] Translation: X:2.79, Y:0.09, Z:-0.22 [[ 9.99992462e-01 3.56380364e-03 -1.54098480e-03 2.78857805e+00] [-3.56162035e-03 9.99992653e-01 1.41724185e-03 8.99960898e-02] [ 1.54602425e-03 -1.41174276e-03 9.99997808e-01 -2.15686143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.856547614999993 meters Centerline goodness [0,1] 0.7467454607742378 Centerline is valid? [False, False] Translation: X:2.79, Y:0.09, Z:-0.22 [[ 9.99992562e-01 3.37419401e-03 -1.86858321e-03 2.78937439e+00] [-3.37096344e-03 9.99992823e-01 1.72934748e-03 8.85471641e-02] [ 1.87440495e-03 -1.72303569e-03 9.99996759e-01 -2.15405949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.886547614999994 meters Centerline goodness [0,1] 0.7604627910298529 Centerline is valid? [False, False] Translation: X:2.79, Y:0.09, Z:-0.22 [[ 9.99995431e-01 1.71776185e-03 -2.48738280e-03 2.79395770e+00] [-1.71924845e-03 9.99998345e-01 -5.95638840e-04 9.22618293e-02] [ 2.48635551e-03 5.99912548e-04 9.99996729e-01 -2.20461264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.916547614999995 meters Centerline goodness [0,1] 0.7483381358591766 Centerline is valid? [False, False] Translation: X:2.79, Y:0.09, Z:-0.22 [[ 9.99996078e-01 1.63082974e-03 -2.27700337e-03 2.79425786e+00] [-1.63472623e-03 9.99997201e-01 -1.71042425e-03 9.47100081e-02] [ 2.27420758e-03 1.71413982e-03 9.99995945e-01 -2.22350535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.946547614999993 meters Centerline goodness [0,1] 0.745040873492254 Centerline is valid? [False, False] Translation: X:2.79, Y:0.09, Z:-0.22 [[ 9.99994158e-01 3.05525734e-03 -1.53245230e-03 2.79044931e+00] [-3.05688741e-03 9.99994763e-01 -1.06248485e-03 9.49388982e-02] [ 1.52919811e-03 1.06716318e-03 9.99998261e-01 -2.20129621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 28.976547614999994 meters Centerline goodness [0,1] 0.7255248241091521 Centerline is valid? [False, False] Translation: X:2.79, Y:0.10, Z:-0.22 [[ 9.99992051e-01 3.69803151e-03 -1.49067311e-03 2.78980874e+00] [-3.70160198e-03 9.99990270e-01 -2.39960728e-03 9.99650702e-02] [ 1.48178478e-03 2.40510608e-03 9.99996010e-01 -2.21317787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.006547614999995 meters Centerline goodness [0,1] 0.7161836091634257 Centerline is valid? [False, False] Translation: X:2.79, Y:0.10, Z:-0.22 [[ 9.99990777e-01 4.01247571e-03 -1.53155527e-03 2.79028177e+00] [-4.01888793e-03 9.99983075e-01 -4.20687519e-03 1.03997210e-01] [ 1.51464936e-03 4.21299154e-03 9.99989978e-01 -2.24061351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.036547614999993 meters Centerline goodness [0,1] 0.7199017900476775 Centerline is valid? [False, False] Translation: X:2.79, Y:0.10, Z:-0.22 [[ 9.99989332e-01 4.26989119e-03 -1.76181587e-03 2.79011633e+00] [-4.27647631e-03 9.99983821e-01 -3.75100513e-03 1.02542830e-01] [ 1.74577098e-03 3.75849947e-03 9.99991413e-01 -2.23031269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.066547614999994 meters Centerline goodness [0,1] 0.7241043278876469 Centerline is valid? [False, False] Translation: X:2.79, Y:0.10, Z:-0.22 [[ 9.99988104e-01 4.39868291e-03 -2.10784534e-03 2.79034103e+00] [-4.40406591e-03 9.99987035e-01 -2.55599109e-03 9.85333629e-02] [ 2.09657502e-03 2.56524377e-03 9.99994512e-01 -2.21546685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.096547614999995 meters Centerline goodness [0,1] 0.7373149801301618 Centerline is valid? [False, False] Translation: X:2.79, Y:0.10, Z:-0.22 [[ 9.99993787e-01 2.66520575e-03 -2.30719889e-03 2.79314792e+00] [-2.67059843e-03 9.99993702e-01 -2.33740947e-03 9.77595697e-02] [ 2.30095469e-03 2.34355655e-03 9.99994607e-01 -2.22498233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.126547614999993 meters Centerline goodness [0,1] 0.759863711847907 Centerline is valid? [False, False] Translation: X:2.81, Y:0.10, Z:-0.23 [[ 9.99991122e-01 -8.78362850e-04 -4.12110101e-03 2.80587774e+00] [ 8.75484658e-04 9.99999372e-01 -7.00155540e-04 9.82559430e-02] [ 4.12171342e-03 6.96541364e-04 9.99991263e-01 -2.26250505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.156547614999994 meters Centerline goodness [0,1] 0.7851832716208846 Centerline is valid? [False, False] Translation: X:2.81, Y:0.10, Z:-0.23 [[ 9.99984003e-01 -2.87665256e-03 -4.87025629e-03 2.80945540e+00] [ 2.87221342e-03 9.99995454e-01 -9.18229515e-04 9.55653992e-02] [ 4.87287558e-03 9.04226410e-04 9.99987719e-01 -2.26775730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.186547614999995 meters Centerline goodness [0,1] 0.8218494224182968 Centerline is valid? [False, False] Translation: X:2.81, Y:0.09, Z:-0.22 [[ 0.99994418 -0.00957318 -0.00447106 2.80534879] [ 0.009556 0.99994693 -0.00384882 0.08611418] [ 0.00450766 0.00380588 0.9999826 -0.21750931] [ 0. 0. 0. 1. ]] SLAMing on 29.216547614999993 meters Centerline goodness [0,1] 0.8316280687516304 Centerline is valid? [False, False] Translation: X:2.81, Y:0.09, Z:-0.22 [[ 0.99992633 -0.01107579 -0.00496579 2.80854017] [ 0.01105302 0.99992838 -0.00458954 0.08749741] [ 0.00501627 0.00453432 0.99997714 -0.21932623] [ 0. 0. 0. 1. ]] SLAMing on 29.246547614999994 meters Centerline goodness [0,1] 0.8320557892916834 Centerline is valid? [False, False] Translation: X:2.81, Y:0.09, Z:-0.22 [[ 9.99946745e-01 -8.56849132e-03 -5.75227424e-03 2.81128951e+00] [ 8.56763941e-03 9.99963282e-01 -1.72726693e-04 8.83962396e-02] [ 5.75354304e-03 1.23434083e-04 9.99983441e-01 -2.18348572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.276547614999995 meters Centerline goodness [0,1] 0.832930200414651 Centerline is valid? [False, False] Translation: X:2.81, Y:0.09, Z:-0.22 [[ 9.99947816e-01 -8.45741345e-03 -5.73036944e-03 2.81090738e+00] [ 8.45684601e-03 9.99964233e-01 -1.23245929e-04 8.91284798e-02] [ 5.73120682e-03 7.47786456e-05 9.99983574e-01 -2.17898552e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.306547614999992 meters Centerline goodness [0,1] 0.8312557444852942 Centerline is valid? [False, False] Translation: X:2.81, Y:0.09, Z:-0.22 [[ 9.99958987e-01 -7.45156617e-03 -5.14757349e-03 2.80845575e+00] [ 7.45044770e-03 9.99972217e-01 -2.36421991e-04 9.11688979e-02] [ 5.14919219e-03 1.98060568e-04 9.99986723e-01 -2.17460119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.336547614999994 meters Centerline goodness [0,1] 0.8191377197731742 Centerline is valid? [False, False] Translation: X:2.81, Y:0.09, Z:-0.22 [[ 0.99998389 -0.00290623 -0.00487623 2.80643575] [ 0.00292742 0.99998627 0.00434593 0.09068838] [ 0.00486353 -0.00436014 0.99997867 -0.21517759] [ 0. 0. 0. 1. ]] SLAMing on 29.366547614999995 meters Centerline goodness [0,1] 0.8098790035587189 Centerline is valid? [False, False] Translation: X:2.80, Y:0.09, Z:-0.22 [[ 9.99988748e-01 -1.47845590e-03 -4.50754377e-03 2.80392974e+00] [ 1.49508898e-03 9.99992078e-01 3.68892057e-03 9.31891186e-02] [ 4.50205416e-03 -3.69561824e-03 9.99983037e-01 -2.15239837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.396547614999992 meters Centerline goodness [0,1] 0.7555894739817406 Centerline is valid? [False, False] Translation: X:2.80, Y:0.10, Z:-0.21 [[ 0.99997858 0.0049456 -0.00428788 2.80064268] [-0.00491423 0.99996131 0.00729553 0.09829321] [ 0.00432379 -0.0072743 0.99996419 -0.21462193] [ 0. 0. 0. 1. ]] SLAMing on 29.426547614999993 meters Centerline goodness [0,1] 0.7355364879789312 Centerline is valid? [False, False] Translation: X:2.80, Y:0.10, Z:-0.22 [[ 0.99996959 0.00630487 -0.00459066 2.80067956] [-0.0062899 0.99997488 0.00326813 0.10360982] [ 0.00461115 -0.00323916 0.99998412 -0.22127061] [ 0. 0. 0. 1. ]] SLAMing on 29.456547614999995 meters Centerline goodness [0,1] 0.7258316082012308 Centerline is valid? [False, False] Translation: X:2.80, Y:0.11, Z:-0.23 [[ 9.99971768e-01 5.75889116e-03 -4.82683350e-03 2.80384903e+00] [-5.75986484e-03 9.99983394e-01 -1.87845026e-04 1.06517631e-01] [ 4.82567157e-03 2.15641631e-04 9.99988333e-01 -2.28637032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.486547614999992 meters Centerline goodness [0,1] 0.732038008793079 Centerline is valid? [False, False] Translation: X:2.80, Y:0.11, Z:-0.23 [[ 9.99972621e-01 5.88883850e-03 -4.48104937e-03 2.80307544e+00] [-5.88869779e-03 9.99982660e-01 4.45944832e-05 1.06472911e-01] [ 4.48123428e-03 -1.82057167e-05 9.99989959e-01 -2.28476436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.516547614999993 meters Centerline goodness [0,1] 0.7304539544349595 Centerline is valid? [False, False] Translation: X:2.80, Y:0.11, Z:-0.23 [[ 9.99977123e-01 4.79823991e-03 -4.76770579e-03 2.80443673e+00] [-4.79891305e-03 9.99988477e-01 -1.29757702e-04 1.07725800e-01] [ 4.76702824e-03 1.52634539e-04 9.99988626e-01 -2.28232078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.546547614999994 meters Centerline goodness [0,1] 0.7344701240135287 Centerline is valid? [False, False] Translation: X:2.80, Y:0.11, Z:-0.23 [[ 9.99975888e-01 4.91650985e-03 -4.90424749e-03 2.80378011e+00] [-4.91339870e-03 9.99987720e-01 6.46226093e-04 1.06017389e-01] [ 4.90736444e-03 -6.22113988e-04 9.99987765e-01 -2.26239640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.576547614999996 meters Centerline goodness [0,1] 0.7429057888762769 Centerline is valid? [False, False] Translation: X:2.80, Y:0.10, Z:-0.22 [[ 9.99986639e-01 1.67683083e-03 -4.88984510e-03 2.80229177e+00] [-1.68652380e-03 9.99996620e-01 -1.97881465e-03 1.01494854e-01] [ 4.88651043e-03 1.98703505e-03 9.99986087e-01 -2.23917592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.606547614999993 meters Centerline goodness [0,1] 0.7490023942537909 Centerline is valid? [False, False] Translation: X:2.80, Y:0.10, Z:-0.22 [[ 9.99984257e-01 7.40977523e-04 -5.56206265e-03 2.80495899e+00] [-7.50905149e-04 9.99998129e-01 -1.78300602e-03 9.74312897e-02] [ 5.56073107e-03 1.78715453e-03 9.99982942e-01 -2.24506401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.636547614999994 meters Centerline goodness [0,1] 0.7474614945807188 Centerline is valid? [False, False] Translation: X:2.80, Y:0.10, Z:-0.23 [[ 9.99987042e-01 9.73078513e-04 -4.99690755e-03 2.80491027e+00] [-9.84759569e-04 9.99996787e-01 -2.33572887e-03 9.84720817e-02] [ 4.99461865e-03 2.34061936e-03 9.99984788e-01 -2.26962243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.666547614999995 meters Centerline goodness [0,1] 0.7438557700484736 Centerline is valid? [False, False] Translation: X:2.81, Y:0.10, Z:-0.23 [[ 9.99981439e-01 3.09334023e-03 -5.24915209e-03 2.81048362e+00] [-3.09507696e-03 9.99995158e-01 -3.22768235e-04 1.02295253e-01] [ 5.24812824e-03 3.39008773e-04 9.99986171e-01 -2.33509110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.696547614999993 meters Centerline goodness [0,1] 0.7585621285026889 Centerline is valid? [False, False] Translation: X:2.82, Y:0.10, Z:-0.24 [[ 9.99979760e-01 2.67402826e-04 -6.35671041e-03 2.81656860e+00] [-2.78538397e-04 9.99998428e-01 -1.75096129e-03 1.03585911e-01] [ 6.35623221e-03 1.75269644e-03 9.99978263e-01 -2.36582179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.726547614999994 meters Centerline goodness [0,1] 0.7588240345804826 Centerline is valid? [False, False] Translation: X:2.81, Y:0.10, Z:-0.23 [[ 9.99982969e-01 -9.49122091e-04 -5.75852433e-03 2.81055805e+00] [ 9.27990420e-04 9.99992831e-01 -3.67119583e-03 9.84392333e-02] [ 5.76196746e-03 3.66578945e-03 9.99976681e-01 -2.31783629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.756547614999995 meters Centerline goodness [0,1] 0.752475532527346 Centerline is valid? [False, False] Translation: X:2.81, Y:0.09, Z:-0.23 [[ 9.99982153e-01 5.18735960e-04 -5.95185011e-03 2.80894109e+00] [-5.30525524e-04 9.99997900e-01 -1.97941567e-03 9.16352140e-02] [ 5.95081081e-03 1.98253795e-03 9.99980329e-01 -2.29469344e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.786547614999993 meters Centerline goodness [0,1] 0.7478743809223898 Centerline is valid? [False, False] Translation: X:2.81, Y:0.09, Z:-0.23 [[ 9.99974861e-01 3.05959658e-03 -6.39662919e-03 2.81241172e+00] [-3.05135202e-03 9.99994502e-01 1.29825420e-03 9.26937055e-02] [ 6.40056616e-03 -1.27870320e-03 9.99978699e-01 -2.31784019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.816547614999994 meters Centerline goodness [0,1] 0.7648357318961069 Centerline is valid? [False, False] Translation: X:2.82, Y:0.09, Z:-0.23 [[ 9.99975451e-01 9.21932134e-04 -6.94599292e-03 2.81691141e+00] [-9.21062334e-04 9.99999568e-01 1.28421082e-04 9.40961797e-02] [ 6.94610831e-03 -1.22020237e-04 9.99975868e-01 -2.34995302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.846547614999995 meters Centerline goodness [0,1] 0.7648357318961069 Centerline is valid? [False, False] Translation: X:2.82, Y:0.09, Z:-0.23 [[ 9.99975451e-01 9.21932134e-04 -6.94599292e-03 2.81691141e+00] [-9.21062334e-04 9.99999568e-01 1.28421082e-04 9.40961797e-02] [ 6.94610831e-03 -1.22020237e-04 9.99975868e-01 -2.34995302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.876547614999993 meters Centerline goodness [0,1] 0.786993131591804 Centerline is valid? [False, False] Translation: X:2.82, Y:0.09, Z:-0.24 [[ 0.99996851 -0.00328047 -0.00722648 2.81888751] [ 0.00325403 0.99998798 -0.00366685 0.08999965] [ 0.00723842 0.00364322 0.99996717 -0.23691001] [ 0. 0. 0. 1. ]] SLAMing on 29.906547614999994 meters Centerline goodness [0,1] 0.787839660267998 Centerline is valid? [False, False] Translation: X:2.82, Y:0.09, Z:-0.24 [[ 0.99996571 -0.00342796 -0.00753817 2.81981748] [ 0.00340463 0.99998938 -0.00310573 0.08839344] [ 0.00754873 0.00307996 0.99996676 -0.23665956] [ 0. 0. 0. 1. ]] SLAMing on 29.936547614999995 meters Centerline goodness [0,1] 0.7942077974161391 Centerline is valid? [False, False] Translation: X:2.82, Y:0.09, Z:-0.23 [[ 9.99975767e-01 -2.08607940e-03 -6.64175022e-03 2.81588595e+00] [ 2.07299968e-03 9.99995900e-01 -1.97559260e-03 8.91527842e-02] [ 6.64584423e-03 1.96177638e-03 9.99975992e-01 -2.34140669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.966547614999993 meters Centerline goodness [0,1] 0.7754255594919208 Centerline is valid? [False, False] Translation: X:2.81, Y:0.09, Z:-0.23 [[ 9.99976762e-01 -6.02873779e-04 -6.79051402e-03 2.81349300e+00] [ 5.95890527e-04 9.99999292e-01 -1.03035966e-03 8.72396779e-02] [ 6.79113039e-03 1.02628932e-03 9.99976413e-01 -2.31294831e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 29.996547614999994 meters Centerline goodness [0,1] 0.7799630335585976 Centerline is valid? [False, False] Translation: X:2.82, Y:0.08, Z:-0.23 [[ 9.99964246e-01 -2.41949290e-03 -8.10260151e-03 2.81884615e+00] [ 2.40270916e-03 9.99994949e-01 -2.08049569e-03 8.36540029e-02] [ 8.10759433e-03 2.06095311e-03 9.99965009e-01 -2.33971129e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.026547614999995 meters Centerline goodness [0,1] 0.8082750582750583 Centerline is valid? [False, False] Translation: X:2.82, Y:0.08, Z:-0.23 [[ 0.99995124 -0.00617366 -0.00770724 2.81813346] [ 0.0061445 0.9999739 -0.00380171 0.07723501] [ 0.00773051 0.00375416 0.99996307 -0.23233495] [ 0. 0. 0. 1. ]] SLAMing on 30.056547614999992 meters Centerline goodness [0,1] 0.8424244191131454 Centerline is valid? [False, False] Translation: X:2.82, Y:0.07, Z:-0.23 [[ 9.99939512e-01 -8.38338472e-03 -7.11972492e-03 2.81992332e+00] [ 8.37330554e-03 9.99963900e-01 -1.44430047e-03 7.36092340e-02] [ 7.13157603e-03 1.38459747e-03 9.99973611e-01 -2.30410142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.086547614999994 meters Centerline goodness [0,1] 0.8411631156129934 Centerline is valid? [False, False] Translation: X:2.82, Y:0.07, Z:-0.23 [[ 0.99995241 -0.00656798 -0.00721417 2.82289003] [ 0.00659022 0.99997359 0.00306375 0.07253297] [ 0.00719386 -0.00311115 0.99996928 -0.23046422] [ 0. 0. 0. 1. ]] SLAMing on 30.116547614999995 meters Centerline goodness [0,1] 0.8453512095598951 Centerline is valid? [False, False] Translation: X:2.82, Y:0.07, Z:-0.23 [[ 0.99995055 -0.00632214 -0.00767623 2.82323205] [ 0.0063486 0.99997397 0.00342741 0.06969406] [ 0.00765436 -0.00347598 0.99996466 -0.22959064] [ 0. 0. 0. 1. ]] SLAMing on 30.146547614999992 meters Centerline goodness [0,1] 0.8488931947624919 Centerline is valid? [False, False] Translation: X:2.82, Y:0.07, Z:-0.23 [[ 9.99937930e-01 -8.52925564e-03 -7.16851187e-03 2.81933211e+00] [ 8.53065296e-03 9.99963600e-01 1.64369510e-04 6.65799029e-02] [ 7.16684898e-03 -2.25511395e-04 9.99974292e-01 -2.27415039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.176547614999993 meters Centerline goodness [0,1] 0.8456167116535618 Centerline is valid? [False, False] Translation: X:2.81, Y:0.07, Z:-0.22 [[ 9.99956888e-01 -6.70643937e-03 -6.42222283e-03 2.81468634e+00] [ 6.71405520e-03 9.99976782e-01 1.16503084e-03 6.61401249e-02] [ 6.41426051e-03 -1.20809977e-03 9.99978699e-01 -2.24335293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.206547614999995 meters Centerline goodness [0,1] 0.8409561288441918 Centerline is valid? [False, False] Translation: X:2.82, Y:0.07, Z:-0.23 [[ 0.99997167 -0.00355441 -0.00663477 2.8162289 ] [ 0.00358292 0.99998438 0.00429 0.07007227] [ 0.00661941 -0.00431365 0.99996879 -0.22547182] [ 0. 0. 0. 1. ]] SLAMing on 30.236547614999992 meters Centerline goodness [0,1] 0.844820566509626 Centerline is valid? [False, False] Translation: X:2.83, Y:0.07, Z:-0.23 [[ 0.99995673 -0.00506576 -0.00780283 2.82700251] [ 0.0051029 0.99997571 0.00474716 0.07365829] [ 0.0077786 -0.00478677 0.99995829 -0.23276703] [ 0. 0. 0. 1. ]] SLAMing on 30.266547614999993 meters Centerline goodness [0,1] 0.8406894750587621 Centerline is valid? [False, False] Translation: X:2.83, Y:0.08, Z:-0.24 [[ 9.99955894e-01 -5.38628557e-03 -7.69400180e-03 2.82825938e+00] [ 5.40711843e-03 9.99981765e-01 2.68944555e-03 7.76008204e-02] [ 7.67937538e-03 -2.73092931e-03 9.99966784e-01 -2.36654270e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.296547614999994 meters Centerline goodness [0,1] 0.8155709342560553 Centerline is valid? [False, False] Translation: X:2.83, Y:0.08, Z:-0.23 [[ 9.99999952e-01 -4.92102205e-05 -3.04982177e-04 2.83221264e+00] [ 4.85330714e-05 9.99997535e-01 -2.21990066e-03 7.81920660e-02] [ 3.05090667e-04 2.21988576e-03 9.99997490e-01 -2.32720054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.326547614999992 meters Centerline goodness [0,1] 0.7974402582802456 Centerline is valid? [False, False] Translation: X:2.83, Y:0.08, Z:-0.23 [[ 9.99997119e-01 2.29784170e-03 6.94134442e-04 2.82613657e+00] [-2.29734822e-03 9.99997108e-01 -7.10889103e-04 7.74074514e-02] [-6.95765946e-04 7.09292387e-04 9.99999506e-01 -2.28458415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.356547614999993 meters Centerline goodness [0,1] 0.7846061541098825 Centerline is valid? [False, False] Translation: X:2.83, Y:0.09, Z:-0.23 [[ 9.99990132e-01 4.43521316e-03 2.54042171e-04 2.83084017e+00] [-4.43514161e-03 9.99990125e-01 -2.81495428e-04 8.50178491e-02] [-2.55288154e-04 2.80365937e-04 9.99999928e-01 -2.34993544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.386547614999994 meters Centerline goodness [0,1] 0.7705907352316193 Centerline is valid? [False, False] Translation: X:2.83, Y:0.09, Z:-0.24 [[ 9.99977510e-01 6.69760496e-03 -3.50015174e-04 2.83472020e+00] [-6.69727253e-03 9.99977129e-01 9.42454549e-04 9.24971884e-02] [ 3.56319358e-04 -9.40089206e-04 9.99999495e-01 -2.38949920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.416547614999995 meters Centerline goodness [0,1] 0.754301913536499 Centerline is valid? [False, False] Translation: X:2.83, Y:0.09, Z:-0.24 [[ 9.99964754e-01 8.39561652e-03 5.81587354e-05 2.83081912e+00] [-8.39568906e-03 9.99963796e-01 1.38559301e-03 9.35776674e-02] [-4.65237223e-05 -1.38603246e-03 9.99999038e-01 -2.36181807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.446547614999993 meters Centerline goodness [0,1] 0.7437938709125149 Centerline is valid? [False, False] Translation: X:2.83, Y:0.09, Z:-0.23 [[ 9.99976529e-01 6.83167000e-03 5.19709660e-04 2.82517409e+00] [-6.83097772e-03 9.99975794e-01 -1.32236415e-03 9.21185941e-02] [-5.28731036e-04 1.31878299e-03 9.99998991e-01 -2.31453479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.476547614999994 meters Centerline goodness [0,1] 0.7447404527784129 Centerline is valid? [False, False] Translation: X:2.83, Y:0.09, Z:-0.23 [[ 9.99978402e-01 6.57077015e-03 -1.43469350e-04 2.82706043e+00] [-6.57093025e-03 9.99977755e-01 -1.14554685e-03 8.87451179e-02] [ 1.35939034e-04 1.14646483e-03 9.99999334e-01 -2.31956874e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.506547614999995 meters Centerline goodness [0,1] 0.7573416205736443 Centerline is valid? [False, False] Translation: X:2.84, Y:0.09, Z:-0.24 [[ 9.99980399e-01 6.17612831e-03 -1.02846539e-03 2.83653124e+00] [-6.17638131e-03 9.99980896e-01 -2.43001304e-04 9.28376515e-02] [ 1.02694494e-03 2.49348736e-04 9.99999442e-01 -2.39578041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.536547614999993 meters Centerline goodness [0,1] 0.7832474446943598 Centerline is valid? [False, False] Translation: X:2.84, Y:0.09, Z:-0.24 [[ 9.99991898e-01 3.76174860e-03 -1.43315748e-03 2.84067211e+00] [-3.76272563e-03 9.99992690e-01 -6.79649647e-04 9.36530455e-02] [ 1.43059033e-03 6.85036719e-04 9.99998742e-01 -2.41389172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.566547614999994 meters Centerline goodness [0,1] 0.7798582851939331 Centerline is valid? [False, False] Translation: X:2.84, Y:0.09, Z:-0.24 [[ 9.99990940e-01 3.86751907e-03 -1.77799602e-03 2.84075148e+00] [-3.86778840e-03 9.99992509e-01 -1.48067421e-04 9.20414225e-02] [ 1.77741005e-03 1.54942992e-04 9.99998408e-01 -2.40139257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.596547614999995 meters Centerline goodness [0,1] 0.7510603774659114 Centerline is valid? [False, False] Translation: X:2.84, Y:0.09, Z:-0.24 [[ 9.99979913e-01 6.13574489e-03 -1.58945799e-03 2.83711110e+00] [-6.13598715e-03 9.99981164e-01 -1.47585225e-04 9.31616464e-02] [ 1.58852250e-03 1.57335155e-04 9.99998726e-01 -2.38406318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.626547614999993 meters Centerline goodness [0,1] 0.7504863256665523 Centerline is valid? [False, False] Translation: X:2.84, Y:0.09, Z:-0.24 [[ 9.99982914e-01 5.42550333e-03 -2.17606818e-03 2.83963631e+00] [-5.42913873e-03 9.99983871e-01 -1.66821637e-03 9.48304526e-02] [ 2.16698217e-03 1.68000204e-03 9.99996241e-01 -2.40921048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.656547614999994 meters Centerline goodness [0,1] 0.7598510882016036 Centerline is valid? [False, False] Translation: X:2.84, Y:0.09, Z:-0.24 [[ 9.99986946e-01 4.32818091e-03 -2.71553871e-03 2.84177762e+00] [-4.33079675e-03 9.99990163e-01 -9.58146009e-04 9.02384094e-02] [ 2.71136497e-03 9.69893948e-04 9.99995854e-01 -2.40395049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.686547614999995 meters Centerline goodness [0,1] 0.7715063780994696 Centerline is valid? [False, False] Translation: X:2.84, Y:0.09, Z:-0.24 [[ 9.99989432e-01 3.19182424e-03 -3.30888999e-03 2.84461733e+00] [-3.19487950e-03 9.99994475e-01 -9.18474888e-04 8.92039118e-02] [ 3.30594010e-03 9.29036686e-04 9.99994104e-01 -2.41299053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.716547614999993 meters Centerline goodness [0,1] 0.8083057048130787 Centerline is valid? [False, False] Translation: X:2.85, Y:0.09, Z:-0.24 [[ 9.99994306e-01 4.38045729e-04 -3.34618480e-03 2.84908853e+00] [-4.39802456e-04 9.99999766e-01 -5.24275986e-04 8.72541895e-02] [ 3.34595436e-03 5.25744660e-04 9.99994264e-01 -2.43283908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.746547614999994 meters Centerline goodness [0,1] 0.8182760109368254 Centerline is valid? [False, False] Translation: X:2.84, Y:0.08, Z:-0.24 [[ 9.99994833e-01 -1.85030704e-03 -2.62886690e-03 2.84417946e+00] [ 1.84720302e-03 9.99997595e-01 -1.18268077e-03 8.22634644e-02] [ 2.63104890e-03 1.17781860e-03 9.99995845e-01 -2.36973693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.776547614999995 meters Centerline goodness [0,1] 0.8171098265895954 Centerline is valid? [False, False] Translation: X:2.84, Y:0.08, Z:-0.23 [[ 9.99995123e-01 -8.50137909e-04 -3.00517812e-03 2.84310504e+00] [ 8.50759935e-04 9.99999617e-01 2.05712523e-04 7.70997421e-02] [ 3.00500208e-03 -2.08268205e-04 9.99995463e-01 -2.34390829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.806547614999992 meters Centerline goodness [0,1] 0.7949219874489032 Centerline is valid? [False, False] Translation: X:2.85, Y:0.08, Z:-0.24 [[ 9.99991425e-01 1.06043504e-03 -4.00312017e-03 2.84915809e+00] [-1.05781178e-03 9.99999224e-01 6.57364075e-04 8.03749464e-02] [ 4.00381416e-03 -6.53123891e-04 9.99991771e-01 -2.41193753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.836547614999994 meters Centerline goodness [0,1] 0.7802235696428058 Centerline is valid? [False, False] Translation: X:2.85, Y:0.08, Z:-0.24 [[ 9.99991391e-01 1.73662751e-03 -3.76854491e-03 2.84830391e+00] [-1.73884768e-03 9.99998317e-01 -5.85934460e-04 8.40592663e-02] [ 3.76752102e-03 5.92482341e-04 9.99992727e-01 -2.42802625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.866547614999995 meters Centerline goodness [0,1] 0.8002963737796374 Centerline is valid? [False, False] Translation: X:2.85, Y:0.08, Z:-0.24 [[ 9.99990188e-01 -1.68654077e-03 -4.09632779e-03 2.84717694e+00] [ 1.67685031e-03 9.99995791e-01 -2.36793116e-03 7.78655837e-02] [ 4.10030416e-03 2.36103900e-03 9.99988806e-01 -2.38969496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.896547614999992 meters Centerline goodness [0,1] 0.8270287558514814 Centerline is valid? [False, False] Translation: X:2.85, Y:0.07, Z:-0.24 [[ 9.99982777e-01 -3.46220065e-03 -4.73902408e-03 2.85109922e+00] [ 3.45540381e-03 9.99992991e-01 -1.44166523e-03 7.37259603e-02] [ 4.74398220e-03 1.42526516e-03 9.99987732e-01 -2.39392804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.926547614999993 meters Centerline goodness [0,1] 0.8298081652729956 Centerline is valid? [False, False] Translation: X:2.86, Y:0.08, Z:-0.25 [[ 0.9999708 -0.00647981 -0.00405147 2.86043624] [ 0.00654274 0.99985505 0.01571849 0.07688105] [ 0.00394903 -0.01574454 0.99986825 -0.24765594] [ 0. 0. 0. 1. ]] SLAMing on 30.956547614999995 meters Centerline goodness [0,1] 0.8229608471104186 Centerline is valid? [False, False] Translation: X:2.86, Y:0.08, Z:-0.25 [[ 0.99997537 -0.00603698 -0.00358025 2.85943878] [ 0.00608636 0.99988422 0.01394633 0.08238509] [ 0.00349564 -0.01396778 0.99989634 -0.2500615 ] [ 0. 0. 0. 1. ]] SLAMing on 30.986547614999992 meters Centerline goodness [0,1] 0.7831089632953631 Centerline is valid? [False, False] Translation: X:2.86, Y:0.08, Z:-0.25 [[ 9.99995188e-01 -4.22858355e-04 3.07315488e-03 2.85841051e+00] [ 4.17700581e-04 9.99998504e-01 1.67878003e-03 8.42343205e-02] [-3.07386017e-03 -1.67748830e-03 9.99993869e-01 -2.50619813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.016547614999993 meters Centerline goodness [0,1] 0.7361532460778365 Centerline is valid? [False, False] Translation: X:2.84, Y:0.08, Z:-0.25 [[ 9.99946560e-01 7.06899459e-03 7.54364436e-03 2.83695621e+00] [-7.05503356e-03 9.99973354e-01 -1.87570998e-03 8.44586259e-02] [-7.55670273e-03 1.82238907e-03 9.99969787e-01 -2.46963419e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.046547614999994 meters Centerline goodness [0,1] 0.7401786736914443 Centerline is valid? [False, False] Translation: X:2.85, Y:0.09, Z:-0.25 [[ 9.99972552e-01 4.84483824e-03 5.60552290e-03 2.84903436e+00] [-4.84071998e-03 9.99988004e-01 -7.48012004e-04 8.80670907e-02] [-5.60907965e-03 7.20856706e-04 9.99984009e-01 -2.51834887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.076547614999992 meters Centerline goodness [0,1] 0.7490165676055933 Centerline is valid? [False, False] Translation: X:2.85, Y:0.09, Z:-0.25 [[ 9.99977728e-01 3.79176128e-03 5.49235570e-03 2.85138147e+00] [-3.78105861e-03 9.99990935e-01 -1.95772261e-03 9.19190337e-02] [-5.49972913e-03 1.93691209e-03 9.99983001e-01 -2.54601813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.106547614999993 meters Centerline goodness [0,1] 0.7886929430931489 Centerline is valid? [False, False] Translation: X:2.86, Y:0.09, Z:-0.26 [[ 9.99991791e-01 6.08122000e-04 4.00596157e-03 2.86292714e+00] [-6.08010474e-04 9.99999815e-01 -2.90577035e-05 9.44915358e-02] [-4.00597850e-03 2.66217984e-05 9.99991976e-01 -2.58195018e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.136547614999994 meters Centerline goodness [0,1] 0.7731367964874266 Centerline is valid? [False, False] Translation: X:2.86, Y:0.10, Z:-0.26 [[ 9.99991771e-01 8.18121555e-04 3.97344415e-03 2.86226797e+00] [-8.16263496e-04 9.99999557e-01 -4.69218358e-04 9.68623449e-02] [-3.97382627e-03 4.65971119e-04 9.99991996e-01 -2.57731621e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.166547614999995 meters Centerline goodness [0,1] 0.7434114932049346 Centerline is valid? [False, False] Translation: X:2.86, Y:0.10, Z:-0.25 [[ 9.99985626e-01 3.20398838e-03 4.29917217e-03 2.85687706e+00] [-3.20792253e-03 9.99994442e-01 9.08511102e-04 9.60949757e-02] [-4.29623742e-03 -9.22289454e-04 9.99990346e-01 -2.52496309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.196547614999993 meters Centerline goodness [0,1] 0.7324651587845556 Centerline is valid? [False, False] Translation: X:2.86, Y:0.10, Z:-0.25 [[ 9.99981047e-01 4.37266808e-03 4.33424375e-03 2.85521839e+00] [-4.37538431e-03 9.99990237e-01 6.17406862e-04 9.53887070e-02] [-4.33150172e-03 -6.36359142e-04 9.99990417e-01 -2.51998742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.226547614999994 meters Centerline goodness [0,1] 0.7281078467620374 Centerline is valid? [False, False] Translation: X:2.86, Y:0.10, Z:-0.26 [[ 9.99956315e-01 8.18177479e-03 4.51947860e-03 2.85598882e+00] [-8.19383556e-03 9.99962901e-01 2.65658112e-03 9.95634018e-02] [-4.49757539e-03 -2.69349694e-03 9.99986258e-01 -2.55231754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.256547614999995 meters Centerline goodness [0,1] 0.7123678706687016 Centerline is valid? [False, False] Translation: X:2.85, Y:0.10, Z:-0.25 [[ 0.9999431 0.00937632 0.00508724 2.85275429] [-0.00939251 0.99995087 0.00316875 0.10309227] [-0.00505728 -0.00321635 0.99998204 -0.25301406] [ 0. 0. 0. 1. ]] SLAMing on 31.286547614999993 meters Centerline goodness [0,1] 0.713941899314797 Centerline is valid? [False, False] Translation: X:2.85, Y:0.10, Z:-0.25 [[ 9.99970526e-01 5.67342353e-03 5.17293859e-03 2.85201469e+00] [-5.66601220e-03 9.99982902e-01 -1.44624249e-03 1.04802411e-01] [-5.18105529e-03 1.41688993e-03 9.99985574e-01 -2.53300937e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.316547614999994 meters Centerline goodness [0,1] 0.7335787089467724 Centerline is valid? [False, False] Translation: X:2.86, Y:0.11, Z:-0.26 [[ 0.99998558 0.00356029 0.00401963 2.85813158] [-0.00354723 0.99998842 -0.00325296 0.10659522] [-0.00403117 0.00323865 0.99998663 -0.25771847] [ 0. 0. 0. 1. ]] SLAMing on 31.346547614999995 meters Centerline goodness [0,1] 0.7323095197692178 Centerline is valid? [False, False] Translation: X:2.86, Y:0.11, Z:-0.26 [[ 0.9999862 0.00317683 0.00418401 2.85865175] [-0.00315941 0.99998635 -0.00416199 0.11054275] [-0.00419718 0.00414871 0.99998259 -0.25914839] [ 0. 0. 0. 1. ]] SLAMing on 31.376547614999993 meters Centerline goodness [0,1] 0.7262432577447686 Centerline is valid? [False, False] Translation: X:2.86, Y:0.11, Z:-0.26 [[ 0.9999839 0.00364637 0.00434695 2.85735323] [-0.00362853 0.99998499 -0.00410506 0.11148764] [-0.00436185 0.00408923 0.99998213 -0.25816517] [ 0. 0. 0. 1. ]] SLAMing on 31.406547614999994 meters Centerline goodness [0,1] 0.7242725036056672 Centerline is valid? [False, False] Translation: X:2.85, Y:0.11, Z:-0.25 [[ 9.99977931e-01 4.94778327e-03 4.43351647e-03 2.85428461e+00] [-4.93785752e-03 9.99985284e-01 -2.24695679e-03 1.08859968e-01] [-4.44456868e-03 2.22501513e-03 9.99987647e-01 -2.53649509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.436547614999995 meters Centerline goodness [0,1] 0.723751130198915 Centerline is valid? [False, False] Translation: X:2.85, Y:0.11, Z:-0.25 [[ 9.99977962e-01 5.23929476e-03 4.07740217e-03 2.85415353e+00] [-5.23444456e-03 9.99985581e-01 -1.19929679e-03 1.05741290e-01] [-4.08362685e-03 1.17792742e-03 9.99990968e-01 -2.51837098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.466547614999993 meters Centerline goodness [0,1] 0.714128564578456 Centerline is valid? [False, False] Translation: X:2.86, Y:0.11, Z:-0.25 [[ 9.99979383e-01 4.81445282e-03 4.24896422e-03 2.85548265e+00] [-4.80358385e-03 9.99985174e-01 -2.56453698e-03 1.09274614e-01] [-4.26124807e-03 2.54407386e-03 9.99987685e-01 -2.54948833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.496547614999994 meters Centerline goodness [0,1] 0.7184159309508363 Centerline is valid? [False, False] Translation: X:2.86, Y:0.11, Z:-0.26 [[ 0.99998629 0.00367426 0.00373188 2.85864926] [-0.00366078 0.99998678 -0.00361106 0.11050419] [-0.0037451 0.00359735 0.99998652 -0.25756064] [ 0. 0. 0. 1. ]] SLAMing on 31.526547614999995 meters Centerline goodness [0,1] 0.723907527488018 Centerline is valid? [False, False] Translation: X:2.86, Y:0.11, Z:-0.26 [[ 0.99998571 0.00387441 0.00368417 2.85869865] [-0.00386273 0.99998751 -0.00317297 0.1090539 ] [-0.00369642 0.00315869 0.99998818 -0.25733728] [ 0. 0. 0. 1. ]] SLAMing on 31.556547614999992 meters Centerline goodness [0,1] 0.7266664782842126 Centerline is valid? [False, False] Translation: X:2.86, Y:0.11, Z:-0.26 [[ 0.99998671 0.00372324 0.00356532 2.85886802] [-0.00371169 0.99998786 -0.00324164 0.10980741] [-0.00357734 0.00322837 0.99998839 -0.2570632 ] [ 0. 0. 0. 1. ]] SLAMing on 31.586547614999994 meters Centerline goodness [0,1] 0.7216628592379501 Centerline is valid? [False, False] Translation: X:2.86, Y:0.11, Z:-0.26 [[ 9.99985072e-01 4.22298378e-03 3.46733819e-03 2.85785893e+00] [-4.21434366e-03 9.99988006e-01 -2.49539749e-03 1.08818704e-01] [-3.47783462e-03 2.48074768e-03 9.99990875e-01 -2.55186987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.616547614999995 meters Centerline goodness [0,1] 0.7404893225852072 Centerline is valid? [False, False] Translation: X:2.86, Y:0.11, Z:-0.26 [[ 9.99995572e-01 2.08229573e-03 2.12585561e-03 2.86391400e+00] [-2.07399566e-03 9.99990248e-01 -3.89910906e-03 1.09769154e-01] [-2.13395398e-03 3.89468278e-03 9.99990139e-01 -2.58729531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.646547614999992 meters Centerline goodness [0,1] 0.7414504550336329 Centerline is valid? [False, False] Translation: X:2.87, Y:0.11, Z:-0.26 [[ 9.99997630e-01 1.26312697e-03 1.77308234e-03 2.86609329e+00] [-1.25482229e-03 9.99988275e-01 -4.67707631e-03 1.11431687e-01] [-1.77896929e-03 4.67484032e-03 9.99987490e-01 -2.60541194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.676547614999993 meters Centerline goodness [0,1] 0.7552916009907679 Centerline is valid? [False, False] Translation: X:2.87, Y:0.11, Z:-0.25 [[ 9.99998905e-01 -4.17858195e-04 1.41979837e-03 2.86758516e+00] [ 4.19187297e-04 9.99999474e-01 -9.35951992e-04 1.07531385e-01] [-1.41940653e-03 9.36546128e-04 9.99998554e-01 -2.53518549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.706547614999995 meters Centerline goodness [0,1] 0.7670989568649563 Centerline is valid? [False, False] Translation: X:2.87, Y:0.10, Z:-0.25 [[ 9.99999004e-01 -1.16920828e-03 7.90224875e-04 2.86829516e+00] [ 1.16865088e-03 9.99999068e-01 7.05457853e-04 1.02008310e-01] [-7.91048966e-04 -7.04533653e-04 9.99999439e-01 -2.49883087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.736547614999992 meters Centerline goodness [0,1] 0.7731589775385396 Centerline is valid? [False, False] Translation: X:2.87, Y:0.10, Z:-0.25 [[ 9.99997947e-01 -1.99683271e-03 3.44433132e-04 2.87015889e+00] [ 1.99694174e-03 9.99997956e-01 -3.16492142e-04 1.04413601e-01] [-3.43800446e-04 3.17179305e-04 9.99999891e-01 -2.51110471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.766547614999993 meters Centerline goodness [0,1] 0.7731589775385396 Centerline is valid? [False, False] Translation: X:2.87, Y:0.10, Z:-0.25 [[ 9.99997947e-01 -1.99683271e-03 3.44433132e-04 2.87015889e+00] [ 1.99694174e-03 9.99997956e-01 -3.16492142e-04 1.04413601e-01] [-3.43800446e-04 3.17179305e-04 9.99999891e-01 -2.51110471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.796547614999994 meters Centerline goodness [0,1] 0.7564606741573033 Centerline is valid? [False, False] Translation: X:2.87, Y:0.10, Z:-0.25 [[ 9.99999086e-01 1.22723088e-03 -5.66510007e-04 2.87338469e+00] [-1.22560124e-03 9.99995136e-01 2.86806589e-03 1.04671593e-01] [ 5.70027031e-04 -2.86736896e-03 9.99995727e-01 -2.52799981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.826547614999992 meters Centerline goodness [0,1] 0.7492203889550377 Centerline is valid? [False, False] Translation: X:2.87, Y:0.10, Z:-0.25 [[ 9.99998069e-01 1.83817318e-03 6.94581556e-04 2.86652153e+00] [-1.83801189e-03 9.99998284e-01 -2.32767276e-04 1.03855869e-01] [-6.95008230e-04 2.31490177e-04 9.99999732e-01 -2.52508830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.856547614999993 meters Centerline goodness [0,1] 0.7315986806867194 Centerline is valid? [False, False] Translation: X:2.87, Y:0.10, Z:-0.25 [[ 9.99981712e-01 5.96001527e-03 1.02693436e-03 2.86582539e+00] [-5.96462074e-03 9.99971898e-01 4.54154202e-03 1.04090200e-01] [-9.99837844e-04 -4.54758423e-03 9.99989160e-01 -2.51648191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.886547614999994 meters Centerline goodness [0,1] 0.7427281704048525 Centerline is valid? [False, False] Translation: X:2.87, Y:0.10, Z:-0.25 [[ 9.99988095e-01 4.83465382e-03 6.60197615e-04 2.86761638e+00] [-4.83756208e-03 9.99978277e-01 4.47697938e-03 1.04622650e-01] [-6.38538629e-04 -4.48011983e-03 9.99989760e-01 -2.51724159e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.916547614999992 meters Centerline goodness [0,1] 0.7476940382452193 Centerline is valid? [False, False] Translation: X:2.87, Y:0.10, Z:-0.25 [[ 9.99989845e-01 4.50424951e-03 1.48356929e-04 2.86871889e+00] [-4.50485841e-03 9.99980184e-01 4.39758350e-03 1.04684836e-01] [-1.28546176e-04 -4.39820717e-03 9.99990320e-01 -2.51514427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.946547614999993 meters Centerline goodness [0,1] 0.7493073225897653 Centerline is valid? [False, False] Translation: X:2.87, Y:0.11, Z:-0.25 [[ 9.99991165e-01 4.20142336e-03 -1.34396723e-04 2.86986070e+00] [-4.20100169e-03 9.99986684e-01 2.99734530e-03 1.07199192e-01] [ 1.46988050e-04 -2.99675422e-03 9.99995499e-01 -2.53257714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.976547614999994 meters Centerline goodness [0,1] 0.7226748611541822 Centerline is valid? [False, False] Translation: X:2.87, Y:0.11, Z:-0.25 [[ 9.99980818e-01 6.17474098e-03 4.86782020e-04 2.86580627e+00] [-6.17607403e-03 9.99977046e-01 2.78629043e-03 1.09856690e-01] [-4.69566225e-04 -2.78924339e-03 9.99996000e-01 -2.51726022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.006547614999995 meters Centerline goodness [0,1] 0.7093591905564924 Centerline is valid? [False, False] Translation: X:2.86, Y:0.11, Z:-0.25 [[ 9.99972114e-01 7.45951053e-03 3.57456962e-04 2.86436165e+00] [-7.46017058e-03 9.99970401e-01 1.88218754e-03 1.12304779e-01] [-3.43406184e-04 -1.88480174e-03 9.99998165e-01 -2.51759422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.036547614999996 meters Centerline goodness [0,1] 0.7110596082643227 Centerline is valid? [False, False] Translation: X:2.86, Y:0.11, Z:-0.25 [[ 9.99991026e-01 4.21998716e-03 3.73063605e-04 2.86411386e+00] [-4.21907160e-03 9.99988167e-01 -2.42178893e-03 1.10797377e-01] [-3.83279108e-04 2.42019321e-03 9.99996998e-01 -2.53073092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.06654761499999 meters Centerline goodness [0,1] 0.7240312278211498 Centerline is valid? [False, False] Translation: X:2.87, Y:0.11, Z:-0.25 [[ 9.99995987e-01 2.80794373e-03 3.75825636e-04 2.86592319e+00] [-2.80739561e-03 9.99995006e-01 -1.45109903e-03 1.07515178e-01] [-3.79898364e-04 1.45003812e-03 9.99998877e-01 -2.52915251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.09654761499999 meters Centerline goodness [0,1] 0.7328614534277094 Centerline is valid? [False, False] Translation: X:2.88, Y:0.11, Z:-0.26 [[ 9.99998854e-01 1.14151491e-03 -9.94037423e-04 2.87615865e+00] [-1.14118845e-03 9.99999295e-01 3.28926439e-04 1.12533799e-01] [ 9.94412197e-04 -3.27791678e-04 9.99999452e-01 -2.57438572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.12654761499999 meters Centerline goodness [0,1] 0.7548060612914169 Centerline is valid? [False, False] Translation: X:2.88, Y:0.11, Z:-0.26 [[ 9.99989255e-01 -4.30672009e-03 -1.71547382e-03 2.88013659e+00] [ 4.29814590e-03 9.99978408e-01 -4.97086247e-03 1.12238086e-01] [ 1.73684489e-03 4.96343570e-03 9.99986174e-01 -2.60598559e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.156547614999994 meters Centerline goodness [0,1] 0.7647541215394622 Centerline is valid? [False, False] Translation: X:2.88, Y:0.11, Z:-0.26 [[ 9.99988714e-01 -4.22207863e-03 -2.17848645e-03 2.88038158e+00] [ 4.21241478e-03 9.99981352e-01 -4.42172031e-03 1.10798928e-01] [ 2.19711467e-03 4.41249372e-03 9.99987851e-01 -2.59189473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.186547614999995 meters Centerline goodness [0,1] 0.7547089405949032 Centerline is valid? [False, False] Translation: X:2.88, Y:0.11, Z:-0.25 [[ 9.99996201e-01 -1.95996440e-03 -1.93802213e-03 2.87589798e+00] [ 1.95640990e-03 9.99996404e-01 -1.83428426e-03 1.05092023e-01] [ 1.94161030e-03 1.83048573e-03 9.99996440e-01 -2.53863370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.216547614999996 meters Centerline goodness [0,1] 0.7210389168979776 Centerline is valid? [False, False] Translation: X:2.87, Y:0.11, Z:-0.25 [[ 9.99992147e-01 3.84221081e-03 -9.71771826e-04 2.87272527e+00] [-3.84041343e-03 9.99990924e-01 1.84475056e-03 1.10391924e-01] [ 9.78850926e-04 -1.84100407e-03 9.99997826e-01 -2.54572939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.24654761499999 meters Centerline goodness [0,1] 0.721057377973171 Centerline is valid? [False, False] Translation: X:2.88, Y:0.11, Z:-0.26 [[ 9.99980242e-01 5.86700747e-03 -2.25703663e-03 2.87822719e+00] [-5.85740473e-03 9.99973865e-01 4.23791940e-03 1.13356665e-01] [ 2.28184155e-03 -4.22461529e-03 9.99988473e-01 -2.57580769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.27654761499999 meters Centerline goodness [0,1] 0.7279078388320168 Centerline is valid? [False, False] Translation: X:2.88, Y:0.11, Z:-0.26 [[ 9.99993544e-01 2.27924485e-03 -2.77800237e-03 2.87894337e+00] [-2.27611817e-03 9.99996773e-01 1.12815519e-03 1.07490283e-01] [ 2.78056475e-03 -1.12182484e-03 9.99995505e-01 -2.57188410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.30654761499999 meters Centerline goodness [0,1] 0.7530417814508723 Centerline is valid? [False, False] Translation: X:2.88, Y:0.10, Z:-0.26 [[ 9.99993916e-01 -1.73671908e-03 -3.02528627e-03 2.87906019e+00] [ 1.73243945e-03 9.99997496e-01 -1.41666829e-03 1.02976807e-01] [ 3.02773904e-03 1.41141855e-03 9.99994420e-01 -2.55485119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.33654761499999 meters Centerline goodness [0,1] 0.7481396680022896 Centerline is valid? [False, False] Translation: X:2.88, Y:0.10, Z:-0.25 [[ 9.99994018e-01 -1.65748480e-03 -3.03581283e-03 2.87829836e+00] [ 1.65641927e-03 9.99998566e-01 -3.53466085e-04 1.02357593e-01] [ 3.03639434e-03 3.48435392e-04 9.99995329e-01 -2.53351550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.366547614999995 meters Centerline goodness [0,1] 0.7631451175277754 Centerline is valid? [False, False] Translation: X:2.88, Y:0.10, Z:-0.26 [[ 9.99989628e-01 -2.87099564e-03 -3.53576649e-03 2.88121656e+00] [ 2.86658443e-03 9.99995108e-01 -1.25203222e-03 1.04700450e-01] [ 3.53934377e-03 1.24188367e-03 9.99992965e-01 -2.55313426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.396547614999996 meters Centerline goodness [0,1] 0.7596691386195094 Centerline is valid? [False, False] Translation: X:2.88, Y:0.11, Z:-0.26 [[ 9.99985616e-01 -3.52511812e-03 -4.04245103e-03 2.88349420e+00] [ 3.51713443e-03 9.99991854e-01 -1.98037314e-03 1.05252355e-01] [ 4.04939914e-03 1.96612681e-03 9.99989868e-01 -2.56973308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.426547615 meters Centerline goodness [0,1] 0.7446017446017446 Centerline is valid? [False, False] Translation: X:2.88, Y:0.10, Z:-0.25 [[ 9.99991180e-01 -2.09540141e-03 -3.64000565e-03 2.88054622e+00] [ 2.09195670e-03 9.99997361e-01 -9.49897048e-04 1.03077486e-01] [ 3.64198646e-03 9.42273936e-04 9.99992924e-01 -2.54777053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.45654761499999 meters Centerline goodness [0,1] 0.7328739707227814 Centerline is valid? [False, False] Translation: X:2.88, Y:0.10, Z:-0.25 [[ 9.99996087e-01 5.36720745e-05 -2.79688793e-03 2.87603190e+00] [-5.39417164e-05 9.99999994e-01 -9.63324744e-05 1.03833792e-01] [ 2.79688275e-03 9.64829664e-05 9.99996084e-01 -2.52599887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.48654761499999 meters Centerline goodness [0,1] 0.7213407884653592 Centerline is valid? [False, False] Translation: X:2.88, Y:0.11, Z:-0.25 [[ 9.99989888e-01 3.88530396e-03 -2.26438130e-03 2.87534012e+00] [-3.87936122e-03 9.99989035e-01 2.62295517e-03 1.09617758e-01] [ 2.27454745e-03 -2.61414430e-03 9.99993996e-01 -2.53891048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.51654761499999 meters Centerline goodness [0,1] 0.7233939875663553 Centerline is valid? [False, False] Translation: X:2.88, Y:0.11, Z:-0.26 [[ 9.99992507e-01 2.30303307e-03 -3.11158022e-03 2.87924809e+00] [-2.30202083e-03 9.99997296e-01 3.28856022e-04 1.14121254e-01] [ 3.11232917e-03 -3.21690636e-04 9.99995105e-01 -2.57185787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.546547614999994 meters Centerline goodness [0,1] 0.7211541192173345 Centerline is valid? [False, False] Translation: X:2.88, Y:0.11, Z:-0.26 [[ 9.99990821e-01 2.06879441e-03 -3.75209824e-03 2.88038833e+00] [-2.06808459e-03 9.99997843e-01 1.93048574e-04 1.13712158e-01] [ 3.75248952e-03 -1.85287145e-04 9.99992942e-01 -2.56755322e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.576547614999996 meters Centerline goodness [0,1] 0.7143825939530941 Centerline is valid? [False, False] Translation: X:2.88, Y:0.12, Z:-0.26 [[ 9.99990882e-01 2.48280359e-03 -3.47445637e-03 2.87863380e+00] [-2.48359560e-03 9.99996891e-01 -2.23656974e-04 1.17385376e-01] [ 3.47389027e-03 2.32284080e-04 9.99993939e-01 -2.55684271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.606547615 meters Centerline goodness [0,1] 0.7141968677559789 Centerline is valid? [False, False] Translation: X:2.88, Y:0.12, Z:-0.25 [[ 9.99989583e-01 2.75632357e-03 -3.63830011e-03 2.87777640e+00] [-2.75576177e-03 9.99996190e-01 1.59417559e-04 1.16613409e-01] [ 3.63872566e-03 -1.49389610e-04 9.99993369e-01 -2.53898649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.63654761499999 meters Centerline goodness [0,1] 0.7205272427702971 Centerline is valid? [False, False] Translation: X:2.88, Y:0.11, Z:-0.25 [[ 9.99987957e-01 2.14617397e-03 -4.41367596e-03 2.88038587e+00] [-2.14528649e-03 9.99997678e-01 2.05799497e-04 1.13758409e-01] [ 4.41410740e-03 -1.96328419e-04 9.99990239e-01 -2.54701616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.66654761499999 meters Centerline goodness [0,1] 0.7243269203604825 Centerline is valid? [False, False] Translation: X:2.88, Y:0.12, Z:-0.26 [[ 9.99990756e-01 2.06486430e-03 -3.77157213e-03 2.88030811e+00] [-2.06475314e-03 9.99997868e-01 3.33660724e-05 1.18483297e-01] [ 3.77163298e-03 -2.55783986e-05 9.99992887e-01 -2.56144205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.69654761499999 meters Centerline goodness [0,1] 0.7207420564436551 Centerline is valid? [False, False] Translation: X:2.88, Y:0.12, Z:-0.26 [[ 9.99990806e-01 2.48561233e-03 -3.49436956e-03 2.87896558e+00] [-2.48515663e-03 9.99996903e-01 1.34746408e-04 1.21192146e-01] [ 3.49469367e-03 -1.26061113e-04 9.99993886e-01 -2.55324374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.726547614999994 meters Centerline goodness [0,1] 0.7187535410764873 Centerline is valid? [False, False] Translation: X:2.87, Y:0.12, Z:-0.25 [[ 9.99995880e-01 9.59993601e-04 -2.70518629e-03 2.87333430e+00] [-9.63547329e-04 9.99998674e-01 -1.31267542e-03 1.17291437e-01] [ 2.70392255e-03 1.31527659e-03 9.99995479e-01 -2.50335399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.756547614999995 meters Centerline goodness [0,1] 0.7153978993856693 Centerline is valid? [False, False] Translation: X:2.87, Y:0.12, Z:-0.25 [[ 9.99994565e-01 1.55017002e-03 -2.90987092e-03 2.87164523e+00] [-1.55031998e-03 9.99998797e-01 -4.92781549e-05 1.15352841e-01] [ 2.90979103e-03 5.37891181e-05 9.99995765e-01 -2.46700914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.786547614999996 meters Centerline goodness [0,1] 0.7165134510179911 Centerline is valid? [False, False] Translation: X:2.87, Y:0.12, Z:-0.25 [[ 9.99993999e-01 1.39665418e-03 -3.17034677e-03 2.87238703e+00] [-1.40056417e-03 9.99998261e-01 -1.23141433e-03 1.18183186e-01] [ 3.16862140e-03 1.23584722e-03 9.99994216e-01 -2.47786481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.81654761499999 meters Centerline goodness [0,1] 0.7164693583476959 Centerline is valid? [False, False] Translation: X:2.87, Y:0.12, Z:-0.25 [[ 9.99993957e-01 8.29198794e-04 -3.37605740e-03 2.87469149e+00] [-8.38657365e-04 9.99995725e-01 -2.80121072e-03 1.20650586e-01] [ 3.37372021e-03 2.80402515e-03 9.99990378e-01 -2.51287885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.84654761499999 meters Centerline goodness [0,1] 0.7133732871894432 Centerline is valid? [False, False] Translation: X:2.88, Y:0.12, Z:-0.25 [[ 9.99986286e-01 3.25240826e-03 -4.10479050e-03 2.87862368e+00] [-3.25252027e-03 9.99994710e-01 -2.06121802e-05 1.22936519e-01] [ 4.10470175e-03 3.39628118e-05 9.99991575e-01 -2.53785672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.87654761499999 meters Centerline goodness [0,1] 0.7108009063697653 Centerline is valid? [False, False] Translation: X:2.88, Y:0.13, Z:-0.26 [[ 9.99974456e-01 4.83301416e-03 -5.26590342e-03 2.88435159e+00] [-4.82504783e-03 9.99987197e-01 1.52446947e-03 1.28020715e-01] [ 5.27320379e-03 -1.49902229e-03 9.99984973e-01 -2.57604410e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.906547614999994 meters Centerline goodness [0,1] 0.7068738625227495 Centerline is valid? [False, False] Translation: X:2.88, Y:0.13, Z:-0.26 [[ 9.99971330e-01 5.05159306e-03 -5.64103304e-03 2.88439674e+00] [-5.04110416e-03 9.99985541e-01 1.87206774e-03 1.25162076e-01] [ 5.65040840e-03 -1.84357703e-03 9.99982337e-01 -2.56553687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.936547614999995 meters Centerline goodness [0,1] 0.7103769874712063 Centerline is valid? [False, False] Translation: X:2.88, Y:0.12, Z:-0.26 [[ 9.99983903e-01 2.36929337e-03 -5.15566816e-03 2.88132969e+00] [-2.37833274e-03 9.99995644e-01 -1.74786272e-03 1.24619843e-01] [ 5.15150451e-03 1.76009648e-03 9.99985182e-01 -2.55041593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.966547614999996 meters Centerline goodness [0,1] 0.7071947715364246 Centerline is valid? [False, False] Translation: X:2.88, Y:0.12, Z:-0.25 [[ 9.99990687e-01 9.32591666e-04 -4.21384146e-03 2.87536447e+00] [-9.45713120e-04 9.99994707e-01 -3.11297473e-03 1.21623330e-01] [ 4.21091602e-03 3.11693083e-03 9.99986276e-01 -2.50076900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.99654761499999 meters Centerline goodness [0,1] 0.7073811987805219 Centerline is valid? [False, False] Translation: X:2.88, Y:0.12, Z:-0.25 [[ 9.99982665e-01 4.25403429e-03 -4.07087273e-03 2.87609150e+00] [-4.24938435e-03 9.99990310e-01 1.15021434e-03 1.22945811e-01] [ 4.07572634e-03 -1.13289570e-03 9.99991052e-01 -2.50197319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.02654761499999 meters Centerline goodness [0,1] 0.7026134724225945 Centerline is valid? [False, False] Translation: X:2.88, Y:0.13, Z:-0.26 [[ 9.99970002e-01 5.50104771e-03 -5.45282677e-03 2.88382956e+00] [-5.50042638e-03 9.99984864e-01 1.28936211e-04 1.31220029e-01] [ 5.45345352e-03 -9.89394708e-05 9.99985125e-01 -2.59529671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.05654761499999 meters Centerline goodness [0,1] 0.6929422548120989 Centerline is valid? [False, False] Translation: X:2.88, Y:0.13, Z:-0.26 [[ 9.99960086e-01 6.80078592e-03 -5.79439382e-03 2.88238721e+00] [-6.79928394e-03 9.99976846e-01 2.78872371e-04 1.29789256e-01] [ 5.79615620e-03 -2.39463511e-04 9.99983173e-01 -2.57915188e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.08654761499999 meters Centerline goodness [0,1] 0.6909426263868317 Centerline is valid? [False, False] Translation: X:2.88, Y:0.13, Z:-0.26 [[ 0.99996977 0.00567244 -0.0053179 2.87739825] [-0.0056883 0.9999794 -0.00297251 0.12812116] [ 0.00530093 0.00300267 0.99998144 -0.25536574] [ 0. 0. 0. 1. ]] SLAMing on 33.116547614999995 meters Centerline goodness [0,1] 0.690167492070558 Centerline is valid? [False, False] Translation: X:2.88, Y:0.13, Z:-0.26 [[ 0.99997236 0.00466853 -0.00578654 2.88002243] [-0.00469438 0.99997902 -0.00446266 0.13201339] [ 0.00576558 0.0044897 0.9999733 -0.25778008] [ 0. 0. 0. 1. ]] SLAMing on 33.146547614999996 meters Centerline goodness [0,1] 0.6922288121501026 Centerline is valid? [False, False] Translation: X:2.89, Y:0.14, Z:-0.26 [[ 9.99964724e-01 4.89381029e-03 -6.82652173e-03 2.88801048e+00] [-4.91095948e-03 9.99984822e-01 -2.49764543e-03 1.35435125e-01] [ 6.81419511e-03 2.53108210e-03 9.99973580e-01 -2.62788392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.17654761499999 meters Centerline goodness [0,1] 0.7101203546710398 Centerline is valid? [False, False] Translation: X:2.89, Y:0.13, Z:-0.26 [[ 9.99972683e-01 1.77106680e-03 -7.17611133e-03 2.89192129e+00] [-1.79064885e-03 9.99994689e-01 -2.72327850e-03 1.33876994e-01] [ 7.17125011e-03 2.73605401e-03 9.99970543e-01 -2.63498830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.20654761499999 meters Centerline goodness [0,1] 0.7442955653977688 Centerline is valid? [False, False] Translation: X:2.89, Y:0.13, Z:-0.26 [[ 0.99996733 -0.00298508 -0.00751125 2.89190956] [ 0.00295725 0.99998873 -0.00371334 0.12777825] [ 0.00752225 0.00369101 0.9999649 -0.25800063] [ 0. 0. 0. 1. ]] SLAMing on 33.23654761499999 meters Centerline goodness [0,1] 0.7500635718927472 Centerline is valid? [False, False] Translation: X:2.89, Y:0.12, Z:-0.25 [[ 0.99996433 -0.00509752 -0.00673458 2.88647061] [ 0.00507535 0.99998166 -0.0033041 0.12027125] [ 0.0067513 0.0032698 0.99997186 -0.24981599] [ 0. 0. 0. 1. ]] SLAMing on 33.26654761499999 meters Centerline goodness [0,1] 0.7388686642397088 Centerline is valid? [False, False] Translation: X:2.89, Y:0.12, Z:-0.25 [[ 9.99970573e-01 -2.05814967e-03 -7.39038127e-03 2.88905563e+00] [ 2.06238880e-03 9.99997713e-01 5.66025171e-04 1.19167525e-01] [ 7.38919940e-03 -5.81250354e-04 9.99972531e-01 -2.50410296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.296547614999994 meters Centerline goodness [0,1] 0.7290877701047004 Centerline is valid? [False, False] Translation: X:2.89, Y:0.13, Z:-0.25 [[ 0.99995903 0.00415031 -0.0080442 2.89368809] [-0.00410016 0.99997211 0.00624163 0.12545824] [ 0.00806988 -0.0062084 0.99994817 -0.25471975] [ 0. 0. 0. 1. ]] SLAMing on 33.326547614999996 meters Centerline goodness [0,1] 0.7087419211054156 Centerline is valid? [False, False] Translation: X:2.89, Y:0.13, Z:-0.25 [[ 0.99995351 0.00588838 -0.00763511 2.89088025] [-0.00583843 0.99996152 0.00654802 0.12670603] [ 0.00767337 -0.00650314 0.99994941 -0.25376425] [ 0. 0. 0. 1. ]] SLAMing on 33.356547615 meters Centerline goodness [0,1] 0.7031092999888355 Centerline is valid? [False, False] Translation: X:2.89, Y:0.12, Z:-0.25 [[ 0.9999689 0.00366925 -0.0069816 2.88728741] [-0.00364662 0.99998807 0.00325136 0.12470208] [ 0.00699344 -0.0032258 0.99997034 -0.25234791] [ 0. 0. 0. 1. ]] SLAMing on 33.38654761499999 meters Centerline goodness [0,1] 0.718212478920742 Centerline is valid? [False, False] Translation: X:2.89, Y:0.12, Z:-0.25 [[ 9.99974494e-01 -1.60348627e-04 -7.14047983e-03 2.88624685e+00] [ 1.61569482e-04 9.99999972e-01 1.70400123e-04 1.22225901e-01] [ 7.14045231e-03 -1.71549460e-04 9.99974492e-01 -2.49856009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.41654761499999 meters Centerline goodness [0,1] 0.7288312420696461 Centerline is valid? [False, False] Translation: X:2.89, Y:0.12, Z:-0.25 [[ 9.99971251e-01 -8.06957992e-04 -7.53966665e-03 2.88810165e+00] [ 8.11909598e-04 9.99999457e-01 6.53702953e-04 1.19458056e-01] [ 7.53913504e-03 -6.59805687e-04 9.99971363e-01 -2.50263320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.44654761499999 meters Centerline goodness [0,1] 0.746712374957851 Centerline is valid? [False, False] Translation: X:2.90, Y:0.12, Z:-0.26 [[ 9.99960373e-01 -2.25028972e-03 -8.61333745e-03 2.89876894e+00] [ 2.26177926e-03 9.99996565e-01 1.32441548e-03 1.21948598e-01] [ 8.61032754e-03 -1.34384446e-03 9.99962027e-01 -2.58151773e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.476547614999994 meters Centerline goodness [0,1] 0.7383611880966379 Centerline is valid? [False, False] Translation: X:2.90, Y:0.12, Z:-0.26 [[ 9.99957210e-01 -2.76036113e-03 -8.82943126e-03 2.89956262e+00] [ 2.76645382e-03 9.99995944e-01 6.77905018e-04 1.23803033e-01] [ 8.82752418e-03 -7.02302224e-04 9.99960790e-01 -2.58578264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.506547614999995 meters Centerline goodness [0,1] 0.723366487278465 Centerline is valid? [False, False] Translation: X:2.89, Y:0.12, Z:-0.25 [[ 9.99962264e-01 -2.94364139e-03 -8.17349151e-03 2.89277995e+00] [ 2.93336580e-03 9.99994893e-01 -1.26888956e-03 1.20515316e-01] [ 8.17718492e-03 1.24486584e-03 9.99965791e-01 -2.54127380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.536547614999996 meters Centerline goodness [0,1] 0.7156049060986318 Centerline is valid? [False, False] Translation: X:2.89, Y:0.12, Z:-0.25 [[ 9.99962822e-01 -2.05053846e-03 -8.37560657e-03 2.89258518e+00] [ 2.04437736e-03 9.99997633e-01 -7.44095391e-04 1.16911925e-01] [ 8.37711255e-03 7.26944826e-04 9.99964647e-01 -2.54049082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.56654761499999 meters Centerline goodness [0,1] 0.7131392205451679 Centerline is valid? [False, False] Translation: X:2.90, Y:0.12, Z:-0.26 [[ 9.99963041e-01 7.69782932e-04 -8.56292214e-03 2.89637392e+00] [-7.59375276e-04 9.99998969e-01 1.21861770e-03 1.19994458e-01] [ 8.56385138e-03 -1.21207019e-03 9.99962595e-01 -2.59393423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.59654761499999 meters Centerline goodness [0,1] 0.7206808701251435 Centerline is valid? [False, False] Translation: X:2.90, Y:0.13, Z:-0.26 [[ 9.99964795e-01 -8.39191079e-05 -8.39056598e-03 2.89724694e+00] [ 8.81852000e-05 9.99999867e-01 5.08070461e-04 1.25685558e-01] [ 8.39052223e-03 -5.08792498e-04 9.99964670e-01 -2.60459523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.62654761499999 meters Centerline goodness [0,1] 0.7241941834955279 Centerline is valid? [False, False] Translation: X:2.90, Y:0.12, Z:-0.26 [[ 9.99962134e-01 4.51127342e-05 -8.70224607e-03 2.89647096e+00] [-2.58431235e-05 9.99997548e-01 2.21442585e-03 1.22690303e-01] [ 8.70232463e-03 -2.21411710e-03 9.99959683e-01 -2.56869040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.656547614999994 meters Centerline goodness [0,1] 0.7241941834955279 Centerline is valid? [False, False] Translation: X:2.90, Y:0.12, Z:-0.26 [[ 9.99962134e-01 4.51127342e-05 -8.70224607e-03 2.89647096e+00] [-2.58431235e-05 9.99997548e-01 2.21442585e-03 1.22690303e-01] [ 8.70232463e-03 -2.21411710e-03 9.99959683e-01 -2.56869040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.686547614999995 meters Centerline goodness [0,1] 0.7238124929146355 Centerline is valid? [False, False] Translation: X:2.89, Y:0.11, Z:-0.25 [[ 9.99964542e-01 -4.13495808e-03 -7.33603337e-03 2.88793136e+00] [ 4.12552676e-03 9.99990645e-01 -1.30028296e-03 1.13017990e-01] [ 7.34134135e-03 1.26997185e-03 9.99972246e-01 -2.49541279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.716547614999996 meters Centerline goodness [0,1] 0.7378002314357484 Centerline is valid? [False, False] Translation: X:2.89, Y:0.11, Z:-0.25 [[ 9.99965675e-01 -1.75741529e-03 -8.09697119e-03 2.89137494e+00] [ 1.77704077e-03 9.99995500e-01 2.41724888e-03 1.14050695e-01] [ 8.09268663e-03 -2.43155455e-03 9.99964297e-01 -2.50246508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.74654761499999 meters Centerline goodness [0,1] 0.735232898289829 Centerline is valid? [False, False] Translation: X:2.90, Y:0.12, Z:-0.26 [[ 9.99961359e-01 3.35844897e-04 -8.78450614e-03 2.89624138e+00] [-3.06067826e-04 9.99994204e-01 3.39085098e-03 1.20946642e-01] [ 8.78559402e-03 -3.38803130e-03 9.99955666e-01 -2.55644157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.77654761499999 meters Centerline goodness [0,1] 0.7297456959603916 Centerline is valid? [False, False] Translation: X:2.90, Y:0.12, Z:-0.26 [[ 9.99959565e-01 -1.50409892e-04 -8.99141795e-03 2.89790167e+00] [ 1.67325487e-04 9.99998218e-01 1.88058181e-03 1.22929448e-01] [ 8.99111906e-03 -1.88201026e-03 9.99957808e-01 -2.58264636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.80654761499999 meters Centerline goodness [0,1] 0.7271983755428959 Centerline is valid? [False, False] Translation: X:2.90, Y:0.12, Z:-0.25 [[ 9.99953843e-01 3.61681851e-04 -9.60107091e-03 2.89616483e+00] [-3.33771835e-04 9.99995715e-01 2.90841224e-03 1.19357897e-01] [ 9.60208169e-03 -2.90507343e-03 9.99949679e-01 -2.53768263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.83654761499999 meters Centerline goodness [0,1] 0.7240882103477524 Centerline is valid? [False, False] Translation: X:2.89, Y:0.12, Z:-0.25 [[ 9.99957873e-01 -1.84021203e-03 -8.99259061e-03 2.89189170e+00] [ 1.84303923e-03 9.99998255e-01 3.06114943e-04 1.16313129e-01] [ 8.99201160e-03 -3.22675744e-04 9.99959519e-01 -2.50574604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.866547614999995 meters Centerline goodness [0,1] 0.7219290366045363 Centerline is valid? [False, False] Translation: X:2.90, Y:0.12, Z:-0.25 [[ 9.99954785e-01 -1.99266546e-04 -9.50730234e-03 2.89722563e+00] [ 2.26736326e-04 9.99995803e-01 2.88834448e-03 1.20861932e-01] [ 9.50668689e-03 -2.89036953e-03 9.99950633e-01 -2.54606020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.896547614999996 meters Centerline goodness [0,1] 0.7356666289720684 Centerline is valid? [False, False] Translation: X:2.90, Y:0.12, Z:-0.26 [[ 9.99948532e-01 -1.35416498e-03 -1.00548123e-02 2.90020663e+00] [ 1.38389766e-03 9.99994689e-01 2.95069142e-03 1.18874456e-01] [ 1.00507632e-02 -2.96445438e-03 9.99945096e-01 -2.55841237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.92654761499999 meters Centerline goodness [0,1] 0.7537159197078225 Centerline is valid? [False, False] Translation: X:2.90, Y:0.12, Z:-0.26 [[ 9.99943552e-01 -1.82105201e-03 -1.04678664e-02 2.90137965e+00] [ 1.85943015e-03 9.99991582e-01 3.65771897e-03 1.15289877e-01] [ 1.04611174e-02 -3.67697677e-03 9.99938521e-01 -2.55116024e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.95654761499999 meters Centerline goodness [0,1] 0.7354813159458007 Centerline is valid? [False, False] Translation: X:2.90, Y:0.11, Z:-0.25 [[ 9.99944517e-01 -1.28723079e-03 -1.04549376e-02 2.90011820e+00] [ 1.32821780e-03 9.99991457e-01 3.91435204e-03 1.14758345e-01] [ 1.04498096e-02 -3.92802130e-03 9.99937684e-01 -2.53680254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.98654761499999 meters Centerline goodness [0,1] 0.7235850933795731 Centerline is valid? [False, False] Translation: X:2.89, Y:0.11, Z:-0.25 [[ 9.99953274e-01 1.09671016e-03 -9.60456000e-03 2.89473248e+00] [-1.04537191e-03 9.99985150e-01 5.34858573e-03 1.13078938e-01] [ 9.61028322e-03 -5.33829547e-03 9.99939571e-01 -2.50196923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.01654761499999 meters Centerline goodness [0,1] 0.7328261739975976 Centerline is valid? [False, False] Translation: X:2.89, Y:0.11, Z:-0.25 [[ 9.99950677e-01 -2.78633815e-03 -9.53312157e-03 2.89445465e+00] [ 2.79761666e-03 9.99995402e-01 1.16995636e-03 1.12487392e-01] [ 9.52981785e-03 -1.19656867e-03 9.99953874e-01 -2.50524261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.046547614999994 meters Centerline goodness [0,1] 0.7430600937633187 Centerline is valid? [False, False] Translation: X:2.90, Y:0.11, Z:-0.26 [[ 9.99942610e-01 -3.04764062e-03 -1.02707845e-02 2.90232998e+00] [ 3.07602097e-03 9.99991492e-01 2.74854846e-03 1.14533819e-01] [ 1.02623206e-02 -2.77998387e-03 9.99943477e-01 -2.55871039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.076547614999996 meters Centerline goodness [0,1] 0.7566764739164875 Centerline is valid? [False, False] Translation: X:2.91, Y:0.12, Z:-0.26 [[ 0.99992834 -0.00329772 -0.01150854 2.91163184] [ 0.00334155 0.99998723 0.00379109 0.12009441] [ 0.01149589 -0.00382927 0.99992659 -0.26221961] [ 0. 0. 0. 1. ]] SLAMing on 34.106547615 meters Centerline goodness [0,1] 0.7461987972313628 Centerline is valid? [False, False] Translation: X:2.91, Y:0.12, Z:-0.26 [[ 9.99929524e-01 -2.79658074e-03 -1.15380560e-02 2.91099901e+00] [ 2.83935567e-03 9.99989151e-01 3.69257724e-03 1.19642011e-01] [ 1.15276042e-02 -3.72507765e-03 9.99926616e-01 -2.61977355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.13654761499999 meters Centerline goodness [0,1] 0.729514740263443 Centerline is valid? [False, False] Translation: X:2.90, Y:0.12, Z:-0.26 [[ 9.99953423e-01 -1.54937385e-04 -9.65024552e-03 2.89820944e+00] [ 1.76186664e-04 9.99997562e-01 2.20113066e-03 1.16349518e-01] [ 9.64988095e-03 -2.20272838e-03 9.99951013e-01 -2.56711556e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.16654761499999 meters Centerline goodness [0,1] 0.7164768369926435 Centerline is valid? [False, False] Translation: X:2.90, Y:0.12, Z:-0.26 [[ 9.99957057e-01 2.87173859e-04 -9.26289444e-03 2.89675959e+00] [-2.70451755e-04 9.99998332e-01 1.80648063e-03 1.17494462e-01] [ 9.26339776e-03 -1.80389789e-03 9.99955467e-01 -2.56603009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.19654761499999 meters Centerline goodness [0,1] 0.7277495817857041 Centerline is valid? [False, False] Translation: X:2.90, Y:0.12, Z:-0.26 [[ 9.99960702e-01 1.50618721e-05 -8.86533347e-03 2.89661725e+00] [-6.36874168e-06 9.99999519e-01 9.80603101e-04 1.21682829e-01] [ 8.86534398e-03 -9.80508105e-04 9.99960221e-01 -2.57900483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.226547614999994 meters Centerline goodness [0,1] 0.7376725281549014 Centerline is valid? [False, False] Translation: X:2.90, Y:0.13, Z:-0.26 [[ 9.99941639e-01 -3.10353896e-03 -1.03482609e-02 2.90307537e+00] [ 3.10670973e-03 9.99995132e-01 2.90345447e-04 1.25257215e-01] [ 1.03473094e-02 -3.22477545e-04 9.99946413e-01 -2.59005176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.256547614999995 meters Centerline goodness [0,1] 0.7365564037319763 Centerline is valid? [False, False] Translation: X:2.91, Y:0.13, Z:-0.26 [[ 9.99933225e-01 -3.74565469e-03 -1.09323144e-02 2.90562528e+00] [ 3.73721498e-03 9.99992703e-01 -7.92324070e-04 1.26153225e-01] [ 1.09352024e-02 7.51414754e-04 9.99939927e-01 -2.61160664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.286547614999996 meters Centerline goodness [0,1] 0.7352866025040456 Centerline is valid? [False, False] Translation: X:2.91, Y:0.12, Z:-0.26 [[ 9.99926185e-01 -4.12431646e-03 -1.14286593e-02 2.90589346e+00] [ 4.11683880e-03 9.99991296e-01 -6.77738888e-04 1.21526216e-01] [ 1.14313551e-02 6.30638912e-04 9.99934461e-01 -2.59738142e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.31654761499999 meters Centerline goodness [0,1] 0.7401522958891561 Centerline is valid? [False, False] Translation: X:2.90, Y:0.11, Z:-0.26 [[ 9.99921750e-01 -6.40883278e-03 -1.07433667e-02 2.90204652e+00] [ 6.38330584e-03 9.99976726e-01 -2.40867357e-03 1.13754480e-01] [ 1.07585534e-02 2.33990690e-03 9.99939387e-01 -2.56503532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.34654761499999 meters Centerline goodness [0,1] 0.7394109718677411 Centerline is valid? [False, False] Translation: X:2.90, Y:0.11, Z:-0.25 [[ 9.99935019e-01 -5.36326147e-03 -1.00594381e-02 2.89935104e+00] [ 5.35717801e-03 9.99985451e-01 -6.31600480e-04 1.10615523e-01] [ 1.00626792e-02 5.77669237e-04 9.99949203e-01 -2.54316907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.37654761499999 meters Centerline goodness [0,1] 0.7462532299741602 Centerline is valid? [False, False] Translation: X:2.90, Y:0.11, Z:-0.26 [[ 0.99993572 -0.00346436 -0.01079636 2.90389919] [ 0.00350475 0.99998692 0.00372473 0.10905077] [ 0.01078332 -0.00376233 0.99993478 -0.25537592] [ 0. 0. 0. 1. ]] SLAMing on 34.406547614999994 meters Centerline goodness [0,1] 0.8104892277479351 Centerline is valid? [False, False] Translation: X:2.91, Y:0.11, Z:-0.26 [[ 9.99868277e-01 -1.09748530e-02 -1.19574935e-02 2.91131097e+00] [ 1.09650645e-02 9.99939491e-01 -8.83858622e-04 1.06932590e-01] [ 1.19664702e-02 7.52627509e-04 9.99928116e-01 -2.58376141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.436547614999995 meters Centerline goodness [0,1] 0.8117520934140758 Centerline is valid? [False, False] Translation: X:2.91, Y:0.11, Z:-0.26 [[ 9.99853392e-01 -1.15556148e-02 -1.26357784e-02 2.91385939e+00] [ 1.15452962e-02 9.99932955e-01 -8.89260188e-04 1.05502692e-01] [ 1.26452072e-02 7.43246010e-04 9.99919770e-01 -2.59276417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.466547614999996 meters Centerline goodness [0,1] 0.8155303249724846 Centerline is valid? [False, False] Translation: X:2.91, Y:0.10, Z:-0.26 [[ 9.99848425e-01 -1.15752983e-02 -1.30053861e-02 2.91486177e+00] [ 1.15674454e-02 9.99932864e-01 -6.78879219e-04 1.03616908e-01] [ 1.30123712e-02 5.28337224e-04 9.99915196e-01 -2.59397162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.49654761499999 meters Centerline goodness [0,1] 0.7973537805194431 Centerline is valid? [False, False] Translation: X:2.92, Y:0.10, Z:-0.26 [[ 0.99988114 -0.00783313 -0.0132795 2.91569001] [ 0.00788057 0.99996274 0.00352328 0.10318559] [ 0.0132514 -0.00362751 0.99990562 -0.25907365] [ 0. 0. 0. 1. ]] SLAMing on 34.52654761499999 meters Centerline goodness [0,1] 0.7974683544303798 Centerline is valid? [False, False] Translation: X:2.92, Y:0.10, Z:-0.26 [[ 0.99988065 -0.00770266 -0.01339231 2.91540046] [ 0.00775601 0.99996218 0.00393575 0.10249196] [ 0.01336149 -0.00403915 0.99990257 -0.2580917 ] [ 0. 0. 0. 1. ]] SLAMing on 34.55654761499999 meters Centerline goodness [0,1] 0.7766079852721206 Centerline is valid? [False, False] Translation: X:2.92, Y:0.11, Z:-0.26 [[ 0.99989887 -0.00407711 -0.01362459 2.916039 ] [ 0.004172 0.99996719 0.00694352 0.10689258] [ 0.01359584 -0.00699966 0.99988307 -0.25861203] [ 0. 0. 0. 1. ]] SLAMing on 34.58654761499999 meters Centerline goodness [0,1] 0.7692219548527558 Centerline is valid? [False, False] Translation: X:2.91, Y:0.11, Z:-0.26 [[ 0.9999058 -0.00339024 -0.01330015 2.91391553] [ 0.00346953 0.99997632 0.00594304 0.11116236] [ 0.01327968 -0.00598862 0.99989389 -0.25834158] [ 0. 0. 0. 1. ]] SLAMing on 34.616547614999995 meters Centerline goodness [0,1] 0.7536231884057971 Centerline is valid? [False, False] Translation: X:2.91, Y:0.12, Z:-0.26 [[ 9.99912450e-01 -2.78800010e-03 -1.29352275e-02 2.91229900e+00] [ 2.84479347e-03 9.99986386e-01 4.37427656e-03 1.15221815e-01] [ 1.29228559e-02 -4.41069164e-03 9.99906768e-01 -2.59349736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.646547614999996 meters Centerline goodness [0,1] 0.7320315390965244 Centerline is valid? [False, False] Translation: X:2.91, Y:0.12, Z:-0.26 [[ 9.99920198e-01 -1.68226402e-03 -1.25207192e-02 2.91045994e+00] [ 1.71695544e-03 9.99994716e-01 2.76048729e-03 1.19938947e-01] [ 1.25160091e-02 -2.78176451e-03 9.99917802e-01 -2.60965601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.67654761499999 meters Centerline goodness [0,1] 0.7212583195858695 Centerline is valid? [False, False] Translation: X:2.91, Y:0.12, Z:-0.26 [[ 9.99927050e-01 -1.11926475e-03 -1.20267444e-02 2.90848412e+00] [ 1.15288262e-03 9.99995447e-01 2.78869004e-03 1.21371827e-01] [ 1.20235684e-02 -2.80235202e-03 9.99923787e-01 -2.60216010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.70654761499999 meters Centerline goodness [0,1] 0.7257050169317891 Centerline is valid? [False, False] Translation: X:2.91, Y:0.12, Z:-0.26 [[ 9.99932402e-01 -8.05001196e-04 -1.15993161e-02 2.90718848e+00] [ 8.42122164e-04 9.99994539e-01 3.19574342e-03 1.21215977e-01] [ 1.15966802e-02 -3.20529544e-03 9.99927619e-01 -2.59642033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.73654761499999 meters Centerline goodness [0,1] 0.7390932908076091 Centerline is valid? [False, False] Translation: X:2.91, Y:0.12, Z:-0.26 [[ 9.99931049e-01 -1.94228204e-03 -1.15811877e-02 2.90743407e+00] [ 1.99526247e-03 9.99987590e-01 4.56489940e-03 1.17230435e-01] [ 1.15721777e-02 -4.58769216e-03 9.99922516e-01 -2.56940007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.76654761499999 meters Centerline goodness [0,1] 0.7552443571570888 Centerline is valid? [False, False] Translation: X:2.91, Y:0.12, Z:-0.26 [[ 9.99923439e-01 -2.64276793e-03 -1.20884725e-02 2.90951466e+00] [ 2.69426098e-03 9.99987359e-01 4.24538190e-03 1.17443932e-01] [ 1.20771001e-02 -4.27762637e-03 9.99917919e-01 -2.57847222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.796547614999994 meters Centerline goodness [0,1] 0.7349346460702767 Centerline is valid? [False, False] Translation: X:2.91, Y:0.12, Z:-0.26 [[ 9.99915411e-01 -5.82476250e-04 -1.29934861e-02 2.91466304e+00] [ 6.47383040e-04 9.99987332e-01 4.99168639e-03 1.21785126e-01] [ 1.29904140e-02 -4.99967591e-03 9.99903122e-01 -2.63201903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.826547614999996 meters Centerline goodness [0,1] 0.7315104314706384 Centerline is valid? [False, False] Translation: X:2.91, Y:0.12, Z:-0.26 [[ 9.99917198e-01 -2.79910632e-04 -1.28654404e-02 2.91410645e+00] [ 3.39592758e-04 9.99989191e-01 4.63699884e-03 1.22090327e-01] [ 1.28640034e-02 -4.64098390e-03 9.99906485e-01 -2.63458384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.85654761499999 meters Centerline goodness [0,1] 0.7267912062877321 Centerline is valid? [False, False] Translation: X:2.91, Y:0.12, Z:-0.26 [[ 9.99916441e-01 -2.88656913e-03 -1.26007592e-02 2.91209607e+00] [ 2.89137184e-03 9.99995754e-01 3.62944072e-04 1.22171763e-01] [ 1.25996580e-02 -3.99347225e-04 9.99920541e-01 -2.63632280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.88654761499999 meters Centerline goodness [0,1] 0.7559625698961543 Centerline is valid? [False, False] Translation: X:2.92, Y:0.12, Z:-0.27 [[ 9.99890703e-01 -7.67661423e-03 -1.26353323e-02 2.91751012e+00] [ 7.65561915e-03 9.99969235e-01 -1.70914692e-03 1.18612025e-01] [ 1.26480640e-02 1.61222882e-03 9.99918710e-01 -2.67121892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.91654761499999 meters Centerline goodness [0,1] 0.7912385073012439 Centerline is valid? [False, False] Translation: X:2.93, Y:0.12, Z:-0.27 [[ 9.99865008e-01 -8.68017394e-03 -1.39506605e-02 2.92673880e+00] [ 8.70325245e-03 9.99960855e-01 1.59443504e-03 1.19762672e-01] [ 1.39362744e-02 -1.71563592e-03 9.99901414e-01 -2.69714723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.94654761499999 meters Centerline goodness [0,1] 0.7970314019333067 Centerline is valid? [False, False] Translation: X:2.93, Y:0.12, Z:-0.27 [[ 0.99985793 -0.00878841 -0.01438334 2.92696327] [ 0.00883632 0.99995561 0.00327128 0.11595708] [ 0.01435395 -0.00339791 0.9998912 -0.26696945] [ 0. 0. 0. 1. ]] SLAMing on 34.976547614999994 meters Centerline goodness [0,1] 0.8005086264196746 Centerline is valid? [False, False] Translation: X:2.93, Y:0.11, Z:-0.26 [[ 0.99990933 -0.01159143 -0.00685362 2.93071321] [ 0.0115386 0.99990379 -0.0076982 0.10975824] [ 0.00694219 0.00761842 0.99994688 -0.26071096] [ 0. 0. 0. 1. ]] SLAMing on 35.006547614999995 meters Centerline goodness [0,1] 0.8069622084611379 Centerline is valid? [False, False] Translation: X:2.93, Y:0.11, Z:-0.26 [[ 0.99990221 -0.01206545 -0.00707091 2.93157983] [ 0.01201788 0.99990512 -0.00673188 0.10618737] [ 0.00715146 0.00664624 0.99995234 -0.2597126 ] [ 0. 0. 0. 1. ]] SLAMing on 35.036547614999996 meters Centerline goodness [0,1] 0.7980799451412898 Centerline is valid? [False, False] Translation: X:2.94, Y:0.11, Z:-0.26 [[ 9.99943830e-01 -6.87314619e-03 -8.06828666e-03 2.93806109e+00] [ 6.86607483e-03 9.99976020e-01 -9.03811980e-04 1.11257772e-01] [ 8.07430522e-03 8.48363752e-04 9.99967042e-01 -2.64075305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.06654761499999 meters Centerline goodness [0,1] 0.7744294576290478 Centerline is valid? [False, False] Translation: X:2.94, Y:0.12, Z:-0.27 [[ 9.99966283e-01 -2.41323704e-03 -7.84911701e-03 2.93801641e+00] [ 2.41858354e-03 9.99996850e-01 6.71738899e-04 1.19091194e-01] [ 7.84747122e-03 -6.90699995e-04 9.99968970e-01 -2.67701885e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.09654761499999 meters Centerline goodness [0,1] 0.7407004381317832 Centerline is valid? [False, False] Translation: X:2.93, Y:0.12, Z:-0.26 [[ 9.99979017e-01 7.49042210e-04 -6.43461507e-03 2.93085697e+00] [-7.36551212e-04 9.99997840e-01 1.94336958e-03 1.15916863e-01] [ 6.43605684e-03 -1.93858938e-03 9.99977409e-01 -2.64755374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.12654761499999 meters Centerline goodness [0,1] 0.737853496242758 Centerline is valid? [False, False] Translation: X:2.92, Y:0.11, Z:-0.26 [[ 9.99986786e-01 3.59487307e-04 -5.12825694e-03 2.92274130e+00] [-3.54666113e-04 9.99999494e-01 9.41001754e-04 1.11668314e-01] [ 5.12859263e-03 -9.39170500e-04 9.99986408e-01 -2.59090014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.156547614999994 meters Centerline goodness [0,1] 0.751008064516129 Centerline is valid? [False, False] Translation: X:2.93, Y:0.11, Z:-0.26 [[ 9.99983385e-01 -6.92358848e-04 -5.72275386e-03 2.92565860e+00] [ 6.97992262e-04 9.99999274e-01 9.82450142e-04 1.10985249e-01] [ 5.72206949e-03 -9.86428257e-04 9.99983142e-01 -2.60200316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.186547614999995 meters Centerline goodness [0,1] 0.7686404139120437 Centerline is valid? [False, False] Translation: X:2.93, Y:0.11, Z:-0.26 [[ 9.99975105e-01 -2.53908727e-03 -6.58348220e-03 2.93042159e+00] [ 2.54183793e-03 9.99996686e-01 4.09478682e-04 1.11498255e-01] [ 6.58242068e-03 -4.26202632e-04 9.99978245e-01 -2.62719888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.216547614999996 meters Centerline goodness [0,1] 0.7834625322997416 Centerline is valid? [False, False] Translation: X:2.93, Y:0.11, Z:-0.26 [[ 9.99966956e-01 -3.59721188e-03 -7.29024626e-03 2.93275417e+00] [ 3.59957343e-03 9.99993473e-01 3.10837695e-04 1.12538410e-01] [ 7.28908053e-03 -3.37069200e-04 9.99973377e-01 -2.62668418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.24654761499999 meters Centerline goodness [0,1] 0.7780309804713417 Centerline is valid? [False, False] Translation: X:2.93, Y:0.11, Z:-0.26 [[ 9.99960186e-01 -4.17523591e-03 -7.88627987e-03 2.93488318e+00] [ 4.17705835e-03 9.99991253e-01 2.14632361e-04 1.08794244e-01] [ 7.88531475e-03 -2.47565267e-04 9.99968880e-01 -2.63386481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.27654761499999 meters Centerline goodness [0,1] 0.7547028920991412 Centerline is valid? [False, False] Translation: X:2.94, Y:0.11, Z:-0.27 [[ 9.99967659e-01 -3.13599894e-04 -8.03626909e-03 2.93567812e+00] [ 3.27485849e-04 9.99998456e-01 1.72665300e-03 1.13872333e-01] [ 8.03571520e-03 -1.72922893e-03 9.99966218e-01 -2.66335482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.30654761499999 meters Centerline goodness [0,1] 0.7474727110394286 Centerline is valid? [False, False] Translation: X:2.93, Y:0.11, Z:-0.26 [[ 9.99967330e-01 3.99663372e-04 -8.07338894e-03 2.93416572e+00] [-3.77091566e-04 9.99996017e-01 2.79715664e-03 1.09806240e-01] [ 8.07447471e-03 -2.79402085e-03 9.99963497e-01 -2.64001573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.33654761499999 meters Centerline goodness [0,1] 0.7600311760290976 Centerline is valid? [False, False] Translation: X:2.93, Y:0.11, Z:-0.26 [[ 9.99967970e-01 3.29359135e-04 -7.99695843e-03 2.93401924e+00] [-2.94627740e-04 9.99990522e-01 4.34386527e-03 1.05371285e-01] [ 7.99831332e-03 -4.34137001e-03 9.99958589e-01 -2.62454471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.366547614999995 meters Centerline goodness [0,1] 0.7669891730016125 Centerline is valid? [False, False] Translation: X:2.93, Y:0.11, Z:-0.26 [[ 9.99969741e-01 2.15859463e-04 -7.77628263e-03 2.93384216e+00] [-1.79519751e-04 9.99989063e-01 4.67354199e-03 1.06449801e-01] [ 7.77720640e-03 -4.67200457e-03 9.99958843e-01 -2.62396691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.396547614999996 meters Centerline goodness [0,1] 0.7514336506480102 Centerline is valid? [False, False] Translation: X:2.93, Y:0.11, Z:-0.26 [[ 9.99972782e-01 1.58451012e-03 -7.20585076e-03 2.93156175e+00] [-1.55011451e-03 9.99987392e-01 4.77637210e-03 1.09084633e-01] [ 7.21332811e-03 -4.76507220e-03 9.99962630e-01 -2.62453093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.42654761499999 meters Centerline goodness [0,1] 0.7523094189760856 Centerline is valid? [False, False] Translation: X:2.93, Y:0.11, Z:-0.26 [[ 9.99975641e-01 -1.28684018e-03 -6.86006562e-03 2.92975426e+00] [ 1.28672894e-03 9.99999172e-01 -2.06292152e-05 1.10774130e-01] [ 6.86008648e-03 1.18016678e-05 9.99976469e-01 -2.63336172e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.45654761499999 meters Centerline goodness [0,1] 0.7387005244905562 Centerline is valid? [False, False] Translation: X:2.93, Y:0.11, Z:-0.27 [[ 9.99975395e-01 -9.79349347e-04 -6.94622857e-03 2.93022362e+00] [ 9.69114377e-04 9.99998440e-01 -1.47667000e-03 1.13273545e-01] [ 6.94766391e-03 1.46990197e-03 9.99974784e-01 -2.65644281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.48654761499999 meters Centerline goodness [0,1] 0.7314508947806854 Centerline is valid? [False, False] Translation: X:2.93, Y:0.12, Z:-0.27 [[ 9.99977418e-01 -7.09715510e-04 -6.68282662e-03 2.93040475e+00] [ 6.86672740e-04 9.99993814e-01 -3.44972083e-03 1.16974843e-01] [ 6.68523360e-03 3.44505401e-03 9.99971719e-01 -2.69033021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.51654761499999 meters Centerline goodness [0,1] 0.7218221979976477 Centerline is valid? [False, False] Translation: X:2.93, Y:0.12, Z:-0.27 [[ 9.99980663e-01 1.96015440e-04 -6.21577710e-03 2.92818938e+00] [-2.13810314e-04 9.99995881e-01 -2.86232057e-03 1.16836847e-01] [ 6.21519043e-03 2.86359422e-03 9.99976585e-01 -2.67698648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.546547614999994 meters Centerline goodness [0,1] 0.7149145372434689 Centerline is valid? [False, False] Translation: X:2.93, Y:0.11, Z:-0.26 [[ 0.99996779 0.00370337 -0.00712125 2.92944838] [-0.00367388 0.99998464 0.00414934 0.11198392] [ 0.0071365 -0.00412304 0.99996603 -0.26244283] [ 0. 0. 0. 1. ]] SLAMing on 35.576547614999996 meters Centerline goodness [0,1] 0.7149145372434689 Centerline is valid? [False, False] Translation: X:2.93, Y:0.11, Z:-0.26 [[ 0.99996779 0.00370337 -0.00712125 2.92944838] [-0.00367388 0.99998464 0.00414934 0.11198392] [ 0.0071365 -0.00412304 0.99996603 -0.26244283] [ 0. 0. 0. 1. ]] SLAMing on 35.60654761499999 meters Centerline goodness [0,1] 0.7122335229558122 Centerline is valid? [False, False] Translation: X:2.93, Y:0.11, Z:-0.26 [[ 0.99996706 0.00385608 -0.00714275 2.92927813] [-0.00382277 0.99998178 0.00467151 0.11093761] [ 0.00716064 -0.00464405 0.99996358 -0.26187916] [ 0. 0. 0. 1. ]] SLAMing on 35.63654761499999 meters Centerline goodness [0,1] 0.7169463715132848 Centerline is valid? [False, False] Translation: X:2.93, Y:0.11, Z:-0.26 [[ 0.99996462 0.00358375 -0.00761027 2.93048283] [-0.00354283 0.99997923 0.0053838 0.10880279] [ 0.0076294 -0.00535664 0.99995655 -0.26125557] [ 0. 0. 0. 1. ]] SLAMing on 35.66654761499999 meters Centerline goodness [0,1] 0.7293196279980421 Centerline is valid? [False, False] Translation: X:2.93, Y:0.11, Z:-0.26 [[ 9.99964015e-01 2.58054571e-03 -8.08145148e-03 2.93281825e+00] [-2.53526502e-03 9.99981060e-01 5.60828040e-03 1.06271777e-01] [ 8.09577084e-03 -5.58758996e-03 9.99951617e-01 -2.61797616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.69654761499999 meters Centerline goodness [0,1] 0.7405579152795316 Centerline is valid? [False, False] Translation: X:2.94, Y:0.11, Z:-0.27 [[ 9.99961143e-01 6.56123570e-04 -8.79096429e-03 2.93728094e+00] [-6.25519877e-04 9.99993737e-01 3.48356433e-03 1.09744053e-01] [ 8.79319488e-03 -3.47793004e-03 9.99955291e-01 -2.65587472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.726547614999994 meters Centerline goodness [0,1] 0.724700418553982 Centerline is valid? [False, False] Translation: X:2.94, Y:0.11, Z:-0.27 [[ 0.99995162 0.00505859 -0.00843622 2.93666894] [-0.00501384 0.99997329 0.00531715 0.11481636] [ 0.00846289 -0.0052746 0.99995028 -0.26828235] [ 0. 0. 0. 1. ]] SLAMing on 35.756547614999995 meters Centerline goodness [0,1] 0.6930316898368016 Centerline is valid? [False, False] Translation: X:2.91, Y:0.11, Z:-0.26 [[ 9.99960478e-01 8.50027205e-03 -2.60550457e-03 2.91354654e+00] [-8.50412337e-03 9.99962758e-01 -1.47065017e-03 1.13155553e-01] [ 2.59290661e-03 1.49274958e-03 9.99995524e-01 -2.63650399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.786547614999996 meters Centerline goodness [0,1] 0.7017331372379387 Centerline is valid? [False, False] Translation: X:2.92, Y:0.11, Z:-0.26 [[ 9.99965560e-01 7.54862331e-03 -3.44928538e-03 2.91670103e+00] [-7.55460106e-03 9.99969979e-01 -1.72330985e-03 1.12132725e-01] [ 3.43617321e-03 1.74930848e-03 9.99992566e-01 -2.64850374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.81654761499999 meters Centerline goodness [0,1] 0.6999457096322542 Centerline is valid? [False, False] Translation: X:2.92, Y:0.11, Z:-0.27 [[ 9.99944959e-01 9.52268114e-03 -4.40433944e-03 2.92186666e+00] [-9.51681888e-03 9.99953803e-01 1.35006836e-03 1.14344837e-01] [ 4.41699224e-03 -1.30807875e-03 9.99989389e-01 -2.67369493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.84654761499999 meters Centerline goodness [0,1] 0.7085487077534791 Centerline is valid? [False, False] Translation: X:2.92, Y:0.12, Z:-0.28 [[ 9.99984855e-01 4.82506252e-03 2.64727892e-03 2.91963176e+00] [-4.84394665e-03 9.99962534e-01 7.17398845e-03 1.20542053e-01] [-2.61256479e-03 -7.18670308e-03 9.99970762e-01 -2.77934997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.87654761499999 meters Centerline goodness [0,1] 0.7025054869879999 Centerline is valid? [False, False] Translation: X:2.91, Y:0.12, Z:-0.27 [[ 0.99998939 0.00323743 0.00327791 2.91402237] [-0.00325504 0.99998022 0.00538265 0.11629487] [-0.00326042 -0.00539326 0.99998014 -0.27275671] [ 0. 0. 0. 1. ]] SLAMing on 35.906547614999994 meters Centerline goodness [0,1] 0.6979904416421949 Centerline is valid? [False, False] Translation: X:2.91, Y:0.11, Z:-0.27 [[ 9.99987668e-01 2.71361118e-03 4.15931821e-03 2.90672366e+00] [-2.72721855e-03 9.99990937e-01 3.26936584e-03 1.12059314e-01] [-4.15040872e-03 -3.28066890e-03 9.99986006e-01 -2.67955719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.936547614999995 meters Centerline goodness [0,1] 0.7042334756027224 Centerline is valid? [False, False] Translation: X:2.91, Y:0.11, Z:-0.27 [[ 9.99989711e-01 2.35101826e-03 3.87949245e-03 2.90790893e+00] [-2.36164644e-03 9.99993465e-01 2.73727645e-03 1.12527258e-01] [-3.87303171e-03 -2.74641027e-03 9.99988728e-01 -2.68925708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.966547614999996 meters Centerline goodness [0,1] 0.6991967871485945 Centerline is valid? [False, False] Translation: X:2.91, Y:0.12, Z:-0.27 [[ 9.99991990e-01 1.10975309e-03 3.84556145e-03 2.91046598e+00] [-1.11597357e-03 9.99998072e-01 1.61580490e-03 1.17285705e-01] [-3.84376089e-03 -1.62008350e-03 9.99991300e-01 -2.71824350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 35.99654761499999 meters Centerline goodness [0,1] 0.7156155985695635 Centerline is valid? [False, False] Translation: X:2.92, Y:0.12, Z:-0.28 [[ 9.99996657e-01 5.17917837e-04 2.53318722e-03 2.91914528e+00] [-5.27243411e-04 9.99993082e-01 3.68207880e-03 1.20770930e-01] [-2.53126268e-03 -3.68340210e-03 9.99990013e-01 -2.75708484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.02654761499999 meters Centerline goodness [0,1] 0.7106268572237159 Centerline is valid? [False, False] Translation: X:2.92, Y:0.12, Z:-0.28 [[ 9.99997487e-01 -1.65633177e-04 2.23570458e-03 2.92079770e+00] [ 1.60433740e-04 9.99997283e-01 2.32561606e-03 1.23607530e-01] [-2.23608370e-03 -2.32525154e-03 9.99994797e-01 -2.77544829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.05654761499999 meters Centerline goodness [0,1] 0.6984416398393208 Centerline is valid? [False, False] Translation: X:2.91, Y:0.12, Z:-0.27 [[ 9.99995330e-01 2.22530755e-04 3.04795915e-03 2.91231793e+00] [-2.22362828e-04 9.99999974e-01 -5.54335031e-05 1.17942437e-01] [-3.04797141e-03 5.47554914e-05 9.99995353e-01 -2.72626789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.08654761499999 meters Centerline goodness [0,1] 0.6939037983366201 Centerline is valid? [False, False] Translation: X:2.91, Y:0.12, Z:-0.27 [[ 9.99990734e-01 2.65073476e-03 3.39194466e-03 2.90803813e+00] [-2.65428460e-03 9.99995934e-01 1.04247532e-03 1.15986497e-01] [-3.38916754e-03 -1.05146884e-03 9.99993704e-01 -2.69639550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.116547614999995 meters Centerline goodness [0,1] 0.7003586473869976 Centerline is valid? [False, False] Translation: X:2.92, Y:0.12, Z:-0.28 [[ 9.99994235e-01 2.71530810e-03 2.03864517e-03 2.91676622e+00] [-2.71947805e-03 9.99994210e-01 2.04547523e-03 1.22452333e-01] [-2.03307927e-03 -2.05100749e-03 9.99995830e-01 -2.75491960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.146547614999996 meters Centerline goodness [0,1] 0.7057778529735217 Centerline is valid? [False, False] Translation: X:2.93, Y:0.13, Z:-0.28 [[ 9.99998955e-01 1.24146414e-03 7.40490890e-04 2.92732949e+00] [-1.24411017e-03 9.99992805e-01 3.58365023e-03 1.29382970e-01] [-7.36036589e-04 -3.58456774e-03 9.99993305e-01 -2.81115222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.17654761499999 meters Centerline goodness [0,1] 0.7123098591549295 Centerline is valid? [False, False] Translation: X:2.93, Y:0.13, Z:-0.28 [[ 9.99999688e-01 6.97973056e-04 3.71069736e-04 2.92834200e+00] [-6.99038333e-04 9.99995613e-01 2.87848977e-03 1.31082929e-01] [-3.69059000e-04 -2.87874826e-03 9.99995788e-01 -2.81435617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.20654761499999 meters Centerline goodness [0,1] 0.7032794249775383 Centerline is valid? [False, False] Translation: X:2.93, Y:0.13, Z:-0.28 [[ 9.99998629e-01 1.60060708e-03 4.24425221e-04 2.92580943e+00] [-1.60189741e-03 9.99994043e-01 3.05747179e-03 1.31541711e-01] [-4.19528882e-04 -3.05814749e-03 9.99995236e-01 -2.78613576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.23654761499999 meters Centerline goodness [0,1] 0.6766230491187761 Centerline is valid? [False, False] Translation: X:2.91, Y:0.13, Z:-0.27 [[ 9.99968545e-01 7.06077196e-03 3.61305385e-03 2.90908000e+00] [-7.06316631e-03 9.99974844e-01 6.50364150e-04 1.32511043e-01] [-3.60837089e-03 -6.75863293e-04 9.99993261e-01 -2.74182091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.26654761499999 meters Centerline goodness [0,1] 0.6695484842569094 Centerline is valid? [False, False] Translation: X:2.91, Y:0.14, Z:-0.28 [[ 0.99993491 0.01074535 0.00383673 2.90955549] [-0.01075826 0.99993649 0.00335797 0.13728921] [-0.0038004 -0.00339903 0.999987 -0.27607225] [ 0. 0. 0. 1. ]] SLAMing on 36.296547614999994 meters Centerline goodness [0,1] 0.6624086080838736 Centerline is valid? [False, False] Translation: X:2.91, Y:0.14, Z:-0.28 [[ 0.99989478 0.01402131 0.00371936 2.91113876] [-0.01404495 0.99988084 0.00640741 0.14334317] [-0.00362908 -0.00645898 0.99997256 -0.27756459] [ 0. 0. 0. 1. ]] SLAMing on 36.326547614999996 meters Centerline goodness [0,1] 0.6593439911797133 Centerline is valid? [False, False] Translation: X:2.91, Y:0.15, Z:-0.28 [[ 0.99990509 0.01338976 0.00324485 2.91270137] [-0.01340698 0.99989584 0.005344 0.14624147] [-0.00317296 -0.005387 0.99998046 -0.27860422] [ 0. 0. 0. 1. ]] SLAMing on 36.35654761499999 meters Centerline goodness [0,1] 0.674289024356605 Centerline is valid? [False, False] Translation: X:2.91, Y:0.15, Z:-0.28 [[ 9.99949814e-01 9.59189475e-03 2.89238749e-03 2.91278419e+00] [-9.59450162e-03 9.99953577e-01 8.88764291e-04 1.45542640e-01] [-2.88372828e-03 -9.16470703e-04 9.99995422e-01 -2.78614379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.38654761499999 meters Centerline goodness [0,1] 0.6738589211618258 Centerline is valid? [False, False] Translation: X:2.91, Y:0.15, Z:-0.28 [[ 9.99978536e-01 5.92932441e-03 2.78743413e-03 2.91195984e+00] [-5.91974310e-03 9.99976585e-01 -3.43309885e-03 1.45942419e-01] [-2.80772481e-03 3.41652426e-03 9.99990222e-01 -2.77887997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.41654761499999 meters Centerline goodness [0,1] 0.6753297022311924 Centerline is valid? [False, False] Translation: X:2.91, Y:0.15, Z:-0.28 [[ 9.99981485e-01 5.41245148e-03 2.78127315e-03 2.91217858e+00] [-5.40175601e-03 9.99978042e-01 -3.83875918e-03 1.48241958e-01] [-2.80198918e-03 3.82366435e-03 9.99988764e-01 -2.77825924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.44654761499999 meters Centerline goodness [0,1] 0.6786048302800243 Centerline is valid? [False, False] Translation: X:2.91, Y:0.15, Z:-0.28 [[ 9.99986080e-01 4.58885034e-03 2.60410903e-03 2.91365979e+00] [-4.57726201e-03 9.99979673e-01 -4.43866546e-03 1.50854559e-01] [-2.62442447e-03 4.42668398e-03 9.99986758e-01 -2.78923577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.476547614999994 meters Centerline goodness [0,1] 0.6780301992272066 Centerline is valid? [False, False] Translation: X:2.92, Y:0.15, Z:-0.28 [[ 9.99989960e-01 3.91121950e-03 2.18666670e-03 2.91508656e+00] [-3.89945735e-03 9.99978045e-01 -5.35766551e-03 1.54349103e-01] [-2.20757370e-03 5.34908491e-03 9.99983257e-01 -2.79627012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.506547614999995 meters Centerline goodness [0,1] 0.6802916120576671 Centerline is valid? [False, False] Translation: X:2.92, Y:0.16, Z:-0.28 [[ 9.99993980e-01 3.18879786e-03 1.36780388e-03 2.91678111e+00] [-3.18042137e-03 9.99976440e-01 -6.08311224e-03 1.56392620e-01] [-1.38716947e-03 6.07872543e-03 9.99980562e-01 -2.79307101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.53654761499999 meters Centerline goodness [0,1] 0.6878655572946701 Centerline is valid? [False, False] Translation: X:2.92, Y:0.15, Z:-0.28 [[ 9.99994073e-01 3.26660096e-03 1.08822679e-03 2.91621919e+00] [-3.26086046e-03 9.99980977e-01 -5.23575199e-03 1.52438455e-01] [-1.10530920e-03 5.23217240e-03 9.99985701e-01 -2.76916769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.56654761499999 meters Centerline goodness [0,1] 0.6906605172129797 Centerline is valid? [False, False] Translation: X:2.92, Y:0.15, Z:-0.28 [[ 9.99995356e-01 2.93646677e-03 8.15049136e-04 2.91688805e+00] [-2.93202805e-03 9.99981150e-01 -5.39474180e-03 1.53170022e-01] [-8.30875252e-04 5.39232700e-03 9.99985116e-01 -2.76808958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.59654761499999 meters Centerline goodness [0,1] 0.7033336086106752 Centerline is valid? [False, False] Translation: X:2.92, Y:0.16, Z:-0.28 [[ 9.99999945e-01 6.55126571e-06 -3.30674550e-04 2.92366388e+00] [-8.88961173e-06 9.99974994e-01 -7.07193631e-03 1.55095006e-01] [ 3.30619950e-04 7.07193886e-03 9.99974939e-01 -2.81209897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.62654761499999 meters Centerline goodness [0,1] 0.7131029915001657 Centerline is valid? [False, False] Translation: X:2.93, Y:0.15, Z:-0.28 [[ 9.99997956e-01 -1.46317529e-03 -1.39551852e-03 2.92817846e+00] [ 1.45253365e-03 9.99970092e-01 -7.59635544e-03 1.54992248e-01] [ 1.40659159e-03 7.59431287e-03 9.99970174e-01 -2.83448076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.656547614999994 meters Centerline goodness [0,1] 0.7232593409623604 Centerline is valid? [False, False] Translation: X:2.93, Y:0.15, Z:-0.28 [[ 9.99996623e-01 -1.81378348e-03 -1.86143290e-03 2.92917862e+00] [ 1.80019816e-03 9.99971922e-01 -7.27421823e-03 1.54574445e-01] [ 1.87457449e-03 7.27084272e-03 9.99971810e-01 -2.82791022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.686547614999995 meters Centerline goodness [0,1] 0.7286648456253622 Centerline is valid? [False, False] Translation: X:2.93, Y:0.15, Z:-0.28 [[ 9.99996730e-01 -1.52220133e-03 -2.05487792e-03 2.92786467e+00] [ 1.50951804e-03 9.99979889e-01 -6.15978817e-03 1.53175607e-01] [ 2.06421304e-03 6.15666615e-03 9.99978917e-01 -2.79446152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.716547614999996 meters Centerline goodness [0,1] 0.7195447907194621 Centerline is valid? [False, False] Translation: X:2.93, Y:0.15, Z:-0.28 [[ 9.99996654e-01 -1.22705004e-03 -2.27719072e-03 2.92642504e+00] [ 1.21660013e-03 9.99988750e-01 -4.58467280e-03 1.50583923e-01] [ 2.28279073e-03 4.58188703e-03 9.99986898e-01 -2.75282369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.74654761499999 meters Centerline goodness [0,1] 0.7324427585827767 Centerline is valid? [False, False] Translation: X:2.93, Y:0.15, Z:-0.27 [[ 9.99993433e-01 -2.15197265e-03 -2.91614895e-03 2.92818233e+00] [ 2.14102605e-03 9.99990670e-01 -3.75172312e-03 1.47230890e-01] [ 2.92419535e-03 3.74545493e-03 9.99988710e-01 -2.73930204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.77654761499999 meters Centerline goodness [0,1] 0.7465220725161573 Centerline is valid? [False, False] Translation: X:2.93, Y:0.15, Z:-0.27 [[ 0.99999012 -0.00298684 -0.00329117 2.92938908] [ 0.00297586 0.99999001 -0.003335 0.14837084] [ 0.0033011 0.00332517 0.99998902 -0.27304197] [ 0. 0. 0. 1. ]] SLAMing on 36.80654761499999 meters Centerline goodness [0,1] 0.7787951675504291 Centerline is valid? [False, False] Translation: X:2.93, Y:0.15, Z:-0.27 [[ 9.99980639e-01 -4.88983836e-03 -3.84857487e-03 2.93164704e+00] [ 4.87957770e-03 9.99984528e-01 -2.67098517e-03 1.49696202e-01] [ 3.86157601e-03 2.65215403e-03 9.99989027e-01 -2.71333968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.83654761499999 meters Centerline goodness [0,1] 0.79981301215421 Centerline is valid? [False, False] Translation: X:2.93, Y:0.15, Z:-0.27 [[ 0.99994438 -0.00964774 -0.00426148 2.93244596] [ 0.0096237 0.99993786 -0.00562616 0.14694828] [ 0.00431549 0.00558484 0.99997509 -0.26930456] [ 0. 0. 0. 1. ]] SLAMing on 36.866547614999995 meters Centerline goodness [0,1] 0.8078903174297277 Centerline is valid? [False, False] Translation: X:2.93, Y:0.15, Z:-0.27 [[ 0.99988929 -0.01414438 -0.00462031 2.93282891] [ 0.0141015 0.9998584 -0.00918331 0.14528996] [ 0.00474955 0.00911714 0.99994716 -0.26768911] [ 0. 0. 0. 1. ]] SLAMing on 36.896547614999996 meters Centerline goodness [0,1] 0.810592928876049 Centerline is valid? [False, False] Translation: X:2.94, Y:0.15, Z:-0.27 [[ 0.99985628 -0.01602965 -0.00552039 2.93556208] [ 0.01597479 0.99982395 -0.0098428 0.14742524] [ 0.00567719 0.00975319 0.99993632 -0.26703556] [ 0. 0. 0. 1. ]] SLAMing on 36.92654761499999 meters Centerline goodness [0,1] 0.8083554922009923 Centerline is valid? [False, False] Translation: X:2.94, Y:0.15, Z:-0.27 [[ 0.99983831 -0.01689858 -0.00614832 2.93650066] [ 0.01683871 0.99981153 -0.00966251 0.14793105] [ 0.00631044 0.00955742 0.99993441 -0.26516299] [ 0. 0. 0. 1. ]] SLAMing on 36.95654761499999 meters Centerline goodness [0,1] 0.8124862546734111 Centerline is valid? [False, False] Translation: X:2.94, Y:0.15, Z:-0.26 [[ 0.999837 -0.01692295 -0.00629144 2.93623088] [ 0.01686602 0.9998173 -0.00899429 0.14657259] [ 0.0064425 0.00888672 0.99993976 -0.26363634] [ 0. 0. 0. 1. ]] SLAMing on 36.98654761499999 meters Centerline goodness [0,1] 0.8078388677191073 Centerline is valid? [False, False] Translation: X:2.94, Y:0.15, Z:-0.27 [[ 0.99989091 -0.01249989 -0.00786895 2.94386728] [ 0.01247469 0.99991693 -0.00324327 0.15176646] [ 0.00790884 0.00314476 0.99996378 -0.26728633] [ 0. 0. 0. 1. ]] SLAMing on 37.01654761499999 meters Centerline goodness [0,1] 0.8036819723313775 Centerline is valid? [False, False] Translation: X:2.95, Y:0.16, Z:-0.27 [[ 9.99931415e-01 -6.93538885e-03 -9.43749505e-03 2.95025638e+00] [ 6.95171507e-03 9.99974395e-01 1.69822874e-03 1.58405896e-01] [ 9.42547552e-03 -1.76371905e-03 9.99954024e-01 -2.71587338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.046547614999994 meters Centerline goodness [0,1] 0.7882126430634293 Centerline is valid? [False, False] Translation: X:2.94, Y:0.16, Z:-0.27 [[ 9.99979830e-01 1.12545093e-03 -6.25083405e-03 2.93666941e+00] [-1.12435943e-03 9.99999352e-01 1.78128221e-04 1.63991779e-01] [ 6.25103047e-03 -1.71096443e-04 9.99980447e-01 -2.71067143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.076547614999996 meters Centerline goodness [0,1] 0.7820342053385902 Centerline is valid? [False, False] Translation: X:2.93, Y:0.17, Z:-0.27 [[ 9.99979803e-01 1.92010968e-03 -6.05864314e-03 2.93461231e+00] [-1.92163445e-03 9.99998123e-01 -2.45858124e-04 1.67128385e-01] [ 6.05815970e-03 2.57495655e-04 9.99981616e-01 -2.69754869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.10654761499999 meters Centerline goodness [0,1] 0.7755752958852835 Centerline is valid? [False, False] Translation: X:2.93, Y:0.18, Z:-0.27 [[ 0.99993678 0.00939286 -0.00618144 2.93392688] [-0.00935322 0.99993571 0.00641082 0.17679975] [ 0.00624126 -0.0063526 0.99996034 -0.26824001] [ 0. 0. 0. 1. ]] SLAMing on 37.13654761499999 meters Centerline goodness [0,1] 0.7610396429509058 Centerline is valid? [False, False] Translation: X:2.93, Y:0.18, Z:-0.27 [[ 0.99992981 0.00993868 -0.00644919 2.93452219] [-0.0099076 0.99993924 0.00483317 0.18327168] [ 0.00649684 -0.00476893 0.99996752 -0.27021575] [ 0. 0. 0. 1. ]] SLAMing on 37.16654761499999 meters Centerline goodness [0,1] 0.7576963350785341 Centerline is valid? [False, False] Translation: X:2.94, Y:0.19, Z:-0.27 [[ 9.99934072e-01 9.11385086e-03 -6.98493696e-03 2.93730967e+00] [-9.09965358e-03 9.99956472e-01 2.06165059e-03 1.88086905e-01] [ 7.00342249e-03 -1.99795416e-03 9.99973480e-01 -2.74227095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.19654761499999 meters Centerline goodness [0,1] 0.7362427851341116 Centerline is valid? [False, False] Translation: X:2.94, Y:0.19, Z:-0.28 [[ 9.99927796e-01 9.86913341e-03 -6.85592136e-03 2.93662227e+00] [-9.86691538e-03 9.99951257e-01 3.57269509e-04 1.93392682e-01] [ 6.85911312e-03 -2.89596917e-04 9.99976434e-01 -2.75766430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.226547614999994 meters Centerline goodness [0,1] 0.7106972152950957 Centerline is valid? [False, False] Translation: X:2.93, Y:0.20, Z:-0.27 [[ 0.99987105 0.01465327 -0.0065695 2.93445009] [-0.01462628 0.99988447 0.00413793 0.19654709] [ 0.00662938 -0.0040413 0.99996986 -0.27386438] [ 0. 0. 0. 1. ]] SLAMing on 37.256547614999995 meters Centerline goodness [0,1] 0.6787706611570248 Centerline is valid? [False, False] Translation: X:2.93, Y:0.20, Z:-0.27 [[ 0.99978374 0.01986716 -0.00614485 2.93181103] [-0.01981552 0.99976875 0.00835414 0.19783503] [ 0.0063094 -0.00823057 0.99994622 -0.27183265] [ 0. 0. 0. 1. ]] SLAMing on 37.28654761499999 meters Centerline goodness [0,1] 0.6804306947270806 Centerline is valid? [False, False] Translation: X:2.93, Y:0.20, Z:-0.27 [[ 0.99976833 0.02062689 -0.00614945 2.93142297] [-0.02057887 0.99975802 0.00777241 0.19937794] [ 0.00630828 -0.00764406 0.99995089 -0.27248754] [ 0. 0. 0. 1. ]] SLAMing on 37.31654761499999 meters Centerline goodness [0,1] 0.6744455606212811 Centerline is valid? [False, False] Translation: X:2.93, Y:0.20, Z:-0.27 [[ 0.99976957 0.02060588 -0.0060171 2.93115851] [-0.02055985 0.99975962 0.00761541 0.20044165] [ 0.00617258 -0.00748994 0.9999529 -0.27256425] [ 0. 0. 0. 1. ]] SLAMing on 37.34654761499999 meters Centerline goodness [0,1] 0.6939228229467602 Centerline is valid? [False, False] Translation: X:2.93, Y:0.20, Z:-0.27 [[ 9.99858790e-01 1.56569620e-02 -6.10412475e-03 2.93268643e+00] [-1.56408031e-02 9.99874067e-01 2.68601766e-03 2.03113181e-01] [ 6.14541092e-03 -2.59016495e-03 9.99977762e-01 -2.74527818e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.37654761499999 meters Centerline goodness [0,1] 0.7124646260092946 Centerline is valid? [False, False] Translation: X:2.93, Y:0.20, Z:-0.28 [[ 9.99923670e-01 1.04018963e-02 -6.66739436e-03 2.93493017e+00] [-1.04138154e-02 9.99944234e-01 -1.75545017e-03 2.02031362e-01] [ 6.64876254e-03 1.82474919e-03 9.99976232e-01 -2.75557725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.406547614999994 meters Centerline goodness [0,1] 0.7127209034821709 Centerline is valid? [False, False] Translation: X:2.93, Y:0.20, Z:-0.27 [[ 0.99995456 0.00660155 -0.00687714 2.93434478] [-0.00663327 0.99996742 -0.00459999 0.1975423 ] [ 0.00684655 0.00464539 0.99996577 -0.27364282] [ 0. 0. 0. 1. ]] SLAMing on 37.436547614999995 meters Centerline goodness [0,1] 0.7340736869610661 Centerline is valid? [False, False] Translation: X:2.94, Y:0.20, Z:-0.27 [[ 0.99995338 0.00593288 -0.00761858 2.93605015] [-0.00596817 0.99997153 -0.00461779 0.19704228] [ 0.00759097 0.00466305 0.99996032 -0.27327754] [ 0. 0. 0. 1. ]] SLAMing on 37.466547614999996 meters Centerline goodness [0,1] 0.7340736869610661 Centerline is valid? [False, False] Translation: X:2.94, Y:0.20, Z:-0.27 [[ 0.99995338 0.00593288 -0.00761858 2.93605015] [-0.00596817 0.99997153 -0.00461779 0.19704228] [ 0.00759097 0.00466305 0.99996032 -0.27327754] [ 0. 0. 0. 1. ]] SLAMing on 37.49654761499999 meters Centerline goodness [0,1] 0.7300639211987845 Centerline is valid? [False, False] Translation: X:2.94, Y:0.20, Z:-0.27 [[ 0.99995148 0.00545091 -0.00820478 2.93831551] [-0.00548925 0.99997409 -0.00465797 0.19591444] [ 0.00817917 0.00470278 0.99995549 -0.27443509] [ 0. 0. 0. 1. ]] SLAMing on 37.52654761499999 meters Centerline goodness [0,1] 0.7287525927481817 Centerline is valid? [False, False] Translation: X:2.94, Y:0.19, Z:-0.27 [[ 0.99995166 0.00566214 -0.00803875 2.93814074] [-0.00569667 0.99997462 -0.00427907 0.19436562] [ 0.00801432 0.00432466 0.99995853 -0.27462913] [ 0. 0. 0. 1. ]] SLAMing on 37.55654761499999 meters Centerline goodness [0,1] 0.7367646285684244 Centerline is valid? [False, False] Translation: X:2.94, Y:0.19, Z:-0.27 [[ 0.99995329 0.00567771 -0.00782239 2.93801873] [-0.00570461 0.99997788 -0.00342004 0.19193798] [ 0.0078028 0.0034645 0.99996356 -0.27446313] [ 0. 0. 0. 1. ]] SLAMing on 37.58654761499999 meters Centerline goodness [0,1] 0.7418303231064489 Centerline is valid? [False, False] Translation: X:2.94, Y:0.19, Z:-0.28 [[ 0.99995315 0.00473474 -0.00844285 2.94111431] [-0.00476837 0.99998076 -0.00396758 0.19217452] [ 0.0084239 0.00400765 0.99995649 -0.27651024] [ 0. 0. 0. 1. ]] SLAMing on 37.616547614999995 meters Centerline goodness [0,1] 0.734906957073377 Centerline is valid? [False, False] Translation: X:2.94, Y:0.19, Z:-0.28 [[ 0.99995193 0.00512505 -0.00835944 2.94225314] [-0.00516274 0.99997658 -0.00449352 0.190351 ] [ 0.00833621 0.00453647 0.99995496 -0.27936061] [ 0. 0. 0. 1. ]] SLAMing on 37.646547614999996 meters Centerline goodness [0,1] 0.7272033072649235 Centerline is valid? [False, False] Translation: X:2.94, Y:0.19, Z:-0.28 [[ 0.99994877 0.00578932 -0.00830318 2.94177746] [-0.00583077 0.99997062 -0.00497643 0.19381812] [ 0.00827413 0.00502459 0.99995315 -0.27985613] [ 0. 0. 0. 1. ]] SLAMing on 37.67654761499999 meters Centerline goodness [0,1] 0.7229246403589811 Centerline is valid? [False, False] Translation: X:2.94, Y:0.19, Z:-0.28 [[ 0.99994493 0.0068118 -0.00798404 2.93868084] [-0.00683881 0.99997097 -0.00336026 0.19128881] [ 0.00796092 0.00341468 0.99996248 -0.27598303] [ 0. 0. 0. 1. ]] SLAMing on 37.70654761499999 meters Centerline goodness [0,1] 0.7205886245136701 Centerline is valid? [False, False] Translation: X:2.94, Y:0.19, Z:-0.27 [[ 9.99942826e-01 6.38842007e-03 -8.57515424e-03 2.93969596e+00] [-6.40929364e-03 9.99976559e-01 -2.40892204e-03 1.86063100e-01] [ 8.55956402e-03 2.46374499e-03 9.99960331e-01 -2.74551772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.73654761499999 meters Centerline goodness [0,1] 0.7422471310381639 Centerline is valid? [False, False] Translation: X:2.94, Y:0.18, Z:-0.28 [[ 9.99961287e-01 2.64943263e-03 -8.39081925e-03 2.93982046e+00] [-2.69560819e-03 9.99981260e-01 -5.49658526e-03 1.82117340e-01] [ 8.37609917e-03 5.51899083e-03 9.99949690e-01 -2.75178062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.76654761499999 meters Centerline goodness [0,1] 0.7588136541689983 Centerline is valid? [False, False] Translation: X:2.94, Y:0.18, Z:-0.28 [[ 9.99960922e-01 1.66033224e-03 -8.68324339e-03 2.94203783e+00] [-1.69604785e-03 9.99990126e-01 -4.10741946e-03 1.78454161e-01] [ 8.67633797e-03 4.12198615e-03 9.99953864e-01 -2.75256281e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.796547614999994 meters Centerline goodness [0,1] 0.7678595113669523 Centerline is valid? [False, False] Translation: X:2.95, Y:0.18, Z:-0.28 [[ 9.99956486e-01 2.65483138e-03 -8.94300955e-03 2.94543878e+00] [-2.65721559e-03 9.99996437e-01 -2.54729444e-04 1.76748763e-01] [ 8.94230142e-03 2.78481865e-04 9.99959978e-01 -2.75718675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.826547614999996 meters Centerline goodness [0,1] 0.7569461093795786 Centerline is valid? [False, False] Translation: X:2.95, Y:0.18, Z:-0.28 [[ 9.99953986e-01 3.16683094e-03 -9.05524445e-03 2.94522034e+00] [-3.16756342e-03 9.99994981e-01 -6.65491792e-05 1.75636043e-01] [ 9.05498825e-03 9.52291780e-05 9.99958998e-01 -2.75462527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.85654761499999 meters Centerline goodness [0,1] 0.7381477694667169 Centerline is valid? [False, False] Translation: X:2.94, Y:0.17, Z:-0.27 [[ 9.99967408e-01 2.62640638e-03 -7.63440312e-03 2.93855230e+00] [-2.65143991e-03 9.99991136e-01 -3.27077320e-03 1.71855407e-01] [ 7.62574506e-03 3.29090876e-03 9.99965508e-01 -2.73898957e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.88654761499999 meters Centerline goodness [0,1] 0.72035127296165 Centerline is valid? [False, False] Translation: X:2.94, Y:0.17, Z:-0.27 [[ 9.99964017e-01 4.14135217e-03 -7.40364081e-03 2.93591274e+00] [-4.15395675e-03 9.99989948e-01 -1.68791840e-03 1.68045861e-01] [ 7.39657612e-03 1.71861207e-03 9.99971168e-01 -2.71121851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.91654761499999 meters Centerline goodness [0,1] 0.716283958602846 Centerline is valid? [False, False] Translation: X:2.94, Y:0.17, Z:-0.27 [[ 9.99964668e-01 4.46036821e-03 -7.12521362e-03 2.93631253e+00] [-4.47464240e-03 9.99988011e-01 -1.98865084e-03 1.69579078e-01] [ 7.11625809e-03 2.02046336e-03 9.99972638e-01 -2.73089687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.94654761499999 meters Centerline goodness [0,1] 0.7283584503814736 Centerline is valid? [False, False] Translation: X:2.94, Y:0.17, Z:-0.28 [[ 9.99966026e-01 4.00548038e-03 -7.20433577e-03 2.94208555e+00] [-4.00873815e-03 9.99991869e-01 -4.37813463e-04 1.68871300e-01] [ 7.20252354e-03 4.66678884e-04 9.99973953e-01 -2.77912210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.976547614999994 meters Centerline goodness [0,1] 0.7606858443035918 Centerline is valid? [False, False] Translation: X:2.95, Y:0.17, Z:-0.28 [[ 9.99972996e-01 -3.22576681e-05 -7.34885656e-03 2.94679541e+00] [ 1.50102172e-05 9.99997246e-01 -2.34700015e-03 1.66386195e-01] [ 7.34891203e-03 2.34682646e-03 9.99970243e-01 -2.81332591e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.006547614999995 meters Centerline goodness [0,1] 0.7775439938791124 Centerline is valid? [False, False] Translation: X:2.95, Y:0.16, Z:-0.28 [[ 0.99993744 -0.00810021 -0.00771421 2.94735785] [ 0.00802777 0.99992382 -0.00937556 0.16117338] [ 0.00778956 0.00931305 0.99992629 -0.28044139] [ 0. 0. 0. 1. ]] SLAMing on 38.03654761499999 meters Centerline goodness [0,1] 0.8017163381131248 Centerline is valid? [False, False] Translation: X:2.95, Y:0.16, Z:-0.28 [[ 0.99989075 -0.01231536 -0.00817391 2.9474395 ] [ 0.01221865 0.99985598 -0.01177797 0.15640124] [ 0.00831778 0.01167681 0.99989723 -0.27739813] [ 0. 0. 0. 1. ]] SLAMing on 38.06654761499999 meters Centerline goodness [0,1] 0.8035005067243693 Centerline is valid? [False, False] Translation: X:2.95, Y:0.16, Z:-0.28 [[ 0.99991102 -0.00997237 -0.00886058 2.95078903] [ 0.00990123 0.99991868 -0.0080369 0.15542505] [ 0.00894001 0.00794846 0.99992845 -0.27839171] [ 0. 0. 0. 1. ]] SLAMing on 38.09654761499999 meters Centerline goodness [0,1] 0.8107289107289107 Centerline is valid? [False, False] Translation: X:2.96, Y:0.16, Z:-0.28 [[ 0.99991757 -0.0086392 -0.00949792 2.95525931] [ 0.00859254 0.99995087 -0.0049423 0.15717004] [ 0.00954015 0.00486028 0.99994268 -0.28029297] [ 0. 0. 0. 1. ]] SLAMing on 38.12654761499999 meters Centerline goodness [0,1] 0.8156271418779986 Centerline is valid? [False, False] Translation: X:2.96, Y:0.15, Z:-0.28 [[ 0.99990306 -0.00959115 -0.01009405 2.95712477] [ 0.00954556 0.99994407 -0.00455498 0.15441298] [ 0.01013717 0.00445818 0.99993868 -0.27971772] [ 0. 0. 0. 1. ]] SLAMing on 38.156547614999994 meters Centerline goodness [0,1] 0.8174774824102718 Centerline is valid? [False, False] Translation: X:2.96, Y:0.15, Z:-0.28 [[ 9.99922092e-01 -6.45935899e-03 -1.06811615e-02 2.95805128e+00] [ 6.46257565e-03 9.99979082e-01 2.66665440e-04 1.53065016e-01] [ 1.06792156e-02 -3.35672479e-04 9.99942919e-01 -2.77240865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.186547614999995 meters Centerline goodness [0,1] 0.8154821851438526 Centerline is valid? [False, False] Translation: X:2.96, Y:0.15, Z:-0.28 [[ 0.99993108 -0.00303843 -0.01134059 2.95889198] [ 0.00308886 0.99998541 0.00443159 0.15422396] [ 0.01132696 -0.00446632 0.99992587 -0.27549227] [ 0. 0. 0. 1. ]] SLAMing on 38.21654761499999 meters Centerline goodness [0,1] 0.8139768046824193 Centerline is valid? [False, False] Translation: X:2.96, Y:0.16, Z:-0.28 [[ 9.99934677e-01 -2.30320380e-03 -1.11954267e-02 2.95753500e+00] [ 2.33977867e-03 9.99991965e-01 3.25494833e-03 1.59962003e-01] [ 1.11878399e-02 -3.28093053e-03 9.99932032e-01 -2.75849705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.24654761499999 meters Centerline goodness [0,1] 0.7966174612137344 Centerline is valid? [False, False] Translation: X:2.96, Y:0.17, Z:-0.28 [[ 9.99932709e-01 2.14312204e-03 -1.14010614e-02 2.95742952e+00] [-2.08013050e-03 9.99982524e-01 5.53405093e-03 1.65166260e-01] [ 1.14127223e-02 -5.50996284e-03 9.99919692e-01 -2.76991376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.27654761499999 meters Centerline goodness [0,1] 0.7727663461021866 Centerline is valid? [False, False] Translation: X:2.96, Y:0.17, Z:-0.28 [[ 0.99991039 0.00608512 -0.01192393 2.95887099] [-0.0059969 0.99995448 0.00742098 0.16974726] [ 0.01196855 -0.00734881 0.99990137 -0.27921958] [ 0. 0. 0. 1. ]] SLAMing on 38.30654761499999 meters Centerline goodness [0,1] 0.7598079743965862 Centerline is valid? [False, False] Translation: X:2.96, Y:0.17, Z:-0.28 [[ 0.99988212 0.00966902 -0.01192698 2.95936609] [-0.00954455 0.99989985 0.010449 0.17349769] [ 0.01202682 -0.01033393 0.99987427 -0.27996325] [ 0. 0. 0. 1. ]] SLAMing on 38.33654761499999 meters Centerline goodness [0,1] 0.767970303592735 Centerline is valid? [False, False] Translation: X:2.96, Y:0.18, Z:-0.28 [[ 0.99988805 0.00932353 -0.01170289 2.95890575] [-0.00921099 0.99991117 0.00963376 0.17775388] [ 0.01179167 -0.00952488 0.99988511 -0.28016797] [ 0. 0. 0. 1. ]] SLAMing on 38.366547614999995 meters Centerline goodness [0,1] 0.773519719357925 Centerline is valid? [False, False] Translation: X:2.96, Y:0.18, Z:-0.28 [[ 0.9999181 0.00543813 -0.01158575 2.95766211] [-0.00537384 0.99997003 0.00557255 0.17749212] [ 0.01161571 -0.00550983 0.99991736 -0.27909558] [ 0. 0. 0. 1. ]] SLAMing on 38.396547614999996 meters Centerline goodness [0,1] 0.7928938881040595 Centerline is valid? [False, False] Translation: X:2.96, Y:0.18, Z:-0.28 [[ 9.99934415e-01 2.16487393e-03 -1.12463128e-02 2.95537169e+00] [-2.15066800e-03 9.99996874e-01 1.27510345e-03 1.79254776e-01] [ 1.12490380e-02 -1.25083274e-03 9.99935945e-01 -2.77976128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.42654761499999 meters Centerline goodness [0,1] 0.7853168715557439 Centerline is valid? [False, False] Translation: X:2.96, Y:0.18, Z:-0.28 [[ 9.99935238e-01 1.83628116e-03 -1.12315133e-02 2.95513874e+00] [-1.83104588e-03 9.99998210e-01 4.76390257e-04 1.82819791e-01] [ 1.12323680e-02 -4.55793989e-04 9.99936811e-01 -2.77883183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.45654761499999 meters Centerline goodness [0,1] 0.7832616886907605 Centerline is valid? [False, False] Translation: X:2.96, Y:0.19, Z:-0.28 [[ 9.99937378e-01 1.67921366e-03 -1.10643693e-02 2.95528033e+00] [-1.68480104e-03 9.99998458e-01 -4.95687547e-04 1.85415735e-01] [ 1.10635199e-02 5.14297767e-04 9.99938665e-01 -2.79123010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.48654761499999 meters Centerline goodness [0,1] 0.7767423337315811 Centerline is valid? [False, False] Translation: X:2.95, Y:0.18, Z:-0.28 [[ 9.99938478e-01 2.37124378e-03 -1.08359124e-02 2.95473564e+00] [-2.37680438e-03 9.99997050e-01 -5.00314804e-04 1.84586409e-01] [ 1.08346941e-02 5.26038867e-04 9.99941165e-01 -2.79793684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.51654761499999 meters Centerline goodness [0,1] 0.767209905285994 Centerline is valid? [False, False] Translation: X:2.96, Y:0.19, Z:-0.28 [[ 9.99938531e-01 2.41953532e-03 -1.08203483e-02 2.95520842e+00] [-2.43621648e-03 9.99995864e-01 -1.52873239e-03 1.88381827e-01] [ 1.08166047e-02 1.55499913e-03 9.99940290e-01 -2.81288916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.546547614999994 meters Centerline goodness [0,1] 0.778653937443958 Centerline is valid? [False, False] Translation: X:2.96, Y:0.19, Z:-0.28 [[ 9.99918932e-01 5.26389925e-03 -1.15939816e-02 2.95715419e+00] [-5.24291868e-03 9.99984564e-01 1.83926081e-03 1.91878037e-01] [ 1.16034843e-02 -1.77832540e-03 9.99931096e-01 -2.80756735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.576547614999996 meters Centerline goodness [0,1] 0.7807015228694344 Centerline is valid? [False, False] Translation: X:2.96, Y:0.19, Z:-0.28 [[ 9.99914977e-01 4.64439318e-03 -1.21847708e-02 2.95804064e+00] [-4.61640080e-03 9.99986643e-01 2.32444689e-03 1.89718172e-01] [ 1.21954037e-02 -2.26799947e-03 9.99923061e-01 -2.79199457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.60654761499999 meters Centerline goodness [0,1] 0.7965591056846111 Centerline is valid? [False, False] Translation: X:2.96, Y:0.18, Z:-0.28 [[ 9.99922677e-01 -3.33074312e-04 -1.24309485e-02 2.95917643e+00] [ 3.18928073e-04 9.99999299e-01 -1.13995053e-03 1.84185287e-01] [ 1.24313195e-02 1.13589781e-03 9.99922083e-01 -2.78676541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.63654761499999 meters Centerline goodness [0,1] 0.8042938628921517 Centerline is valid? [False, False] Translation: X:2.96, Y:0.19, Z:-0.29 [[ 0.99997383 -0.00372552 -0.00620221 2.95607129] [ 0.00374693 0.99998705 0.00344427 0.18941991] [ 0.0061893 -0.00346742 0.99997483 -0.28756415] [ 0. 0. 0. 1. ]] SLAMing on 38.66654761499999 meters Centerline goodness [0,1] 0.7959801907170329 Centerline is valid? [False, False] Translation: X:2.96, Y:0.19, Z:-0.29 [[ 9.99974971e-01 -3.30766161e-03 -6.25427321e-03 2.95651179e+00] [ 3.32047917e-03 9.99992406e-01 2.04013671e-03 1.93394597e-01] [ 6.24747763e-03 -2.06085283e-03 9.99978361e-01 -2.89734996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.69654761499999 meters Centerline goodness [0,1] 0.768080861816731 Centerline is valid? [False, False] Translation: X:2.95, Y:0.19, Z:-0.29 [[ 9.99989537e-01 -1.00599020e-03 -4.46259231e-03 2.94651600e+00] [ 1.00490226e-03 9.99999465e-01 -2.46026311e-04 1.90300273e-01] [ 4.46283742e-03 2.41539268e-04 9.99990012e-01 -2.87449442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.726547614999994 meters Centerline goodness [0,1] 0.7445656501313799 Centerline is valid? [False, False] Translation: X:2.95, Y:0.19, Z:-0.29 [[ 9.99989411e-01 -7.04876398e-05 -4.60134076e-03 2.94619929e+00] [ 6.68199145e-05 9.99999680e-01 -7.97248120e-04 1.92080033e-01] [ 4.60139549e-03 7.96932217e-04 9.99989096e-01 -2.88135347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.756547614999995 meters Centerline goodness [0,1] 0.7335840323980329 Centerline is valid? [False, False] Translation: X:2.95, Y:0.20, Z:-0.29 [[ 0.99997143 0.00472019 -0.00590431 2.95382614] [-0.00469226 0.99997778 0.00473503 0.19745781] [ 0.00592652 -0.00470719 0.99997136 -0.29320974] [ 0. 0. 0. 1. ]] SLAMing on 38.78654761499999 meters Centerline goodness [0,1] 0.7269347396176664 Centerline is valid? [False, False] Translation: X:2.95, Y:0.20, Z:-0.29 [[ 0.99997119 0.00518776 -0.00554127 2.95284256] [-0.00516247 0.99997624 0.00456883 0.19836683] [ 0.00556484 -0.00454009 0.99997421 -0.29348758] [ 0. 0. 0. 1. ]] SLAMing on 38.81654761499999 meters Centerline goodness [0,1] 0.7235573731311575 Centerline is valid? [False, False] Translation: X:2.95, Y:0.19, Z:-0.29 [[ 9.99982353e-01 3.42805165e-03 -4.85197553e-03 2.94841072e+00] [-3.41533904e-03 9.99990720e-01 2.62595442e-03 1.90706479e-01] [ 4.86093241e-03 -2.60933694e-03 9.99984781e-01 -2.90338086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.84654761499999 meters Centerline goodness [0,1] 0.7219514793214561 Centerline is valid? [False, False] Translation: X:2.95, Y:0.19, Z:-0.29 [[ 9.99980299e-01 3.47005379e-03 -5.23078103e-03 2.94943951e+00] [-3.45467215e-03 9.99989691e-01 2.94677400e-03 1.88628953e-01] [ 5.24095257e-03 -2.92864531e-03 9.99981978e-01 -2.90618328e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.87654761499999 meters Centerline goodness [0,1] 0.7105745965061554 Centerline is valid? [False, False] Translation: X:2.95, Y:0.19, Z:-0.29 [[ 0.99995636 0.00766301 -0.00534387 2.94942222] [-0.00762451 0.99994509 0.00718889 0.18966104] [ 0.00539866 -0.00714783 0.99995988 -0.29007633] [ 0. 0. 0. 1. ]] SLAMing on 38.906547614999994 meters Centerline goodness [0,1] 0.6908970099667774 Centerline is valid? [False, False] Translation: X:2.94, Y:0.19, Z:-0.29 [[ 0.99993586 0.01038445 -0.00452181 2.9446756 ] [-0.01034414 0.99990735 0.00884771 0.18749294] [ 0.00461327 -0.00880037 0.99995063 -0.28727672] [ 0. 0. 0. 1. ]] SLAMing on 38.936547614999995 meters Centerline goodness [0,1] 0.6850317960775931 Centerline is valid? [False, False] Translation: X:2.94, Y:0.19, Z:-0.29 [[ 0.99996034 0.00783746 -0.00422908 2.94377106] [-0.00781776 0.99995861 0.00465401 0.18706282] [ 0.00426538 -0.00462077 0.99998023 -0.28899976] [ 0. 0. 0. 1. ]] SLAMing on 38.96654761499999 meters Centerline goodness [0,1] 0.6912895533585188 Centerline is valid? [False, False] Translation: X:2.95, Y:0.18, Z:-0.29 [[ 0.99996356 0.0072061 -0.00457744 2.94587051] [-0.00718351 0.99996203 0.00493289 0.18414548] [ 0.00461281 -0.00489983 0.99997736 -0.29027954] [ 0. 0. 0. 1. ]] SLAMing on 38.99654761499999 meters Centerline goodness [0,1] 0.7131635969664138 Centerline is valid? [False, False] Translation: X:2.95, Y:0.18, Z:-0.29 [[ 9.99984865e-01 2.70276449e-03 -4.79213757e-03 2.94610890e+00] [-2.68563748e-03 9.99989997e-01 3.57682026e-03 1.77701871e-01] [ 4.80175694e-03 -3.56389619e-03 9.99982121e-01 -2.86995721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.02654761499999 meters Centerline goodness [0,1] 0.7193916349809886 Centerline is valid? [False, False] Translation: X:2.95, Y:0.18, Z:-0.29 [[ 9.99986250e-01 -1.58072323e-03 -5.00002367e-03 2.94732288e+00] [ 1.57632028e-03 9.99998367e-01 -8.84403953e-04 1.77585288e-01] [ 5.00141350e-03 8.76510154e-04 9.99987109e-01 -2.88400827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.05654761499999 meters Centerline goodness [0,1] 0.7294437644498843 Centerline is valid? [False, False] Translation: X:2.95, Y:0.17, Z:-0.29 [[ 0.99996432 -0.00646083 -0.00544138 2.94996509] [ 0.00643747 0.99997004 -0.00429911 0.17325467] [ 0.00546899 0.00426393 0.99997595 -0.28959929] [ 0. 0. 0. 1. ]] SLAMing on 39.08654761499999 meters Centerline goodness [0,1] 0.750535593220339 Centerline is valid? [False, False] Translation: X:2.95, Y:0.17, Z:-0.29 [[ 9.99972029e-01 -4.00438884e-03 -6.31717627e-03 2.95320663e+00] [ 4.00234700e-03 9.99991934e-01 -3.35829588e-04 1.73394905e-01] [ 6.31847010e-03 3.10536663e-04 9.99979990e-01 -2.89760097e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.116547614999995 meters Centerline goodness [0,1] 0.7371550125449984 Centerline is valid? [False, False] Translation: X:2.95, Y:0.17, Z:-0.29 [[ 9.99968422e-01 -3.99560002e-03 -6.86958268e-03 2.95400125e+00] [ 3.99663151e-03 9.99992004e-01 1.36431863e-04 1.68777584e-01] [ 6.86898262e-03 -1.63882746e-04 9.99976395e-01 -2.89002064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.146547614999996 meters Centerline goodness [0,1] 0.7391197038255861 Centerline is valid? [False, False] Translation: X:2.95, Y:0.16, Z:-0.29 [[ 9.99973858e-01 -2.79153325e-03 -6.67016575e-03 2.95289505e+00] [ 2.79884906e-03 9.99995492e-01 1.08771275e-03 1.64488389e-01] [ 6.66709929e-03 -1.10635310e-03 9.99977163e-01 -2.88693915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.17654761499999 meters Centerline goodness [0,1] 0.7205922676172196 Centerline is valid? [False, False] Translation: X:2.95, Y:0.17, Z:-0.29 [[ 9.99980761e-01 -1.37115696e-03 -6.04956706e-03 2.95078476e+00] [ 1.37903699e-03 9.99998206e-01 1.29859961e-03 1.67192458e-01] [ 6.04777562e-03 -1.30691720e-03 9.99980858e-01 -2.88951791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.20654761499999 meters Centerline goodness [0,1] 0.7188013136288998 Centerline is valid? [False, False] Translation: X:2.95, Y:0.17, Z:-0.29 [[ 9.99975684e-01 1.95678512e-03 -6.69349078e-03 2.95317184e+00] [-1.91952697e-03 9.99982655e-01 5.56822713e-03 1.66906316e-01] [ 6.70427051e-03 -5.55524339e-03 9.99962095e-01 -2.89428449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.23654761499999 meters Centerline goodness [0,1] 0.7173488742886989 Centerline is valid? [False, False] Translation: X:2.95, Y:0.17, Z:-0.29 [[ 9.99973616e-01 1.91019293e-03 -7.00842649e-03 2.95464087e+00] [-1.87116175e-03 9.99982728e-01 5.57151541e-03 1.65624948e-01] [ 7.01894811e-03 -5.55825452e-03 9.99959919e-01 -2.90670480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.26654761499999 meters Centerline goodness [0,1] 0.7101206342227474 Centerline is valid? [False, False] Translation: X:2.96, Y:0.16, Z:-0.29 [[ 9.99971074e-01 2.16144946e-03 -7.29246628e-03 2.95560819e+00] [-2.11875260e-03 9.99980600e-01 5.85758079e-03 1.62527597e-01] [ 7.30498567e-03 -5.84196042e-03 9.99956253e-01 -2.91369841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.296547614999994 meters Centerline goodness [0,1] 0.7074666445678296 Centerline is valid? [False, False] Translation: X:2.95, Y:0.16, Z:-0.29 [[ 9.99979519e-01 8.05365277e-04 -6.34932751e-03 2.95110282e+00] [-7.90554337e-04 9.99996962e-01 2.33484336e-03 1.61942562e-01] [ 6.35118862e-03 -2.32977605e-03 9.99977117e-01 -2.90667287e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.326547614999996 meters Centerline goodness [0,1] 0.6975607060968535 Centerline is valid? [False, False] Translation: X:2.95, Y:0.16, Z:-0.29 [[ 9.99980084e-01 2.95707017e-03 -5.57555039e-03 2.94666095e+00] [-2.93484431e-03 9.99987732e-01 3.99028445e-03 1.59714815e-01] [ 5.58728154e-03 -3.97384161e-03 9.99976495e-01 -2.87572925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.35654761499999 meters Centerline goodness [0,1] 0.6927837912850403 Centerline is valid? [False, False] Translation: X:2.95, Y:0.16, Z:-0.29 [[ 0.99997907 0.0042687 -0.00486234 2.94644418] [-0.00424812 0.99998201 0.00423421 0.15627666] [ 0.00488033 -0.00421346 0.99997921 -0.29083003] [ 0. 0. 0. 1. ]] SLAMing on 39.38654761499999 meters Centerline goodness [0,1] 0.6927837912850403 Centerline is valid? [False, False] Translation: X:2.95, Y:0.16, Z:-0.29 [[ 0.99997907 0.0042687 -0.00486234 2.94644418] [-0.00424812 0.99998201 0.00423421 0.15627666] [ 0.00488033 -0.00421346 0.99997921 -0.29083003] [ 0. 0. 0. 1. ]] SLAMing on 39.41654761499999 meters Centerline goodness [0,1] 0.6842817305833955 Centerline is valid? [False, False] Translation: X:2.95, Y:0.16, Z:-0.29 [[ 0.99996048 0.00725425 -0.00513935 2.95010461] [-0.00721715 0.99994803 0.00720026 0.15797053] [ 0.00519132 -0.00716288 0.99996087 -0.2948711 ] [ 0. 0. 0. 1. ]] SLAMing on 39.44654761499999 meters Centerline goodness [0,1] 0.6823487011726872 Centerline is valid? [False, False] Translation: X:2.95, Y:0.16, Z:-0.29 [[ 0.99997686 0.00511152 -0.00448869 2.94695275] [-0.00509355 0.99997901 0.00400464 0.15665845] [ 0.00450907 -0.00398168 0.99998191 -0.29406198] [ 0. 0. 0. 1. ]] SLAMing on 39.476547614999994 meters Centerline goodness [0,1] 0.6853631284916202 Centerline is valid? [False, False] Translation: X:2.94, Y:0.15, Z:-0.29 [[ 9.99986554e-01 3.60377250e-03 -3.72893729e-03 2.94192857e+00] [-3.59421739e-03 9.99990249e-01 2.56595665e-03 1.48267428e-01] [ 3.73814806e-03 -2.55251953e-03 9.99989755e-01 -2.90281744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.506547614999995 meters Centerline goodness [0,1] 0.6859296482412061 Centerline is valid? [False, False] Translation: X:2.94, Y:0.15, Z:-0.29 [[ 9.99986888e-01 2.88628942e-03 -4.22995287e-03 2.94389255e+00] [-2.87279875e-03 9.99990779e-01 3.19193280e-03 1.45243852e-01] [ 4.23912671e-03 -3.17973915e-03 9.99985959e-01 -2.90234736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.53654761499999 meters Centerline goodness [0,1] 0.6965975664713835 Centerline is valid? [False, False] Translation: X:2.95, Y:0.14, Z:-0.30 [[ 9.99987274e-01 -8.52989958e-04 -4.97231126e-03 2.95108919e+00] [ 8.57058212e-04 9.99999300e-01 8.16108379e-04 1.44501481e-01] [ 4.97161164e-03 -8.20359554e-04 9.99987305e-01 -2.95931220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.56654761499999 meters Centerline goodness [0,1] 0.7013433214114732 Centerline is valid? [False, False] Translation: X:2.96, Y:0.15, Z:-0.30 [[ 9.99979627e-01 -2.65601292e-03 -5.80449285e-03 2.95653514e+00] [ 2.65302755e-03 9.99996344e-01 -5.21960210e-04 1.45429698e-01] [ 5.80585797e-03 5.06550096e-04 9.99983018e-01 -3.00321353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.59654761499999 meters Centerline goodness [0,1] 0.6990419464501447 Centerline is valid? [False, False] Translation: X:2.96, Y:0.15, Z:-0.30 [[ 9.99977984e-01 -2.73477525e-03 -6.04580848e-03 2.95673853e+00] [ 2.73144381e-03 9.99996113e-01 -5.59221925e-04 1.46160394e-01] [ 6.04731433e-03 5.42695827e-04 9.99981568e-01 -2.99731075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.62654761499999 meters Centerline goodness [0,1] 0.7003552650277107 Centerline is valid? [False, False] Translation: X:2.95, Y:0.14, Z:-0.30 [[ 9.99978157e-01 -3.78386371e-03 -5.41926353e-03 2.95077576e+00] [ 3.77039163e-03 9.99989782e-01 -2.49402397e-03 1.37667589e-01] [ 5.42864521e-03 2.47353675e-03 9.99982206e-01 -2.95647212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.656547614999994 meters Centerline goodness [0,1] 0.7084573128862439 Centerline is valid? [False, False] Translation: X:2.95, Y:0.13, Z:-0.30 [[ 0.99995698 -0.00745055 -0.00552568 2.95095101] [ 0.00742117 0.99995831 -0.00531948 0.13324614] [ 0.00556509 0.00527824 0.99997058 -0.29508716] [ 0. 0. 0. 1. ]] SLAMing on 39.686547614999995 meters Centerline goodness [0,1] 0.7147157380587266 Centerline is valid? [False, False] Translation: X:2.96, Y:0.13, Z:-0.30 [[ 9.99944632e-01 -7.90211310e-03 -6.94905105e-03 2.95936569e+00] [ 7.89401478e-03 9.99968131e-01 -1.19204298e-03 1.34752992e-01] [ 6.95824925e-03 1.13712107e-03 9.99975145e-01 -2.96307672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.71654761499999 meters Centerline goodness [0,1] 0.7269929033545188 Centerline is valid? [False, False] Translation: X:2.96, Y:0.13, Z:-0.30 [[ 9.99925158e-01 -9.61387803e-03 -7.56653794e-03 2.96285201e+00] [ 9.60991360e-03 9.99953667e-01 -5.60126910e-04 1.33433040e-01] [ 7.57157235e-03 4.87371213e-04 9.99971216e-01 -2.96649269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.74654761499999 meters Centerline goodness [0,1] 0.7268632035125735 Centerline is valid? [False, False] Translation: X:2.96, Y:0.13, Z:-0.30 [[ 9.99917192e-01 -9.99100430e-03 -8.11110094e-03 2.96411685e+00] [ 9.99384036e-03 9.99950013e-01 3.09194080e-04 1.29518376e-01] [ 8.10760633e-03 -3.90229524e-04 9.99967057e-01 -2.95559786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.77654761499999 meters Centerline goodness [0,1] 0.720583170703708 Centerline is valid? [False, False] Translation: X:2.96, Y:0.12, Z:-0.29 [[ 9.99918134e-01 -1.04441967e-02 -7.39214737e-03 2.95786726e+00] [ 1.04266755e-02 9.99942749e-01 -2.40482104e-03 1.24817021e-01] [ 7.41684059e-03 2.32754864e-03 9.99969786e-01 -2.92493448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.80654761499999 meters Centerline goodness [0,1] 0.7179494568192952 Centerline is valid? [False, False] Translation: X:2.96, Y:0.12, Z:-0.29 [[ 9.99933447e-01 -9.22697501e-03 -6.92564969e-03 2.95535193e+00] [ 9.21774036e-03 9.99956585e-01 -1.36413582e-03 1.22823674e-01] [ 6.93793586e-03 1.30020619e-03 9.99975087e-01 -2.90903200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.83654761499999 meters Centerline goodness [0,1] 0.7186131073381625 Centerline is valid? [False, False] Translation: X:2.96, Y:0.13, Z:-0.29 [[ 9.99947555e-01 -7.26551519e-03 -7.21806058e-03 2.95848292e+00] [ 7.28007829e-03 9.99971513e-01 1.99336887e-03 1.26984277e-01] [ 7.20337211e-03 -2.04581237e-03 9.99971963e-01 -2.92147656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.866547614999995 meters Centerline goodness [0,1] 0.7242458736482641 Centerline is valid? [False, False] Translation: X:2.97, Y:0.13, Z:-0.30 [[ 0.99993903 -0.00694939 -0.00858165 2.96635823] [ 0.00698656 0.99996631 0.00430878 0.12950461] [ 0.00855141 -0.00436848 0.99995389 -0.29585891] [ 0. 0. 0. 1. ]] SLAMing on 39.896547614999996 meters Centerline goodness [0,1] 0.7256142751268457 Centerline is valid? [False, False] Translation: X:2.97, Y:0.13, Z:-0.30 [[ 0.99992875 -0.00770166 -0.00912007 2.96877671] [ 0.00773773 0.99996236 0.00392538 0.12795369] [ 0.0090895 -0.00399567 0.99995071 -0.29716207] [ 0. 0. 0. 1. ]] SLAMing on 39.92654761499999 meters Centerline goodness [0,1] 0.7246002354089514 Centerline is valid? [False, False] Translation: X:2.97, Y:0.13, Z:-0.29 [[ 9.99958438e-01 -8.96731403e-03 -1.64620547e-03 2.97321086e+00] [ 8.95595188e-03 9.99936880e-01 -6.78430721e-03 1.25094267e-01] [ 1.70693858e-03 6.76928190e-03 9.99975631e-01 -2.93124906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.95654761499999 meters Centerline goodness [0,1] 0.7163849899742194 Centerline is valid? [False, False] Translation: X:2.97, Y:0.12, Z:-0.29 [[ 9.99983038e-01 -5.79702278e-03 -5.64019971e-04 2.96610374e+00] [ 5.79479363e-03 9.99975695e-01 -3.87672211e-03 1.22664701e-01] [ 5.86479710e-04 3.87338798e-03 9.99992326e-01 -2.87327143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.98654761499999 meters Centerline goodness [0,1] 0.717180616740088 Centerline is valid? [False, False] Translation: X:2.97, Y:0.13, Z:-0.29 [[ 9.99990031e-01 -4.21417684e-03 -1.47581073e-03 2.97166786e+00] [ 4.21186069e-03 9.99989899e-01 -1.56901830e-03 1.28768435e-01] [ 1.48240794e-03 1.56278675e-03 9.99997680e-01 -2.90604904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.01654761499999 meters Centerline goodness [0,1] 0.7157048651402371 Centerline is valid? [False, False] Translation: X:2.98, Y:0.13, Z:-0.29 [[ 9.99993245e-01 -2.51121081e-03 -2.68408529e-03 2.97793161e+00] [ 2.51209648e-03 9.99996791e-01 3.26650392e-04 1.32072414e-01] [ 2.68325639e-03 -3.33390867e-04 9.99996344e-01 -2.94997277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.046547614999994 meters Centerline goodness [0,1] 0.7091823757171523 Centerline is valid? [False, False] Translation: X:2.98, Y:0.13, Z:-0.30 [[ 9.99992686e-01 -2.47185721e-03 -2.91845362e-03 2.97857360e+00] [ 2.47189812e-03 9.99996945e-01 1.04114749e-05 1.31331842e-01] [ 2.91841897e-03 -1.76255187e-05 9.99995741e-01 -2.95509299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.076547614999996 meters Centerline goodness [0,1] 0.7115264797507788 Centerline is valid? [False, False] Translation: X:2.97, Y:0.13, Z:-0.29 [[ 9.99990610e-01 -3.92812153e-03 -1.83026260e-03 2.97226178e+00] [ 3.92464068e-03 9.99990491e-01 -1.90155331e-03 1.28004496e-01] [ 1.83771473e-03 1.89435233e-03 9.99996517e-01 -2.90969497e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.10654761499999 meters Centerline goodness [0,1] 0.7027164398260575 Centerline is valid? [False, False] Translation: X:2.97, Y:0.13, Z:-0.29 [[ 9.99993679e-01 -3.24507411e-03 -1.45323857e-03 2.97080786e+00] [ 3.24172011e-03 9.99992090e-01 -2.30438480e-03 1.31631002e-01] [ 1.46070498e-03 2.29965924e-03 9.99996289e-01 -2.91155456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.13654761499999 meters Centerline goodness [0,1] 0.7022388685468317 Centerline is valid? [False, False] Translation: X:2.98, Y:0.14, Z:-0.29 [[ 9.99996150e-01 -1.36926675e-03 -2.41338381e-03 2.97540912e+00] [ 1.36944430e-03 9.99999060e-01 7.19178320e-05 1.37691113e-01] [ 2.41328307e-03 -7.52225498e-05 9.99997085e-01 -2.93383654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.16654761499999 meters Centerline goodness [0,1] 0.7039495798319328 Centerline is valid? [False, False] Translation: X:2.98, Y:0.14, Z:-0.29 [[ 9.99994484e-01 -1.72633250e-03 -2.83772022e-03 2.97646792e+00] [ 1.72520253e-03 9.99998432e-01 -4.00595371e-04 1.38647891e-01] [ 2.83840733e-03 3.95697519e-04 9.99995893e-01 -2.93589639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.19654761499999 meters Centerline goodness [0,1] 0.7087389473096986 Centerline is valid? [False, False] Translation: X:2.98, Y:0.14, Z:-0.29 [[ 9.99992479e-01 -2.19501397e-03 -3.19758722e-03 2.97742011e+00] [ 2.19367694e-03 9.99997505e-01 -4.21585548e-04 1.37613454e-01] [ 3.19850463e-03 4.14567904e-04 9.99994799e-01 -2.93204489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.226547614999994 meters Centerline goodness [0,1] 0.7071700863325485 Centerline is valid? [False, False] Translation: X:2.98, Y:0.14, Z:-0.29 [[ 9.99992571e-01 -2.02874362e-03 -3.27759419e-03 2.97708332e+00] [ 2.02887323e-03 9.99997941e-01 3.62217530e-05 1.36810786e-01] [ 3.27751396e-03 -4.28713070e-05 9.99994628e-01 -2.92288613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.256547614999995 meters Centerline goodness [0,1] 0.7119986565534999 Centerline is valid? [False, False] Translation: X:2.98, Y:0.13, Z:-0.29 [[ 9.99989852e-01 -2.35730844e-03 -3.83921313e-03 2.97869660e+00] [ 2.35820131e-03 9.99997193e-01 2.28055884e-04 1.34996377e-01] [ 3.83866476e-03 -2.37107207e-04 9.99992604e-01 -2.92416862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.28654761499999 meters Centerline goodness [0,1] 0.7113347457627119 Centerline is valid? [False, False] Translation: X:2.98, Y:0.14, Z:-0.30 [[ 9.99987998e-01 -8.00921881e-04 -4.83341661e-03 2.98427172e+00] [ 8.14444888e-04 9.99995758e-01 2.79649590e-03 1.37141590e-01] [ 4.83115633e-03 -2.80039889e-03 9.99984409e-01 -2.95513479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.31654761499999 meters Centerline goodness [0,1] 0.723963004484305 Centerline is valid? [False, False] Translation: X:2.99, Y:0.13, Z:-0.29 [[ 9.99985034e-01 -1.12721485e-03 -5.35368335e-03 2.98539821e+00] [ 1.14477962e-03 9.99993969e-01 3.27894458e-03 1.34293265e-01] [ 5.34995498e-03 -3.28502430e-03 9.99980293e-01 -2.94765091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.34654761499999 meters Centerline goodness [0,1] 0.7300404812774093 Centerline is valid? [False, False] Translation: X:2.99, Y:0.13, Z:-0.30 [[ 9.99978499e-01 -2.60579338e-03 -6.01760963e-03 2.98839375e+00] [ 2.62344851e-03 9.99992272e-01 2.92788253e-03 1.32722121e-01] [ 6.00993367e-03 -2.94360646e-03 9.99977608e-01 -2.95538776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.37654761499999 meters Centerline goodness [0,1] 0.722669509355626 Centerline is valid? [False, False] Translation: X:2.99, Y:0.13, Z:-0.30 [[ 9.99977889e-01 -2.68747024e-03 -6.08262187e-03 2.98821913e+00] [ 2.70279449e-03 9.99993191e-01 2.51253336e-03 1.34171287e-01] [ 6.07582809e-03 -2.52891788e-03 9.99978344e-01 -2.95308592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.406547614999994 meters Centerline goodness [0,1] 0.7319462822714604 Centerline is valid? [False, False] Translation: X:2.99, Y:0.13, Z:-0.29 [[ 9.99976272e-01 -2.85791912e-03 -6.26797818e-03 2.98797661e+00] [ 2.87526850e-03 9.99992056e-01 2.76067664e-03 1.33999576e-01] [ 6.26003859e-03 -2.77863326e-03 9.99976545e-01 -2.93890822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.436547614999995 meters Centerline goodness [0,1] 0.7426951714801444 Centerline is valid? [False, False] Translation: X:2.99, Y:0.13, Z:-0.29 [[ 9.99963176e-01 -5.26839344e-03 -6.77420979e-03 2.99154444e+00] [ 5.28373146e-03 9.99983514e-01 2.24827862e-03 1.31474827e-01] [ 6.76225329e-03 -2.28398893e-03 9.99974527e-01 -2.94822406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.46654761499999 meters Centerline goodness [0,1] 0.7548394410906102 Centerline is valid? [False, False] Translation: X:3.00, Y:0.13, Z:-0.30 [[ 9.99943953e-01 -7.94263800e-03 -7.00035897e-03 2.99506483e+00] [ 7.95076023e-03 9.99967750e-01 1.13319306e-03 1.28626776e-01] [ 6.99113267e-03 -1.18878772e-03 9.99974855e-01 -2.96878317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.49654761499999 meters Centerline goodness [0,1] 0.7585182250396196 Centerline is valid? [False, False] Translation: X:3.00, Y:0.13, Z:-0.30 [[ 0.99995567 -0.00550522 -0.00763904 2.99793517] [ 0.00554422 0.99997166 0.00509307 0.12927976] [ 0.00761079 -0.0051352 0.99995785 -0.29693311] [ 0. 0. 0. 1. ]] SLAMing on 40.52654761499999 meters Centerline goodness [0,1] 0.7535018742425523 Centerline is valid? [False, False] Translation: X:3.00, Y:0.13, Z:-0.29 [[ 0.99996277 -0.00432528 -0.00746723 2.99518469] [ 0.00436537 0.99997611 0.00536014 0.13311843] [ 0.00744386 -0.00539254 0.99995775 -0.29461179] [ 0. 0. 0. 1. ]] SLAMing on 40.55654761499999 meters Centerline goodness [0,1] 0.7466254537205081 Centerline is valid? [False, False] Translation: X:2.99, Y:0.13, Z:-0.29 [[ 9.99955710e-01 -6.41289951e-03 -6.88859865e-03 2.99095216e+00] [ 6.42762181e-03 9.99977101e-01 2.11718942e-03 1.31142489e-01] [ 6.87486359e-03 -2.16137296e-03 9.99974032e-01 -2.92082601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.58654761499999 meters Centerline goodness [0,1] 0.7467219163308167 Centerline is valid? [False, False] Translation: X:2.99, Y:0.13, Z:-0.29 [[ 9.99951402e-01 -6.63106737e-03 -7.29542754e-03 2.99267911e+00] [ 6.64454494e-03 9.99976260e-01 1.82471465e-03 1.29712845e-01] [ 7.28315454e-03 -1.87310077e-03 9.99971723e-01 -2.93413527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.616547614999995 meters Centerline goodness [0,1] 0.7386143070128555 Centerline is valid? [False, False] Translation: X:3.00, Y:0.14, Z:-0.30 [[ 0.99996652 -0.00370008 -0.00729856 2.99580124] [ 0.00372434 0.99998758 0.00331247 0.13585444] [ 0.00728622 -0.00333954 0.99996788 -0.29897686] [ 0. 0. 0. 1. ]] SLAMing on 40.64654761499999 meters Centerline goodness [0,1] 0.7151040938940897 Centerline is valid? [False, False] Translation: X:2.99, Y:0.14, Z:-0.30 [[ 9.99975648e-01 1.84675428e-03 -6.72992988e-03 2.99382938e+00] [-1.80184260e-03 9.99976109e-01 6.67338897e-03 1.41487586e-01] [ 6.74209320e-03 -6.66110018e-03 9.99955086e-01 -3.00232430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.67654761499999 meters Centerline goodness [0,1] 0.6921530860061971 Centerline is valid? [False, False] Translation: X:3.00, Y:0.14, Z:-0.30 [[ 9.99970085e-01 7.71909107e-03 4.94969262e-04 2.99769366e+00] [-7.71911135e-03 9.99970206e-01 3.90602010e-05 1.42281226e-01] [-4.94653006e-04 -4.28797553e-05 9.99999877e-01 -2.99466535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.70654761499999 meters Centerline goodness [0,1] 0.6950246652572234 Centerline is valid? [False, False] Translation: X:2.99, Y:0.14, Z:-0.30 [[ 9.99981429e-01 6.03409811e-03 8.55133026e-04 2.99490625e+00] [-6.03079980e-03 9.99974562e-01 -3.80854207e-03 1.40829488e-01] [-8.78092390e-04 3.80331421e-03 9.99992382e-01 -2.99645668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.73654761499999 meters Centerline goodness [0,1] 0.6889532431748531 Centerline is valid? [False, False] Translation: X:3.00, Y:0.14, Z:-0.30 [[ 9.99984864e-01 5.40819573e-03 1.01167120e-03 2.99652213e+00] [-5.40324079e-03 9.99973699e-01 -4.83801917e-03 1.44371134e-01] [-1.03780954e-03 4.83247964e-03 9.99987785e-01 -3.02418321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.76654761499999 meters Centerline goodness [0,1] 0.6888451258967506 Centerline is valid? [False, False] Translation: X:3.00, Y:0.14, Z:-0.30 [[ 9.99985179e-01 5.37888744e-03 8.41868483e-04 2.99683058e+00] [-5.37519445e-03 9.99976183e-01 -4.32911103e-03 1.43643669e-01] [-8.65134233e-04 4.32452167e-03 9.99990275e-01 -3.01902465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.796547614999994 meters Centerline goodness [0,1] 0.6925968849817679 Centerline is valid? [False, False] Translation: X:3.00, Y:0.14, Z:-0.30 [[ 9.99984785e-01 5.49400054e-03 4.95589755e-04 2.99825311e+00] [-5.49207295e-03 9.99977659e-01 -3.81043515e-03 1.39271226e-01] [-5.16513215e-04 3.80765536e-03 9.99992617e-01 -3.02884128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.826547614999996 meters Centerline goodness [0,1] 0.6879825777073847 Centerline is valid? [False, False] Translation: X:3.00, Y:0.14, Z:-0.30 [[ 9.99985249e-01 5.42370191e-03 2.91856025e-04 2.99899742e+00] [-5.42257233e-03 9.99978300e-01 -3.74112926e-03 1.39350123e-01] [-3.12140462e-04 3.73949146e-03 9.99992959e-01 -3.03154751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.85654761499999 meters Centerline goodness [0,1] 0.689159136334206 Centerline is valid? [False, False] Translation: X:3.00, Y:0.14, Z:-0.30 [[ 9.99984190e-01 5.61912255e-03 2.13579939e-04 2.99795926e+00] [-5.61843334e-03 9.99979408e-01 -3.10108698e-03 1.39590303e-01] [-2.31000929e-04 3.09983797e-03 9.99995169e-01 -3.00851413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.88654761499999 meters Centerline goodness [0,1] 0.6905774903562514 Centerline is valid? [False, False] Translation: X:3.00, Y:0.14, Z:-0.30 [[ 9.99997769e-01 2.09004217e-03 3.05129711e-04 2.99769172e+00] [-2.08779495e-03 9.99971985e-01 -7.18820406e-03 1.38260187e-01] [-3.20144813e-04 7.18755097e-03 9.99974118e-01 -3.01658787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.91654761499999 meters Centerline goodness [0,1] 0.7020709975352013 Centerline is valid? [False, False] Translation: X:3.00, Y:0.14, Z:-0.30 [[ 9.99999565e-01 7.10482903e-04 -6.04604318e-04 3.00216158e+00] [-7.15242950e-04 9.99968463e-01 -7.90953952e-03 1.37686438e-01] [ 5.98965658e-04 7.90996852e-03 9.99968536e-01 -3.04505513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.94654761499999 meters Centerline goodness [0,1] 0.7006611617150478 Centerline is valid? [False, False] Translation: X:3.00, Y:0.14, Z:-0.30 [[ 9.99999522e-01 8.78350379e-04 -4.28943760e-04 3.00140759e+00] [-8.81209753e-04 9.99977086e-01 -6.71202219e-03 1.36419171e-01] [ 4.23038423e-04 6.71239698e-03 9.99977382e-01 -3.02933070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.976547614999994 meters Centerline goodness [0,1] 0.7019072952628898 Centerline is valid? [False, False] Translation: X:3.00, Y:0.14, Z:-0.30 [[ 9.99999479e-01 7.28420876e-04 -7.15583144e-04 3.00179773e+00] [-7.32870561e-04 9.99980276e-01 -6.23780786e-03 1.36158492e-01] [ 7.11025280e-04 6.23832904e-03 9.99980289e-01 -3.01950230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.006547614999995 meters Centerline goodness [0,1] 0.7041383219954649 Centerline is valid? [False, False] Translation: X:3.00, Y:0.14, Z:-0.30 [[ 9.99999123e-01 2.54019345e-04 -1.29950709e-03 3.00400434e+00] [-2.62458999e-04 9.99978850e-01 -6.49846123e-03 1.35191679e-01] [ 1.29782887e-03 6.49879660e-03 9.99978040e-01 -3.03123984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.03654761499999 meters Centerline goodness [0,1] 0.7096893807581506 Centerline is valid? [False, False] Translation: X:3.00, Y:0.13, Z:-0.30 [[ 9.99998764e-01 4.81899051e-04 -1.49630172e-03 3.00434836e+00] [-4.91042138e-04 9.99981176e-01 -6.11611363e-03 1.32908706e-01] [ 1.49332620e-03 6.11684082e-03 9.99980177e-01 -3.03057294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.06654761499999 meters Centerline goodness [0,1] 0.7164584464964694 Centerline is valid? [False, False] Translation: X:3.01, Y:0.13, Z:-0.30 [[ 9.99997367e-01 -1.61477531e-04 -2.28919710e-03 3.00668881e+00] [ 1.48664704e-04 9.99984330e-01 -5.59614892e-03 1.30534106e-01] [ 2.29006488e-03 5.59579386e-03 9.99981721e-01 -3.02835614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.09654761499999 meters Centerline goodness [0,1] 0.7147052115406546 Centerline is valid? [False, False] Translation: X:3.01, Y:0.13, Z:-0.30 [[ 9.99995761e-01 -1.00318967e-03 -2.73334914e-03 3.00951976e+00] [ 9.87857470e-04 9.99983805e-01 -5.60489603e-03 1.29317116e-01] [ 2.73892765e-03 5.60217211e-03 9.99980557e-01 -3.04644101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.12654761499999 meters Centerline goodness [0,1] 0.722026620867325 Centerline is valid? [False, False] Translation: X:3.01, Y:0.12, Z:-0.30 [[ 9.99993507e-01 -2.33532829e-03 -2.74466667e-03 3.01083121e+00] [ 2.32539334e-03 9.99990754e-01 -3.61736196e-03 1.22678829e-01] [ 2.75308902e-03 3.61095604e-03 9.99989691e-01 -3.02593893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.156547614999994 meters Centerline goodness [0,1] 0.7232873576374979 Centerline is valid? [False, False] Translation: X:3.01, Y:0.12, Z:-0.30 [[ 9.99993561e-01 -2.27455073e-03 -2.77569988e-03 3.01028698e+00] [ 2.26858370e-03 9.99995113e-01 -2.15099751e-03 1.20757376e-01] [ 2.78057887e-03 2.14468676e-03 9.99993834e-01 -3.00239839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.186547614999995 meters Centerline goodness [0,1] 0.723611190571543 Centerline is valid? [False, False] Translation: X:3.01, Y:0.12, Z:-0.30 [[ 9.99996281e-01 -1.31700158e-03 -2.38812016e-03 3.00755950e+00] [ 1.31378106e-03 9.99998226e-01 -1.34962632e-03 1.22229348e-01] [ 2.38989339e-03 1.34648384e-03 9.99996238e-01 -2.97729617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.21654761499999 meters Centerline goodness [0,1] 0.7224935363401321 Centerline is valid? [False, False] Translation: X:3.01, Y:0.12, Z:-0.30 [[ 9.99996723e-01 -4.18588074e-04 -2.52573403e-03 3.00628116e+00] [ 4.17712703e-04 9.99999853e-01 -3.47098365e-04 1.18137158e-01] [ 2.52587895e-03 3.46042197e-04 9.99996750e-01 -2.95663206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.24654761499999 meters Centerline goodness [0,1] 0.7110082511571745 Centerline is valid? [False, False] Translation: X:3.01, Y:0.12, Z:-0.30 [[ 9.99997122e-01 2.39571021e-04 -2.38710531e-03 3.00580889e+00] [-2.41047960e-04 9.99999780e-01 -6.18446644e-04 1.17925345e-01] [ 2.38695663e-03 6.19020271e-04 9.99996960e-01 -2.96503834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.27654761499999 meters Centerline goodness [0,1] 0.7110082511571745 Centerline is valid? [False, False] Translation: X:3.01, Y:0.12, Z:-0.30 [[ 9.99997122e-01 2.39571021e-04 -2.38710531e-03 3.00580889e+00] [-2.41047960e-04 9.99999780e-01 -6.18446644e-04 1.17925345e-01] [ 2.38695663e-03 6.19020271e-04 9.99996960e-01 -2.96503834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.30654761499999 meters Centerline goodness [0,1] 0.7109077912794853 Centerline is valid? [False, False] Translation: X:3.01, Y:0.12, Z:-0.30 [[ 9.99990797e-01 2.84053106e-03 -3.21524279e-03 3.00915666e+00] [-2.83177600e-03 9.99992280e-01 2.72427052e-03 1.19461919e-01] [ 3.22295634e-03 -2.71514061e-03 9.99991120e-01 -2.97489706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.33654761499999 meters Centerline goodness [0,1] 0.7099040438656614 Centerline is valid? [False, False] Translation: X:3.01, Y:0.12, Z:-0.30 [[ 9.99990532e-01 2.71141681e-03 -3.40368933e-03 3.00929664e+00] [-2.70233575e-03 9.99992785e-01 2.66977586e-03 1.20530245e-01] [ 3.41090365e-03 -2.66055267e-03 9.99990644e-01 -2.96968694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.366547614999995 meters Centerline goodness [0,1] 0.7146912093583347 Centerline is valid? [False, False] Translation: X:3.01, Y:0.12, Z:-0.30 [[ 9.99989596e-01 1.91157247e-03 -4.14168373e-03 3.01151671e+00] [-1.89968664e-03 9.99994072e-01 2.87184303e-03 1.18493592e-01] [ 4.14714891e-03 -2.86394526e-03 9.99987299e-01 -2.96860541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.39654761499999 meters Centerline goodness [0,1] 0.7182271372908549 Centerline is valid? [False, False] Translation: X:3.01, Y:0.12, Z:-0.30 [[ 9.99990114e-01 9.85228768e-04 -4.33593574e-03 3.01426316e+00] [-9.80775824e-04 9.99998990e-01 1.02899219e-03 1.21459057e-01] [ 4.33694515e-03 -1.02472944e-03 9.99990070e-01 -3.00867780e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.42654761499999 meters Centerline goodness [0,1] 0.711891891891892 Centerline is valid? [False, False] Translation: X:3.02, Y:0.13, Z:-0.30 [[ 0.99998159 0.0039068 -0.00464384 3.01670866] [-0.00388984 0.99998575 0.00365584 0.12509949] [ 0.00465805 -0.00363771 0.99998253 -0.30317868] [ 0. 0. 0. 1. ]] SLAMing on 41.45654761499999 meters Centerline goodness [0,1] 0.700507614213198 Centerline is valid? [False, False] Translation: X:3.01, Y:0.13, Z:-0.30 [[ 0.99997798 0.00523285 -0.00408032 3.01353376] [-0.00521787 0.99997964 0.00367317 0.12580218] [ 0.00409946 -0.0036518 0.99998493 -0.30186869] [ 0. 0. 0. 1. ]] SLAMing on 41.48654761499999 meters Centerline goodness [0,1] 0.6953344414512523 Centerline is valid? [False, False] Translation: X:3.01, Y:0.13, Z:-0.30 [[ 9.99974821e-01 5.82139673e-03 -4.05806425e-03 3.00779830e+00] [-5.81905614e-03 9.99982896e-01 5.88344326e-04 1.26789812e-01] [ 4.06141983e-03 -5.64715409e-04 9.99991593e-01 -2.99070388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.51654761499999 meters Centerline goodness [0,1] 0.6943992231456888 Centerline is valid? [False, False] Translation: X:3.01, Y:0.12, Z:-0.30 [[ 9.99973653e-01 5.78601561e-03 -4.38360914e-03 3.00820933e+00] [-5.78187398e-03 9.99982827e-01 9.56883439e-04 1.24984793e-01] [ 4.38907040e-03 -9.31512752e-04 9.99989934e-01 -2.98356968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.546547614999994 meters Centerline goodness [0,1] 0.7030211394174536 Centerline is valid? [False, False] Translation: X:3.01, Y:0.13, Z:-0.30 [[ 9.99984793e-01 3.41163434e-03 -4.33287487e-03 3.01384779e+00] [-3.41020721e-03 9.99994129e-01 3.36718843e-04 1.29505294e-01] [ 4.33399819e-03 -3.21937722e-04 9.99990556e-01 -3.02865967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.576547614999996 meters Centerline goodness [0,1] 0.7185999602261428 Centerline is valid? [False, False] Translation: X:3.03, Y:0.13, Z:-0.31 [[ 9.99983020e-01 1.70178027e-04 -5.82505826e-03 3.02604015e+00] [-1.66166418e-04 9.99999749e-01 6.89158438e-04 1.31292379e-01] [ 5.82517407e-03 -6.88178807e-04 9.99982797e-01 -3.09059797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.60654761499999 meters Centerline goodness [0,1] 0.722300260872058 Centerline is valid? [False, False] Translation: X:3.03, Y:0.13, Z:-0.31 [[ 9.99978128e-01 -3.44845461e-03 -5.64375731e-03 3.02507026e+00] [ 3.43358819e-03 9.99990616e-01 -2.64170776e-03 1.28677649e-01] [ 5.65281415e-03 2.62227164e-03 9.99980585e-01 -3.08176945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.63654761499999 meters Centerline goodness [0,1] 0.7246761489858919 Centerline is valid? [False, False] Translation: X:3.02, Y:0.12, Z:-0.30 [[ 0.99997645 -0.00488648 -0.00481818 3.01862355] [ 0.00486884 0.99998143 -0.00366501 0.12333011] [ 0.004836 0.00364147 0.99998168 -0.30175424] [ 0. 0. 0. 1. ]] SLAMing on 41.66654761499999 meters Centerline goodness [0,1] 0.7152409499654139 Centerline is valid? [False, False] Translation: X:3.02, Y:0.12, Z:-0.30 [[ 9.99986652e-01 -7.83952636e-04 -5.10704871e-03 3.01806683e+00] [ 7.90014194e-04 9.99998986e-01 1.18499109e-03 1.21492108e-01] [ 5.10611455e-03 -1.18900991e-03 9.99986257e-01 -2.99294592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.69654761499999 meters Centerline goodness [0,1] 0.713850662223116 Centerline is valid? [False, False] Translation: X:3.02, Y:0.13, Z:-0.30 [[ 9.99987958e-01 -1.56362727e-04 -4.90496872e-03 3.01732438e+00] [ 1.59494264e-04 9.99999784e-01 6.38057114e-04 1.25052376e-01] [ 4.90486789e-03 -6.38831746e-04 9.99987767e-01 -3.00149705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.726547614999994 meters Centerline goodness [0,1] 0.7138430641227944 Centerline is valid? [False, False] Translation: X:3.02, Y:0.13, Z:-0.30 [[ 9.99988525e-01 -2.46325092e-04 -4.78432675e-03 3.01853454e+00] [ 2.45530202e-04 9.99999956e-01 -1.66731124e-04 1.27795456e-01] [ 4.78436761e-03 1.65554514e-04 9.99988541e-01 -3.02849711e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.756547614999995 meters Centerline goodness [0,1] 0.7184095860566448 Centerline is valid? [False, False] Translation: X:3.02, Y:0.13, Z:-0.30 [[ 9.99989872e-01 -2.86433424e-04 -4.49160939e-03 3.01831538e+00] [ 2.83259159e-04 9.99999710e-01 -7.07330106e-04 1.31152010e-01] [ 4.49181069e-03 7.06050652e-04 9.99989663e-01 -3.03742533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.78654761499999 meters Centerline goodness [0,1] 0.705661566672397 Centerline is valid? [False, False] Translation: X:3.02, Y:0.13, Z:-0.30 [[ 9.99990885e-01 9.26820189e-04 -4.16794557e-03 3.01601228e+00] [-9.28034757e-04 9.99999527e-01 -2.89482283e-04 1.29522480e-01] [ 4.16767531e-03 2.93347642e-04 9.99991272e-01 -3.02505310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.81654761499999 meters Centerline goodness [0,1] 0.705539107189054 Centerline is valid? [False, False] Translation: X:3.01, Y:0.13, Z:-0.30 [[ 9.99990929e-01 2.06026838e-03 -3.72784345e-03 3.01347776e+00] [-2.06010792e-03 9.99997877e-01 4.68815452e-05 1.28837614e-01] [ 3.72793213e-03 -3.92013601e-05 9.99993050e-01 -3.01186417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.84654761499999 meters Centerline goodness [0,1] 0.6944571428571429 Centerline is valid? [False, False] Translation: X:3.01, Y:0.13, Z:-0.30 [[ 9.99990698e-01 2.36043844e-03 -3.60991655e-03 3.01229080e+00] [-2.35997897e-03 9.99997207e-01 1.31534517e-04 1.31005653e-01] [ 3.61021694e-03 -1.23013966e-04 9.99993476e-01 -2.99936640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.87654761499999 meters Centerline goodness [0,1] 0.7014413177762526 Centerline is valid? [False, False] Translation: X:3.01, Y:0.13, Z:-0.30 [[ 9.99990569e-01 1.96656866e-03 -3.87222056e-03 3.01326225e+00] [-1.96691530e-03 9.99998062e-01 -8.57130902e-05 1.32075912e-01] [ 3.87204449e-03 9.33286117e-05 9.99992499e-01 -3.00295004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.906547614999994 meters Centerline goodness [0,1] 0.7033318119580101 Centerline is valid? [False, False] Translation: X:3.02, Y:0.13, Z:-0.30 [[ 9.99988265e-01 5.30123208e-04 -4.81551636e-03 3.01728056e+00] [-5.35891090e-04 9.99999141e-01 -1.19655885e-03 1.33804971e-01] [ 4.81487790e-03 1.19912540e-03 9.99987689e-01 -3.02618429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.936547614999995 meters Centerline goodness [0,1] 0.7072795186906561 Centerline is valid? [False, False] Translation: X:3.02, Y:0.14, Z:-0.30 [[ 9.99986618e-01 -2.06176892e-04 -5.16928403e-03 3.01877951e+00] [ 1.97697779e-04 9.99998634e-01 -1.64074499e-03 1.35147010e-01] [ 5.16961525e-03 1.63970108e-03 9.99985293e-01 -3.03188232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.96654761499999 meters Centerline goodness [0,1] 0.7007795322806316 Centerline is valid? [False, False] Translation: X:3.02, Y:0.13, Z:-0.30 [[ 9.99986895e-01 8.65481533e-04 -5.04577794e-03 3.01660988e+00] [-8.68547557e-04 9.99999440e-01 -6.05481742e-04 1.31803941e-01] [ 5.04525108e-03 6.09856306e-04 9.99987087e-01 -3.00716766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.99654761499999 meters Centerline goodness [0,1] 0.7017945562265663 Centerline is valid? [False, False] Translation: X:3.02, Y:0.13, Z:-0.30 [[ 9.99986727e-01 1.42163126e-03 -4.95227556e-03 3.01578638e+00] [-1.42337323e-03 9.99998926e-01 -3.48246424e-04 1.31138184e-01] [ 4.95177517e-03 3.55290739e-04 9.99987677e-01 -3.00275737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.02654761499999 meters Centerline goodness [0,1] 0.7008009646025322 Centerline is valid? [False, False] Translation: X:3.02, Y:0.13, Z:-0.30 [[ 9.99984295e-01 1.61291934e-03 -5.36738184e-03 3.01638289e+00] [-1.60998953e-03 9.99998553e-01 5.50130974e-04 1.27322008e-01] [ 5.36826139e-03 -5.41480906e-04 9.99985444e-01 -2.99439903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.05654761499999 meters Centerline goodness [0,1] 0.7041537400896243 Centerline is valid? [False, False] Translation: X:3.02, Y:0.13, Z:-0.30 [[ 9.99983744e-01 4.75737541e-04 -5.68206037e-03 3.01906313e+00] [-4.76971986e-04 9.99999863e-01 -2.15899932e-04 1.29141577e-01] [ 5.68195687e-03 2.18606606e-04 9.99983834e-01 -3.01614491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.08654761499999 meters Centerline goodness [0,1] 0.7099660509810691 Centerline is valid? [False, False] Translation: X:3.02, Y:0.13, Z:-0.30 [[ 9.99978505e-01 -7.26531641e-04 -6.51631453e-03 3.02257223e+00] [ 7.26003387e-04 9.99999733e-01 -8.34313833e-05 1.27257819e-01] [ 6.51637341e-03 7.86987235e-05 9.99978765e-01 -3.02642028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.116547614999995 meters Centerline goodness [0,1] 0.7148221971863535 Centerline is valid? [False, False] Translation: X:3.03, Y:0.12, Z:-0.30 [[ 9.99972727e-01 -1.52898304e-03 -7.22541843e-03 3.02560512e+00] [ 1.52866616e-03 9.99998830e-01 -4.93788597e-05 1.24919136e-01] [ 7.22548547e-03 3.83322604e-05 9.99973895e-01 -3.03969119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.14654761499999 meters Centerline goodness [0,1] 0.7154358929962774 Centerline is valid? [False, False] Translation: X:3.03, Y:0.13, Z:-0.31 [[ 9.99971197e-01 -1.86387621e-03 -7.35736252e-03 3.02676940e+00] [ 1.85915639e-03 9.99998062e-01 -6.48298024e-04 1.25674587e-01] [ 7.35855660e-03 6.34600864e-04 9.99972724e-01 -3.05404404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.17654761499999 meters Centerline goodness [0,1] 0.7104372274500803 Centerline is valid? [False, False] Translation: X:3.03, Y:0.13, Z:-0.31 [[ 9.99974049e-01 -1.57168020e-03 -7.03079988e-03 3.02577419e+00] [ 1.56097966e-03 9.99997616e-01 -1.52718061e-03 1.29571647e-01] [ 7.03318336e-03 1.51616604e-03 9.99974117e-01 -3.06023029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.20654761499999 meters Centerline goodness [0,1] 0.7036228344873158 Centerline is valid? [False, False] Translation: X:3.02, Y:0.13, Z:-0.31 [[ 9.99976997e-01 -7.17765275e-04 -6.74465289e-03 3.02392843e+00] [ 7.07368982e-04 9.99998558e-01 -1.54367164e-03 1.29777763e-01] [ 6.74575116e-03 1.53886517e-03 9.99976063e-01 -3.05281193e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.23654761499999 meters Centerline goodness [0,1] 0.7060332651119887 Centerline is valid? [False, False] Translation: X:3.02, Y:0.13, Z:-0.30 [[ 9.99973979e-01 -3.43268409e-04 -7.20574906e-03 3.02361098e+00] [ 3.37880442e-04 9.99999662e-01 -7.48935683e-04 1.27348041e-01] [ 7.20600371e-03 7.46481514e-04 9.99973758e-01 -3.03219879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.26654761499999 meters Centerline goodness [0,1] 0.7107733056947083 Centerline is valid? [False, False] Translation: X:3.03, Y:0.13, Z:-0.30 [[ 9.99969210e-01 -1.12842874e-03 -7.76565344e-03 3.02514457e+00] [ 1.12520203e-03 9.99999279e-01 -4.19867073e-04 1.27064027e-01] [ 7.76612163e-03 4.11116216e-04 9.99969759e-01 -3.02420763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.296547614999994 meters Centerline goodness [0,1] 0.7197566110101796 Centerline is valid? [False, False] Translation: X:3.03, Y:0.13, Z:-0.31 [[ 9.99956811e-01 -3.34794519e-03 -8.66987259e-03 3.03061822e+00] [ 3.33303775e-03 9.99992943e-01 -1.73333158e-03 1.29287306e-01] [ 8.67561450e-03 1.70435971e-03 9.99960914e-01 -3.05924491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.32654761499999 meters Centerline goodness [0,1] 0.7284004038655705 Centerline is valid? [False, False] Translation: X:3.04, Y:0.13, Z:-0.31 [[ 9.99940611e-01 -5.53820769e-03 -9.38631181e-03 3.03505869e+00] [ 5.51948624e-03 9.99982729e-01 -2.01928088e-03 1.26909745e-01] [ 9.39733289e-03 1.96735333e-03 9.99953909e-01 -3.07575883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.35654761499999 meters Centerline goodness [0,1] 0.7313669521091024 Centerline is valid? [False, False] Translation: X:3.03, Y:0.12, Z:-0.31 [[ 9.99940089e-01 -5.43325169e-03 -9.50253239e-03 3.03458728e+00] [ 5.42360609e-03 9.99984751e-01 -1.04053140e-03 1.24858682e-01] [ 9.50804096e-03 9.88931068e-04 9.99954309e-01 -3.05681693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.38654761499999 meters Centerline goodness [0,1] 0.732370359670663 Centerline is valid? [False, False] Translation: X:3.03, Y:0.12, Z:-0.30 [[ 9.99955631e-01 -3.77459730e-03 -8.63065969e-03 3.02878277e+00] [ 3.79604365e-03 9.99989745e-01 2.46987258e-03 1.20417708e-01] [ 8.62124841e-03 -2.50252536e-03 9.99959705e-01 -2.97698914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.41654761499999 meters Centerline goodness [0,1] 0.7384593190998269 Centerline is valid? [False, False] Translation: X:3.03, Y:0.12, Z:-0.29 [[ 0.99995536 -0.00349146 -0.0087797 3.0274402 ] [ 0.00352641 0.99998591 0.00396825 0.11807886] [ 0.00876572 -0.00399904 0.99995358 -0.2941522 ] [ 0. 0. 0. 1. ]] SLAMing on 42.44654761499999 meters Centerline goodness [0,1] 0.7524603884671996 Centerline is valid? [False, False] Translation: X:3.03, Y:0.12, Z:-0.30 [[ 9.99935478e-01 -5.40586986e-03 -9.99078117e-03 3.03262315e+00] [ 5.42922896e-03 9.99982588e-01 2.31242404e-03 1.21475639e-01] [ 9.97810654e-03 -2.36651707e-03 9.99947417e-01 -2.97063636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.476547614999994 meters Centerline goodness [0,1] 0.779624757884999 Centerline is valid? [False, False] Translation: X:3.04, Y:0.12, Z:-0.30 [[ 9.99890952e-01 -9.49636207e-03 -1.13093886e-02 3.04056290e+00] [ 9.49790090e-03 9.99954891e-01 8.23635661e-05 1.21315251e-01] [ 1.13080963e-02 -1.89770037e-04 9.99936043e-01 -3.01184547e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.506547614999995 meters Centerline goodness [0,1] 0.8003472222222222 Centerline is valid? [False, False] Translation: X:3.04, Y:0.12, Z:-0.30 [[ 9.99846053e-01 -1.35655164e-02 -1.11286186e-02 3.03961702e+00] [ 1.35381467e-02 9.99905152e-01 -2.53106314e-03 1.18827962e-01] [ 1.11618982e-02 2.38001262e-03 9.99934872e-01 -2.98766440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.53654761499999 meters Centerline goodness [0,1] 0.7995645863570392 Centerline is valid? [False, False] Translation: X:3.04, Y:0.12, Z:-0.29 [[ 0.99974965 -0.01940467 -0.01113988 3.04051041] [ 0.0193633 0.99980526 -0.00380943 0.11740346] [ 0.01121164 0.00359277 0.99993069 -0.29351066] [ 0. 0. 0. 1. ]] SLAMing on 42.56654761499999 meters Centerline goodness [0,1] 0.8006817784511392 Centerline is valid? [False, False] Translation: X:3.04, Y:0.12, Z:-0.29 [[ 9.99742648e-01 -1.96629582e-02 -1.13139320e-02 3.03998637e+00] [ 1.96358465e-02 9.99804066e-01 -2.50242838e-03 1.15532176e-01] [ 1.13609204e-02 2.27962574e-03 9.99932864e-01 -2.90405733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.59654761499999 meters Centerline goodness [0,1] 0.8037911927675707 Centerline is valid? [False, False] Translation: X:3.04, Y:0.11, Z:-0.29 [[ 9.99746582e-01 -1.92770123e-02 -1.16262164e-02 3.03880237e+00] [ 1.92609085e-02 9.99813373e-01 -1.49551843e-03 1.14438626e-01] [ 1.16528758e-02 1.27120795e-03 9.99931295e-01 -2.87103955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.62654761499999 meters Centerline goodness [0,1] 0.809539089848308 Centerline is valid? [False, False] Translation: X:3.04, Y:0.11, Z:-0.29 [[ 9.99783759e-01 -1.65984213e-02 -1.25270983e-02 3.04222330e+00] [ 1.66213904e-02 9.99860356e-01 1.73166261e-03 1.13591228e-01] [ 1.24966061e-02 -1.93950595e-03 9.99920033e-01 -2.88398004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.656547614999994 meters Centerline goodness [0,1] 0.8050254727571021 Centerline is valid? [False, False] Translation: X:3.06, Y:0.12, Z:-0.30 [[ 9.99933264e-01 -8.93577649e-03 -7.32254051e-03 3.05678115e+00] [ 8.91973007e-03 9.99957752e-01 -2.22110921e-03 1.22466927e-01] [ 7.34207848e-03 2.15564590e-03 9.99970723e-01 -2.95854255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.686547614999995 meters Centerline goodness [0,1] 0.8008177737111486 Centerline is valid? [False, False] Translation: X:3.05, Y:0.13, Z:-0.29 [[ 9.99973139e-01 -3.16617375e-03 -6.61038435e-03 3.05236578e+00] [ 3.18183846e-03 9.99992152e-01 2.36054258e-03 1.25228377e-01] [ 6.60285858e-03 -2.38151234e-03 9.99975365e-01 -2.92988938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.71654761499999 meters Centerline goodness [0,1] 0.7828272786661743 Centerline is valid? [False, False] Translation: X:3.05, Y:0.13, Z:-0.29 [[ 9.99974784e-01 8.20369518e-04 -7.05391068e-03 3.05323558e+00] [-7.87275314e-04 9.99988677e-01 4.69310834e-03 1.30002664e-01] [ 7.05768089e-03 -4.68743663e-03 9.99964108e-01 -2.94426366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.74654761499999 meters Centerline goodness [0,1] 0.7616272490664253 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:-0.30 [[ 0.99996225 0.00426212 -0.00757217 3.05513408] [-0.004217 0.99997332 0.00596492 0.13605662] [ 0.0075974 -0.00593276 0.99995354 -0.29745502] [ 0. 0. 0. 1. ]] SLAMing on 42.77654761499999 meters Centerline goodness [0,1] 0.7399305653560642 Centerline is valid? [False, False] Translation: X:3.05, Y:0.14, Z:-0.30 [[ 0.99996054 0.00486473 -0.00743347 3.05347743] [-0.00482502 0.99997405 0.00535005 0.13796488] [ 0.0074593 -0.00531398 0.99995806 -0.29667569] [ 0. 0. 0. 1. ]] SLAMing on 42.80654761499999 meters Centerline goodness [0,1] 0.739245272415634 Centerline is valid? [False, False] Translation: X:3.05, Y:0.14, Z:-0.30 [[ 0.99996234 0.00441163 -0.00747401 3.05429745] [-0.00438308 0.99998305 0.00383231 0.14093721] [ 0.00749079 -0.0037994 0.99996473 -0.29851022] [ 0. 0. 0. 1. ]] SLAMing on 42.83654761499999 meters Centerline goodness [0,1] 0.7418029350104822 Centerline is valid? [False, False] Translation: X:3.06, Y:0.15, Z:-0.30 [[ 0.99994116 0.0073249 -0.00800109 3.05684165] [-0.00727377 0.99995305 0.00640189 0.14566295] [ 0.00804761 -0.00634332 0.9999475 -0.30029315] [ 0. 0. 0. 1. ]] SLAMing on 42.866547614999995 meters Centerline goodness [0,1] 0.7240522583886997 Centerline is valid? [False, False] Translation: X:3.06, Y:0.15, Z:-0.30 [[ 0.99993873 0.0075777 -0.00806896 3.05712556] [-0.0075385 0.99995969 0.00487694 0.14967733] [ 0.00810559 -0.00481581 0.99995555 -0.3022557 ] [ 0. 0. 0. 1. ]] SLAMing on 42.89654761499999 meters Centerline goodness [0,1] 0.7191794240295541 Centerline is valid? [False, False] Translation: X:3.06, Y:0.15, Z:-0.31 [[ 9.99936713e-01 7.28325947e-03 -8.57464387e-03 3.05947458e+00] [-7.26191549e-03 9.99970462e-01 2.51770646e-03 1.52700120e-01] [ 8.59272771e-03 -2.45527878e-03 9.99960068e-01 -3.06337610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.92654761499999 meters Centerline goodness [0,1] 0.7114643276160679 Centerline is valid? [False, False] Translation: X:3.06, Y:0.15, Z:-0.31 [[ 9.99932553e-01 7.36484840e-03 -8.98041157e-03 3.06070271e+00] [-7.35562351e-03 9.99972385e-01 1.05982011e-03 1.54639716e-01] [ 8.98796899e-03 -9.93692099e-04 9.99959114e-01 -3.08465262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.95654761499999 meters Centerline goodness [0,1] 0.7001425098499455 Centerline is valid? [False, False] Translation: X:3.06, Y:0.15, Z:-0.31 [[ 9.99916425e-01 9.84949357e-03 -8.37439179e-03 3.05598639e+00] [-9.82921089e-03 9.99948667e-01 2.45970804e-03 1.53745302e-01] [ 8.39818878e-03 -2.37718881e-03 9.99961909e-01 -3.05238734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.98654761499999 meters Centerline goodness [0,1] 0.6957557080823644 Centerline is valid? [False, False] Translation: X:3.05, Y:0.15, Z:-0.30 [[ 0.99990611 0.01121036 -0.00788074 3.05286973] [-0.01118072 0.99993029 0.00379533 0.15270785] [ 0.00792274 -0.00370686 0.99996174 -0.30255773] [ 0. 0. 0. 1. ]] SLAMing on 43.01654761499999 meters Centerline goodness [0,1] 0.6925350447559534 Centerline is valid? [False, False] Translation: X:3.05, Y:0.15, Z:-0.30 [[ 9.99936477e-01 8.40104214e-03 -7.51428144e-03 3.05159348e+00] [-8.40224548e-03 9.99964692e-01 -1.28586532e-04 1.52250271e-01] [ 7.51293586e-03 1.91715201e-04 9.99971759e-01 -3.03594721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.046547614999994 meters Centerline goodness [0,1] 0.6984877661984594 Centerline is valid? [False, False] Translation: X:3.06, Y:0.15, Z:-0.31 [[ 9.99942149e-01 7.21725616e-03 -7.97555803e-03 3.05546446e+00] [-7.21659711e-03 9.99973954e-01 1.11409921e-04 1.48545937e-01] [ 7.97615437e-03 -5.38470870e-05 9.99968189e-01 -3.06304806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.07654761499999 meters Centerline goodness [0,1] 0.6988897071319322 Centerline is valid? [False, False] Translation: X:3.06, Y:0.15, Z:-0.31 [[ 9.99940787e-01 6.99314589e-03 -8.33781444e-03 3.05620339e+00] [-6.98878066e-03 9.99975426e-01 5.52567729e-04 1.47136044e-01] [ 8.34147373e-03 -4.94263854e-04 9.99965087e-01 -3.05654258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.10654761499999 meters Centerline goodness [0,1] 0.7008991008991009 Centerline is valid? [False, False] Translation: X:3.05, Y:0.14, Z:-0.31 [[ 0.99995936 0.00398534 -0.008087 3.05496188] [-0.00401398 0.99998572 -0.00352868 0.14477557] [ 0.00807282 0.003561 0.99996107 -0.30623034] [ 0. 0. 0. 1. ]] SLAMing on 43.13654761499999 meters Centerline goodness [0,1] 0.7083392892878584 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:-0.31 [[ 9.99958822e-01 2.37127278e-03 -8.75962678e-03 3.05891440e+00] [-2.40923516e-03 9.99987742e-01 -4.32578263e-03 1.43661399e-01] [ 8.74926179e-03 4.34670850e-03 9.99952277e-01 -3.08699872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.16654761499999 meters Centerline goodness [0,1] 0.7132133852853542 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:-0.31 [[ 9.99956427e-01 2.05393570e-03 -9.10634227e-03 3.05998486e+00] [-2.08560171e-03 9.99991807e-01 -3.46922620e-03 1.40912693e-01] [ 9.09914210e-03 3.48806724e-03 9.99952518e-01 -3.08077367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.19654761499999 meters Centerline goodness [0,1] 0.7132133852853542 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:-0.31 [[ 9.99956427e-01 2.05393570e-03 -9.10634227e-03 3.05998486e+00] [-2.08560171e-03 9.99991807e-01 -3.46922620e-03 1.40912693e-01] [ 9.09914210e-03 3.48806724e-03 9.99952518e-01 -3.08077367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.226547614999994 meters Centerline goodness [0,1] 0.7171033770999369 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:-0.31 [[ 9.99952050e-01 1.01430513e-03 -9.74008665e-03 3.06304652e+00] [-1.05007354e-03 9.99992722e-01 -3.66787762e-03 1.40762764e-01] [ 9.73629541e-03 3.67792956e-03 9.99945837e-01 -3.09516988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.256547614999995 meters Centerline goodness [0,1] 0.7207917373917547 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:-0.31 [[ 9.99947824e-01 5.39232272e-04 -1.02009050e-02 3.06413548e+00] [-5.62672923e-04 9.99997208e-01 -2.29516874e-03 1.37155616e-01] [ 1.01996389e-02 2.30078876e-03 9.99945335e-01 -3.07808350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.28654761499999 meters Centerline goodness [0,1] 0.7270395665830955 Centerline is valid? [False, False] Translation: X:3.07, Y:0.13, Z:-0.30 [[ 9.99939705e-01 3.17034581e-04 -1.09765913e-02 3.06501582e+00] [-3.20354861e-04 9.99999903e-01 -3.00730428e-04 1.31544482e-01] [ 1.09764949e-02 3.04228700e-04 9.99939710e-01 -3.04472206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.31654761499999 meters Centerline goodness [0,1] 0.7315180708990741 Centerline is valid? [False, False] Translation: X:3.07, Y:0.13, Z:-0.30 [[ 9.99936063e-01 1.08288788e-05 -1.13079789e-02 3.06603097e+00] [-4.78116401e-06 9.99999857e-01 5.34845263e-04 1.29267408e-01] [ 1.13079831e-02 -5.34757001e-04 9.99935920e-01 -3.03790668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.34654761499999 meters Centerline goodness [0,1] 0.7339244211069984 Centerline is valid? [False, False] Translation: X:3.07, Y:0.13, Z:-0.31 [[ 9.99923712e-01 2.03830975e-03 -1.21825671e-02 3.07071413e+00] [-1.99343257e-03 9.99991188e-01 3.69472985e-03 1.30750393e-01] [ 1.21899908e-02 -3.67016286e-03 9.99918964e-01 -3.05841176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.37654761499999 meters Centerline goodness [0,1] 0.726041158405327 Centerline is valid? [False, False] Translation: X:3.07, Y:0.13, Z:-0.30 [[ 9.99927830e-01 3.05310280e-03 -1.16195272e-02 3.06772162e+00] [-3.00805904e-03 9.99987902e-01 3.89206210e-03 1.31937969e-01] [ 1.16312695e-02 -3.85682899e-03 9.99924916e-01 -3.04227712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.406547614999994 meters Centerline goodness [0,1] 0.725982153204311 Centerline is valid? [False, False] Translation: X:3.06, Y:0.13, Z:-0.30 [[ 9.99939235e-01 8.04926805e-04 -1.09945044e-02 3.06365067e+00] [-7.98369945e-04 9.99999501e-01 6.00752074e-04 1.29778258e-01] [ 1.09949825e-02 -5.91937887e-04 9.99939378e-01 -3.02069366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.436547614999995 meters Centerline goodness [0,1] 0.7291162139293321 Centerline is valid? [False, False] Translation: X:3.06, Y:0.13, Z:-0.30 [[ 9.99945448e-01 -1.94889380e-03 -1.02617023e-02 3.06094838e+00] [ 1.91709786e-03 9.99993334e-01 -3.10743091e-03 1.28060209e-01] [ 1.02676900e-02 3.08758871e-03 9.99942519e-01 -3.01920940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.46654761499999 meters Centerline goodness [0,1] 0.7415304498770432 Centerline is valid? [False, False] Translation: X:3.07, Y:0.13, Z:-0.30 [[ 9.99944960e-01 -3.75185826e-04 -1.04850638e-02 3.06513748e+00] [ 3.79325530e-04 9.99999851e-01 3.92833196e-04 1.32197455e-01] [ 1.04849149e-02 -3.96788827e-04 9.99944953e-01 -3.03958634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.49654761499999 meters Centerline goodness [0,1] 0.7470962907455976 Centerline is valid? [False, False] Translation: X:3.07, Y:0.14, Z:-0.31 [[ 9.99941227e-01 -1.22538512e-03 -1.07722534e-02 3.06691684e+00] [ 1.21857904e-03 9.99999054e-01 -6.38356825e-04 1.35661961e-01] [ 1.07730254e-02 6.25192465e-04 9.99941774e-01 -3.05395184e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.52654761499999 meters Centerline goodness [0,1] 0.7418357320386104 Centerline is valid? [False, False] Translation: X:3.07, Y:0.14, Z:-0.31 [[ 9.99936768e-01 -1.45088465e-03 -1.11514273e-02 3.06795974e+00] [ 1.44006189e-03 9.99998484e-01 -9.78494790e-04 1.35861625e-01] [ 1.11528301e-02 9.62374173e-04 9.99937342e-01 -3.05769916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.55654761499999 meters Centerline goodness [0,1] 0.7298271102716838 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:-0.30 [[ 9.99948255e-01 3.33247546e-04 -1.01673850e-02 3.05890564e+00] [-3.75379706e-04 9.99991350e-01 -4.14222720e-03 1.35176955e-01] [ 1.01659167e-02 4.14582949e-03 9.99939731e-01 -3.03442510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.58654761499999 meters Centerline goodness [0,1] 0.7268781108924645 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:-0.30 [[ 9.99946973e-01 3.53739678e-03 -9.67152615e-03 3.05552510e+00] [-3.54922333e-03 9.99992974e-01 -1.20593140e-03 1.35784170e-01] [ 9.66719234e-03 1.24019386e-03 9.99952503e-01 -3.00645036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.616547614999995 meters Centerline goodness [0,1] 0.7217561199862085 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:-0.30 [[ 9.99947906e-01 2.77522072e-03 -9.82261440e-03 3.05648716e+00] [-2.78885739e-03 9.99995166e-01 -1.37486886e-03 1.38962675e-01] [ 9.81875135e-03 1.40219111e-03 9.99950812e-01 -3.00459639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.64654761499999 meters Centerline goodness [0,1] 0.7281271556679696 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:-0.30 [[ 9.99944288e-01 1.60452251e-03 -1.04329165e-02 3.05966386e+00] [-1.62845805e-03 9.99996061e-01 -2.28614359e-03 1.40513325e-01] [ 1.04292073e-02 2.30300579e-03 9.99942962e-01 -3.02631871e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.67654761499999 meters Centerline goodness [0,1] 0.7251399856424983 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:-0.30 [[ 9.99942309e-01 1.38265715e-03 -1.06521092e-02 3.06069720e+00] [-1.41174629e-03 9.99995294e-01 -2.72379834e-03 1.41291644e-01] [ 1.06482930e-02 2.73867927e-03 9.99939555e-01 -3.03561518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.70654761499999 meters Centerline goodness [0,1] 0.7188199506399586 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:-0.30 [[ 9.99946438e-01 2.74220774e-03 -9.98004770e-03 3.05683328e+00] [-2.75238677e-03 9.99995706e-01 -1.00634600e-03 1.39360840e-01] [ 9.97724523e-03 1.03376105e-03 9.99949692e-01 -2.99868807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.73654761499999 meters Centerline goodness [0,1] 0.720502956881208 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:-0.30 [[ 9.99948660e-01 3.04471266e-03 -9.66472317e-03 3.05568831e+00] [-3.05340863e-03 9.99994947e-01 -8.85136289e-04 1.39842498e-01] [ 9.66197934e-03 9.14601195e-04 9.99952904e-01 -2.99339105e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.76654761499999 meters Centerline goodness [0,1] 0.7206409264195832 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:-0.30 [[ 9.99945995e-01 2.47119848e-03 -1.00945559e-02 3.05753144e+00] [-2.48300203e-03 9.99996248e-01 -1.15693374e-03 1.38540615e-01] [ 1.00916590e-02 1.18193606e-03 9.99948379e-01 -3.00301570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.796547614999994 meters Centerline goodness [0,1] 0.7242810212667858 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:-0.30 [[ 9.99948099e-01 -9.38042040e-04 -1.01449635e-02 3.05783767e+00] [ 8.83135273e-04 9.99984947e-01 -5.41534556e-03 1.36745492e-01] [ 1.01498906e-02 5.40610512e-03 9.99933875e-01 -3.01896321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.82654761499999 meters Centerline goodness [0,1] 0.7357642212746207 Centerline is valid? [False, False] Translation: X:3.06, Y:0.13, Z:-0.30 [[ 9.99944574e-01 -1.92553435e-03 -1.03508706e-02 3.06065488e+00] [ 1.87046638e-03 9.99984061e-01 -5.32718038e-03 1.33481348e-01] [ 1.03609632e-02 5.30752416e-03 9.99932238e-01 -3.04162291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.85654761499999 meters Centerline goodness [0,1] 0.7400254056238813 Centerline is valid? [False, False] Translation: X:3.07, Y:0.13, Z:-0.30 [[ 9.99939185e-01 -1.48279530e-03 -1.09282657e-02 3.06604868e+00] [ 1.46934992e-03 9.99998154e-01 -1.23825624e-03 1.31477293e-01] [ 1.09300816e-02 1.22212349e-03 9.99939518e-01 -3.04781688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.88654761499999 meters Centerline goodness [0,1] 0.7508125362739408 Centerline is valid? [False, False] Translation: X:3.07, Y:0.13, Z:-0.30 [[ 9.99934513e-01 -2.02057732e-03 -1.12644191e-02 3.06687008e+00] [ 2.02632238e-03 9.99997823e-01 4.98628242e-04 1.27337806e-01] [ 1.12633870e-02 -5.21420933e-04 9.99936430e-01 -3.02429010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.91654761499999 meters Centerline goodness [0,1] 0.7639437601673251 Centerline is valid? [False, False] Translation: X:3.07, Y:0.12, Z:-0.30 [[ 9.99930640e-01 -2.47656517e-03 -1.15144074e-02 3.06689075e+00] [ 2.50333073e-03 9.99994197e-01 2.31069657e-03 1.22122808e-01] [ 1.15086180e-02 -2.33936067e-03 9.99931037e-01 -2.99193555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.94654761499999 meters Centerline goodness [0,1] 0.777123363559495 Centerline is valid? [False, False] Translation: X:3.07, Y:0.12, Z:-0.30 [[ 9.99922708e-01 -2.91417955e-03 -1.20865471e-02 3.06835348e+00] [ 2.95353175e-03 9.99990392e-01 3.23929736e-03 1.18916759e-01] [ 1.20769911e-02 -3.27474499e-03 9.99921708e-01 -2.98148189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.976547614999994 meters Centerline goodness [0,1] 0.7898671338881589 Centerline is valid? [False, False] Translation: X:3.07, Y:0.12, Z:-0.30 [[ 9.99907103e-01 -4.38478073e-03 -1.29058069e-02 3.07261817e+00] [ 4.41263098e-03 9.99987995e-01 2.13027886e-03 1.18573912e-01] [ 1.28963112e-02 -2.18702952e-03 9.99914447e-01 -3.01047545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.00654761499999 meters Centerline goodness [0,1] 0.7849031200608793 Centerline is valid? [False, False] Translation: X:3.07, Y:0.12, Z:-0.30 [[ 9.99905799e-01 -4.31370776e-03 -1.30301926e-02 3.07341515e+00] [ 4.33360044e-03 9.99989487e-01 1.49881170e-03 1.18800191e-01] [ 1.30235902e-02 -1.55513815e-03 9.99913980e-01 -3.02566348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.03654761499999 meters Centerline goodness [0,1] 0.7753383810331219 Centerline is valid? [False, False] Translation: X:3.07, Y:0.12, Z:-0.30 [[ 9.99909752e-01 -3.75534370e-03 -1.28990790e-02 3.07232579e+00] [ 3.78767429e-03 9.99989744e-01 2.48291121e-03 1.16084379e-01] [ 1.28896225e-02 -2.53154464e-03 9.99913721e-01 -3.01158327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.06654761499999 meters Centerline goodness [0,1] 0.7921708598125417 Centerline is valid? [False, False] Translation: X:3.07, Y:0.12, Z:-0.30 [[ 9.99911156e-01 -3.94994291e-03 -1.27309528e-02 3.07230148e+00] [ 3.98518889e-03 9.99988293e-01 2.74434747e-03 1.18130063e-01] [ 1.27199637e-02 -2.79483890e-03 9.99915192e-01 -3.00951036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.09654761499999 meters Centerline goodness [0,1] 0.7815031242767878 Centerline is valid? [False, False] Translation: X:3.07, Y:0.12, Z:-0.30 [[ 9.99916690e-01 -3.62066836e-03 -1.23896278e-02 3.07108342e+00] [ 3.65135421e-03 9.99990320e-01 2.45501372e-03 1.21922239e-01] [ 1.23806191e-02 -2.50004811e-03 9.99920232e-01 -3.00777292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.12654761499999 meters Centerline goodness [0,1] 0.7751143535406172 Centerline is valid? [False, False] Translation: X:3.07, Y:0.12, Z:-0.30 [[ 9.99919860e-01 -3.03480241e-03 -1.22908270e-02 3.06969965e+00] [ 3.06545545e-03 9.99992236e-01 2.47590589e-03 1.22820757e-01] [ 1.22832177e-02 -2.51338445e-03 9.99921400e-01 -2.99759778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.156547614999994 meters Centerline goodness [0,1] 0.7584566289527125 Centerline is valid? [False, False] Translation: X:3.07, Y:0.12, Z:-0.30 [[ 9.99932150e-01 -1.51706301e-03 -1.15496615e-02 3.06590015e+00] [ 1.54777337e-03 9.99995290e-01 2.65050967e-03 1.23516640e-01] [ 1.15455861e-02 -2.66820609e-03 9.99929788e-01 -2.98229420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.186547614999995 meters Centerline goodness [0,1] 0.7407139131946456 Centerline is valid? [False, False] Translation: X:3.06, Y:0.13, Z:-0.30 [[ 9.99940849e-01 -3.36161837e-04 -1.08712949e-02 3.06364675e+00] [ 3.54320639e-04 9.99998545e-01 1.66846108e-03 1.25538294e-01] [ 1.08707182e-02 -1.67221431e-03 9.99939514e-01 -2.99512194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.21654761499999 meters Centerline goodness [0,1] 0.7326395895188954 Centerline is valid? [False, False] Translation: X:3.07, Y:0.13, Z:-0.30 [[ 9.99933826e-01 2.84405727e-03 -1.11469294e-02 3.06539279e+00] [-2.80087550e-03 9.99988521e-01 3.88756970e-03 1.30842567e-01] [ 1.11578579e-02 -3.85609129e-03 9.99930314e-01 -3.01638334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.24654761499999 meters Centerline goodness [0,1] 0.7266394150498015 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:-0.30 [[ 9.99937659e-01 3.04382966e-03 -1.07430655e-02 3.06416217e+00] [-3.01619851e-03 9.99992104e-01 2.58726424e-03 1.36285282e-01] [ 1.07508559e-02 -2.55469973e-03 9.99938944e-01 -3.02434019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.27654761499999 meters Centerline goodness [0,1] 0.7236327000575705 Centerline is valid? [False, False] Translation: X:3.07, Y:0.14, Z:-0.31 [[ 9.99934706e-01 2.62823184e-03 -1.11210194e-02 3.06602759e+00] [-2.63670662e-03 9.99996245e-01 -7.47457276e-04 1.43373512e-01] [ 1.11190132e-02 7.76731337e-04 9.99937880e-01 -3.07089693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.30654761499999 meters Centerline goodness [0,1] 0.7222222222222222 Centerline is valid? [False, False] Translation: X:3.07, Y:0.14, Z:-0.31 [[ 9.99929569e-01 2.70483518e-03 -1.15560137e-02 3.06617218e+00] [-2.72214082e-03 9.99995197e-01 -1.48207826e-03 1.44936935e-01] [ 1.15519494e-02 1.51343097e-03 9.99932129e-01 -3.06719610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.33654761499999 meters Centerline goodness [0,1] 0.7222286108555658 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:-0.30 [[ 9.99926586e-01 3.34392740e-03 -1.16464951e-02 3.06461670e+00] [-3.35234065e-03 9.99994134e-01 -7.02937072e-04 1.43765154e-01] [ 1.16440762e-02 7.41928486e-04 9.99931930e-01 -3.04197063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.366547614999995 meters Centerline goodness [0,1] 0.7122760679834634 Centerline is valid? [False, False] Translation: X:3.06, Y:0.15, Z:-0.30 [[ 9.99930896e-01 3.39248173e-03 -1.12558410e-02 3.06400148e+00] [-3.40269171e-03 9.99993817e-01 -8.88056231e-04 1.45095557e-01] [ 1.12527587e-02 9.26295020e-04 9.99936257e-01 -3.04637126e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.39654761499999 meters Centerline goodness [0,1] 0.7146719025667292 Centerline is valid? [False, False] Translation: X:3.07, Y:0.14, Z:-0.30 [[ 0.99991596 0.00584833 -0.01156993 3.06593332] [-0.00579798 0.9999736 0.0043805 0.14318358] [ 0.01159524 -0.00431305 0.99992347 -0.30271017] [ 0. 0. 0. 1. ]] SLAMing on 44.42654761499999 meters Centerline goodness [0,1] 0.7105800306174519 Centerline is valid? [False, False] Translation: X:3.07, Y:0.15, Z:-0.30 [[ 0.99991897 0.00580232 -0.01133065 3.06574703] [-0.00576059 0.99997652 0.00371166 0.14693938] [ 0.01135192 -0.00364609 0.99992892 -0.30359921] [ 0. 0. 0. 1. ]] SLAMing on 44.45654761499999 meters Centerline goodness [0,1] 0.7044297135053629 Centerline is valid? [False, False] Translation: X:3.06, Y:0.15, Z:-0.30 [[ 9.99929314e-01 4.19487948e-03 -1.11252310e-02 3.06266545e+00] [-4.19883439e-03 9.99991130e-01 -3.32156086e-04 1.48215987e-01] [ 1.11237389e-02 3.78845610e-04 9.99938058e-01 -3.03191336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.48654761499999 meters Centerline goodness [0,1] 0.7014981058431868 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:-0.30 [[ 9.99946814e-01 2.42957304e-03 -1.00232703e-02 3.05812654e+00] [-2.46565318e-03 9.99990520e-01 -3.58885208e-03 1.44857612e-01] [ 1.00144559e-02 3.61337512e-03 9.99943325e-01 -3.02419456e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.51654761499999 meters Centerline goodness [0,1] 0.6968308951933813 Centerline is valid? [False, False] Translation: X:3.06, Y:0.15, Z:-0.30 [[ 9.99950902e-01 2.52568948e-03 -9.58200627e-03 3.05765175e+00] [-2.56481935e-03 9.99988414e-01 -4.07359400e-03 1.47350944e-01] [ 9.57160662e-03 4.09797011e-03 9.99945794e-01 -3.03502190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.546547614999994 meters Centerline goodness [0,1] 0.7004019728026912 Centerline is valid? [False, False] Translation: X:3.06, Y:0.15, Z:-0.31 [[ 9.99933700e-01 5.29563142e-03 -1.02250480e-02 3.06076358e+00] [-5.30515769e-03 9.99985518e-01 -9.04761631e-04 1.49585951e-01] [ 1.02201087e-02 9.58947138e-04 9.99947314e-01 -3.05101171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.57654761499999 meters Centerline goodness [0,1] 0.7029518710453231 Centerline is valid? [False, False] Translation: X:3.06, Y:0.15, Z:-0.31 [[ 9.99929895e-01 4.98445749e-03 -1.07405969e-02 3.06230325e+00] [-4.99268258e-03 9.99987263e-01 -7.39116982e-04 1.47025964e-01] [ 1.07367761e-02 7.92689557e-04 9.99942045e-01 -3.05356612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.60654761499999 meters Centerline goodness [0,1] 0.6939702247513939 Centerline is valid? [False, False] Translation: X:3.06, Y:0.15, Z:-0.30 [[ 9.99942816e-01 2.39442144e-03 -1.04226485e-02 3.06006774e+00] [-2.43838907e-03 9.99988174e-01 -4.20780805e-03 1.45531310e-01] [ 1.04124500e-02 4.23298190e-03 9.99936829e-01 -3.04661329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.63654761499999 meters Centerline goodness [0,1] 0.6940037798522422 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:-0.30 [[ 9.99941837e-01 3.18456810e-03 -1.03044449e-02 3.05858143e+00] [-3.21003339e-03 9.99991833e-01 -2.45569729e-03 1.42599225e-01] [ 1.02965405e-02 2.48863207e-03 9.99943892e-01 -3.02151122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.66654761499999 meters Centerline goodness [0,1] 0.6899829254410927 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:-0.30 [[ 9.99925554e-01 5.93312250e-03 -1.06623392e-02 3.06133304e+00] [-5.91983983e-03 9.99981662e-01 1.27688576e-03 1.44648648e-01] [ 1.06697196e-02 -1.21367136e-03 9.99942340e-01 -3.03382982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.69654761499999 meters Centerline goodness [0,1] 0.701957753735188 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:-0.30 [[ 9.99924337e-01 5.60490146e-03 -1.09501539e-02 3.06254449e+00] [-5.59621437e-03 9.99984002e-01 8.23810005e-04 1.44770942e-01] [ 1.09545961e-02 -7.62468264e-04 9.99939706e-01 -3.04338991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.726547614999994 meters Centerline goodness [0,1] 0.7005422775657763 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:-0.30 [[ 9.99920011e-01 5.35043244e-03 -1.14605577e-02 3.06369916e+00] [-5.34217513e-03 9.99985448e-01 7.50990605e-04 1.43278238e-01] [ 1.14644090e-02 -6.89706228e-04 9.99934044e-01 -3.04359340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.75654761499999 meters Centerline goodness [0,1] 0.6971743942050648 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:-0.30 [[ 9.99933183e-01 2.49903598e-03 -1.12865016e-02 3.06173854e+00] [-2.53376133e-03 9.99992098e-01 -3.06346452e-03 1.41224548e-01] [ 1.12787567e-02 3.09185712e-03 9.99931613e-01 -3.03616276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.78654761499999 meters Centerline goodness [0,1] 0.7099541021227769 Centerline is valid? [False, False] Translation: X:3.06, Y:0.14, Z:-0.30 [[ 9.99930027e-01 1.48341273e-03 -1.17362833e-02 3.06357981e+00] [-1.52485658e-03 9.99992631e-01 -3.52309832e-03 1.43248760e-01] [ 1.17309706e-02 3.54074795e-03 9.99924921e-01 -3.03987763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.81654761499999 meters Centerline goodness [0,1] 0.7176490855321715 Centerline is valid? [False, False] Translation: X:3.07, Y:0.15, Z:-0.31 [[ 9.99917402e-01 -4.82728851e-04 -1.28435529e-02 3.06867572e+00] [ 4.20316531e-04 9.99988094e-01 -4.86168357e-03 1.45910348e-01] [ 1.28457469e-02 4.85588364e-03 9.99905699e-01 -3.06780992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.84654761499999 meters Centerline goodness [0,1] 0.7268301065414137 Centerline is valid? [False, False] Translation: X:3.07, Y:0.14, Z:-0.31 [[ 9.99894023e-01 -2.39064140e-03 -1.43606162e-02 3.07379976e+00] [ 2.32109620e-03 9.99985509e-01 -4.85748957e-03 1.43917591e-01] [ 1.43720206e-02 4.82364241e-03 9.99885082e-01 -3.07160863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.87654761499999 meters Centerline goodness [0,1] 0.7386722563601906 Centerline is valid? [False, False] Translation: X:3.08, Y:0.14, Z:-0.31 [[ 0.9998787 -0.00425706 -0.01498224 3.07680304] [ 0.004183 0.99997889 -0.0049713 0.1423974 ] [ 0.01500309 0.00490803 0.9998754 -0.30722832] [ 0. 0. 0. 1. ]] SLAMing on 44.906547614999994 meters Centerline goodness [0,1] 0.7616330743427278 Centerline is valid? [False, False] Translation: X:3.08, Y:0.14, Z:-0.30 [[ 0.99986478 -0.00586874 -0.01536133 3.07809085] [ 0.00580734 0.99997498 -0.00403834 0.14115375] [ 0.01538465 0.00394859 0.99987385 -0.30454416] [ 0. 0. 0. 1. ]] SLAMing on 44.936547614999995 meters Centerline goodness [0,1] 0.7805823569951758 Centerline is valid? [False, False] Translation: X:3.08, Y:0.14, Z:-0.30 [[ 0.99983158 -0.00994247 -0.01542589 3.07650795] [ 0.00985363 0.99993449 -0.0058244 0.13774184] [ 0.01548279 0.00567141 0.99986405 -0.29948488] [ 0. 0. 0. 1. ]] SLAMing on 44.96654761499999 meters Centerline goodness [0,1] 0.8125592757580112 Centerline is valid? [False, False] Translation: X:3.08, Y:0.13, Z:-0.30 [[ 0.99973809 -0.01580574 -0.01655058 3.07950619] [ 0.0156778 0.99984642 -0.007832 0.13350173] [ 0.01667183 0.00757048 0.99983235 -0.29551549] [ 0. 0. 0. 1. ]] SLAMing on 44.99654761499999 meters Centerline goodness [0,1] 0.8134401194166954 Centerline is valid? [False, False] Translation: X:3.08, Y:0.14, Z:-0.30 [[ 9.99743643e-01 -2.02956051e-02 -1.00368010e-02 3.07718818e+00] [ 2.02660321e-02 9.99790003e-01 -3.03944845e-03 1.36933190e-01] [ 1.00963807e-02 2.83526313e-03 9.99945011e-01 -3.04258325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.02654761499999 meters Centerline goodness [0,1] 0.8081209062296197 Centerline is valid? [False, False] Translation: X:3.08, Y:0.14, Z:-0.31 [[ 0.9998242 -0.0150926 -0.01112568 3.08247802] [ 0.01513355 0.99987898 0.00360527 0.14241519] [ 0.01106992 -0.00377301 0.99993161 -0.30600101] [ 0. 0. 0. 1. ]] SLAMing on 45.05654761499999 meters Centerline goodness [0,1] 0.80986575085857 Centerline is valid? [False, False] Translation: X:3.08, Y:0.14, Z:-0.30 [[ 0.99983031 -0.01462995 -0.01119415 3.0804636 ] [ 0.01468228 0.9998816 0.00460669 0.14061406] [ 0.01112542 -0.00477026 0.99992673 -0.30223154] [ 0. 0. 0. 1. ]] SLAMing on 45.08654761499999 meters Centerline goodness [0,1] 0.80986575085857 Centerline is valid? [False, False] Translation: X:3.08, Y:0.14, Z:-0.30 [[ 0.99983031 -0.01462995 -0.01119415 3.0804636 ] [ 0.01468228 0.9998816 0.00460669 0.14061406] [ 0.01112542 -0.00477026 0.99992673 -0.30223154] [ 0. 0. 0. 1. ]] SLAMing on 45.116547614999995 meters Centerline goodness [0,1] 0.8143121881682109 Centerline is valid? [False, False] Translation: X:3.09, Y:0.14, Z:-0.30 [[ 0.99983022 -0.01789192 -0.00440627 3.08854447] [ 0.01785343 0.9998034 -0.00862674 0.14076397] [ 0.00455976 0.00854661 0.99995308 -0.3016084 ] [ 0. 0. 0. 1. ]] SLAMing on 45.14654761499999 meters Centerline goodness [0,1] 0.8113625393941115 Centerline is valid? [False, False] Translation: X:3.09, Y:0.14, Z:-0.30 [[ 0.99987224 -0.01525961 -0.00475928 3.08972582] [ 0.01523961 0.99987501 -0.00421039 0.14156686] [ 0.00482293 0.00413732 0.99997981 -0.29990744] [ 0. 0. 0. 1. ]] SLAMing on 45.17654761499999 meters Centerline goodness [0,1] 0.8072907896952348 Centerline is valid? [False, False] Translation: X:3.10, Y:0.15, Z:-0.30 [[ 9.99901961e-01 -1.24775680e-02 -6.35449581e-03 3.09852320e+00] [ 1.24901708e-02 9.99920098e-01 1.94747424e-03 1.46175420e-01] [ 6.32968834e-03 -2.02665205e-03 9.99977914e-01 -3.02093426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.20654761499999 meters Centerline goodness [0,1] 0.8044182539239233 Centerline is valid? [False, False] Translation: X:3.10, Y:0.15, Z:-0.31 [[ 0.99991263 -0.01063541 -0.00784991 3.1043461 ] [ 0.01066568 0.9999358 0.00382485 0.15029007] [ 0.00780873 -0.00390824 0.99996187 -0.30537388] [ 0. 0. 0. 1. ]] SLAMing on 45.23654761499999 meters Centerline goodness [0,1] 0.8086399108138238 Centerline is valid? [False, False] Translation: X:3.11, Y:0.15, Z:-0.31 [[ 9.99909268e-01 -1.05442424e-02 -8.38304488e-03 3.10542607e+00] [ 1.05621216e-02 9.99942032e-01 2.09137244e-03 1.52492961e-01] [ 8.36050700e-03 -2.17972543e-03 9.99962675e-01 -3.07202252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.26654761499999 meters Centerline goodness [0,1] 0.8153095370886783 Centerline is valid? [False, False] Translation: X:3.10, Y:0.15, Z:-0.30 [[ 9.99929194e-01 -8.69847833e-03 -8.12057486e-03 3.10182463e+00] [ 8.71836418e-03 9.99959074e-01 2.41664261e-03 1.52299532e-01] [ 8.09922141e-03 -2.48726963e-03 9.99964107e-01 -3.04637488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.296547614999994 meters Centerline goodness [0,1] 0.8007679770159397 Centerline is valid? [False, False] Translation: X:3.10, Y:0.16, Z:-0.30 [[ 9.99967771e-01 -3.21885707e-04 -8.02209440e-03 3.10005736e+00] [ 4.09713821e-04 9.99939974e-01 1.09490399e-02 1.56008788e-01] [ 8.01808853e-03 -1.09519738e-02 9.99907878e-01 -3.01861993e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.32654761499999 meters Centerline goodness [0,1] 0.7794263378110549 Centerline is valid? [False, False] Translation: X:3.10, Y:0.16, Z:-0.30 [[ 0.99995817 0.00412416 -0.00816337 3.10058457] [-0.00401477 0.99990254 0.0133713 0.15990196] [ 0.00821772 -0.01333797 0.99987728 -0.30420587] [ 0. 0. 0. 1. ]] SLAMing on 45.35654761499999 meters Centerline goodness [0,1] 0.75351707116413 Centerline is valid? [False, False] Translation: X:3.10, Y:0.16, Z:-0.31 [[ 0.99995318 0.00481101 -0.0083959 3.10231743] [-0.00473226 0.99994486 0.00937506 0.1641583 ] [ 0.00844054 -0.00933489 0.99992081 -0.31215644] [ 0. 0. 0. 1. ]] SLAMing on 45.38654761499999 meters Centerline goodness [0,1] 0.7388750102945617 Centerline is valid? [False, False] Translation: X:3.10, Y:0.17, Z:-0.31 [[ 0.99995155 0.00565127 -0.00805927 3.10104822] [-0.00558239 0.99994792 0.00854376 0.16791542] [ 0.00810714 -0.00849836 0.99993102 -0.31296461] [ 0. 0. 0. 1. ]] SLAMing on 45.41654761499999 meters Centerline goodness [0,1] 0.733375554148195 Centerline is valid? [False, False] Translation: X:3.09, Y:0.17, Z:-0.31 [[ 0.99992883 0.00953726 -0.00716729 3.09416709] [-0.00946186 0.99990031 0.01048043 0.16869946] [ 0.00726653 -0.01041187 0.99991939 -0.30842392] [ 0. 0. 0. 1. ]] SLAMing on 45.44654761499999 meters Centerline goodness [0,1] 0.7183311775875829 Centerline is valid? [False, False] Translation: X:3.09, Y:0.17, Z:-0.31 [[ 0.99993856 0.00895552 -0.0065328 3.08983399] [-0.00890757 0.99993344 0.00733332 0.16852604] [ 0.00659804 -0.00727468 0.99995177 -0.30756899] [ 0. 0. 0. 1. ]] SLAMing on 45.476547614999994 meters Centerline goodness [0,1] 0.7231951098628779 Centerline is valid? [False, False] Translation: X:3.09, Y:0.17, Z:-0.31 [[ 0.99994618 0.0077351 -0.0069141 3.0940595 ] [-0.0076987 0.99995645 0.00527475 0.17113399] [ 0.0069546 -0.00522123 0.99996219 -0.31314506] [ 0. 0. 0. 1. ]] SLAMing on 45.50654761499999 meters Centerline goodness [0,1] 0.7263036746773354 Centerline is valid? [False, False] Translation: X:3.10, Y:0.17, Z:-0.32 [[ 0.99992173 0.00956966 -0.00805946 3.09984062] [-0.00950863 0.99992608 0.00757767 0.17478269] [ 0.00813138 -0.00750044 0.99993881 -0.31686657] [ 0. 0. 0. 1. ]] SLAMing on 45.53654761499999 meters Centerline goodness [0,1] 0.7175603877964616 Centerline is valid? [False, False] Translation: X:3.09, Y:0.18, Z:-0.31 [[ 0.99993012 0.00908872 -0.00756018 3.09417285] [-0.00904318 0.99994089 0.00603606 0.17520116] [ 0.0076146 -0.00596727 0.9999532 -0.31207375] [ 0. 0. 0. 1. ]] SLAMing on 45.56654761499999 meters Centerline goodness [0,1] 0.7109956039702507 Centerline is valid? [False, False] Translation: X:3.08, Y:0.17, Z:-0.30 [[ 9.99973756e-01 5.12855519e-03 -5.11718653e-03 3.07869748e+00] [-5.13096363e-03 9.99986732e-01 -4.57640366e-04 1.65704849e-01] [ 5.11477160e-03 4.83884454e-04 9.99986802e-01 -3.02770637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.59654761499999 meters Centerline goodness [0,1] 0.7122809931080296 Centerline is valid? [False, False] Translation: X:3.08, Y:0.16, Z:-0.30 [[ 0.99996835 0.00625815 -0.00491258 3.07626119] [-0.00624135 0.99997465 0.00342599 0.15636216] [ 0.0049339 -0.00339522 0.99998206 -0.29717519] [ 0. 0. 0. 1. ]] SLAMing on 45.62654761499999 meters Centerline goodness [0,1] 0.7145541982201095 Centerline is valid? [False, False] Translation: X:3.08, Y:0.16, Z:-0.31 [[ 9.99980662e-01 6.18251999e-03 6.72035565e-04 3.07767152e+00] [-6.18979104e-03 9.99915663e-01 1.14172101e-02 1.59781860e-01] [-6.01391758e-04 -1.14211491e-02 9.99934596e-01 -3.08130160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.656547614999994 meters Centerline goodness [0,1] 0.7135554818744474 Centerline is valid? [False, False] Translation: X:3.09, Y:0.16, Z:-0.32 [[ 9.99984950e-01 5.45685743e-03 -5.68362493e-04 3.08788027e+00] [-5.44934913e-03 9.99907446e-01 1.24661002e-02 1.60167851e-01] [ 6.36335620e-04 -1.24628153e-02 9.99922134e-01 -3.16036219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.68654761499999 meters Centerline goodness [0,1] 0.7129274395329441 Centerline is valid? [False, False] Translation: X:3.09, Y:0.16, Z:-0.32 [[ 9.99997732e-01 2.08939494e-03 -4.12035260e-04 3.08850221e+00] [-2.08585110e-03 9.99962364e-01 8.42144634e-03 1.55915487e-01] [ 4.29615479e-04 -8.42056780e-03 9.99964454e-01 -3.18548689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.71654761499999 meters Centerline goodness [0,1] 0.7097732559769052 Centerline is valid? [False, False] Translation: X:3.08, Y:0.15, Z:-0.31 [[ 9.99999245e-01 1.08135733e-03 5.83274614e-04 3.08204469e+00] [-1.08516838e-03 9.99977805e-01 6.57363076e-03 1.50620451e-01] [-5.76153224e-04 -6.57425874e-03 9.99978223e-01 -3.14099617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.74654761499999 meters Centerline goodness [0,1] 0.6993120876035379 Centerline is valid? [False, False] Translation: X:3.08, Y:0.15, Z:-0.31 [[ 9.99994590e-01 3.07718562e-03 1.16237713e-03 3.07780763e+00] [-3.08639039e-03 9.99963221e-01 8.00191770e-03 1.49563935e-01] [-1.13771100e-03 -8.00546196e-03 9.99967309e-01 -3.10593715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.77654761499999 meters Centerline goodness [0,1] 0.7012514348106049 Centerline is valid? [False, False] Translation: X:3.08, Y:0.16, Z:-0.31 [[ 9.99997659e-01 1.97722631e-03 8.78642220e-04 3.08075178e+00] [-1.98224000e-03 9.99981547e-01 5.74242304e-03 1.55835414e-01] [-8.67271937e-04 -5.74415128e-03 9.99983126e-01 -3.14741160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.80654761499999 meters Centerline goodness [0,1] 0.7209419680403701 Centerline is valid? [False, False] Translation: X:3.09, Y:0.15, Z:-0.32 [[ 9.99993414e-01 -3.57436697e-03 -6.28596992e-04 3.09023571e+00] [ 3.57581850e-03 9.99990908e-01 2.32339958e-03 1.54392063e-01] [ 6.20286594e-04 -2.32563203e-03 9.99997103e-01 -3.20456961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.83654761499999 meters Centerline goodness [0,1] 0.7413427561837456 Centerline is valid? [False, False] Translation: X:3.09, Y:0.15, Z:-0.32 [[ 9.99964376e-01 -8.37494632e-03 -1.05187421e-03 3.09221406e+00] [ 8.37434103e-03 9.99964767e-01 -5.78533282e-04 1.49233031e-01] [ 1.05668233e-03 5.69703919e-04 9.99999279e-01 -3.20132659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.866547614999995 meters Centerline goodness [0,1] 0.7628576294277929 Centerline is valid? [False, False] Translation: X:3.09, Y:0.14, Z:-0.31 [[ 9.99937364e-01 -1.11878201e-02 -3.17678178e-04 3.08821350e+00] [ 1.11877530e-02 9.99937393e-01 -2.12153772e-04 1.43343165e-01] [ 3.20031828e-04 2.08586379e-04 9.99999927e-01 -3.12643770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.89654761499999 meters Centerline goodness [0,1] 0.7447671450450961 Centerline is valid? [False, False] Translation: X:3.09, Y:0.14, Z:-0.31 [[ 9.99950234e-01 -9.97423367e-03 2.09441355e-04 3.08527620e+00] [ 9.97403227e-03 9.99949815e-01 9.41599432e-04 1.43526453e-01] [-2.18822577e-04 -9.39463598e-04 9.99999535e-01 -3.10214604e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.92654761499999 meters Centerline goodness [0,1] 0.7292928155011688 Centerline is valid? [False, False] Translation: X:3.09, Y:0.15, Z:-0.32 [[ 9.99992880e-01 -3.56516609e-03 -1.23684211e-03 3.09132895e+00] [ 3.57141555e-03 9.99980679e-01 5.08788521e-03 1.49045317e-01] [ 1.21867905e-03 -5.09226626e-03 9.99986292e-01 -3.17154446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.95654761499999 meters Centerline goodness [0,1] 0.7144909572370275 Centerline is valid? [False, False] Translation: X:3.09, Y:0.15, Z:-0.32 [[ 9.99995912e-01 -2.70276908e-03 -9.33400934e-04 3.09075527e+00] [ 2.70618631e-03 9.99989569e-01 3.67940400e-03 1.50494300e-01] [ 9.23446619e-04 -3.68191492e-03 9.99992795e-01 -3.19786262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.98654761499999 meters Centerline goodness [0,1] 0.6954001969334647 Centerline is valid? [False, False] Translation: X:3.09, Y:0.15, Z:-0.32 [[ 9.99997889e-01 -1.97310446e-03 -5.74010880e-04 3.08908562e+00] [ 1.97529028e-03 9.99990704e-01 3.83266141e-03 1.50215608e-01] [ 5.66443303e-04 -3.83378715e-03 9.99992491e-01 -3.19177430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.01654761499999 meters Centerline goodness [0,1] 0.6846985656656208 Centerline is valid? [False, False] Translation: X:3.09, Y:0.15, Z:-0.32 [[ 9.99999980e-01 -1.56713556e-04 1.23146090e-04 3.08547491e+00] [ 1.56198951e-04 9.99991303e-01 4.16777765e-03 1.53222609e-01] [-1.23798166e-04 -4.16775833e-03 9.99991307e-01 -3.17794576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.046547614999994 meters Centerline goodness [0,1] 0.6874546368153649 Centerline is valid? [False, False] Translation: X:3.08, Y:0.15, Z:-0.32 [[ 9.99999821e-01 4.69336380e-04 3.70876575e-04 3.08307401e+00] [-4.71082898e-04 9.99988735e-01 4.72319244e-03 1.54221488e-01] [-3.68655631e-04 -4.72336631e-03 9.99988777e-01 -3.15037258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.07654761499999 meters Centerline goodness [0,1] 0.6803315162976972 Centerline is valid? [False, False] Translation: X:3.09, Y:0.16, Z:-0.32 [[ 9.99999688e-01 -7.31158708e-04 -3.00521680e-04 3.08626993e+00] [ 7.32093411e-04 9.99994859e-01 3.12201542e-03 1.57294739e-01] [ 2.98237446e-04 -3.12223445e-03 9.99995081e-01 -3.17612317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.10654761499999 meters Centerline goodness [0,1] 0.6819702291353069 Centerline is valid? [False, False] Translation: X:3.09, Y:0.16, Z:-0.32 [[ 9.99998793e-01 -1.34480223e-03 -7.78064217e-04 3.08827651e+00] [ 1.34680364e-03 9.99995771e-01 2.57752015e-03 1.56667500e-01] [ 7.74594672e-04 -2.57856493e-03 9.99996375e-01 -3.18896352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.13654761499999 meters Centerline goodness [0,1] 0.6792810895289128 Centerline is valid? [False, False] Translation: X:3.09, Y:0.16, Z:-0.32 [[ 9.99998534e-01 -1.45726377e-03 -8.99124301e-04 3.08851154e+00] [ 1.45950407e-03 9.99995820e-01 2.49603912e-03 1.56630127e-01] [ 8.95483155e-04 -2.49734774e-03 9.99996481e-01 -3.18806966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.16654761499999 meters Centerline goodness [0,1] 0.6816425932146456 Centerline is valid? [False, False] Translation: X:3.09, Y:0.15, Z:-0.32 [[ 9.99996167e-01 -2.09463968e-03 -1.81051993e-03 3.09097204e+00] [ 2.09899598e-03 9.99994899e-01 2.40756068e-03 1.54583720e-01] [ 1.80546773e-03 -2.41135172e-03 9.99995463e-01 -3.19001599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.19654761499999 meters Centerline goodness [0,1] 0.6866453709930509 Centerline is valid? [False, False] Translation: X:3.09, Y:0.16, Z:-0.32 [[ 9.99993059e-01 -2.92528663e-03 -2.30767119e-03 3.09340193e+00] [ 2.92914384e-03 9.99994316e-01 1.66986864e-03 1.55659440e-01] [ 2.30277323e-03 -1.67661655e-03 9.99995943e-01 -3.20691480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.226547614999994 meters Centerline goodness [0,1] 0.7113084400123253 Centerline is valid? [False, False] Translation: X:3.10, Y:0.16, Z:-0.32 [[ 9.99980342e-01 -5.41326510e-03 -3.16409106e-03 3.09874116e+00] [ 5.41507147e-03 9.99985180e-01 5.62607859e-04 1.57848559e-01] [ 3.16099862e-03 -5.79730578e-04 9.99994836e-01 -3.23634198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.25654761499999 meters Centerline goodness [0,1] 0.7358719584485971 Centerline is valid? [False, False] Translation: X:3.10, Y:0.16, Z:-0.32 [[ 0.99993265 -0.01088177 -0.00403438 3.10256805] [ 0.01086763 0.99993479 -0.00350968 0.15523914] [ 0.00407231 0.0034656 0.9999857 -0.32489056] [ 0. 0. 0. 1. ]] SLAMing on 46.28654761499999 meters Centerline goodness [0,1] 0.7346707147518656 Centerline is valid? [False, False] Translation: X:3.10, Y:0.15, Z:-0.32 [[ 0.99988066 -0.01484479 -0.00427657 3.10184423] [ 0.01482594 0.99988038 -0.0044073 0.14845754] [ 0.00434148 0.00434337 0.99998114 -0.3194749 ] [ 0. 0. 0. 1. ]] SLAMing on 46.31654761499999 meters Centerline goodness [0,1] 0.7882356295620438 Centerline is valid? [False, False] Translation: X:3.10, Y:0.14, Z:-0.31 [[ 0.99982173 -0.01845786 -0.00397761 3.09973856] [ 0.01843401 0.99981236 -0.00595186 0.14400802] [ 0.00408672 0.00587747 0.99997438 -0.31498824] [ 0. 0. 0. 1. ]] SLAMing on 46.34654761499999 meters Centerline goodness [0,1] 0.7965774063335039 Centerline is valid? [False, False] Translation: X:3.10, Y:0.14, Z:-0.31 [[ 9.99858001e-01 -1.62671451e-02 -4.39975219e-03 3.10247887e+00] [ 1.62599171e-02 9.99866398e-01 -1.67363966e-03 1.43644156e-01] [ 4.42638971e-03 1.60186240e-03 9.99988920e-01 -3.14869290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.37654761499999 meters Centerline goodness [0,1] 0.7545462234627421 Centerline is valid? [False, False] Translation: X:3.11, Y:0.15, Z:-0.32 [[ 0.99991782 -0.01115795 -0.0063133 3.11022175] [ 0.01118194 0.99993035 0.00377746 0.14976066] [ 0.00627071 -0.00384774 0.99997294 -0.31890903] [ 0. 0. 0. 1. ]] SLAMing on 46.406547614999994 meters Centerline goodness [0,1] 0.7399504560297263 Centerline is valid? [False, False] Translation: X:3.11, Y:0.15, Z:-0.32 [[ 0.99994126 -0.00875664 -0.00638785 3.10672257] [ 0.00878015 0.99995475 0.00366218 0.15184314] [ 0.00635549 -0.00371805 0.99997289 -0.31679892] [ 0. 0. 0. 1. ]] SLAMing on 46.43654761499999 meters Centerline goodness [0,1] 0.7398085585585585 Centerline is valid? [False, False] Translation: X:3.10, Y:0.15, Z:-0.31 [[ 0.99995352 -0.00738994 -0.00619221 3.10267291] [ 0.0074273 0.99995423 0.00603152 0.14746531] [ 0.00614735 -0.00607723 0.99996264 -0.31078869] [ 0. 0. 0. 1. ]] SLAMing on 46.46654761499999 meters Centerline goodness [0,1] 0.7468704593718565 Centerline is valid? [False, False] Translation: X:3.11, Y:0.15, Z:-0.32 [[ 0.9999531 -0.0061661 -0.00746838 3.10961953] [ 0.0062218 0.99995284 0.00745752 0.15344293] [ 0.00742204 -0.00750364 0.9999443 -0.31561764] [ 0. 0. 0. 1. ]] SLAMing on 46.49654761499999 meters Centerline goodness [0,1] 0.7410667038016989 Centerline is valid? [False, False] Translation: X:3.11, Y:0.16, Z:-0.32 [[ 0.99995352 -0.00624494 -0.00734631 3.11072538] [ 0.00628381 0.99996632 0.00528025 0.16003911] [ 0.00731309 -0.00532617 0.99995907 -0.31963647] [ 0. 0. 0. 1. ]] SLAMing on 46.52654761499999 meters Centerline goodness [0,1] 0.7470127271716779 Centerline is valid? [False, False] Translation: X:3.11, Y:0.16, Z:-0.32 [[ 0.9999641 -0.0051386 -0.00673692 3.10741351] [ 0.00518515 0.99996268 0.00691082 0.15753986] [ 0.00670116 -0.00694551 0.99995343 -0.31631941] [ 0. 0. 0. 1. ]] SLAMing on 46.55654761499999 meters Centerline goodness [0,1] 0.7308824346087632 Centerline is valid? [False, False] Translation: X:3.11, Y:0.16, Z:-0.32 [[ 9.99991970e-01 -3.86229753e-03 1.06918816e-03 3.11268456e+00] [ 3.86531253e-03 9.99988519e-01 -2.83233676e-03 1.59362605e-01] [-1.05823655e-03 2.83644676e-03 9.99995417e-01 -3.16141659e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.58654761499999 meters Centerline goodness [0,1] 0.6987088713036235 Centerline is valid? [False, False] Translation: X:3.11, Y:0.16, Z:-0.31 [[ 9.99996620e-01 -2.24805735e-03 1.30588608e-03 3.10994305e+00] [ 2.25066688e-03 9.99995467e-01 -2.00026327e-03 1.58606643e-01] [-1.30138345e-03 2.00319563e-03 9.99997147e-01 -3.14035798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.616547614999995 meters Centerline goodness [0,1] 0.7116799466948 Centerline is valid? [False, False] Translation: X:3.11, Y:0.16, Z:-0.32 [[ 9.99999690e-01 6.99258727e-04 3.61914724e-04 3.11348544e+00] [-6.99654213e-04 9.99999157e-01 1.09379000e-03 1.60508973e-01] [-3.61149577e-04 -1.09404287e-03 9.99999336e-01 -3.15807440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.64654761499999 meters Centerline goodness [0,1] 0.7109033747878586 Centerline is valid? [False, False] Translation: X:3.12, Y:0.16, Z:-0.32 [[ 9.99999982e-01 1.88435788e-04 -1.06223109e-05 3.11542735e+00] [-1.88426665e-04 9.99999619e-01 8.52462659e-04 1.59313983e-01] [ 1.07829414e-05 -8.52460642e-04 9.99999637e-01 -3.17256000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.67654761499999 meters Centerline goodness [0,1] 0.7246368730658785 Centerline is valid? [False, False] Translation: X:3.12, Y:0.16, Z:-0.32 [[ 9.99999287e-01 -1.13071840e-03 -3.83117076e-04 3.11852179e+00] [ 1.13103443e-03 9.99999020e-01 8.25673980e-04 1.56647785e-01] [ 3.82183095e-04 -8.26106710e-04 9.99999586e-01 -3.19159673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.70654761499999 meters Centerline goodness [0,1] 0.7664284517894031 Centerline is valid? [False, False] Translation: X:3.13, Y:0.15, Z:-0.32 [[ 9.99980848e-01 -6.06333483e-03 -1.24062910e-03 3.12506991e+00] [ 6.06224814e-03 9.99981239e-01 -8.77812688e-04 1.54537412e-01] [ 1.24592829e-03 8.70274874e-04 9.99998845e-01 -3.21294442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.73654761499999 meters Centerline goodness [0,1] 0.7682902891113541 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:-0.32 [[ 9.99981757e-01 -5.86056061e-03 -1.46243294e-03 3.12455248e+00] [ 5.86152924e-03 9.99982604e-01 6.58936857e-04 1.50884882e-01] [ 1.45854576e-03 -6.67496930e-04 9.99998714e-01 -3.18772219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.76654761499999 meters Centerline goodness [0,1] 0.7890297731170401 Centerline is valid? [False, False] Translation: X:3.12, Y:0.15, Z:-0.31 [[ 9.99976472e-01 -6.57768775e-03 -1.94679953e-03 3.12449734e+00] [ 6.58192597e-03 9.99975966e-01 2.17867437e-03 1.45131385e-01] [ 1.93242210e-03 -2.19143680e-03 9.99995732e-01 -3.14809307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.796547614999994 meters Centerline goodness [0,1] 0.7982003700173796 Centerline is valid? [False, False] Translation: X:3.13, Y:0.15, Z:-0.32 [[ 9.99966380e-01 -7.81009936e-03 -2.49842367e-03 3.12747506e+00] [ 7.81361479e-03 9.99968493e-01 1.40040791e-03 1.46187175e-01] [ 2.48740763e-03 -1.41988255e-03 9.99995898e-01 -3.16656432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.82654761499999 meters Centerline goodness [0,1] 0.7938357504121608 Centerline is valid? [False, False] Translation: X:3.13, Y:0.15, Z:-0.32 [[ 9.99963663e-01 -8.15860454e-03 -2.47183297e-03 3.12869934e+00] [ 8.15770188e-03 9.99966655e-01 -3.75039711e-04 1.50617696e-01] [ 2.47481034e-03 3.54861607e-04 9.99996875e-01 -3.19703214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.85654761499999 meters Centerline goodness [0,1] 0.7819081983720735 Centerline is valid? [False, False] Translation: X:3.13, Y:0.15, Z:-0.32 [[ 9.99968898e-01 -7.55470516e-03 -2.26502414e-03 3.12791749e+00] [ 7.55272074e-03 9.99971088e-01 -8.83393615e-04 1.51774162e-01] [ 2.27163243e-03 8.66259045e-04 9.99997045e-01 -3.20362162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.88654761499999 meters Centerline goodness [0,1] 0.7811226354105181 Centerline is valid? [False, False] Translation: X:3.13, Y:0.15, Z:-0.32 [[ 9.99975292e-01 -6.69065034e-03 -2.15633717e-03 3.12629486e+00] [ 6.69109728e-03 9.99977594e-01 2.00119775e-04 1.49001500e-01] [ 2.15494993e-03 -2.14543092e-04 9.99997655e-01 -3.18443181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.91654761499999 meters Centerline goodness [0,1] 0.7697556065097031 Centerline is valid? [False, False] Translation: X:3.13, Y:0.15, Z:-0.32 [[ 9.99988547e-01 -3.76618879e-03 -2.95329549e-03 3.12960136e+00] [ 3.77591585e-03 9.99987443e-01 3.29499872e-03 1.51725578e-01] [ 2.94084882e-03 -3.30611238e-03 9.99990210e-01 -3.20241095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.94654761499999 meters Centerline goodness [0,1] 0.7500625052087674 Centerline is valid? [False, False] Translation: X:3.13, Y:0.16, Z:-0.32 [[ 9.99993665e-01 -6.63753482e-04 -3.49698902e-03 3.13253736e+00] [ 6.83524425e-04 9.99983774e-01 5.65554625e-03 1.55419506e-01] [ 3.49317839e-03 -5.65790070e-03 9.99977893e-01 -3.23170496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.976547614999994 meters Centerline goodness [0,1] 0.7303848075962018 Centerline is valid? [False, False] Translation: X:3.13, Y:0.16, Z:-0.32 [[ 9.99994357e-01 2.72233346e-04 -3.34849589e-03 3.13064465e+00] [-2.55103106e-04 9.99986885e-01 5.11516518e-03 1.58279068e-01] [ 3.34984449e-03 -5.11428210e-03 9.99981311e-01 -3.22407423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.00654761499999 meters Centerline goodness [0,1] 0.7303848075962018 Centerline is valid? [False, False] Translation: X:3.13, Y:0.16, Z:-0.32 [[ 9.99994357e-01 2.72233346e-04 -3.34849589e-03 3.13064465e+00] [-2.55103106e-04 9.99986885e-01 5.11516518e-03 1.58279068e-01] [ 3.34984449e-03 -5.11428210e-03 9.99981311e-01 -3.22407423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.03654761499999 meters Centerline goodness [0,1] 0.7299860529986053 Centerline is valid? [False, False] Translation: X:3.13, Y:0.16, Z:-0.32 [[ 9.99993945e-01 -1.79223052e-03 -2.98278615e-03 3.12634148e+00] [ 1.79800534e-03 9.99996512e-01 1.93449539e-03 1.57916129e-01] [ 2.97930868e-03 -1.93984674e-03 9.99993680e-01 -3.18908070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.06654761499999 meters Centerline goodness [0,1] 0.7311714022809024 Centerline is valid? [False, False] Translation: X:3.13, Y:0.16, Z:-0.32 [[ 9.99993783e-01 -1.72073404e-03 -3.07785013e-03 3.12616213e+00] [ 1.72753225e-03 9.99996071e-01 2.20745947e-03 1.56767214e-01] [ 3.07403959e-03 -2.21276283e-03 9.99992827e-01 -3.18169574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.09654761499999 meters Centerline goodness [0,1] 0.7311362627607634 Centerline is valid? [False, False] Translation: X:3.13, Y:0.16, Z:-0.32 [[ 9.99992701e-01 1.20121001e-03 -3.62701068e-03 3.12812873e+00] [-1.17868400e-03 9.99980046e-01 6.20638982e-03 1.58486419e-01] [ 3.63439348e-03 -6.20206942e-03 9.99974162e-01 -3.17830584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.12654761499999 meters Centerline goodness [0,1] 0.7276761106823945 Centerline is valid? [False, False] Translation: X:3.13, Y:0.17, Z:-0.32 [[ 9.99992512e-01 7.55903820e-04 -3.79533478e-03 3.12990986e+00] [-7.38472100e-04 9.99989183e-01 4.59223588e-03 1.65426821e-01] [ 3.79876502e-03 -4.58939875e-03 9.99982253e-01 -3.20643340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.156547614999994 meters Centerline goodness [0,1] 0.7250983870073722 Centerline is valid? [False, False] Translation: X:3.13, Y:0.17, Z:-0.32 [[ 9.99992292e-01 -1.90273707e-03 -3.43448908e-03 3.12784789e+00] [ 1.90413305e-03 9.99998106e-01 4.03235294e-04 1.65374854e-01] [ 3.43371533e-03 -4.09771910e-04 9.99994021e-01 -3.20689220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.18654761499999 meters Centerline goodness [0,1] 0.7186733556298774 Centerline is valid? [False, False] Translation: X:3.12, Y:0.16, Z:-0.32 [[ 9.99990454e-01 -3.39794613e-03 -2.74697691e-03 3.12328838e+00] [ 3.39284118e-03 9.99992513e-01 -1.86091838e-03 1.61243643e-01] [ 2.75327964e-03 1.85158056e-03 9.99994496e-01 -3.17810963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.21654761499999 meters Centerline goodness [0,1] 0.7146733863151773 Centerline is valid? [False, False] Translation: X:3.12, Y:0.16, Z:-0.32 [[ 9.99995950e-01 7.67049941e-04 -2.74073685e-03 3.12214207e+00] [-7.59039871e-04 9.99995442e-01 2.92244334e-03 1.62385003e-01] [ 2.74296601e-03 -2.92035117e-03 9.99991974e-01 -3.15332609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.24654761499999 meters Centerline goodness [0,1] 0.7011715527198724 Centerline is valid? [False, False] Translation: X:3.12, Y:0.17, Z:-0.32 [[ 9.99985990e-01 4.33140737e-03 -3.04288551e-03 3.12283714e+00] [-4.31160611e-03 9.99969683e-01 6.48409349e-03 1.66068777e-01] [ 3.07087851e-03 -6.47088292e-03 9.99974348e-01 -3.15052122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.27654761499999 meters Centerline goodness [0,1] 0.7090853977789413 Centerline is valid? [False, False] Translation: X:3.13, Y:0.17, Z:-0.32 [[ 9.99989409e-01 2.61058378e-03 -3.79031736e-03 3.12793056e+00] [-2.59909534e-03 9.99992023e-01 3.03276529e-03 1.70008240e-01] [ 3.79820441e-03 -3.02288178e-03 9.99988218e-01 -3.21690869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.30654761499999 meters Centerline goodness [0,1] 0.712463960966955 Centerline is valid? [False, False] Translation: X:3.13, Y:0.17, Z:-0.32 [[ 9.99992543e-01 -1.15735877e-03 -3.68435175e-03 3.12707853e+00] [ 1.15283687e-03 9.99998580e-01 -1.22921331e-03 1.69331116e-01] [ 3.68576916e-03 1.22495668e-03 9.99992457e-01 -3.21416590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.33654761499999 meters Centerline goodness [0,1] 0.7155920086452936 Centerline is valid? [False, False] Translation: X:3.13, Y:0.16, Z:-0.32 [[ 9.99990928e-01 -9.86141552e-04 -4.14391336e-03 3.12630725e+00] [ 9.91935608e-04 9.99998533e-01 1.39638614e-03 1.63880395e-01] [ 4.14253024e-03 -1.40048397e-03 9.99990439e-01 -3.16294585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.366547614999995 meters Centerline goodness [0,1] 0.72922364235084 Centerline is valid? [False, False] Translation: X:3.12, Y:0.16, Z:-0.31 [[ 9.99980430e-01 -4.91541166e-03 -3.87024482e-03 3.12497754e+00] [ 4.90853462e-03 9.99986361e-01 -1.78439788e-03 1.64196761e-01] [ 3.87896309e-03 1.76536573e-03 9.99990919e-01 -3.14479290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.39654761499999 meters Centerline goodness [0,1] 0.7493888888888889 Centerline is valid? [False, False] Translation: X:3.13, Y:0.17, Z:-0.32 [[ 9.99967239e-01 -5.81837763e-03 -5.62745441e-03 3.13467672e+00] [ 5.81882126e-03 9.99983069e-01 6.24640268e-05 1.67103085e-01] [ 5.62699569e-03 -9.52071318e-05 9.99984164e-01 -3.18574541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.42654761499999 meters Centerline goodness [0,1] 0.779569742459332 Centerline is valid? [False, False] Translation: X:3.14, Y:0.17, Z:-0.32 [[ 9.99923721e-01 -1.02767454e-02 -6.85128125e-03 3.14145255e+00] [ 1.02562222e-02 9.99942831e-01 -3.02397630e-03 1.65441698e-01] [ 6.88196620e-03 2.95347737e-03 9.99971957e-01 -3.22188806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.45654761499999 meters Centerline goodness [0,1] 0.7973617737861353 Centerline is valid? [False, False] Translation: X:3.15, Y:0.16, Z:-0.32 [[ 0.99989047 -0.01272555 -0.00755742 3.14544175] [ 0.01269684 0.99991204 -0.00383566 0.16342116] [ 0.00760557 0.00373929 0.99996409 -0.32346019] [ 0. 0. 0. 1. ]] SLAMing on 47.48654761499999 meters Centerline goodness [0,1] 0.8033718878651245 Centerline is valid? [False, False] Translation: X:3.14, Y:0.16, Z:-0.32 [[ 9.99887782e-01 -1.28814259e-02 -7.64802692e-03 3.14452431e+00] [ 1.28580053e-02 9.99912516e-01 -3.10361778e-03 1.63634870e-01] [ 7.68733686e-03 3.00493113e-03 9.99965937e-01 -3.20788990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.51654761499999 meters Centerline goodness [0,1] 0.8001401934669845 Centerline is valid? [False, False] Translation: X:3.14, Y:0.16, Z:-0.32 [[ 9.99907210e-01 -1.15864567e-02 -7.16419766e-03 3.14081188e+00] [ 1.15779698e-02 9.99932223e-01 -1.22496214e-03 1.62047517e-01] [ 7.17790506e-03 1.14190162e-03 9.99973587e-01 -3.16493143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.546547614999994 meters Centerline goodness [0,1] 0.7977295604518511 Centerline is valid? [False, False] Translation: X:3.14, Y:0.16, Z:-0.31 [[ 0.99994159 -0.00794983 -0.0073219 3.14027284] [ 0.00798067 0.99995937 0.00419208 0.16079937] [ 0.00728828 -0.00425027 0.99996441 -0.31323826] [ 0. 0. 0. 1. ]] SLAMing on 47.57654761499999 meters Centerline goodness [0,1] 0.7988295334775615 Centerline is valid? [False, False] Translation: X:3.15, Y:0.16, Z:-0.31 [[ 0.99994443 -0.0061751 -0.00854441 3.14505033] [ 0.00623483 0.99995619 0.00698202 0.16454735] [ 0.00850092 -0.00703491 0.99993912 -0.31466465] [ 0. 0. 0. 1. ]] SLAMing on 47.60654761499999 meters Centerline goodness [0,1] 0.7932906728718248 Centerline is valid? [False, False] Translation: X:3.14, Y:0.17, Z:-0.32 [[ 0.99994896 -0.00570213 -0.00834017 3.14416477] [ 0.00575414 0.99996407 0.00622558 0.16636435] [ 0.00830437 -0.00627326 0.99994584 -0.31513578] [ 0. 0. 0. 1. ]] SLAMing on 47.63654761499999 meters Centerline goodness [0,1] 0.7805625327776091 Centerline is valid? [False, False] Translation: X:3.14, Y:0.17, Z:-0.31 [[ 0.9999581 -0.00420516 -0.00813104 3.14150327] [ 0.00425248 0.99997407 0.00581233 0.16796872] [ 0.00810638 -0.00584667 0.99995005 -0.31401864] [ 0. 0. 0. 1. ]] SLAMing on 47.66654761499999 meters Centerline goodness [0,1] 0.7722449203433053 Centerline is valid? [False, False] Translation: X:3.14, Y:0.17, Z:-0.32 [[ 0.99995797 -0.00424874 -0.00812469 3.14136194] [ 0.00428334 0.99998181 0.00424652 0.17313367] [ 0.0081065 -0.00428114 0.99995798 -0.3150672 ] [ 0. 0. 0. 1. ]] SLAMing on 47.69654761499999 meters Centerline goodness [0,1] 0.7733511976375369 Centerline is valid? [False, False] Translation: X:3.14, Y:0.18, Z:-0.32 [[ 9.99952902e-01 -5.10189742e-03 -8.25620705e-03 3.14235023e+00] [ 5.12642706e-03 9.99982501e-01 2.95262362e-03 1.77321678e-01] [ 8.24099859e-03 -2.99480940e-03 9.99961558e-01 -3.16153229e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.726547614999994 meters Centerline goodness [0,1] 0.7917507224251676 Centerline is valid? [False, False] Translation: X:3.15, Y:0.18, Z:-0.32 [[ 9.99939225e-01 -6.65134457e-03 -8.79233219e-03 3.14524952e+00] [ 6.66537852e-03 9.99976557e-01 1.56781902e-03 1.81217458e-01] [ 8.78169797e-03 -1.62632796e-03 9.99960118e-01 -3.18049705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.75654761499999 meters Centerline goodness [0,1] 0.8019890763837939 Centerline is valid? [False, False] Translation: X:3.15, Y:0.19, Z:-0.32 [[ 9.99907300e-01 -9.15909448e-03 -1.00748660e-02 3.15004586e+00] [ 9.15966223e-03 9.99958049e-01 1.02117275e-05 1.85534985e-01] [ 1.00743498e-02 -1.02493150e-04 9.99949247e-01 -3.19321014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.78654761499999 meters Centerline goodness [0,1] 0.8085824756303437 Centerline is valid? [False, False] Translation: X:3.15, Y:0.19, Z:-0.32 [[ 9.99871534e-01 -1.13411672e-02 -1.13266635e-02 3.15377557e+00] [ 1.13285116e-02 9.99935133e-01 -1.18086926e-03 1.87715591e-01] [ 1.13393212e-02 1.05240332e-03 9.99935154e-01 -3.19318441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.81654761499999 meters Centerline goodness [0,1] 0.8087253784795703 Centerline is valid? [False, False] Translation: X:3.15, Y:0.19, Z:-0.32 [[ 9.99868470e-01 -1.14533423e-02 -1.14832079e-02 3.15277495e+00] [ 1.14455510e-02 9.99934221e-01 -7.43986420e-04 1.86794502e-01] [ 1.14909737e-02 6.12456922e-04 9.99933789e-01 -3.16668674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.84654761499999 meters Centerline goodness [0,1] 0.8096582506520394 Centerline is valid? [False, False] Translation: X:3.15, Y:0.19, Z:-0.32 [[ 9.99904024e-01 -7.67635569e-03 -1.15332287e-02 3.15260611e+00] [ 7.70637157e-03 9.99967028e-01 2.56037278e-03 1.90339128e-01] [ 1.15131941e-02 -2.64900639e-03 9.99930212e-01 -3.16405650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.87654761499999 meters Centerline goodness [0,1] 0.7949896939908039 Centerline is valid? [False, False] Translation: X:3.15, Y:0.20, Z:-0.31 [[ 9.99922912e-01 2.47438853e-03 -1.21675144e-02 3.15286296e+00] [-2.32191198e-03 9.99918805e-01 1.25296443e-02 1.99836387e-01] [ 1.21975297e-02 -1.25004265e-02 9.99847468e-01 -3.14290179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.906547614999994 meters Centerline goodness [0,1] 0.7903752039151712 Centerline is valid? [False, False] Translation: X:3.15, Y:0.20, Z:-0.31 [[ 9.99918595e-01 2.94405103e-03 -1.24151663e-02 3.15171342e+00] [-2.79890013e-03 9.99927722e-01 1.16926304e-02 2.03480373e-01] [ 1.24486926e-02 -1.16569297e-02 9.99854562e-01 -3.13020518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.93654761499999 meters Centerline goodness [0,1] 0.7877233141263451 Centerline is valid? [False, False] Translation: X:3.15, Y:0.21, Z:-0.31 [[ 9.99922549e-01 -4.16302878e-04 -1.24387960e-02 3.15137408e+00] [ 4.94746113e-04 9.99980008e-01 6.30392516e-03 2.06971271e-01] [ 1.24359230e-02 -6.30959096e-03 9.99902764e-01 -3.14503980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.96654761499999 meters Centerline goodness [0,1] 0.7941330402470299 Centerline is valid? [False, False] Translation: X:3.15, Y:0.21, Z:-0.32 [[ 9.99919600e-01 -1.75277264e-03 -1.25587223e-02 3.15302712e+00] [ 1.80436169e-03 9.99989977e-01 4.09767364e-03 2.14834334e-01] [ 1.25514142e-02 -4.12000467e-03 9.99912740e-01 -3.16606253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.99654761499999 meters Centerline goodness [0,1] 0.7964857477547833 Centerline is valid? [False, False] Translation: X:3.15, Y:0.22, Z:-0.32 [[ 9.99909996e-01 -3.11925705e-03 -1.30487565e-02 3.15483376e+00] [ 3.15410065e-03 9.99991513e-01 2.65053508e-03 2.19527068e-01] [ 1.30403781e-02 -2.69145361e-03 9.99911348e-01 -3.17357793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.02654761499999 meters Centerline goodness [0,1] 0.8009960572732933 Centerline is valid? [False, False] Translation: X:3.15, Y:0.22, Z:-0.32 [[ 9.99904247e-01 -3.85706854e-03 -1.32898128e-02 3.15467913e+00] [ 3.89200145e-03 9.99989037e-01 2.60368830e-03 2.19911555e-01] [ 1.32796245e-02 -2.65516296e-03 9.99908297e-01 -3.15566440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.05654761499999 meters Centerline goodness [0,1] 0.8045822102425876 Centerline is valid? [False, False] Translation: X:3.16, Y:0.22, Z:-0.32 [[ 9.99887053e-01 -5.76989625e-03 -1.38776308e-02 3.15697516e+00] [ 5.79491507e-03 9.99981655e-01 1.76328046e-03 2.20114520e-01] [ 1.38672023e-02 -1.84350099e-03 9.99902146e-01 -3.15626549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.08654761499999 meters Centerline goodness [0,1] 0.8055483804308519 Centerline is valid? [False, False] Translation: X:3.16, Y:0.22, Z:-0.32 [[ 9.99859512e-01 -7.93185706e-03 -1.47662206e-02 3.16122027e+00] [ 7.92843829e-03 9.99968527e-01 -2.90052164e-04 2.24233682e-01] [ 1.47680565e-02 1.72938347e-04 9.99890931e-01 -3.18333099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.11654761499999 meters Centerline goodness [0,1] 0.8092859166173101 Centerline is valid? [False, False] Translation: X:3.16, Y:0.23, Z:-0.32 [[ 9.99843061e-01 -8.89316046e-03 -1.53220447e-02 3.16288156e+00] [ 8.86821531e-03 9.99959240e-01 -1.69523242e-03 2.28257124e-01] [ 1.53364962e-02 1.55908718e-03 9.99881174e-01 -3.19064211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.14654761499999 meters Centerline goodness [0,1] 0.8100688842795318 Centerline is valid? [False, False] Translation: X:3.16, Y:0.23, Z:-0.32 [[ 9.99852749e-01 -6.08594695e-03 -1.60449649e-02 3.16474320e+00] [ 6.11160429e-03 9.99980122e-01 1.55054074e-03 2.30289159e-01] [ 1.60352094e-02 -1.64837290e-03 9.99870069e-01 -3.18776210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.17654761499999 meters Centerline goodness [0,1] 0.8078782635248614 Centerline is valid? [False, False] Translation: X:3.16, Y:0.24, Z:-0.31 [[ 0.99986801 -0.00335108 -0.01589785 3.1607416 ] [ 0.00341244 0.99998683 0.00383425 0.23509249] [ 0.01588479 -0.00388799 0.99986627 -0.31410815] [ 0. 0. 0. 1. ]] SLAMing on 48.20654761499999 meters Centerline goodness [0,1] 0.8084567666793265 Centerline is valid? [False, False] Translation: X:3.16, Y:0.24, Z:-0.31 [[ 9.99859656e-01 -3.86021290e-03 -1.63023758e-02 3.16102943e+00] [ 3.90185563e-03 9.99989204e-01 2.52336251e-03 2.39791568e-01] [ 1.62924591e-02 -2.58661789e-03 9.99863923e-01 -3.13742977e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.23654761499999 meters Centerline goodness [0,1] 0.8104944500504541 Centerline is valid? [False, False] Translation: X:3.17, Y:0.25, Z:-0.32 [[ 9.99828517e-01 -6.86025988e-03 -1.72009941e-02 3.16595904e+00] [ 6.85514512e-03 9.99976440e-01 -3.56297778e-04 2.46328030e-01] [ 1.72030332e-02 2.38321368e-04 9.99851988e-01 -3.17063625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.26654761499999 meters Centerline goodness [0,1] 0.8122519716682574 Centerline is valid? [False, False] Translation: X:3.17, Y:0.25, Z:-0.32 [[ 9.99804592e-01 -8.26479148e-03 -1.79574692e-02 3.16817420e+00] [ 8.22460763e-03 9.99963508e-01 -2.31042603e-03 2.52209604e-01] [ 1.79759091e-02 2.16228141e-03 9.99836082e-01 -3.17977496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.296547614999994 meters Centerline goodness [0,1] 0.8161579354581077 Centerline is valid? [False, False] Translation: X:3.17, Y:0.26, Z:-0.32 [[ 9.99799227e-01 -6.29584614e-03 -1.90228373e-02 3.17117184e+00] [ 6.29643904e-03 9.99980177e-01 -2.87261966e-05 2.56658673e-01] [ 1.90226411e-02 -9.10557063e-05 9.99819049e-01 -3.18216598e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.32654761499999 meters Centerline goodness [0,1] 0.8174983251035954 Centerline is valid? [False, False] Translation: X:3.18, Y:0.26, Z:-0.32 [[ 0.99991663 -0.00394344 -0.01229595 3.17971587] [ 0.0038553 0.99996677 -0.00718316 0.26262977] [ 0.01232386 0.00713516 0.9998986 -0.31760573] [ 0. 0. 0. 1. ]] SLAMing on 48.35654761499999 meters Centerline goodness [0,1] 0.8175310409518403 Centerline is valid? [False, False] Translation: X:3.18, Y:0.27, Z:-0.31 [[ 9.99925450e-01 -2.72272666e-03 -1.19030203e-02 3.17538345e+00] [ 2.64367408e-03 9.99974380e-01 -6.65208565e-03 2.65425242e-01] [ 1.19208272e-02 6.62012203e-03 9.99907030e-01 -3.12895391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.38654761499999 meters Centerline goodness [0,1] 0.8163051170054415 Centerline is valid? [False, False] Translation: X:3.18, Y:0.27, Z:-0.31 [[ 9.99913234e-01 3.04636142e-03 -1.28158149e-02 3.17855169e+00] [-3.05583857e-03 9.99995072e-01 -7.19970902e-04 2.72771623e-01] [ 1.28135585e-02 7.59071495e-04 9.99917615e-01 -3.13660424e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.41654761499999 meters Centerline goodness [0,1] 0.8170090663580247 Centerline is valid? [False, False] Translation: X:3.18, Y:0.28, Z:-0.32 [[ 9.99893969e-01 5.79254763e-03 -1.33602502e-02 3.18078319e+00] [-5.77810620e-03 9.99982680e-01 1.11927272e-03 2.81006133e-01] [ 1.33665023e-02 -1.04195710e-03 9.99910121e-01 -3.15192833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.44654761499999 meters Centerline goodness [0,1] 0.8165501333525553 Centerline is valid? [False, False] Translation: X:3.18, Y:0.28, Z:-0.32 [[ 9.99893270e-01 5.21304676e-03 -1.36482079e-02 3.18174280e+00] [-5.21913252e-03 9.99986296e-01 -4.10322098e-04 2.83973055e-01] [ 1.36458818e-02 4.81510109e-04 9.99906775e-01 -3.16131721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.476547614999994 meters Centerline goodness [0,1] 0.8149721200616917 Centerline is valid? [False, False] Translation: X:3.18, Y:0.29, Z:-0.32 [[ 9.99891470e-01 5.51750989e-03 -1.36603825e-02 3.18136819e+00] [-5.54384795e-03 9.99982845e-01 -1.89094528e-03 2.89953117e-01] [ 1.36497149e-02 1.96647114e-03 9.99904905e-01 -3.16581191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.50654761499999 meters Centerline goodness [0,1] 0.8174560438274061 Centerline is valid? [False, False] Translation: X:3.18, Y:0.30, Z:-0.32 [[ 9.99863091e-01 9.58625914e-03 -1.34871184e-02 3.17995826e+00] [-9.57799858e-03 9.99953901e-01 6.76939028e-04 2.98647531e-01] [ 1.34929860e-02 -5.47666748e-04 9.99908816e-01 -3.15490668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.53654761499999 meters Centerline goodness [0,1] 0.8169425056607297 Centerline is valid? [False, False] Translation: X:3.17, Y:0.30, Z:-0.31 [[ 9.99861394e-01 1.05228402e-02 -1.29020289e-02 3.17433360e+00] [-1.05220300e-02 9.99944633e-01 1.30677580e-04 3.03959566e-01] [ 1.29026896e-02 5.09606746e-06 9.99916757e-01 -3.10203568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.56654761499999 meters Centerline goodness [0,1] 0.8140377779326688 Centerline is valid? [False, False] Translation: X:3.18, Y:0.31, Z:-0.31 [[ 0.99988599 0.0142216 -0.00507531 3.18055626] [-0.0142457 0.99988727 -0.00474355 0.30716471] [ 0.00500728 0.00481531 0.99997587 -0.30814079] [ 0. 0. 0. 1. ]] SLAMing on 48.59654761499999 meters Centerline goodness [0,1] 0.8117892298784019 Centerline is valid? [False, False] Translation: X:3.18, Y:0.31, Z:-0.31 [[ 9.99836377e-01 1.72564845e-02 -5.42515735e-03 3.18215364e+00] [-1.72702124e-02 9.99847749e-01 -2.49382653e-03 3.12203765e-01] [ 5.38129669e-03 2.58711210e-03 9.99982174e-01 -3.09300808e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.62654761499999 meters Centerline goodness [0,1] 0.8138701227078451 Centerline is valid? [False, False] Translation: X:3.19, Y:0.32, Z:-0.32 [[ 0.99984414 0.01639326 -0.0065545 3.19037995] [-0.01641662 0.99985902 -0.00352499 0.31595678] [ 0.00649579 0.00363204 0.99997231 -0.31696254] [ 0. 0. 0. 1. ]] SLAMing on 48.656547614999994 meters Centerline goodness [0,1] 0.8148794890058131 Centerline is valid? [False, False] Translation: X:3.19, Y:0.32, Z:-0.32 [[ 0.99985107 0.0157074 -0.0071496 3.19089503] [-0.01573782 0.99986725 -0.00421824 0.31779583] [ 0.0070824 0.00433013 0.99996554 -0.31575183] [ 0. 0. 0. 1. ]] SLAMing on 48.68654761499999 meters Centerline goodness [0,1] 0.8141245145129041 Centerline is valid? [False, False] Translation: X:3.19, Y:0.32, Z:-0.31 [[ 0.99987182 0.0142791 -0.00724221 3.18923797] [-0.01432146 0.99988045 -0.0058302 0.31876304] [ 0.0071581 0.00593318 0.99995678 -0.31355971] [ 0. 0. 0. 1. ]] SLAMing on 48.71654761499999 meters Centerline goodness [0,1] 0.8147801042333364 Centerline is valid? [False, False] Translation: X:3.19, Y:0.32, Z:-0.31 [[ 0.99987332 0.01405345 -0.00747279 3.1894481 ] [-0.01410476 0.999877 -0.00685821 0.32285808] [ 0.00737549 0.00696275 0.99994856 -0.31344653] [ 0. 0. 0. 1. ]] SLAMing on 48.74654761499999 meters Centerline goodness [0,1] 0.809815113819844 Centerline is valid? [False, False] Translation: X:3.19, Y:0.33, Z:-0.32 [[ 9.99775738e-01 1.94171527e-02 -8.45271353e-03 3.19392462e+00] [-1.94353935e-02 9.99808949e-01 -2.08120297e-03 3.32038972e-01] [ 8.41068760e-03 2.24501805e-03 9.99962109e-01 -3.15991003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.77654761499999 meters Centerline goodness [0,1] 0.8056966369251888 Centerline is valid? [False, False] Translation: X:3.19, Y:0.33, Z:-0.31 [[ 0.99980486 0.01792925 -0.00829391 3.19139808] [-0.01797915 0.99982046 -0.00598255 0.33224434] [ 0.00818515 0.0061305 0.99994771 -0.31495207] [ 0. 0. 0. 1. ]] SLAMing on 48.80654761499999 meters Centerline goodness [0,1] 0.8058319039451115 Centerline is valid? [False, False] Translation: X:3.19, Y:0.34, Z:-0.32 [[ 0.99980009 0.01829431 -0.00806831 3.19113998] [-0.0183477 0.99980993 -0.00659344 0.3359844 ] [ 0.00794616 0.00674015 0.99994571 -0.31566336] [ 0. 0. 0. 1. ]] SLAMing on 48.83654761499999 meters Centerline goodness [0,1] 0.8051313378130727 Centerline is valid? [False, False] Translation: X:3.19, Y:0.34, Z:-0.32 [[ 9.99664789e-01 2.43838807e-02 -8.70261753e-03 3.19392571e+00] [-2.43873258e-02 9.99702543e-01 -2.89954145e-04 3.43070238e-01] [ 8.69295867e-03 5.02090518e-04 9.99962089e-01 -3.16363094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.86654761499999 meters Centerline goodness [0,1] 0.7987857369398759 Centerline is valid? [False, False] Translation: X:3.19, Y:0.34, Z:-0.31 [[ 9.99622263e-01 2.60082081e-02 -8.88276071e-03 3.19193124e+00] [-2.60084500e-02 9.99661719e-01 8.83011471e-05 3.43650215e-01] [ 8.88205240e-03 1.42759046e-04 9.99960544e-01 -3.13776950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.89654761499999 meters Centerline goodness [0,1] 0.7987857369398759 Centerline is valid? [False, False] Translation: X:3.19, Y:0.34, Z:-0.31 [[ 9.99622263e-01 2.60082081e-02 -8.88276071e-03 3.19193124e+00] [-2.60084500e-02 9.99661719e-01 8.83011471e-05 3.43650215e-01] [ 8.88205240e-03 1.42759046e-04 9.99960544e-01 -3.13776950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.92654761499999 meters Centerline goodness [0,1] 0.7928422389549125 Centerline is valid? [False, False] Translation: X:3.19, Y:0.34, Z:-0.31 [[ 0.99968645 0.02333055 -0.00909329 3.19084187] [-0.02336587 0.99971977 -0.00379706 0.34391431] [ 0.00900215 0.00400834 0.99995145 -0.31283923] [ 0. 0. 0. 1. ]] SLAMing on 48.95654761499999 meters Centerline goodness [0,1] 0.7815306168494202 Centerline is valid? [False, False] Translation: X:3.19, Y:0.35, Z:-0.31 [[ 9.99571095e-01 2.79922241e-02 -8.60584357e-03 3.18953907e+00] [-2.79906182e-02 9.99608139e-01 3.07017222e-04 3.45279696e-01] [ 8.61106537e-03 -6.60026589e-05 9.99962922e-01 -3.12195356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.98654761499999 meters Centerline goodness [0,1] 0.7561342462678191 Centerline is valid? [False, False] Translation: X:3.19, Y:0.35, Z:-0.32 [[ 0.99936163 0.03444861 -0.00946673 3.19455403] [-0.03439366 0.9993909 0.00590809 0.35191544] [ 0.00966449 -0.00557872 0.99993774 -0.31614662] [ 0. 0. 0. 1. ]] SLAMing on 49.01654761499999 meters Centerline goodness [0,1] 0.7302801845392146 Centerline is valid? [False, False] Translation: X:3.20, Y:0.35, Z:-0.32 [[ 0.99931736 0.03557147 -0.0099741 3.1955218 ] [-0.03551541 0.99935263 0.00574175 0.35171135] [ 0.01017188 -0.0053836 0.99993377 -0.31711154] [ 0. 0. 0. 1. ]] SLAMing on 49.046547614999994 meters Centerline goodness [0,1] 0.733089454909 Centerline is valid? [False, False] Translation: X:3.20, Y:0.35, Z:-0.32 [[ 9.99439842e-01 3.33872493e-02 -2.30065355e-03 3.19960515e+00] [-3.34051623e-02 9.99407878e-01 -8.24557323e-03 3.46078061e-01] [ 2.02399427e-03 8.31780811e-03 9.99963358e-01 -3.18308872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.07654761499999 meters Centerline goodness [0,1] 0.7598377006074893 Centerline is valid? [False, False] Translation: X:3.20, Y:0.34, Z:-0.32 [[ 9.99463587e-01 3.26388407e-02 -2.69166414e-03 3.20074096e+00] [-3.26573275e-02 9.99441126e-01 -7.13684527e-03 3.43180489e-01] [ 2.45722149e-03 7.22091953e-03 9.99970910e-01 -3.17665048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.10654761499999 meters Centerline goodness [0,1] 0.7558186922658938 Centerline is valid? [False, False] Translation: X:3.20, Y:0.35, Z:-0.32 [[ 9.99551074e-01 2.98490873e-02 2.58521150e-03 3.19655671e+00] [-2.98536831e-02 9.99552734e-01 1.75777515e-03 3.48662668e-01] [-2.53158724e-03 -1.83416412e-03 9.99995113e-01 -3.24886656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.13654761499999 meters Centerline goodness [0,1] 0.7676289743765572 Centerline is valid? [False, False] Translation: X:3.19, Y:0.34, Z:-0.32 [[ 9.99722126e-01 2.34219321e-02 2.66143369e-03 3.19464170e+00] [-2.34079083e-02 9.99712559e-01 -5.18359560e-03 3.44997659e-01] [-2.78207851e-03 5.11985662e-03 9.99983023e-01 -3.23795155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.16654761499999 meters Centerline goodness [0,1] 0.7764127196730018 Centerline is valid? [False, False] Translation: X:3.19, Y:0.34, Z:-0.32 [[ 9.99853265e-01 1.69261567e-02 2.63698892e-03 3.19427240e+00] [-1.68933733e-02 9.99785351e-01 -1.19943919e-02 3.35334645e-01] [-2.83944185e-03 1.19480842e-02 9.99924588e-01 -3.24674759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.19654761499999 meters Centerline goodness [0,1] 0.7776906398486876 Centerline is valid? [False, False] Translation: X:3.20, Y:0.33, Z:-0.33 [[ 9.99804990e-01 1.96057173e-02 2.36586521e-03 3.19702532e+00] [-1.95848052e-02 9.99771552e-01 -8.56029230e-03 3.34915803e-01] [-2.53315541e-03 8.51228795e-03 9.99960561e-01 -3.26955657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.226547614999994 meters Centerline goodness [0,1] 0.7728892543859649 Centerline is valid? [False, False] Translation: X:3.20, Y:0.34, Z:-0.33 [[ 9.99651118e-01 2.63383743e-02 1.98282035e-03 3.19977260e+00] [-2.63353896e-02 9.99652013e-01 -1.51662368e-03 3.41052184e-01] [-2.02207576e-03 1.46387621e-03 9.99996884e-01 -3.28433335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.25654761499999 meters Centerline goodness [0,1] 0.7679097490237274 Centerline is valid? [False, False] Translation: X:3.20, Y:0.34, Z:-0.33 [[ 9.99619990e-01 2.75012698e-02 1.88570696e-03 3.19762190e+00] [-2.74994731e-02 9.99621345e-01 -9.72202199e-04 3.42593337e-01] [-1.91172972e-03 9.19976805e-04 9.99997749e-01 -3.25416789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.28654761499999 meters Centerline goodness [0,1] 0.7476391678788299 Centerline is valid? [False, False] Translation: X:3.19, Y:0.34, Z:-0.32 [[ 9.99746263e-01 2.24150878e-02 2.23024218e-03 3.19310960e+00] [-2.23977105e-02 9.99720757e-01 -7.53331842e-03 3.35877785e-01] [-2.39847939e-03 7.48145462e-03 9.99969137e-01 -3.22443019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.31654761499999 meters Centerline goodness [0,1] 0.7453034848834525 Centerline is valid? [False, False] Translation: X:3.20, Y:0.33, Z:-0.32 [[ 9.99763488e-01 2.16605317e-02 1.94646522e-03 3.19541994e+00] [-2.16444175e-02 9.99734123e-01 -7.94999388e-03 3.32190885e-01] [-2.11814879e-03 7.90598351e-03 9.99966504e-01 -3.24852309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.34654761499999 meters Centerline goodness [0,1] 0.7696502531063046 Centerline is valid? [False, False] Translation: X:3.19, Y:0.34, Z:-0.33 [[ 9.99767930e-01 2.00636319e-02 7.84457279e-03 3.19147399e+00] [-2.00668949e-02 9.99798583e-01 3.37464411e-04 3.35975534e-01] [-7.83622200e-03 -4.94802314e-04 9.99969174e-01 -3.33499795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.37654761499999 meters Centerline goodness [0,1] 0.7717280871894339 Centerline is valid? [False, False] Translation: X:3.19, Y:0.33, Z:-0.33 [[ 9.99782382e-01 1.95886815e-02 7.17444469e-03 3.19367479e+00] [-1.95958045e-02 9.99807557e-01 9.23871923e-04 3.32772657e-01] [-7.15496659e-03 -1.06425989e-03 9.99973837e-01 -3.34339160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.406547614999994 meters Centerline goodness [0,1] 0.7747197688238447 Centerline is valid? [False, False] Translation: X:3.19, Y:0.33, Z:-0.33 [[ 9.99843963e-01 1.62548649e-02 6.91591993e-03 3.19405121e+00] [-1.62413810e-02 9.99866097e-01 -2.00140904e-03 3.25600708e-01] [-6.94752651e-03 1.88877266e-03 9.99974082e-01 -3.34561081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.43654761499999 meters Centerline goodness [0,1] 0.7768373437791457 Centerline is valid? [False, False] Translation: X:3.20, Y:0.32, Z:-0.34 [[ 9.99861886e-01 1.54112558e-02 6.22107157e-03 3.19629476e+00] [-1.53992244e-02 9.99879470e-01 -1.97726625e-03 3.23692291e-01] [-6.25079390e-03 1.88119348e-03 9.99978694e-01 -3.35330807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.46654761499999 meters Centerline goodness [0,1] 0.7795073154770252 Centerline is valid? [False, False] Translation: X:3.20, Y:0.32, Z:-0.34 [[ 0.99990928 0.01190541 0.00630022 3.19577849] [-0.01186967 0.99991342 -0.0056803 0.32415593] [-0.0063673 0.005605 0.99996402 -0.33524562] [ 0. 0. 0. 1. ]] SLAMing on 49.49654761499999 meters Centerline goodness [0,1] 0.7786717037451611 Centerline is valid? [False, False] Translation: X:3.20, Y:0.32, Z:-0.34 [[ 0.99990774 0.012006 0.00635276 3.19556831] [-0.01197146 0.9999135 -0.00544803 0.323577 ] [-0.00641762 0.00537148 0.99996498 -0.33502687] [ 0. 0. 0. 1. ]] SLAMing on 49.52654761499999 meters Centerline goodness [0,1] 0.7714238860516328 Centerline is valid? [False, False] Translation: X:3.19, Y:0.32, Z:-0.33 [[ 0.99993155 0.00971673 0.00651695 3.19329418] [-0.00966329 0.99991983 -0.00818281 0.32040502] [-0.00659594 0.00811927 0.99994528 -0.33305464] [ 0. 0. 0. 1. ]] SLAMing on 49.55654761499999 meters Centerline goodness [0,1] 0.7815743741487013 Centerline is valid? [False, False] Translation: X:3.20, Y:0.32, Z:-0.33 [[ 0.99993808 0.00935409 0.00602878 3.19528176] [-0.0093078 0.99992733 -0.00766096 0.31639568] [-0.0061 0.00760437 0.99995248 -0.3341445 ] [ 0. 0. 0. 1. ]] SLAMing on 49.58654761499999 meters Centerline goodness [0,1] 0.7818890652722009 Centerline is valid? [False, False] Translation: X:3.20, Y:0.32, Z:-0.34 [[ 0.99993063 0.0100234 0.00618619 3.19634953] [-0.01007379 0.9999159 0.00816767 0.31737864] [-0.0061038 -0.00822942 0.99994751 -0.34189471] [ 0. 0. 0. 1. ]] SLAMing on 49.61654761499999 meters Centerline goodness [0,1] 0.7693170401177598 Centerline is valid? [False, False] Translation: X:3.20, Y:0.32, Z:-0.34 [[ 0.99992167 0.01090578 0.00614158 3.19591649] [-0.01095508 0.99990758 0.00805091 0.31897756] [-0.00605321 -0.00811756 0.99994873 -0.34187438] [ 0. 0. 0. 1. ]] SLAMing on 49.64654761499999 meters Centerline goodness [0,1] 0.7513328968291086 Centerline is valid? [False, False] Translation: X:3.19, Y:0.32, Z:-0.34 [[ 0.99993496 0.0093567 0.00652148 3.19206237] [-0.00939286 0.99994056 0.00553551 0.31651089] [-0.0064693 -0.0055964 0.99996341 -0.33847643] [ 0. 0. 0. 1. ]] SLAMing on 49.67654761499999 meters Centerline goodness [0,1] 0.7653317674691721 Centerline is valid? [False, False] Translation: X:3.19, Y:0.31, Z:-0.34 [[ 9.99960709e-01 6.09706428e-03 6.43471803e-03 3.19082056e+00] [-6.11195054e-03 9.99978685e-01 2.29630607e-03 3.14084437e-01] [-6.42058015e-03 -2.33554452e-03 9.99976660e-01 -3.36679367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.70654761499999 meters Centerline goodness [0,1] 0.7503413210300833 Centerline is valid? [False, False] Translation: X:3.20, Y:0.31, Z:-0.34 [[ 9.99966506e-01 5.95836663e-03 5.61119081e-03 3.19807562e+00] [-5.97375746e-03 9.99978430e-01 2.73012747e-03 3.12533617e-01] [-5.59480267e-03 -2.76355591e-03 9.99980530e-01 -3.44034254e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.73654761499999 meters Centerline goodness [0,1] 0.7506311492815516 Centerline is valid? [False, False] Translation: X:3.20, Y:0.31, Z:-0.34 [[ 0.99996365 0.00637238 0.00566496 3.19821617] [-0.00639177 0.99997376 0.00340998 0.31042787] [-0.00564308 -0.00344606 0.99997814 -0.34438518] [ 0. 0. 0. 1. ]] SLAMing on 49.76654761499999 meters Centerline goodness [0,1] 0.7438445846577162 Centerline is valid? [False, False] Translation: X:3.20, Y:0.31, Z:-0.34 [[ 9.99977581e-01 3.56854069e-03 5.66589421e-03 3.19773178e+00] [-3.56834354e-03 9.99993632e-01 -4.49048822e-05 3.09848088e-01] [-5.66601837e-03 2.46860185e-05 9.99983948e-01 -3.44505163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.79654761499999 meters Centerline goodness [0,1] 0.7413756262019516 Centerline is valid? [False, False] Translation: X:3.20, Y:0.31, Z:-0.35 [[ 9.99980270e-01 3.39129844e-03 5.28767762e-03 3.19896882e+00] [-3.39091793e-03 9.99994248e-01 -8.09261096e-05 3.09166230e-01] [-5.28792165e-03 6.29944321e-05 9.99986017e-01 -3.45114195e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.82654761499999 meters Centerline goodness [0,1] 0.7248408862516151 Centerline is valid? [False, False] Translation: X:3.20, Y:0.30, Z:-0.34 [[ 9.99983427e-01 1.82150181e-03 5.46143091e-03 3.19621221e+00] [-1.81024914e-03 9.99996230e-01 -2.06462507e-03 3.04558345e-01] [-5.46517104e-03 2.05470430e-03 9.99982955e-01 -3.42526474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.85654761499999 meters Centerline goodness [0,1] 0.7191662258979661 Centerline is valid? [False, False] Translation: X:3.20, Y:0.30, Z:-0.34 [[ 9.99985265e-01 1.77953317e-03 5.12859216e-03 3.19734034e+00] [-1.77222294e-03 9.99997408e-01 -1.42957933e-03 3.00429923e-01] [-5.13112285e-03 1.42046926e-03 9.99985827e-01 -3.42804238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.88654761499999 meters Centerline goodness [0,1] 0.7252659958596119 Centerline is valid? [False, False] Translation: X:3.20, Y:0.30, Z:-0.34 [[ 9.99987728e-01 1.32696745e-03 4.77322945e-03 3.19868922e+00] [-1.32145681e-03 9.99998457e-01 -1.15745673e-03 2.99943821e-01] [-4.77475799e-03 1.15113491e-03 9.99987938e-01 -3.43243961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.91654761499999 meters Centerline goodness [0,1] 0.7395031025907236 Centerline is valid? [False, False] Translation: X:3.20, Y:0.30, Z:-0.34 [[ 9.99990387e-01 5.87682618e-04 4.34520389e-03 3.19969526e+00] [-5.86675376e-04 9.99999801e-01 -2.33076491e-04 2.95994883e-01] [-4.34533999e-03 2.30525027e-04 9.99990532e-01 -3.42149649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.94654761499999 meters Centerline goodness [0,1] 0.7629991451947735 Centerline is valid? [False, False] Translation: X:3.20, Y:0.29, Z:-0.34 [[ 0.99998492 -0.00402168 0.00373875 3.202299 ] [ 0.00403588 0.99998465 -0.0037972 0.29094449] [-0.00372343 0.00381223 0.9999858 -0.34352745] [ 0. 0. 0. 1. ]] SLAMing on 49.976547614999994 meters Centerline goodness [0,1] 0.7577801851487098 Centerline is valid? [False, False] Translation: X:3.20, Y:0.29, Z:-0.34 [[ 9.99959276e-01 -8.44471243e-03 3.18318218e-03 3.20465543e+00] [ 8.46694594e-03 9.99939393e-01 -7.03714648e-03 2.85853240e-01] [-3.12356257e-03 7.06381173e-03 9.99970173e-01 -3.44634510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.00654761499999 meters Centerline goodness [0,1] 0.7836835599505563 Centerline is valid? [False, False] Translation: X:3.21, Y:0.28, Z:-0.34 [[ 9.99958583e-01 -8.66005103e-03 2.79931750e-03 3.20543528e+00] [ 8.67641662e-03 9.99945024e-01 -5.88797949e-03 2.83015114e-01] [-2.74817341e-03 5.91202367e-03 9.99978748e-01 -3.43702995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.03654761499999 meters Centerline goodness [0,1] 0.7895242553401167 Centerline is valid? [False, False] Translation: X:3.21, Y:0.28, Z:-0.34 [[ 9.99979348e-01 -6.12072418e-03 1.95984619e-03 3.20823736e+00] [ 6.12352231e-03 9.99980236e-01 -1.42492344e-03 2.80361564e-01] [-1.95108589e-03 1.43689517e-03 9.99997064e-01 -3.43693769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.06654761499999 meters Centerline goodness [0,1] 0.7920165991502816 Centerline is valid? [False, False] Translation: X:3.21, Y:0.28, Z:-0.34 [[ 9.99978906e-01 -6.34958133e-03 1.36742770e-03 3.20939406e+00] [ 6.35092868e-03 9.99979349e-01 -9.83241673e-04 2.78417245e-01] [-1.36115628e-03 9.91905369e-04 9.99998582e-01 -3.43145149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.09654761499999 meters Centerline goodness [0,1] 0.7966320600069544 Centerline is valid? [False, False] Translation: X:3.21, Y:0.27, Z:-0.34 [[ 9.99976290e-01 -6.81081727e-03 1.01592951e-03 3.21020442e+00] [ 6.81102211e-03 9.99976785e-01 -1.98304681e-04 2.73797326e-01] [-1.01455531e-03 2.05219498e-04 9.99999464e-01 -3.42327594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.12654761499999 meters Centerline goodness [0,1] 0.7965042452008066 Centerline is valid? [False, False] Translation: X:3.21, Y:0.27, Z:-0.34 [[ 9.99975871e-01 -6.91557211e-03 6.56959524e-04 3.21133030e+00] [ 6.91536358e-03 9.99976038e-01 3.19169266e-04 2.71774167e-01] [-6.59151020e-04 -3.14618451e-04 9.99999733e-01 -3.42513943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.156547614999994 meters Centerline goodness [0,1] 0.7966736589751273 Centerline is valid? [False, False] Translation: X:3.21, Y:0.27, Z:-0.34 [[ 9.99976028e-01 -6.91961769e-03 2.48620164e-04 3.21267963e+00] [ 6.91932515e-03 9.99975390e-01 1.15885414e-03 2.68407706e-01] [-2.56632873e-04 -1.15710607e-03 9.99999298e-01 -3.42797765e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.18654761499999 meters Centerline goodness [0,1] 0.7983496777106167 Centerline is valid? [False, False] Translation: X:3.21, Y:0.27, Z:-0.34 [[ 9.99979548e-01 -6.38428126e-03 3.80042828e-04 3.21198356e+00] [ 6.38360660e-03 9.99978092e-01 1.75071594e-03 2.67862938e-01] [-3.91211565e-04 -1.74825409e-03 9.99998395e-01 -3.42253326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.21654761499999 meters Centerline goodness [0,1] 0.7923499987556927 Centerline is valid? [False, False] Translation: X:3.21, Y:0.27, Z:-0.34 [[ 9.99997214e-01 -2.35708958e-03 1.25073710e-04 3.21215086e+00] [ 2.35620955e-03 9.99975292e-01 6.62296180e-03 2.66253116e-01] [-1.40681534e-04 -6.62264865e-03 9.99978060e-01 -3.41063768e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.24654761499999 meters Centerline goodness [0,1] 0.7755143050915576 Centerline is valid? [False, False] Translation: X:3.21, Y:0.26, Z:-0.34 [[ 9.99995445e-01 -2.89639989e-03 8.49326191e-04 3.20691452e+00] [ 2.89238099e-03 9.99984793e-01 4.69551554e-03 2.64147883e-01] [-8.62913366e-04 -4.69303757e-03 9.99988615e-01 -3.37536310e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.27654761499999 meters Centerline goodness [0,1] 0.763214222759437 Centerline is valid? [False, False] Translation: X:3.22, Y:0.26, Z:-0.33 [[ 9.99978526e-01 1.91001574e-03 -6.26899181e-03 3.21509965e+00] [-1.90418572e-03 9.99997749e-01 9.35815319e-04 2.58084944e-01] [ 6.27076512e-03 -9.23857898e-04 9.99979912e-01 -3.31809928e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.30654761499999 meters Centerline goodness [0,1] 0.7646435865755566 Centerline is valid? [False, False] Translation: X:3.22, Y:0.26, Z:-0.34 [[ 9.99979267e-01 2.54635383e-03 -5.91454146e-03 3.21600557e+00] [-2.54427656e-03 9.99996699e-01 3.58710998e-04 2.59690219e-01] [ 5.91543534e-03 -3.43655331e-04 9.99982445e-01 -3.35142881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.33654761499999 meters Centerline goodness [0,1] 0.7336961999798408 Centerline is valid? [False, False] Translation: X:3.22, Y:0.26, Z:-0.34 [[ 0.99995702 0.00746568 -0.00549698 3.21566342] [-0.00743776 0.99995942 0.00508281 0.25852584] [ 0.0055347 -0.00504171 0.99997197 -0.33610979] [ 0. 0. 0. 1. ]] SLAMing on 50.36654761499999 meters Centerline goodness [0,1] 0.7224711746639142 Centerline is valid? [False, False] Translation: X:3.21, Y:0.25, Z:-0.33 [[ 0.99994823 0.00876791 -0.00516272 3.21364139] [-0.00873343 0.99993966 0.00666411 0.25422045] [ 0.00522084 -0.00661868 0.99996447 -0.3342722 ] [ 0. 0. 0. 1. ]] SLAMing on 50.39654761499999 meters Centerline goodness [0,1] 0.728132927447996 Centerline is valid? [False, False] Translation: X:3.21, Y:0.25, Z:-0.33 [[ 0.9999721 0.00536282 -0.00520053 3.21285065] [-0.00534582 0.99998034 0.00327645 0.25195826] [ 0.005218 -0.00324856 0.99998111 -0.33337075] [ 0. 0. 0. 1. ]] SLAMing on 50.42654761499999 meters Centerline goodness [0,1] 0.7383676387966699 Centerline is valid? [False, False] Translation: X:3.21, Y:0.25, Z:-0.33 [[ 9.99985002e-01 1.26094332e-03 -5.32975682e-03 3.21347219e+00] [-1.26571194e-03 9.99998802e-01 -8.91438019e-04 2.51135079e-01] [ 5.32862638e-03 8.98170586e-04 9.99985399e-01 -3.34125110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.45654761499999 meters Centerline goodness [0,1] 0.754585265327151 Centerline is valid? [False, False] Translation: X:3.22, Y:0.25, Z:-0.34 [[ 0.99997734 -0.00335846 -0.00583442 3.21604556] [ 0.003334 0.99998563 -0.00419768 0.24618116] [ 0.00584843 0.00417813 0.99997417 -0.33549032] [ 0. 0. 0. 1. ]] SLAMing on 50.48654761499999 meters Centerline goodness [0,1] 0.7536964980544747 Centerline is valid? [False, False] Translation: X:3.22, Y:0.24, Z:-0.33 [[ 9.99977491e-01 -3.35408399e-03 -5.81100119e-03 3.21605759e+00] [ 3.34037288e-03 9.99991618e-01 -2.36761075e-03 2.41290829e-01] [ 5.81889365e-03 2.34814654e-03 9.99980313e-01 -3.34172863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.51654761499999 meters Centerline goodness [0,1] 0.7634551668362421 Centerline is valid? [False, False] Translation: X:3.22, Y:0.24, Z:-0.34 [[ 9.99976438e-01 -2.96956564e-03 -6.18915009e-03 3.21775169e+00] [ 2.96104971e-03 9.99994657e-01 -1.38465416e-03 2.37010837e-01] [ 6.19322885e-03 1.36629516e-03 9.99979888e-01 -3.35307978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.54654761499999 meters Centerline goodness [0,1] 0.7474671181143377 Centerline is valid? [False, False] Translation: X:3.22, Y:0.23, Z:-0.34 [[ 9.99977911e-01 8.33057053e-04 -6.59425191e-03 3.22055486e+00] [-8.18435788e-04 9.99997202e-01 2.21966231e-03 2.34857317e-01] [ 6.59608256e-03 -2.21421631e-03 9.99975794e-01 -3.38311095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.57654761499999 meters Centerline goodness [0,1] 0.7313261798103969 Centerline is valid? [False, False] Translation: X:3.22, Y:0.23, Z:-0.34 [[ 9.99978787e-01 2.31779062e-03 -6.08713209e-03 3.21873554e+00] [-2.30107262e-03 9.99993566e-01 2.75201812e-03 2.34409993e-01] [ 6.09347153e-03 -2.73795281e-03 9.99977686e-01 -3.38322141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.60654761499999 meters Centerline goodness [0,1] 0.7180777554692186 Centerline is valid? [False, False] Translation: X:3.22, Y:0.23, Z:-0.34 [[ 0.99997754 0.00334383 -0.00580892 3.21767085] [-0.00332346 0.99998831 0.00351258 0.23284063] [ 0.0058206 -0.0034932 0.99997696 -0.33810683] [ 0. 0. 0. 1. ]] SLAMing on 50.63654761499999 meters Centerline goodness [0,1] 0.7152810396117113 Centerline is valid? [False, False] Translation: X:3.22, Y:0.23, Z:-0.34 [[ 0.99997452 0.00400326 -0.00591095 3.21779582] [-0.00397652 0.99998184 0.00452949 0.22909679] [ 0.00592897 -0.00450587 0.99997227 -0.33794413] [ 0. 0. 0. 1. ]] SLAMing on 50.66654761499999 meters Centerline goodness [0,1] 0.717114270668773 Centerline is valid? [False, False] Translation: X:3.22, Y:0.23, Z:-0.34 [[ 9.99984555e-01 1.27874110e-03 -5.40866549e-03 3.21565131e+00] [-1.27222261e-03 9.99998461e-01 1.20846212e-03 2.27420974e-01] [ 5.41020247e-03 -1.20156243e-03 9.99984643e-01 -3.37324585e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.69654761499999 meters Centerline goodness [0,1] 0.724159965919378 Centerline is valid? [False, False] Translation: X:3.21, Y:0.22, Z:-0.34 [[ 9.99990472e-01 -2.68391943e-04 -4.35704453e-03 3.21227031e+00] [ 2.70249937e-04 9.99999873e-01 4.25851461e-04 2.17536066e-01] [ 4.35692968e-03 -4.27024894e-04 9.99990417e-01 -3.35831613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.726547614999994 meters Centerline goodness [0,1] 0.7304201590945492 Centerline is valid? [False, False] Translation: X:3.22, Y:0.21, Z:-0.34 [[ 9.99991006e-01 -3.72185031e-04 -4.22484088e-03 3.21547473e+00] [ 3.76030723e-04 9.99999516e-01 9.09499304e-04 2.14704906e-01] [ 4.22450033e-03 -9.11079794e-04 9.99990662e-01 -3.39972420e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.75654761499999 meters Centerline goodness [0,1] 0.7277437714776632 Centerline is valid? [False, False] Translation: X:3.22, Y:0.21, Z:-0.34 [[ 9.99990615e-01 -3.89076605e-04 -4.31486938e-03 3.21655051e+00] [ 3.98222164e-04 9.99997676e-01 2.11888825e-03 2.09109336e-01] [ 4.31403494e-03 -2.12058664e-03 9.99988446e-01 -3.40423978e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.78654761499999 meters Centerline goodness [0,1] 0.719418028123222 Centerline is valid? [False, False] Translation: X:3.21, Y:0.20, Z:-0.34 [[ 9.99991332e-01 -1.90139572e-03 -3.70412292e-03 3.21214054e+00] [ 1.90543987e-03 9.99997592e-01 1.08857581e-03 1.99779143e-01] [ 3.70204419e-03 -1.09562435e-03 9.99992547e-01 -3.36521230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.81654761499999 meters Centerline goodness [0,1] 0.719418028123222 Centerline is valid? [False, False] Translation: X:3.21, Y:0.20, Z:-0.34 [[ 9.99991332e-01 -1.90139572e-03 -3.70412292e-03 3.21214054e+00] [ 1.90543987e-03 9.99997592e-01 1.08857581e-03 1.99779143e-01] [ 3.70204419e-03 -1.09562435e-03 9.99992547e-01 -3.36521230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.84654761499999 meters Centerline goodness [0,1] 0.7273696585285836 Centerline is valid? [False, False] Translation: X:3.21, Y:0.19, Z:-0.34 [[ 9.99986719e-01 -4.05885201e-03 -3.17619178e-03 3.20973446e+00] [ 4.05530240e-03 9.99991146e-01 -1.12321238e-03 1.94016081e-01] [ 3.18072261e-03 1.11031705e-03 9.99994325e-01 -3.35428023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.87654761499999 meters Centerline goodness [0,1] 0.7215283686969889 Centerline is valid? [False, False] Translation: X:3.21, Y:0.19, Z:-0.34 [[ 9.99988569e-01 -3.69492993e-03 -3.03469268e-03 3.21108357e+00] [ 3.69246805e-03 9.99992850e-01 -8.16448052e-04 1.91735266e-01] [ 3.03768770e-03 8.05233213e-04 9.99995062e-01 -3.38031128e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.906547614999994 meters Centerline goodness [0,1] 0.7182401012574636 Centerline is valid? [False, False] Translation: X:3.21, Y:0.19, Z:-0.34 [[ 9.99989711e-01 -3.52203640e-03 -2.85893969e-03 3.21272760e+00] [ 3.52148599e-03 9.99993780e-01 -1.97532225e-04 1.88496565e-01] [ 2.85961763e-03 1.87462477e-04 9.99995894e-01 -3.40699004e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.93654761499999 meters Centerline goodness [0,1] 0.726105444540174 Centerline is valid? [False, False] Translation: X:3.21, Y:0.18, Z:-0.34 [[ 9.99976617e-01 -6.41541118e-03 -2.36818890e-03 3.21253429e+00] [ 6.41037784e-03 9.99977191e-01 -2.12690455e-03 1.80461322e-01] [ 2.38177985e-03 2.11167383e-03 9.99994934e-01 -3.41486541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.96654761499999 meters Centerline goodness [0,1] 0.7323318826337217 Centerline is valid? [False, False] Translation: X:3.21, Y:0.17, Z:-0.34 [[ 9.99957149e-01 -9.03619804e-03 -2.01183204e-03 3.21121258e+00] [ 9.02941055e-03 9.99953597e-01 -3.35768928e-03 1.70835745e-01] [ 2.04207943e-03 3.33937974e-03 9.99992339e-01 -3.40017412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.99654761499999 meters Centerline goodness [0,1] 0.7216230676090446 Centerline is valid? [False, False] Translation: X:3.21, Y:0.17, Z:-0.34 [[ 9.99967061e-01 -7.93884293e-03 -1.68873927e-03 3.21026236e+00] [ 7.93625821e-03 9.99967334e-01 -1.53179151e-03 1.65820450e-01] [ 1.70084476e-03 1.51833878e-03 9.99997401e-01 -3.39422797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.02654761499999 meters Centerline goodness [0,1] 0.7099184782608696 Centerline is valid? [False, False] Translation: X:3.21, Y:0.16, Z:-0.34 [[ 9.99990984e-01 -3.65029893e-03 -2.16963563e-03 3.21186334e+00] [ 3.65739617e-03 9.99987945e-01 3.27625250e-03 1.60189381e-01] [ 2.15765017e-03 -3.28415817e-03 9.99992279e-01 -3.40125274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.05654761499999 meters Centerline goodness [0,1] 0.7198834751813561 Centerline is valid? [False, False] Translation: X:3.21, Y:0.15, Z:-0.34 [[ 9.99969714e-01 -7.45622057e-03 -2.23070730e-03 3.21284591e+00] [ 7.45647062e-03 9.99972195e-01 1.03795318e-04 1.54670759e-01] [ 2.22987136e-03 -1.20425378e-04 9.99997507e-01 -3.41047357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.08654761499999 meters Centerline goodness [0,1] 0.7322170933799708 Centerline is valid? [False, False] Translation: X:3.22, Y:0.15, Z:-0.34 [[ 9.99954138e-01 -9.08521826e-03 -3.02984391e-03 3.21736101e+00] [ 9.08540506e-03 9.99958726e-01 4.78930845e-05 1.52108575e-01] [ 3.02928373e-03 -7.54182472e-05 9.99995409e-01 -3.43276862e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.11654761499999 meters Centerline goodness [0,1] 0.7523584905660378 Centerline is valid? [False, False] Translation: X:3.22, Y:0.15, Z:-0.34 [[ 9.99941501e-01 -1.02952998e-02 -3.31682204e-03 3.21990005e+00] [ 1.02995473e-02 9.99946157e-01 1.26606784e-03 1.47532946e-01] [ 3.30360891e-03 -1.30015554e-03 9.99993698e-01 -3.43371122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.14654761499999 meters Centerline goodness [0,1] 0.7603703917383027 Centerline is valid? [False, False] Translation: X:3.22, Y:0.14, Z:-0.34 [[ 9.99918837e-01 -1.20898152e-02 -4.01935550e-03 3.22394901e+00] [ 1.20959186e-02 9.99925720e-01 1.49767164e-03 1.44348830e-01] [ 4.00095037e-03 -1.54616788e-03 9.99990801e-01 -3.44632633e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.17654761499999 meters Centerline goodness [0,1] 0.7595355587808418 Centerline is valid? [False, False] Translation: X:3.22, Y:0.14, Z:-0.34 [[ 9.99911527e-01 -1.25386164e-02 -4.44090782e-03 3.22455973e+00] [ 1.25483345e-02 9.99918918e-01 2.16725505e-03 1.38214857e-01] [ 4.41337336e-03 -2.22278930e-03 9.99987791e-01 -3.43310102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.20654761499999 meters Centerline goodness [0,1] 0.7621869344386712 Centerline is valid? [False, False] Translation: X:3.22, Y:0.13, Z:-0.34 [[ 9.99866710e-01 -1.57589025e-02 -4.26829822e-03 3.22364099e+00] [ 1.57577491e-02 9.99875793e-01 -3.03714031e-04 1.33226774e-01] [ 4.27255427e-03 2.36414776e-04 9.99990845e-01 -3.42040579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.23654761499999 meters Centerline goodness [0,1] 0.7795515013302927 Centerline is valid? [False, False] Translation: X:3.22, Y:0.13, Z:-0.34 [[ 9.99858316e-01 -1.62848220e-02 -4.26057047e-03 3.22471812e+00] [ 1.62866004e-02 9.99867291e-01 3.83039294e-04 1.31441545e-01] [ 4.25376733e-03 -4.52375232e-04 9.99990850e-01 -3.42272671e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.26654761499999 meters Centerline goodness [0,1] 0.7940823553513419 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.34 [[ 9.99844012e-01 -1.70413589e-02 -4.64149722e-03 3.22654515e+00] [ 1.70471554e-02 9.99853952e-01 1.21214297e-03 1.29651774e-01] [ 4.62016277e-03 -1.29107822e-03 9.99988494e-01 -3.41941044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.29654761499999 meters Centerline goodness [0,1] 0.8127480669155911 Centerline is valid? [False, False] Translation: X:3.23, Y:0.12, Z:-0.34 [[ 9.99820409e-01 -1.82934122e-02 -4.94989043e-03 3.22814560e+00] [ 1.83041479e-02 9.99830191e-01 2.13233861e-03 1.24705542e-01] [ 4.91004215e-03 -2.22255919e-03 9.99985476e-01 -3.40611488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.32654761499999 meters Centerline goodness [0,1] 0.8101835405565423 Centerline is valid? [False, False] Translation: X:3.23, Y:0.12, Z:-0.34 [[ 9.99811781e-01 -1.86119745e-02 -5.47686304e-03 3.22975844e+00] [ 1.86284125e-02 9.99822077e-01 2.96580573e-03 1.19340613e-01] [ 5.42068908e-03 -3.06727277e-03 9.99980604e-01 -3.40163678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.35654761499999 meters Centerline goodness [0,1] 0.809975194897236 Centerline is valid? [False, False] Translation: X:3.23, Y:0.12, Z:-0.34 [[ 9.99808032e-01 -1.87480174e-02 -5.69301374e-03 3.23039894e+00] [ 1.87653004e-02 9.99819422e-01 2.99772337e-03 1.19399629e-01] [ 5.63578433e-03 -3.10397902e-03 9.99979301e-01 -3.40183908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.38654761499999 meters Centerline goodness [0,1] 0.8073883314092887 Centerline is valid? [False, False] Translation: X:3.23, Y:0.12, Z:-0.34 [[ 0.99982789 -0.01775279 -0.00538749 3.22790826] [ 0.01777732 0.99983166 0.0045407 0.11715541] [ 0.00530598 -0.0046357 0.99997518 -0.33727022] [ 0. 0. 0. 1. ]] SLAMing on 51.41654761499999 meters Centerline goodness [0,1] 0.808452282647163 Centerline is valid? [False, False] Translation: X:3.23, Y:0.12, Z:-0.34 [[ 0.99984633 -0.01643365 -0.00610419 3.23253639] [ 0.01647963 0.99983561 0.00756075 0.11679177] [ 0.00597893 -0.00766018 0.99995279 -0.33901367] [ 0. 0. 0. 1. ]] SLAMing on 51.44654761499999 meters Centerline goodness [0,1] 0.8107781608179381 Centerline is valid? [False, False] Translation: X:3.23, Y:0.12, Z:-0.34 [[ 0.99983405 -0.01717237 -0.00608144 3.23416152] [ 0.01720944 0.99983332 0.00609651 0.12010105] [ 0.00597574 -0.00620016 0.99996292 -0.34189774] [ 0. 0. 0. 1. ]] SLAMing on 51.47654761499999 meters Centerline goodness [0,1] 0.8040085814206366 Centerline is valid? [False, False] Translation: X:3.23, Y:0.12, Z:-0.34 [[ 0.99984419 -0.01672693 -0.00563986 3.23299651] [ 0.01675954 0.99984281 0.00578564 0.12142564] [ 0.0055422 -0.00587926 0.99996736 -0.3424239 ] [ 0. 0. 0. 1. ]] SLAMing on 51.50654761499999 meters Centerline goodness [0,1] 0.7921103724186621 Centerline is valid? [False, False] Translation: X:3.23, Y:0.12, Z:-0.34 [[ 0.99985971 -0.01578645 -0.00559878 3.23136261] [ 0.01582234 0.99985417 0.00642559 0.12002381] [ 0.00549653 -0.00651327 0.99996368 -0.34075795] [ 0. 0. 0. 1. ]] SLAMing on 51.53654761499999 meters Centerline goodness [0,1] 0.7897651945909319 Centerline is valid? [False, False] Translation: X:3.23, Y:0.12, Z:-0.34 [[ 0.99987458 -0.01491585 -0.00532445 3.22939888] [ 0.01495507 0.99986076 0.00740361 0.11791556] [ 0.00521328 -0.00748231 0.99995842 -0.33889155] [ 0. 0. 0. 1. ]] SLAMing on 51.56654761499999 meters Centerline goodness [0,1] 0.796875 Centerline is valid? [False, False] Translation: X:3.23, Y:0.12, Z:-0.34 [[ 0.9998635 -0.01553438 -0.00562749 3.23106216] [ 0.01557212 0.99985613 0.00672575 0.11897607] [ 0.0055222 -0.00681246 0.99996155 -0.34022777] [ 0. 0. 0. 1. ]] SLAMing on 51.59654761499999 meters Centerline goodness [0,1] 0.7963689604685212 Centerline is valid? [False, False] Translation: X:3.23, Y:0.12, Z:-0.34 [[ 0.99986297 -0.01562209 -0.00547692 3.2309823 ] [ 0.01565568 0.99985856 0.00614495 0.12174208] [ 0.00538015 -0.00622985 0.99996612 -0.34101429] [ 0. 0. 0. 1. ]] SLAMing on 51.62654761499999 meters Centerline goodness [0,1] 0.7920016430960625 Centerline is valid? [False, False] Translation: X:3.23, Y:0.12, Z:-0.34 [[ 0.99986621 -0.01551662 -0.0051765 3.23061373] [ 0.01554516 0.99986393 0.00552024 0.12346941] [ 0.00509014 -0.00559997 0.99997137 -0.34209326] [ 0. 0. 0. 1. ]] SLAMing on 51.656547614999994 meters Centerline goodness [0,1] 0.7855716132064388 Centerline is valid? [False, False] Translation: X:3.23, Y:0.12, Z:-0.34 [[ 0.99986429 -0.01554718 -0.00544789 3.23150167] [ 0.01557612 0.99986458 0.00531078 0.12248244] [ 0.00536458 -0.00539491 0.99997106 -0.34273507] [ 0. 0. 0. 1. ]] SLAMing on 51.68654761499999 meters Centerline goodness [0,1] 0.774315752378715 Centerline is valid? [False, False] Translation: X:3.23, Y:0.12, Z:-0.34 [[ 0.99988159 -0.01459282 -0.00488498 3.22907827] [ 0.01461768 0.99988019 0.00509245 0.12393815] [ 0.00481008 -0.00516326 0.9999751 -0.34241942] [ 0. 0. 0. 1. ]] SLAMing on 51.71654761499999 meters Centerline goodness [0,1] 0.7669076117175383 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.34 [[ 0.99989624 -0.01366083 -0.00457175 3.22713417] [ 0.01368299 0.99989461 0.00485316 0.12799475] [ 0.00450497 -0.00491521 0.99997777 -0.34194674] [ 0. 0. 0. 1. ]] SLAMing on 51.74654761499999 meters Centerline goodness [0,1] 0.7582366182360336 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.34 [[ 0.99990083 -0.01336398 -0.00444153 3.22656844] [ 0.01338318 0.9999011 0.00432268 0.12969589] [ 0.00438332 -0.0043817 0.99998079 -0.34239725] [ 0. 0. 0. 1. ]] SLAMing on 51.77654761499999 meters Centerline goodness [0,1] 0.7563870213387898 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.34 [[ 0.999901 -0.01326293 -0.00469854 3.22705552] [ 0.01328294 0.99990273 0.00425343 0.1294008 ] [ 0.00464167 -0.00431542 0.99997992 -0.34255196] [ 0. 0. 0. 1. ]] SLAMing on 51.80654761499999 meters Centerline goodness [0,1] 0.7633355741969426 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.34 [[ 0.99989349 -0.01366244 -0.00513303 3.22864377] [ 0.01368391 0.99989767 0.00417073 0.12811234] [ 0.00507552 -0.00424052 0.99997813 -0.34316647] [ 0. 0. 0. 1. ]] SLAMing on 51.83654761499999 meters Centerline goodness [0,1] 0.7684201307800094 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.34 [[ 0.99990389 -0.01309594 -0.00455159 3.22691133] [ 0.01311723 0.99990302 0.00467902 0.12857947] [ 0.00448987 -0.00473827 0.99997869 -0.34260677] [ 0. 0. 0. 1. ]] SLAMing on 51.86654761499999 meters Centerline goodness [0,1] 0.7653376919035666 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.34 [[ 0.99990444 -0.01315904 -0.00423618 3.2268285 ] [ 0.01317683 0.99990437 0.00419844 0.13028056] [ 0.00418052 -0.00425385 0.99998221 -0.34382661] [ 0. 0. 0. 1. ]] SLAMing on 51.89654761499999 meters Centerline goodness [0,1] 0.7655662713790391 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.34 [[ 0.99990923 -0.01279439 -0.00422254 3.22618912] [ 0.01281166 0.99990957 0.00408779 0.13097069] [ 0.00416986 -0.00414151 0.99998273 -0.3435252 ] [ 0. 0. 0. 1. ]] SLAMing on 51.92654761499999 meters Centerline goodness [0,1] 0.7548370152041323 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.34 [[ 0.99991078 -0.01258886 -0.00446626 3.22609644] [ 0.01260926 0.99991006 0.00456925 0.12993704] [ 0.00440833 -0.00462515 0.99997959 -0.34248596] [ 0. 0. 0. 1. ]] SLAMing on 51.95654761499999 meters Centerline goodness [0,1] 0.76642955416996 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.34 [[ 0.99990739 -0.01274552 -0.00477179 3.22679624] [ 0.01277032 0.99990492 0.00520244 0.1270355 ] [ 0.00470503 -0.0052629 0.99997508 -0.34178182] [ 0. 0. 0. 1. ]] SLAMing on 51.98654761499999 meters Centerline goodness [0,1] 0.7712734913038404 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.34 [[ 0.99992586 -0.01091148 -0.0054055 3.2311721 ] [ 0.01095585 0.99990597 0.00824731 0.12622234] [ 0.00531501 -0.00830593 0.99995138 -0.34417229] [ 0. 0. 0. 1. ]] SLAMing on 52.01654761499999 meters Centerline goodness [0,1] 0.7725936490380417 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.35 [[ 0.9999194 -0.01158053 -0.00520469 3.2326976 ] [ 0.01161761 0.99990694 0.00715116 0.12764496] [ 0.00512139 -0.00721105 0.99996089 -0.34725702] [ 0. 0. 0. 1. ]] SLAMing on 52.04654761499999 meters Centerline goodness [0,1] 0.7694593334886972 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.34 [[ 0.99993741 -0.01017952 -0.00464292 3.22867845] [ 0.0102208 0.99990765 0.00895645 0.1259755 ] [ 0.00455132 -0.00900334 0.99994911 -0.34308789] [ 0. 0. 0. 1. ]] SLAMing on 52.07654761499999 meters Centerline goodness [0,1] 0.7678498572011424 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.34 [[ 0.99994549 -0.00948265 -0.00437056 3.22671524] [ 0.0095219 0.99991371 0.00904995 0.12698368] [ 0.00428437 -0.00909107 0.9999495 -0.34182821] [ 0. 0. 0. 1. ]] SLAMing on 52.10654761499999 meters Centerline goodness [0,1] 0.766017441860465 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.35 [[ 0.99993924 -0.01008932 -0.00444119 3.22873861] [ 0.01011615 0.99993047 0.00606005 0.1317585 ] [ 0.00437973 -0.00610461 0.99997178 -0.34699517] [ 0. 0. 0. 1. ]] SLAMing on 52.13654761499999 meters Centerline goodness [0,1] 0.7539998257789134 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.35 [[ 0.99992987 -0.01086483 -0.00471329 3.23096856] [ 0.01088617 0.9999305 0.00452591 0.13396066] [ 0.00466379 -0.0045769 0.99997865 -0.34988721] [ 0. 0. 0. 1. ]] SLAMing on 52.16654761499999 meters Centerline goodness [0,1] 0.7592957828180289 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.35 [[ 0.99993884 -0.01011679 -0.00446893 3.22927219] [ 0.01014137 0.99993338 0.00551194 0.13224567] [ 0.00441287 -0.00555693 0.99997482 -0.34815583] [ 0. 0. 0. 1. ]] SLAMing on 52.19654761499999 meters Centerline goodness [0,1] 0.7583309101482989 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.34 [[ 0.99994226 -0.00977068 -0.00447324 3.22798839] [ 0.00980542 0.99992142 0.00781049 0.12744015] [ 0.00439658 -0.0078539 0.99995949 -0.34429965] [ 0. 0. 0. 1. ]] SLAMing on 52.22654761499999 meters Centerline goodness [0,1] 0.7723572508431213 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.35 [[ 0.99993058 -0.01075257 -0.00481869 3.23015336] [ 0.01078728 0.99991564 0.00723583 0.12834158] [ 0.00474048 -0.0072873 0.99996221 -0.34569793] [ 0. 0. 0. 1. ]] SLAMing on 52.25654761499999 meters Centerline goodness [0,1] 0.7786587668089803 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.35 [[ 0.99991721 -0.01170374 -0.00534718 3.2328158 ] [ 0.01173541 0.99991355 0.00593105 0.1304085 ] [ 0.0052773 -0.00599331 0.99996811 -0.34804612] [ 0. 0. 0. 1. ]] SLAMing on 52.28654761499999 meters Centerline goodness [0,1] 0.7673238619889823 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.35 [[ 0.9999265 -0.01099314 -0.00511421 3.23160639] [ 0.01101962 0.99992586 0.00518015 0.13298838] [ 0.00505688 -0.00523612 0.99997351 -0.34863298] [ 0. 0. 0. 1. ]] SLAMing on 52.31654761499999 meters Centerline goodness [0,1] 0.7578294753309963 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.35 [[ 0.99994102 -0.00972259 -0.00483969 3.22867234] [ 0.00975199 0.99993391 0.00608831 0.13223222] [ 0.00478018 -0.00613515 0.99996975 -0.34590158] [ 0. 0. 0. 1. ]] SLAMing on 52.34654761499999 meters Centerline goodness [0,1] 0.7506472350699596 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.34 [[ 0.99995234 -0.00856629 -0.00468422 3.22642612] [ 0.00860301 0.99993197 0.00787615 0.12766506] [ 0.00461644 -0.00791607 0.99995801 -0.34291846] [ 0. 0. 0. 1. ]] SLAMing on 52.37654761499999 meters Centerline goodness [0,1] 0.7625834542815675 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.35 [[ 0.99993343 -0.01036833 -0.00506244 3.23129627] [ 0.01039426 0.99993286 0.00512211 0.13086772] [ 0.00500899 -0.00517439 0.99997407 -0.34940858] [ 0. 0. 0. 1. ]] SLAMing on 52.406547614999994 meters Centerline goodness [0,1] 0.7700199404675895 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.35 [[ 0.99995153 -0.00811711 -0.00557178 3.23482079] [ 0.00816257 0.99993318 0.00818568 0.13355794] [ 0.00550496 -0.00823077 0.99995097 -0.35150164] [ 0. 0. 0. 1. ]] SLAMing on 52.43654761499999 meters Centerline goodness [0,1] 0.7485425685425686 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.35 [[ 0.99996615 -0.00642396 -0.00514176 3.23075632] [ 0.00647185 0.99993532 0.0093522 0.13316459] [ 0.00508135 -0.00938516 0.99994305 -0.34786348] [ 0. 0. 0. 1. ]] SLAMing on 52.46654761499999 meters Centerline goodness [0,1] 0.7381873844731978 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.34 [[ 0.99997315 -0.00521783 -0.005146 3.22808172] [ 0.00526966 0.99993501 0.01011014 0.13235214] [ 0.00509292 -0.01013699 0.99993565 -0.34473939] [ 0. 0. 0. 1. ]] SLAMing on 52.49654761499999 meters Centerline goodness [0,1] 0.736265325005783 Centerline is valid? [False, False] Translation: X:3.23, Y:0.13, Z:-0.35 [[ 0.99997288 -0.00499806 -0.00540997 3.22866028] [ 0.00504524 0.99994906 0.00874203 0.13428681] [ 0.005366 -0.00876909 0.99994715 -0.34645123] [ 0. 0. 0. 1. ]] SLAMing on 52.52654761499999 meters Centerline goodness [0,1] 0.7407054061867592 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:-0.35 [[ 0.99996609 -0.005984 -0.00565742 3.23130914] [ 0.00602335 0.9999576 0.0069651 0.13668807] [ 0.0056155 -0.00699894 0.99995974 -0.34999699] [ 0. 0. 0. 1. ]] SLAMing on 52.55654761499999 meters Centerline goodness [0,1] 0.7459568345323742 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:-0.35 [[ 0.99996308 -0.00652922 -0.00558634 3.231914 ] [ 0.00656598 0.99995675 0.00658701 0.13884765] [ 0.00554309 -0.00662344 0.9999627 -0.35073189] [ 0. 0. 0. 1. ]] SLAMing on 52.58654761499999 meters Centerline goodness [0,1] 0.7455943975661559 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:-0.35 [[ 0.99995976 -0.00691768 -0.00571247 3.23298106] [ 0.00695213 0.99995764 0.00603244 0.13947161] [ 0.0056705 -0.00607191 0.99996549 -0.35196093] [ 0. 0. 0. 1. ]] SLAMing on 52.61654761499999 meters Centerline goodness [0,1] 0.7393366282890038 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:-0.35 [[ 0.99996388 -0.00657887 -0.00538062 3.23204177] [ 0.00660653 0.99996497 0.0051399 0.14244006] [ 0.00534661 -0.00517527 0.99997231 -0.35278154] [ 0. 0. 0. 1. ]] SLAMing on 52.64654761499999 meters Centerline goodness [0,1] 0.7201104146299384 Centerline is valid? [False, False] Translation: X:3.22, Y:0.14, Z:-0.35 [[ 9.99967719e-01 -6.58056625e-03 -4.61045265e-03 3.22496120e+00] [ 6.59375329e-03 9.99974197e-01 2.85091066e-03 1.38271333e-01] [ 4.59157308e-03 -2.88121882e-03 9.99985308e-01 -3.48903333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.67654761499999 meters Centerline goodness [0,1] 0.7369847218218506 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:-0.35 [[ 9.99960159e-01 -7.28031384e-03 -5.16508067e-03 3.22741533e+00] [ 7.29428404e-03 9.99969775e-01 2.69107671e-03 1.37267566e-01] [ 5.14533267e-03 -2.72864506e-03 9.99983040e-01 -3.50134728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.70654761499999 meters Centerline goodness [0,1] 0.7369847218218506 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:-0.35 [[ 9.99960159e-01 -7.28031384e-03 -5.16508067e-03 3.22741533e+00] [ 7.29428404e-03 9.99969775e-01 2.69107671e-03 1.37267566e-01] [ 5.14533267e-03 -2.72864506e-03 9.99983040e-01 -3.50134728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.73654761499999 meters Centerline goodness [0,1] 0.7344952337199955 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:-0.35 [[ 0.99995788 -0.0067871 -0.00617822 3.23423703] [ 0.00681989 0.99996269 0.00530176 0.1388241 ] [ 0.00614201 -0.00534367 0.99996686 -0.35334381] [ 0. 0. 0. 1. ]] SLAMing on 52.76654761499999 meters Centerline goodness [0,1] 0.747206864777701 Centerline is valid? [False, False] Translation: X:3.24, Y:0.14, Z:-0.36 [[ 0.99994154 -0.00824089 -0.00700028 3.2384817 ] [ 0.00827134 0.99995641 0.00433114 0.13897816] [ 0.00696429 -0.00438879 0.99996612 -0.35613908] [ 0. 0. 0. 1. ]] SLAMing on 52.79654761499999 meters Centerline goodness [0,1] 0.7466944420333883 Centerline is valid? [False, False] Translation: X:3.24, Y:0.13, Z:-0.35 [[ 0.99994184 -0.00779024 -0.00745856 3.23824039] [ 0.00783195 0.99995376 0.00557995 0.13438578] [ 0.00741475 -0.00563804 0.99995662 -0.35390356] [ 0. 0. 0. 1. ]] SLAMing on 52.82654761499999 meters Centerline goodness [0,1] 0.7350126530730969 Centerline is valid? [False, False] Translation: X:3.24, Y:0.13, Z:-0.35 [[ 0.99995025 -0.00665276 -0.00743158 3.23622222] [ 0.00670484 0.99995299 0.00700415 0.13069891] [ 0.00738464 -0.00705363 0.99994786 -0.35118538] [ 0. 0. 0. 1. ]] SLAMing on 52.85654761499999 meters Centerline goodness [0,1] 0.7480227959990695 Centerline is valid? [False, False] Translation: X:3.24, Y:0.13, Z:-0.35 [[ 0.99994708 -0.00692829 -0.00760519 3.23670685] [ 0.00698101 0.99995164 0.00692701 0.13105267] [ 0.00755683 -0.00697974 0.99994709 -0.35107472] [ 0. 0. 0. 1. ]] SLAMing on 52.88654761499999 meters Centerline goodness [0,1] 0.7517499782160388 Centerline is valid? [False, False] Translation: X:3.24, Y:0.13, Z:-0.35 [[ 0.99993678 -0.0078639 -0.00803733 3.23912116] [ 0.00791062 0.9999519 0.00579757 0.13356723] [ 0.00799136 -0.00586078 0.99995089 -0.35314565] [ 0. 0. 0. 1. ]] SLAMing on 52.91654761499999 meters Centerline goodness [0,1] 0.7460055096418733 Centerline is valid? [False, False] Translation: X:3.24, Y:0.14, Z:-0.35 [[ 0.99992524 -0.00881618 -0.00847267 3.24114085] [ 0.00885751 0.999949 0.00485285 0.13591339] [ 0.00842945 -0.00492754 0.99995233 -0.35435511] [ 0. 0. 0. 1. ]] SLAMing on 52.94654761499999 meters Centerline goodness [0,1] 0.7536763643717679 Centerline is valid? [False, False] Translation: X:3.24, Y:0.14, Z:-0.35 [[ 0.99992729 -0.00863589 -0.00841678 3.24034688] [ 0.00867336 0.9999526 0.00442458 0.13790921] [ 0.00837817 -0.00449726 0.99995479 -0.35389859] [ 0. 0. 0. 1. ]] SLAMing on 52.97654761499999 meters Centerline goodness [0,1] 0.7480394418175528 Centerline is valid? [False, False] Translation: X:3.24, Y:0.14, Z:-0.35 [[ 0.999927 -0.00853183 -0.00855576 3.2407181 ] [ 0.00856264 0.99995697 0.00357062 0.13899394] [ 0.00852493 -0.00364362 0.99995702 -0.35492742] [ 0. 0. 0. 1. ]] SLAMing on 53.00654761499999 meters Centerline goodness [0,1] 0.7408207965876996 Centerline is valid? [False, False] Translation: X:3.24, Y:0.14, Z:-0.36 [[ 9.99934946e-01 -8.03328208e-03 -8.09752205e-03 3.23928170e+00] [ 8.05742496e-03 9.99963177e-01 2.95331408e-03 1.40964242e-01] [ 8.07349907e-03 -3.01836713e-03 9.99962853e-01 -3.55389222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.03654761499999 meters Centerline goodness [0,1] 0.7185202205882353 Centerline is valid? [False, False] Translation: X:3.24, Y:0.14, Z:-0.36 [[ 9.99946440e-01 -7.23786801e-03 -7.39803210e-03 3.23728941e+00] [ 7.25523371e-03 9.99970982e-01 2.32320419e-03 1.44551686e-01] [ 7.38100237e-03 -2.37675421e-03 9.99969935e-01 -3.56134806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.06654761499999 meters Centerline goodness [0,1] 0.7083237986270023 Centerline is valid? [False, False] Translation: X:3.24, Y:0.14, Z:-0.35 [[ 9.99970633e-01 -2.63941055e-03 -7.19484886e-03 3.23528485e+00] [ 2.69148042e-03 9.99970190e-01 7.23705350e-03 1.44842703e-01] [ 7.17553282e-03 -7.25620577e-03 9.99947928e-01 -3.53468333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.09654761499999 meters Centerline goodness [0,1] 0.7112617637804285 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:-0.35 [[ 9.99974744e-01 -1.22599237e-03 -7.00062261e-03 3.23164857e+00] [ 1.28997296e-03 9.99957378e-01 9.14208228e-03 1.42636027e-01] [ 6.98911611e-03 -9.15088200e-03 9.99933705e-01 -3.48640912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.12654761499999 meters Centerline goodness [0,1] 0.7162884228669922 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:-0.35 [[ 0.99996654 -0.00471816 -0.00668228 3.23086653] [ 0.00474527 0.99998055 0.00404664 0.14473374] [ 0.00666306 -0.00407821 0.99996949 -0.35030569] [ 0. 0. 0. 1. ]] SLAMing on 53.15654761499999 meters Centerline goodness [0,1] 0.725318813583608 Centerline is valid? [False, False] Translation: X:3.23, Y:0.15, Z:-0.35 [[ 9.99959994e-01 -5.57154740e-03 -6.99778483e-03 3.23326513e+00] [ 5.59040563e-03 9.99980787e-01 2.67822277e-03 1.47406138e-01] [ 6.98272854e-03 -2.71723608e-03 9.99971929e-01 -3.53008027e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.18654761499999 meters Centerline goodness [0,1] 0.7252090457170771 Centerline is valid? [False, False] Translation: X:3.24, Y:0.15, Z:-0.36 [[ 9.99938429e-01 -7.93701942e-03 -7.75506763e-03 3.23874211e+00] [ 7.94469935e-03 9.99967980e-01 9.60006175e-04 1.46057019e-01] [ 7.74719972e-03 -1.02155875e-03 9.99969468e-01 -3.57268386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.21654761499999 meters Centerline goodness [0,1] 0.7351708297444732 Centerline is valid? [False, False] Translation: X:3.24, Y:0.15, Z:-0.36 [[ 9.99940739e-01 -7.79705994e-03 -7.59764021e-03 3.23830781e+00] [ 7.80598869e-03 9.99968876e-01 1.14625613e-03 1.45746856e-01] [ 7.58846631e-03 -1.20549529e-03 9.99970481e-01 -3.57130065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.24654761499999 meters Centerline goodness [0,1] 0.7227651829984809 Centerline is valid? [False, False] Translation: X:3.24, Y:0.14, Z:-0.35 [[ 9.99950110e-01 -6.81627035e-03 -7.30177770e-03 3.23534232e+00] [ 6.83695182e-03 9.99972676e-01 2.81118154e-03 1.43600553e-01] [ 7.28241642e-03 -2.86096320e-03 9.99969390e-01 -3.53293362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.27654761499999 meters Centerline goodness [0,1] 0.7213336791446933 Centerline is valid? [False, False] Translation: X:3.24, Y:0.14, Z:-0.35 [[ 0.99994722 -0.00667253 -0.00781309 3.23631376] [ 0.00669993 0.99997148 0.00348591 0.13992293] [ 0.0077896 -0.00353807 0.9999634 -0.35277124] [ 0. 0. 0. 1. ]] SLAMing on 53.30654761499999 meters Centerline goodness [0,1] 0.7322018322276787 Centerline is valid? [False, False] Translation: X:3.24, Y:0.14, Z:-0.35 [[ 9.99945499e-01 -6.95670808e-03 -7.78475941e-03 3.23690708e+00] [ 6.97951518e-03 9.99971419e-01 2.90638834e-03 1.41610053e-01] [ 7.76431802e-03 -2.96056379e-03 9.99965475e-01 -3.53862676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.33654761499999 meters Centerline goodness [0,1] 0.7374518484447766 Centerline is valid? [False, False] Translation: X:3.24, Y:0.14, Z:-0.35 [[ 0.99994118 -0.00730767 -0.00801473 3.2377362 ] [ 0.00733616 0.99996685 0.00353172 0.13976447] [ 0.00798865 -0.00359031 0.99996164 -0.35331398] [ 0. 0. 0. 1. ]] SLAMing on 53.36654761499999 meters Centerline goodness [0,1] 0.722065835583386 Centerline is valid? [False, False] Translation: X:3.24, Y:0.14, Z:-0.35 [[ 0.99994589 -0.00679724 -0.00787472 3.2366074 ] [ 0.00683299 0.99996643 0.00452115 0.13800847] [ 0.00784373 -0.00457471 0.99995877 -0.3518042 ] [ 0. 0. 0. 1. ]] SLAMing on 53.39654761499999 meters Centerline goodness [0,1] 0.737042770324504 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:-0.35 [[ 0.9999536 -0.00602772 -0.00751467 3.23403919] [ 0.00606718 0.99996787 0.00523961 0.13858376] [ 0.00748285 -0.00528496 0.99995804 -0.34940405] [ 0. 0. 0. 1. ]] SLAMing on 53.42654761499999 meters Centerline goodness [0,1] 0.7350025783532916 Centerline is valid? [False, False] Translation: X:3.23, Y:0.14, Z:-0.35 [[ 0.99995257 -0.00599589 -0.00767478 3.2341909 ] [ 0.00603688 0.99996758 0.00532778 0.13786029] [ 0.00764258 -0.00537386 0.99995636 -0.34911326] [ 0. 0. 0. 1. ]] SLAMing on 53.45654761499999 meters Centerline goodness [0,1] 0.7386744605862632 Centerline is valid? [False, False] Translation: X:3.24, Y:0.14, Z:-0.36 [[ 9.99939088e-01 -7.59847899e-03 -8.00516466e-03 3.23841925e+00] [ 7.61386009e-03 9.99969223e-01 1.89267602e-03 1.42196224e-01] [ 7.99053682e-03 -1.95351094e-03 9.99966167e-01 -3.55762176e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.48654761499999 meters Centerline goodness [0,1] 0.7461709275180778 Centerline is valid? [False, False] Translation: X:3.24, Y:0.14, Z:-0.36 [[ 0.99993421 -0.0074508 -0.00872152 3.24393494] [ 0.00748437 0.99996469 0.00382256 0.14399745] [ 0.00869273 -0.00388759 0.99995466 -0.35815407] [ 0. 0. 0. 1. ]] SLAMing on 53.51654761499999 meters Centerline goodness [0,1] 0.7465823650034176 Centerline is valid? [False, False] Translation: X:3.24, Y:0.14, Z:-0.35 [[ 0.99993834 -0.006936 -0.00867232 3.24182605] [ 0.0069816 0.9999619 0.00523907 0.14176879] [ 0.00863565 -0.0052993 0.99994867 -0.35434174] [ 0. 0. 0. 1. ]] SLAMing on 53.54654761499999 meters Centerline goodness [0,1] 0.7460131466133181 Centerline is valid? [False, False] Translation: X:3.24, Y:0.14, Z:-0.35 [[ 0.99994069 -0.00632612 -0.00886555 3.24020241] [ 0.00638019 0.99996114 0.00608302 0.14102231] [ 0.00882673 -0.00613922 0.9999422 -0.3514037 ] [ 0. 0. 0. 1. ]] SLAMing on 53.57654761499999 meters Centerline goodness [0,1] 0.7540109999715027 Centerline is valid? [False, False] Translation: X:3.24, Y:0.15, Z:-0.36 [[ 0.99991933 -0.00817951 -0.00971701 3.24460805] [ 0.00821327 0.99996036 0.00343924 0.14659938] [ 0.0096885 -0.00351877 0.99994687 -0.35537451] [ 0. 0. 0. 1. ]] SLAMing on 53.60654761499999 meters Centerline goodness [0,1] 0.7673591348890154 Centerline is valid? [False, False] Translation: X:3.25, Y:0.15, Z:-0.36 [[ 9.99886313e-01 -1.06581770e-02 -1.06660341e-02 3.25019743e+00] [ 1.06771816e-02 9.99941507e-01 1.72643013e-03 1.48828636e-01] [ 1.06470096e-02 -1.84011704e-03 9.99941626e-01 -3.58886291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.63654761499999 meters Centerline goodness [0,1] 0.7980414419528811 Centerline is valid? [False, False] Translation: X:3.25, Y:0.15, Z:-0.36 [[ 9.99860351e-01 -1.26124876e-02 -1.09637087e-02 3.25205300e+00] [ 1.26367659e-02 9.99917846e-01 2.14797617e-03 1.48321011e-01] [ 1.09357166e-02 -2.28622203e-03 9.99937590e-01 -3.57368527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.66654761499999 meters Centerline goodness [0,1] 0.8212472185770525 Centerline is valid? [False, False] Translation: X:3.25, Y:0.15, Z:-0.35 [[ 9.99802357e-01 -1.66892334e-02 -1.08035000e-02 3.25041877e+00] [ 1.66761319e-02 9.99860096e-01 -1.30166556e-03 1.48131132e-01] [ 1.08237124e-02 1.12124771e-03 9.99940793e-01 -3.54673728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.69654761499999 meters Centerline goodness [0,1] 0.8274059473819522 Centerline is valid? [False, False] Translation: X:3.25, Y:0.15, Z:-0.35 [[ 0.99976011 -0.01930775 -0.01034044 3.24575813] [ 0.01927077 0.99980759 -0.00366428 0.14736721] [ 0.0104092 0.00346413 0.99993982 -0.34923202] [ 0. 0. 0. 1. ]] SLAMing on 53.72654761499999 meters Centerline goodness [0,1] 0.829848963222118 Centerline is valid? [False, False] Translation: X:3.25, Y:0.15, Z:-0.35 [[ 9.99801374e-01 -1.63446057e-02 -1.14047026e-02 3.24762693e+00] [ 1.63564437e-02 9.99865777e-01 9.45493132e-04 1.47300613e-01] [ 1.13877182e-02 -1.13184571e-03 9.99934517e-01 -3.46795812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.75654761499999 meters Centerline goodness [0,1] 0.8273055039152724 Centerline is valid? [False, False] Translation: X:3.25, Y:0.15, Z:-0.35 [[ 9.99800596e-01 -1.51929711e-02 -1.29592622e-02 3.25478585e+00] [ 1.52277975e-02 9.99880688e-01 2.59294644e-03 1.51469575e-01] [ 1.29183214e-02 -2.78977042e-03 9.99912663e-01 -3.50865888e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.78654761499999 meters Centerline goodness [0,1] 0.8223010134286273 Centerline is valid? [False, False] Translation: X:3.26, Y:0.16, Z:-0.35 [[ 0.99980672 -0.01371282 -0.01408848 3.26081767] [ 0.01377255 0.99989653 0.00415169 0.15739961] [ 0.01403009 -0.00434492 0.99989213 -0.35499516] [ 0. 0. 0. 1. ]] SLAMing on 53.81654761499999 meters Centerline goodness [0,1] 0.8251188811188811 Centerline is valid? [False, False] Translation: X:3.25, Y:0.16, Z:-0.35 [[ 9.99814754e-01 -1.39423166e-02 -1.32691533e-02 3.25390289e+00] [ 1.39839636e-02 9.99897565e-01 3.05104107e-03 1.57953653e-01] [ 1.32252555e-02 -3.23603123e-03 9.99907306e-01 -3.49449917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.84654761499999 meters Centerline goodness [0,1] 0.8225684422899096 Centerline is valid? [False, False] Translation: X:3.26, Y:0.16, Z:-0.35 [[ 0.99988383 -0.01365231 -0.00677832 3.26206339] [ 0.01359848 0.99987612 -0.00792571 0.16110916] [ 0.00688569 0.00783261 0.99994562 -0.35034208] [ 0. 0. 0. 1. ]] SLAMing on 53.87654761499999 meters Centerline goodness [0,1] 0.807572642924607 Centerline is valid? [False, False] Translation: X:3.26, Y:0.16, Z:-0.35 [[ 0.99992877 -0.00951111 -0.00720998 3.2625734 ] [ 0.00947772 0.99994426 -0.00465197 0.16433029] [ 0.00725382 0.0045833 0.99996319 -0.3505245 ] [ 0. 0. 0. 1. ]] SLAMing on 53.90654761499999 meters Centerline goodness [0,1] 0.7766424961546913 Centerline is valid? [False, False] Translation: X:3.27, Y:0.17, Z:-0.35 [[ 9.99966033e-01 -2.32666222e-03 -7.90691867e-03 3.26545029e+00] [ 2.33996327e-03 9.99995862e-01 1.67337028e-03 1.69557453e-01] [ 7.90299259e-03 -1.69181534e-03 9.99967340e-01 -3.52915056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.93654761499999 meters Centerline goodness [0,1] 0.7681155440841319 Centerline is valid? [False, False] Translation: X:3.27, Y:0.17, Z:-0.35 [[ 9.99968543e-01 -1.60718119e-03 -7.76723394e-03 3.26512301e+00] [ 1.61127963e-03 9.99998566e-01 5.21428721e-04 1.73554922e-01] [ 7.76638477e-03 -5.33927505e-04 9.99969699e-01 -3.54742476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.96654761499999 meters Centerline goodness [0,1] 0.7661762683899354 Centerline is valid? [False, False] Translation: X:3.27, Y:0.17, Z:-0.36 [[ 9.99966767e-01 -1.48523616e-03 -8.01622736e-03 3.26583270e+00] [ 1.49129217e-03 9.99998607e-01 7.49544111e-04 1.70392572e-01] [ 8.01510294e-03 -7.61473738e-04 9.99967589e-01 -3.55021120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.99654761499999 meters Centerline goodness [0,1] 0.7607648920071537 Centerline is valid? [False, False] Translation: X:3.26, Y:0.17, Z:-0.35 [[ 9.99972032e-01 -6.28468845e-04 -7.45259851e-03 3.26335119e+00] [ 6.39896878e-04 9.99998623e-01 1.53114404e-03 1.69732618e-01] [ 7.45162597e-03 -1.53587011e-03 9.99971057e-01 -3.53392066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.02654761499999 meters Centerline goodness [0,1] 0.767480698680392 Centerline is valid? [False, False] Translation: X:3.26, Y:0.17, Z:-0.35 [[ 9.99966072e-01 2.96427299e-03 -7.68558978e-03 3.26317600e+00] [-2.91867953e-03 9.99978118e-01 5.93677525e-03 1.71907543e-01] [ 7.70301982e-03 -5.91414205e-03 9.99952842e-01 -3.51337224e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.05654761499999 meters Centerline goodness [0,1] 0.7715869791952572 Centerline is valid? [False, False] Translation: X:3.27, Y:0.17, Z:-0.35 [[ 9.99962268e-01 2.13015091e-03 -8.42171636e-03 3.26571486e+00] [-2.08573566e-03 9.99983890e-01 5.27916530e-03 1.71616515e-01] [ 8.43282610e-03 -5.26140063e-03 9.99950601e-01 -3.52514611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.08654761499999 meters Centerline goodness [0,1] 0.7733799097810541 Centerline is valid? [False, False] Translation: X:3.27, Y:0.17, Z:-0.35 [[ 9.99960749e-01 -1.89208385e-03 -8.65569792e-03 3.26672059e+00] [ 1.89507240e-03 9.99998148e-01 3.37081704e-04 1.71997555e-01] [ 8.65504409e-03 -3.53471648e-04 9.99962482e-01 -3.54228673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.11654761499999 meters Centerline goodness [0,1] 0.7814341576251583 Centerline is valid? [False, False] Translation: X:3.27, Y:0.17, Z:-0.36 [[ 9.99953188e-01 -2.82403071e-03 -9.25453455e-03 3.26920541e+00] [ 2.82520573e-03 9.99996003e-01 1.13896950e-04 1.71486396e-01] [ 9.25417591e-03 -1.40037583e-04 9.99957169e-01 -3.55156405e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.14654761499999 meters Centerline goodness [0,1] 0.7842980888216692 Centerline is valid? [False, False] Translation: X:3.27, Y:0.17, Z:-0.36 [[ 9.99953674e-01 -2.93177323e-03 -9.16811783e-03 3.26915787e+00] [ 2.93061033e-03 9.99995696e-01 -1.40273590e-04 1.73344377e-01] [ 9.16848962e-03 1.13398911e-04 9.99957962e-01 -3.55392965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.17654761499999 meters Centerline goodness [0,1] 0.7970123749414326 Centerline is valid? [False, False] Translation: X:3.27, Y:0.17, Z:-0.35 [[ 9.99953297e-01 -2.95669844e-03 -9.20115931e-03 3.26857064e+00] [ 2.96791691e-03 9.99994869e-01 1.20582968e-03 1.70257622e-01] [ 9.19754682e-03 -1.23308164e-03 9.99956941e-01 -3.53182901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.20654761499999 meters Centerline goodness [0,1] 0.7937624090006619 Centerline is valid? [False, False] Translation: X:3.27, Y:0.17, Z:-0.35 [[ 9.99951869e-01 -2.98101232e-03 -9.34736642e-03 3.26908283e+00] [ 2.99297492e-03 9.99994720e-01 1.26605593e-03 1.70184185e-01] [ 9.34354293e-03 -1.29397143e-03 9.99955511e-01 -3.53433905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.23654761499999 meters Centerline goodness [0,1] 0.7788835883094807 Centerline is valid? [False, False] Translation: X:3.27, Y:0.18, Z:-0.35 [[ 9.99951460e-01 5.57362735e-04 -9.83705982e-03 3.27034564e+00] [-5.21086633e-04 9.99993057e-01 3.68987548e-03 1.76654354e-01] [ 9.83904812e-03 -3.68457042e-03 9.99944807e-01 -3.54430924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.26654761499999 meters Centerline goodness [0,1] 0.7730299061340319 Centerline is valid? [False, False] Translation: X:3.27, Y:0.18, Z:-0.35 [[ 9.99949597e-01 1.02727828e-03 -9.98739593e-03 3.26974317e+00] [-1.00492015e-03 9.99996979e-01 2.24339545e-03 1.80961045e-01] [ 9.98967035e-03 -2.23324584e-03 9.99947608e-01 -3.54877855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.29654761499999 meters Centerline goodness [0,1] 0.7701882043987307 Centerline is valid? [False, False] Translation: X:3.27, Y:0.18, Z:-0.35 [[ 9.99953246e-01 -1.39103830e-03 -9.56931613e-03 3.26711109e+00] [ 1.37521098e-03 9.99997676e-01 -1.66034700e-03 1.81808206e-01] [ 9.57160350e-03 1.64710955e-03 9.99952835e-01 -3.54185837e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.32654761499999 meters Centerline goodness [0,1] 0.772978595281108 Centerline is valid? [False, False] Translation: X:3.27, Y:0.18, Z:-0.35 [[ 9.99953553e-01 -1.04023158e-03 -9.58175044e-03 3.26616719e+00] [ 1.02966484e-03 9.99998856e-01 -1.10766578e-03 1.79805938e-01] [ 9.58289171e-03 1.09774834e-03 9.99953480e-01 -3.52682969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.35654761499999 meters Centerline goodness [0,1] 0.7864512255035755 Centerline is valid? [False, False] Translation: X:3.27, Y:0.18, Z:-0.35 [[ 9.99952922e-01 -1.61766210e-03 -9.56747682e-03 3.26610330e+00] [ 1.60644266e-03 9.99998013e-01 -1.18023286e-03 1.83250822e-01] [ 9.56936703e-03 1.16480769e-03 9.99953534e-01 -3.51825827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.38654761499999 meters Centerline goodness [0,1] 0.7902994174231134 Centerline is valid? [False, False] Translation: X:3.27, Y:0.19, Z:-0.35 [[ 9.99942123e-01 1.34622534e-04 -1.07578847e-02 3.27066683e+00] [-1.18258843e-04 9.99998835e-01 1.52170977e-03 1.88072203e-01] [ 1.07580770e-02 -1.52034948e-03 9.99940974e-01 -3.53084215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.41654761499999 meters Centerline goodness [0,1] 0.7845953357043955 Centerline is valid? [False, False] Translation: X:3.27, Y:0.19, Z:-0.35 [[ 9.99939393e-01 -2.87319799e-03 -1.06280317e-02 3.26905124e+00] [ 2.84940335e-03 9.99993402e-01 -2.25332239e-03 1.86802986e-01] [ 1.06344359e-02 2.22290227e-03 9.99940982e-01 -3.52252106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.44654761499999 meters Centerline goodness [0,1] 0.7931876781110055 Centerline is valid? [False, False] Translation: X:3.27, Y:0.19, Z:-0.35 [[ 9.99929398e-01 -3.68883812e-03 -1.12956697e-02 3.27143345e+00] [ 3.65872120e-03 9.99989700e-01 -2.68574099e-03 1.86573334e-01] [ 1.13054606e-02 2.64422366e-03 9.99932595e-01 -3.53164318e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.47654761499999 meters Centerline goodness [0,1] 0.8014326260305447 Centerline is valid? [False, False] Translation: X:3.27, Y:0.19, Z:-0.35 [[ 9.99930753e-01 -1.30511407e-03 -1.16955603e-02 3.27395543e+00] [ 1.31509416e-03 9.99998778e-01 8.45672905e-04 1.87596899e-01] [ 1.16944423e-02 -8.60995108e-04 9.99931247e-01 -3.53915086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.50654761499999 meters Centerline goodness [0,1] 0.8037824421302542 Centerline is valid? [False, False] Translation: X:3.27, Y:0.19, Z:-0.35 [[ 9.99933813e-01 -1.00163245e-03 -1.14615171e-02 3.27252869e+00] [ 1.01388975e-03 9.99998920e-01 1.06367020e-03 1.88208723e-01] [ 1.14604393e-02 -1.07522052e-03 9.99933749e-01 -3.52633918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.53654761499999 meters Centerline goodness [0,1] 0.800182726930725 Centerline is valid? [False, False] Translation: X:3.27, Y:0.19, Z:-0.35 [[ 9.99929368e-01 -1.03859252e-03 -1.18397966e-02 3.27294932e+00] [ 1.04497925e-03 9.99999312e-01 5.33254648e-04 1.90550700e-01] [ 1.18392346e-02 -5.45589325e-04 9.99929765e-01 -3.52490829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.56654761499999 meters Centerline goodness [0,1] 0.7921777490854315 Centerline is valid? [False, False] Translation: X:3.28, Y:0.19, Z:-0.35 [[ 9.99918583e-01 -1.34372383e-03 -1.26894721e-02 3.27548376e+00] [ 1.33371883e-03 9.99998793e-01 -7.96878551e-04 1.93094649e-01] [ 1.26905275e-02 7.79889484e-04 9.99919168e-01 -3.54458496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.59654761499999 meters Centerline goodness [0,1] 0.7851395863707544 Centerline is valid? [False, False] Translation: X:3.28, Y:0.19, Z:-0.36 [[ 9.99919953e-01 -6.79681843e-04 -1.26343300e-02 3.27556011e+00] [ 6.64447234e-04 9.99999047e-01 -1.20996907e-03 1.93243793e-01] [ 1.26351403e-02 1.20147737e-03 9.99919452e-01 -3.55824068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.62654761499999 meters Centerline goodness [0,1] 0.7851395863707544 Centerline is valid? [False, False] Translation: X:3.28, Y:0.19, Z:-0.36 [[ 9.99919953e-01 -6.79681843e-04 -1.26343300e-02 3.27556011e+00] [ 6.64447234e-04 9.99999047e-01 -1.20996907e-03 1.93243793e-01] [ 1.26351403e-02 1.20147737e-03 9.99919452e-01 -3.55824068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.65654761499999 meters Centerline goodness [0,1] 0.7765379651537965 Centerline is valid? [False, False] Translation: X:3.27, Y:0.20, Z:-0.36 [[ 9.99918842e-01 3.53487246e-03 -1.22398274e-02 3.27453642e+00] [-3.49896248e-03 9.99989515e-01 2.95403567e-03 1.95125598e-01] [ 1.22501412e-02 -2.91096923e-03 9.99920727e-01 -3.55334371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.68654761499999 meters Centerline goodness [0,1] 0.7773462609813585 Centerline is valid? [False, False] Translation: X:3.27, Y:0.20, Z:-0.36 [[ 9.99920680e-01 3.75134260e-03 -1.20233326e-02 3.27357691e+00] [-3.72056545e-03 9.99989748e-01 2.58113126e-03 1.97480714e-01] [ 1.20328920e-02 -2.53619293e-03 9.99924386e-01 -3.55074761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.71654761499999 meters Centerline goodness [0,1] 0.7707394290620304 Centerline is valid? [False, False] Translation: X:3.27, Y:0.20, Z:-0.36 [[ 9.99918818e-01 4.03407790e-03 -1.20864791e-02 3.27367930e+00] [-4.00460967e-03 9.99988952e-01 2.46132577e-03 1.96491668e-01] [ 1.20962748e-02 -2.41272433e-03 9.99923927e-01 -3.55460754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.74654761499999 meters Centerline goodness [0,1] 0.7637508372404554 Centerline is valid? [False, False] Translation: X:3.27, Y:0.20, Z:-0.35 [[ 9.99918437e-01 4.73919558e-03 -1.18600085e-02 3.27233371e+00] [-4.70650150e-03 9.99985052e-01 2.78305991e-03 1.95296583e-01] [ 1.18730207e-02 -2.72701377e-03 9.99925795e-01 -3.54702140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.77654761499999 meters Centerline goodness [0,1] 0.7454228187919463 Centerline is valid? [False, False] Translation: X:3.27, Y:0.20, Z:-0.35 [[ 9.99913804e-01 5.91995854e-03 -1.17191855e-02 3.27038259e+00] [-5.88208976e-03 9.99977376e-01 3.26318492e-03 1.95294795e-01] [ 1.17382383e-02 -3.19397034e-03 9.99926003e-01 -3.53229231e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.80654761499999 meters Centerline goodness [0,1] 0.7354345493562231 Centerline is valid? [False, False] Translation: X:3.27, Y:0.20, Z:-0.35 [[ 9.99905977e-01 7.24048010e-03 -1.16452441e-02 3.26936287e+00] [-7.20445469e-03 9.99969141e-01 3.13255406e-03 1.96986958e-01] [ 1.16675659e-02 -3.04836190e-03 9.99927285e-01 -3.53654274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.83654761499999 meters Centerline goodness [0,1] 0.7292978208232446 Centerline is valid? [False, False] Translation: X:3.27, Y:0.20, Z:-0.35 [[ 9.99904724e-01 8.16224794e-03 -1.11319415e-02 3.26850127e+00] [-8.12564393e-03 9.99961444e-01 3.32947120e-03 1.96140944e-01] [ 1.11586883e-02 -3.23869979e-03 9.99932495e-01 -3.54789253e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.86654761499999 meters Centerline goodness [0,1] 0.7254864864864865 Centerline is valid? [False, False] Translation: X:3.27, Y:0.19, Z:-0.35 [[ 0.99990455 0.00849209 -0.01089848 3.26814569] [-0.00845106 0.99995705 0.00380496 0.19469552] [ 0.01093032 -0.00371249 0.99993337 -0.35498749] [ 0. 0. 0. 1. ]] SLAMing on 54.89654761499999 meters Centerline goodness [0,1] 0.7304046368019067 Centerline is valid? [False, False] Translation: X:3.27, Y:0.19, Z:-0.36 [[ 0.99990151 0.00794847 -0.01156645 3.27072073] [-0.00790828 0.99996254 0.00351693 0.19380159] [ 0.01159397 -0.00342511 0.99992692 -0.35650139] [ 0. 0. 0. 1. ]] SLAMing on 54.92654761499999 meters Centerline goodness [0,1] 0.7258401367002089 Centerline is valid? [False, False] Translation: X:3.27, Y:0.19, Z:-0.36 [[ 9.99896954e-01 7.90886139e-03 -1.19804907e-02 3.27287365e+00] [-7.87455918e-03 9.99964768e-01 2.90764483e-03 1.92205141e-01] [ 1.20030648e-02 -2.81300413e-03 9.99924004e-01 -3.58996884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.95654761499999 meters Centerline goodness [0,1] 0.7190456714383096 Centerline is valid? [False, False] Translation: X:3.27, Y:0.19, Z:-0.36 [[ 0.9998901 0.00874433 -0.01197207 3.27251059] [-0.00870146 0.99995556 0.00362805 0.18853634] [ 0.01200326 -0.00352348 0.99992175 -0.35890726] [ 0. 0. 0. 1. ]] SLAMing on 54.98654761499999 meters Centerline goodness [0,1] 0.7211275314723591 Centerline is valid? [False, False] Translation: X:3.27, Y:0.19, Z:-0.36 [[ 0.99988634 0.0090417 -0.01206494 3.27280626] [-0.00899318 0.99995128 0.00406944 0.18674336] [ 0.01210115 -0.00396048 0.99991894 -0.35910244] [ 0. 0. 0. 1. ]] SLAMing on 55.01654761499999 meters Centerline goodness [0,1] 0.7170534150612959 Centerline is valid? [False, False] Translation: X:3.27, Y:0.18, Z:-0.36 [[ 0.99988414 0.00952138 -0.01187603 3.27206181] [-0.00946111 0.99994213 0.00512124 0.18490817] [ 0.01192411 -0.00500829 0.99991636 -0.35832085] [ 0. 0. 0. 1. ]] SLAMing on 55.04654761499999 meters Centerline goodness [0,1] 0.7174426914408224 Centerline is valid? [False, False] Translation: X:3.27, Y:0.18, Z:-0.36 [[ 9.99916600e-01 6.49313454e-03 -1.11639072e-02 3.26964558e+00] [-6.47031315e-03 9.99976906e-01 2.07911658e-03 1.83541736e-01] [ 1.11771494e-02 -2.00670921e-03 9.99935520e-01 -3.57525543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.07654761499999 meters Centerline goodness [0,1] 0.7274784720688894 Centerline is valid? [False, False] Translation: X:3.27, Y:0.18, Z:-0.36 [[ 9.99931102e-01 2.08719817e-03 -1.15513820e-02 3.27195604e+00] [-2.10908027e-03 9.99996004e-01 -1.88247062e-03 1.80593808e-01] [ 1.15474067e-02 1.90670371e-03 9.99931509e-01 -3.59504804e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.10654761499999 meters Centerline goodness [0,1] 0.7373535454494975 Centerline is valid? [False, False] Translation: X:3.27, Y:0.18, Z:-0.36 [[ 9.99934314e-01 -1.34071913e-03 -1.13829277e-02 3.27153355e+00] [ 1.28262043e-03 9.99986122e-01 -5.10978747e-03 1.77019177e-01] [ 1.13896205e-02 5.09485185e-03 9.99922156e-01 -3.59653718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.13654761499999 meters Centerline goodness [0,1] 0.7411820515682555 Centerline is valid? [False, False] Translation: X:3.27, Y:0.17, Z:-0.36 [[ 9.99935866e-01 -1.44954250e-03 -1.12321816e-02 3.27090303e+00] [ 1.41147634e-03 9.99993237e-01 -3.39621366e-03 1.69644497e-01] [ 1.12370286e-02 3.38014189e-03 9.99931150e-01 -3.57636039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.16654761499999 meters Centerline goodness [0,1] 0.7280645070659961 Centerline is valid? [False, False] Translation: X:3.27, Y:0.17, Z:-0.36 [[ 9.99946701e-01 9.68753665e-06 -1.03244820e-02 3.26924646e+00] [-3.46193864e-05 9.99997084e-01 -2.41465216e-03 1.66153806e-01] [ 1.03244285e-02 2.41488089e-03 9.99943786e-01 -3.58935368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.19654761499999 meters Centerline goodness [0,1] 0.7247983870967742 Centerline is valid? [False, False] Translation: X:3.27, Y:0.16, Z:-0.36 [[ 9.99931700e-01 2.99373775e-03 -1.12974306e-02 3.27293050e+00] [-2.97580486e-03 9.99994286e-01 1.60381902e-03 1.64435502e-01] [ 1.13021675e-02 -1.57009053e-03 9.99934896e-01 -3.60024720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.22654761499999 meters Centerline goodness [0,1] 0.7197083180237981 Centerline is valid? [False, False] Translation: X:3.27, Y:0.16, Z:-0.36 [[ 9.99932466e-01 3.85573894e-03 -1.09634540e-02 3.27339397e+00] [-3.83893057e-03 9.99991424e-01 1.55375825e-03 1.62141452e-01] [ 1.09693508e-02 -1.51156538e-03 9.99938692e-01 -3.62974379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.25654761499999 meters Centerline goodness [0,1] 0.7219604949483482 Centerline is valid? [False, False] Translation: X:3.27, Y:0.16, Z:-0.36 [[ 9.99928956e-01 4.47995097e-03 -1.10459662e-02 3.27372334e+00] [-4.46086571e-03 9.99988516e-01 1.75183735e-03 1.59764996e-01] [ 1.10536875e-02 -1.70243832e-03 9.99937457e-01 -3.63863436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.28654761499999 meters Centerline goodness [0,1] 0.7258991577509675 Centerline is valid? [False, False] Translation: X:3.28, Y:0.16, Z:-0.37 [[ 9.99925735e-01 3.56335414e-03 -1.16544889e-02 3.27636991e+00] [-3.54885967e-03 9.99992904e-01 1.26412564e-03 1.58582609e-01] [ 1.16589107e-02 -1.22267161e-03 9.99931285e-01 -3.65278073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.31654761499999 meters Centerline goodness [0,1] 0.7201674212009909 Centerline is valid? [False, False] Translation: X:3.28, Y:0.16, Z:-0.37 [[ 9.99925234e-01 3.24253042e-03 -1.17903430e-02 3.27726591e+00] [-3.22553345e-03 9.99993732e-01 1.46033076e-03 1.57461979e-01] [ 1.17950043e-02 -1.42219143e-03 9.99929425e-01 -3.65617622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.34654761499999 meters Centerline goodness [0,1] 0.7303585702866278 Centerline is valid? [False, False] Translation: X:3.28, Y:0.15, Z:-0.37 [[ 9.99923025e-01 1.82454287e-03 -1.22725731e-02 3.28010227e+00] [-1.80654872e-03 9.99997277e-01 1.47713412e-03 1.54609258e-01] [ 1.22752348e-02 -1.45484941e-03 9.99923598e-01 -3.66518562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.37654761499999 meters Centerline goodness [0,1] 0.7343525902128392 Centerline is valid? [False, False] Translation: X:3.28, Y:0.15, Z:-0.37 [[ 9.99927096e-01 -1.77848090e-03 -1.19431557e-02 3.27917551e+00] [ 1.75285525e-03 9.99996140e-01 -2.15575956e-03 1.53633740e-01] [ 1.19469435e-02 2.13466777e-03 9.99926354e-01 -3.66486330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.40654761499999 meters Centerline goodness [0,1] 0.7371456444393435 Centerline is valid? [False, False] Translation: X:3.28, Y:0.15, Z:-0.36 [[ 9.99927044e-01 -1.46641435e-03 -1.19898682e-02 3.27839477e+00] [ 1.44974330e-03 9.99997971e-01 -1.39900125e-03 1.52943427e-01] [ 1.19918954e-02 1.38151695e-03 9.99927140e-01 -3.64960891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.43654761499999 meters Centerline goodness [0,1] 0.7358199136180315 Centerline is valid? [False, False] Translation: X:3.28, Y:0.15, Z:-0.36 [[ 9.99925681e-01 -1.13145538e-03 -1.21388993e-02 3.27702140e+00] [ 1.13268884e-03 9.99999354e-01 9.47371573e-05 1.51613971e-01] [ 1.21387843e-02 -1.08479712e-04 9.99926316e-01 -3.61469423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.46654761499999 meters Centerline goodness [0,1] 0.7389370372496126 Centerline is valid? [False, False] Translation: X:3.28, Y:0.15, Z:-0.37 [[ 9.99915766e-01 -2.23300226e-03 -1.27857050e-02 3.28074641e+00] [ 2.21212425e-03 9.99996197e-01 -1.64682776e-03 1.53619363e-01] [ 1.27893337e-02 1.61840547e-03 9.99916903e-01 -3.65256201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.49654761499999 meters Centerline goodness [0,1] 0.7412695239998858 Centerline is valid? [False, False] Translation: X:3.28, Y:0.15, Z:-0.37 [[ 9.99903993e-01 -3.09452396e-03 -1.35066087e-02 3.28398783e+00] [ 3.05624355e-03 9.99991257e-01 -2.85391962e-03 1.54382777e-01] [ 1.35153222e-02 2.81236614e-03 9.99904709e-01 -3.67819394e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.52654761499999 meters Centerline goodness [0,1] 0.7393060082494447 Centerline is valid? [False, False] Translation: X:3.28, Y:0.15, Z:-0.36 [[ 0.99991011 -0.00492872 -0.01246888 3.27858852] [ 0.00486813 0.99997622 -0.00488475 0.1507352 ] [ 0.01249266 0.00482362 0.99991033 -0.36426523] [ 0. 0. 0. 1. ]] SLAMing on 55.55654761499999 meters Centerline goodness [0,1] 0.7417469050894085 Centerline is valid? [False, False] Translation: X:3.28, Y:0.15, Z:-0.36 [[ 0.99989837 -0.00587305 -0.01299055 3.28082992] [ 0.0058167 0.99997353 -0.00437148 0.14881288] [ 0.01301588 0.00429548 0.99990606 -0.36420435] [ 0. 0. 0. 1. ]] SLAMing on 55.586547614999986 meters Centerline goodness [0,1] 0.7545847280633995 Centerline is valid? [False, False] Translation: X:3.29, Y:0.15, Z:-0.37 [[ 9.99895608e-01 -4.50996575e-03 -1.37271294e-02 3.28577289e+00] [ 4.49779056e-03 9.99989464e-01 -9.17686458e-04 1.49488155e-01] [ 1.37311235e-02 8.55848905e-04 9.99905357e-01 -3.65837636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.61654761499999 meters Centerline goodness [0,1] 0.7588416196822143 Centerline is valid? [False, False] Translation: X:3.28, Y:0.15, Z:-0.36 [[ 9.99890501e-01 -4.47083766e-03 -1.41066714e-02 3.28444976e+00] [ 4.48743708e-03 9.99989276e-01 1.14527284e-03 1.48357791e-01] [ 1.41013998e-02 -1.20845023e-03 9.99899840e-01 -3.60617157e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.64654761499999 meters Centerline goodness [0,1] 0.7894284240096314 Centerline is valid? [False, False] Translation: X:3.29, Y:0.14, Z:-0.36 [[ 9.99835994e-01 -9.58962030e-03 -1.53630936e-02 3.28670046e+00] [ 9.56203449e-03 9.99952538e-01 -1.86804189e-03 1.43734513e-01] [ 1.53802782e-02 1.72083309e-03 9.99880236e-01 -3.57745331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.67654761499999 meters Centerline goodness [0,1] 0.8311576283857611 Centerline is valid? [False, False] Translation: X:3.29, Y:0.14, Z:-0.36 [[ 0.99972683 -0.01657495 -0.01647839 3.29300732] [ 0.01645437 0.99983704 -0.00742611 0.14341803] [ 0.01659879 0.00715294 0.99983664 -0.36091646] [ 0. 0. 0. 1. ]] SLAMing on 55.70654761499999 meters Centerline goodness [0,1] 0.8457503224881755 Centerline is valid? [False, False] Translation: X:3.30, Y:0.15, Z:-0.36 [[ 0.99961534 -0.02157974 -0.01742078 3.3008733 ] [ 0.02142194 0.99972825 -0.00919416 0.1479328 ] [ 0.01761446 0.00881743 0.99980597 -0.36360191] [ 0. 0. 0. 1. ]] SLAMing on 55.73654761499999 meters Centerline goodness [0,1] 0.8427276650841605 Centerline is valid? [False, False] Translation: X:3.31, Y:0.15, Z:-0.36 [[ 0.99936393 -0.03030863 -0.01879179 3.30798868] [ 0.03006466 0.99946169 -0.01313213 0.14831819] [ 0.01917969 0.01255881 0.99973717 -0.36220176] [ 0. 0. 0. 1. ]] SLAMing on 55.76654761499999 meters Centerline goodness [0,1] 0.8394268774703557 Centerline is valid? [False, False] Translation: X:3.31, Y:0.15, Z:-0.36 [[ 0.9989955 -0.04046753 -0.01924525 3.31144014] [ 0.04004668 0.99896057 -0.02177231 0.14624364] [ 0.02010632 0.02097973 0.9995777 -0.36307163] [ 0. 0. 0. 1. ]] SLAMing on 55.79654761499999 meters Centerline goodness [0,1] 0.8385321100917431 Centerline is valid? [False, False] Translation: X:3.32, Y:0.15, Z:-0.36 [[ 0.99870199 -0.04677175 -0.0201679 3.31535923] [ 0.04623023 0.99857848 -0.02652902 0.14691825] [ 0.02138004 0.02556222 0.99944458 -0.36311249] [ 0. 0. 0. 1. ]] SLAMing on 55.82654761499999 meters Centerline goodness [0,1] 0.8281530878515512 Centerline is valid? [False, False] Translation: X:3.32, Y:0.15, Z:-0.36 [[ 0.99868887 -0.0462912 -0.02185568 3.32078722] [ 0.04582561 0.99872141 -0.02134366 0.14772723] [ 0.02281576 0.02031412 0.99953328 -0.35908489] [ 0. 0. 0. 1. ]] SLAMing on 55.85654761499999 meters Centerline goodness [0,1] 0.8317625018014123 Centerline is valid? [False, False] Translation: X:3.32, Y:0.15, Z:-0.36 [[ 0.99884595 -0.04251896 -0.02233633 3.32025576] [ 0.04215169 0.99897224 -0.01666423 0.1498078 ] [ 0.02302192 0.01570349 0.99961162 -0.35603372] [ 0. 0. 0. 1. ]] SLAMing on 55.88654761499999 meters Centerline goodness [0,1] 0.8360426648414327 Centerline is valid? [False, False] Translation: X:3.32, Y:0.15, Z:-0.36 [[ 0.99907095 -0.03595994 -0.02375126 3.32345047] [ 0.03574815 0.99931772 -0.00928232 0.1527235 ] [ 0.02406885 0.00842464 0.99967481 -0.35543382] [ 0. 0. 0. 1. ]] SLAMing on 55.91654761499999 meters Centerline goodness [0,1] 0.8384920634920635 Centerline is valid? [False, False] Translation: X:3.33, Y:0.16, Z:-0.36 [[ 9.99216544e-01 -3.05877126e-02 -2.51135491e-02 3.32815632e+00] [ 3.05185927e-02 9.99529295e-01 -3.13106079e-03 1.55816234e-01] [ 2.51975000e-02 2.36217757e-03 9.99679702e-01 -3.56564962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.94654761499999 meters Centerline goodness [0,1] 0.8406989853438557 Centerline is valid? [False, False] Translation: X:3.33, Y:0.16, Z:-0.35 [[ 9.99314161e-01 -2.67712613e-02 -2.55833306e-02 3.32794186e+00] [ 2.67925461e-02 9.99640895e-01 4.89505010e-04 1.58150732e-01] [ 2.55610389e-02 -1.17461185e-03 9.99672573e-01 -3.54891425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.97654761499999 meters Centerline goodness [0,1] 0.8386527801108685 Centerline is valid? [False, False] Translation: X:3.33, Y:0.17, Z:-0.36 [[ 9.99633238e-01 -2.41749296e-02 -1.22050246e-02 3.32695781e+00] [ 2.41503053e-02 9.99706003e-01 -2.16094324e-03 1.66636137e-01] [ 1.22536770e-02 1.86539561e-03 9.99923181e-01 -3.56850099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.00654761499999 meters Centerline goodness [0,1] 0.842606169594688 Centerline is valid? [False, False] Translation: X:3.32, Y:0.17, Z:-0.35 [[ 9.99723952e-01 -1.99425675e-02 -1.24223196e-02 3.32441635e+00] [ 1.99585731e-02 9.99800128e-01 1.16580637e-03 1.74899063e-01] [ 1.23965875e-02 -1.41341632e-03 9.99922160e-01 -3.53161519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.03654761499999 meters Centerline goodness [0,1] 0.8459426814538267 Centerline is valid? [False, False] Translation: X:3.33, Y:0.18, Z:-0.36 [[ 9.99734391e-01 -1.83086995e-02 -1.39978168e-02 3.33009581e+00] [ 1.83516370e-02 9.99827257e-01 2.94515709e-03 1.79701226e-01] [ 1.39414768e-02 -3.20125768e-03 9.99897688e-01 -3.55807438e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.06654761499999 meters Centerline goodness [0,1] 0.8453881703081845 Centerline is valid? [False, False] Translation: X:3.33, Y:0.18, Z:-0.36 [[ 0.99976431 -0.01569823 -0.01499604 3.33333485] [ 0.01579228 0.99985623 0.00617374 0.18123484] [ 0.01489696 -0.0064091 0.99986849 -0.356577 ] [ 0. 0. 0. 1. ]] SLAMing on 56.09654761499999 meters Centerline goodness [0,1] 0.8427497081421551 Centerline is valid? [False, False] Translation: X:3.33, Y:0.19, Z:-0.36 [[ 0.99979693 -0.01279871 -0.01556564 3.33477364] [ 0.01293593 0.99987807 0.00874702 0.18603904] [ 0.01545179 -0.0089466 0.99984059 -0.35676525] [ 0. 0. 0. 1. ]] SLAMing on 56.12654761499999 meters Centerline goodness [0,1] 0.8477441585011306 Centerline is valid? [False, False] Translation: X:3.35, Y:0.19, Z:-0.36 [[ 9.99892746e-01 -9.66529086e-03 -1.10035520e-02 3.34602120e+00] [ 9.64836019e-03 9.99952188e-01 -1.59070305e-03 1.94441889e-01] [ 1.10184005e-02 1.48436621e-03 9.99938194e-01 -3.61693810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.15654761499999 meters Centerline goodness [0,1] 0.8405584716634249 Centerline is valid? [False, False] Translation: X:3.34, Y:0.20, Z:-0.36 [[ 9.99924127e-01 -5.18685034e-03 -1.11730510e-02 3.34480990e+00] [ 5.20368557e-03 9.99985368e-01 1.47822690e-03 1.99956923e-01] [ 1.11652202e-02 -1.53625579e-03 9.99936487e-01 -3.60393199e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.18654761499999 meters Centerline goodness [0,1] 0.8379398643119242 Centerline is valid? [False, False] Translation: X:3.34, Y:0.21, Z:-0.36 [[ 9.99937116e-01 -1.20342852e-03 -1.11497204e-02 3.34250816e+00] [ 1.24965534e-03 9.99990649e-01 4.13996778e-03 2.08517698e-01] [ 1.11446340e-02 -4.15364075e-03 9.99929270e-01 -3.57975775e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.21654761499999 meters Centerline goodness [0,1] 0.837835709222651 Centerline is valid? [False, False] Translation: X:3.35, Y:0.22, Z:-0.36 [[ 9.99924102e-01 -2.42989323e-03 -1.20782944e-02 3.34521705e+00] [ 2.45179135e-03 9.99995377e-01 1.79853775e-03 2.17664102e-01] [ 1.20738683e-02 -1.82801470e-03 9.99925437e-01 -3.59392998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.24654761499999 meters Centerline goodness [0,1] 0.8406887721773667 Centerline is valid? [False, False] Translation: X:3.35, Y:0.22, Z:-0.36 [[ 9.99907187e-01 -3.75668501e-03 -1.30959766e-02 3.34865501e+00] [ 3.75932807e-03 9.99992918e-01 1.77211286e-04 2.19941128e-01] [ 1.30952182e-02 -2.26426911e-04 9.99914228e-01 -3.61224898e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.27654761499999 meters Centerline goodness [0,1] 0.841673396024903 Centerline is valid? [False, False] Translation: X:3.35, Y:0.22, Z:-0.36 [[ 9.99902957e-01 -9.68784033e-04 -1.38973841e-02 3.35116637e+00] [ 1.01606434e-03 9.99993719e-01 3.39544387e-03 2.21532582e-01] [ 1.38940073e-02 -3.40923501e-03 9.99897662e-01 -3.61661731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.30654761499999 meters Centerline goodness [0,1] 0.841071751543808 Centerline is valid? [False, False] Translation: X:3.35, Y:0.23, Z:-0.36 [[ 9.99890052e-01 1.61105111e-03 -1.47406962e-02 3.35194200e+00] [-1.52533015e-03 9.99981873e-01 5.82465491e-03 2.28934148e-01] [ 1.47498128e-02 -5.80153007e-03 9.99874385e-01 -3.59878650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.336547614999986 meters Centerline goodness [0,1] 0.8382807905704277 Centerline is valid? [False, False] Translation: X:3.36, Y:0.24, Z:-0.36 [[ 9.99958744e-01 4.29185375e-03 -8.00565325e-03 3.36059376e+00] [-4.29752661e-03 9.99990526e-01 -6.91538374e-04 2.36775968e-01] [ 8.00260943e-03 7.25914351e-04 9.99967715e-01 -3.58498478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.36654761499999 meters Centerline goodness [0,1] 0.8365526731563121 Centerline is valid? [False, False] Translation: X:3.36, Y:0.24, Z:-0.36 [[ 9.99954607e-01 5.29132752e-03 -7.92374971e-03 3.35863442e+00] [-5.30106637e-03 9.99985219e-01 -1.20857291e-03 2.40091210e-01] [ 7.91723763e-03 1.25052237e-03 9.99967876e-01 -3.57018206e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.39654761499999 meters Centerline goodness [0,1] 0.8338119709794438 Centerline is valid? [False, False] Translation: X:3.36, Y:0.25, Z:-0.36 [[ 9.99927860e-01 8.81704455e-03 -8.15692447e-03 3.35931484e+00] [-8.80641538e-03 9.99960327e-01 1.33808628e-03 2.46768973e-01] [ 8.16839883e-03 -1.26615649e-03 9.99965836e-01 -3.57486865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.42654761499999 meters Centerline goodness [0,1] 0.828826593897296 Centerline is valid? [False, False] Translation: X:3.36, Y:0.25, Z:-0.36 [[ 0.99984355 0.01531248 -0.00885408 3.36119245] [-0.01524158 0.99985167 0.00802069 0.25319712] [ 0.00897558 -0.00788449 0.99992863 -0.35690379] [ 0. 0. 0. 1. ]] SLAMing on 56.45654761499999 meters Centerline goodness [0,1] 0.8205862741708443 Centerline is valid? [False, False] Translation: X:3.36, Y:0.26, Z:-0.36 [[ 0.99983231 0.01589395 -0.0090961 3.36040672] [-0.01583309 0.99985204 0.00672427 0.25840163] [ 0.00920163 -0.00657913 0.99993602 -0.35634443] [ 0. 0. 0. 1. ]] SLAMing on 56.48654761499999 meters Centerline goodness [0,1] 0.8023668639053254 Centerline is valid? [False, False] Translation: X:3.36, Y:0.26, Z:-0.35 [[ 0.99981078 0.01696271 -0.00952174 3.35927945] [-0.0169046 0.99983819 0.00615031 0.25999054] [ 0.00962452 -0.00598818 0.99993575 -0.35481135] [ 0. 0. 0. 1. ]] SLAMing on 56.51654761499999 meters Centerline goodness [0,1] 0.8023668639053254 Centerline is valid? [False, False] Translation: X:3.36, Y:0.26, Z:-0.35 [[ 0.99981078 0.01696271 -0.00952174 3.35927945] [-0.0169046 0.99983819 0.00615031 0.25999054] [ 0.00962452 -0.00598818 0.99993575 -0.35481135] [ 0. 0. 0. 1. ]] SLAMing on 56.54654761499999 meters Centerline goodness [0,1] 0.7800677094916846 Centerline is valid? [False, False] Translation: X:3.36, Y:0.26, Z:-0.35 [[ 0.99979738 0.01764526 -0.00968729 3.35896764] [-0.01759358 0.99983067 0.00539398 0.26301978] [ 0.00978083 -0.00522245 0.99993853 -0.35491917] [ 0. 0. 0. 1. ]] SLAMing on 56.57654761499999 meters Centerline goodness [0,1] 0.7410606915846565 Centerline is valid? [False, False] Translation: X:3.36, Y:0.27, Z:-0.36 [[ 0.99962057 0.02564059 -0.01006315 3.36058122] [-0.02552028 0.99960338 0.01190753 0.26828661] [ 0.01036447 -0.0116462 0.99987846 -0.35643321] [ 0. 0. 0. 1. ]] SLAMing on 56.60654761499999 meters Centerline goodness [0,1] 0.6930955624756714 Centerline is valid? [False, False] Translation: X:3.36, Y:0.27, Z:-0.36 [[ 0.99933166 0.03516559 -0.00998075 3.36187285] [-0.03497813 0.99921917 0.01837361 0.27275295] [ 0.01061907 -0.01801222 0.99978137 -0.3606634 ] [ 0. 0. 0. 1. ]] SLAMing on 56.63654761499999 meters Centerline goodness [0,1] 0.681210175592198 Centerline is valid? [False, False] Translation: X:3.37, Y:0.27, Z:-0.37 [[ 0.99923998 0.03861832 -0.0052998 3.37119521] [-0.038578 0.99922737 0.0075103 0.27445729] [ 0.00558574 -0.00730014 0.99995775 -0.36636862] [ 0. 0. 0. 1. ]] SLAMing on 56.66654761499999 meters Centerline goodness [0,1] 0.7034664841343568 Centerline is valid? [False, False] Translation: X:3.37, Y:0.28, Z:-0.37 [[ 9.99340569e-01 3.58798412e-02 -5.57350495e-03 3.37072965e+00] [-3.58612695e-02 9.99351004e-01 3.39711739e-03 2.75697541e-01] [ 5.69177580e-03 -3.19500426e-03 9.99978698e-01 -3.66639168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.69654761499999 meters Centerline goodness [0,1] 0.698869475847893 Centerline is valid? [False, False] Translation: X:3.37, Y:0.28, Z:-0.37 [[ 9.99436111e-01 3.31089246e-02 -5.59100386e-03 3.36944839e+00] [-3.31124584e-02 9.99451486e-01 -5.40633209e-04 2.77508141e-01] [ 5.57003734e-03 7.25460234e-04 9.99984224e-01 -3.66160896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.72654761499999 meters Centerline goodness [0,1] 0.6889841931135889 Centerline is valid? [False, False] Translation: X:3.37, Y:0.28, Z:-0.36 [[ 0.99950437 0.03104508 -0.00521665 3.36660508] [-0.03106398 0.99951098 -0.00358287 0.27680485] [ 0.00510287 0.00374315 0.99997997 -0.36467426] [ 0. 0. 0. 1. ]] SLAMing on 56.75654761499999 meters Centerline goodness [0,1] 0.6795485216537849 Centerline is valid? [False, False] Translation: X:3.36, Y:0.27, Z:-0.36 [[ 9.99474764e-01 3.20300593e-02 -4.92650263e-03 3.36469852e+00] [-3.20388843e-02 9.99485138e-01 -1.72293305e-03 2.71876894e-01] [ 4.86878051e-03 1.87986775e-03 9.99986380e-01 -3.62336306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.78654761499999 meters Centerline goodness [0,1] 0.6850002459782556 Centerline is valid? [False, False] Translation: X:3.37, Y:0.27, Z:-0.36 [[ 9.99493774e-01 3.13536173e-02 -5.39878748e-03 3.36708394e+00] [-3.13625845e-02 9.99506817e-01 -1.58436646e-03 2.70090383e-01] [ 5.34644927e-03 1.75288434e-03 9.99984171e-01 -3.63782946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.81654761499999 meters Centerline goodness [0,1] 0.689612479881144 Centerline is valid? [False, False] Translation: X:3.37, Y:0.27, Z:-0.36 [[ 9.99505650e-01 3.08665311e-02 -5.97599520e-03 3.36935375e+00] [-3.08740110e-02 9.99522607e-01 -1.16346928e-03 2.68126774e-01] [ 5.93723004e-03 1.34739706e-03 9.99981467e-01 -3.64780056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.84654761499999 meters Centerline goodness [0,1] 0.6849404388714734 Centerline is valid? [False, False] Translation: X:3.37, Y:0.26, Z:-0.36 [[ 0.99959563 0.02775696 -0.0061755 3.36931735] [-0.02778272 0.99960548 -0.00412458 0.26272125] [ 0.00605858 0.00429448 0.99997243 -0.36496736] [ 0. 0. 0. 1. ]] SLAMing on 56.87654761499999 meters Centerline goodness [0,1] 0.6944156533609728 Centerline is valid? [False, False] Translation: X:3.37, Y:0.26, Z:-0.37 [[ 0.99965417 0.02530493 -0.00715585 3.37385814] [-0.02535235 0.99965669 -0.00661554 0.25725662] [ 0.00698599 0.00679467 0.99995251 -0.36911431] [ 0. 0. 0. 1. ]] SLAMing on 56.90654761499999 meters Centerline goodness [0,1] 0.6859791719583439 Centerline is valid? [False, False] Translation: X:3.38, Y:0.25, Z:-0.37 [[ 0.99964462 0.02565979 -0.00722521 3.37508603] [-0.02570503 0.9996501 -0.00623895 0.25460911] [ 0.00706259 0.00642245 0.99995443 -0.37090697] [ 0. 0. 0. 1. ]] SLAMing on 56.93654761499999 meters Centerline goodness [0,1] 0.6909797703383544 Centerline is valid? [False, False] Translation: X:3.37, Y:0.25, Z:-0.37 [[ 0.99961252 0.02707677 -0.00645472 3.37313809] [-0.02710338 0.99962434 -0.00407219 0.24829306] [ 0.00634204 0.00424556 0.99997088 -0.37027586] [ 0. 0. 0. 1. ]] SLAMing on 56.96654761499999 meters Centerline goodness [0,1] 0.6877580511973576 Centerline is valid? [False, False] Translation: X:3.37, Y:0.24, Z:-0.37 [[ 9.99572815e-01 2.86462145e-02 -5.79506927e-03 3.37104827e+00] [-2.86549851e-02 9.99588330e-01 -1.43611783e-03 2.39140128e-01] [ 5.75154427e-03 1.60156197e-03 9.99982177e-01 -3.69158810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.99654761499999 meters Centerline goodness [0,1] 0.6887747118042877 Centerline is valid? [False, False] Translation: X:3.37, Y:0.23, Z:-0.37 [[ 9.99641026e-01 2.62171228e-02 -5.52097810e-03 3.37064749e+00] [-2.62358890e-02 9.99650151e-01 -3.35453148e-03 2.31447779e-01] [ 5.43110043e-03 3.49817506e-03 9.99979133e-01 -3.69983321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.02654761499999 meters Centerline goodness [0,1] 0.6894662332214765 Centerline is valid? [False, False] Translation: X:3.37, Y:0.23, Z:-0.37 [[ 9.99636364e-01 2.63311996e-02 -5.81449465e-03 3.37212843e+00] [-2.63438331e-02 9.99650721e-01 -2.10695685e-03 2.26685867e-01] [ 5.75698506e-03 2.25936676e-03 9.99980876e-01 -3.70677209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.05654761499999 meters Centerline goodness [0,1] 0.6866934630844087 Centerline is valid? [False, False] Translation: X:3.37, Y:0.22, Z:-0.37 [[ 9.99672518e-01 2.51243740e-02 -4.86026356e-03 3.36738166e+00] [-2.51398834e-02 9.99678959e-01 -3.15672253e-03 2.19253112e-01] [ 4.77939254e-03 3.27787522e-03 9.99983206e-01 -3.67969693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.086547614999986 meters Centerline goodness [0,1] 0.6895402176232132 Centerline is valid? [False, False] Translation: X:3.36, Y:0.21, Z:-0.37 [[ 0.99971125 0.02370801 -0.00391853 3.36339537] [-0.02372503 0.99970904 -0.00435451 0.20982285] [ 0.00381415 0.00444622 0.99998284 -0.36638393] [ 0. 0. 0. 1. ]] SLAMing on 57.11654761499999 meters Centerline goodness [0,1] 0.6885845480271238 Centerline is valid? [False, False] Translation: X:3.36, Y:0.21, Z:-0.37 [[ 9.99695045e-01 2.44526010e-02 -3.44788367e-03 3.36317453e+00] [-2.44644773e-02 9.99694762e-01 -3.44547828e-03 2.07868417e-01] [ 3.36258034e-03 3.52877823e-03 9.99988120e-01 -3.67534044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.14654761499999 meters Centerline goodness [0,1] 0.6917252859367449 Centerline is valid? [False, False] Translation: X:3.37, Y:0.20, Z:-0.37 [[ 0.99972863 0.02293973 -0.00405357 3.36749427] [-0.02295348 0.99973082 -0.003379 0.20266606] [ 0.00397497 0.00347113 0.99998608 -0.370576 ] [ 0. 0. 0. 1. ]] SLAMing on 57.17654761499999 meters Centerline goodness [0,1] 0.6968935031227188 Centerline is valid? [False, False] Translation: X:3.37, Y:0.20, Z:-0.37 [[ 0.99980646 0.01926759 -0.00397506 3.36774022] [-0.01929648 0.99978671 -0.00736039 0.20034896] [ 0.00383239 0.00743567 0.99996501 -0.37203015] [ 0. 0. 0. 1. ]] SLAMing on 57.20654761499999 meters Centerline goodness [0,1] 0.7010899182561308 Centerline is valid? [False, False] Translation: X:3.37, Y:0.19, Z:-0.37 [[ 0.99986967 0.01569547 -0.00377988 3.36872918] [-0.01573461 0.99982048 -0.01055644 0.1946277 ] [ 0.00361352 0.01061454 0.99993714 -0.37428146] [ 0. 0. 0. 1. ]] SLAMing on 57.23654761499999 meters Centerline goodness [0,1] 0.7004075157946559 Centerline is valid? [False, False] Translation: X:3.37, Y:0.19, Z:-0.38 [[ 0.99987363 0.01534811 -0.00414144 3.37050055] [-0.01538976 0.99982936 -0.01021788 0.1927023 ] [ 0.00398391 0.01028032 0.99993922 -0.37522311] [ 0. 0. 0. 1. ]] SLAMing on 57.266547614999986 meters Centerline goodness [0,1] 0.6969663480134829 Centerline is valid? [False, False] Translation: X:3.36, Y:0.18, Z:-0.37 [[ 9.99884147e-01 1.49634975e-02 -2.79052569e-03 3.36312605e+00] [-1.49847390e-02 9.99857663e-01 -7.75312608e-03 1.80384612e-01] [ 2.67411461e-03 7.79404315e-03 9.99966050e-01 -3.66646931e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.29654761499999 meters Centerline goodness [0,1] 0.7027507641011392 Centerline is valid? [False, False] Translation: X:3.36, Y:0.17, Z:-0.37 [[ 9.99881493e-01 1.50369111e-02 -3.30007463e-03 3.36435796e+00] [-1.50560788e-02 9.99869465e-01 -5.86238782e-03 1.74933598e-01] [ 3.21149165e-03 5.91137927e-03 9.99977371e-01 -3.65490757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.32654761499999 meters Centerline goodness [0,1] 0.7036861608759857 Centerline is valid? [False, False] Translation: X:3.37, Y:0.17, Z:-0.37 [[ 0.99989345 0.01397807 -0.00420736 3.37353095] [-0.01399842 0.99989026 -0.00484917 0.17379054] [ 0.00413912 0.00490755 0.99997939 -0.37221939] [ 0. 0. 0. 1. ]] SLAMing on 57.35654761499999 meters Centerline goodness [0,1] 0.7121016968135745 Centerline is valid? [False, False] Translation: X:3.38, Y:0.17, Z:-0.38 [[ 0.99994868 0.00898894 -0.00467348 3.38021841] [-0.00902695 0.99992583 -0.00817583 0.17152017] [ 0.00459964 0.00821759 0.99995566 -0.37767368] [ 0. 0. 0. 1. ]] SLAMing on 57.38654761499999 meters Centerline goodness [0,1] 0.7168989793321836 Centerline is valid? [False, False] Translation: X:3.38, Y:0.16, Z:-0.37 [[ 0.99997026 0.00648006 -0.00418239 3.37673983] [-0.00651704 0.99993925 -0.0088895 0.16370795] [ 0.00412453 0.0089165 0.99995174 -0.37292578] [ 0. 0. 0. 1. ]] SLAMing on 57.41654761499999 meters Centerline goodness [0,1] 0.7207553570418952 Centerline is valid? [False, False] Translation: X:3.37, Y:0.16, Z:-0.37 [[ 0.99996074 0.00788336 -0.00404675 3.373768 ] [-0.00790607 0.99995291 -0.00562714 0.15877109] [ 0.0040022 0.00565891 0.99997598 -0.36732371] [ 0. 0. 0. 1. ]] SLAMing on 57.44654761499999 meters Centerline goodness [0,1] 0.7130904259829833 Centerline is valid? [False, False] Translation: X:3.37, Y:0.16, Z:-0.36 [[ 0.99995475 0.00873252 -0.00377368 3.37173769] [-0.00874769 0.99995365 -0.0040228 0.15738799] [ 0.00373837 0.00405563 0.99998479 -0.36461877] [ 0. 0. 0. 1. ]] SLAMing on 57.47654761499999 meters Centerline goodness [0,1] 0.7187110658058671 Centerline is valid? [False, False] Translation: X:3.37, Y:0.15, Z:-0.36 [[ 9.99967541e-01 6.81292566e-03 -4.30137671e-03 3.37446228e+00] [-6.82297170e-03 9.99974020e-01 -2.32520213e-03 1.52203166e-01] [ 4.28542353e-03 2.35447482e-03 9.99988046e-01 -3.62496385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.50654761499999 meters Centerline goodness [0,1] 0.7331670822942644 Centerline is valid? [False, False] Translation: X:3.38, Y:0.15, Z:-0.37 [[ 9.99976989e-01 4.07103902e-03 -5.42660546e-03 3.38062982e+00] [-4.08804058e-03 9.99986759e-01 -3.12559911e-03 1.51759610e-01] [ 5.41380917e-03 3.14771137e-03 9.99980391e-01 -3.65124312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.53654761499999 meters Centerline goodness [0,1] 0.7368181300535246 Centerline is valid? [False, False] Translation: X:3.38, Y:0.15, Z:-0.37 [[ 9.99975871e-01 3.38027818e-03 -6.06883484e-03 3.38312079e+00] [-3.39908125e-03 9.99989447e-01 -3.09066357e-03 1.49602708e-01] [ 6.05832349e-03 3.11121746e-03 9.99976808e-01 -3.65962823e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.56654761499999 meters Centerline goodness [0,1] 0.7287217359071598 Centerline is valid? [False, False] Translation: X:3.38, Y:0.15, Z:-0.37 [[ 9.99974533e-01 3.37685541e-03 -6.28726990e-03 3.38388444e+00] [-3.39484970e-03 9.99990166e-01 -2.85355160e-03 1.47718713e-01] [ 6.27757204e-03 2.87482327e-03 9.99976163e-01 -3.66208845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.59654761499999 meters Centerline goodness [0,1] 0.7272519889360973 Centerline is valid? [False, False] Translation: X:3.38, Y:0.15, Z:-0.37 [[ 0.99997466 0.00355454 -0.00616884 3.38372204] [-0.00357825 0.99998623 -0.00383795 0.15127196] [ 0.00615511 0.00385993 0.99997361 -0.36731499] [ 0. 0. 0. 1. ]] SLAMing on 57.62654761499999 meters Centerline goodness [0,1] 0.7262539564857852 Centerline is valid? [False, False] Translation: X:3.39, Y:0.15, Z:-0.37 [[ 9.99972205e-01 2.87094895e-03 -6.88094251e-03 3.38666142e+00] [-2.90641975e-03 9.99982512e-01 -5.15049000e-03 1.52397359e-01] [ 6.86603539e-03 5.17034575e-03 9.99963062e-01 -3.69867261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.65654761499999 meters Centerline goodness [0,1] 0.7250407294137823 Centerline is valid? [False, False] Translation: X:3.39, Y:0.15, Z:-0.37 [[ 9.99972865e-01 2.34853504e-03 -6.98234418e-03 3.38844287e+00] [-2.39263046e-03 9.99977206e-01 -6.31364252e-03 1.54410813e-01] [ 6.96735721e-03 6.33017737e-03 9.99955691e-01 -3.72510334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.68654761499999 meters Centerline goodness [0,1] 0.7152556818181819 Centerline is valid? [False, False] Translation: X:3.39, Y:0.16, Z:-0.37 [[ 9.99967786e-01 4.58470155e-03 -6.58842170e-03 3.38655325e+00] [-4.59944203e-03 9.99986950e-01 -2.22392354e-03 1.56301578e-01] [ 6.57813969e-03 2.25415496e-03 9.99975823e-01 -3.68205220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.71654761499999 meters Centerline goodness [0,1] 0.7138914181652629 Centerline is valid? [False, False] Translation: X:3.39, Y:0.15, Z:-0.37 [[ 9.99965285e-01 4.99016799e-03 -6.67287080e-03 3.38535406e+00] [-4.99742617e-03 9.99986939e-01 -1.07148306e-03 1.53620415e-01] [ 6.66743676e-03 1.10479304e-03 9.99977162e-01 -3.65635337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.74654761499999 meters Centerline goodness [0,1] 0.716616573636754 Centerline is valid? [False, False] Translation: X:3.38, Y:0.15, Z:-0.36 [[ 9.99977199e-01 2.81216123e-03 -6.13947729e-03 3.38079955e+00] [-2.82796572e-03 9.99992706e-01 -2.56707914e-03 1.48479097e-01] [ 6.13221347e-03 2.58438284e-03 9.99977858e-01 -3.60655726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.77654761499999 meters Centerline goodness [0,1] 0.7106743168778049 Centerline is valid? [False, False] Translation: X:3.38, Y:0.15, Z:-0.36 [[ 9.99963006e-01 5.31278217e-03 -6.76471533e-03 3.38433277e+00] [-5.31143776e-03 9.99985871e-01 2.16688532e-04 1.52412562e-01] [ 6.76577097e-03 -1.80750151e-04 9.99977096e-01 -3.62805459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.80654761499999 meters Centerline goodness [0,1] 0.7089400033992408 Centerline is valid? [False, False] Translation: X:3.39, Y:0.15, Z:-0.36 [[ 9.99964024e-01 4.71490753e-03 -7.05132878e-03 3.38586300e+00] [-4.72043373e-03 9.99988564e-01 -7.67271996e-04 1.54875359e-01] [ 7.04763053e-03 8.00529722e-04 9.99974845e-01 -3.64216555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.836547614999986 meters Centerline goodness [0,1] 0.7258972754678346 Centerline is valid? [False, False] Translation: X:3.39, Y:0.16, Z:-0.37 [[ 9.99962978e-01 3.02207386e-03 -8.05659742e-03 3.39058562e+00] [-3.04209902e-03 9.99992311e-01 -2.47446532e-03 1.55531563e-01] [ 8.04905746e-03 2.49888267e-03 9.99964483e-01 -3.67630181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.86654761499999 meters Centerline goodness [0,1] 0.7256337225861578 Centerline is valid? [False, False] Translation: X:3.39, Y:0.15, Z:-0.37 [[ 9.99960188e-01 2.72338766e-03 -8.49741622e-03 3.39195102e+00] [-2.74618714e-03 9.99992658e-01 -2.67259477e-03 1.54417220e-01] [ 8.49007532e-03 2.69582386e-03 9.99960325e-01 -3.68103653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.89654761499999 meters Centerline goodness [0,1] 0.7230799908842297 Centerline is valid? [False, False] Translation: X:3.39, Y:0.15, Z:-0.36 [[ 9.99960181e-01 4.11744568e-03 -7.91732219e-03 3.38792395e+00] [-4.12525674e-03 9.99991020e-01 -9.70500847e-04 1.53537806e-01] [ 7.91325511e-03 1.00312319e-03 9.99968187e-01 -3.63815320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.92654761499999 meters Centerline goodness [0,1] 0.7189762443438914 Centerline is valid? [False, False] Translation: X:3.39, Y:0.16, Z:-0.37 [[ 9.99937360e-01 7.77483822e-03 -8.05156647e-03 3.38872705e+00] [-7.76278527e-03 9.99968703e-01 1.52714173e-03 1.59423998e-01] [ 8.06318776e-03 -1.46454349e-03 9.99966419e-01 -3.65194620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.95654761499999 meters Centerline goodness [0,1] 0.7188195207118921 Centerline is valid? [False, False] Translation: X:3.39, Y:0.16, Z:-0.37 [[ 9.99938210e-01 7.76181010e-03 -7.95805614e-03 3.38872741e+00] [-7.75986535e-03 9.99969854e-01 2.75224148e-04 1.63764842e-01] [ 7.95995247e-03 -2.13453698e-04 9.99968296e-01 -3.66538595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.98654761499999 meters Centerline goodness [0,1] 0.7219111398745041 Centerline is valid? [False, False] Translation: X:3.39, Y:0.16, Z:-0.37 [[ 9.99936593e-01 7.52654078e-03 -8.37619658e-03 3.38949237e+00] [-7.52489614e-03 9.99971662e-01 2.27845227e-04 1.62472508e-01] [ 8.37767410e-03 -1.64800771e-04 9.99964893e-01 -3.66189617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.016547614999986 meters Centerline goodness [0,1] 0.7252988946537333 Centerline is valid? [False, False] Translation: X:3.39, Y:0.16, Z:-0.37 [[ 9.99935818e-01 7.35533608e-03 -8.61731645e-03 3.39024524e+00] [-7.35309427e-03 9.99972923e-01 2.91805427e-04 1.61026518e-01] [ 8.61922945e-03 -2.28422758e-04 9.99962828e-01 -3.66353809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.04654761499999 meters Centerline goodness [0,1] 0.72223158131177 Centerline is valid? [False, False] Translation: X:3.39, Y:0.16, Z:-0.37 [[ 9.99938141e-01 7.63464227e-03 -8.08869219e-03 3.38905120e+00] [-7.63708543e-03 9.99970800e-01 -2.71202126e-04 1.64127138e-01] [ 8.08638548e-03 3.32959383e-04 9.99967249e-01 -3.66824867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.07654761499999 meters Centerline goodness [0,1] 0.7157248500069764 Centerline is valid? [False, False] Translation: X:3.39, Y:0.17, Z:-0.36 [[ 9.99920619e-01 9.64868036e-03 -8.10304790e-03 3.38518943e+00] [-9.63764776e-03 9.99952577e-01 1.39948368e-03 1.66117008e-01] [ 8.11616681e-03 -1.32127827e-03 9.99966190e-01 -3.61789665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.10654761499999 meters Centerline goodness [0,1] 0.7218399842736387 Centerline is valid? [False, False] Translation: X:3.39, Y:0.17, Z:-0.36 [[ 0.99994897 0.00500953 -0.00877259 3.38810117] [-0.00504347 0.99997987 -0.00385129 0.16636728] [ 0.00875312 0.00389534 0.9999541 -0.3647224 ] [ 0. 0. 0. 1. ]] SLAMing on 58.13654761499999 meters Centerline goodness [0,1] 0.7303759060515818 Centerline is valid? [False, False] Translation: X:3.39, Y:0.17, Z:-0.37 [[ 9.99948435e-01 2.81626315e-03 -9.75680801e-03 3.39349881e+00] [-2.86743657e-03 9.99982187e-01 -5.23488109e-03 1.67707164e-01] [ 9.74189141e-03 5.26258818e-03 9.99938698e-01 -3.68138220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.16654761499999 meters Centerline goodness [0,1] 0.7312795017177331 Centerline is valid? [False, False] Translation: X:3.40, Y:0.17, Z:-0.37 [[ 9.99938509e-01 2.59614948e-03 -1.07813441e-02 3.40023884e+00] [-2.62485328e-03 9.99993046e-01 -2.64906232e-03 1.68784118e-01] [ 1.07743918e-02 2.67719888e-03 9.99938371e-01 -3.69987687e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.19654761499999 meters Centerline goodness [0,1] 0.7331965254546988 Centerline is valid? [False, False] Translation: X:3.40, Y:0.17, Z:-0.37 [[ 9.99943924e-01 -1.01766466e-03 -1.05410710e-02 3.39881399e+00] [ 9.46851091e-04 9.99976968e-01 -6.72068589e-03 1.69528702e-01] [ 1.05476676e-02 6.71032819e-03 9.99921856e-01 -3.69294444e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.22654761499999 meters Centerline goodness [0,1] 0.7404143041598832 Centerline is valid? [False, False] Translation: X:3.40, Y:0.16, Z:-0.36 [[ 9.99937551e-01 -1.87973621e-03 -1.10163730e-02 3.39959258e+00] [ 1.83136930e-03 9.99988648e-01 -4.39890142e-03 1.64246718e-01] [ 1.10245167e-02 4.37845166e-03 9.99929642e-01 -3.64994230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.25654761499999 meters Centerline goodness [0,1] 0.7545200111950742 Centerline is valid? [False, False] Translation: X:3.40, Y:0.16, Z:-0.36 [[ 9.99928425e-01 -2.79781824e-03 -1.16325846e-02 3.40093271e+00] [ 2.75796561e-03 9.99990278e-01 -3.44057917e-03 1.62576011e-01] [ 1.16420977e-02 3.40825064e-03 9.99926420e-01 -3.62900054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.28654761499999 meters Centerline goodness [0,1] 0.7834425219777144 Centerline is valid? [False, False] Translation: X:3.40, Y:0.16, Z:-0.36 [[ 0.99991081 -0.0045978 -0.01253914 3.40447483] [ 0.00455037 0.99998239 -0.00380844 0.16374617] [ 0.01255643 0.00375104 0.99991413 -0.36329764] [ 0. 0. 0. 1. ]] SLAMing on 58.31654761499999 meters Centerline goodness [0,1] 0.8083773457691875 Centerline is valid? [False, False] Translation: X:3.41, Y:0.16, Z:-0.36 [[ 0.99988512 -0.00674759 -0.01357258 3.40902908] [ 0.00669268 0.99996925 -0.0040869 0.16283261] [ 0.01359974 0.00399559 0.99989954 -0.36430109] [ 0. 0. 0. 1. ]] SLAMing on 58.34654761499999 meters Centerline goodness [0,1] 0.8246656342390539 Centerline is valid? [False, False] Translation: X:3.41, Y:0.16, Z:-0.37 [[ 0.99986049 -0.00812266 -0.01459512 3.41265114] [ 0.00805532 0.99995666 -0.00466707 0.16323564] [ 0.0146324 0.00454885 0.99988259 -0.36529018] [ 0. 0. 0. 1. ]] SLAMing on 58.37654761499999 meters Centerline goodness [0,1] 0.8361623201438849 Centerline is valid? [False, False] Translation: X:3.41, Y:0.16, Z:-0.36 [[ 0.99984146 -0.00907762 -0.01531851 3.41440407] [ 0.00901068 0.99994957 -0.00443347 0.16251884] [ 0.01535799 0.00429474 0.99987284 -0.36412205] [ 0. 0. 0. 1. ]] SLAMing on 58.40654761499999 meters Centerline goodness [0,1] 0.8421555674247323 Centerline is valid? [False, False] Translation: X:3.41, Y:0.16, Z:-0.36 [[ 9.99834127e-01 -9.32204953e-03 -1.56466710e-02 3.41451213e+00] [ 9.26761898e-03 9.99950762e-01 -3.54764264e-03 1.60408074e-01] [ 1.56789719e-02 3.40204680e-03 9.99871290e-01 -3.62058294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.43654761499999 meters Centerline goodness [0,1] 0.8421555674247323 Centerline is valid? [False, False] Translation: X:3.41, Y:0.16, Z:-0.36 [[ 9.99834127e-01 -9.32204953e-03 -1.56466710e-02 3.41451213e+00] [ 9.26761898e-03 9.99950762e-01 -3.54764264e-03 1.60408074e-01] [ 1.56789719e-02 3.40204680e-03 9.99871290e-01 -3.62058294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.46654761499999 meters Centerline goodness [0,1] 0.8430430261641795 Centerline is valid? [False, False] Translation: X:3.41, Y:0.16, Z:-0.36 [[ 9.99849038e-01 -8.35391908e-03 -1.52352960e-02 3.41155833e+00] [ 8.31819198e-03 9.99962507e-01 -2.40688618e-03 1.60799053e-01] [ 1.52548317e-02 2.27979271e-03 9.99881039e-01 -3.58949881e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.49654761499999 meters Centerline goodness [0,1] 0.8399595687331536 Centerline is valid? [False, False] Translation: X:3.41, Y:0.16, Z:-0.36 [[ 9.99850310e-01 -8.05670677e-03 -1.53116496e-02 3.41050951e+00] [ 8.02946329e-03 9.99966071e-01 -1.83990904e-03 1.62663560e-01] [ 1.53259537e-02 1.71668930e-03 9.99881077e-01 -3.56905590e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.52654761499999 meters Centerline goodness [0,1] 0.8371038174390759 Centerline is valid? [False, False] Translation: X:3.41, Y:0.16, Z:-0.36 [[ 9.99847893e-01 -7.97101213e-03 -1.55130019e-02 3.41081556e+00] [ 7.94343716e-03 9.99966761e-01 -1.83834608e-03 1.63703526e-01] [ 1.55271397e-02 1.71483990e-03 9.99877976e-01 -3.56800863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.55654761499999 meters Centerline goodness [0,1] 0.8196434615818572 Centerline is valid? [False, False] Translation: X:3.41, Y:0.16, Z:-0.36 [[ 9.99859945e-01 -6.54433390e-03 -1.54033029e-02 3.41034323e+00] [ 6.51419896e-03 9.99976771e-01 -2.00575642e-03 1.63750994e-01] [ 1.54160714e-02 1.90513532e-03 9.99879350e-01 -3.58548440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.586547614999986 meters Centerline goodness [0,1] 0.7879724603063089 Centerline is valid? [False, False] Translation: X:3.41, Y:0.16, Z:-0.36 [[ 9.99870701e-01 -2.73299613e-03 -1.58465208e-02 3.41171840e+00] [ 2.76529159e-03 9.99994144e-01 2.01646272e-03 1.63682363e-01] [ 1.58409170e-02 -2.06002224e-03 9.99872403e-01 -3.58811905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.61654761499999 meters Centerline goodness [0,1] 0.7701588014140621 Centerline is valid? [False, False] Translation: X:3.41, Y:0.16, Z:-0.36 [[ 9.99879040e-01 3.04391107e-03 -1.52525380e-02 3.40820273e+00] [-2.93061349e-03 9.99967991e-01 7.44496640e-03 1.62667774e-01] [ 1.52747116e-02 -7.39936656e-03 9.99855956e-01 -3.56055163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.64654761499999 meters Centerline goodness [0,1] 0.7292755578036306 Centerline is valid? [False, False] Translation: X:3.40, Y:0.16, Z:-0.35 [[ 0.999865 0.0082352 -0.01421827 3.40110352] [-0.00809099 0.99991555 0.01017037 0.16203545] [ 0.01430082 -0.01005396 0.99984719 -0.35308127] [ 0. 0. 0. 1. ]] SLAMing on 58.67654761499999 meters Centerline goodness [0,1] 0.7203702140827637 Centerline is valid? [False, False] Translation: X:3.40, Y:0.16, Z:-0.36 [[ 0.99986161 0.00914876 -0.01389434 3.4006086 ] [-0.00901754 0.99991442 0.00947784 0.16206259] [ 0.01397986 -0.00935123 0.99985855 -0.35517268] [ 0. 0. 0. 1. ]] SLAMing on 58.70654761499999 meters Centerline goodness [0,1] 0.715497018173596 Centerline is valid? [False, False] Translation: X:3.40, Y:0.16, Z:-0.36 [[ 0.9998868 0.00670074 -0.01347138 3.39910059] [-0.00663771 0.99996684 0.00471842 0.16383507] [ 0.01350255 -0.00462847 0.99989812 -0.35720712] [ 0. 0. 0. 1. ]] SLAMing on 58.73654761499999 meters Centerline goodness [0,1] 0.7222427148653634 Centerline is valid? [False, False] Translation: X:3.40, Y:0.16, Z:-0.36 [[ 0.99988553 0.00858887 -0.01245649 3.39624942] [-0.00852073 0.9999485 0.00551312 0.16167606] [ 0.0125032 -0.00540635 0.99990722 -0.35781761] [ 0. 0. 0. 1. ]] SLAMing on 58.766547614999986 meters Centerline goodness [0,1] 0.7216227758007118 Centerline is valid? [False, False] Translation: X:3.40, Y:0.16, Z:-0.36 [[ 9.99972948e-01 7.23269814e-03 1.33837923e-03 3.39794457e+00] [-7.23423463e-03 9.99973175e-01 1.14676735e-03 1.61497146e-01] [-1.33004910e-03 -1.15641847e-03 9.99998447e-01 -3.63194382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.79654761499999 meters Centerline goodness [0,1] 0.7253853413022964 Centerline is valid? [False, False] Translation: X:3.40, Y:0.16, Z:-0.36 [[ 9.99995178e-01 2.96308823e-03 9.29318717e-04 3.39870726e+00] [-2.96101496e-03 9.99993142e-01 -2.22445184e-03 1.59036756e-01] [-9.35903591e-04 2.22168939e-03 9.99997094e-01 -3.62364821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.82654761499999 meters Centerline goodness [0,1] 0.7333466465067184 Centerline is valid? [False, False] Translation: X:3.41, Y:0.16, Z:-0.37 [[ 9.99999622e-01 8.50680775e-04 -1.80429064e-04 3.40565715e+00] [-8.51462142e-04 9.99990064e-01 -4.37566949e-03 1.63554147e-01] [ 1.76704973e-04 4.37582147e-03 9.99990410e-01 -3.68049905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.85654761499999 meters Centerline goodness [0,1] 0.7324438809324842 Centerline is valid? [False, False] Translation: X:3.41, Y:0.16, Z:-0.37 [[ 9.99999602e-01 2.46666947e-04 -8.56884048e-04 3.40878024e+00] [-2.50705978e-04 9.99988845e-01 -4.71671990e-03 1.61426288e-01] [ 8.55711030e-04 4.71693285e-03 9.99988509e-01 -3.70342766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.88654761499999 meters Centerline goodness [0,1] 0.7256319777867761 Centerline is valid? [False, False] Translation: X:3.41, Y:0.16, Z:-0.37 [[ 9.99999067e-01 6.61461358e-04 -1.19548970e-03 3.40939484e+00] [-6.65788948e-04 9.99993215e-01 -3.62316577e-03 1.56889380e-01] [ 1.19308500e-03 3.62395833e-03 9.99992722e-01 -3.69865284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.91654761499999 meters Centerline goodness [0,1] 0.7222157839842391 Centerline is valid? [False, False] Translation: X:3.41, Y:0.16, Z:-0.37 [[ 9.99998328e-01 1.27364831e-03 -1.31255813e-03 3.40835818e+00] [-1.27692451e-03 9.99996064e-01 -2.49822984e-03 1.55121567e-01] [ 1.30937109e-03 2.49990170e-03 9.99996018e-01 -3.67658259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.946547614999986 meters Centerline goodness [0,1] 0.734055808293008 Centerline is valid? [False, False] Translation: X:3.41, Y:0.15, Z:-0.37 [[ 9.99998313e-01 1.07779749e-03 -1.48724251e-03 3.40893444e+00] [-1.08061870e-03 9.99997616e-01 -1.89743857e-03 1.54000585e-01] [ 1.48519391e-03 1.89904251e-03 9.99997094e-01 -3.67165776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.97654761499999 meters Centerline goodness [0,1] 0.7377485744058818 Centerline is valid? [False, False] Translation: X:3.41, Y:0.16, Z:-0.37 [[ 9.99997894e-01 -2.99056214e-04 -2.03040682e-03 3.41274717e+00] [ 2.93212684e-04 9.99995816e-01 -2.87769741e-03 1.55114955e-01] [ 2.03125892e-03 2.87709601e-03 9.99993798e-01 -3.70318353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.00654761499999 meters Centerline goodness [0,1] 0.7421503330161751 Centerline is valid? [False, False] Translation: X:3.41, Y:0.16, Z:-0.37 [[ 9.99997551e-01 -3.34785542e-04 -2.18764118e-03 3.41265118e+00] [ 3.29785897e-04 9.99997334e-01 -2.28536582e-03 1.55644528e-01] [ 2.18840045e-03 2.28463877e-03 9.99994996e-01 -3.68966359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.03654761499999 meters Centerline goodness [0,1] 0.7357493502743286 Centerline is valid? [False, False] Translation: X:3.42, Y:0.15, Z:-0.36 [[ 9.99990023e-01 -6.75597374e-04 4.41565845e-03 3.42050226e+00] [ 7.18765497e-04 9.99951898e-01 -9.78188184e-03 1.52556675e-01] [-4.40883743e-03 9.78495807e-03 9.99942407e-01 -3.64243228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.06654761499999 meters Centerline goodness [0,1] 0.7388407146598381 Centerline is valid? [False, False] Translation: X:3.42, Y:0.15, Z:-0.36 [[ 0.99998237 -0.00414697 0.0042511 3.4206741 ] [ 0.00420017 0.99991201 -0.01258279 0.14757002] [-0.00419855 0.01260043 0.9999118 -0.36372648] [ 0. 0. 0. 1. ]] SLAMing on 59.09654761499999 meters Centerline goodness [0,1] 0.7400442477876106 Centerline is valid? [False, False] Translation: X:3.43, Y:0.15, Z:-0.37 [[ 9.99991262e-01 -2.66988011e-03 3.21693370e-03 3.42677840e+00] [ 2.70094587e-03 9.99949387e-01 -9.69161451e-03 1.48588535e-01] [-3.19089543e-03 9.70021858e-03 9.99947861e-01 -3.67095300e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.12654761499999 meters Centerline goodness [0,1] 0.7504487290834346 Centerline is valid? [False, False] Translation: X:3.43, Y:0.15, Z:-0.37 [[ 9.99996949e-01 -1.61527734e-03 1.86870285e-03 3.43398073e+00] [ 1.62845259e-03 9.99973677e-01 -7.07057268e-03 1.51070755e-01] [-1.85723272e-03 7.07359420e-03 9.99973257e-01 -3.70649356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.15654761499999 meters Centerline goodness [0,1] 0.7354196301564723 Centerline is valid? [False, False] Translation: X:3.43, Y:0.15, Z:-0.36 [[ 9.99998554e-01 -8.48665660e-04 1.47336924e-03 3.43227567e+00] [ 8.53721682e-04 9.99993738e-01 -3.43437461e-03 1.45990068e-01] [-1.47044538e-03 3.43562750e-03 9.99993017e-01 -3.63798970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.18654761499999 meters Centerline goodness [0,1] 0.7362133426802197 Centerline is valid? [False, False] Translation: X:3.43, Y:0.14, Z:-0.36 [[ 9.99996332e-01 -1.63008088e-03 2.16290743e-03 3.42547877e+00] [ 1.63984000e-03 9.99988449e-01 -4.51796525e-03 1.42502391e-01] [-2.15551780e-03 4.52149550e-03 9.99987455e-01 -3.57433074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.21654761499999 meters Centerline goodness [0,1] 0.7454307334109429 Centerline is valid? [False, False] Translation: X:3.43, Y:0.14, Z:-0.36 [[ 9.99999005e-01 7.73007851e-04 1.17996543e-03 3.42997676e+00] [-7.71513757e-04 9.99998901e-01 -1.26614939e-03 1.42971338e-01] [-1.18094288e-03 1.26523777e-03 9.99998502e-01 -3.59558683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.24654761499999 meters Centerline goodness [0,1] 0.7389215317375322 Centerline is valid? [False, False] Translation: X:3.43, Y:0.15, Z:-0.36 [[ 9.99988890e-01 4.53651213e-03 1.28054082e-03 3.43015266e+00] [-4.53935475e-03 9.99987220e-01 2.22575092e-03 1.45925237e-01] [-1.27042731e-03 -2.23153902e-03 9.99996703e-01 -3.60074079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.27654761499999 meters Centerline goodness [0,1] 0.7292619392185239 Centerline is valid? [False, False] Translation: X:3.43, Y:0.14, Z:-0.35 [[ 9.99978594e-01 6.25264336e-03 1.92786645e-03 3.42523741e+00] [-6.26077675e-03 9.99971403e-01 4.24208676e-03 1.43904515e-01] [-1.90128706e-03 -4.25406589e-03 9.99989144e-01 -3.54816089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.30654761499999 meters Centerline goodness [0,1] 0.7352447633375767 Centerline is valid? [False, False] Translation: X:3.43, Y:0.14, Z:-0.35 [[ 9.99978090e-01 6.41904273e-03 1.61703482e-03 3.42510224e+00] [-6.42676964e-03 9.99967734e-01 4.81945173e-03 1.42035259e-01] [-1.58604638e-03 -4.82973845e-03 9.99987079e-01 -3.53423116e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.336547614999986 meters Centerline goodness [0,1] 0.7291672688383386 Centerline is valid? [False, False] Translation: X:3.43, Y:0.14, Z:-0.36 [[ 9.99981446e-01 5.93361226e-03 1.37841912e-03 3.42682360e+00] [-5.93840487e-03 9.99976245e-01 3.49921299e-03 1.43849135e-01] [-1.35762341e-03 -3.50733368e-03 9.99992928e-01 -3.55888991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.36654761499999 meters Centerline goodness [0,1] 0.7321407963069821 Centerline is valid? [False, False] Translation: X:3.43, Y:0.15, Z:-0.37 [[ 9.99991933e-01 3.85366472e-03 -1.13306263e-03 3.43499865e+00] [-3.85728452e-03 9.99987408e-01 -3.21006533e-03 1.52271295e-01] [ 1.12067784e-03 3.21440997e-03 9.99994206e-01 -3.68197699e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.39654761499999 meters Centerline goodness [0,1] 0.7388430702031668 Centerline is valid? [False, False] Translation: X:3.44, Y:0.15, Z:-0.37 [[ 9.99993631e-01 3.03770103e-03 -1.87363715e-03 3.43747013e+00] [-3.04402189e-03 9.99989655e-01 -3.38000416e-03 1.51188270e-01] [ 1.86335033e-03 3.38568602e-03 9.99992532e-01 -3.68719789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.42654761499999 meters Centerline goodness [0,1] 0.7396075727541728 Centerline is valid? [False, False] Translation: X:3.44, Y:0.15, Z:-0.37 [[ 9.99991336e-01 3.70930265e-03 -1.88927437e-03 3.43581879e+00] [-3.71350388e-03 9.99990629e-01 -2.22509281e-03 1.49142961e-01] [ 1.88100312e-03 2.23208936e-03 9.99995740e-01 -3.65949781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.45654761499999 meters Centerline goodness [0,1] 0.7330265995686556 Centerline is valid? [False, False] Translation: X:3.43, Y:0.15, Z:-0.36 [[ 9.99984838e-01 5.31041659e-03 -1.45737236e-03 3.43182452e+00] [-5.31147622e-03 9.99985632e-01 -7.24179947e-04 1.48883323e-01] [ 1.45350572e-03 7.31909765e-04 9.99998676e-01 -3.61866274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.48654761499999 meters Centerline goodness [0,1] 0.7364568081991215 Centerline is valid? [False, False] Translation: X:3.43, Y:0.15, Z:-0.36 [[ 9.99983829e-01 5.42917915e-03 -1.69307477e-03 3.43136598e+00] [-5.42988407e-03 9.99985173e-01 -4.12032678e-04 1.50440583e-01] [ 1.69081267e-03 4.21219214e-04 9.99998482e-01 -3.60192648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.516547614999986 meters Centerline goodness [0,1] 0.7431573522675218 Centerline is valid? [False, False] Translation: X:3.44, Y:0.16, Z:-0.36 [[ 9.99988993e-01 3.93082606e-03 -2.56167820e-03 3.43616831e+00] [-3.93774537e-03 9.99988598e-01 -2.70165932e-03 1.55471640e-01] [ 2.55102923e-03 2.71171681e-03 9.99993069e-01 -3.64716891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.54654761499999 meters Centerline goodness [0,1] 0.7352545188919763 Centerline is valid? [False, False] Translation: X:3.44, Y:0.16, Z:-0.37 [[ 9.99990193e-01 3.14544690e-03 -3.11766039e-03 3.43896357e+00] [-3.15595810e-03 9.99989334e-01 -3.37233708e-03 1.55211428e-01] [ 3.10701963e-03 3.38214321e-03 9.99989454e-01 -3.66767240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.57654761499999 meters Centerline goodness [0,1] 0.7404083271204909 Centerline is valid? [False, False] Translation: X:3.44, Y:0.15, Z:-0.36 [[ 9.99989121e-01 3.03142564e-03 -3.54520891e-03 3.43912579e+00] [-3.03816414e-03 9.99993586e-01 -1.89689694e-03 1.51343400e-01] [ 3.53943587e-03 1.90764723e-03 9.99991917e-01 -3.64025903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.60654761499999 meters Centerline goodness [0,1] 0.7416055466422187 Centerline is valid? [False, False] Translation: X:3.44, Y:0.15, Z:-0.36 [[ 9.99988097e-01 3.41704172e-03 -3.48278409e-03 3.43779001e+00] [-3.41784991e-03 9.99994134e-01 -2.26126481e-04 1.48634316e-01] [ 3.48199098e-03 2.38027423e-04 9.99993910e-01 -3.60976381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.63654761499999 meters Centerline goodness [0,1] 0.7438930095363556 Centerline is valid? [False, False] Translation: X:3.44, Y:0.15, Z:-0.36 [[ 9.99988988e-01 3.43156814e-03 -3.20116191e-03 3.43650841e+00] [-3.43099551e-03 9.99994097e-01 1.84357360e-04 1.50022195e-01] [ 3.20177565e-03 -1.73372157e-04 9.99994859e-01 -3.59348141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.66654761499999 meters Centerline goodness [0,1] 0.7527477257726634 Centerline is valid? [False, False] Translation: X:3.44, Y:0.15, Z:-0.36 [[ 9.99989488e-01 1.70740986e-03 -4.25538518e-03 3.44041524e+00] [-1.70784844e-03 9.99998537e-01 -9.94340106e-05 1.48643740e-01] [ 4.25520918e-03 1.06700518e-04 9.99990941e-01 -3.59942672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.696547614999986 meters Centerline goodness [0,1] 0.7600565183540471 Centerline is valid? [False, False] Translation: X:3.45, Y:0.15, Z:-0.36 [[ 9.99984303e-01 -9.06848422e-04 -5.52920484e-03 3.44713427e+00] [ 8.95772107e-04 9.99997588e-01 -2.00538576e-03 1.48470458e-01] [ 5.53101008e-03 2.00040137e-03 9.99982703e-01 -3.64408279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.72654761499999 meters Centerline goodness [0,1] 0.7607272100637601 Centerline is valid? [False, False] Translation: X:3.45, Y:0.15, Z:-0.37 [[ 9.99977446e-01 -2.41148412e-03 -6.26840899e-03 3.45119672e+00] [ 2.38506071e-03 9.99988254e-01 -4.21939209e-03 1.53217320e-01] [ 6.27851036e-03 4.20434639e-03 9.99971451e-01 -3.68165278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.75654761499999 meters Centerline goodness [0,1] 0.7666705055856271 Centerline is valid? [False, False] Translation: X:3.45, Y:0.15, Z:-0.36 [[ 9.99976791e-01 -2.23042642e-03 -6.43764965e-03 3.45018769e+00] [ 2.21731968e-03 9.99995456e-01 -2.04237093e-03 1.49295997e-01] [ 6.44217576e-03 2.02804920e-03 9.99977192e-01 -3.63992904e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.78654761499999 meters Centerline goodness [0,1] 0.7857987824230359 Centerline is valid? [False, False] Translation: X:3.45, Y:0.15, Z:-0.36 [[ 0.99996302 -0.00572648 -0.00641585 3.44885751] [ 0.00569826 0.99997405 -0.00440746 0.14570958] [ 0.00644092 0.00437074 0.99996971 -0.36127648] [ 0. 0. 0. 1. ]] SLAMing on 59.81654761499999 meters Centerline goodness [0,1] 0.8277142774882676 Centerline is valid? [False, False] Translation: X:3.46, Y:0.15, Z:-0.36 [[ 9.99954735e-01 -6.08691910e-03 -7.31286489e-03 3.45568047e+00] [ 6.07312058e-03 9.99979739e-01 -1.90760905e-03 1.46953983e-01] [ 7.32432819e-03 1.86311079e-03 9.99971441e-01 -3.63524727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.84654761499999 meters Centerline goodness [0,1] 0.8351897571338347 Centerline is valid? [False, False] Translation: X:3.46, Y:0.15, Z:-0.36 [[ 9.99947217e-01 -6.86568572e-03 -7.64363754e-03 3.45684552e+00] [ 6.84941747e-03 9.99974226e-01 -2.15248696e-03 1.48945841e-01] [ 7.65821883e-03 2.10001888e-03 9.99968470e-01 -3.63291220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.87654761499999 meters Centerline goodness [0,1] 0.8445727482678984 Centerline is valid? [False, False] Translation: X:3.45, Y:0.14, Z:-0.36 [[ 9.99948301e-01 -6.30973687e-03 -7.97384010e-03 3.45490918e+00] [ 6.31362989e-03 9.99979962e-01 4.63145438e-04 1.42684881e-01] [ 7.97075800e-03 -5.13465369e-04 9.99968101e-01 -3.57585982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.90654761499999 meters Centerline goodness [0,1] 0.8453065826371021 Centerline is valid? [False, False] Translation: X:3.45, Y:0.14, Z:-0.35 [[ 9.99947742e-01 -6.17018046e-03 -8.15115085e-03 3.45395615e+00] [ 6.18599279e-03 9.99979031e-01 1.91610403e-03 1.40462069e-01] [ 8.13915722e-03 -1.96642686e-03 9.99964943e-01 -3.54321133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.93654761499999 meters Centerline goodness [0,1] 0.8436337625178827 Centerline is valid? [False, False] Translation: X:3.46, Y:0.15, Z:-0.36 [[ 9.99959988e-01 -3.44577185e-03 -8.25521046e-03 3.45612791e+00] [ 3.47750863e-03 9.99986607e-01 3.83318916e-03 1.47591461e-01] [ 8.24189160e-03 -3.86174335e-03 9.99958578e-01 -3.57207753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.96654761499999 meters Centerline goodness [0,1] 0.8441625235727755 Centerline is valid? [False, False] Translation: X:3.46, Y:0.15, Z:-0.36 [[ 0.9999586 -0.00347846 -0.00840841 3.45666468] [ 0.00350775 0.99998782 0.00347106 0.14788791] [ 0.00839623 -0.00350041 0.99995862 -0.357798 ] [ 0. 0. 0. 1. ]] SLAMing on 59.99654761499999 meters Centerline goodness [0,1] 0.8467684201483348 Centerline is valid? [False, False] Translation: X:3.46, Y:0.15, Z:-0.36 [[ 9.99956063e-01 -3.64182345e-03 -8.63764164e-03 3.45730737e+00] [ 3.67035891e-03 9.99987852e-01 3.29006874e-03 1.47840468e-01] [ 8.62555486e-03 -3.32162743e-03 9.99957282e-01 -3.58018784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.02654761499999 meters Centerline goodness [0,1] 0.8122113904566444 Centerline is valid? [False, False] Translation: X:3.45, Y:0.15, Z:-0.36 [[ 9.99966063e-01 -1.93981177e-03 -8.00683478e-03 3.45300894e+00] [ 1.96849490e-03 9.99991669e-01 3.57600596e-03 1.50821255e-01] [ 7.99983129e-03 -3.59164601e-03 9.99961551e-01 -3.55351583e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.05654761499999 meters Centerline goodness [0,1] 0.8068771810366839 Centerline is valid? [False, False] Translation: X:3.45, Y:0.15, Z:-0.35 [[ 9.99969708e-01 -3.97176481e-04 -7.77338513e-03 3.44986786e+00] [ 4.29234757e-04 9.99991409e-01 4.12287372e-03 1.51511843e-01] [ 7.77168084e-03 -4.12608543e-03 9.99961287e-01 -3.52909812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.086547614999986 meters Centerline goodness [0,1] 0.8079197225538689 Centerline is valid? [False, False] Translation: X:3.45, Y:0.15, Z:-0.35 [[ 9.99970032e-01 -4.38853807e-04 -7.72927785e-03 3.45034277e+00] [ 4.62491465e-04 9.99995221e-01 3.05667566e-03 1.54573882e-01] [ 7.72789948e-03 -3.06015878e-03 9.99965457e-01 -3.54542619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.11654761499999 meters Centerline goodness [0,1] 0.755084817284159 Centerline is valid? [False, False] Translation: X:3.45, Y:0.16, Z:-0.36 [[ 9.99960733e-01 2.64014086e-03 -8.45943587e-03 3.45434934e+00] [-2.61855409e-03 9.99993290e-01 2.56185842e-03 1.63157997e-01] [ 8.46614277e-03 -2.53960634e-03 9.99960937e-01 -3.62459627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.14654761499999 meters Centerline goodness [0,1] 0.7447268642044657 Centerline is valid? [False, False] Translation: X:3.46, Y:0.17, Z:-0.36 [[ 9.99959758e-01 2.51185338e-03 -8.61237511e-03 3.45544948e+00] [-2.50222389e-03 9.99996232e-01 1.12869287e-03 1.65451768e-01] [ 8.61517777e-03 -1.10709735e-03 9.99962276e-01 -3.64798508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.17654761499999 meters Centerline goodness [0,1] 0.7679092746463059 Centerline is valid? [False, False] Translation: X:3.45, Y:0.16, Z:-0.36 [[ 9.99959277e-01 3.78154985e-03 -8.19419104e-03 3.45184779e+00] [-3.76110841e-03 9.99989780e-01 2.50860048e-03 1.63999557e-01] [ 8.20359370e-03 -2.47767908e-03 9.99963280e-01 -3.60945244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.20654761499999 meters Centerline goodness [0,1] 0.7653167771976859 Centerline is valid? [False, False] Translation: X:3.45, Y:0.16, Z:-0.36 [[ 9.99968446e-01 1.83555292e-03 -7.72906052e-03 3.44754042e+00] [-1.83848104e-03 9.99998241e-01 -3.71756998e-04 1.64669607e-01] [ 7.72836455e-03 3.85954998e-04 9.99970061e-01 -3.57703291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.23654761499999 meters Centerline goodness [0,1] 0.7718443868933679 Centerline is valid? [False, False] Translation: X:3.45, Y:0.17, Z:-0.36 [[ 9.99967161e-01 1.25083625e-03 -8.00706436e-03 3.44978179e+00] [-1.26691272e-03 9.99997191e-01 -2.00302750e-03 1.67593819e-01] [ 8.00453641e-03 2.01310598e-03 9.99965937e-01 -3.60895703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.266547614999986 meters Centerline goodness [0,1] 0.7496988204970162 Centerline is valid? [False, False] Translation: X:3.45, Y:0.17, Z:-0.36 [[ 9.99953547e-01 4.16845704e-03 -8.69072211e-03 3.45362464e+00] [-4.16554074e-03 9.99991262e-01 3.53638429e-04 1.70354404e-01] [ 8.69212029e-03 -3.17420444e-04 9.99962172e-01 -3.64412237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.29654761499999 meters Centerline goodness [0,1] 0.7545609954319984 Centerline is valid? [False, False] Translation: X:3.45, Y:0.17, Z:-0.36 [[ 9.99955040e-01 4.76693032e-03 -8.19725833e-03 3.45232298e+00] [-4.76636224e-03 9.99988637e-01 8.88357127e-05 1.71967786e-01] [ 8.19758865e-03 -4.97606161e-05 9.99966398e-01 -3.64881528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.32654761499999 meters Centerline goodness [0,1] 0.7545609954319984 Centerline is valid? [False, False] Translation: X:3.45, Y:0.17, Z:-0.36 [[ 9.99955040e-01 4.76693032e-03 -8.19725833e-03 3.45232298e+00] [-4.76636224e-03 9.99988637e-01 8.88357127e-05 1.71967786e-01] [ 8.19758865e-03 -4.97606161e-05 9.99966398e-01 -3.64881528e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.35654761499999 meters Centerline goodness [0,1] 0.7437459640059523 Centerline is valid? [False, False] Translation: X:3.45, Y:0.17, Z:-0.36 [[ 9.99961317e-01 4.75846935e-03 -7.39744964e-03 3.44615698e+00] [-4.76858856e-03 9.99987718e-01 -1.35089609e-03 1.69500841e-01] [ 7.39093058e-03 1.38611922e-03 9.99971726e-01 -3.61278839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.38654761499999 meters Centerline goodness [0,1] 0.7358342224967709 Centerline is valid? [False, False] Translation: X:3.44, Y:0.17, Z:-0.36 [[ 9.99956044e-01 5.68688339e-03 -7.45443652e-03 3.44498309e+00] [-5.69089014e-03 9.99983673e-01 -5.16397402e-04 1.67458320e-01] [ 7.45137813e-03 5.58797083e-04 9.99972082e-01 -3.59869562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.41654761499999 meters Centerline goodness [0,1] 0.7318134598646714 Centerline is valid? [False, False] Translation: X:3.45, Y:0.17, Z:-0.36 [[ 9.99954900e-01 5.88007793e-03 -7.45805459e-03 3.44617514e+00] [-5.89196435e-03 9.99981405e-01 -1.57279983e-03 1.69246660e-01] [ 7.44866772e-03 1.61667149e-03 9.99970951e-01 -3.62823955e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.446547614999986 meters Centerline goodness [0,1] 0.7242967039137514 Centerline is valid? [False, False] Translation: X:3.45, Y:0.17, Z:-0.36 [[ 9.99955961e-01 6.40705184e-03 -6.85754784e-03 3.44572944e+00] [-6.42015340e-03 9.99977604e-01 -1.89022706e-03 1.69908437e-01] [ 6.84528347e-03 1.93417033e-03 9.99974700e-01 -3.64846991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.47654761499999 meters Centerline goodness [0,1] 0.7332862590029656 Centerline is valid? [False, False] Translation: X:3.44, Y:0.17, Z:-0.37 [[ 9.99975121e-01 3.07819796e-03 -6.34677714e-03 3.44491356e+00] [-3.11459277e-03 9.99978719e-01 -5.73248819e-03 1.68271338e-01] [ 6.32899634e-03 5.75211320e-03 9.99963428e-01 -3.66084330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.50654761499999 meters Centerline goodness [0,1] 0.7243985672786756 Centerline is valid? [False, False] Translation: X:3.45, Y:0.17, Z:-0.37 [[ 9.99972549e-01 3.22951502e-03 -6.66872678e-03 3.44516418e+00] [-3.26420933e-03 9.99981162e-01 -5.19822401e-03 1.66527286e-01] [ 6.65181340e-03 5.21984943e-03 9.99964253e-01 -3.65274197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.53654761499999 meters Centerline goodness [0,1] 0.730149759819158 Centerline is valid? [False, False] Translation: X:3.45, Y:0.16, Z:-0.36 [[ 9.99969426e-01 3.29562282e-03 -7.09122560e-03 3.44554130e+00] [-3.32471009e-03 9.99986093e-01 -4.09399645e-03 1.64024754e-01] [ 7.07763471e-03 4.11744755e-03 9.99966476e-01 -3.63517859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.56654761499999 meters Centerline goodness [0,1] 0.7289822696038233 Centerline is valid? [False, False] Translation: X:3.45, Y:0.16, Z:-0.36 [[ 9.99967646e-01 3.13559613e-03 -7.40780754e-03 3.44639567e+00] [-3.16183069e-03 9.99988762e-01 -3.53242167e-03 1.62732321e-01] [ 7.39664805e-03 3.55572961e-03 9.99966323e-01 -3.63130363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.59654761499999 meters Centerline goodness [0,1] 0.7384220762747695 Centerline is valid? [False, False] Translation: X:3.45, Y:0.16, Z:-0.36 [[ 9.99966787e-01 2.39137299e-03 -7.79138346e-03 3.44796734e+00] [-2.41584198e-03 9.99992175e-01 -3.13262253e-03 1.62758960e-01] [ 7.78383123e-03 3.15134124e-03 9.99964740e-01 -3.62841422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.626547614999986 meters Centerline goodness [0,1] 0.7482960490964111 Centerline is valid? [False, False] Translation: X:3.45, Y:0.16, Z:-0.36 [[ 9.99967012e-01 2.24652127e-03 -7.80560443e-03 3.44703167e+00] [-2.25100961e-03 9.99997306e-01 -5.66276183e-04 1.58146077e-01] [ 7.80431125e-03 5.83827993e-04 9.99969375e-01 -3.58343236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.65654761499999 meters Centerline goodness [0,1] 0.7552192957506115 Centerline is valid? [False, False] Translation: X:3.45, Y:0.16, Z:-0.36 [[ 9.99969624e-01 -1.13503714e-03 -7.71116025e-03 3.44624364e+00] [ 1.10267630e-03 9.99990574e-01 -4.19957990e-03 1.56087783e-01] [ 7.71585424e-03 4.19094943e-03 9.99961450e-01 -3.58143256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.68654761499999 meters Centerline goodness [0,1] 0.738000282845425 Centerline is valid? [False, False] Translation: X:3.45, Y:0.16, Z:-0.36 [[ 9.99963977e-01 1.79658366e-03 -8.29559370e-03 3.45012700e+00] [-1.81339584e-03 9.99996316e-01 -2.01956297e-03 1.58867701e-01] [ 8.29193483e-03 2.03453341e-03 9.99963552e-01 -3.62197306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.71654761499999 meters Centerline goodness [0,1] 0.7281286007363066 Centerline is valid? [False, False] Translation: X:3.45, Y:0.16, Z:-0.36 [[ 9.99948813e-01 5.48457674e-03 -8.50245285e-03 3.45168448e+00] [-5.48219001e-03 9.99984926e-01 3.03991862e-04 1.63233579e-01] [ 8.50399196e-03 -2.57364239e-04 9.99963807e-01 -3.64742017e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.74654761499999 meters Centerline goodness [0,1] 0.7360530083948675 Centerline is valid? [False, False] Translation: X:3.46, Y:0.17, Z:-0.37 [[ 9.99945723e-01 3.51084854e-03 -9.80945151e-03 3.45593238e+00] [-3.52071674e-03 9.99993313e-01 -9.88901818e-04 1.65363608e-01] [ 9.80591404e-03 1.02338444e-03 9.99951397e-01 -3.65651569e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.77654761499999 meters Centerline goodness [0,1] 0.763836700098884 Centerline is valid? [False, False] Translation: X:3.46, Y:0.16, Z:-0.36 [[ 9.99940087e-01 -1.80083204e-03 -1.07972067e-02 3.45707564e+00] [ 1.76986568e-03 9.99994296e-01 -2.87686699e-03 1.61922769e-01] [ 1.08023259e-02 2.85758502e-03 9.99937570e-01 -3.60192510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.80654761499999 meters Centerline goodness [0,1] 0.7744055510111979 Centerline is valid? [False, False] Translation: X:3.46, Y:0.16, Z:-0.36 [[ 9.99933890e-01 -2.47624836e-03 -1.12287392e-02 3.45845921e+00] [ 2.43987714e-03 9.99991737e-01 -3.25166167e-03 1.63768726e-01] [ 1.12366983e-02 3.22404996e-03 9.99931669e-01 -3.60335531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.836547614999986 meters Centerline goodness [0,1] 0.7734614196230443 Centerline is valid? [False, False] Translation: X:3.46, Y:0.17, Z:-0.36 [[ 9.99924929e-01 -3.62196365e-04 -1.22476759e-02 3.46227947e+00] [ 3.60919899e-04 9.99999929e-01 -1.06431239e-04 1.66791017e-01] [ 1.22477136e-02 1.02002819e-04 9.99924989e-01 -3.60894788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.86654761499999 meters Centerline goodness [0,1] 0.7878105108995663 Centerline is valid? [False, False] Translation: X:3.46, Y:0.17, Z:-0.36 [[ 9.99917009e-01 -9.14247329e-04 -1.28506320e-02 3.46391798e+00] [ 9.10507735e-04 9.99999541e-01 -2.96852150e-04 1.66737768e-01] [ 1.28508975e-02 2.85126915e-04 9.99917383e-01 -3.60965313e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.89654761499999 meters Centerline goodness [0,1] 0.7883732070899203 Centerline is valid? [False, False] Translation: X:3.46, Y:0.17, Z:-0.36 [[ 9.99917153e-01 -6.45691512e-04 -1.28557422e-02 3.46277738e+00] [ 6.49894218e-04 9.99999737e-01 3.22737845e-04 1.65544577e-01] [ 1.28555305e-02 -3.31065980e-04 9.99917309e-01 -3.58957098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.92654761499999 meters Centerline goodness [0,1] 0.7854711194890696 Centerline is valid? [False, False] Translation: X:3.46, Y:0.17, Z:-0.36 [[ 9.99923589e-01 1.37796952e-04 -1.23611460e-02 3.46034937e+00] [-1.33517829e-04 9.99999931e-01 3.46999837e-04 1.67590004e-01] [ 1.23611929e-02 -3.45322889e-04 9.99923538e-01 -3.57727335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.95654761499999 meters Centerline goodness [0,1] 0.7545403744062588 Centerline is valid? [False, False] Translation: X:3.46, Y:0.17, Z:-0.36 [[ 0.99991172 0.0046261 -0.01245578 3.45872845] [-0.00456843 0.99997873 0.00465422 0.17035429] [ 0.01247705 -0.00459691 0.99991159 -0.35507756] [ 0. 0. 0. 1. ]] SLAMing on 60.98654761499999 meters Centerline goodness [0,1] 0.7615285841893702 Centerline is valid? [False, False] Translation: X:3.46, Y:0.17, Z:-0.36 [[ 0.99991165 0.00426247 -0.01259093 3.45948978] [-0.00421398 0.99998361 0.00387575 0.17171072] [ 0.01260725 -0.00382235 0.99991322 -0.35603648] [ 0. 0. 0. 1. ]] SLAMing on 61.016547614999986 meters Centerline goodness [0,1] 0.7773075316720033 Centerline is valid? [False, False] Translation: X:3.46, Y:0.18, Z:-0.36 [[ 9.99907457e-01 2.43551170e-03 -1.33845531e-02 3.46380776e+00] [-2.40992801e-03 9.99995239e-01 1.92723053e-03 1.75447774e-01] [ 1.33891832e-02 -1.89479637e-03 9.99908566e-01 -3.59367053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.04654761499999 meters Centerline goodness [0,1] 0.7702155960760406 Centerline is valid? [False, False] Translation: X:3.46, Y:0.18, Z:-0.36 [[ 9.99905958e-01 2.18265745e-03 -1.35392764e-02 3.46391694e+00] [-2.16971327e-03 9.99997175e-01 9.70662448e-04 1.79391208e-01] [ 1.35413568e-02 -9.41194816e-04 9.99907869e-01 -3.59460363e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.07654761499999 meters Centerline goodness [0,1] 0.7624934172233155 Centerline is valid? [False, False] Translation: X:3.46, Y:0.18, Z:-0.36 [[ 9.99905234e-01 2.75905728e-03 -1.34874488e-02 3.46243358e+00] [-2.74171247e-03 9.99995391e-01 1.30431745e-03 1.79406821e-01] [ 1.34909853e-02 -1.26721514e-03 9.99908190e-01 -3.57885451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.10654761499999 meters Centerline goodness [0,1] 0.7547806835478068 Centerline is valid? [False, False] Translation: X:3.46, Y:0.18, Z:-0.36 [[ 9.99900683e-01 3.11461377e-03 -1.37449489e-02 3.46256580e+00] [-3.10166949e-03 9.99994726e-01 9.62964861e-04 1.78408563e-01] [ 1.37478756e-02 -9.20236934e-04 9.99905070e-01 -3.58122101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.13654761499999 meters Centerline goodness [0,1] 0.748866401238664 Centerline is valid? [False, False] Translation: X:3.46, Y:0.18, Z:-0.36 [[ 9.99902644e-01 2.80285891e-03 -1.36691940e-02 3.46368329e+00] [-2.80448056e-03 9.99996062e-01 -9.94688529e-05 1.80495391e-01] [ 1.36688613e-02 1.37794158e-04 9.99906567e-01 -3.60461828e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.16654761499999 meters Centerline goodness [0,1] 0.7476795580110498 Centerline is valid? [False, False] Translation: X:3.46, Y:0.18, Z:-0.36 [[ 9.99995807e-01 2.88672470e-03 2.31626937e-04 3.46465969e+00] [-2.88681547e-03 9.99995756e-01 3.92526446e-04 1.81593427e-01] [-2.30492839e-04 -3.93193464e-04 9.99999896e-01 -3.63210181e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.196547614999986 meters Centerline goodness [0,1] 0.750027808676307 Centerline is valid? [False, False] Translation: X:3.46, Y:0.18, Z:-0.36 [[ 9.99990811e-01 4.22856461e-03 7.04570519e-04 3.46194412e+00] [-4.22922417e-03 9.99990618e-01 9.37266220e-04 1.83005702e-01] [-7.00600618e-04 -9.40237395e-04 9.99999313e-01 -3.61683283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.22654761499999 meters Centerline goodness [0,1] 0.7368129432624113 Centerline is valid? [False, False] Translation: X:3.46, Y:0.19, Z:-0.37 [[ 9.99993265e-01 3.66885814e-03 1.00430589e-04 3.46474893e+00] [-3.66875512e-03 9.99992763e-01 -1.00742750e-03 1.85984285e-01] [-1.04125971e-04 1.00705226e-03 9.99999488e-01 -3.65167613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.25654761499999 meters Centerline goodness [0,1] 0.7250795778187301 Centerline is valid? [False, False] Translation: X:3.46, Y:0.19, Z:-0.37 [[ 9.99998771e-01 1.43435656e-03 6.32849950e-04 3.46260606e+00] [-1.43113912e-03 9.99986197e-01 -5.05554144e-03 1.85687685e-01] [-6.40092664e-04 5.05462953e-03 9.99987020e-01 -3.66066895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.28654761499999 meters Centerline goodness [0,1] 0.7313674569266426 Centerline is valid? [False, False] Translation: X:3.46, Y:0.18, Z:-0.36 [[ 9.99995125e-01 2.82538784e-03 1.32915880e-03 3.45909319e+00] [-2.82054553e-03 9.99989430e-01 -3.63101301e-03 1.84486646e-01] [-1.33940377e-03 3.62724636e-03 9.99992525e-01 -3.63267409e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.31654761499999 meters Centerline goodness [0,1] 0.7289003981845015 Centerline is valid? [False, False] Translation: X:3.46, Y:0.19, Z:-0.36 [[ 9.99991688e-01 3.73955651e-03 1.62488916e-03 3.45699206e+00] [-3.73401579e-03 9.99987250e-01 -3.39966348e-03 1.86523705e-01] [-1.63758167e-03 3.39356786e-03 9.99992901e-01 -3.61836187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.34654761499999 meters Centerline goodness [0,1] 0.7199977724564237 Centerline is valid? [False, False] Translation: X:3.46, Y:0.19, Z:-0.37 [[ 9.99993286e-01 3.44411192e-03 1.25161053e-03 3.45945991e+00] [-3.43834722e-03 9.99983604e-01 -4.57915632e-03 1.87430939e-01] [-1.26736113e-03 4.57482211e-03 9.99988732e-01 -3.65145716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.376547614999986 meters Centerline goodness [0,1] 0.6770663439785343 Centerline is valid? [False, False] Translation: X:3.52, Y:0.18, Z:-0.36 [[ 9.99968960e-01 7.08408672e-03 -3.44890893e-03 3.51604521e+00] [-7.08232957e-03 9.99974784e-01 5.21428508e-04 1.82587163e-01] [ 3.45251580e-03 -4.96986013e-04 9.99993917e-01 -3.62398843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.40654761499999 meters Centerline goodness [0,1] 0.730764910704257 Centerline is valid? [False, False] Translation: X:3.45, Y:0.18, Z:-0.36 [[ 9.99991567e-01 2.85546045e-03 -2.95158470e-03 3.45262413e+00] [-2.86843086e-03 9.99986208e-01 -4.39953584e-03 1.77248333e-01] [ 2.93898129e-03 4.40796516e-03 9.99985966e-01 -3.60791613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.43654761499999 meters Centerline goodness [0,1] 0.7244171986164618 Centerline is valid? [False, False] Translation: X:3.45, Y:0.17, Z:-0.36 [[ 9.99989997e-01 2.58537342e-03 -3.64987251e-03 3.45405378e+00] [-2.59716347e-03 9.99991413e-01 -3.22922819e-03 1.74466685e-01] [ 3.64149241e-03 3.23867521e-03 9.99988125e-01 -3.59446316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.46654761499999 meters Centerline goodness [0,1] 0.7304227499929401 Centerline is valid? [False, False] Translation: X:3.46, Y:0.17, Z:-0.36 [[ 9.99989522e-01 2.05577843e-03 -4.09010901e-03 3.45646949e+00] [-2.06790020e-03 9.99993476e-01 -2.96166046e-03 1.71543383e-01] [ 4.08399381e-03 2.97008737e-03 9.99987250e-01 -3.60887918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.49654761499999 meters Centerline goodness [0,1] 0.7279843444227005 Centerline is valid? [False, False] Translation: X:3.46, Y:0.17, Z:-0.36 [[ 9.99989058e-01 1.44327385e-03 -4.44975011e-03 3.45936494e+00] [-1.45691488e-03 9.99994245e-01 -3.06385750e-03 1.69232362e-01] [ 4.44530252e-03 3.07030688e-03 9.99985406e-01 -3.63440867e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.52654761499999 meters Centerline goodness [0,1] 0.721820706855993 Centerline is valid? [False, False] Translation: X:3.46, Y:0.17, Z:-0.36 [[ 9.99989514e-01 1.98196195e-03 -4.12845564e-03 3.45832446e+00] [-1.99192538e-03 9.99995111e-01 -2.41064093e-03 1.68639707e-01] [ 4.12365765e-03 2.41883923e-03 9.99988572e-01 -3.62866822e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.55654761499999 meters Centerline goodness [0,1] 0.7224022282855844 Centerline is valid? [False, False] Translation: X:3.46, Y:0.16, Z:-0.36 [[ 9.99986879e-01 3.01100851e-03 -4.14425389e-03 3.45609617e+00] [-3.01200435e-03 9.99995437e-01 -2.34075615e-04 1.63989323e-01] [ 4.14353017e-03 2.46555055e-04 9.99991385e-01 -3.58804568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.586547614999986 meters Centerline goodness [0,1] 0.7204184291757174 Centerline is valid? [False, False] Translation: X:3.46, Y:0.16, Z:-0.36 [[ 9.99992525e-01 -3.04962592e-04 -3.85435594e-03 3.45505965e+00] [ 2.91110036e-04 9.99993499e-01 -3.59405054e-03 1.61166769e-01] [ 3.85542694e-03 3.59290164e-03 9.99986113e-01 -3.58597250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.61654761499999 meters Centerline goodness [0,1] 0.7317667287577017 Centerline is valid? [False, False] Translation: X:3.46, Y:0.16, Z:-0.36 [[ 9.99987588e-01 -1.63809434e-03 -4.70541499e-03 3.45814577e+00] [ 1.62604814e-03 9.99995394e-01 -2.56275796e-03 1.57801026e-01] [ 4.70959135e-03 2.55507492e-03 9.99985646e-01 -3.57792459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.64654761499999 meters Centerline goodness [0,1] 0.7670528040472563 Centerline is valid? [False, False] Translation: X:3.47, Y:0.16, Z:-0.36 [[ 9.99967111e-01 -5.90686872e-03 -5.55757467e-03 3.46502111e+00] [ 5.88996311e-03 9.99977992e-01 -3.05337064e-03 1.56434568e-01] [ 5.57548822e-03 3.02053631e-03 9.99979895e-01 -3.59604715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.67654761499999 meters Centerline goodness [0,1] 0.7738399288317502 Centerline is valid? [False, False] Translation: X:3.47, Y:0.16, Z:-0.36 [[ 0.9999588 -0.00670163 -0.00612193 3.46731119] [ 0.00667946 0.99997109 -0.003635 0.1578781 ] [ 0.00614611 0.00359396 0.99997465 -0.36073562] [ 0. 0. 0. 1. ]] SLAMing on 61.70654761499999 meters Centerline goodness [0,1] 0.7575774987789812 Centerline is valid? [False, False] Translation: X:3.47, Y:0.16, Z:-0.36 [[ 9.99966756e-01 -5.54748120e-03 -5.97601057e-03 3.46501473e+00] [ 5.52992747e-03 9.99980359e-01 -2.94989570e-03 1.57743327e-01] [ 5.99225768e-03 2.91675073e-03 9.99977792e-01 -3.58587340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.73654761499999 meters Centerline goodness [0,1] 0.754606870777634 Centerline is valid? [False, False] Translation: X:3.46, Y:0.16, Z:-0.36 [[ 9.99974268e-01 -4.37591849e-03 -5.68454273e-03 3.46249044e+00] [ 4.36304290e-03 9.99987893e-01 -2.27544775e-03 1.57700149e-01] [ 5.69443108e-03 2.25058729e-03 9.99981254e-01 -3.56477655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.766547614999986 meters Centerline goodness [0,1] 0.745832735618993 Centerline is valid? [False, False] Translation: X:3.46, Y:0.16, Z:-0.36 [[ 0.99997825 -0.00393363 -0.00529429 3.46193066] [ 0.00391219 0.99998413 -0.00405333 0.16264092] [ 0.00531015 0.00403253 0.99997777 -0.35904216] [ 0. 0. 0. 1. ]] SLAMing on 61.79654761499999 meters Centerline goodness [0,1] 0.7406080254813299 Centerline is valid? [False, False] Translation: X:3.46, Y:0.16, Z:-0.36 [[ 9.99982620e-01 -6.11597700e-04 -5.86388226e-03 3.46339600e+00] [ 6.14128514e-04 9.99999719e-01 4.29802590e-04 1.62229742e-01] [ 5.86361774e-03 -4.33396297e-04 9.99982715e-01 -3.57956144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.82654761499999 meters Centerline goodness [0,1] 0.7238463947166158 Centerline is valid? [False, False] Translation: X:3.46, Y:0.16, Z:-0.36 [[ 9.99987431e-01 2.41695640e-04 -5.00798685e-03 3.46039356e+00] [-2.40251501e-04 9.99999929e-01 2.88966734e-04 1.64750637e-01] [ 5.00805634e-03 -2.87759926e-04 9.99987418e-01 -3.57280145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.85654761499999 meters Centerline goodness [0,1] 0.7411099368769816 Centerline is valid? [False, False] Translation: X:3.46, Y:0.16, Z:-0.35 [[ 9.99988182e-01 1.17339660e-03 -4.71795638e-03 3.45783405e+00] [-1.16681664e-03 9.99998343e-01 1.39717482e-03 1.62967654e-01] [ 4.71958801e-03 -1.39165332e-03 9.99987894e-01 -3.54504657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.88654761499999 meters Centerline goodness [0,1] 0.7332800045710368 Centerline is valid? [False, False] Translation: X:3.46, Y:0.16, Z:-0.35 [[ 9.99986810e-01 1.52374258e-03 -4.90480557e-03 3.45728827e+00] [-1.51667226e-03 9.99997806e-01 1.44490574e-03 1.63009551e-01] [ 4.90699648e-03 -1.43744770e-03 9.99986927e-01 -3.53530813e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.91654761499999 meters Centerline goodness [0,1] 0.7269801486713565 Centerline is valid? [False, False] Translation: X:3.46, Y:0.17, Z:-0.36 [[ 9.99985874e-01 4.85080789e-04 -5.29297596e-03 3.46008917e+00] [-4.87559071e-04 9.99999772e-01 -4.66940530e-04 1.66643286e-01] [ 5.29274825e-03 4.69514572e-04 9.99985883e-01 -3.56870729e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.946547614999986 meters Centerline goodness [0,1] 0.7172388335179033 Centerline is valid? [False, False] Translation: X:3.46, Y:0.17, Z:-0.36 [[ 9.99983038e-01 -8.99434955e-04 -5.75448861e-03 3.46344062e+00] [ 8.84656172e-04 9.99996306e-01 -2.57024852e-03 1.71883809e-01] [ 5.75677912e-03 2.56511418e-03 9.99980140e-01 -3.60370433e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.97654761499999 meters Centerline goodness [0,1] 0.718400724371127 Centerline is valid? [False, False] Translation: X:3.47, Y:0.18, Z:-0.36 [[ 9.99979573e-01 -1.83573136e-03 -6.12245461e-03 3.46580563e+00] [ 1.81069166e-03 9.99989985e-01 -4.09285098e-03 1.75458588e-01] [ 6.12990667e-03 4.08168150e-03 9.99972882e-01 -3.62819721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.00654761499999 meters Centerline goodness [0,1] 0.7179443401058563 Centerline is valid? [False, False] Translation: X:3.47, Y:0.17, Z:-0.36 [[ 9.99977025e-01 -1.90603793e-03 -6.50511483e-03 3.46637713e+00] [ 1.88334080e-03 9.99992124e-01 -3.49346453e-03 1.73049881e-01] [ 6.51172227e-03 3.48113292e-03 9.99972739e-01 -3.61862712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.03654761499999 meters Centerline goodness [0,1] 0.7462155702253586 Centerline is valid? [False, False] Translation: X:3.47, Y:0.17, Z:-0.36 [[ 9.99975408e-01 -1.88296505e-03 -6.75551303e-03 3.46611369e+00] [ 1.86729386e-03 9.99995553e-01 -2.32532113e-03 1.70744480e-01] [ 6.75986148e-03 2.31264942e-03 9.99974478e-01 -3.59616177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.06654761499999 meters Centerline goodness [0,1] 0.7517714350758373 Centerline is valid? [False, False] Translation: X:3.47, Y:0.17, Z:-0.35 [[ 9.99973485e-01 -2.33480390e-03 -6.89767293e-03 3.46556813e+00] [ 2.33581683e-03 9.99997262e-01 1.38799737e-04 1.67195101e-01] [ 6.89732997e-03 -1.54907757e-04 9.99976201e-01 -3.54842009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.09654761499999 meters Centerline goodness [0,1] 0.7527376697641173 Centerline is valid? [False, False] Translation: X:3.47, Y:0.17, Z:-0.35 [[ 9.99969454e-01 -2.78580597e-03 -7.30278787e-03 3.46693485e+00] [ 2.79087630e-03 9.99995871e-01 6.84201943e-04 1.65029970e-01] [ 7.30085167e-03 -7.04562221e-04 9.99973100e-01 -3.54607933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.126547614999986 meters Centerline goodness [0,1] 0.7565424039397584 Centerline is valid? [False, False] Translation: X:3.47, Y:0.16, Z:-0.35 [[ 9.99964951e-01 -3.11523123e-03 -7.77120200e-03 3.46821432e+00] [ 3.12420443e-03 9.99994467e-01 1.14280049e-03 1.63218447e-01] [ 7.76759892e-03 -1.16703926e-03 9.99969151e-01 -3.54282710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.15654761499999 meters Centerline goodness [0,1] 0.7711509801673736 Centerline is valid? [False, False] Translation: X:3.47, Y:0.16, Z:-0.35 [[ 9.99962177e-01 -3.43139324e-03 -7.99188007e-03 3.46955955e+00] [ 3.44281874e-03 9.99993070e-01 1.41632021e-03 1.61304717e-01] [ 7.98696474e-03 -1.44378123e-03 9.99967061e-01 -3.54941872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.18654761499999 meters Centerline goodness [0,1] 0.7546089545402497 Centerline is valid? [False, False] Translation: X:3.47, Y:0.17, Z:-0.36 [[ 9.99967141e-01 -2.96219577e-03 -7.54605835e-03 3.46958251e+00] [ 2.95455759e-03 9.99995112e-01 -1.02315463e-03 1.66478785e-01] [ 7.54905225e-03 1.00082574e-03 9.99971005e-01 -3.59591722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.21654761499999 meters Centerline goodness [0,1] 0.7489442385589934 Centerline is valid? [False, False] Translation: X:3.47, Y:0.17, Z:-0.36 [[ 9.99971696e-01 -2.00050048e-03 -7.25290793e-03 3.46845062e+00] [ 1.98971691e-03 9.99996905e-01 -1.49370400e-03 1.65704476e-01] [ 7.25587364e-03 1.47923049e-03 9.99972582e-01 -3.60650062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.24654761499999 meters Centerline goodness [0,1] 0.7489442385589934 Centerline is valid? [False, False] Translation: X:3.47, Y:0.17, Z:-0.36 [[ 9.99971696e-01 -2.00050048e-03 -7.25290793e-03 3.46845062e+00] [ 1.98971691e-03 9.99996905e-01 -1.49370400e-03 1.65704476e-01] [ 7.25587364e-03 1.47923049e-03 9.99972582e-01 -3.60650062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.27654761499999 meters Centerline goodness [0,1] 0.7504265594725122 Centerline is valid? [False, False] Translation: X:3.47, Y:0.16, Z:-0.36 [[ 0.99996243 -0.00528499 -0.00687112 3.4674926 ] [ 0.00525505 0.99997666 -0.00436719 0.16103085] [ 0.00689404 0.00433092 0.99996686 -0.36042157] [ 0. 0. 0. 1. ]] SLAMing on 62.30654761499999 meters Centerline goodness [0,1] 0.76014940382129 Centerline is valid? [False, False] Translation: X:3.47, Y:0.16, Z:-0.36 [[ 9.99971347e-01 -2.81729933e-03 -7.02624898e-03 3.46942227e+00] [ 2.82045638e-03 9.99995926e-01 4.39453350e-04 1.60615709e-01] [ 7.02498229e-03 -4.59257987e-04 9.99975219e-01 -3.59495762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.336547614999986 meters Centerline goodness [0,1] 0.7603132106975271 Centerline is valid? [False, False] Translation: X:3.47, Y:0.16, Z:-0.36 [[ 9.99964807e-01 -3.61965271e-03 -7.56854976e-03 3.47051534e+00] [ 3.63029889e-03 9.99992440e-01 1.39336808e-03 1.59239564e-01] [ 7.56344903e-03 -1.42079514e-03 9.99970387e-01 -3.57402895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.36654761499999 meters Centerline goodness [0,1] 0.7780880086089056 Centerline is valid? [False, False] Translation: X:3.47, Y:0.15, Z:-0.36 [[ 9.99931393e-01 -8.27558489e-03 -8.28996818e-03 3.47354625e+00] [ 8.25391357e-03 9.99962438e-01 -2.64497375e-03 1.54553622e-01] [ 8.31154550e-03 2.57636761e-03 9.99962140e-01 -3.59022204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.39654761499999 meters Centerline goodness [0,1] 0.7830312582085632 Centerline is valid? [False, False] Translation: X:3.47, Y:0.15, Z:-0.36 [[ 9.99926025e-01 -8.57675105e-03 -8.62457154e-03 3.47449059e+00] [ 8.56638597e-03 9.99962541e-01 -1.23803381e-03 1.49895226e-01] [ 8.63486679e-03 1.16406082e-03 9.99962041e-01 -3.57632377e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.42654761499999 meters Centerline goodness [0,1] 0.7876227382652021 Centerline is valid? [False, False] Translation: X:3.47, Y:0.15, Z:-0.35 [[ 9.99942488e-01 -7.26171862e-03 -7.89231364e-03 3.47073361e+00] [ 7.26539608e-03 9.99973511e-01 4.37382408e-04 1.49419138e-01] [ 7.88892844e-03 -4.94698037e-04 9.99968760e-01 -3.54340929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.45654761499999 meters Centerline goodness [0,1] 0.7804544926188539 Centerline is valid? [False, False] Translation: X:3.47, Y:0.15, Z:-0.35 [[ 0.99995489 -0.00381871 -0.0086969 3.47250635] [ 0.00386433 0.99997883 0.00523487 0.14838955] [ 0.00867673 -0.00526824 0.99994848 -0.35287437] [ 0. 0. 0. 1. ]] SLAMing on 62.48654761499999 meters Centerline goodness [0,1] 0.802228574762266 Centerline is valid? [False, False] Translation: X:3.48, Y:0.15, Z:-0.36 [[ 9.99928861e-01 -6.56513862e-03 -9.95848422e-03 3.47934150e+00] [ 6.59679385e-03 9.99973282e-01 3.14920887e-03 1.49337365e-01] [ 9.93754315e-03 -3.21467891e-03 9.99945454e-01 -3.57332092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.516547614999986 meters Centerline goodness [0,1] 0.8020572294422752 Centerline is valid? [False, False] Translation: X:3.48, Y:0.15, Z:-0.36 [[ 9.99907205e-01 -8.25311350e-03 -1.08382554e-02 3.48387025e+00] [ 8.26851260e-03 9.99964867e-01 1.37676896e-03 1.51404064e-01] [ 1.08265120e-02 -1.46625745e-03 9.99940317e-01 -3.60684580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.54654761499999 meters Centerline goodness [0,1] 0.8082087587397244 Centerline is valid? [False, False] Translation: X:3.48, Y:0.15, Z:-0.36 [[ 9.99909245e-01 -7.87902382e-03 -1.09280904e-02 3.48274192e+00] [ 7.90971864e-03 9.99964885e-01 2.76842917e-03 1.48613988e-01] [ 1.09058942e-02 -2.85461604e-03 9.99936454e-01 -3.57850197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.57654761499999 meters Centerline goodness [0,1] 0.8111953625903914 Centerline is valid? [False, False] Translation: X:3.48, Y:0.14, Z:-0.36 [[ 0.99990578 -0.00831778 -0.01091973 3.48276197] [ 0.00836215 0.99995694 0.00402387 0.14439979] [ 0.01088579 -0.0041148 0.99993228 -0.3559247 ] [ 0. 0. 0. 1. ]] SLAMing on 62.60654761499999 meters Centerline goodness [0,1] 0.8125 Centerline is valid? [False, False] Translation: X:3.48, Y:0.15, Z:-0.36 [[ 0.9999011 -0.0088123 -0.01096021 3.48340644] [ 0.0088565 0.99995282 0.00399084 0.14568036] [ 0.01092453 -0.00408751 0.99993197 -0.35599634] [ 0. 0. 0. 1. ]] SLAMing on 62.63654761499999 meters Centerline goodness [0,1] 0.8138611549016174 Centerline is valid? [False, False] Translation: X:3.48, Y:0.15, Z:-0.36 [[ 0.99989823 -0.00891336 -0.01113941 3.48346896] [ 0.0089608 0.99995096 0.00421684 0.14647813] [ 0.01110128 -0.00431622 0.99992906 -0.35512411] [ 0. 0. 0. 1. ]] SLAMing on 62.66654761499999 meters Centerline goodness [0,1] 0.7972426630988045 Centerline is valid? [False, False] Translation: X:3.48, Y:0.15, Z:-0.36 [[ 9.99896936e-01 -8.80093290e-03 -1.13428475e-02 3.48417050e+00] [ 8.83349219e-03 9.99956998e-01 2.82357164e-03 1.49346476e-01] [ 1.13175097e-02 -2.92347759e-03 9.99931681e-01 -3.57118987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.696547614999986 meters Centerline goodness [0,1] 0.8014011220604053 Centerline is valid? [False, False] Translation: X:3.48, Y:0.15, Z:-0.36 [[ 9.99903766e-01 -8.41286100e-03 -1.10309628e-02 3.48264963e+00] [ 8.44273642e-03 9.99960809e-01 2.66455821e-03 1.50946556e-01] [ 1.10081139e-02 -2.75743330e-03 9.99935607e-01 -3.56438918e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.72654761499999 meters Centerline goodness [0,1] 0.8045916579039607 Centerline is valid? [False, False] Translation: X:3.48, Y:0.15, Z:-0.35 [[ 0.99990311 -0.00821061 -0.01124116 3.48222189] [ 0.00825437 0.99995851 0.00385181 0.14851051] [ 0.01120907 -0.00394422 0.9999294 -0.35425412] [ 0. 0. 0. 1. ]] SLAMing on 62.75654761499999 meters Centerline goodness [0,1] 0.8081545938709583 Centerline is valid? [False, False] Translation: X:3.48, Y:0.15, Z:-0.35 [[ 9.99896308e-01 -8.67172295e-03 -1.14966742e-02 3.48310972e+00] [ 8.70963424e-03 9.99956784e-01 3.25163090e-03 1.50139544e-01] [ 1.14679801e-02 -3.35142557e-03 9.99928624e-01 -3.54702799e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.78654761499999 meters Centerline goodness [0,1] 0.8019871215873664 Centerline is valid? [False, False] Translation: X:3.48, Y:0.15, Z:-0.36 [[ 9.99891071e-01 -8.91189707e-03 -1.17654008e-02 3.48391227e+00] [ 8.94179575e-03 9.99956918e-01 2.49108374e-03 1.52280851e-01] [ 1.17426936e-02 -2.59601620e-03 9.99927682e-01 -3.55457901e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.81654761499999 meters Centerline goodness [0,1] 0.7952857226413991 Centerline is valid? [False, False] Translation: X:3.48, Y:0.15, Z:-0.35 [[ 0.99990472 -0.00757921 -0.01153686 3.48134964] [ 0.00762846 0.99996195 0.00423096 0.14850849] [ 0.01150435 -0.00431856 0.9999245 -0.35253421] [ 0. 0. 0. 1. ]] SLAMing on 62.84654761499999 meters Centerline goodness [0,1] 0.7898499970816553 Centerline is valid? [False, False] Translation: X:3.48, Y:0.15, Z:-0.35 [[ 9.99914699e-01 -6.84511956e-03 -1.11237873e-02 3.48025417e+00] [ 6.88081685e-03 9.99971290e-01 3.17399717e-03 1.51933065e-01] [ 1.11017416e-02 -3.25026717e-03 9.99933091e-01 -3.54279766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.876547614999986 meters Centerline goodness [0,1] 0.7747457134553909 Centerline is valid? [False, False] Translation: X:3.48, Y:0.15, Z:-0.36 [[ 0.99992635 -0.00364916 -0.01157498 3.48285003] [ 0.00371839 0.9999753 0.00596465 0.15484297] [ 0.01155293 -0.00600725 0.99991522 -0.35669384] [ 0. 0. 0. 1. ]] SLAMing on 62.90654761499999 meters Centerline goodness [0,1] 0.7663380158799407 Centerline is valid? [False, False] Translation: X:3.48, Y:0.16, Z:-0.36 [[ 9.99935668e-01 -2.67742990e-03 -1.10223314e-02 3.48097659e+00] [ 2.74005687e-03 9.99980168e-01 5.67065134e-03 1.55521484e-01] [ 1.10069300e-02 -5.70048835e-03 9.99923173e-01 -3.57261658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.93654761499999 meters Centerline goodness [0,1] 0.7551312370441738 Centerline is valid? [False, False] Translation: X:3.47, Y:0.15, Z:-0.35 [[ 9.99944472e-01 -3.50648496e-03 -9.93767212e-03 3.47449096e+00] [ 3.53632930e-03 9.99989286e-01 2.98717299e-03 1.53990749e-01] [ 9.92709117e-03 -3.02215000e-03 9.99946158e-01 -3.54397719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.96654761499999 meters Centerline goodness [0,1] 0.7465198237885462 Centerline is valid? [False, False] Translation: X:3.47, Y:0.15, Z:-0.35 [[ 9.99954800e-01 -3.59056928e-03 -8.80369763e-03 3.46718704e+00] [ 3.60207242e-03 9.99992679e-01 1.29111812e-03 1.50618873e-01] [ 8.79899733e-03 -1.32277132e-03 9.99960413e-01 -3.50648983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.99654761499999 meters Centerline goodness [0,1] 0.7464805324851269 Centerline is valid? [False, False] Translation: X:3.47, Y:0.15, Z:-0.35 [[ 9.99954516e-01 -3.32765803e-03 -8.93830195e-03 3.46762905e+00] [ 3.34806678e-03 9.99991820e-01 2.26929940e-03 1.47130065e-01] [ 8.93067739e-03 -2.29912222e-03 9.99957478e-01 -3.50403208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.02654761499999 meters Centerline goodness [0,1] 0.7618655531376816 Centerline is valid? [False, False] Translation: X:3.47, Y:0.15, Z:-0.36 [[ 9.99934787e-01 -6.03102267e-03 -9.69783773e-03 3.47405579e+00] [ 6.03929399e-03 9.99981424e-01 8.23844960e-04 1.47864127e-01] [ 9.69268895e-03 -8.82359328e-04 9.99952635e-01 -3.55078477e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.056547614999985 meters Centerline goodness [0,1] 0.7782804100696179 Centerline is valid? [False, False] Translation: X:3.48, Y:0.15, Z:-0.36 [[ 9.99902268e-01 -8.75698379e-03 -1.08981123e-02 3.48116962e+00] [ 8.75203410e-03 9.99961574e-01 -5.01787876e-04 1.48145588e-01] [ 1.09020877e-02 4.06358185e-04 9.99940488e-01 -3.59186921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.086547614999986 meters Centerline goodness [0,1] 0.7868464632126804 Centerline is valid? [False, False] Translation: X:3.48, Y:0.15, Z:-0.36 [[ 0.99987289 -0.01205009 -0.01044036 3.47939935] [ 0.01201055 0.99992049 -0.0038419 0.14599876] [ 0.01048582 0.00371602 0.99993812 -0.35831882] [ 0. 0. 0. 1. ]] SLAMing on 63.11654761499999 meters Centerline goodness [0,1] 0.7845764478189667 Centerline is valid? [False, False] Translation: X:3.48, Y:0.14, Z:-0.35 [[ 9.99874502e-01 -1.15303025e-02 -1.08643131e-02 3.47882079e+00] [ 1.15143596e-02 9.99932539e-01 -1.52886006e-03 1.38349429e-01] [ 1.08812084e-02 1.40357258e-03 9.99939813e-01 -3.54714796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.14654761499999 meters Centerline goodness [0,1] 0.7980035756853396 Centerline is valid? [False, False] Translation: X:3.48, Y:0.14, Z:-0.36 [[ 9.99862229e-01 -1.21325744e-02 -1.13279972e-02 3.48106675e+00] [ 1.21182760e-02 9.99925686e-01 -1.33000624e-03 1.36806085e-01] [ 1.13432917e-02 1.19254720e-03 9.99934952e-01 -3.55581015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.17654761499999 meters Centerline goodness [0,1] 0.8116127116127116 Centerline is valid? [False, False] Translation: X:3.48, Y:0.14, Z:-0.36 [[ 9.99877845e-01 -1.00216944e-02 -1.19942184e-02 3.48460641e+00] [ 1.00565416e-02 9.99945374e-01 2.84855676e-03 1.36658693e-01] [ 1.19650158e-02 -2.96882915e-03 9.99924009e-01 -3.55695933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.20654761499999 meters Centerline goodness [0,1] 0.8164609541894137 Centerline is valid? [False, False] Translation: X:3.49, Y:0.14, Z:-0.36 [[ 9.99870916e-01 -1.04853783e-02 -1.21740892e-02 3.48570556e+00] [ 1.05146636e-02 9.99941972e-01 2.34402894e-03 1.38029493e-01] [ 1.21488047e-02 -2.47173282e-03 9.99923146e-01 -3.56655521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.23654761499999 meters Centerline goodness [0,1] 0.8269156433052838 Centerline is valid? [False, False] Translation: X:3.49, Y:0.14, Z:-0.36 [[ 9.99859095e-01 -1.10200763e-02 -1.26628998e-02 3.48760681e+00] [ 1.10558505e-02 9.99935077e-01 2.75860099e-03 1.35331698e-01] [ 1.26316777e-02 -2.89821142e-03 9.99916017e-01 -3.56821369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.266547614999986 meters Centerline goodness [0,1] 0.8190091001011123 Centerline is valid? [False, False] Translation: X:3.49, Y:0.13, Z:-0.36 [[ 9.99870410e-01 -1.02223382e-02 -1.24364852e-02 3.48587848e+00] [ 1.02625491e-02 9.99942302e-01 3.17379186e-03 1.34556576e-01] [ 1.24033240e-02 -3.30101061e-03 9.99917627e-01 -3.55700602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.29654761499999 meters Centerline goodness [0,1] 0.8233764681270733 Centerline is valid? [False, False] Translation: X:3.49, Y:0.13, Z:-0.35 [[ 0.99986734 -0.01002956 -0.01283392 3.48583355] [ 0.01009227 0.9999374 0.00483132 0.12972626] [ 0.01278466 -0.0049602 0.99990597 -0.35303702] [ 0. 0. 0. 1. ]] SLAMing on 63.32654761499999 meters Centerline goodness [0,1] 0.8343947140251742 Centerline is valid? [False, False] Translation: X:3.48, Y:0.13, Z:-0.35 [[ 9.99834666e-01 -1.32410430e-02 -1.24625980e-02 3.48361008e+00] [ 1.32669824e-02 9.99909988e-01 2.00101012e-03 1.28126303e-01] [ 1.24349807e-02 -2.16602036e-03 9.99920337e-01 -3.50816086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.35654761499999 meters Centerline goodness [0,1] 0.8370650845234191 Centerline is valid? [False, False] Translation: X:3.48, Y:0.13, Z:-0.35 [[ 9.99824243e-01 -1.37632056e-02 -1.27301416e-02 3.48486201e+00] [ 1.37883206e-02 9.99903156e-01 1.88720906e-03 1.29208854e-01] [ 1.27029347e-02 -2.06240465e-03 9.99917188e-01 -3.51192605e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.38654761499999 meters Centerline goodness [0,1] 0.834095634095634 Centerline is valid? [False, False] Translation: X:3.49, Y:0.13, Z:-0.35 [[ 0.99981324 -0.01346497 -0.01386305 3.49239169] [ 0.0135202 0.999901 0.00389759 0.13489858] [ 0.01380919 -0.00408429 0.99989631 -0.35498501] [ 0. 0. 0. 1. ]] SLAMing on 63.41654761499999 meters Centerline goodness [0,1] 0.8369115326206712 Centerline is valid? [False, False] Translation: X:3.49, Y:0.13, Z:-0.35 [[ 0.99980391 -0.01350793 -0.01448001 3.49324781] [ 0.01357443 0.99989772 0.00450437 0.13135743] [ 0.01441768 -0.00470005 0.99988501 -0.35371533] [ 0. 0. 0. 1. ]] SLAMing on 63.446547614999986 meters Centerline goodness [0,1] 0.8410904851582818 Centerline is valid? [False, False] Translation: X:3.49, Y:0.13, Z:-0.35 [[ 9.99821865e-01 -1.36120219e-02 -1.30748465e-02 3.48508648e+00] [ 1.36405579e-02 9.99904767e-01 2.09581606e-03 1.28553204e-01] [ 1.30450731e-02 -2.27379092e-03 9.99912324e-01 -3.50539925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.47654761499999 meters Centerline goodness [0,1] 0.8347154109080102 Centerline is valid? [False, False] Translation: X:3.48, Y:0.13, Z:-0.35 [[ 9.99845090e-01 -1.25429076e-02 -1.23479666e-02 3.48248197e+00] [ 1.25685081e-02 9.99919017e-01 1.99783986e-03 1.30423944e-01] [ 1.23219079e-02 -2.15272589e-03 9.99921765e-01 -3.50466832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.50654761499999 meters Centerline goodness [0,1] 0.833618502566523 Centerline is valid? [False, False] Translation: X:3.49, Y:0.14, Z:-0.35 [[ 9.99836544e-01 -1.17022808e-02 -1.37819252e-02 3.48984151e+00] [ 1.17506069e-02 9.99925074e-01 3.43074171e-03 1.35250968e-01] [ 1.37407450e-02 -3.59212692e-03 9.99899139e-01 -3.54751298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.53654761499999 meters Centerline goodness [0,1] 0.8301580268793384 Centerline is valid? [False, False] Translation: X:3.49, Y:0.14, Z:-0.36 [[ 9.99825008e-01 -1.22984352e-02 -1.40961806e-02 3.49203792e+00] [ 1.23304328e-02 9.99921589e-01 2.18528851e-03 1.36828411e-01] [ 1.40681997e-02 -2.35871811e-03 9.99898256e-01 -3.57374932e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.56654761499999 meters Centerline goodness [0,1] 0.8317128119997629 Centerline is valid? [False, False] Translation: X:3.49, Y:0.13, Z:-0.36 [[ 9.99823425e-01 -1.20423169e-02 -1.44257548e-02 3.49252648e+00] [ 1.20830840e-02 9.99923237e-01 2.74217655e-03 1.34157550e-01] [ 1.43916252e-02 -2.91599996e-03 9.99892183e-01 -3.56927368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.59654761499999 meters Centerline goodness [0,1] 0.833709265744643 Centerline is valid? [False, False] Translation: X:3.49, Y:0.14, Z:-0.36 [[ 9.99892925e-01 -1.46314236e-02 -2.46310325e-04 3.49444775e+00] [ 1.46308966e-02 9.99890921e-01 -2.02059609e-03 1.36055205e-01] [ 2.75847655e-04 2.01677600e-03 9.99997928e-01 -3.62688646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.626547614999986 meters Centerline goodness [0,1] 0.8271553888413031 Centerline is valid? [False, False] Translation: X:3.50, Y:0.14, Z:-0.36 [[ 9.99931169e-01 -1.16910444e-02 -9.88077604e-04 3.49696537e+00] [ 1.16924354e-02 9.99930641e-01 1.41401428e-03 1.38958953e-01] [ 9.71477769e-04 -1.42546999e-03 9.99998512e-01 -3.63179661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.65654761499999 meters Centerline goodness [0,1] 0.8253480329855467 Centerline is valid? [False, False] Translation: X:3.50, Y:0.14, Z:-0.36 [[ 9.99934482e-01 -1.13685597e-02 -1.33713545e-03 3.49702436e+00] [ 1.13701088e-02 9.99934689e-01 1.15672423e-03 1.39689056e-01] [ 1.32389783e-03 -1.17185182e-03 9.99998437e-01 -3.62828527e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.68654761499999 meters Centerline goodness [0,1] 0.8263751220522532 Centerline is valid? [False, False] Translation: X:3.50, Y:0.14, Z:-0.36 [[ 9.99934849e-01 -1.13154410e-02 -1.50302222e-03 3.49719666e+00] [ 1.13174932e-02 9.99935025e-01 1.36396581e-03 1.38787491e-01] [ 1.48749069e-03 -1.38088739e-03 9.99997940e-01 -3.62382782e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.71654761499999 meters Centerline goodness [0,1] 0.825626261427045 Centerline is valid? [False, False] Translation: X:3.50, Y:0.14, Z:-0.36 [[ 9.99943915e-01 -1.05155514e-02 -1.26129317e-03 3.49529864e+00] [ 1.05193684e-02 9.99939992e-01 3.05876022e-03 1.35448451e-01] [ 1.22905293e-03 -3.07185668e-03 9.99994527e-01 -3.59701954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.74654761499999 meters Centerline goodness [0,1] 0.8304112586110044 Centerline is valid? [False, False] Translation: X:3.50, Y:0.13, Z:-0.36 [[ 9.99959152e-01 -8.85866117e-03 -1.79390491e-03 3.49928552e+00] [ 8.87040512e-03 9.99938558e-01 6.64801446e-03 1.34659239e-01] [ 1.73490218e-03 -6.66365556e-03 9.99976293e-01 -3.61016504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.77654761499999 meters Centerline goodness [0,1] 0.8364125454491709 Centerline is valid? [False, False] Translation: X:3.50, Y:0.14, Z:-0.36 [[ 9.99947560e-01 -1.00109569e-02 -2.15822233e-03 3.50173500e+00] [ 1.00237228e-02 9.99931834e-01 5.98765500e-03 1.35946628e-01] [ 2.09813305e-03 -6.00897443e-03 9.99979745e-01 -3.62583816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.806547614999985 meters Centerline goodness [0,1] 0.8401903911944073 Centerline is valid? [False, False] Translation: X:3.50, Y:0.13, Z:-0.36 [[ 9.99911762e-01 -1.31596279e-02 -1.81469572e-03 3.49896789e+00] [ 1.31663040e-02 9.99906410e-01 3.71740828e-03 1.33363755e-01] [ 1.76560617e-03 -3.74097310e-03 9.99991444e-01 -3.58874408e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.836547614999986 meters Centerline goodness [0,1] 0.8416255789630958 Centerline is valid? [False, False] Translation: X:3.50, Y:0.13, Z:-0.36 [[ 9.99841060e-01 -1.76930571e-02 -2.19305562e-03 3.49922844e+00] [ 1.76929878e-02 9.99843466e-01 -5.09917196e-05 1.33794077e-01] [ 2.19361453e-03 1.21819086e-05 9.99997594e-01 -3.56939838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.86654761499999 meters Centerline goodness [0,1] 0.8390780418907955 Centerline is valid? [False, False] Translation: X:3.50, Y:0.13, Z:-0.36 [[ 9.99729966e-01 -2.30516879e-02 -2.93524855e-03 3.50188114e+00] [ 2.30379707e-02 9.99723896e-01 -4.62432616e-03 1.34029329e-01] [ 3.04103664e-03 4.55545526e-03 9.99985000e-01 -3.57145692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.89654761499999 meters Centerline goodness [0,1] 0.8331822028775239 Centerline is valid? [False, False] Translation: X:3.51, Y:0.14, Z:-0.36 [[ 0.99955946 -0.02944921 -0.00369176 3.50607882] [ 0.02941233 0.99952052 -0.00967679 0.13518011] [ 0.00397496 0.00956395 0.99994636 -0.35847024] [ 0. 0. 0. 1. ]] SLAMing on 63.92654761499999 meters Centerline goodness [0,1] 0.8129205515826318 Centerline is valid? [False, False] Translation: X:3.51, Y:0.14, Z:-0.36 [[ 0.99937171 -0.03504725 -0.00527921 3.51469821] [ 0.0349968 0.99934356 -0.0093631 0.1370261 ] [ 0.0056039 0.00917247 0.99994223 -0.35648961] [ 0. 0. 0. 1. ]] SLAMing on 63.95654761499999 meters Centerline goodness [0,1] 0.7733505743669935 Centerline is valid? [False, False] Translation: X:3.52, Y:0.14, Z:-0.36 [[ 0.99926603 -0.037852 -0.00588532 3.51820472] [ 0.03779339 0.99923782 -0.00976952 0.13829709] [ 0.00625063 0.00953992 0.99993496 -0.35597272] [ 0. 0. 0. 1. ]] SLAMing on 63.98654761499999 meters Centerline goodness [0,1] 0.7790213975759389 Centerline is valid? [False, False] Translation: X:3.52, Y:0.14, Z:-0.35 [[ 0.99925395 -0.03813305 -0.00611618 3.51744896] [ 0.0380711 0.99922556 -0.0099437 0.14073252] [ 0.00649063 0.00970343 0.99993186 -0.35371007] [ 0. 0. 0. 1. ]] SLAMing on 64.016547615 meters Centerline goodness [0,1] 0.7865506562453916 Centerline is valid? [False, False] Translation: X:3.52, Y:0.15, Z:-0.35 [[ 0.99937512 -0.03466622 -0.00690024 3.51755633] [ 0.03461486 0.99937312 -0.00742839 0.14872356] [ 0.00715343 0.00718489 0.9999486 -0.35229979] [ 0. 0. 0. 1. ]] SLAMing on 64.046547615 meters Centerline goodness [0,1] 0.8031181698965467 Centerline is valid? [False, False] Translation: X:3.52, Y:0.15, Z:-0.35 [[ 9.99587856e-01 -2.74678491e-02 -8.34473093e-03 3.51660510e+00] [ 2.74622374e-02 9.99622532e-01 -7.86352551e-04 1.54006360e-01] [ 8.36318048e-03 5.56863480e-04 9.99964873e-01 -3.48115276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.076547615 meters Centerline goodness [0,1] 0.8166446953630997 Centerline is valid? [False, False] Translation: X:3.52, Y:0.16, Z:-0.35 [[ 0.99976514 -0.01967588 -0.00908456 3.51640624] [ 0.01973383 0.99978521 0.00633342 0.15926348] [ 0.00895799 -0.00651121 0.99993868 -0.34632703] [ 0. 0. 0. 1. ]] SLAMing on 64.10654761499998 meters Centerline goodness [0,1] 0.8148981065023044 Centerline is valid? [False, False] Translation: X:3.53, Y:0.18, Z:-0.35 [[ 0.99989229 -0.00854192 -0.01193519 3.5267094 ] [ 0.00872382 0.99984531 0.01527224 0.17584315] [ 0.01180289 -0.01537472 0.99981214 -0.353629 ] [ 0. 0. 0. 1. ]] SLAMing on 64.13654761499998 meters Centerline goodness [0,1] 0.8148981065023044 Centerline is valid? [False, False] Translation: X:3.53, Y:0.18, Z:-0.35 [[ 0.99989229 -0.00854192 -0.01193519 3.5267094 ] [ 0.00872382 0.99984531 0.01527224 0.17584315] [ 0.01180289 -0.01537472 0.99981214 -0.353629 ] [ 0. 0. 0. 1. ]] SLAMing on 64.16654761499998 meters Centerline goodness [0,1] 0.8165654334621756 Centerline is valid? [False, False] Translation: X:3.53, Y:0.18, Z:-0.35 [[ 0.99989722 -0.00790814 -0.01195885 3.52565718] [ 0.00807203 0.9998733 0.01371934 0.18100247] [ 0.01184884 -0.01381446 0.99983437 -0.35419186] [ 0. 0. 0. 1. ]] SLAMing on 64.19654761499999 meters Centerline goodness [0,1] 0.8234544468546637 Centerline is valid? [False, False] Translation: X:3.51, Y:0.19, Z:-0.35 [[ 9.99993166e-01 1.08339815e-03 -3.53466126e-03 3.50571976e+00] [-1.05373614e-03 9.99964308e-01 8.38285169e-03 1.94834998e-01] [ 3.54361707e-03 -8.37906980e-03 9.99958616e-01 -3.51202942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.22654761499999 meters Centerline goodness [0,1] 0.8172534264982532 Centerline is valid? [False, False] Translation: X:3.50, Y:0.20, Z:-0.35 [[ 0.99997877 0.00521342 -0.00390961 3.50283268] [-0.00517069 0.99992765 0.0108609 0.20246726] [ 0.00396594 -0.01084045 0.99993338 -0.34758879] [ 0. 0. 0. 1. ]] SLAMing on 64.25654761499999 meters Centerline goodness [0,1] 0.8081446515721258 Centerline is valid? [False, False] Translation: X:3.51, Y:0.21, Z:-0.35 [[ 0.99995346 0.00845409 -0.0046475 3.50613712] [-0.00840811 0.99991638 0.00982511 0.2113245 ] [ 0.00473018 -0.00978558 0.99994093 -0.35478084] [ 0. 0. 0. 1. ]] SLAMing on 64.28654761499999 meters Centerline goodness [0,1] 0.8040288682686969 Centerline is valid? [False, False] Translation: X:3.51, Y:0.22, Z:-0.36 [[ 0.99991843 0.01185169 -0.00476188 3.50772707] [-0.01179733 0.99986672 0.01128576 0.21966504] [ 0.00489501 -0.01122867 0.99992498 -0.35789506] [ 0. 0. 0. 1. ]] SLAMing on 64.31654761499999 meters Centerline goodness [0,1] 0.784692153342486 Centerline is valid? [False, False] Translation: X:3.51, Y:0.23, Z:-0.36 [[ 0.99990502 0.01281635 -0.00506815 3.5070371 ] [-0.01276559 0.99986927 0.00992378 0.22620476] [ 0.00519468 -0.00985814 0.99993791 -0.35803328] [ 0. 0. 0. 1. ]] SLAMing on 64.34654761499999 meters Centerline goodness [0,1] 0.7650158061116965 Centerline is valid? [False, False] Translation: X:3.51, Y:0.23, Z:-0.36 [[ 0.99989146 0.01375276 -0.00528421 3.50570725] [-0.01370513 0.99986606 0.00894653 0.22930563] [ 0.00540654 -0.00887314 0.99994602 -0.35713631] [ 0. 0. 0. 1. ]] SLAMing on 64.37654761499999 meters Centerline goodness [0,1] 0.7339882018329296 Centerline is valid? [False, False] Translation: X:3.50, Y:0.23, Z:-0.36 [[ 0.9998721 0.01515674 -0.00510383 3.50358347] [-0.01511297 0.99984959 0.00850806 0.23061396] [ 0.00523202 -0.00842983 0.99995078 -0.35633328] [ 0. 0. 0. 1. ]] SLAMing on 64.406547615 meters Centerline goodness [0,1] 0.728339326491509 Centerline is valid? [False, False] Translation: X:3.50, Y:0.24, Z:-0.36 [[ 0.99986898 0.01528711 -0.00532163 3.5049949 ] [-0.01525296 0.99986319 0.00639965 0.23578752] [ 0.00541873 -0.00631764 0.99996536 -0.35979024] [ 0. 0. 0. 1. ]] SLAMing on 64.436547615 meters Centerline goodness [0,1] 0.7246834616890745 Centerline is valid? [False, False] Translation: X:3.51, Y:0.24, Z:-0.36 [[ 0.99982641 0.01765036 -0.00596862 3.50889866] [-0.01759684 0.99980551 0.00890468 0.24024029] [ 0.00612463 -0.00879811 0.99994254 -0.36253974] [ 0. 0. 0. 1. ]] SLAMing on 64.46654761499998 meters Centerline goodness [0,1] 0.7265057723449825 Centerline is valid? [False, False] Translation: X:3.51, Y:0.24, Z:-0.36 [[ 0.99983172 0.01713841 -0.00654286 3.51060576] [-0.01708299 0.9998185 0.00843494 0.24102938] [ 0.00668623 -0.00832175 0.99994302 -0.36324415] [ 0. 0. 0. 1. ]] SLAMing on 64.49654761499998 meters Centerline goodness [0,1] 0.7274210097077162 Centerline is valid? [False, False] Translation: X:3.51, Y:0.24, Z:-0.36 [[ 0.99988055 0.01400467 -0.00653884 3.50943956] [-0.01397591 0.99989255 0.00442317 0.24021661] [ 0.00660008 -0.00433126 0.99996884 -0.36283231] [ 0. 0. 0. 1. ]] SLAMing on 64.52654761499998 meters Centerline goodness [0,1] 0.7285507055255176 Centerline is valid? [False, False] Translation: X:3.51, Y:0.24, Z:-0.36 [[ 9.99917684e-01 1.07670060e-02 -6.97837854e-03 3.50903965e+00] [-1.07670796e-02 9.99942033e-01 2.70295846e-05 2.41093833e-01] [ 6.97826506e-03 4.81093976e-05 9.99975650e-01 -3.62402628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.55654761499999 meters Centerline goodness [0,1] 0.7148197877998052 Centerline is valid? [False, False] Translation: X:3.51, Y:0.24, Z:-0.36 [[ 9.99909189e-01 1.15457606e-02 -6.95053533e-03 3.50836709e+00] [-1.15474207e-02 9.99933307e-01 -1.98757930e-04 2.42001030e-01] [ 6.94777696e-03 2.79000636e-04 9.99975825e-01 -3.62491806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.58654761499999 meters Centerline goodness [0,1] 0.698544644027796 Centerline is valid? [False, False] Translation: X:3.51, Y:0.24, Z:-0.36 [[ 0.99983107 0.01725714 -0.00632645 3.50501065] [-0.01722392 0.99983778 0.00526857 0.24186055] [ 0.00641634 -0.00515872 0.99996611 -0.35968521] [ 0. 0. 0. 1. ]] SLAMing on 64.61654761499999 meters Centerline goodness [0,1] 0.6972281449893389 Centerline is valid? [False, False] Translation: X:3.50, Y:0.24, Z:-0.36 [[ 0.99980248 0.01887641 -0.00621918 3.50476519] [-0.01883904 0.99980444 0.00601378 0.24013342] [ 0.00633149 -0.00589542 0.99996258 -0.36099817] [ 0. 0. 0. 1. ]] SLAMing on 64.64654761499999 meters Centerline goodness [0,1] 0.6887997466483691 Centerline is valid? [False, False] Translation: X:3.51, Y:0.24, Z:-0.37 [[ 0.99981474 0.01806337 -0.00664766 3.50857138] [-0.01803218 0.99982625 0.00472345 0.24062253] [ 0.00673183 -0.0046027 0.99996675 -0.36548358] [ 0. 0. 0. 1. ]] SLAMing on 64.67654761499999 meters Centerline goodness [0,1] 0.6847794332456909 Centerline is valid? [False, False] Translation: X:3.51, Y:0.24, Z:-0.37 [[ 9.99861860e-01 1.53657881e-02 -6.33669940e-03 3.50698607e+00] [-1.53586837e-02 9.99881366e-01 1.16830207e-03 2.38918165e-01] [ 6.35389953e-03 -1.07081732e-03 9.99979240e-01 -3.65535679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.70654761499999 meters Centerline goodness [0,1] 0.6807381530174138 Centerline is valid? [False, False] Translation: X:3.51, Y:0.23, Z:-0.36 [[ 9.99866586e-01 1.62910056e-02 1.18842757e-03 3.51216394e+00] [-1.62835706e-02 9.99849301e-01 -6.01841236e-03 2.33411207e-01] [-1.28629447e-03 5.99825758e-03 9.99981183e-01 -3.61686753e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.73654761499999 meters Centerline goodness [0,1] 0.6885263468081116 Centerline is valid? [False, False] Translation: X:3.51, Y:0.23, Z:-0.36 [[ 9.99842580e-01 1.76980313e-02 1.26308950e-03 3.50974026e+00] [-1.76928732e-02 9.99835530e-01 -3.98428384e-03 2.25090077e-01] [-1.33339574e-03 3.96130895e-03 9.99991265e-01 -3.58952425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.766547615 meters Centerline goodness [0,1] 0.6762898768479515 Centerline is valid? [False, False] Translation: X:3.51, Y:0.22, Z:-0.36 [[ 9.99777897e-01 2.10424528e-02 1.17145845e-03 3.51193345e+00] [-2.10432390e-02 9.99778347e-01 6.62871337e-04 2.22595260e-01] [-1.15725035e-03 -6.87375391e-04 9.99999094e-01 -3.60374149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.796547615 meters Centerline goodness [0,1] 0.681759552856452 Centerline is valid? [False, False] Translation: X:3.51, Y:0.22, Z:-0.36 [[ 9.99793951e-01 2.02778396e-02 9.29784298e-04 3.51480588e+00] [-2.02784163e-02 9.99794183e-01 6.15108849e-04 2.21048406e-01] [-9.17119853e-04 -6.33836660e-04 9.99999379e-01 -3.63145262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.826547615 meters Centerline goodness [0,1] 0.6915692708192098 Centerline is valid? [False, False] Translation: X:3.52, Y:0.22, Z:-0.37 [[ 9.99870857e-01 1.60598281e-02 5.93152133e-04 3.51672971e+00] [-1.60578339e-02 9.99865860e-01 -3.22627098e-03 2.17444863e-01] [-6.44885925e-04 3.21632959e-03 9.99994620e-01 -3.65099127e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.85654761499998 meters Centerline goodness [0,1] 0.6896504642271983 Centerline is valid? [False, False] Translation: X:3.52, Y:0.21, Z:-0.36 [[ 9.99913474e-01 1.31375160e-02 6.71680550e-04 3.51524838e+00] [-1.31334981e-02 9.99897664e-01 -5.67212313e-03 2.11022603e-01] [-7.46129421e-04 5.66281082e-03 9.99983688e-01 -3.63628391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.88654761499998 meters Centerline goodness [0,1] 0.6926602986385595 Centerline is valid? [False, False] Translation: X:3.51, Y:0.21, Z:-0.36 [[ 9.99940339e-01 1.08589522e-02 1.18388226e-03 3.51222480e+00] [-1.08490307e-02 9.99908442e-01 -8.08735648e-03 2.06443367e-01] [-1.27159409e-03 8.07403000e-03 9.99966596e-01 -3.61772597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.91654761499998 meters Centerline goodness [0,1] 0.688405397961994 Centerline is valid? [False, False] Translation: X:3.51, Y:0.21, Z:-0.36 [[ 9.99934465e-01 1.13290577e-02 1.64860397e-03 3.51237569e+00] [-1.13153011e-02 9.99902951e-01 -8.12730060e-03 2.06005810e-01] [-1.74051864e-03 8.10811353e-03 9.99965614e-01 -3.63928301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.94654761499999 meters Centerline goodness [0,1] 0.6823367318820612 Centerline is valid? [False, False] Translation: X:3.51, Y:0.20, Z:-0.37 [[ 9.99892290e-01 1.46201411e-02 1.28799588e-03 3.51491373e+00] [-1.46155716e-02 9.99887102e-01 -3.48843399e-03 2.03935831e-01] [-1.33885186e-03 3.46923345e-03 9.99993086e-01 -3.65033766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.97654761499999 meters Centerline goodness [0,1] 0.691641282173099 Centerline is valid? [False, False] Translation: X:3.52, Y:0.20, Z:-0.37 [[ 9.99954874e-01 9.41410422e-03 1.27489277e-03 3.51591322e+00] [-9.40327585e-03 9.99921766e-01 -8.24869138e-03 1.95292123e-01] [-1.35244707e-03 8.23633098e-03 9.99965166e-01 -3.66911838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.00654761499999 meters Centerline goodness [0,1] 0.6936616738596937 Centerline is valid? [False, False] Translation: X:3.52, Y:0.19, Z:-0.37 [[ 9.99978319e-01 6.44953667e-03 1.32837528e-03 3.51524032e+00] [-6.43459058e-03 9.99919189e-01 -1.09640729e-02 1.90383797e-01] [-1.39898112e-03 1.09552877e-02 9.99939010e-01 -3.66594061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.03654761499999 meters Centerline goodness [0,1] 0.6922728559298047 Centerline is valid? [False, False] Translation: X:3.52, Y:0.19, Z:-0.37 [[ 9.99956391e-01 9.29904625e-03 8.62375596e-04 3.51864823e+00] [-9.29295282e-03 9.99933566e-01 -6.81943082e-03 1.86678168e-01] [-9.25732507e-04 6.81111942e-03 9.99976376e-01 -3.68615020e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.06654761499999 meters Centerline goodness [0,1] 0.6789385743819206 Centerline is valid? [False, False] Translation: X:3.52, Y:0.19, Z:-0.37 [[ 9.99955321e-01 9.39746430e-03 1.02135025e-03 3.51917696e+00] [-9.38991151e-03 9.99930252e-01 -7.16390111e-03 1.87320264e-01] [-1.08860152e-03 7.15399065e-03 9.99973817e-01 -3.70240637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.09654761499999 meters Centerline goodness [0,1] 0.6879638317836732 Centerline is valid? [False, False] Translation: X:3.52, Y:0.18, Z:-0.37 [[ 9.99970575e-01 7.66189829e-03 3.80321975e-04 3.52241974e+00] [-7.65951899e-03 9.99953223e-01 -5.90626389e-03 1.83819653e-01] [-4.25557378e-04 5.90317701e-03 9.99982486e-01 -3.69587906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.12654761499999 meters Centerline goodness [0,1] 0.6973623589034785 Centerline is valid? [False, False] Translation: X:3.52, Y:0.18, Z:-0.37 [[ 9.99991585e-01 4.09948417e-03 -1.55646850e-04 3.52221409e+00] [-4.10055008e-03 9.99962630e-01 -7.61081796e-03 1.77198829e-01] [ 1.24440605e-04 7.61139215e-03 9.99971025e-01 -3.66424642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.156547615 meters Centerline goodness [0,1] 0.7052707790327252 Centerline is valid? [False, False] Translation: X:3.52, Y:0.17, Z:-0.36 [[ 9.99992706e-01 3.68009453e-03 -1.02189254e-03 3.52362685e+00] [-3.68539203e-03 9.99979525e-01 -5.23144110e-03 1.70097215e-01] [ 1.00261942e-03 5.23516902e-03 9.99985794e-01 -3.63109216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.186547615 meters Centerline goodness [0,1] 0.7087378640776699 Centerline is valid? [False, False] Translation: X:3.52, Y:0.17, Z:-0.36 [[ 9.99992582e-01 3.76660578e-03 -8.05840168e-04 3.52374288e+00] [-3.77088048e-03 9.99978468e-01 -5.37057362e-03 1.71409029e-01] [ 7.85593984e-04 5.37357251e-03 9.99985254e-01 -3.64146256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.21654761499998 meters Centerline goodness [0,1] 0.7120221255509781 Centerline is valid? [False, False] Translation: X:3.53, Y:0.17, Z:-0.36 [[ 9.99996026e-01 2.29604003e-03 -1.63588510e-03 3.52722329e+00] [-2.30448203e-03 9.99983942e-01 -5.17745091e-03 1.70413288e-01] [ 1.62397119e-03 5.18120020e-03 9.99985259e-01 -3.64678817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.24654761499998 meters Centerline goodness [0,1] 0.7108270329543487 Centerline is valid? [False, False] Translation: X:3.53, Y:0.17, Z:-0.36 [[ 9.99996519e-01 1.50351078e-03 -2.16827435e-03 3.52925971e+00] [-1.51228186e-03 9.99990658e-01 -4.04923755e-03 1.66705456e-01] [ 2.16216603e-03 4.05250250e-03 9.99989451e-01 -3.64009147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.27654761499998 meters Centerline goodness [0,1] 0.7152970411465558 Centerline is valid? [False, False] Translation: X:3.53, Y:0.16, Z:-0.36 [[ 9.99995186e-01 1.41470208e-03 -2.76174742e-03 3.53041519e+00] [-1.42268971e-03 9.99994805e-01 -2.89242014e-03 1.63006778e-01] [ 2.75764116e-03 2.89633532e-03 9.99992003e-01 -3.62731104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.30654761499999 meters Centerline goodness [0,1] 0.7118742218490315 Centerline is valid? [False, False] Translation: X:3.53, Y:0.16, Z:-0.36 [[ 9.99993933e-01 2.16944628e-03 -2.72544797e-03 3.52955338e+00] [-2.17591041e-03 9.99994822e-01 -2.37104772e-03 1.61874136e-01] [ 2.72029000e-03 2.37696367e-03 9.99993475e-01 -3.62002986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.33654761499999 meters Centerline goodness [0,1] 0.7156185909471677 Centerline is valid? [False, False] Translation: X:3.53, Y:0.16, Z:-0.36 [[ 9.99993575e-01 1.82997213e-03 -3.08253640e-03 3.53072811e+00] [-1.83858509e-03 9.99994408e-01 -2.79360294e-03 1.62612713e-01] [ 3.07740694e-03 2.79925250e-03 9.99991347e-01 -3.62569340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.36654761499999 meters Centerline goodness [0,1] 0.7143147325962682 Centerline is valid? [False, False] Translation: X:3.53, Y:0.16, Z:-0.36 [[ 9.99993095e-01 1.50919542e-03 -3.39582821e-03 3.53170034e+00] [-1.51573230e-03 9.99997002e-01 -1.92322421e-03 1.59638054e-01] [ 3.39291550e-03 1.92835809e-03 9.99992385e-01 -3.61826446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.39654761499999 meters Centerline goodness [0,1] 0.7238100776320763 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.36 [[ 9.99991553e-01 -2.46616951e-04 -4.10291918e-03 3.53522610e+00] [ 2.40049351e-04 9.99998689e-01 -1.60112946e-03 1.57037170e-01] [ 4.10330867e-03 1.60013103e-03 9.99990301e-01 -3.62199614e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.42654761499999 meters Centerline goodness [0,1] 0.7375304489038395 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.36 [[ 9.99987303e-01 -1.74458751e-03 -4.72769021e-03 3.53847810e+00] [ 1.73474105e-03 9.99996320e-01 -2.08602143e-03 1.58181374e-01] [ 4.73131205e-03 2.07779362e-03 9.99986649e-01 -3.63476980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.45654761499999 meters Centerline goodness [0,1] 0.7458459760150267 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.37 [[ 9.99982975e-01 -2.77496331e-03 -5.13323790e-03 3.54074056e+00] [ 2.75437858e-03 9.99988155e-01 -4.01281856e-03 1.63140344e-01] [ 5.14431252e-03 3.99861136e-03 9.99978773e-01 -3.65922510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.48654761499999 meters Centerline goodness [0,1] 0.7290961187809326 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.36 [[ 9.99983122e-01 -2.16683943e-03 -5.39077780e-03 3.53981879e+00] [ 2.15265085e-03 9.99994208e-01 -2.63642171e-03 1.59990669e-01] [ 5.39645927e-03 2.62477275e-03 9.99981994e-01 -3.63333992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.516547615 meters Centerline goodness [0,1] 0.7364188031706396 Centerline is valid? [False, False] Translation: X:3.53, Y:0.15, Z:-0.35 [[ 9.99984672e-01 -3.29554970e-03 -4.44921087e-03 3.53306136e+00] [ 3.28822386e-03 9.99993228e-01 -1.65285933e-03 1.53414996e-01] [ 4.45462782e-03 1.63820400e-03 9.99988736e-01 -3.54595256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.546547615 meters Centerline goodness [0,1] 0.7368055956991734 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.36 [[ 9.99987376e-01 -8.53747707e-04 -4.95159087e-03 3.53619401e+00] [ 8.61409165e-04 9.99998435e-01 1.54534580e-03 1.56486340e-01] [ 4.95026378e-03 -1.54959164e-03 9.99986547e-01 -3.56080640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.57654761499998 meters Centerline goodness [0,1] 0.7404714504169192 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.36 [[ 9.99984954e-01 -1.52654838e-03 -5.26895676e-03 3.53888309e+00] [ 1.52640234e-03 9.99998835e-01 -3.17391139e-05 1.58879397e-01] [ 5.26899907e-03 2.36960884e-05 9.99986118e-01 -3.59742369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.60654761499998 meters Centerline goodness [0,1] 0.7255094666859373 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.36 [[ 9.99985504e-01 -1.20870925e-03 -5.24693279e-03 3.53940920e+00] [ 1.20544346e-03 9.99999078e-01 -6.25536221e-04 1.58294935e-01] [ 5.24768404e-03 6.19202272e-04 9.99986039e-01 -3.61620135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.63654761499998 meters Centerline goodness [0,1] 0.7140008669267447 Centerline is valid? [False, False] Translation: X:3.53, Y:0.16, Z:-0.36 [[ 9.99990013e-01 7.50342990e-04 -4.40568911e-03 3.53455133e+00] [-7.48865871e-04 9.99999663e-01 3.36915527e-04 1.58480698e-01] [ 4.40594042e-03 -3.33612893e-04 9.99990238e-01 -3.58596412e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.66654761499998 meters Centerline goodness [0,1] 0.7068348438492178 Centerline is valid? [False, False] Translation: X:3.53, Y:0.16, Z:-0.36 [[ 9.99990388e-01 1.33022224e-03 -4.17773997e-03 3.53330416e+00] [-1.32981088e-03 9.99999111e-01 1.01241699e-04 1.59320043e-01] [ 4.17787093e-03 -9.56851215e-05 9.99991268e-01 -3.58382911e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.69654761499999 meters Centerline goodness [0,1] 0.7129179682980447 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.36 [[ 9.99987141e-01 -1.25186320e-04 -5.06968401e-03 3.53787230e+00] [ 1.17623228e-04 9.99998880e-01 -1.49209773e-03 1.60719044e-01] [ 5.06986512e-03 1.49148223e-03 9.99986036e-01 -3.62021710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.72654761499999 meters Centerline goodness [0,1] 0.721916892029428 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.37 [[ 9.99977150e-01 -2.41311266e-03 -6.31475433e-03 3.54413762e+00] [ 2.38961895e-03 9.99990206e-01 -3.72535081e-03 1.63536066e-01] [ 6.32368217e-03 3.71017583e-03 9.99973122e-01 -3.66675349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.75654761499999 meters Centerline goodness [0,1] 0.7282580194038983 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.36 [[ 9.99977523e-01 -1.98710903e-03 -6.40353977e-03 3.54306545e+00] [ 1.97440484e-03 9.99996072e-01 -1.98964332e-03 1.60142952e-01] [ 6.40746825e-03 1.97695542e-03 9.99977518e-01 -3.63640886e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.78654761499999 meters Centerline goodness [0,1] 0.7328132760686008 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.36 [[ 9.99978241e-01 -1.64746032e-03 -6.38772280e-03 3.54238516e+00] [ 1.64013939e-03 9.99997992e-01 -1.15116401e-03 1.58491996e-01] [ 6.38960647e-03 1.14066221e-03 9.99978936e-01 -3.62342415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.81654761499999 meters Centerline goodness [0,1] 0.7293731291231945 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.36 [[ 9.99978677e-01 -1.56325643e-03 -6.34048569e-03 3.54198972e+00] [ 1.55495793e-03 9.99997928e-01 -1.31352942e-03 1.60761470e-01] [ 6.34252594e-03 1.30364222e-03 9.99979036e-01 -3.62026655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.84654761499999 meters Centerline goodness [0,1] 0.7312005563765974 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.36 [[ 9.99980981e-01 -1.17048405e-03 -6.05540107e-03 3.54106139e+00] [ 1.15980386e-03 9.99997766e-01 -1.76695795e-03 1.64893987e-01] [ 6.05745575e-03 1.75990127e-03 9.99980105e-01 -3.62284865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.87654761499999 meters Centerline goodness [0,1] 0.7260560313543329 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.36 [[ 9.99982518e-01 -2.39283897e-04 -5.90809925e-03 3.53886748e+00] [ 2.36204125e-04 9.99999836e-01 -5.21971863e-04 1.62509244e-01] [ 5.90822318e-03 5.20567221e-04 9.99982411e-01 -3.59450974e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.906547615 meters Centerline goodness [0,1] 0.7191659658382391 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.36 [[ 9.99982355e-01 1.01415184e-03 -5.85336531e-03 3.53596490e+00] [-1.00674206e-03 9.99998688e-01 1.26870810e-03 1.59201977e-01] [ 5.85464429e-03 -1.26279289e-03 9.99982064e-01 -3.55277845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.936547615 meters Centerline goodness [0,1] 0.7202772863068132 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.36 [[ 9.99981290e-01 6.57606145e-04 -6.08179041e-03 3.53720002e+00] [-6.53314333e-04 9.99999536e-01 7.07642068e-04 1.59406234e-01] [ 6.08225294e-03 -7.03655507e-04 9.99981255e-01 -3.56486421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.96654761499998 meters Centerline goodness [0,1] 0.7279169317984613 Centerline is valid? [False, False] Translation: X:3.54, Y:0.16, Z:-0.36 [[ 9.99976501e-01 -1.19076206e-03 -6.75124330e-03 3.54199642e+00] [ 1.18358597e-03 9.99998731e-01 -1.06682328e-03 1.62234615e-01] [ 6.75250506e-03 1.05880753e-03 9.99976641e-01 -3.60597510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.99654761499998 meters Centerline goodness [0,1] 0.7339296018465089 Centerline is valid? [False, False] Translation: X:3.55, Y:0.17, Z:-0.36 [[ 9.99969213e-01 -2.89971959e-03 -7.29137831e-03 3.54571163e+00] [ 2.87964786e-03 9.99992040e-01 -2.76179623e-03 1.67094309e-01] [ 7.29932871e-03 2.74071460e-03 9.99969604e-01 -3.63485284e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.02654761499998 meters Centerline goodness [0,1] 0.7296337979395724 Centerline is valid? [False, False] Translation: X:3.55, Y:0.17, Z:-0.36 [[ 9.99962929e-01 -3.24386428e-03 -7.97609065e-03 3.54719203e+00] [ 3.22037130e-03 9.99990444e-01 -2.95650638e-03 1.66993810e-01] [ 7.98560493e-03 2.93071080e-03 9.99963820e-01 -3.63295303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.05654761499999 meters Centerline goodness [0,1] 0.7296337979395724 Centerline is valid? [False, False] Translation: X:3.55, Y:0.17, Z:-0.36 [[ 9.99962929e-01 -3.24386428e-03 -7.97609065e-03 3.54719203e+00] [ 3.22037130e-03 9.99990444e-01 -2.95650638e-03 1.66993810e-01] [ 7.98560493e-03 2.93071080e-03 9.99963820e-01 -3.63295303e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.08654761499999 meters Centerline goodness [0,1] 0.7250194990900425 Centerline is valid? [False, False] Translation: X:3.55, Y:0.17, Z:-0.36 [[ 9.99965248e-01 -2.36533107e-03 -7.99423192e-03 3.54557524e+00] [ 2.34160356e-03 9.99992830e-01 -2.97613695e-03 1.67979009e-01] [ 8.00121415e-03 2.95731420e-03 9.99963617e-01 -3.61996048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.11654761499999 meters Centerline goodness [0,1] 0.7297749567224466 Centerline is valid? [False, False] Translation: X:3.55, Y:0.17, Z:-0.36 [[ 9.99963980e-01 -2.09108956e-03 -8.22598518e-03 3.54530516e+00] [ 2.06571739e-03 9.99993087e-01 -3.09168158e-03 1.68619586e-01] [ 8.23239330e-03 3.07457765e-03 9.99961387e-01 -3.61298967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.14654761499999 meters Centerline goodness [0,1] 0.7196687972109239 Centerline is valid? [False, False] Translation: X:3.55, Y:0.17, Z:-0.36 [[ 9.99963462e-01 -1.76768109e-03 -8.36365456e-03 3.54531867e+00] [ 1.75035922e-03 9.99996309e-01 -2.07795512e-03 1.65918069e-01] [ 8.36729685e-03 2.06323979e-03 9.99962865e-01 -3.60365354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.17654761499999 meters Centerline goodness [0,1] 0.7282827122925877 Centerline is valid? [False, False] Translation: X:3.55, Y:0.17, Z:-0.36 [[ 9.99958297e-01 4.06314838e-04 -9.12354467e-03 3.54935410e+00] [-3.90890137e-04 9.99998492e-01 1.69236732e-03 1.66983502e-01] [ 9.12421854e-03 -1.68873044e-03 9.99956947e-01 -3.61447679e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.20654761499999 meters Centerline goodness [0,1] 0.7298478704742185 Centerline is valid? [False, False] Translation: X:3.55, Y:0.17, Z:-0.36 [[ 9.99960501e-01 4.48119027e-04 -8.87673245e-03 3.54862508e+00] [-4.28900666e-04 9.99997560e-01 2.16681192e-03 1.67458738e-01] [ 8.87768178e-03 -2.16291909e-03 9.99958253e-01 -3.60581069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.23654761499999 meters Centerline goodness [0,1] 0.7196062014608655 Centerline is valid? [False, False] Translation: X:3.55, Y:0.16, Z:-0.36 [[ 9.99962884e-01 -2.13282884e-03 -8.34754065e-03 3.54537235e+00] [ 2.12724960e-03 9.99997508e-01 -6.77191246e-04 1.64388571e-01] [ 8.34896418e-03 6.59408809e-04 9.99964929e-01 -3.58340280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.266547615 meters Centerline goodness [0,1] 0.7262312541377622 Centerline is valid? [False, False] Translation: X:3.55, Y:0.16, Z:-0.36 [[ 9.99960998e-01 -2.04904520e-03 -8.59091126e-03 3.54520105e+00] [ 2.04717057e-03 9.99997879e-01 -2.26998721e-04 1.63889517e-01] [ 8.59135817e-03 2.09402807e-04 9.99963072e-01 -3.56963334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.296547615 meters Centerline goodness [0,1] 0.7358708189158016 Centerline is valid? [False, False] Translation: X:3.55, Y:0.17, Z:-0.36 [[ 9.99959214e-01 -2.72426540e-03 -8.61101456e-03 3.54731167e+00] [ 2.70563206e-03 9.99993975e-01 -2.17480433e-03 1.67814621e-01] [ 8.61688742e-03 2.15141739e-03 9.99960560e-01 -3.60852688e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.32654761499998 meters Centerline goodness [0,1] 0.7293116337914773 Centerline is valid? [False, False] Translation: X:3.55, Y:0.17, Z:-0.37 [[ 9.99953395e-01 -2.09230305e-03 -9.42497606e-03 3.55356975e+00] [ 2.08753682e-03 9.99997688e-01 -5.15510459e-04 1.69626222e-01] [ 9.42603288e-03 4.95811449e-04 9.99955451e-01 -3.65037691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.35654761499998 meters Centerline goodness [0,1] 0.7348421507856422 Centerline is valid? [False, False] Translation: X:3.56, Y:0.17, Z:-0.37 [[ 9.99944382e-01 -2.89803132e-03 -1.01406796e-02 3.55598490e+00] [ 2.89300722e-03 9.99995685e-01 -5.10073589e-04 1.67344567e-01] [ 1.01421141e-02 4.80708161e-04 9.99948452e-01 -3.65382148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.38654761499998 meters Centerline goodness [0,1] 0.7417187861941164 Centerline is valid? [False, False] Translation: X:3.56, Y:0.16, Z:-0.36 [[ 9.99947510e-01 -2.25107853e-03 -9.99550842e-03 3.55517792e+00] [ 2.25630503e-03 9.99997324e-01 5.11639220e-04 1.64031166e-01] [ 9.99432993e-03 -5.34165280e-04 9.99949913e-01 -3.64586967e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.41654761499998 meters Centerline goodness [0,1] 0.7148027922208497 Centerline is valid? [False, False] Translation: X:3.56, Y:0.17, Z:-0.36 [[ 9.99946287e-01 9.93285346e-04 -1.03167834e-02 3.55670599e+00] [-9.47680094e-04 9.99989763e-01 4.42443972e-03 1.65735800e-01] [ 1.03210726e-02 -4.41442506e-03 9.99936992e-01 -3.64636349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.44654761499999 meters Centerline goodness [0,1] 0.7278477373354033 Centerline is valid? [False, False] Translation: X:3.56, Y:0.17, Z:-0.36 [[ 9.99948389e-01 1.50738696e-03 -1.00472633e-02 3.55560562e+00] [-1.46452609e-03 9.99989803e-01 4.27191802e-03 1.66324528e-01] [ 1.00536003e-02 -4.25698307e-03 9.99940400e-01 -3.64636425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.47654761499999 meters Centerline goodness [0,1] 0.7305744465345102 Centerline is valid? [False, False] Translation: X:3.55, Y:0.16, Z:-0.36 [[ 9.99953383e-01 -7.00003571e-04 -9.63024269e-03 3.55191812e+00] [ 7.18079891e-04 9.99997987e-01 1.87370720e-03 1.60824720e-01] [ 9.62891170e-03 -1.88053514e-03 9.99951873e-01 -3.61691261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.50654761499999 meters Centerline goodness [0,1] 0.7304820880838012 Centerline is valid? [False, False] Translation: X:3.55, Y:0.16, Z:-0.36 [[ 9.99952566e-01 -1.07200142e-03 -9.68068490e-03 3.55237575e+00] [ 1.08916884e-03 9.99997843e-01 1.76827054e-03 1.61246612e-01] [ 9.67876843e-03 -1.77873056e-03 9.99951578e-01 -3.61794115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.53654761499999 meters Centerline goodness [0,1] 0.7439845171726509 Centerline is valid? [False, False] Translation: X:3.55, Y:0.16, Z:-0.36 [[ 9.99950395e-01 -1.88222131e-03 -9.78087105e-03 3.55330059e+00] [ 1.89757753e-03 9.99996981e-01 1.56098220e-03 1.63181338e-01] [ 9.77790341e-03 -1.57946473e-03 9.99950948e-01 -3.61873616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.56654761499999 meters Centerline goodness [0,1] 0.7471742838146446 Centerline is valid? [False, False] Translation: X:3.56, Y:0.16, Z:-0.36 [[ 9.99939697e-01 -2.78155927e-03 -1.06238153e-02 3.55565206e+00] [ 2.80143466e-03 9.99994353e-01 1.85641091e-03 1.61637138e-01] [ 1.06185916e-02 -1.88606089e-03 9.99941842e-01 -3.61267353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.59654761499999 meters Centerline goodness [0,1] 0.7597378114214449 Centerline is valid? [False, False] Translation: X:3.56, Y:0.16, Z:-0.36 [[ 9.99930759e-01 -3.77647619e-03 -1.11451683e-02 3.55860426e+00] [ 3.79176833e-03 9.99991898e-01 1.35127480e-03 1.59522467e-01] [ 1.11399749e-02 -1.39344113e-03 9.99936978e-01 -3.63156236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.62654761499999 meters Centerline goodness [0,1] 0.7565546315546315 Centerline is valid? [False, False] Translation: X:3.56, Y:0.16, Z:-0.37 [[ 9.99935387e-01 -3.71998638e-03 -1.07416827e-02 3.55866929e+00] [ 3.72627532e-03 9.99992898e-01 5.65516433e-04 1.60817116e-01] [ 1.07395027e-02 -6.05506360e-04 9.99942147e-01 -3.65285790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.656547615 meters Centerline goodness [0,1] 0.7479547885410343 Centerline is valid? [False, False] Translation: X:3.56, Y:0.16, Z:-0.36 [[ 9.99942450e-01 -2.80296993e-03 -1.03556881e-02 3.55633652e+00] [ 2.81558259e-03 9.99995312e-01 1.20356679e-03 1.60695606e-01] [ 1.03522660e-02 -1.23265482e-03 9.99945654e-01 -3.63621778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.686547615 meters Centerline goodness [0,1] 0.7414002428166735 Centerline is valid? [False, False] Translation: X:3.56, Y:0.16, Z:-0.36 [[ 9.99935433e-01 -3.36159505e-03 -1.08549316e-02 3.55792743e+00] [ 3.37978961e-03 9.99992914e-01 1.65824670e-03 1.56213688e-01] [ 1.08492803e-02 -1.69482702e-03 9.99939709e-01 -3.63246293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.71654761499998 meters Centerline goodness [0,1] 0.7581995611502483 Centerline is valid? [False, False] Translation: X:3.56, Y:0.16, Z:-0.37 [[ 9.99921896e-01 -5.07888251e-03 -1.14195869e-02 3.56280298e+00] [ 5.07466260e-03 9.99987044e-01 -3.98478903e-04 1.60678624e-01] [ 1.14214628e-02 3.40497230e-04 9.99934715e-01 -3.67976509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.74654761499998 meters Centerline goodness [0,1] 0.7580891462817299 Centerline is valid? [False, False] Translation: X:3.57, Y:0.16, Z:-0.37 [[ 9.99915042e-01 -3.92955287e-03 -1.24284723e-02 3.56884052e+00] [ 3.95272915e-03 9.99990494e-01 1.84075886e-03 1.62566305e-01] [ 1.24211208e-02 -1.88972886e-03 9.99921069e-01 -3.71259796e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.77654761499998 meters Centerline goodness [0,1] 0.7515713251267198 Centerline is valid? [False, False] Translation: X:3.57, Y:0.16, Z:-0.37 [[ 9.99911256e-01 -3.86257306e-03 -1.27499569e-02 3.56946899e+00] [ 3.88632465e-03 9.99990758e-01 1.83862575e-03 1.61509396e-01] [ 1.27427373e-02 -1.88801306e-03 9.99917026e-01 -3.71347382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.80654761499999 meters Centerline goodness [0,1] 0.7432451957809565 Centerline is valid? [False, False] Translation: X:3.57, Y:0.16, Z:-0.37 [[ 9.99909444e-01 -3.82211836e-03 -1.29033369e-02 3.56969029e+00] [ 3.83711951e-03 9.99991991e-01 1.13802271e-03 1.63059487e-01] [ 1.28988838e-02 -1.18743130e-03 9.99916101e-01 -3.71867305e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.83654761499999 meters Centerline goodness [0,1] 0.7435333603379435 Centerline is valid? [False, False] Translation: X:3.57, Y:0.16, Z:-0.37 [[ 9.99917625e-01 -2.74988805e-03 -1.25371599e-02 3.56666089e+00] [ 2.78910246e-03 9.99991270e-01 3.11144339e-03 1.60244744e-01] [ 1.25284943e-02 -3.14615451e-03 9.99916566e-01 -3.67835398e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.86654761499999 meters Centerline goodness [0,1] 0.7359197555773332 Centerline is valid? [False, False] Translation: X:3.57, Y:0.16, Z:-0.37 [[ 9.99916812e-01 -2.67857417e-03 -1.26172076e-02 3.56621100e+00] [ 2.72576908e-03 9.99989348e-01 3.72480863e-03 1.59618315e-01] [ 1.26070960e-02 -3.75889037e-03 9.99913462e-01 -3.66352124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.89654761499999 meters Centerline goodness [0,1] 0.7509155396637734 Centerline is valid? [False, False] Translation: X:3.57, Y:0.16, Z:-0.37 [[ 9.99915359e-01 -2.85119275e-03 -1.26943012e-02 3.56650629e+00] [ 2.89927887e-03 9.99988686e-01 3.77121818e-03 1.60058052e-01] [ 1.26834051e-02 -3.80770330e-03 9.99912312e-01 -3.66240620e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.92654761499999 meters Centerline goodness [0,1] 0.7423374971084895 Centerline is valid? [False, False] Translation: X:3.57, Y:0.16, Z:-0.37 [[ 9.99912581e-01 -2.99815204e-03 -1.28779325e-02 3.56686606e+00] [ 3.05459713e-03 9.99985805e-01 4.36565549e-03 1.58916747e-01] [ 1.28646608e-02 -4.40461074e-03 9.99907546e-01 -3.65380367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.95654761499999 meters Centerline goodness [0,1] 0.7507595266340673 Centerline is valid? [False, False] Translation: X:3.57, Y:0.16, Z:-0.36 [[ 9.99905741e-01 -3.49764700e-03 -1.32768543e-02 3.56733183e+00] [ 3.55827702e-03 9.99983337e-01 4.54572308e-03 1.59599837e-01] [ 1.32607338e-02 -4.59253734e-03 9.99901526e-01 -3.63986847e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.98654761499999 meters Centerline goodness [0,1] 0.7720426370061406 Centerline is valid? [False, False] Translation: X:3.57, Y:0.16, Z:-0.36 [[ 9.99884446e-01 -7.58297097e-03 -1.31754785e-02 3.56640744e+00] [ 7.58637701e-03 9.99971201e-01 2.08552365e-04 1.60811716e-01] [ 1.31735177e-02 -3.08482413e-04 9.99913178e-01 -3.63162715e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.016547615 meters Centerline goodness [0,1] 0.7705554911283776 Centerline is valid? [False, False] Translation: X:3.57, Y:0.16, Z:-0.37 [[ 9.99865322e-01 -8.67007920e-03 -1.39344077e-02 3.56995677e+00] [ 8.65558909e-03 9.99961935e-01 -1.09985235e-03 1.61498573e-01] [ 1.39434131e-02 9.79093721e-04 9.99902307e-01 -3.65870650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.046547615 meters Centerline goodness [0,1] 0.7580742746837996 Centerline is valid? [False, False] Translation: X:3.57, Y:0.17, Z:-0.37 [[ 9.99886012e-01 -5.52459997e-03 -1.40514072e-02 3.57228355e+00] [ 5.53400312e-03 9.99984489e-01 6.30402325e-04 1.68653188e-01] [ 1.40477065e-02 -7.08090998e-04 9.99901075e-01 -3.69771472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.07654761499998 meters Centerline goodness [0,1] 0.7431506849315068 Centerline is valid? [False, False] Translation: X:3.57, Y:0.17, Z:-0.37 [[ 9.99889906e-01 -5.07558999e-03 -1.39432530e-02 3.57150933e+00] [ 5.08544517e-03 9.99986844e-01 6.71441587e-04 1.68590283e-01] [ 1.39396616e-02 -7.42275314e-04 9.99902563e-01 -3.69490262e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.10654761499998 meters Centerline goodness [0,1] 0.7337946208853248 Centerline is valid? [False, False] Translation: X:3.57, Y:0.16, Z:-0.37 [[ 9.99912721e-01 -2.17130932e-03 -1.30321338e-02 3.56585585e+00] [ 2.20941368e-03 9.99993325e-01 2.91019234e-03 1.64171945e-01] [ 1.30257279e-02 -2.93873172e-03 9.99910843e-01 -3.65902345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.13654761499998 meters Centerline goodness [0,1] 0.7221323784220861 Centerline is valid? [False, False] Translation: X:3.57, Y:0.17, Z:-0.37 [[ 9.99913401e-01 1.44894179e-03 -1.30801493e-02 3.56680607e+00] [-1.36947211e-03 9.99980564e-01 6.08250832e-03 1.67569443e-01] [ 1.30887083e-02 -6.06406868e-03 9.99895951e-01 -3.67144830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.16654761499998 meters Centerline goodness [0,1] 0.7180027115123893 Centerline is valid? [False, False] Translation: X:3.56, Y:0.17, Z:-0.37 [[ 9.99916957e-01 2.25220684e-03 -1.26888170e-02 3.56453907e+00] [-2.17000903e-03 9.99976598e-01 6.48802082e-03 1.67940135e-01] [ 1.27031324e-02 -6.45994719e-03 9.99898445e-01 -3.65589205e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.19654761499999 meters Centerline goodness [0,1] 0.7132240247534773 Centerline is valid? [False, False] Translation: X:3.57, Y:0.17, Z:-0.37 [[ 9.99910472e-01 1.67306947e-03 -1.32759096e-02 3.56629850e+00] [-1.59122397e-03 9.99979680e-01 6.17313385e-03 1.67309399e-01] [ 1.32859679e-02 -6.15145623e-03 9.99892816e-01 -3.65994582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.22654761499999 meters Centerline goodness [0,1] 0.7186449518952127 Centerline is valid? [False, False] Translation: X:3.57, Y:0.17, Z:-0.37 [[ 9.99914489e-01 -1.47084370e-03 -1.29942894e-02 3.56521623e+00] [ 1.48932258e-03 9.99997893e-01 1.41251441e-03 1.69268718e-01] [ 1.29921844e-02 -1.43174631e-03 9.99914573e-01 -3.67352603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.25654761499999 meters Centerline goodness [0,1] 0.7221981950811637 Centerline is valid? [False, False] Translation: X:3.56, Y:0.17, Z:-0.37 [[ 9.99917488e-01 -1.20231290e-03 -1.27894864e-02 3.56441940e+00] [ 1.21770424e-03 9.99998544e-01 1.19571813e-03 1.70883436e-01] [ 1.27880302e-02 -1.21119329e-03 9.99917496e-01 -3.67315259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.28654761499999 meters Centerline goodness [0,1] 0.7091328812581157 Centerline is valid? [False, False] Translation: X:3.56, Y:0.17, Z:-0.37 [[ 9.99920509e-01 -9.73982426e-04 -1.25709081e-02 3.56380124e+00] [ 9.78216705e-04 9.99999467e-01 3.30687196e-04 1.74859444e-01] [ 1.25705793e-02 -3.42957981e-04 9.99920928e-01 -3.68124340e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.31654761499999 meters Centerline goodness [0,1] 0.7078615896916172 Centerline is valid? [False, False] Translation: X:3.56, Y:0.17, Z:-0.37 [[ 9.99922080e-01 -4.36439356e-04 -1.24757409e-02 3.56277329e+00] [ 4.54489103e-04 9.99998854e-01 1.44398901e-03 1.70792951e-01] [ 1.24750964e-02 -1.44954658e-03 9.99921132e-01 -3.66600272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.34654761499999 meters Centerline goodness [0,1] 0.7067922571724853 Centerline is valid? [False, False] Translation: X:3.56, Y:0.17, Z:-0.37 [[ 9.99918821e-01 -1.40039649e-03 -1.26644967e-02 3.56496865e+00] [ 1.40547278e-03 9.99998936e-01 3.91936998e-04 1.73428079e-01] [ 1.26639344e-02 -4.09704786e-04 9.99919725e-01 -3.68901927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.37654761499999 meters Centerline goodness [0,1] 0.7025330964525187 Centerline is valid? [False, False] Translation: X:3.57, Y:0.18, Z:-0.37 [[ 9.99921481e-01 -1.61249979e-03 -1.24270501e-02 3.56547953e+00] [ 1.60491558e-03 9.99998520e-01 -6.20246982e-04 1.76959072e-01] [ 1.24280319e-02 6.00253915e-04 9.99922589e-01 -3.70913201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.406547615 meters Centerline goodness [0,1] 0.7024722198294426 Centerline is valid? [False, False] Translation: X:3.56, Y:0.18, Z:-0.37 [[ 9.99926683e-01 -6.52626592e-04 -1.20913999e-02 3.56325946e+00] [ 6.55336686e-04 9.99999761e-01 2.20173191e-04 1.75691684e-01] [ 1.20912533e-02 -2.28080987e-04 9.99926872e-01 -3.69038849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.436547615 meters Centerline goodness [0,1] 0.7071014409552787 Centerline is valid? [False, False] Translation: X:3.57, Y:0.18, Z:-0.37 [[ 9.99979803e-01 -2.89284718e-04 -6.34906246e-03 3.57368931e+00] [ 2.21181702e-04 9.99942466e-01 -1.07245503e-02 1.77445277e-01] [ 6.35179962e-03 1.07229294e-02 9.99922334e-01 -3.71836230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.46654761499998 meters Centerline goodness [0,1] 0.7047525382546065 Centerline is valid? [False, False] Translation: X:3.57, Y:0.18, Z:-0.37 [[ 9.99981187e-01 7.15952988e-04 -6.09197267e-03 3.57203804e+00] [-7.75367015e-04 9.99952108e-01 -9.75607281e-03 1.75603440e-01] [ 6.08469603e-03 9.76061279e-03 9.99933851e-01 -3.70589612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.49654761499998 meters Centerline goodness [0,1] 0.7045827220160525 Centerline is valid? [False, False] Translation: X:3.58, Y:0.18, Z:-0.37 [[ 9.99971362e-01 1.52681914e-03 -7.41239880e-03 3.57972585e+00] [-1.58150541e-03 9.99971536e-01 -7.37742797e-03 1.77971674e-01] [ 7.40092381e-03 7.38893944e-03 9.99945313e-01 -3.74828334e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.52654761499998 meters Centerline goodness [0,1] 0.7057313450056246 Centerline is valid? [False, False] Translation: X:3.58, Y:0.18, Z:-0.38 [[ 9.99966871e-01 2.84168526e-04 -8.13486768e-03 3.58346161e+00] [-3.45493078e-04 9.99971529e-01 -7.53806944e-03 1.76607401e-01] [ 8.13249399e-03 7.54063025e-03 9.99938499e-01 -3.76753880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.55654761499999 meters Centerline goodness [0,1] 0.7090123528388331 Centerline is valid? [False, False] Translation: X:3.58, Y:0.17, Z:-0.38 [[ 9.99965102e-01 2.22190236e-04 -8.35135278e-03 3.58389264e+00] [-2.74979432e-04 9.99979988e-01 -6.32041870e-03 1.72958845e-01] [ 8.34978132e-03 6.32249458e-03 9.99945152e-01 -3.75539137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.58654761499999 meters Centerline goodness [0,1] 0.7083333333333333 Centerline is valid? [False, False] Translation: X:3.58, Y:0.17, Z:-0.37 [[ 9.99967983e-01 1.04857967e-03 -7.93302254e-03 3.58184502e+00] [-1.09010212e-03 9.99985721e-01 -5.23161494e-03 1.72227129e-01] [ 7.92742350e-03 5.24009524e-03 9.99954848e-01 -3.73671023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.61654761499999 meters Centerline goodness [0,1] 0.699421965317919 Centerline is valid? [False, False] Translation: X:3.58, Y:0.17, Z:-0.37 [[ 9.99969165e-01 2.14502539e-03 -7.55433750e-03 3.57950741e+00] [-2.18220658e-03 9.99985530e-01 -4.91703518e-03 1.73614471e-01] [ 7.54368102e-03 4.93336869e-03 9.99959377e-01 -3.72396147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.64654761499999 meters Centerline goodness [0,1] 0.7062745668947445 Centerline is valid? [False, False] Translation: X:3.58, Y:0.17, Z:-0.37 [[ 9.99964874e-01 1.66567437e-03 -8.21437451e-03 3.58209606e+00] [-1.71123312e-03 9.99983177e-01 -5.54231695e-03 1.72432218e-01] [ 8.20500463e-03 5.55617898e-03 9.99950902e-01 -3.74265566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.67654761499999 meters Centerline goodness [0,1] 0.7063212193629237 Centerline is valid? [False, False] Translation: X:3.59, Y:0.17, Z:-0.38 [[ 9.99962562e-01 6.94244468e-04 -8.62514886e-03 3.58562032e+00] [-7.56736050e-04 9.99973475e-01 -7.24412612e-03 1.74114613e-01] [ 8.61989088e-03 7.25038187e-03 9.99936563e-01 -3.78566861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.70654761499999 meters Centerline goodness [0,1] 0.6989869753979739 Centerline is valid? [False, False] Translation: X:3.59, Y:0.18, Z:-0.38 [[ 9.99950769e-01 3.39603729e-03 -9.32345105e-03 3.58856437e+00] [-3.43181543e-03 9.99986799e-01 -3.82412205e-03 1.76705426e-01] [ 9.31034111e-03 3.85593015e-03 9.99949223e-01 -3.79340636e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.73654761499999 meters Centerline goodness [0,1] 0.6972210941579161 Centerline is valid? [False, False] Translation: X:3.59, Y:0.18, Z:-0.38 [[ 9.99950898e-01 3.28513811e-03 -9.34932858e-03 3.58879108e+00] [-3.32162247e-03 9.99986919e-01 -3.88950131e-03 1.76786920e-01] [ 9.33642873e-03 3.92036526e-03 9.99948730e-01 -3.79491721e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.766547615 meters Centerline goodness [0,1] 0.6997043992349157 Centerline is valid? [False, False] Translation: X:3.59, Y:0.17, Z:-0.38 [[ 9.99945629e-01 2.71117173e-03 -1.00692137e-02 3.59033844e+00] [-2.74140611e-03 9.99991772e-01 -2.99006762e-03 1.74177308e-01] [ 1.00610242e-02 3.01750885e-03 9.99944834e-01 -3.77937214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.796547615 meters Centerline goodness [0,1] 0.7045421479908052 Centerline is valid? [False, False] Translation: X:3.59, Y:0.17, Z:-0.38 [[ 9.99939962e-01 1.71024683e-03 -1.08235008e-02 3.59291083e+00] [-1.74675436e-03 9.99992815e-01 -3.36443326e-03 1.74727962e-01] [ 1.08176690e-02 3.38313726e-03 9.99935764e-01 -3.78484335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.82654761499998 meters Centerline goodness [0,1] 0.7052041586803741 Centerline is valid? [False, False] Translation: X:3.59, Y:0.17, Z:-0.38 [[ 9.99937257e-01 1.30184881e-03 -1.11260024e-02 3.59434224e+00] [-1.33986126e-03 9.99993289e-01 -3.40977059e-03 1.74332317e-01] [ 1.11214888e-02 3.42446395e-03 9.99932290e-01 -3.79173595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.85654761499998 meters Centerline goodness [0,1] 0.7140212328965259 Centerline is valid? [False, False] Translation: X:3.60, Y:0.17, Z:-0.38 [[ 9.99932699e-01 6.02898402e-04 -1.15859253e-02 3.59579814e+00] [-6.38947210e-04 9.99994966e-01 -3.10798141e-03 1.74139996e-01] [ 1.15839932e-02 3.11517504e-03 9.99928051e-01 -3.78643958e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.88654761499998 meters Centerline goodness [0,1] 0.7125108601216333 Centerline is valid? [False, False] Translation: X:3.59, Y:0.17, Z:-0.38 [[ 9.99934311e-01 1.19187352e-03 -1.13996756e-02 3.59424762e+00] [-1.20998224e-03 9.99998017e-01 -1.58176450e-03 1.70551539e-01] [ 1.13977677e-02 1.59545401e-03 9.99933771e-01 -3.76171368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.91654761499998 meters Centerline goodness [0,1] 0.7151216685979143 Centerline is valid? [False, False] Translation: X:3.59, Y:0.17, Z:-0.38 [[ 9.99933872e-01 1.31858895e-03 -1.14242651e-02 3.59388971e+00] [-1.33017468e-03 9.99998609e-01 -1.00659522e-03 1.69456747e-01] [ 1.14229219e-02 1.02172492e-03 9.99934234e-01 -3.75173220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.94654761499999 meters Centerline goodness [0,1] 0.7151216685979143 Centerline is valid? [False, False] Translation: X:3.59, Y:0.17, Z:-0.38 [[ 9.99933872e-01 1.31858895e-03 -1.14242651e-02 3.59388971e+00] [-1.33017468e-03 9.99998609e-01 -1.00659522e-03 1.69456747e-01] [ 1.14229219e-02 1.02172492e-03 9.99934234e-01 -3.75173220e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.97654761499999 meters Centerline goodness [0,1] 0.7204668539488546 Centerline is valid? [False, False] Translation: X:3.60, Y:0.17, Z:-0.38 [[ 9.99931154e-01 8.30671905e-04 -1.17046178e-02 3.59539443e+00] [-8.50858836e-04 9.99998159e-01 -1.71982393e-03 1.71137968e-01] [ 1.17031676e-02 1.72966451e-03 9.99930020e-01 -3.76517064e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.00654761499999 meters Centerline goodness [0,1] 0.7154391833439069 Centerline is valid? [False, False] Translation: X:3.60, Y:0.17, Z:-0.38 [[ 9.99931429e-01 1.00706471e-03 -1.16672072e-02 3.59523298e+00] [-1.02413998e-03 9.99998413e-01 -1.45764443e-03 1.71238024e-01] [ 1.16657208e-02 1.46949333e-03 9.99930873e-01 -3.76274617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.03654761499999 meters Centerline goodness [0,1] 0.7128422143535711 Centerline is valid? [False, False] Translation: X:3.59, Y:0.17, Z:-0.38 [[ 9.99934248e-01 1.36435368e-03 -1.13859020e-02 3.59439507e+00] [-1.38590496e-03 9.99997263e-01 -1.88512894e-03 1.73595524e-01] [ 1.13832988e-02 1.90078476e-03 9.99933402e-01 -3.76629836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.06654761499999 meters Centerline goodness [0,1] 0.7130627136660059 Centerline is valid? [False, False] Translation: X:3.59, Y:0.17, Z:-0.37 [[ 9.99936399e-01 2.34781097e-03 -1.10311556e-02 3.59182239e+00] [-2.35423100e-03 9.99997067e-01 -5.69041215e-04 1.71924158e-01] [ 1.10297872e-02 5.94974912e-04 9.99938993e-01 -3.73784232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.09654761499999 meters Centerline goodness [0,1] 0.7124001488819538 Centerline is valid? [False, False] Translation: X:3.59, Y:0.17, Z:-0.37 [[ 9.99937886e-01 2.77609336e-03 -1.07943552e-02 3.59072745e+00] [-2.78403974e-03 9.99995864e-01 -7.21204389e-04 1.74180249e-01] [ 1.07923084e-02 7.51211506e-04 9.99941479e-01 -3.73452751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.12654761499999 meters Centerline goodness [0,1] 0.7039529975472021 Centerline is valid? [False, False] Translation: X:3.59, Y:0.18, Z:-0.38 [[ 9.99937796e-01 3.07349703e-03 -1.07218108e-02 3.59077884e+00] [-3.09271869e-03 9.99993639e-01 -1.77664332e-03 1.77750453e-01] [ 1.07162821e-02 1.80969235e-03 9.99940941e-01 -3.75002513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.156547615 meters Centerline goodness [0,1] 0.7008262108262109 Centerline is valid? [False, False] Translation: X:3.59, Y:0.18, Z:-0.37 [[ 9.99937530e-01 4.14832728e-03 -1.03792067e-02 3.58860445e+00] [-4.16572789e-03 9.99989953e-01 -1.65543116e-03 1.78042981e-01] [ 1.03722351e-02 1.69856469e-03 9.99944764e-01 -3.73970271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.186547615 meters Centerline goodness [0,1] 0.6985663696595842 Centerline is valid? [False, False] Translation: X:3.59, Y:0.18, Z:-0.37 [[ 9.99933846e-01 4.51404892e-03 -1.05795987e-02 3.58806310e+00] [-4.52454074e-03 9.99989296e-01 -9.67977529e-04 1.75740575e-01] [ 1.05751159e-02 1.01578132e-03 9.99943566e-01 -3.72416162e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.21654761499998 meters Centerline goodness [0,1] 0.6950850553716177 Centerline is valid? [False, False] Translation: X:3.59, Y:0.18, Z:-0.38 [[ 9.99936626e-01 3.43256039e-03 -1.07219853e-02 3.59079949e+00] [-3.45960251e-03 9.99990879e-01 -2.50459076e-03 1.78933304e-01] [ 1.07132903e-02 2.54152584e-03 9.99939381e-01 -3.75950788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.24654761499998 meters Centerline goodness [0,1] 0.6995472278383689 Centerline is valid? [False, False] Translation: X:3.59, Y:0.18, Z:-0.38 [[ 9.99937484e-01 2.93346146e-03 -1.07899135e-02 3.59175417e+00] [-2.96939404e-03 9.99990094e-01 -3.31568980e-03 1.82280623e-01] [ 1.07800802e-02 3.34752203e-03 9.99936290e-01 -3.77131437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.27654761499998 meters Centerline goodness [0,1] 0.6936708138340373 Centerline is valid? [False, False] Translation: X:3.59, Y:0.18, Z:-0.37 [[ 9.99932627e-01 3.68012472e-03 -1.10090372e-02 3.58987885e+00] [-3.70006904e-03 9.99991549e-01 -1.79181304e-03 1.80546606e-01] [ 1.10023500e-02 1.83242652e-03 9.99937793e-01 -3.72875518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.30654761499999 meters Centerline goodness [0,1] 0.6963729385200217 Centerline is valid? [False, False] Translation: X:3.59, Y:0.18, Z:-0.37 [[ 9.99937425e-01 8.35960082e-04 -1.11555647e-02 3.58881997e+00] [-8.98735434e-04 9.99983784e-01 -5.62344191e-03 1.78465911e-01] [ 1.11506828e-02 5.63311592e-03 9.99921962e-01 -3.72520624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.33654761499999 meters Centerline goodness [0,1] 0.6986472661134477 Centerline is valid? [False, False] Translation: X:3.60, Y:0.18, Z:-0.38 [[ 9.99914476e-01 3.09623534e-03 -1.27064217e-02 3.60003478e+00] [-3.12066329e-03 9.99993320e-01 -1.90311201e-03 1.84025841e-01] [ 1.27004443e-02 1.94260171e-03 9.99917459e-01 -3.79664065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.36654761499999 meters Centerline goodness [0,1] 0.691273086141266 Centerline is valid? [False, False] Translation: X:3.60, Y:0.19, Z:-0.38 [[ 9.99894441e-01 5.88828960e-03 -1.32828591e-02 3.60293139e+00] [-5.87272494e-03 9.99982023e-01 1.21048670e-03 1.86727469e-01] [ 1.32897480e-02 -1.13235235e-03 9.99911046e-01 -3.81115848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.39654761499999 meters Centerline goodness [0,1] 0.694707931024719 Centerline is valid? [False, False] Translation: X:3.60, Y:0.19, Z:-0.38 [[ 9.99908287e-01 3.22927394e-03 -1.31525556e-02 3.60032296e+00] [-3.25816216e-03 9.99992326e-01 -2.17556026e-03 1.86146928e-01] [ 1.31454292e-02 2.21821389e-03 9.99911135e-01 -3.79110049e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.42654761499999 meters Centerline goodness [0,1] 0.6967762075032635 Centerline is valid? [False, False] Translation: X:3.60, Y:0.18, Z:-0.38 [[ 9.99904715e-01 3.46340834e-03 -1.33628322e-02 3.60000046e+00] [-3.48243854e-03 9.99992955e-01 -1.40110825e-03 1.83714247e-01] [ 1.33578854e-02 1.44750999e-03 9.99909732e-01 -3.77661374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.45654761499999 meters Centerline goodness [0,1] 0.6995797126143011 Centerline is valid? [False, False] Translation: X:3.60, Y:0.18, Z:-0.38 [[ 9.99902496e-01 4.06428452e-03 -1.33596748e-02 3.59925209e+00] [-4.07928343e-03 9.99991079e-01 -1.09564175e-03 1.83832582e-01] [ 1.33551027e-02 1.15003282e-03 9.99910155e-01 -3.77040016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.48654761499999 meters Centerline goodness [0,1] 0.7038011944184993 Centerline is valid? [False, False] Translation: X:3.61, Y:0.19, Z:-0.38 [[ 9.99877077e-01 5.00427196e-03 -1.48589322e-02 3.60684322e+00] [-4.99122794e-03 9.99987125e-01 9.14811617e-04 1.86635013e-01] [ 1.48633189e-02 -8.40534848e-04 9.99889181e-01 -3.81079893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.516547615 meters Centerline goodness [0,1] 0.7021282609310082 Centerline is valid? [False, False] Translation: X:3.61, Y:0.19, Z:-0.38 [[ 9.99875188e-01 3.93365124e-03 -1.53014945e-02 3.60996605e+00] [-3.93801797e-03 9.99992213e-01 -2.55259358e-04 1.87256343e-01] [ 1.53003713e-02 3.15485059e-04 9.99882893e-01 -3.84085951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.546547615 meters Centerline goodness [0,1] 0.6987517730496453 Centerline is valid? [False, False] Translation: X:3.61, Y:0.18, Z:-0.38 [[ 9.99872210e-01 4.33167887e-03 -1.53883029e-02 3.60819267e+00] [-4.29037694e-03 9.99987108e-01 2.71598236e-03 1.82792674e-01] [ 1.53998693e-02 -2.64961366e-03 9.99877904e-01 -3.78178513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.57654761499998 meters Centerline goodness [0,1] 0.6982230044282957 Centerline is valid? [False, False] Translation: X:3.62, Y:0.18, Z:-0.38 [[ 0.99995289 0.00450941 -0.00859509 3.61626275] [-0.00456192 0.99997099 -0.00609932 0.1841438 ] [ 0.00856734 0.00613824 0.99994446 -0.37655266] [ 0. 0. 0. 1. ]] SLAMing on 68.60654761499998 meters Centerline goodness [0,1] 0.6935653259913145 Centerline is valid? [False, False] Translation: X:3.61, Y:0.18, Z:-0.38 [[ 0.99994892 0.00544669 -0.00851399 3.61481898] [-0.00549589 0.99996827 -0.00576648 0.18428108] [ 0.00848231 0.00581298 0.99994713 -0.37550249] [ 0. 0. 0. 1. ]] SLAMing on 68.63654761499998 meters Centerline goodness [0,1] 0.6995831088171067 Centerline is valid? [False, False] Translation: X:3.62, Y:0.18, Z:-0.38 [[ 0.99993535 0.00592884 -0.0097026 3.62211813] [-0.00596799 0.99997414 -0.00401153 0.1847742 ] [ 0.00967857 0.00406918 0.99994488 -0.37985144] [ 0. 0. 0. 1. ]] SLAMing on 68.66654761499998 meters Centerline goodness [0,1] 0.701090950200667 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:-0.39 [[ 9.99920785e-01 6.41519752e-03 -1.08291225e-02 3.63043219e+00] [-6.43989378e-03 9.99976739e-01 -2.24721287e-03 1.86882058e-01] [ 1.08144543e-02 2.31677326e-03 9.99938838e-01 -3.85710293e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.69654761499999 meters Centerline goodness [0,1] 0.6960942133355926 Centerline is valid? [False, False] Translation: X:3.63, Y:0.19, Z:-0.39 [[ 9.99923951e-01 5.91023187e-03 -1.08241002e-02 3.63166187e+00] [-5.94009753e-03 9.99978633e-01 -2.72911398e-03 1.87594422e-01] [ 1.08077392e-02 2.79320264e-03 9.99937693e-01 -3.87266953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.72654761499999 meters Centerline goodness [0,1] 0.6929635714690385 Centerline is valid? [False, False] Translation: X:3.63, Y:0.18, Z:-0.38 [[ 0.99994016 0.0045652 -0.00994121 3.6255127 ] [-0.0046059 0.99998109 -0.00407478 0.18437148] [ 0.00992242 0.00412033 0.99994228 -0.38201166] [ 0. 0. 0. 1. ]] SLAMing on 68.75654761499999 meters Centerline goodness [0,1] 0.6959550112757272 Centerline is valid? [False, False] Translation: X:3.62, Y:0.18, Z:-0.38 [[ 9.99950610e-01 3.19678123e-03 -9.41051051e-03 3.61981828e+00] [-3.24105151e-03 9.99983736e-01 -4.69285891e-03 1.77964286e-01] [ 9.39535542e-03 4.72312708e-03 9.99944708e-01 -3.75657938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.78654761499999 meters Centerline goodness [0,1] 0.7003982465690628 Centerline is valid? [False, False] Translation: X:3.62, Y:0.18, Z:-0.37 [[ 9.99946742e-01 5.26470192e-03 -8.87673737e-03 3.61625934e+00] [-5.28952755e-03 9.99982158e-01 -2.77555208e-03 1.75524762e-01] [ 8.86196654e-03 2.82235800e-03 9.99956749e-01 -3.72880212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.81654761499999 meters Centerline goodness [0,1] 0.6959076001711109 Centerline is valid? [False, False] Translation: X:3.62, Y:0.18, Z:-0.38 [[ 9.99925648e-01 7.34041511e-03 -9.73739686e-03 3.62176679e+00] [-7.34058443e-03 9.99973057e-01 1.83511658e-05 1.76720535e-01] [ 9.73726922e-03 5.31283825e-05 9.99952590e-01 -3.76754887e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.84654761499999 meters Centerline goodness [0,1] 0.6978913335812995 Centerline is valid? [False, False] Translation: X:3.63, Y:0.18, Z:-0.38 [[ 9.99928678e-01 6.30625687e-03 -1.01425355e-02 3.62545977e+00] [-6.31629415e-03 9.99979593e-01 -9.57894295e-04 1.76187815e-01] [ 1.01362878e-02 1.02188921e-03 9.99948104e-01 -3.80659877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.87654761499999 meters Centerline goodness [0,1] 0.703018584785871 Centerline is valid? [False, False] Translation: X:3.62, Y:0.17, Z:-0.38 [[ 9.99947124e-01 2.90970529e-03 -9.86324280e-03 3.62453831e+00] [-2.95003525e-03 9.99987338e-01 -4.07683497e-03 1.71774903e-01] [ 9.85125553e-03 4.10571632e-03 9.99943046e-01 -3.80437466e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.906547615 meters Centerline goodness [0,1] 0.7070782915066278 Centerline is valid? [False, False] Translation: X:3.62, Y:0.17, Z:-0.38 [[ 9.99945888e-01 3.47860655e-03 -9.80405070e-03 3.62380446e+00] [-3.50363926e-03 9.99990643e-01 -2.53728555e-03 1.66842153e-01] [ 9.79513275e-03 2.57149811e-03 9.99948720e-01 -3.78744953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.93654761499998 meters Centerline goodness [0,1] 0.7021356421356422 Centerline is valid? [False, False] Translation: X:3.62, Y:0.17, Z:-0.38 [[ 9.99945735e-01 4.11607656e-03 -9.56997250e-03 3.62274675e+00] [-4.13398710e-03 9.99989739e-01 -1.85250735e-03 1.65051622e-01] [ 9.56224924e-03 1.89196897e-03 9.99952491e-01 -3.78057350e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.96654761499998 meters Centerline goodness [0,1] 0.7071560373659325 Centerline is valid? [False, False] Translation: X:3.63, Y:0.16, Z:-0.37 [[ 9.99939551e-01 2.94882335e-03 -1.05924007e-02 3.62513225e+00] [-2.94369101e-03 9.99995542e-01 5.00088258e-04 1.60420036e-01] [ 1.05938282e-02 -4.68877273e-04 9.99943774e-01 -3.74151666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.99654761499998 meters Centerline goodness [0,1] 0.7132272069464545 Centerline is valid? [False, False] Translation: X:3.63, Y:0.16, Z:-0.38 [[ 9.99932440e-01 1.46045820e-03 -1.15318148e-02 3.62903180e+00] [-1.46080651e-03 9.99998933e-01 -2.17810288e-05 1.60774280e-01] [ 1.15317707e-02 3.86253075e-05 9.99933506e-01 -3.75561576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.02654761499998 meters Centerline goodness [0,1] 0.7185592362216114 Centerline is valid? [False, False] Translation: X:3.63, Y:0.16, Z:-0.38 [[ 9.99924076e-01 9.49279659e-06 -1.23223890e-02 3.63329129e+00] [-2.50943700e-05 9.99999198e-01 -1.26596197e-03 1.62254737e-01] [ 1.23223671e-02 1.26617507e-03 9.99923275e-01 -3.78718518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.05654761499999 meters Centerline goodness [0,1] 0.7226968635060385 Centerline is valid? [False, False] Translation: X:3.64, Y:0.16, Z:-0.38 [[ 9.99915724e-01 -9.30253339e-04 -1.29490863e-02 3.63599575e+00] [ 9.15476459e-04 9.99998923e-01 -1.14703310e-03 1.59701325e-01] [ 1.29501394e-02 1.13508185e-03 9.99915499e-01 -3.79496348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.08654761499999 meters Centerline goodness [0,1] 0.7225455391957167 Centerline is valid? [False, False] Translation: X:3.64, Y:0.16, Z:-0.38 [[ 9.99914887e-01 -3.63047136e-04 -1.30417505e-02 3.63562040e+00] [ 3.58281028e-04 9.99999868e-01 -3.67784601e-04 1.56963451e-01] [ 1.30418823e-02 3.63080686e-04 9.99914885e-01 -3.78679044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.11654761499999 meters Centerline goodness [0,1] 0.7231958613072922 Centerline is valid? [False, False] Translation: X:3.64, Y:0.16, Z:-0.38 [[ 9.99912731e-01 -2.96576551e-04 -1.32076518e-02 3.63595583e+00] [ 2.93436631e-04 9.99999928e-01 -2.39672158e-04 1.55870916e-01] [ 1.32077220e-02 2.35775633e-04 9.99912746e-01 -3.78654472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.14654761499999 meters Centerline goodness [0,1] 0.7225708531566504 Centerline is valid? [False, False] Translation: X:3.63, Y:0.15, Z:-0.38 [[ 9.99915112e-01 3.82669873e-04 -1.30238871e-02 3.63455760e+00] [-3.68304740e-04 9.99999321e-01 1.10536413e-03 1.52618146e-01] [ 1.30243013e-02 -1.10047354e-03 9.99914575e-01 -3.76814458e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.17654761499999 meters Centerline goodness [0,1] 0.7245736683534677 Centerline is valid? [False, False] Translation: X:3.64, Y:0.15, Z:-0.38 [[ 9.99908010e-01 -8.33293744e-05 -1.35633366e-02 3.63615259e+00] [ 1.05656979e-04 9.99998641e-01 1.64546518e-03 1.50628593e-01] [ 1.35631811e-02 -1.64674688e-03 9.99906660e-01 -3.76365427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.20654761499999 meters Centerline goodness [0,1] 0.7337307647127922 Centerline is valid? [False, False] Translation: X:3.64, Y:0.15, Z:-0.38 [[ 9.99894851e-01 -1.09808248e-03 -1.44596180e-02 3.63901898e+00] [ 1.13048072e-03 9.99996869e-01 2.23261857e-03 1.47591345e-01] [ 1.44571212e-02 -2.24873013e-03 9.99892962e-01 -3.75951934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.23654761499999 meters Centerline goodness [0,1] 0.7404686024551463 Centerline is valid? [False, False] Translation: X:3.64, Y:0.15, Z:-0.38 [[ 9.99883106e-01 -2.21392765e-03 -1.51285415e-02 3.64197249e+00] [ 2.25228680e-03 9.99994291e-01 2.51898174e-03 1.45338799e-01] [ 1.51228783e-02 -2.55276110e-03 9.99882384e-01 -3.76461505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.266547615 meters Centerline goodness [0,1] 0.7504856655089186 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:-0.38 [[ 9.99860703e-01 -4.12839855e-03 -1.61719238e-02 3.64734223e+00] [ 4.14992283e-03 9.99990547e-01 1.29763397e-03 1.46297608e-01] [ 1.61664138e-02 -1.36456545e-03 9.99868384e-01 -3.79630694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.296547615 meters Centerline goodness [0,1] 0.7463873045893792 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:-0.38 [[ 9.99847446e-01 -4.91752282e-03 -1.67601541e-02 3.64987535e+00] [ 4.92915747e-03 9.99987638e-01 6.52945515e-04 1.45813809e-01] [ 1.67567361e-02 -7.35459345e-04 9.99859326e-01 -3.81093913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.32654761499998 meters Centerline goodness [0,1] 0.7538328975516996 Centerline is valid? [False, False] Translation: X:3.65, Y:0.14, Z:-0.38 [[ 9.99839969e-01 -4.73704558e-03 -1.72509753e-02 3.64997347e+00] [ 4.76780161e-03 9.99987116e-01 1.74216607e-03 1.40826242e-01] [ 1.72425003e-02 -1.82413649e-03 9.99849673e-01 -3.79016469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.35654761499998 meters Centerline goodness [0,1] 0.7526012248052798 Centerline is valid? [False, False] Translation: X:3.65, Y:0.14, Z:-0.38 [[ 9.99843813e-01 -4.91840058e-03 -1.69752269e-02 3.64964696e+00] [ 4.93961104e-03 9.99987071e-01 1.20779213e-03 1.43399842e-01] [ 1.69690670e-02 -1.29145451e-03 9.99855181e-01 -3.79603677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.38654761499998 meters Centerline goodness [0,1] 0.7646901788627533 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:-0.38 [[ 9.99835054e-01 -5.76990026e-03 -1.72212777e-02 3.65150411e+00] [ 5.77207722e-03 9.99983338e-01 7.67083252e-05 1.47355590e-01] [ 1.72205481e-02 -1.76098217e-04 9.99851700e-01 -3.81356029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.41654761499998 meters Centerline goodness [0,1] 0.75774231678487 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:-0.38 [[ 9.99833347e-01 -2.67147337e-03 -1.80594013e-02 3.65441760e+00] [ 2.73587641e-03 9.99989983e-01 3.54241306e-03 1.48584372e-01] [ 1.80497569e-02 -3.59123099e-03 9.99830640e-01 -3.82146673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.44654761499999 meters Centerline goodness [0,1] 0.7372224024537706 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:-0.38 [[ 9.99845431e-01 -1.23242905e-03 -1.75383761e-02 3.65085279e+00] [ 1.29812687e-03 9.99992182e-01 3.73505521e-03 1.50080159e-01] [ 1.75336358e-02 -3.75724493e-03 9.99839214e-01 -3.80213503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.47654761499999 meters Centerline goodness [0,1] 0.7398898412417896 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:-0.38 [[ 9.99845508e-01 -4.89762286e-04 -1.75704320e-02 3.64944827e+00] [ 5.65570763e-04 9.99990553e-01 4.30983869e-03 1.48598586e-01] [ 1.75681552e-02 -4.31911018e-03 9.99836339e-01 -3.78514361e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.50654761499999 meters Centerline goodness [0,1] 0.7347617935544138 Centerline is valid? [False, False] Translation: X:3.65, Y:0.15, Z:-0.38 [[ 9.99847832e-01 -1.09225564e-03 -1.74103644e-02 3.65048066e+00] [ 1.14522892e-03 9.99994745e-01 3.03294872e-03 1.53676740e-01] [ 1.74069602e-02 -3.05242605e-03 9.99843828e-01 -3.80647371e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.53654761499999 meters Centerline goodness [0,1] 0.7346659683426443 Centerline is valid? [False, False] Translation: X:3.65, Y:0.16, Z:-0.38 [[ 9.99851830e-01 -1.08053933e-03 -1.71799219e-02 3.64986224e+00] [ 1.12637171e-03 9.99995832e-01 2.65833519e-03 1.56267007e-01] [ 1.71769779e-02 -2.67729229e-03 9.99848880e-01 -3.80743919e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.56654761499999 meters Centerline goodness [0,1] 0.72653132554685 Centerline is valid? [False, False] Translation: X:3.66, Y:0.16, Z:-0.38 [[ 9.99945354e-01 -1.46156477e-03 -1.03514533e-02 3.65858249e+00] [ 1.39644320e-03 9.99979208e-01 -6.29549171e-03 1.57239593e-01] [ 1.03604394e-02 6.28069248e-03 9.99926604e-01 -3.79283490e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.59654761499999 meters Centerline goodness [0,1] 0.7289885935995799 Centerline is valid? [False, False] Translation: X:3.66, Y:0.15, Z:-0.38 [[ 9.99940708e-01 -1.18764714e-03 -1.08245269e-02 3.65915173e+00] [ 1.13133032e-03 9.99985802e-01 -5.20734353e-03 1.53061020e-01] [ 1.08305577e-02 5.19478866e-03 9.99927854e-01 -3.78109165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.62654761499999 meters Centerline goodness [0,1] 0.7308893494060302 Centerline is valid? [False, False] Translation: X:3.66, Y:0.15, Z:-0.38 [[ 9.99939849e-01 -1.35340190e-03 -1.08842860e-02 3.65967493e+00] [ 1.29124890e-03 9.99982834e-01 -5.71534318e-03 1.54920574e-01] [ 1.08918343e-02 5.70094508e-03 9.99924431e-01 -3.78874584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.656547615 meters Centerline goodness [0,1] 0.7253419100602689 Centerline is valid? [False, False] Translation: X:3.66, Y:0.16, Z:-0.38 [[ 9.99933908e-01 1.75965756e-03 -1.13614733e-02 3.66183063e+00] [-1.78657906e-03 9.99995620e-01 -2.35982785e-03 1.58295156e-01] [ 1.13572711e-02 2.37997005e-03 9.99932672e-01 -3.79714878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.68654761499998 meters Centerline goodness [0,1] 0.7243559855461009 Centerline is valid? [False, False] Translation: X:3.66, Y:0.16, Z:-0.38 [[ 9.99928686e-01 8.98634249e-04 -1.19086470e-02 3.66446174e+00] [-9.32371602e-04 9.99995567e-01 -2.82776422e-03 1.57366136e-01] [ 1.19060530e-02 2.83866585e-03 9.99925091e-01 -3.81248836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.71654761499998 meters Centerline goodness [0,1] 0.7385420320355431 Centerline is valid? [False, False] Translation: X:3.66, Y:0.15, Z:-0.38 [[ 9.99923683e-01 7.97445016e-04 -1.23285062e-02 3.66472954e+00] [-8.16409935e-04 9.99998491e-01 -1.53334199e-03 1.53985101e-01] [ 1.23272649e-02 1.54329008e-03 9.99922825e-01 -3.78902706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.74654761499998 meters Centerline goodness [0,1] 0.7302929891873038 Centerline is valid? [False, False] Translation: X:3.66, Y:0.16, Z:-0.38 [[ 9.99920997e-01 1.73965496e-03 -1.24488609e-02 3.66361161e+00] [-1.76177900e-03 9.99996888e-01 -1.76644810e-03 1.57564994e-01] [ 1.24457491e-02 1.78824068e-03 9.99920950e-01 -3.78343241e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.77654761499998 meters Centerline goodness [0,1] 0.7255294458949811 Centerline is valid? [False, False] Translation: X:3.66, Y:0.16, Z:-0.38 [[ 9.99919417e-01 2.09886454e-03 -1.25201408e-02 3.66339330e+00] [-2.12784630e-03 9.99995087e-01 -2.30193972e-03 1.59654340e-01] [ 1.25152478e-02 2.32839516e-03 9.99918970e-01 -3.78716786e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.80654761499999 meters Centerline goodness [0,1] 0.7461592382732636 Centerline is valid? [False, False] Translation: X:3.66, Y:0.16, Z:-0.38 [[ 9.99916026e-01 -2.55800749e-03 -1.27042016e-02 3.66422841e+00] [ 2.47729943e-03 9.99976678e-01 -6.36454226e-03 1.58676143e-01] [ 1.27201858e-02 6.33253569e-03 9.99899043e-01 -3.78734302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.83654761499999 meters Centerline goodness [0,1] 0.7587910491136298 Centerline is valid? [False, False] Translation: X:3.67, Y:0.16, Z:-0.38 [[ 9.99909640e-01 -6.81282229e-04 -1.34256209e-02 3.66818239e+00] [ 6.38520115e-04 9.99994711e-01 -3.18914173e-03 1.61924138e-01] [ 1.34277226e-02 3.18028104e-03 9.99904787e-01 -3.79825510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.86654761499999 meters Centerline goodness [0,1] 0.7587910491136298 Centerline is valid? [False, False] Translation: X:3.67, Y:0.16, Z:-0.38 [[ 9.99909640e-01 -6.81282229e-04 -1.34256209e-02 3.66818239e+00] [ 6.38520115e-04 9.99994711e-01 -3.18914173e-03 1.61924138e-01] [ 1.34277226e-02 3.18028104e-03 9.99904787e-01 -3.79825510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.89654761499999 meters Centerline goodness [0,1] 0.7368254059822896 Centerline is valid? [False, False] Translation: X:3.67, Y:0.16, Z:-0.38 [[ 9.99902437e-01 3.86774183e-03 -1.34222496e-02 3.66680342e+00] [-3.85378945e-03 9.99992007e-01 1.06520574e-03 1.64490249e-01] [ 1.34262623e-02 -1.01337529e-03 9.99909350e-01 -3.77917903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.92654761499999 meters Centerline goodness [0,1] 0.7076149425287357 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:-0.38 [[ 9.99883042e-01 7.76699859e-03 -1.31748166e-02 3.66167286e+00] [-7.74953815e-03 9.99969025e-01 1.37582480e-03 1.66174644e-01] [ 1.31850945e-02 -1.27356514e-03 9.99912262e-01 -3.76290534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.95654761499999 meters Centerline goodness [0,1] 0.7079048658585627 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:-0.38 [[ 9.99879117e-01 8.19406252e-03 -1.32139517e-02 3.66099793e+00] [-8.18211993e-03 9.99966067e-01 9.57595506e-04 1.67360539e-01] [ 1.32213499e-02 -8.49361612e-04 9.99912233e-01 -3.76096738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.98654761499999 meters Centerline goodness [0,1] 0.7043550133956564 Centerline is valid? [False, False] Translation: X:3.66, Y:0.17, Z:-0.38 [[ 9.99883861e-01 7.37332766e-03 -1.33378793e-02 3.66239541e+00] [-7.38103481e-03 9.99972620e-01 -5.28705334e-04 1.72814635e-01] [ 1.33336157e-02 6.27091282e-04 9.99910907e-01 -3.77821778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.016547615 meters Centerline goodness [0,1] 0.7063125372034355 Centerline is valid? [False, False] Translation: X:3.67, Y:0.18, Z:-0.38 [[ 9.99884064e-01 6.01074932e-03 -1.39903320e-02 3.66501339e+00] [-6.03354847e-03 9.99980537e-01 -1.58799920e-03 1.77052006e-01] [ 1.39805146e-02 1.67222644e-03 9.99900870e-01 -3.78692777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.046547615 meters Centerline goodness [0,1] 0.705923916115539 Centerline is valid? [False, False] Translation: X:3.67, Y:0.18, Z:-0.38 [[ 9.99882848e-01 5.75261456e-03 -1.41843978e-02 3.66568420e+00] [-5.78675574e-03 9.99980455e-01 -2.36708561e-03 1.79181772e-01] [ 1.41705036e-02 2.44888995e-03 9.99896595e-01 -3.79380134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.07654761499998 meters Centerline goodness [0,1] 0.7030884878515724 Centerline is valid? [False, False] Translation: X:3.66, Y:0.18, Z:-0.38 [[ 9.99877297e-01 6.69164924e-03 -1.41637629e-02 3.66409331e+00] [-6.73374116e-03 9.99973047e-01 -2.92620237e-03 1.83867330e-01] [ 1.41438000e-02 3.02121843e-03 9.99895407e-01 -3.78656449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.10654761499998 meters Centerline goodness [0,1] 0.7043250990641599 Centerline is valid? [False, False] Translation: X:3.66, Y:0.19, Z:-0.38 [[ 9.99874089e-01 6.74382349e-03 -1.43640996e-02 3.66350690e+00] [-6.79348545e-03 9.99971105e-01 -3.41138302e-03 1.86152881e-01] [ 1.43406788e-02 3.50853579e-03 9.99891012e-01 -3.77506317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.13654761499998 meters Centerline goodness [0,1] 0.7034385964912281 Centerline is valid? [False, False] Translation: X:3.67, Y:0.19, Z:-0.38 [[ 0.99987403 0.00587984 -0.01474308 3.66516997] [-0.00594432 0.99997294 -0.0043338 0.18882064] [ 0.0147172 0.00442089 0.99988192 -0.37842007] [ 0. 0. 0. 1. ]] SLAMing on 70.16654761499998 meters Centerline goodness [0,1] 0.701495869613753 Centerline is valid? [False, False] Translation: X:3.67, Y:0.19, Z:-0.38 [[ 0.99987136 0.00493183 -0.01526261 3.66644935] [-0.00500769 0.99997528 -0.00493616 0.19285436] [ 0.01523789 0.00501195 0.99987134 -0.37785449] [ 0. 0. 0. 1. ]] SLAMing on 70.19654761499999 meters Centerline goodness [0,1] 0.702661236331176 Centerline is valid? [False, False] Translation: X:3.67, Y:0.19, Z:-0.38 [[ 0.99986182 0.00456712 -0.01598373 3.66728415] [-0.00464176 0.99997848 -0.00463538 0.19351105] [ 0.01596221 0.00470894 0.99986151 -0.37603816] [ 0. 0. 0. 1. ]] SLAMing on 70.22654761499999 meters Centerline goodness [0,1] 0.7020747814917204 Centerline is valid? [False, False] Translation: X:3.67, Y:0.19, Z:-0.38 [[ 0.99985726 0.00459811 -0.01625773 3.6673138 ] [-0.00467787 0.99997719 -0.00487163 0.19463422] [ 0.01623496 0.00494699 0.99985597 -0.37542435] [ 0. 0. 0. 1. ]] SLAMing on 70.25654761499999 meters Centerline goodness [0,1] 0.699991647874384 Centerline is valid? [False, False] Translation: X:3.67, Y:0.20, Z:-0.38 [[ 9.99825157e-01 6.65110626e-03 -1.74762446e-02 3.67273467e+00] [-6.70719912e-03 9.99972536e-01 -3.15301273e-03 1.98595341e-01] [ 1.74547936e-02 3.26967809e-03 9.99842307e-01 -3.78980724e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.28654761499999 meters Centerline goodness [0,1] 0.6994588865335267 Centerline is valid? [False, False] Translation: X:3.67, Y:0.20, Z:-0.38 [[ 0.99982558 0.00660334 -0.01747011 3.67307493] [-0.00667585 0.99996933 -0.00409531 0.20197338] [ 0.01744253 0.00421122 0.999839 -0.38008377] [ 0. 0. 0. 1. ]] SLAMing on 70.31654761499999 meters Centerline goodness [0,1] 0.6887314589329201 Centerline is valid? [False, False] Translation: X:3.69, Y:0.21, Z:-0.38 [[ 0.99988457 0.00987776 -0.01154457 3.68593602] [-0.0099961 0.99989763 -0.0102378 0.20786816] [ 0.01144226 0.01035202 0.99988095 -0.38280499] [ 0. 0. 0. 1. ]] SLAMing on 70.34654761499999 meters Centerline goodness [0,1] 0.6926004110882729 Centerline is valid? [False, False] Translation: X:3.69, Y:0.21, Z:-0.38 [[ 0.99993653 0.01030222 -0.00456132 3.69121154] [-0.01038112 0.99979076 -0.01762602 0.20521337] [ 0.00437878 0.01767226 0.99983425 -0.37678026] [ 0. 0. 0. 1. ]] SLAMing on 70.37654761499999 meters Centerline goodness [0,1] 0.6855821424615044 Centerline is valid? [False, False] Translation: X:3.69, Y:0.20, Z:-0.37 [[ 0.99990009 0.01319128 -0.00507936 3.69296106] [-0.01325322 0.99983577 -0.01236034 0.20274216] [ 0.00491548 0.01242642 0.99991071 -0.37489425] [ 0. 0. 0. 1. ]] SLAMing on 70.406547615 meters Centerline goodness [0,1] 0.6836195691252523 Centerline is valid? [False, False] Translation: X:3.70, Y:0.20, Z:-0.38 [[ 0.9998583 0.01571392 -0.00603731 3.69711566] [-0.01576707 0.99983645 -0.00885834 0.20348462] [ 0.00589712 0.00895227 0.99994254 -0.37642988] [ 0. 0. 0. 1. ]] SLAMing on 70.43654761499998 meters Centerline goodness [0,1] 0.6900364923144974 Centerline is valid? [False, False] Translation: X:3.70, Y:0.21, Z:-0.38 [[ 0.99982489 0.01730733 -0.00711597 3.70327646] [-0.01735399 0.99982796 -0.00654852 0.20523887] [ 0.00700141 0.00667086 0.99995324 -0.3803732 ] [ 0. 0. 0. 1. ]] SLAMing on 70.46654761499998 meters Centerline goodness [0,1] 0.6827891532927504 Centerline is valid? [False, False] Translation: X:3.70, Y:0.21, Z:-0.38 [[ 0.99982777 0.01709702 -0.00722024 3.70471469] [-0.0171513 0.99982459 -0.00752477 0.20541316] [ 0.00709033 0.00764731 0.99994562 -0.38276478] [ 0. 0. 0. 1. ]] SLAMing on 70.49654761499998 meters Centerline goodness [0,1] 0.6804710718551232 Centerline is valid? [False, False] Translation: X:3.69, Y:0.20, Z:-0.38 [[ 0.99983302 0.0174432 -0.00544716 3.69478867] [-0.01748427 0.99981836 -0.00758644 0.1986503 ] [ 0.00531383 0.00768042 0.99995639 -0.37513053] [ 0. 0. 0. 1. ]] SLAMing on 70.52654761499998 meters Centerline goodness [0,1] 0.683188511078204 Centerline is valid? [False, False] Translation: X:3.69, Y:0.20, Z:-0.37 [[ 0.99985002 0.01657027 -0.00503644 3.69042545] [-0.01661634 0.99981917 -0.00924838 0.1979935 ] [ 0.00488228 0.00933068 0.99994455 -0.37192133] [ 0. 0. 0. 1. ]] SLAMing on 70.55654761499999 meters Centerline goodness [0,1] 0.6815445643429776 Centerline is valid? [False, False] Translation: X:3.69, Y:0.20, Z:-0.37 [[ 0.99978294 0.02005607 -0.00564155 3.69252822] [-0.02007835 0.99979073 -0.00391977 0.19506978] [ 0.00556176 0.00403219 0.9999764 -0.37101444] [ 0. 0. 0. 1. ]] SLAMing on 70.58654761499999 meters Centerline goodness [0,1] 0.6832473798036932 Centerline is valid? [False, False] Translation: X:3.70, Y:0.20, Z:-0.38 [[ 9.99733880e-01 2.20354498e-02 -6.82694433e-03 3.69946276e+00] [-2.20445783e-02 9.99756189e-01 -1.26477202e-03 1.96596725e-01] [ 6.79741003e-03 1.41493255e-03 9.99975896e-01 -3.75833302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.61654761499999 meters Centerline goodness [0,1] 0.6852573018080668 Centerline is valid? [False, False] Translation: X:3.71, Y:0.20, Z:-0.38 [[ 9.99680074e-01 2.40613343e-02 -7.79753351e-03 3.70549569e+00] [-2.40519911e-02 9.99709877e-01 1.28980283e-03 1.96798649e-01] [ 7.82630565e-03 -1.10184398e-03 9.99968767e-01 -3.80353168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.64654761499999 meters Centerline goodness [0,1] 0.6866745349294666 Centerline is valid? [False, False] Translation: X:3.70, Y:0.19, Z:-0.38 [[ 9.99729665e-01 2.19783909e-02 -7.58601930e-03 3.70232351e+00] [-2.19906101e-02 9.99757005e-01 -1.53110381e-03 1.89419958e-01] [ 7.55052473e-03 1.69751109e-03 9.99970054e-01 -3.78610734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.67654761499999 meters Centerline goodness [0,1] 0.6845083905845253 Centerline is valid? [False, False] Translation: X:3.70, Y:0.19, Z:-0.38 [[ 0.99977548 0.01992476 -0.00721097 3.69941228] [-0.01995883 0.99978983 -0.00468411 0.18762844] [ 0.00711612 0.00482698 0.99996303 -0.37758727] [ 0. 0. 0. 1. ]] SLAMing on 70.70654761499999 meters Centerline goodness [0,1] 0.6825183442558673 Centerline is valid? [False, False] Translation: X:3.70, Y:0.19, Z:-0.38 [[ 9.99699306e-01 2.33722641e-02 -7.41851704e-03 3.70075011e+00] [-2.33715000e-02 9.99726831e-01 1.89675509e-04 1.86937096e-01] [ 7.42092368e-03 -1.62366034e-05 9.99972464e-01 -3.76903386e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.73654761499999 meters Centerline goodness [0,1] 0.6822827700148414 Centerline is valid? [False, False] Translation: X:3.70, Y:0.19, Z:-0.38 [[ 9.99697687e-01 2.34375275e-02 -7.43083515e-03 3.70072540e+00] [-2.34369390e-02 9.99725303e-01 1.66284158e-04 1.88372977e-01] [ 7.43269122e-03 7.92214237e-06 9.99972377e-01 -3.76844866e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.766547615 meters Centerline goodness [0,1] 0.6882389370566377 Centerline is valid? [False, False] Translation: X:3.70, Y:0.19, Z:-0.38 [[ 9.99704307e-01 2.29595199e-02 -8.00987193e-03 3.70260473e+00] [-2.29507154e-02 9.99735890e-01 1.18940567e-03 1.85036597e-01] [ 8.03506463e-03 -1.00522168e-03 9.99967213e-01 -3.76437723e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.796547615 meters Centerline goodness [0,1] 0.684278896388128 Centerline is valid? [False, False] Translation: X:3.70, Y:0.18, Z:-0.38 [[ 9.99788359e-01 1.89483981e-02 -8.01223516e-03 3.70258078e+00] [-1.89743914e-02 9.99814911e-01 -3.18072794e-03 1.84681731e-01] [ 7.95048248e-03 3.33208206e-03 9.99962843e-01 -3.77135267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.82654761499998 meters Centerline goodness [0,1] 0.691005529849904 Centerline is valid? [False, False] Translation: X:3.70, Y:0.18, Z:-0.37 [[ 9.99785830e-01 1.88241769e-02 -8.59906209e-03 3.70233969e+00] [-1.88260412e-02 9.99822765e-01 -1.35903298e-04 1.78828614e-01] [ 8.59497977e-03 2.97760488e-04 9.99963018e-01 -3.71233104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.85654761499998 meters Centerline goodness [0,1] 0.6906604892931805 Centerline is valid? [False, False] Translation: X:3.70, Y:0.18, Z:-0.37 [[ 0.99985383 0.01490299 -0.00838012 3.7017782 ] [-0.01494241 0.99987749 -0.00466123 0.18062547] [ 0.00830963 0.00478577 0.99995402 -0.37189003] [ 0. 0. 0. 1. ]] SLAMing on 70.88654761499998 meters Centerline goodness [0,1] 0.6999071442640479 Centerline is valid? [False, False] Translation: X:3.70, Y:0.18, Z:-0.38 [[ 9.99962679e-01 8.43300461e-03 -1.87773737e-03 3.70215835e+00] [-8.43438862e-03 9.99964163e-01 -7.30366919e-04 1.84398448e-01] [ 1.87151089e-03 7.46177227e-04 9.99997970e-01 -3.84210851e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.91654761499998 meters Centerline goodness [0,1] 0.7051318082176381 Centerline is valid? [False, False] Translation: X:3.71, Y:0.18, Z:-0.39 [[ 9.99985658e-01 4.72005946e-03 -2.53063301e-03 3.70806900e+00] [-4.72521411e-03 9.99986766e-01 -2.03480465e-03 1.84799253e-01] [ 2.52099512e-03 2.04673325e-03 9.99994728e-01 -3.87057321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.94654761499999 meters Centerline goodness [0,1] 0.7238659896173159 Centerline is valid? [False, False] Translation: X:3.71, Y:0.18, Z:-0.38 [[ 9.99991818e-01 -2.94128845e-03 -2.77707319e-03 3.70612786e+00] [ 2.92390975e-03 9.99976248e-01 -6.24137697e-03 1.78063167e-01] [ 2.79536492e-03 6.23320599e-03 9.99976666e-01 -3.79717093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.97654761499999 meters Centerline goodness [0,1] 0.7701795651425621 Centerline is valid? [False, False] Translation: X:3.71, Y:0.17, Z:-0.37 [[ 9.99933750e-01 -1.10737274e-02 -3.14128750e-03 3.70502362e+00] [ 1.10426489e-02 9.99891550e-01 -9.74411025e-03 1.70818740e-01] [ 3.24885045e-03 9.70877657e-03 9.99947591e-01 -3.71332778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.00654761499999 meters Centerline goodness [0,1] 0.8057182225284188 Centerline is valid? [False, False] Translation: X:3.71, Y:0.17, Z:-0.37 [[ 0.9998839 -0.01460583 -0.00434211 3.71092091] [ 0.01456742 0.99985562 -0.00874754 0.16951685] [ 0.00446925 0.00868328 0.99995231 -0.3696463 ] [ 0. 0. 0. 1. ]] SLAMing on 71.03654761499999 meters Centerline goodness [0,1] 0.8151849299333793 Centerline is valid? [False, False] Translation: X:3.72, Y:0.17, Z:-0.37 [[ 0.99981757 -0.01796277 -0.00649334 3.7236973 ] [ 0.0179204 0.99981812 -0.00652588 0.17140898] [ 0.00660938 0.00640832 0.99995762 -0.3720732 ] [ 0. 0. 0. 1. ]] SLAMing on 71.06654761499999 meters Centerline goodness [0,1] 0.808656561581465 Centerline is valid? [False, False] Translation: X:3.73, Y:0.17, Z:-0.37 [[ 0.99974851 -0.02111025 -0.0075676 3.72948371] [ 0.02105264 0.99974939 -0.00761244 0.17176052] [ 0.00772641 0.00745121 0.99994239 -0.37393262] [ 0. 0. 0. 1. ]] SLAMing on 71.09654761499999 meters Centerline goodness [0,1] 0.8105101092261213 Centerline is valid? [False, False] Translation: X:3.73, Y:0.17, Z:-0.37 [[ 0.99955393 -0.02899519 -0.00715694 3.72676203] [ 0.02889192 0.99948262 -0.01413351 0.1695881 ] [ 0.00756304 0.01392042 0.9998745 -0.36909271] [ 0. 0. 0. 1. ]] SLAMing on 71.12654761499999 meters Centerline goodness [0,1] 0.8101107226107226 Centerline is valid? [False, False] Translation: X:3.73, Y:0.17, Z:-0.37 [[ 0.99954535 -0.02916897 -0.00763359 3.72684304] [ 0.02907166 0.99949838 -0.01256305 0.16670449] [ 0.00799621 0.01233542 0.99989194 -0.3659071 ] [ 0. 0. 0. 1. ]] SLAMing on 71.156547615 meters Centerline goodness [0,1] 0.8095321026355509 Centerline is valid? [False, False] Translation: X:3.73, Y:0.17, Z:-0.37 [[ 0.99958596 -0.02749105 -0.00849422 3.7303839 ] [ 0.02741674 0.99958584 -0.00874483 0.16735819] [ 0.00873111 0.00850833 0.99992569 -0.36541936] [ 0. 0. 0. 1. ]] SLAMing on 71.18654761499998 meters Centerline goodness [0,1] 0.8082254685302643 Centerline is valid? [False, False] Translation: X:3.74, Y:0.18, Z:-0.37 [[ 9.99662919e-01 -2.36825454e-02 -1.06389089e-02 3.73923888e+00] [ 2.36479023e-02 9.99714668e-01 -3.37036445e-03 1.75416917e-01] [ 1.07156921e-02 3.11764049e-03 9.99937725e-01 -3.68542653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.21654761499998 meters Centerline goodness [0,1] 0.8077826136754095 Centerline is valid? [False, False] Translation: X:3.74, Y:0.18, Z:-0.37 [[ 9.99714434e-01 -2.08716524e-02 -1.16371640e-02 3.74180453e+00] [ 2.08746056e-02 9.99782093e-01 1.32348023e-04 1.76508926e-01] [ 1.16318659e-02 -3.75231438e-04 9.99932277e-01 -3.68202570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.24654761499998 meters Centerline goodness [0,1] 0.8165516848166943 Centerline is valid? [False, False] Translation: X:3.74, Y:0.18, Z:-0.36 [[ 9.99775427e-01 -1.73376610e-02 -1.21860801e-02 3.73937160e+00] [ 1.73771832e-02 9.99844060e-01 3.14484937e-03 1.79929921e-01] [ 1.21296555e-02 -3.35590287e-03 9.99920802e-01 -3.63969562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.27654761499998 meters Centerline goodness [0,1] 0.8209935716702379 Centerline is valid? [False, False] Translation: X:3.74, Y:0.19, Z:-0.36 [[ 0.99981449 -0.01420325 -0.01300948 3.73998601] [ 0.01428361 0.99987934 0.00610541 0.18542005] [ 0.01292119 -0.0062901 0.99989673 -0.36209928] [ 0. 0. 0. 1. ]] SLAMing on 71.30654761499999 meters Centerline goodness [0,1] 0.8162357286769644 Centerline is valid? [False, False] Translation: X:3.74, Y:0.19, Z:-0.36 [[ 0.99982255 -0.01365342 -0.01297924 3.73991981] [ 0.01374292 0.99988222 0.00683171 0.19233363] [ 0.01288444 -0.00700887 0.99989243 -0.36115048] [ 0. 0. 0. 1. ]] SLAMing on 71.33654761499999 meters Centerline goodness [0,1] 0.8141701534170154 Centerline is valid? [False, False] Translation: X:3.74, Y:0.20, Z:-0.36 [[ 0.99979951 -0.01476935 -0.01352064 3.74120182] [ 0.01484639 0.99987402 0.00561505 0.19602833] [ 0.013436 -0.00581466 0.99989283 -0.3610426 ] [ 0. 0. 0. 1. ]] SLAMing on 71.36654761499999 meters Centerline goodness [0,1] 0.8130515366953442 Centerline is valid? [False, False] Translation: X:3.74, Y:0.20, Z:-0.36 [[ 0.99981162 -0.01267646 -0.01469778 3.74427186] [ 0.01280069 0.99988287 0.00838933 0.20037161] [ 0.01458971 -0.00857589 0.99985679 -0.36061928] [ 0. 0. 0. 1. ]] SLAMing on 71.39654761499999 meters Centerline goodness [0,1] 0.809399764183279 Centerline is valid? [False, False] Translation: X:3.75, Y:0.21, Z:-0.36 [[ 0.9998324 -0.01011235 -0.01526126 3.74546353] [ 0.01027447 0.99989122 0.01058228 0.20818997] [ 0.01515259 -0.01073731 0.99982754 -0.36032194] [ 0. 0. 0. 1. ]] SLAMing on 71.42654761499999 meters Centerline goodness [0,1] 0.8105220449012713 Centerline is valid? [False, False] Translation: X:3.74, Y:0.22, Z:-0.36 [[ 0.99986135 -0.00630318 -0.01541279 3.74392126] [ 0.00650518 0.99989315 0.01309113 0.21590162] [ 0.01532863 -0.01318958 0.99979551 -0.35854794] [ 0. 0. 0. 1. ]] SLAMing on 71.45654761499999 meters Centerline goodness [0,1] 0.8078283298322121 Centerline is valid? [False, False] Translation: X:3.74, Y:0.22, Z:-0.36 [[ 9.99878010e-01 -2.38782411e-03 -1.54358067e-02 3.74183686e+00] [ 2.62033976e-03 9.99883147e-01 1.50607624e-02 2.23887214e-01] [ 1.53980405e-02 -1.50993722e-02 9.99767428e-01 -3.57006800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.48654761499999 meters Centerline goodness [0,1] 0.8072364971158889 Centerline is valid? [False, False] Translation: X:3.74, Y:0.24, Z:-0.36 [[ 9.99872146e-01 1.10941944e-03 -1.59518284e-02 3.74226632e+00] [-8.53010707e-04 9.99870477e-01 1.60717687e-02 2.35606203e-01] [ 1.59675926e-02 -1.60561068e-02 9.99743586e-01 -3.57876353e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.516547615 meters Centerline goodness [0,1] 0.8029371318855245 Centerline is valid? [False, False] Translation: X:3.74, Y:0.24, Z:-0.36 [[ 0.99985397 0.00455604 -0.01647062 3.74204373] [-0.00426112 0.99983075 0.0178971 0.24293329] [ 0.01654937 -0.0178243 0.99970416 -0.35701272] [ 0. 0. 0. 1. ]] SLAMing on 71.546547615 meters Centerline goodness [0,1] 0.805206208196679 Centerline is valid? [False, False] Translation: X:3.75, Y:0.25, Z:-0.36 [[ 9.99896458e-01 6.35713289e-03 -1.29097184e-02 3.75086559e+00] [-6.32256689e-03 9.99976322e-01 2.71656816e-03 2.51272388e-01] [ 1.29266824e-02 -2.63466432e-03 9.99912976e-01 -3.63852600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.57654761499998 meters Centerline goodness [0,1] 0.8003120124804992 Centerline is valid? [False, False] Translation: X:3.75, Y:0.26, Z:-0.37 [[ 0.9998666 0.00941589 -0.01334665 3.75335964] [-0.00936133 0.99994759 0.00414469 0.25827039] [ 0.01338498 -0.00401919 0.99990234 -0.36690405] [ 0. 0. 0. 1. ]] SLAMing on 71.60654761499998 meters Centerline goodness [0,1] 0.7887900355871886 Centerline is valid? [False, False] Translation: X:3.75, Y:0.26, Z:-0.37 [[ 0.9998233 0.01343566 -0.01314747 3.75277069] [-0.01334484 0.99988665 0.00697174 0.26468659] [ 0.01323965 -0.00679505 0.99988926 -0.3670613 ] [ 0. 0. 0. 1. ]] SLAMing on 71.63654761499998 meters Centerline goodness [0,1] 0.7742276873456635 Centerline is valid? [False, False] Translation: X:3.75, Y:0.27, Z:-0.37 [[ 0.99974846 0.01846018 -0.01273702 3.75017707] [-0.01832362 0.99977425 0.01075628 0.26856722] [ 0.01293271 -0.01052018 0.99986103 -0.36519223] [ 0. 0. 0. 1. ]] SLAMing on 71.66654761499998 meters Centerline goodness [0,1] 0.7200763473805816 Centerline is valid? [False, False] Translation: X:3.75, Y:0.27, Z:-0.36 [[ 0.99957297 0.02627053 -0.01279582 3.74703186] [-0.02605014 0.99951443 0.01709659 0.27340576] [ 0.01323874 -0.01675595 0.99977196 -0.36135431] [ 0. 0. 0. 1. ]] SLAMing on 71.69654761499999 meters Centerline goodness [0,1] 0.7156305550687263 Centerline is valid? [False, False] Translation: X:3.75, Y:0.28, Z:-0.37 [[ 0.99941645 0.03254942 -0.01035865 3.75361666] [-0.03249248 0.99945619 0.00561803 0.2783086 ] [ 0.01053588 -0.00527817 0.99993057 -0.36537192] [ 0. 0. 0. 1. ]] SLAMing on 71.72654761499999 meters Centerline goodness [0,1] 0.704784832982245 Centerline is valid? [False, False] Translation: X:3.75, Y:0.28, Z:-0.37 [[ 0.99938721 0.03341758 -0.01041494 3.75404741] [-0.03336568 0.9994301 0.0051184 0.27814492] [ 0.01058004 -0.00476776 0.99993266 -0.36716866] [ 0. 0. 0. 1. ]] SLAMing on 71.75654761499999 meters Centerline goodness [0,1] 0.704784832982245 Centerline is valid? [False, False] Translation: X:3.75, Y:0.28, Z:-0.37 [[ 0.99938721 0.03341758 -0.01041494 3.75404741] [-0.03336568 0.9994301 0.0051184 0.27814492] [ 0.01058004 -0.00476776 0.99993266 -0.36716866] [ 0. 0. 0. 1. ]] SLAMing on 71.78654761499999 meters Centerline goodness [0,1] 0.6988090185014106 Centerline is valid? [False, False] Translation: X:3.75, Y:0.28, Z:-0.37 [[ 0.9992344 0.03786752 -0.00983179 3.7528551 ] [-0.037771 0.99923813 0.00982435 0.2786055 ] [ 0.01019632 -0.00944547 0.9999034 -0.36639864] [ 0. 0. 0. 1. ]] SLAMing on 71.81654761499999 meters Centerline goodness [0,1] 0.6773213084531253 Centerline is valid? [False, False] Translation: X:3.75, Y:0.28, Z:-0.37 [[ 0.99908642 0.04158482 -0.00985031 3.75401003] [-0.0414492 0.99904814 0.01359336 0.27992666] [ 0.01040621 -0.01317266 0.99985909 -0.36729568] [ 0. 0. 0. 1. ]] SLAMing on 71.84654761499999 meters Centerline goodness [0,1] 0.6777861445783133 Centerline is valid? [False, False] Translation: X:3.75, Y:0.28, Z:-0.37 [[ 0.9991892 0.03905701 -0.00977212 3.75290966] [-0.03896004 0.99919148 0.00992451 0.27830979] [ 0.01015184 -0.00953574 0.999903 -0.3677876 ] [ 0. 0. 0. 1. ]] SLAMing on 71.87654761499999 meters Centerline goodness [0,1] 0.6706036414918533 Centerline is valid? [False, False] Translation: X:3.76, Y:0.28, Z:-0.37 [[ 9.99202762e-01 3.98042712e-02 -3.07568401e-03 3.75917998e+00] [-3.98098156e-02 9.99205720e-01 -1.76294249e-03 2.77054481e-01] [ 3.00306841e-03 1.88397942e-03 9.99993716e-01 -3.70714980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.906547615 meters Centerline goodness [0,1] 0.6703399233407303 Centerline is valid? [False, False] Translation: X:3.76, Y:0.28, Z:-0.37 [[ 9.99177289e-01 4.04483771e-02 -2.94513291e-03 3.75856798e+00] [-4.04526354e-02 9.99180475e-01 -1.40093882e-03 2.76467587e-01] [ 2.88605360e-03 1.51892465e-03 9.99994682e-01 -3.70575994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.93654761499998 meters Centerline goodness [0,1] 0.6592873388931009 Centerline is valid? [False, False] Translation: X:3.76, Y:0.28, Z:-0.37 [[ 9.99135149e-01 4.15022898e-02 -2.55238103e-03 3.75700860e+00] [-4.15043165e-02 9.99138046e-01 -7.46267698e-04 2.75506000e-01] [ 2.51920917e-03 8.51557117e-04 9.99996464e-01 -3.70014301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.96654761499998 meters Centerline goodness [0,1] 0.6572611367907757 Centerline is valid? [False, False] Translation: X:3.76, Y:0.27, Z:-0.37 [[ 9.99106504e-01 4.22020731e-02 -2.27580707e-03 3.75672669e+00] [-4.22019021e-02 9.99109095e-01 1.23153267e-04 2.72302708e-01] [ 2.27897687e-03 -2.69998432e-05 9.99997403e-01 -3.70610634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.99654761499998 meters Centerline goodness [0,1] 0.662427686740233 Centerline is valid? [False, False] Translation: X:3.76, Y:0.27, Z:-0.37 [[ 9.99127395e-01 4.16906407e-02 -2.51782114e-03 3.75916570e+00] [-4.16903446e-02 9.99130565e-01 1.69998510e-04 2.69813974e-01] [ 2.52271941e-03 -6.48813376e-05 9.99996816e-01 -3.73149034e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.02654761499998 meters Centerline goodness [0,1] 0.6634019691010513 Centerline is valid? [False, False] Translation: X:3.76, Y:0.27, Z:-0.37 [[ 9.99292226e-01 3.75161041e-02 -2.75490050e-03 3.76007133e+00] [-3.75264728e-02 9.99288356e-01 -3.81378784e-03 2.68012871e-01] [ 2.60986153e-03 3.91447024e-03 9.99988933e-01 -3.74323056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.05654761499999 meters Centerline goodness [0,1] 0.6680928302865292 Centerline is valid? [False, False] Translation: X:3.76, Y:0.26, Z:-0.37 [[ 9.99446123e-01 3.31303340e-02 -3.13487582e-03 3.76119340e+00] [-3.31519486e-02 9.99425002e-01 -7.11430162e-03 2.62877665e-01] [ 2.89737409e-03 7.21428841e-03 9.99969779e-01 -3.74779110e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.08654761499999 meters Centerline goodness [0,1] 0.6780330786140479 Centerline is valid? [False, False] Translation: X:3.76, Y:0.26, Z:-0.38 [[ 9.99577409e-01 2.88508396e-02 -3.55416200e-03 3.76277111e+00] [-2.88861859e-02 9.99529316e-01 -1.03312637e-02 2.57978692e-01] [ 3.25442348e-03 1.04295640e-02 9.99940315e-01 -3.75745568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.11654761499999 meters Centerline goodness [0,1] 0.6806163360498938 Centerline is valid? [False, False] Translation: X:3.76, Y:0.25, Z:-0.38 [[ 9.99583304e-01 2.86420411e-02 -3.58483081e-03 3.76386573e+00] [-2.86748098e-02 9.99544121e-01 -9.45019484e-03 2.53760913e-01] [ 3.31252369e-03 9.54905132e-03 9.99948920e-01 -3.76604357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.14654761499999 meters Centerline goodness [0,1] 0.6904129754738308 Centerline is valid? [False, False] Translation: X:3.76, Y:0.25, Z:-0.38 [[ 9.99563271e-01 2.93511579e-02 -3.43174858e-03 3.76392580e+00] [-2.93807294e-02 9.99528581e-01 -8.90997414e-03 2.51855352e-01] [ 3.16861274e-03 9.00691017e-03 9.99954417e-01 -3.77586702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.17654761499999 meters Centerline goodness [0,1] 0.6737439008308057 Centerline is valid? [False, False] Translation: X:3.76, Y:0.25, Z:-0.38 [[ 9.99532805e-01 3.03726588e-02 -3.41663446e-03 3.76333860e+00] [-3.03975245e-02 9.99509916e-01 -7.47790262e-03 2.47620629e-01] [ 3.18783624e-03 7.57826621e-03 9.99966203e-01 -3.76958312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.20654761499999 meters Centerline goodness [0,1] 0.6742681374628765 Centerline is valid? [False, False] Translation: X:3.76, Y:0.24, Z:-0.38 [[ 9.99514649e-01 3.09606122e-02 -3.45072279e-03 3.76319398e+00] [-3.09814178e-02 9.99501050e-01 -6.14841970e-03 2.43181479e-01] [ 3.25864222e-03 6.25234384e-03 9.99975144e-01 -3.76459740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.23654761499999 meters Centerline goodness [0,1] 0.676292724511815 Centerline is valid? [False, False] Translation: X:3.77, Y:0.24, Z:-0.38 [[ 9.99576795e-01 2.88463910e-02 -3.75711425e-03 3.76562144e+00] [-2.88759720e-02 9.99550404e-01 -8.07263748e-03 2.37961141e-01] [ 3.52255861e-03 8.17771143e-03 9.99960358e-01 -3.79315177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.266547615 meters Centerline goodness [0,1] 0.6846461949265688 Centerline is valid? [False, False] Translation: X:3.76, Y:0.23, Z:-0.38 [[ 9.99562341e-01 2.93813898e-02 -3.44384624e-03 3.76494213e+00] [-2.94040306e-02 9.99545024e-01 -6.71915764e-03 2.34652538e-01] [ 3.24486119e-03 6.81747990e-03 9.99971496e-01 -3.78904396e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.296547615 meters Centerline goodness [0,1] 0.6795921105595062 Centerline is valid? [False, False] Translation: X:3.76, Y:0.23, Z:-0.38 [[ 9.99538835e-01 3.02032602e-02 -3.14334683e-03 3.76354700e+00] [-3.02185729e-02 9.99531089e-01 -4.94362407e-03 2.30427683e-01] [ 2.99255932e-03 5.03633170e-03 9.99982840e-01 -3.77340276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.32654761499998 meters Centerline goodness [0,1] 0.6838126096935331 Centerline is valid? [False, False] Translation: X:3.76, Y:0.22, Z:-0.37 [[ 9.99586545e-01 2.86625746e-02 -2.27927178e-03 3.75885908e+00] [-2.86760594e-02 9.99570012e-01 -6.12173617e-03 2.23352364e-01] [ 2.10282700e-03 6.18456564e-03 9.99978664e-01 -3.74167379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.35654761499998 meters Centerline goodness [0,1] 0.6823510257245198 Centerline is valid? [False, False] Translation: X:3.76, Y:0.22, Z:-0.37 [[ 9.99648953e-01 2.64618011e-02 -1.32042486e-03 3.75502503e+00] [-2.64717968e-02 9.99615641e-01 -8.23494691e-03 2.20064673e-01] [ 1.10200581e-03 8.26701008e-03 9.99965220e-01 -3.72284965e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.38654761499998 meters Centerline goodness [0,1] 0.6857942807437207 Centerline is valid? [False, False] Translation: X:3.76, Y:0.22, Z:-0.37 [[ 9.99658790e-01 2.60751119e-02 -1.54672866e-03 3.75634499e+00] [-2.60864246e-02 9.99629177e-01 -7.81064932e-03 2.19115443e-01] [ 1.34249155e-03 7.84833286e-03 9.99968300e-01 -3.72737510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.41654761499998 meters Centerline goodness [0,1] 0.6954038692753306 Centerline is valid? [False, False] Translation: X:3.76, Y:0.22, Z:-0.38 [[ 9.99699569e-01 2.44132809e-02 -2.18271888e-03 3.76045159e+00] [-2.44309492e-02 9.99665622e-01 -8.47192758e-03 2.16970628e-01] [ 1.97516148e-03 8.52270824e-03 9.99961730e-01 -3.75699535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.44654761499999 meters Centerline goodness [0,1] 0.7008431610272237 Centerline is valid? [False, False] Translation: X:3.76, Y:0.21, Z:-0.38 [[ 9.99789391e-01 2.03753788e-02 -2.45306685e-03 3.76151640e+00] [-2.04029054e-02 9.99722503e-01 -1.17745215e-02 2.12295944e-01] [ 2.21247579e-03 1.18220914e-02 9.99927669e-01 -3.76420338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.47654761499999 meters Centerline goodness [0,1] 0.7053077263670577 Centerline is valid? [False, False] Translation: X:3.76, Y:0.20, Z:-0.37 [[ 9.99792645e-01 2.02449621e-02 -2.19295113e-03 3.76074742e+00] [-2.02627746e-02 9.99759147e-01 -8.43021319e-03 2.02892527e-01] [ 2.02175360e-03 8.47290042e-03 9.99962061e-01 -3.72541814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.50654761499999 meters Centerline goodness [0,1] 0.7056552413754791 Centerline is valid? [False, False] Translation: X:3.76, Y:0.20, Z:-0.37 [[ 9.99793945e-01 2.01769144e-02 -2.22721192e-03 3.76112680e+00] [-2.01947474e-02 9.99761630e-01 -8.29797263e-03 2.02777041e-01] [ 2.05925353e-03 8.34124077e-03 9.99963091e-01 -3.72834202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.53654761499999 meters Centerline goodness [0,1] 0.7043034605146407 Centerline is valid? [False, False] Translation: X:3.77, Y:0.20, Z:-0.38 [[ 9.99752111e-01 2.20498914e-02 -3.08516122e-03 3.76626772e+00] [-2.20640756e-02 9.99745784e-01 -4.64162809e-03 2.00828377e-01] [ 2.98202952e-03 4.70854872e-03 9.99984468e-01 -3.75189177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.56654761499999 meters Centerline goodness [0,1] 0.7001085353296412 Centerline is valid? [False, False] Translation: X:3.77, Y:0.20, Z:-0.38 [[ 9.99758973e-01 2.17227006e-02 -3.18120707e-03 3.76946855e+00] [-2.17406708e-02 9.99747237e-01 -5.72762117e-03 1.99200193e-01] [ 3.05598357e-03 5.79540224e-03 9.99978537e-01 -3.80371537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.59654761499999 meters Centerline goodness [0,1] 0.6982896173333706 Centerline is valid? [False, False] Translation: X:3.77, Y:0.20, Z:-0.38 [[ 9.99792909e-01 2.02002035e-02 -2.46780925e-03 3.76504408e+00] [-2.02199134e-02 9.99761588e-01 -8.24151836e-03 1.96398966e-01] [ 2.30074054e-03 8.28971050e-03 9.99962993e-01 -3.78263541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.62654761499999 meters Centerline goodness [0,1] 0.6999661838471509 Centerline is valid? [False, False] Translation: X:3.76, Y:0.19, Z:-0.38 [[ 9.99773412e-01 2.11612320e-02 -2.30803745e-03 3.76322977e+00] [-2.11756801e-02 9.99755117e-01 -6.42624232e-03 1.91646691e-01] [ 2.17148505e-03 6.47366048e-03 9.99976688e-01 -3.75769883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.656547615 meters Centerline goodness [0,1] 0.7020964419739849 Centerline is valid? [False, False] Translation: X:3.76, Y:0.19, Z:-0.38 [[ 9.99759890e-01 2.18357254e-02 -1.83384653e-03 3.76276134e+00] [-2.18450620e-02 9.99747659e-01 -5.23567782e-03 1.88559011e-01] [ 1.71905895e-03 5.27448117e-03 9.99984612e-01 -3.76393558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.68654761499998 meters Centerline goodness [0,1] 0.6978443654421308 Centerline is valid? [False, False] Translation: X:3.77, Y:0.19, Z:-0.38 [[ 9.99780547e-01 2.08236568e-02 -2.28744368e-03 3.76974249e+00] [-2.08331997e-02 9.99774015e-01 -4.23038063e-03 1.88637149e-01] [ 2.19883476e-03 4.27710703e-03 9.99988436e-01 -3.81271197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.71654761499998 meters Centerline goodness [0,1] 0.7021397194275187 Centerline is valid? [False, False] Translation: X:3.77, Y:0.19, Z:-0.38 [[ 9.99848266e-01 1.72889723e-02 -2.12983981e-03 3.76905018e+00] [-1.73058556e-02 9.99816768e-01 -8.18154891e-03 1.88114214e-01] [ 1.98799899e-03 8.21716619e-03 9.99964262e-01 -3.81653169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.74654761499998 meters Centerline goodness [0,1] 0.7087157270706265 Centerline is valid? [False, False] Translation: X:3.77, Y:0.18, Z:-0.38 [[ 9.99901391e-01 1.38899745e-02 -2.06802846e-03 3.76755149e+00] [-1.39095336e-02 9.99855578e-01 -9.76458576e-03 1.81821316e-01] [ 1.93209994e-03 9.79238820e-03 9.99950187e-01 -3.78443995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.77654761499998 meters Centerline goodness [0,1] 0.7172765859814156 Centerline is valid? [False, False] Translation: X:3.77, Y:0.18, Z:-0.38 [[ 9.99942937e-01 1.05002107e-02 -1.96660907e-03 3.76558884e+00] [-1.05228245e-02 9.99874238e-01 -1.18650338e-02 1.77715853e-01] [ 1.84177639e-03 1.18850511e-02 9.99927674e-01 -3.75085635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.80654761499999 meters Centerline goodness [0,1] 0.7217969379532635 Centerline is valid? [False, False] Translation: X:3.77, Y:0.17, Z:-0.37 [[ 9.99950764e-01 9.60625174e-03 -2.48774015e-03 3.76696608e+00] [-9.63061648e-03 9.99903876e-01 -9.97450338e-03 1.72282249e-01] [ 2.39168343e-03 9.99797075e-03 9.99947159e-01 -3.72402642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.83654761499999 meters Centerline goodness [0,1] 0.7507294946985237 Centerline is valid? [False, False] Translation: X:3.77, Y:0.17, Z:-0.37 [[ 9.99965550e-01 7.62388546e-03 -3.28259100e-03 3.77150417e+00] [-7.65670203e-03 9.99919645e-01 -1.01034273e-02 1.70352753e-01] [ 3.20529986e-03 1.01282131e-02 9.99943571e-01 -3.74173668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.86654761499999 meters Centerline goodness [0,1] 0.7613958056502398 Centerline is valid? [False, False] Translation: X:3.78, Y:0.17, Z:-0.38 [[ 0.99997295 0.0058185 -0.00449924 3.78150775] [-0.00586055 0.99993874 -0.0093902 0.17015757] [ 0.00444433 0.00941631 0.99994579 -0.38007435] [ 0. 0. 0. 1. ]] SLAMing on 72.89654761499999 meters Centerline goodness [0,1] 0.7694884903099096 Centerline is valid? [False, False] Translation: X:3.78, Y:0.17, Z:-0.38 [[ 0.99997471 0.00512585 -0.00493032 3.78399477] [-0.0051749 0.99993672 -0.00998865 0.17103208] [ 0.0048788 0.01001392 0.99993796 -0.38211354] [ 0. 0. 0. 1. ]] SLAMing on 72.92654761499999 meters Centerline goodness [0,1] 0.7786263958803449 Centerline is valid? [False, False] Translation: X:3.78, Y:0.17, Z:-0.38 [[ 0.99997192 0.00537645 -0.00522079 3.78351787] [-0.00541708 0.99995492 -0.00779805 0.16606196] [ 0.00517863 0.00782612 0.99995597 -0.37865089] [ 0. 0. 0. 1. ]] SLAMing on 72.95654761499999 meters Centerline goodness [0,1] 0.7768508560299974 Centerline is valid? [False, False] Translation: X:3.78, Y:0.16, Z:-0.38 [[ 0.99996676 0.00609727 -0.00541249 3.7823138 ] [-0.00612987 0.99996305 -0.00602635 0.1615547 ] [ 0.00537555 0.00605933 0.99996719 -0.37559849] [ 0. 0. 0. 1. ]] SLAMing on 72.98654761499999 meters Centerline goodness [0,1] 0.7759927692576827 Centerline is valid? [False, False] Translation: X:3.78, Y:0.16, Z:-0.37 [[ 0.99996221 0.00664418 -0.00560743 3.78177944] [-0.00667096 0.99996637 -0.0047698 0.15915268] [ 0.00557555 0.00480703 0.9999729 -0.3736993 ] [ 0. 0. 0. 1. ]] SLAMing on 73.016547615 meters Centerline goodness [0,1] 0.7722351571594878 Centerline is valid? [False, False] Translation: X:3.78, Y:0.16, Z:-0.37 [[ 0.99996078 0.00689885 -0.00555294 3.78158769] [-0.00692444 0.99996543 -0.00460345 0.16110469] [ 0.00552099 0.00464172 0.99997399 -0.37361039] [ 0. 0. 0. 1. ]] SLAMing on 73.04654761499998 meters Centerline goodness [0,1] 0.7598554820663733 Centerline is valid? [False, False] Translation: X:3.78, Y:0.16, Z:-0.38 [[ 0.99996022 0.00749427 -0.00483696 3.78179641] [-0.00751364 0.99996377 -0.00400028 0.16428348] [ 0.00480681 0.00403647 0.9999803 -0.37529285] [ 0. 0. 0. 1. ]] SLAMing on 73.07654761499998 meters Centerline goodness [0,1] 0.768589481074124 Centerline is valid? [False, False] Translation: X:3.78, Y:0.16, Z:-0.37 [[ 9.99958051e-01 7.58356532e-03 -5.13663945e-03 3.78207128e+00] [-7.60235667e-03 9.99964445e-01 -3.64870286e-03 1.63411798e-01] [ 5.10878664e-03 3.68760037e-03 9.99980151e-01 -3.74584714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.10654761499998 meters Centerline goodness [0,1] 0.7656863319468041 Centerline is valid? [False, False] Translation: X:3.78, Y:0.16, Z:-0.37 [[ 9.99955066e-01 7.78443866e-03 -5.41010793e-03 3.78150643e+00] [-7.79861703e-03 9.99966198e-01 -2.60458121e-03 1.61313441e-01] [ 5.38964985e-03 2.64665554e-03 9.99981973e-01 -3.72106404e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.13654761499998 meters Centerline goodness [0,1] 0.7804633909382637 Centerline is valid? [False, False] Translation: X:3.78, Y:0.16, Z:-0.37 [[ 0.99997754 0.00433203 -0.00511451 3.77957305] [-0.00436329 0.99997178 -0.00611549 0.16034266] [ 0.00508788 0.00613767 0.99996822 -0.37059281] [ 0. 0. 0. 1. ]] SLAMing on 73.16654761499998 meters Centerline goodness [0,1] 0.7997472595291975 Centerline is valid? [False, False] Translation: X:3.78, Y:0.16, Z:-0.37 [[ 9.99979068e-01 2.67626935e-03 -5.89078141e-03 3.78304552e+00] [-2.71060258e-03 9.99979343e-01 -5.82805140e-03 1.58580590e-01] [ 5.87506229e-03 5.84389698e-03 9.99965666e-01 -3.70769382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.19654761499999 meters Centerline goodness [0,1] 0.8120950957113124 Centerline is valid? [False, False] Translation: X:3.79, Y:0.16, Z:-0.37 [[ 9.99978284e-01 7.18701200e-04 -6.55099394e-03 3.78733908e+00] [-7.67648662e-04 9.99971787e-01 -7.47231161e-03 1.62651743e-01] [ 6.54543875e-03 7.47717820e-03 9.99950623e-01 -3.73788720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.22654761499999 meters Centerline goodness [0,1] 0.8152718745419903 Centerline is valid? [False, False] Translation: X:3.79, Y:0.16, Z:-0.37 [[ 9.99977026e-01 8.32538127e-04 -6.72718761e-03 3.78671555e+00] [-8.75900352e-04 9.99978844e-01 -6.44544454e-03 1.61793138e-01] [ 6.72167921e-03 6.45118881e-03 9.99956600e-01 -3.71412043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.25654761499999 meters Centerline goodness [0,1] 0.8114073484547022 Centerline is valid? [False, False] Translation: X:3.87, Y:0.15, Z:-0.36 [[ 9.99957113e-01 3.93081771e-03 -8.38571841e-03 3.86777307e+00] [-3.90387573e-03 9.99987174e-01 3.22679360e-03 1.53157756e-01] [ 8.39829479e-03 -3.19391841e-03 9.99959633e-01 -3.58201149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.28654761499999 meters Centerline goodness [0,1] 0.8298796595245084 Centerline is valid? [False, False] Translation: X:3.79, Y:0.16, Z:-0.36 [[ 9.99941028e-01 7.33098273e-04 -1.08352483e-02 3.78809193e+00] [-7.18861615e-04 9.99998873e-01 1.31775695e-03 1.55904425e-01] [ 1.08362021e-02 -1.30989020e-03 9.99940429e-01 -3.63203838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.31654761499999 meters Centerline goodness [0,1] 0.8293302945301543 Centerline is valid? [False, False] Translation: X:3.79, Y:0.16, Z:-0.37 [[ 9.99934863e-01 -4.28071463e-04 -1.14055574e-02 3.79143964e+00] [ 4.24788504e-04 9.99999868e-01 -2.90259560e-04 1.58373402e-01] [ 1.14056801e-02 2.85395704e-04 9.99934912e-01 -3.66363330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.34654761499999 meters Centerline goodness [0,1] 0.8278801370866165 Centerline is valid? [False, False] Translation: X:3.79, Y:0.16, Z:-0.37 [[ 9.99932824e-01 -6.06791215e-04 -1.15749387e-02 3.79205874e+00] [ 6.07270601e-04 9.99999815e-01 3.79011857e-05 1.56567301e-01] [ 1.15749135e-02 -4.49277596e-05 9.99933007e-01 -3.66241439e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.37654761499999 meters Centerline goodness [0,1] 0.8305134359814998 Centerline is valid? [False, False] Translation: X:3.79, Y:0.15, Z:-0.37 [[ 9.99933604e-01 -3.19540490e-04 -1.15188842e-02 3.79157068e+00] [ 3.31623254e-04 9.99999397e-01 1.04705786e-03 1.53856561e-01] [ 1.15185427e-02 -1.05080827e-03 9.99933107e-01 -3.65075359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.406547615 meters Centerline goodness [0,1] 0.8212570290534208 Centerline is valid? [False, False] Translation: X:3.79, Y:0.15, Z:-0.36 [[ 9.99944603e-01 1.47269163e-03 -1.04222029e-02 3.78748682e+00] [-1.45538453e-03 9.99997550e-01 1.66798914e-03 1.54318741e-01] [ 1.04246338e-02 -1.65272843e-03 9.99944296e-01 -3.64165635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.43654761499998 meters Centerline goodness [0,1] 0.8123966222686515 Centerline is valid? [False, False] Translation: X:3.79, Y:0.16, Z:-0.37 [[ 0.99993002 0.00556336 -0.0104403 3.78799944] [-0.00551937 0.99997579 0.00423779 0.15908833] [ 0.01046362 -0.00417987 0.99993652 -0.3661278 ] [ 0. 0. 0. 1. ]] SLAMing on 73.46654761499998 meters Centerline goodness [0,1] 0.7857823463170964 Centerline is valid? [False, False] Translation: X:3.79, Y:0.16, Z:-0.37 [[ 9.99916125e-01 7.29776209e-03 -1.06998086e-02 3.78711966e+00] [-7.26629431e-03 9.99969169e-01 2.97689839e-03 1.62773250e-01] [ 1.07212035e-02 -2.89890075e-03 9.99938324e-01 -3.67892329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.49654761499998 meters Centerline goodness [0,1] 0.7648676819734785 Centerline is valid? [False, False] Translation: X:3.78, Y:0.16, Z:-0.37 [[ 9.99915248e-01 8.05369552e-03 -1.02290952e-02 3.78138273e+00] [-8.04966219e-03 9.99967506e-01 4.35410600e-04 1.61946525e-01] [ 1.02322695e-02 -3.53032937e-04 9.99947587e-01 -3.66557826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.52654761499998 meters Centerline goodness [0,1] 0.7528475446235474 Centerline is valid? [False, False] Translation: X:3.78, Y:0.16, Z:-0.37 [[ 9.99906381e-01 9.42720322e-03 -9.91753399e-03 3.77897209e+00] [-9.42302782e-03 9.99955493e-01 4.67656856e-04 1.64139702e-01] [ 9.92150128e-03 -3.74159875e-04 9.99950711e-01 -3.65726914e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.55654761499999 meters Centerline goodness [0,1] 0.7597196585140747 Centerline is valid? [False, False] Translation: X:3.78, Y:0.17, Z:-0.37 [[ 9.99908624e-01 9.34649920e-03 -9.76665133e-03 3.77860790e+00] [-9.34537044e-03 9.99956318e-01 1.61204960e-04 1.66267213e-01] [ 9.76773141e-03 -6.99172549e-05 9.99952292e-01 -3.65760752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.58654761499999 meters Centerline goodness [0,1] 0.7756832092876232 Centerline is valid? [False, False] Translation: X:3.78, Y:0.17, Z:-0.37 [[ 9.99916090e-01 6.87915118e-03 -1.09767989e-02 3.78352269e+00] [-6.88890785e-03 9.99975909e-01 -8.51281534e-04 1.67969424e-01] [ 1.09706784e-02 9.26828259e-04 9.99939391e-01 -3.66863700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.61654761499999 meters Centerline goodness [0,1] 0.7894189973157849 Centerline is valid? [False, False] Translation: X:3.79, Y:0.17, Z:-0.37 [[ 9.99913024e-01 5.48352066e-03 -1.19948231e-02 3.78742958e+00] [-5.50599075e-03 9.99983147e-01 -1.84109496e-03 1.68198257e-01] [ 1.19845253e-02 1.90697821e-03 9.99926365e-01 -3.68643240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.64654761499999 meters Centerline goodness [0,1] 0.7896664071735432 Centerline is valid? [False, False] Translation: X:3.79, Y:0.17, Z:-0.37 [[ 9.99910047e-01 5.20297386e-03 -1.23623243e-02 3.78873479e+00] [-5.23806152e-03 9.99982340e-01 -2.80759206e-03 1.69670397e-01] [ 1.23474982e-02 2.87209413e-03 9.99919642e-01 -3.69898595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.67654761499999 meters Centerline goodness [0,1] 0.7896664071735432 Centerline is valid? [False, False] Translation: X:3.79, Y:0.17, Z:-0.37 [[ 9.99910047e-01 5.20297386e-03 -1.23623243e-02 3.78873479e+00] [-5.23806152e-03 9.99982340e-01 -2.80759206e-03 1.69670397e-01] [ 1.23474982e-02 2.87209413e-03 9.99919642e-01 -3.69898595e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.70654761499999 meters Centerline goodness [0,1] 0.7588196267343583 Centerline is valid? [False, False] Translation: X:3.79, Y:0.17, Z:-0.37 [[ 9.99908122e-01 7.26766487e-03 -1.14423764e-02 3.78504059e+00] [-7.29979506e-03 9.99969523e-01 -2.76874276e-03 1.70234747e-01] [ 1.14219054e-02 2.85201538e-03 9.99930701e-01 -3.69974944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.73654761499999 meters Centerline goodness [0,1] 0.7481191087025454 Centerline is valid? [False, False] Translation: X:3.79, Y:0.17, Z:-0.37 [[ 9.99867327e-01 1.14091856e-02 -1.16258163e-02 3.78617059e+00] [-1.13997059e-02 9.99934633e-01 8.81338551e-04 1.70813109e-01] [ 1.16351117e-02 -7.48690734e-04 9.99932030e-01 -3.71338878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.766547615 meters Centerline goodness [0,1] 0.7471363610199735 Centerline is valid? [False, False] Translation: X:3.79, Y:0.17, Z:-0.37 [[ 9.99868280e-01 1.12935083e-02 -1.16567606e-02 3.78644352e+00] [-1.12914182e-02 9.99936220e-01 2.45102853e-04 1.73233981e-01] [ 1.16587852e-02 -1.13449209e-04 9.99932028e-01 -3.72013352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.79654761499998 meters Centerline goodness [0,1] 0.740432612312812 Centerline is valid? [False, False] Translation: X:3.79, Y:0.17, Z:-0.37 [[ 9.99862924e-01 1.16050283e-02 -1.18091757e-02 3.78568968e+00] [-1.15944397e-02 9.99932317e-01 9.64717933e-04 1.72933595e-01] [ 1.18195720e-02 -8.27664918e-04 9.99929804e-01 -3.70118855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.82654761499998 meters Centerline goodness [0,1] 0.74777430916869 Centerline is valid? [False, False] Translation: X:3.78, Y:0.17, Z:-0.37 [[ 9.99895718e-01 8.54058931e-03 -1.16452023e-02 3.78407540e+00] [-8.57419389e-03 9.99959211e-01 -2.83883429e-03 1.72493474e-01] [ 1.16204820e-02 2.93838648e-03 9.99928163e-01 -3.69565240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.85654761499998 meters Centerline goodness [0,1] 0.7498694365461614 Centerline is valid? [False, False] Translation: X:3.79, Y:0.17, Z:-0.37 [[ 0.99989495 0.0081386 -0.01199386 3.78609263] [-0.00818627 0.99995876 -0.00393124 0.17341814] [ 0.01196137 0.00402901 0.99992034 -0.37208668] [ 0. 0. 0. 1. ]] SLAMing on 73.88654761499998 meters Centerline goodness [0,1] 0.7490765248247578 Centerline is valid? [False, False] Translation: X:3.78, Y:0.17, Z:-0.37 [[ 9.99888642e-01 8.94026822e-03 -1.19488422e-02 3.78421856e+00] [-8.96456644e-03 9.99957854e-01 -1.98150929e-03 1.70413573e-01] [ 1.19306234e-02 2.08840483e-03 9.99926647e-01 -3.68547984e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.91654761499998 meters Centerline goodness [0,1] 0.7552896541660586 Centerline is valid? [False, False] Translation: X:3.78, Y:0.17, Z:-0.37 [[ 9.99887132e-01 9.22417987e-03 -1.18590843e-02 3.78284952e+00] [-9.22627971e-03 9.99957429e-01 -1.22367533e-04 1.66895499e-01] [ 1.18574507e-02 2.31768950e-04 9.99929671e-01 -3.65309650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.94654761499999 meters Centerline goodness [0,1] 0.7617322190403834 Centerline is valid? [False, False] Translation: X:3.78, Y:0.17, Z:-0.37 [[ 9.99889945e-01 8.24070354e-03 -1.23365125e-02 3.78473743e+00] [-8.23917885e-03 9.99966042e-01 1.74410760e-04 1.66030844e-01] [ 1.23375308e-02 -7.27488324e-05 9.99923887e-01 -3.65021440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.97654761499999 meters Centerline goodness [0,1] 0.7635347537548026 Centerline is valid? [False, False] Translation: X:3.79, Y:0.17, Z:-0.37 [[ 9.99859802e-01 9.69047643e-03 -1.36554089e-02 3.79154244e+00] [-9.66788668e-03 9.99951787e-01 1.71931577e-03 1.69964379e-01] [ 1.36714115e-02 -1.58705578e-03 9.99905282e-01 -3.69600265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.00654761499999 meters Centerline goodness [0,1] 0.7552636157995476 Centerline is valid? [False, False] Translation: X:3.79, Y:0.17, Z:-0.37 [[ 9.99859402e-01 9.08419720e-03 -1.40944224e-02 3.79312170e+00] [-9.08132766e-03 9.99958728e-01 2.67583486e-04 1.72637877e-01] [ 1.40962715e-02 -1.39549796e-04 9.99900633e-01 -3.71109684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.03654761499999 meters Centerline goodness [0,1] 0.746292573492993 Centerline is valid? [False, False] Translation: X:3.79, Y:0.17, Z:-0.37 [[ 9.99885881e-01 6.82871321e-03 -1.34756979e-02 3.78933504e+00] [-6.87110506e-03 9.99971582e-01 -3.10201183e-03 1.70459753e-01] [ 1.34541322e-02 3.19425077e-03 9.99904387e-01 -3.69532987e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.06654761499999 meters Centerline goodness [0,1] 0.7477250333275373 Centerline is valid? [False, False] Translation: X:3.79, Y:0.17, Z:-0.37 [[ 9.99852096e-01 1.05175630e-02 -1.36076100e-02 3.79006297e+00] [-1.05030987e-02 9.99944198e-01 1.13398731e-03 1.70593304e-01] [ 1.36187774e-02 -9.90897518e-04 9.99906769e-01 -3.69200739e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.09654761499999 meters Centerline goodness [0,1] 0.7423743500866551 Centerline is valid? [False, False] Translation: X:3.79, Y:0.17, Z:-0.37 [[ 0.99980214 0.01447693 -0.01364198 3.79010449] [-0.0144073 0.99988274 0.00518932 0.17288425] [ 0.01371551 -0.00499175 0.99989348 -0.36860823] [ 0. 0. 0. 1. ]] SLAMing on 74.12654761499999 meters Centerline goodness [0,1] 0.7428810720268006 Centerline is valid? [False, False] Translation: X:3.79, Y:0.17, Z:-0.37 [[ 9.99847906e-01 1.09256248e-02 -1.35939409e-02 3.78910548e+00] [-1.09189273e-02 9.99940226e-01 5.66807181e-04 1.74257019e-01] [ 1.35993211e-02 -4.18289720e-04 9.99907437e-01 -3.68822065e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.156547615 meters Centerline goodness [0,1] 0.743520690354154 Centerline is valid? [False, False] Translation: X:3.79, Y:0.17, Z:-0.37 [[ 9.99844716e-01 9.88989008e-03 -1.45854080e-02 3.79200024e+00] [-9.88066190e-03 9.99950937e-01 7.04626405e-04 1.71162174e-01] [ 1.45916610e-02 -5.60403503e-04 9.99893379e-01 -3.68670981e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.18654761499998 meters Centerline goodness [0,1] 0.7459014023420558 Centerline is valid? [False, False] Translation: X:3.80, Y:0.17, Z:-0.37 [[ 9.99847162e-01 7.97194376e-03 -1.55595588e-02 3.79694623e+00] [-7.98939822e-03 9.99967522e-01 -1.05994573e-03 1.73435641e-01] [ 1.55506036e-02 1.18409524e-03 9.99878381e-01 -3.72035047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.21654761499998 meters Centerline goodness [0,1] 0.7510036680819109 Centerline is valid? [False, False] Translation: X:3.80, Y:0.18, Z:-0.38 [[ 9.99848505e-01 7.02951471e-03 -1.59233417e-02 3.79989786e+00] [-7.07944861e-03 9.99970192e-01 -3.08169848e-03 1.77314513e-01] [ 1.59012042e-02 3.19396010e-03 9.99868467e-01 -3.75826631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.24654761499998 meters Centerline goodness [0,1] 0.7438042848870874 Centerline is valid? [False, False] Translation: X:3.80, Y:0.18, Z:-0.38 [[ 0.99985231 0.00707152 -0.01566366 3.79989695] [-0.00713577 0.99996634 -0.00404966 0.17921258] [ 0.0156345 0.00416084 0.99986912 -0.3775223 ] [ 0. 0. 0. 1. ]] SLAMing on 74.27654761499998 meters Centerline goodness [0,1] 0.7532956685499058 Centerline is valid? [False, False] Translation: X:3.81, Y:0.18, Z:-0.38 [[ 0.99994094 0.00647582 -0.00872847 3.80905885] [-0.00658359 0.99990176 -0.01237465 0.17975054] [ 0.00864748 0.01243138 0.99988533 -0.37583354] [ 0. 0. 0. 1. ]] SLAMing on 74.30654761499999 meters Centerline goodness [0,1] 0.7536562148440881 Centerline is valid? [False, False] Translation: X:3.81, Y:0.18, Z:-0.38 [[ 0.99991049 0.00960082 -0.00931825 3.81103063] [-0.00967935 0.99991771 -0.00841961 0.18190463] [ 0.00923665 0.00850905 0.99992114 -0.37538712] [ 0. 0. 0. 1. ]] SLAMing on 74.33654761499999 meters Centerline goodness [0,1] 0.7498127988019123 Centerline is valid? [False, False] Translation: X:3.81, Y:0.18, Z:-0.38 [[ 0.99986851 0.01264307 -0.01015502 3.81468519] [-0.01269944 0.9999042 -0.0055056 0.18334766] [ 0.01008444 0.00563384 0.99993328 -0.37767157] [ 0. 0. 0. 1. ]] SLAMing on 74.36654761499999 meters Centerline goodness [0,1] 0.7395375556512997 Centerline is valid? [False, False] Translation: X:3.81, Y:0.18, Z:-0.38 [[ 0.99985933 0.01371657 -0.00965285 3.81203356] [-0.01376774 0.99989141 -0.00525477 0.18428648] [ 0.00957973 0.00538693 0.9999396 -0.37631804] [ 0. 0. 0. 1. ]] SLAMing on 74.39654761499999 meters Centerline goodness [0,1] 0.7351185351013145 Centerline is valid? [False, False] Translation: X:3.81, Y:0.18, Z:-0.37 [[ 0.99984258 0.01520793 -0.00913954 3.80826929] [-0.01524353 0.99987645 -0.0038376 0.18360146] [ 0.00908005 0.00397631 0.99995087 -0.37280221] [ 0. 0. 0. 1. ]] SLAMing on 74.42654761499999 meters Centerline goodness [0,1] 0.734956731736768 Centerline is valid? [False, False] Translation: X:3.81, Y:0.19, Z:-0.37 [[ 0.99983638 0.01585881 -0.00870177 3.80727798] [-0.01589997 0.99986263 -0.00468208 0.18630035] [ 0.00862632 0.00481967 0.99995118 -0.3742083 ] [ 0. 0. 0. 1. ]] SLAMing on 74.45654761499999 meters Centerline goodness [0,1] 0.7258078340618839 Centerline is valid? [False, False] Translation: X:3.81, Y:0.19, Z:-0.38 [[ 9.99781861e-01 1.86280222e-02 -9.44600551e-03 3.81067245e+00] [-1.86459538e-02 9.99824504e-01 -1.81382580e-03 1.89119659e-01] [ 9.41055978e-03 1.98955991e-03 9.99953740e-01 -3.75971007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.48654761499999 meters Centerline goodness [0,1] 0.7341920709889795 Centerline is valid? [False, False] Translation: X:3.81, Y:0.19, Z:-0.37 [[ 0.99984103 0.01521365 -0.00929819 3.80895222] [-0.0152685 0.99986628 -0.00585637 0.19045211] [ 0.00920785 0.00599741 0.99993962 -0.37497254] [ 0. 0. 0. 1. ]] SLAMing on 74.516547615 meters Centerline goodness [0,1] 0.7448097631012204 Centerline is valid? [False, False] Translation: X:3.81, Y:0.19, Z:-0.37 [[ 0.99988779 0.01167962 -0.0093805 3.80745578] [-0.0117568 0.99989714 -0.00821499 0.18680676] [ 0.00928359 0.00832436 0.99992226 -0.37185786] [ 0. 0. 0. 1. ]] SLAMing on 74.54654761499998 meters Centerline goodness [0,1] 0.7485077823789804 Centerline is valid? [False, False] Translation: X:3.81, Y:0.19, Z:-0.37 [[ 0.99990036 0.00999394 -0.00996908 3.81078485] [-0.01009231 0.99990039 -0.00986678 0.19020285] [ 0.00986947 0.00996641 0.99990163 -0.3742263 ] [ 0. 0. 0. 1. ]] SLAMing on 74.57654761499998 meters Centerline goodness [0,1] 0.7587374772313297 Centerline is valid? [False, False] Translation: X:3.81, Y:0.19, Z:-0.38 [[ 0.99991037 0.00818218 -0.01059752 3.81415036] [-0.00830337 0.99990006 -0.01144184 0.19430181] [ 0.01050284 0.01152881 0.99987838 -0.37618955] [ 0. 0. 0. 1. ]] SLAMing on 74.60654761499998 meters Centerline goodness [0,1] 0.7622602798278859 Centerline is valid? [False, False] Translation: X:3.81, Y:0.19, Z:-0.37 [[ 0.99993652 0.0046061 -0.0102829 3.81217328] [-0.00476048 0.99987556 -0.01504 0.19420311] [ 0.01021235 0.015088 0.99983402 -0.3745479 ] [ 0. 0. 0. 1. ]] SLAMing on 74.63654761499998 meters Centerline goodness [0,1] 0.7812562086680102 Centerline is valid? [False, False] Translation: X:3.81, Y:0.19, Z:-0.37 [[ 0.99993573 0.00400961 -0.01060475 3.81222437] [-0.00415769 0.99989365 -0.01397883 0.19379919] [ 0.01054758 0.01402202 0.99984605 -0.37158075] [ 0. 0. 0. 1. ]] SLAMing on 74.66654761499998 meters Centerline goodness [0,1] 0.78539628526868 Centerline is valid? [False, False] Translation: X:3.81, Y:0.19, Z:-0.37 [[ 9.99933565e-01 3.15895936e-03 -1.10853881e-02 3.81372335e+00] [-3.31334237e-03 9.99897398e-01 -1.39360936e-02 1.93966358e-01] [ 1.10402271e-02 1.39718974e-02 9.99841437e-01 -3.71056207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.69654761499999 meters Centerline goodness [0,1] 0.7942863601684139 Centerline is valid? [False, False] Translation: X:3.82, Y:0.19, Z:-0.37 [[ 0.99991744 0.00490353 -0.01187722 3.81774242] [-0.00503215 0.99992876 -0.0108239 0.19481458] [ 0.0118233 0.01088277 0.99987088 -0.37209034] [ 0. 0. 0. 1. ]] SLAMing on 74.72654761499999 meters Centerline goodness [0,1] 0.7870795214637579 Centerline is valid? [False, False] Translation: X:3.82, Y:0.20, Z:-0.37 [[ 0.9999162 0.0046894 -0.01206699 3.81864563] [-0.00482853 0.9999219 -0.01152699 0.1971256 ] [ 0.01201199 0.01158429 0.99986075 -0.37307023] [ 0. 0. 0. 1. ]] SLAMing on 74.75654761499999 meters Centerline goodness [0,1] 0.7806760563380282 Centerline is valid? [False, False] Translation: X:3.82, Y:0.20, Z:-0.37 [[ 0.99991606 0.00534425 -0.01180317 3.81686498] [-0.00547495 0.99992375 -0.01106918 0.19729554] [ 0.01174312 0.01113288 0.99986907 -0.37154205] [ 0. 0. 0. 1. ]] SLAMing on 74.78654761499999 meters Centerline goodness [0,1] 0.786230153154419 Centerline is valid? [False, False] Translation: X:3.82, Y:0.20, Z:-0.37 [[ 0.99988882 0.00885456 -0.01199765 3.81698578] [-0.00892796 0.99994167 -0.00607848 0.19530942] [ 0.01194313 0.00618492 0.99990955 -0.36919266] [ 0. 0. 0. 1. ]] SLAMing on 74.81654761499999 meters Centerline goodness [0,1] 0.7685576089691615 Centerline is valid? [False, False] Translation: X:3.82, Y:0.20, Z:-0.37 [[ 9.99844812e-01 1.21967100e-02 -1.27118634e-02 3.81905120e+00] [-1.22322921e-02 9.99921469e-01 -2.72514366e-03 1.97142153e-01] [ 1.26776274e-02 2.88021598e-03 9.99915487e-01 -3.69471736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.84654761499999 meters Centerline goodness [0,1] 0.7594922583344957 Centerline is valid? [False, False] Translation: X:3.82, Y:0.20, Z:-0.37 [[ 9.99781052e-01 1.67279194e-02 -1.25708028e-02 3.81814196e+00] [-1.67155963e-02 9.99859696e-01 1.08473352e-03 1.98736724e-01] [ 1.25871844e-02 -8.74367559e-04 9.99920396e-01 -3.68929152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.87654761499999 meters Centerline goodness [0,1] 0.723929443088529 Centerline is valid? [False, False] Translation: X:3.82, Y:0.20, Z:-0.37 [[ 0.99968705 0.02199414 -0.0119193 3.81615547] [-0.02194289 0.99974949 0.00441317 0.20067311] [ 0.01201338 -0.00415024 0.99991922 -0.36975032] [ 0. 0. 0. 1. ]] SLAMing on 74.906547615 meters Centerline goodness [0,1] 0.7216920943134535 Centerline is valid? [False, False] Translation: X:3.81, Y:0.20, Z:-0.37 [[ 0.99966217 0.02339339 -0.01132642 3.81324894] [-0.02333586 0.99971424 0.00518481 0.1995257 ] [ 0.01144447 -0.00491875 0.99992241 -0.36830646] [ 0. 0. 0. 1. ]] SLAMing on 74.93654761499998 meters Centerline goodness [0,1] 0.7201307515443641 Centerline is valid? [False, False] Translation: X:3.81, Y:0.20, Z:-0.37 [[ 9.99661871e-01 2.33748928e-02 -1.13911187e-02 3.81454730e+00] [-2.33321767e-02 9.99720283e-01 3.86854324e-03 2.01448564e-01] [ 1.14783592e-02 -3.60145558e-03 9.99927636e-01 -3.71280135e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.96654761499998 meters Centerline goodness [0,1] 0.7192186375961485 Centerline is valid? [False, False] Translation: X:3.82, Y:0.20, Z:-0.37 [[ 9.99669903e-01 2.29899847e-02 -1.14693432e-02 3.81628783e+00] [-2.29659600e-02 9.99733778e-01 2.22203074e-03 2.04689246e-01] [ 1.15173742e-02 -1.95789278e-03 9.99931756e-01 -3.74492582e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.99654761499998 meters Centerline goodness [0,1] 0.7080726342426518 Centerline is valid? [False, False] Translation: X:3.82, Y:0.20, Z:-0.38 [[ 9.99654315e-01 2.37282475e-02 -1.13234918e-02 3.81571784e+00] [-2.37066205e-02 9.99716876e-01 2.04036457e-03 2.04203475e-01] [ 1.13687001e-02 -1.77121752e-03 9.99933806e-01 -3.75310573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.02654761499998 meters Centerline goodness [0,1] 0.7111517367458866 Centerline is valid? [False, False] Translation: X:3.81, Y:0.20, Z:-0.37 [[ 9.99714955e-01 2.10789141e-02 -1.12110905e-02 3.81368944e+00] [-2.10874092e-02 9.99777431e-01 -6.40052147e-04 1.98503281e-01] [ 1.11951037e-02 8.76282557e-04 9.99936949e-01 -3.73817719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.05654761499999 meters Centerline goodness [0,1] 0.7046851214974348 Centerline is valid? [False, False] Translation: X:3.82, Y:0.20, Z:-0.38 [[ 9.99720249e-01 2.06039529e-02 -1.16146526e-02 3.81637851e+00] [-2.06169772e-02 9.99786945e-01 -1.00273986e-03 1.97208562e-01] [ 1.15915176e-02 1.24191837e-03 9.99932045e-01 -3.76413055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.08654761499999 meters Centerline goodness [0,1] 0.7089449218199746 Centerline is valid? [False, False] Translation: X:3.82, Y:0.20, Z:-0.38 [[ 9.99660849e-01 2.30379535e-02 -1.21424476e-02 3.82182246e+00] [-2.30168907e-02 9.99733324e-01 1.87155845e-03 1.98240871e-01] [ 1.21823264e-02 -1.59144232e-03 9.99924526e-01 -3.81418050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.11654761499999 meters Centerline goodness [0,1] 0.7081860596635091 Centerline is valid? [False, False] Translation: X:3.82, Y:0.20, Z:-0.38 [[ 9.99648971e-01 2.36864666e-02 -1.18695192e-02 3.82111888e+00] [-2.36533321e-02 9.99715944e-01 2.92423838e-03 1.95119532e-01] [ 1.19354125e-02 -2.64245821e-03 9.99925279e-01 -3.81150134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.14654761499999 meters Centerline goodness [0,1] 0.7137379460325636 Centerline is valid? [False, False] Translation: X:3.82, Y:0.19, Z:-0.38 [[ 9.99788885e-01 1.69053953e-02 -1.16787354e-02 3.81836049e+00] [-1.69474586e-02 9.99850213e-01 -3.51217129e-03 1.90089601e-01] [ 1.16176114e-02 3.70935470e-03 9.99925633e-01 -3.78801257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.17654761499999 meters Centerline goodness [0,1] 0.7225637029982974 Centerline is valid? [False, False] Translation: X:3.82, Y:0.18, Z:-0.38 [[ 0.99984304 0.01312598 -0.01190015 3.81791783] [-0.01320071 0.9998935 -0.0062229 0.18482337] [ 0.0118172 0.00637902 0.99990983 -0.37710278] [ 0. 0. 0. 1. ]] SLAMing on 75.20654761499999 meters Centerline goodness [0,1] 0.7281830774558467 Centerline is valid? [False, False] Translation: X:3.82, Y:0.19, Z:-0.38 [[ 0.99985315 0.01136724 -0.01282405 3.82234241] [-0.01146252 0.99990706 -0.00738088 0.18659423] [ 0.01273896 0.00752679 0.99989053 -0.37957419] [ 0. 0. 0. 1. ]] SLAMing on 75.23654761499999 meters Centerline goodness [0,1] 0.747558551551292 Centerline is valid? [False, False] Translation: X:3.83, Y:0.19, Z:-0.38 [[ 0.99986277 0.00845524 -0.01424639 3.8298747 ] [-0.00858834 0.9999198 -0.00930776 0.18930175] [ 0.01416655 0.00942884 0.99985519 -0.38414563] [ 0. 0. 0. 1. ]] SLAMing on 75.266547615 meters Centerline goodness [0,1] 0.7525782105202512 Centerline is valid? [False, False] Translation: X:3.84, Y:0.19, Z:-0.39 [[ 0.99986502 0.00586948 -0.01534581 3.83503721] [-0.00601472 0.99993739 -0.00943576 0.18677949] [ 0.01528946 0.00952679 0.99983772 -0.38505279] [ 0. 0. 0. 1. ]] SLAMing on 75.29654761499998 meters Centerline goodness [0,1] 0.7595203698353077 Centerline is valid? [False, False] Translation: X:3.83, Y:0.18, Z:-0.38 [[ 9.99883317e-01 2.90390321e-03 -1.49973097e-02 3.83202119e+00] [-3.06927080e-03 9.99934620e-01 -1.10152629e-02 1.82222212e-01] [ 1.49643420e-02 1.10600084e-02 9.99826857e-01 -3.80879855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.32654761499998 meters Centerline goodness [0,1] 0.7545620174094103 Centerline is valid? [False, False] Translation: X:3.83, Y:0.18, Z:-0.37 [[ 0.99988942 0.00508058 -0.01397605 3.82596578] [-0.00514114 0.99997754 -0.00430078 0.17507509] [ 0.01395389 0.00437216 0.99989308 -0.36897538] [ 0. 0. 0. 1. ]] SLAMing on 75.35654761499998 meters Centerline goodness [0,1] 0.760426882030574 Centerline is valid? [False, False] Translation: X:3.83, Y:0.18, Z:-0.37 [[ 0.99988728 0.0051132 -0.01411685 3.82647706] [-0.00517828 0.99997612 -0.00457763 0.17601528] [ 0.0140931 0.00465021 0.99988987 -0.36957283] [ 0. 0. 0. 1. ]] SLAMing on 75.38654761499998 meters Centerline goodness [0,1] 0.7585139318885449 Centerline is valid? [False, False] Translation: X:3.83, Y:0.18, Z:-0.37 [[ 9.99860804e-01 7.65938401e-03 -1.48224699e-02 3.83004695e+00] [-7.67817816e-03 9.99969789e-01 -1.21145696e-03 1.77222017e-01] [ 1.48127431e-02 1.32509790e-03 9.99889407e-01 -3.71003683e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.41654761499998 meters Centerline goodness [0,1] 0.7621595049447689 Centerline is valid? [False, False] Translation: X:3.83, Y:0.18, Z:-0.37 [[ 9.99855914e-01 7.58046102e-03 -1.51884363e-02 3.82988065e+00] [-7.58480942e-03 9.99971209e-01 -2.28712347e-04 1.76286404e-01] [ 1.51862653e-02 3.43880787e-04 9.99884623e-01 -3.68498646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.44654761499999 meters Centerline goodness [0,1] 0.7747829127571537 Centerline is valid? [False, False] Translation: X:3.83, Y:0.17, Z:-0.37 [[ 9.99876116e-01 4.16590232e-03 -1.51788683e-02 3.82817841e+00] [-4.20472906e-03 9.99987967e-01 -2.52693155e-03 1.72208830e-01] [ 1.51681587e-02 2.59044153e-03 9.99881601e-01 -3.65370627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.47654761499999 meters Centerline goodness [0,1] 0.8146113146113146 Centerline is valid? [False, False] Translation: X:3.83, Y:0.17, Z:-0.36 [[ 9.99865481e-01 2.08652452e-03 -1.62685660e-02 3.83167532e+00] [-2.11978321e-03 9.99995698e-01 -2.02737671e-03 1.72334356e-01] [ 1.62642659e-02 2.06158982e-03 9.99865603e-01 -3.63521050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.50654761499999 meters Centerline goodness [0,1] 0.8301925320886814 Centerline is valid? [False, False] Translation: X:3.84, Y:0.17, Z:-0.36 [[ 9.99852226e-01 1.33050929e-05 -1.71908574e-02 3.83587065e+00] [-6.27433204e-05 9.99995864e-01 -2.87530805e-03 1.72911625e-01] [ 1.71907481e-02 2.87596177e-03 9.99848092e-01 -3.64872385e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.53654761499999 meters Centerline goodness [0,1] 0.8435103331186699 Centerline is valid? [False, False] Translation: X:3.84, Y:0.17, Z:-0.36 [[ 9.99831896e-01 -2.20516200e-03 -1.82020912e-02 3.83966251e+00] [ 2.16796726e-03 9.99995522e-01 -2.06291169e-03 1.70179294e-01] [ 1.82065587e-02 2.02310336e-03 9.99832200e-01 -3.63227682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.56654761499999 meters Centerline goodness [0,1] 0.8435103331186699 Centerline is valid? [False, False] Translation: X:3.84, Y:0.17, Z:-0.36 [[ 9.99831896e-01 -2.20516200e-03 -1.82020912e-02 3.83966251e+00] [ 2.16796726e-03 9.99995522e-01 -2.06291169e-03 1.70179294e-01] [ 1.82065587e-02 2.02310336e-03 9.99832200e-01 -3.63227682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.59654761499999 meters Centerline goodness [0,1] 0.8474795220339978 Centerline is valid? [False, False] Translation: X:3.84, Y:0.17, Z:-0.36 [[ 0.99982664 -0.00589607 -0.01766166 3.83745743] [ 0.00580061 0.99996832 -0.0054513 0.17005025] [ 0.01769324 0.00534791 0.99982916 -0.36152406] [ 0. 0. 0. 1. ]] SLAMing on 75.62654761499999 meters Centerline goodness [0,1] 0.8416912775227345 Centerline is valid? [False, False] Translation: X:3.84, Y:0.17, Z:-0.36 [[ 9.99830138e-01 -3.53773324e-03 -1.80880911e-02 3.83925268e+00] [ 3.51322629e-03 9.99992867e-01 -1.38646377e-03 1.71871514e-01] [ 1.80928671e-02 1.32268070e-03 9.99835436e-01 -3.60180348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.656547615 meters Centerline goodness [0,1] 0.8363250842337633 Centerline is valid? [False, False] Translation: X:3.84, Y:0.18, Z:-0.36 [[ 9.99827065e-01 -3.94822796e-03 -1.81727986e-02 3.83973321e+00] [ 3.89892402e-03 9.99988624e-01 -2.74769396e-03 1.76364176e-01] [ 1.81834404e-02 2.67636443e-03 9.99831086e-01 -3.61294250e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.68654761499998 meters Centerline goodness [0,1] 0.8424663507660106 Centerline is valid? [False, False] Translation: X:3.84, Y:0.17, Z:-0.36 [[ 9.99820661e-01 -3.89625622e-03 -1.85327828e-02 3.84010185e+00] [ 3.85827449e-03 9.99990384e-01 -2.08474885e-03 1.72422018e-01] [ 1.85407273e-02 2.01287041e-03 9.99826080e-01 -3.60129474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.71654761499998 meters Centerline goodness [0,1] 0.8442554176431444 Centerline is valid? [False, False] Translation: X:3.84, Y:0.17, Z:-0.36 [[ 9.99822925e-01 -3.44140819e-03 -1.85006965e-02 3.83914202e+00] [ 3.41217905e-03 9.99992880e-01 -1.61122823e-03 1.72111451e-01] [ 1.85061097e-02 1.54781523e-03 9.99827549e-01 -3.58954829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.74654761499998 meters Centerline goodness [0,1] 0.8414172686618507 Centerline is valid? [False, False] Translation: X:3.84, Y:0.18, Z:-0.36 [[ 9.99826641e-01 2.40800948e-04 -1.86180089e-02 3.84028586e+00] [-2.12584208e-04 9.99998826e-01 1.51752585e-03 1.75989261e-01] [ 1.86183525e-02 -1.51330488e-03 9.99825518e-01 -3.60355187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.77654761499998 meters Centerline goodness [0,1] 0.8351000170969396 Centerline is valid? [False, False] Translation: X:3.84, Y:0.18, Z:-0.36 [[ 0.99981894 0.00537379 -0.01825406 3.83885439] [-0.00528604 0.99997426 0.00485162 0.17962051] [ 0.01827966 -0.00475425 0.99982161 -0.3611882 ] [ 0. 0. 0. 1. ]] SLAMing on 75.80654761499999 meters Centerline goodness [0,1] 0.814418131464421 Centerline is valid? [False, False] Translation: X:3.85, Y:0.18, Z:-0.37 [[ 9.99837868e-01 1.18573516e-02 -1.35514013e-02 3.84996319e+00] [-1.18835533e-02 9.99927668e-01 -1.85461688e-03 1.84637178e-01] [ 1.35284303e-02 2.01535499e-03 9.99906456e-01 -3.65786174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.83654761499999 meters Centerline goodness [0,1] 0.7558319934557558 Centerline is valid? [False, False] Translation: X:3.85, Y:0.19, Z:-0.37 [[ 9.99774384e-01 1.60173381e-02 -1.39508457e-02 3.85155963e+00] [-1.60114499e-02 9.99871666e-01 5.33662197e-04 1.87815087e-01] [ 1.39576032e-02 -3.10168527e-04 9.99902540e-01 -3.68387550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.86654761499999 meters Centerline goodness [0,1] 0.7473247310613547 Centerline is valid? [False, False] Translation: X:3.86, Y:0.19, Z:-0.37 [[ 0.99974489 0.02162015 -0.00653695 3.85580131] [-0.02165214 0.99975373 -0.00486371 0.1870613 ] [ 0.00643019 0.00500401 0.99996681 -0.366216 ] [ 0. 0. 0. 1. ]] SLAMing on 75.89654761499999 meters Centerline goodness [0,1] 0.7288384437291773 Centerline is valid? [False, False] Translation: X:3.86, Y:0.19, Z:-0.37 [[ 0.99973743 0.02195756 -0.00655258 3.85683226] [-0.02199679 0.99974018 -0.00597599 0.18924699] [ 0.00641966 0.00611856 0.99996067 -0.36911267] [ 0. 0. 0. 1. ]] SLAMing on 75.92654761499999 meters Centerline goodness [0,1] 0.7172035448023633 Centerline is valid? [False, False] Translation: X:3.86, Y:0.19, Z:-0.38 [[ 0.99965915 0.0252089 -0.00678961 3.86206872] [-0.02523709 0.99967309 -0.00409867 0.1924134 ] [ 0.00668407 0.00426862 0.99996855 -0.37622621] [ 0. 0. 0. 1. ]] SLAMing on 75.95654761499999 meters Centerline goodness [0,1] 0.7139231224794833 Centerline is valid? [False, False] Translation: X:3.86, Y:0.20, Z:-0.38 [[ 0.999653 0.02546782 -0.00672779 3.86282519] [-0.02550252 0.99966163 -0.00512268 0.1951968 ] [ 0.00659505 0.00529248 0.99996425 -0.37868906] [ 0. 0. 0. 1. ]] SLAMing on 75.98654761499999 meters Centerline goodness [0,1] 0.7061319153750425 Centerline is valid? [False, False] Translation: X:3.86, Y:0.19, Z:-0.38 [[ 0.9996358 0.02628279 -0.00612302 3.8614737 ] [-0.02631451 0.99964041 -0.0051577 0.19451292] [ 0.00598526 0.00531694 0.99996795 -0.3795776 ] [ 0. 0. 0. 1. ]] SLAMing on 76.016547615 meters Centerline goodness [0,1] 0.711025641025641 Centerline is valid? [False, False] Translation: X:3.85, Y:0.19, Z:-0.37 [[ 0.99966548 0.02538614 -0.00494769 3.85457117] [-0.02541139 0.99966402 -0.00510914 0.18558817] [ 0.00481633 0.00523316 0.99997471 -0.37347135] [ 0. 0. 0. 1. ]] SLAMing on 76.04654761499998 meters Centerline goodness [0,1] 0.7085287179924404 Centerline is valid? [False, False] Translation: X:3.85, Y:0.18, Z:-0.37 [[ 0.99965641 0.02570171 -0.00514661 3.85429262] [-0.02572311 0.99966055 -0.00413661 0.18420958] [ 0.00503855 0.00426757 0.9999782 -0.37189176] [ 0. 0. 0. 1. ]] SLAMing on 76.07654761499998 meters Centerline goodness [0,1] 0.7137275034939106 Centerline is valid? [False, False] Translation: X:3.86, Y:0.18, Z:-0.38 [[ 9.99625928e-01 2.66042748e-02 -6.34163253e-03 3.86192217e+00] [-2.66183296e-02 9.99643374e-01 -2.14225737e-03 1.84806882e-01] [ 6.28237774e-03 2.31025967e-03 9.99977597e-01 -3.76947601e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.10654761499998 meters Centerline goodness [0,1] 0.7148064173578624 Centerline is valid? [False, False] Translation: X:3.87, Y:0.18, Z:-0.38 [[ 9.99643372e-01 2.57423072e-02 -7.10363146e-03 3.86573444e+00] [-2.57614300e-02 9.99664702e-01 -2.61371227e-03 1.82686139e-01] [ 7.03396664e-03 2.79577985e-03 9.99971353e-01 -3.79899900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.13654761499998 meters Centerline goodness [0,1] 0.7145491744229606 Centerline is valid? [False, False] Translation: X:3.86, Y:0.18, Z:-0.38 [[ 0.99971182 0.0230577 -0.00667935 3.86301223] [-0.02309474 0.99971803 -0.00552223 0.18059798] [ 0.00655013 0.00567489 0.99996244 -0.37829613] [ 0. 0. 0. 1. ]] SLAMing on 76.16654761499998 meters Centerline goodness [0,1] 0.7253180329769046 Centerline is valid? [False, False] Translation: X:3.86, Y:0.17, Z:-0.37 [[ 0.99978052 0.01987425 -0.00662712 3.86009954] [-0.01990369 0.99979219 -0.00440622 0.17306212] [ 0.00653817 0.00453715 0.99996833 -0.36921912] [ 0. 0. 0. 1. ]] SLAMing on 76.19654761499999 meters Centerline goodness [0,1] 0.7279394712430427 Centerline is valid? [False, False] Translation: X:3.86, Y:0.17, Z:-0.37 [[ 9.99782095e-01 1.96364236e-02 -7.08337333e-03 3.86068552e+00] [-1.96613202e-02 9.99800702e-01 -3.46244318e-03 1.71173796e-01] [ 7.01397163e-03 3.60095716e-03 9.99968918e-01 -3.67465566e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.22654761499999 meters Centerline goodness [0,1] 0.7364431148159982 Centerline is valid? [False, False] Translation: X:3.86, Y:0.18, Z:-0.38 [[ 9.99898460e-01 1.41951604e-02 -1.25193423e-03 3.86213234e+00] [-1.41943780e-02 9.99899055e-01 6.31700276e-04 1.76123832e-01] [ 1.26077494e-03 -6.13865706e-04 9.99999017e-01 -3.78822106e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.25654761499999 meters Centerline goodness [0,1] 0.7387910270176151 Centerline is valid? [False, False] Translation: X:3.87, Y:0.18, Z:-0.38 [[ 9.99916861e-01 1.26996912e-02 -2.23339052e-03 3.86682723e+00] [-1.27020808e-02 9.99918765e-01 -1.05901942e-03 1.78061261e-01] [ 2.21975987e-03 1.08730008e-03 9.99996945e-01 -3.82439279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.28654761499999 meters Centerline goodness [0,1] 0.7461259575463424 Centerline is valid? [False, False] Translation: X:3.87, Y:0.18, Z:-0.38 [[ 9.99958779e-01 8.75892457e-03 -2.39205598e-03 3.86725533e+00] [-8.77199713e-03 9.99946343e-01 -5.51029749e-03 1.76583886e-01] [ 2.34366335e-03 5.53105346e-03 9.99981957e-01 -3.83501913e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.31654761499999 meters Centerline goodness [0,1] 0.7447240021162778 Centerline is valid? [False, False] Translation: X:3.86, Y:0.17, Z:-0.37 [[ 9.99971248e-01 7.52135286e-03 -9.65715285e-04 3.85982233e+00] [-7.52491517e-03 9.99964694e-01 -3.73971759e-03 1.68827428e-01] [ 9.37553454e-04 3.74687699e-03 9.99992541e-01 -3.73578156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.34654761499999 meters Centerline goodness [0,1] 0.7395183135084207 Centerline is valid? [False, False] Translation: X:3.86, Y:0.17, Z:-0.37 [[ 9.99967291e-01 8.05666096e-03 -7.11642399e-04 3.85799667e+00] [-8.05777490e-03 9.99966293e-01 -1.57656383e-03 1.65196378e-01] [ 6.98916571e-04 1.58224651e-03 9.99998504e-01 -3.70074705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.37654761499999 meters Centerline goodness [0,1] 0.7430885719316781 Centerline is valid? [False, False] Translation: X:3.86, Y:0.17, Z:-0.37 [[ 9.99955034e-01 9.26637904e-03 -2.01602084e-03 3.86448486e+00] [-9.26438962e-03 9.99956591e-01 9.93918062e-04 1.68667093e-01] [ 2.02514334e-03 -9.75196167e-04 9.99997474e-01 -3.72751448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.40654761499998 meters Centerline goodness [0,1] 0.7476021470683132 Centerline is valid? [False, False] Translation: X:3.87, Y:0.17, Z:-0.38 [[ 9.99965196e-01 7.92490457e-03 -2.60822296e-03 3.86765562e+00] [-7.92664390e-03 9.99968368e-01 -6.57204871e-04 1.71987272e-01] [ 2.60293217e-03 6.77856452e-04 9.99996383e-01 -3.75400553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.43654761499998 meters Centerline goodness [0,1] 0.7536449147560259 Centerline is valid? [False, False] Translation: X:3.87, Y:0.17, Z:-0.38 [[ 9.99987930e-01 3.88068444e-03 -3.01324132e-03 3.86842838e+00] [-3.89586415e-03 9.99979668e-01 -5.04825044e-03 1.71238884e-01] [ 2.99358939e-03 5.05992869e-03 9.99982718e-01 -3.75837171e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.46654761499998 meters Centerline goodness [0,1] 0.7521933063539421 Centerline is valid? [False, False] Translation: X:3.87, Y:0.17, Z:-0.37 [[ 9.99995094e-01 9.36346117e-04 -2.98933989e-03 3.86616882e+00] [-9.58297514e-04 9.99972527e-01 -7.35025790e-03 1.66842138e-01] [ 2.98237538e-03 7.35308652e-03 9.99968518e-01 -3.72451894e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.49654761499998 meters Centerline goodness [0,1] 0.7579815537424619 Centerline is valid? [False, False] Translation: X:3.87, Y:0.16, Z:-0.37 [[ 9.99993676e-01 8.49782085e-04 -3.45334163e-03 3.86612465e+00] [-8.63464045e-04 9.99991777e-01 -3.96239050e-03 1.60995369e-01] [ 3.44994607e-03 3.96534728e-03 9.99986187e-01 -3.66920521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.52654761499998 meters Centerline goodness [0,1] 0.7710590185283845 Centerline is valid? [False, False] Translation: X:3.87, Y:0.16, Z:-0.37 [[ 9.99993685e-01 -1.85565623e-04 -3.54898521e-03 3.86814092e+00] [ 1.71156277e-04 9.99991744e-01 -4.06000403e-03 1.61317634e-01] [ 3.54970930e-03 4.05937096e-03 9.99985460e-01 -3.68161291e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.55654761499999 meters Centerline goodness [0,1] 0.7657307669668609 Centerline is valid? [False, False] Translation: X:3.88, Y:0.16, Z:-0.37 [[ 9.99988087e-01 1.86082208e-04 -4.87764317e-03 3.87610926e+00] [-1.92553858e-04 9.99999102e-01 -1.32636263e-03 1.63068195e-01] [ 4.87739198e-03 1.32728603e-03 9.99987225e-01 -3.71593022e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.58654761499999 meters Centerline goodness [0,1] 0.7883427422930275 Centerline is valid? [False, False] Translation: X:3.88, Y:0.16, Z:-0.37 [[ 9.99983794e-01 -7.96114627e-04 -5.63715470e-03 3.87846121e+00] [ 7.90505878e-04 9.99999190e-01 -9.97119120e-04 1.60908737e-01] [ 5.63794395e-03 9.92646757e-04 9.99983614e-01 -3.71046039e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.61654761499999 meters Centerline goodness [0,1] 0.776351752822341 Centerline is valid? [False, False] Translation: X:3.88, Y:0.16, Z:-0.37 [[ 9.99981227e-01 -5.79191530e-04 -6.10002506e-03 3.87842847e+00] [ 5.78491277e-04 9.99999826e-01 -1.16558968e-04 1.56326899e-01] [ 6.10009151e-03 1.13027969e-04 9.99981388e-01 -3.69040492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.64654761499999 meters Centerline goodness [0,1] 0.7966937269372694 Centerline is valid? [False, False] Translation: X:3.88, Y:0.16, Z:-0.37 [[ 9.99983242e-01 -3.65712193e-04 -5.77772114e-03 3.87704875e+00] [ 3.62865453e-04 9.99999812e-01 -4.93750468e-04 1.59393406e-01] [ 5.77790063e-03 4.91645659e-04 9.99983187e-01 -3.68472518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.67654761499999 meters Centerline goodness [0,1] 0.7999002581553626 Centerline is valid? [False, False] Translation: X:3.88, Y:0.16, Z:-0.37 [[ 9.99978166e-01 2.04192130e-03 -6.28469856e-03 3.87990398e+00] [-2.02625122e-03 9.99994825e-01 2.49872878e-03 1.63017233e-01] [ 6.28976824e-03 -2.48593985e-03 9.99977129e-01 -3.69563776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.70654761499999 meters Centerline goodness [0,1] 0.7998701222031998 Centerline is valid? [False, False] Translation: X:3.88, Y:0.16, Z:-0.37 [[ 9.99976182e-01 1.94805253e-03 -6.62124543e-03 3.88054804e+00] [-1.93184499e-03 9.99995125e-01 2.45332346e-03 1.62474161e-01] [ 6.62599235e-03 -2.44047381e-03 9.99975070e-01 -3.69393048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.73654761499999 meters Centerline goodness [0,1] 0.8008223878830908 Centerline is valid? [False, False] Translation: X:3.88, Y:0.16, Z:-0.37 [[ 9.99973192e-01 2.30868427e-03 -6.94880732e-03 3.87984412e+00] [-2.28367235e-03 9.99990894e-01 3.60523897e-03 1.59646441e-01] [ 6.95706740e-03 -3.58927352e-03 9.99969358e-01 -3.66667935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.766547615 meters Centerline goodness [0,1] 0.793325681998764 Centerline is valid? [False, False] Translation: X:3.88, Y:0.16, Z:-0.37 [[ 9.99972142e-01 2.93606823e-03 -6.86253371e-03 3.87856812e+00] [-2.91606392e-03 9.99991476e-01 2.92319396e-03 1.64725557e-01] [ 6.87105791e-03 -2.90310094e-03 9.99972180e-01 -3.66521066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.79654761499998 meters Centerline goodness [0,1] 0.8034291091962473 Centerline is valid? [False, False] Translation: X:3.88, Y:0.17, Z:-0.37 [[ 9.99971811e-01 2.14228106e-03 -7.19644508e-03 3.88073889e+00] [-2.13267173e-03 9.99996824e-01 1.34269682e-03 1.67884863e-01] [ 7.19929866e-03 -1.32731132e-03 9.99973204e-01 -3.69186209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.82654761499998 meters Centerline goodness [0,1] 0.7915540937389874 Centerline is valid? [False, False] Translation: X:3.88, Y:0.17, Z:-0.37 [[ 9.99971086e-01 1.56233533e-03 -7.44216699e-03 3.88231289e+00] [-1.56189300e-03 9.99998778e-01 6.52478596e-05 1.71351415e-01] [ 7.44225984e-03 -5.36221045e-05 9.99972305e-01 -3.71093264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.85654761499998 meters Centerline goodness [0,1] 0.7906861313868613 Centerline is valid? [False, False] Translation: X:3.88, Y:0.18, Z:-0.37 [[ 9.99968834e-01 8.57283894e-04 -7.84831522e-03 3.88368059e+00] [-8.66798847e-04 9.99998893e-01 -1.20903499e-03 1.75478719e-01] [ 7.84727005e-03 1.21580022e-03 9.99968471e-01 -3.71982418e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.88654761499998 meters Centerline goodness [0,1] 0.7906069406553433 Centerline is valid? [False, False] Translation: X:3.88, Y:0.17, Z:-0.36 [[ 9.99966824e-01 -1.65255838e-03 -7.97624366e-03 3.88037631e+00] [ 1.64068061e-03 9.99997536e-01 -1.49545687e-03 1.66954630e-01] [ 7.97869533e-03 1.48232079e-03 9.99967071e-01 -3.64712562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.91654761499998 meters Centerline goodness [0,1] 0.7904069173020185 Centerline is valid? [False, False] Translation: X:3.88, Y:0.17, Z:-0.36 [[ 9.99969053e-01 -1.20374687e-03 -7.77457268e-03 3.87904162e+00] [ 1.19537611e-03 9.99998701e-01 -1.08124055e-03 1.69108618e-01] [ 7.77586412e-03 1.07191355e-03 9.99969193e-01 -3.63345576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.94654761499999 meters Centerline goodness [0,1] 0.7782041219731984 Centerline is valid? [False, False] Translation: X:3.88, Y:0.18, Z:-0.37 [[ 9.99963362e-01 9.35531760e-04 -8.50877133e-03 3.88452086e+00] [-9.31374849e-04 9.99999445e-01 4.92493577e-04 1.75468882e-01] [ 8.50922735e-03 -4.84550677e-04 9.99963678e-01 -3.68675175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.97654761499999 meters Centerline goodness [0,1] 0.7626892123536418 Centerline is valid? [False, False] Translation: X:3.88, Y:0.18, Z:-0.37 [[ 9.99963495e-01 1.69050913e-03 -8.37561501e-03 3.88428354e+00] [-1.69164772e-03 9.99998561e-01 -1.28858230e-04 1.79482712e-01] [ 8.37538512e-03 1.43022116e-04 9.99964916e-01 -3.70217479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.00654761499999 meters Centerline goodness [0,1] 0.7443626456437308 Centerline is valid? [False, False] Translation: X:3.88, Y:0.18, Z:-0.37 [[ 9.99958793e-01 3.19924314e-03 -8.49565674e-03 3.88154030e+00] [-3.18623696e-03 9.99993732e-01 1.54401494e-03 1.76121408e-01] [ 8.50054317e-03 -1.51688214e-03 9.99962719e-01 -3.66083702e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.03654761499999 meters Centerline goodness [0,1] 0.7337219469542408 Centerline is valid? [False, False] Translation: X:3.88, Y:0.17, Z:-0.36 [[ 9.99968663e-01 1.71598918e-03 -7.72847331e-03 3.87584630e+00] [-1.72232337e-03 9.99998186e-01 -8.13010842e-04 1.72815437e-01] [ 7.72706417e-03 8.26296294e-04 9.99969804e-01 -3.62044829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.06654761499999 meters Centerline goodness [0,1] 0.7324107116952447 Centerline is valid? [False, False] Translation: X:3.88, Y:0.17, Z:-0.36 [[ 9.99969557e-01 1.77186403e-03 -7.59905577e-03 3.87604242e+00] [-1.78090672e-03 9.99997714e-01 -1.18337395e-03 1.74314792e-01] [ 7.59694162e-03 1.19687113e-03 9.99970427e-01 -3.63091014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.09654761499999 meters Centerline goodness [0,1] 0.7427605340731749 Centerline is valid? [False, False] Translation: X:3.88, Y:0.18, Z:-0.37 [[ 9.99957988e-01 3.57890145e-03 -8.43886222e-03 3.88091781e+00] [-3.56597644e-03 9.99992447e-01 1.54615456e-03 1.78750681e-01] [ 8.44433201e-03 -1.51599682e-03 9.99963197e-01 -3.65546631e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.12654761499999 meters Centerline goodness [0,1] 0.7363646868500116 Centerline is valid? [False, False] Translation: X:3.88, Y:0.18, Z:-0.37 [[ 9.99955954e-01 2.74822712e-03 -8.97430942e-03 3.88300509e+00] [-2.73751179e-03 9.99995526e-01 1.20606581e-03 1.78856771e-01] [ 8.97758381e-03 -1.18144541e-03 9.99959003e-01 -3.66217137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.15654761499998 meters Centerline goodness [0,1] 0.7342756799117638 Centerline is valid? [False, False] Translation: X:3.88, Y:0.18, Z:-0.36 [[ 9.99962713e-01 -2.69383443e-04 -8.63136279e-03 3.88044661e+00] [ 2.54808545e-04 9.99998540e-01 -1.68965276e-03 1.75934511e-01] [ 8.63180535e-03 1.68739041e-03 9.99961322e-01 -3.63872269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.18654761499998 meters Centerline goodness [0,1] 0.7269320162696107 Centerline is valid? [False, False] Translation: X:3.88, Y:0.17, Z:-0.36 [[ 9.99967331e-01 6.78991997e-04 -8.05451970e-03 3.87698135e+00] [-6.75880925e-04 9.99999696e-01 3.88967404e-04 1.71646184e-01] [ 8.05478136e-03 -3.83510801e-04 9.99967486e-01 -3.59332170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.21654761499998 meters Centerline goodness [0,1] 0.7382439222748265 Centerline is valid? [False, False] Translation: X:3.88, Y:0.17, Z:-0.36 [[ 9.99968548e-01 6.50729092e-04 -7.90441222e-03 3.87679380e+00] [-6.51994140e-04 9.99999775e-01 -1.57467391e-04 1.73512321e-01] [ 7.90430798e-03 1.62616069e-04 9.99968747e-01 -3.59912425e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.24654761499998 meters Centerline goodness [0,1] 0.7253175519630485 Centerline is valid? [False, False] Translation: X:3.88, Y:0.18, Z:-0.36 [[ 9.99956488e-01 3.46430655e-03 -8.66139238e-03 3.88065131e+00] [-3.44696331e-03 9.99992026e-01 2.01648871e-03 1.77298995e-01] [ 8.66830905e-03 -1.98654547e-03 9.99960456e-01 -3.63298259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.27654761499998 meters Centerline goodness [0,1] 0.7152245345016429 Centerline is valid? [False, False] Translation: X:3.88, Y:0.18, Z:-0.37 [[ 9.99953173e-01 2.81913866e-03 -9.25764593e-03 3.88429599e+00] [-2.82817620e-03 9.99995537e-01 -9.63277259e-04 1.81613580e-01] [ 9.25488900e-03 9.89414405e-04 9.99956683e-01 -3.69175999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.30654761499999 meters Centerline goodness [0,1] 0.7206317009562446 Centerline is valid? [False, False] Translation: X:3.88, Y:0.18, Z:-0.37 [[ 9.99962340e-01 -5.72196957e-04 -8.65972830e-03 3.88233388e+00] [ 5.31613404e-04 9.99988870e-01 -4.68804603e-03 1.80509258e-01] [ 8.66231441e-03 4.68326585e-03 9.99951514e-01 -3.68827401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.33654761499999 meters Centerline goodness [0,1] 0.7321283509341998 Centerline is valid? [False, False] Translation: X:3.88, Y:0.18, Z:-0.37 [[ 9.99955176e-01 -1.80675813e-03 -9.29413753e-03 3.88478753e+00] [ 1.76723810e-03 9.99989371e-01 -4.25860277e-03 1.78874318e-01] [ 9.30173301e-03 4.24198693e-03 9.99947740e-01 -3.68354257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.36654761499999 meters Centerline goodness [0,1] 0.7484865162355532 Centerline is valid? [False, False] Translation: X:3.89, Y:0.18, Z:-0.37 [[ 9.99947497e-01 -3.05812478e-03 -9.78011052e-03 3.88709836e+00] [ 3.02545879e-03 9.99989802e-01 -3.35309512e-03 1.75723493e-01] [ 9.79026496e-03 3.32332976e-03 9.99946552e-01 -3.67548030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.39654761499999 meters Centerline goodness [0,1] 0.7656960741706504 Centerline is valid? [False, False] Translation: X:3.89, Y:0.17, Z:-0.36 [[ 9.99945851e-01 -3.39551264e-03 -9.83698133e-03 3.88665196e+00] [ 3.37572504e-03 9.99992247e-01 -2.02745770e-03 1.74693892e-01] [ 9.84378932e-03 1.99414097e-03 9.99949560e-01 -3.64698384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.42654761499999 meters Centerline goodness [0,1] 0.7771655598410812 Centerline is valid? [False, False] Translation: X:3.89, Y:0.17, Z:-0.36 [[ 9.99943232e-01 -3.33711942e-03 -1.01191276e-02 3.88573654e+00] [ 3.33661011e-03 9.99994431e-01 -6.72130946e-05 1.71724476e-01] [ 1.01192956e-02 3.34456955e-05 9.99948798e-01 -3.60437026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.45654761499999 meters Centerline goodness [0,1] 0.7993286631640397 Centerline is valid? [False, False] Translation: X:3.89, Y:0.17, Z:-0.36 [[ 9.99925256e-01 -5.52089240e-03 -1.09088147e-02 3.89023366e+00] [ 5.50951821e-03 9.99984247e-01 -1.07243770e-03 1.70336226e-01] [ 1.09145637e-02 1.01225523e-03 9.99939922e-01 -3.62653355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.48654761499999 meters Centerline goodness [0,1] 0.7993286631640397 Centerline is valid? [False, False] Translation: X:3.89, Y:0.17, Z:-0.36 [[ 9.99925256e-01 -5.52089240e-03 -1.09088147e-02 3.89023366e+00] [ 5.50951821e-03 9.99984247e-01 -1.07243770e-03 1.70336226e-01] [ 1.09145637e-02 1.01225523e-03 9.99939922e-01 -3.62653355e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.516547615 meters Centerline goodness [0,1] 0.8092070715911079 Centerline is valid? [False, False] Translation: X:3.90, Y:0.17, Z:-0.37 [[ 9.99890804e-01 -8.48127174e-03 -1.21015948e-02 3.89710373e+00] [ 8.44709170e-03 9.99960196e-01 -2.87274874e-03 1.71630912e-01] [ 1.21254777e-02 2.77021176e-03 9.99922646e-01 -3.66720990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.54654761499998 meters Centerline goodness [0,1] 0.8141076404164833 Centerline is valid? [False, False] Translation: X:3.90, Y:0.17, Z:-0.37 [[ 9.99876331e-01 -9.56522739e-03 -1.24831465e-02 3.89906780e+00] [ 9.53400744e-03 9.99951278e-01 -2.55808697e-03 1.70616524e-01] [ 1.25070070e-02 2.43875620e-03 9.99918810e-01 -3.66546335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.57654761499998 meters Centerline goodness [0,1] 0.8167324850080444 Centerline is valid? [False, False] Translation: X:3.90, Y:0.17, Z:-0.36 [[ 9.99865921e-01 -1.02662640e-02 -1.27571128e-02 3.89982933e+00] [ 1.02503623e-02 9.99946604e-01 -1.31125967e-03 1.68257889e-01] [ 1.27698934e-02 1.18031883e-03 9.99917765e-01 -3.64443642e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.60654761499998 meters Centerline goodness [0,1] 0.8130624688535163 Centerline is valid? [False, False] Translation: X:3.90, Y:0.17, Z:-0.36 [[ 9.99827048e-01 -1.26747829e-02 -1.36097196e-02 3.90402429e+00] [ 1.26529445e-02 9.99918521e-01 -1.68952958e-03 1.68381617e-01] [ 1.36300251e-02 1.51703435e-03 9.99905956e-01 -3.64883161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.63654761499998 meters Centerline goodness [0,1] 0.8171187888427439 Centerline is valid? [False, False] Translation: X:3.90, Y:0.17, Z:-0.36 [[ 0.99975652 -0.01712914 -0.01391034 3.90481243] [ 0.0170496 0.99983773 -0.00581672 0.16763131] [ 0.01400772 0.00557814 0.99988633 -0.36460183] [ 0. 0. 0. 1. ]] SLAMing on 77.66654761499998 meters Centerline goodness [0,1] 0.8176821561884607 Centerline is valid? [False, False] Translation: X:3.90, Y:0.17, Z:-0.36 [[ 0.99976548 -0.01663684 -0.01386372 3.90334841] [ 0.0165677 0.99984981 -0.0050871 0.16747696] [ 0.01394627 0.00485622 0.99989095 -0.36240023] [ 0. 0. 0. 1. ]] SLAMing on 77.69654761499999 meters Centerline goodness [0,1] 0.8129805583978951 Centerline is valid? [False, False] Translation: X:3.90, Y:0.17, Z:-0.36 [[ 9.99811780e-01 -1.33498905e-02 -1.40778119e-02 3.90349800e+00] [ 1.33524831e-02 9.99910848e-01 9.01838453e-05 1.66851959e-01] [ 1.40753529e-02 -2.78140617e-04 9.99900899e-01 -3.59428111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.72654761499999 meters Centerline goodness [0,1] 0.8146064139941691 Centerline is valid? [False, False] Translation: X:3.90, Y:0.17, Z:-0.36 [[ 9.99810281e-01 -1.36007239e-02 -1.39435449e-02 3.90285176e+00] [ 1.36125381e-02 9.99907062e-01 7.52724913e-04 1.67037813e-01] [ 1.39320114e-02 -9.42389143e-04 9.99902501e-01 -3.57665233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.75654761499999 meters Centerline goodness [0,1] 0.8094696306669 Centerline is valid? [False, False] Translation: X:3.91, Y:0.17, Z:-0.36 [[ 9.99781252e-01 -1.49696540e-02 -1.46067991e-02 3.90512687e+00] [ 1.49765935e-02 9.99887778e-01 3.65814897e-04 1.68794987e-01] [ 1.45996838e-02 -5.84494968e-04 9.99893248e-01 -3.57403242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.78654761499999 meters Centerline goodness [0,1] 0.8092771505063439 Centerline is valid? [False, False] Translation: X:3.91, Y:0.17, Z:-0.35 [[ 9.99752392e-01 -1.64081332e-02 -1.50308798e-02 3.90559694e+00] [ 1.64158291e-02 9.99865176e-01 3.88760904e-04 1.70311622e-01] [ 1.50224744e-02 -6.35408997e-04 9.99886954e-01 -3.54433839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.81654761499999 meters Centerline goodness [0,1] 0.8071039365948891 Centerline is valid? [False, False] Translation: X:3.90, Y:0.17, Z:-0.35 [[ 9.99761819e-01 -1.59681650e-02 -1.48769276e-02 3.90393299e+00] [ 1.59900582e-02 9.99871234e-01 1.35382970e-03 1.69047953e-01] [ 1.48533938e-02 -1.59139018e-03 9.99888416e-01 -3.51984130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.84654761499999 meters Centerline goodness [0,1] 0.805586170891583 Centerline is valid? [False, False] Translation: X:3.90, Y:0.17, Z:-0.35 [[ 9.99748472e-01 -1.67243809e-02 -1.49428085e-02 3.90355536e+00] [ 1.67360746e-02 9.99859726e-01 6.57851803e-04 1.73586769e-01] [ 1.49297103e-02 -9.07770294e-04 9.99888134e-01 -3.50678832e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.87654761499999 meters Centerline goodness [0,1] 0.8075187537723105 Centerline is valid? [False, False] Translation: X:3.91, Y:0.18, Z:-0.35 [[ 9.99768654e-01 -1.42393805e-02 -1.61207507e-02 3.90747605e+00] [ 1.42888382e-02 9.99893537e-01 2.95693167e-03 1.78897095e-01] [ 1.60769296e-02 -3.18659439e-03 9.99865680e-01 -3.52437429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.90654761499998 meters Centerline goodness [0,1] 0.8097336327714131 Centerline is valid? [False, False] Translation: X:3.91, Y:0.19, Z:-0.36 [[ 0.99979711 -0.01113429 -0.01678571 3.90999009] [ 0.01120754 0.99992805 0.00427659 0.18566899] [ 0.01673689 -0.00446385 0.99984996 -0.35554652] [ 0. 0. 0. 1. ]] SLAMing on 77.93654761499998 meters Centerline goodness [0,1] 0.8068698624332646 Centerline is valid? [False, False] Translation: X:3.91, Y:0.19, Z:-0.36 [[ 0.99983796 -0.00659067 -0.01675164 3.90926855] [ 0.00670113 0.99995612 0.00654647 0.19054347] [ 0.01670776 -0.00665767 0.99983825 -0.35681285] [ 0. 0. 0. 1. ]] SLAMing on 77.96654761499998 meters Centerline goodness [0,1] 0.8093531223746849 Centerline is valid? [False, False] Translation: X:3.92, Y:0.20, Z:-0.36 [[ 9.99946099e-01 -2.11155273e-03 -1.01656089e-02 3.91636266e+00] [ 2.09649141e-03 9.99996689e-01 -1.49202344e-03 1.96947811e-01] [ 1.01687258e-02 1.47063091e-03 9.99947216e-01 -3.58148507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.99654761499998 meters Centerline goodness [0,1] 0.8086565423804104 Centerline is valid? [False, False] Translation: X:3.91, Y:0.20, Z:-0.36 [[ 9.99945651e-01 2.28069298e-03 -1.01732089e-02 3.91465948e+00] [-2.26117669e-03 9.99995582e-01 1.92949073e-03 2.01598796e-01] [ 1.01775645e-02 -1.90638244e-03 9.99946390e-01 -3.56249245e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.02654761499998 meters Centerline goodness [0,1] 0.8076077396657871 Centerline is valid? [False, False] Translation: X:3.92, Y:0.21, Z:-0.36 [[ 9.99929997e-01 4.47938779e-03 -1.09515578e-02 3.91852360e+00] [-4.44133585e-03 9.99984025e-01 3.49642370e-03 2.08678092e-01] [ 1.09670447e-02 -3.44753939e-03 9.99933917e-01 -3.59039841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.05654761499999 meters Centerline goodness [0,1] 0.805514443896289 Centerline is valid? [False, False] Translation: X:3.92, Y:0.21, Z:-0.36 [[ 9.99928859e-01 2.85222065e-03 -1.15819234e-02 3.92196966e+00] [-2.83774739e-03 9.99995172e-01 1.26588378e-03 2.14536866e-01] [ 1.15854781e-02 -1.23292715e-03 9.99932126e-01 -3.61924294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.08654761499999 meters Centerline goodness [0,1] 0.8123479734346388 Centerline is valid? [False, False] Translation: X:3.93, Y:0.22, Z:-0.36 [[ 9.99918585e-01 9.65918583e-04 -1.27236307e-02 3.92574457e+00] [-9.64692136e-04 9.99999529e-01 1.02528443e-04 2.16323594e-01] [ 1.27237238e-02 -9.02457094e-05 9.99919046e-01 -3.62781120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.11654761499999 meters Centerline goodness [0,1] 0.8103702893398239 Centerline is valid? [False, False] Translation: X:3.93, Y:0.22, Z:-0.36 [[ 9.99913112e-01 -7.36161266e-04 -1.31615818e-02 3.92739455e+00] [ 7.29686541e-04 9.99999610e-01 -4.96736612e-04 2.15962132e-01] [ 1.31619423e-02 4.87089622e-04 9.99913259e-01 -3.62290447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.14654761499999 meters Centerline goodness [0,1] 0.8082412774800394 Centerline is valid? [False, False] Translation: X:3.93, Y:0.22, Z:-0.36 [[ 9.99916373e-01 -2.23271224e-04 -1.29304941e-02 3.92520163e+00] [ 2.21801334e-04 9.99999969e-01 -1.15110169e-04 2.17123102e-01] [ 1.29305194e-02 1.12232541e-04 9.99916391e-01 -3.59961406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.17654761499999 meters Centerline goodness [0,1] 0.8081211923411662 Centerline is valid? [False, False] Translation: X:3.93, Y:0.22, Z:-0.36 [[ 9.99904382e-01 3.41643115e-03 -1.33997892e-02 3.92690950e+00] [-3.38214116e-03 9.99990950e-01 2.58082202e-03 2.20853540e-01] [ 1.34084851e-02 -2.53525527e-03 9.99906888e-01 -3.61481553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.20654761499999 meters Centerline goodness [0,1] 0.7901998938616663 Centerline is valid? [False, False] Translation: X:3.93, Y:0.14, Z:-0.35 [[ 0.99958841 0.02289134 -0.01729127 3.92693522] [-0.02275311 0.9997079 0.00814887 0.14051328] [ 0.01747276 -0.00775208 0.99981729 -0.35305015] [ 0. 0. 0. 1. ]] SLAMing on 78.23654761499999 meters Centerline goodness [0,1] 0.8208446866485013 Centerline is valid? [False, False] Translation: X:3.58, Y:0.60, Z:-0.29 [[ 9.99562138e-01 -3.19915167e-03 -2.94159397e-02 3.58409933e+00] [ 6.25153075e-03 9.94529584e-01 1.04268043e-01 6.04324873e-01] [ 2.89214530e-02 -1.04406282e-01 9.94114117e-01 -2.92998602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.266547615 meters Centerline goodness [0,1] 0.8131026776476431 Centerline is valid? [False, False] Translation: X:3.59, Y:0.61, Z:-0.30 [[ 0.9995362 -0.0067532 -0.02969476 3.58561071] [ 0.00968074 0.9949827 0.09957766 0.61255647] [ 0.0288733 -0.09981895 0.9945866 -0.2950187 ] [ 0. 0. 0. 1. ]] SLAMing on 78.29654761499998 meters Centerline goodness [0,1] 0.8200124300807955 Centerline is valid? [False, False] Translation: X:3.59, Y:0.62, Z:-0.30 [[ 0.99953532 -0.00514135 -0.03004519 3.58739899] [ 0.00809934 0.99503702 0.09917528 0.62420565] [ 0.02938618 -0.09937254 0.99461628 -0.29763936] [ 0. 0. 0. 1. ]] SLAMing on 78.32654761499998 meters Centerline goodness [0,1] 0.8267374816590547 Centerline is valid? [False, False] Translation: X:3.60, Y:0.64, Z:-0.30 [[ 9.99360820e-01 2.18300059e-03 -3.56817261e-02 3.59700705e+00] [ 1.17770444e-03 9.95581486e-01 9.38941866e-02 6.38271790e-01] [ 3.57290369e-02 -9.38761939e-02 9.94942559e-01 -2.98565548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.35654761499998 meters Centerline goodness [0,1] 0.828432182388898 Centerline is valid? [False, False] Translation: X:3.60, Y:0.65, Z:-0.30 [[ 9.99278137e-01 3.71492993e-03 -3.78074619e-02 3.59911420e+00] [-2.49559738e-04 9.95827695e-01 9.12531640e-02 6.47513812e-01] [ 3.79887167e-02 -9.11778565e-02 9.95109771e-01 -2.96590144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.38654761499998 meters Centerline goodness [0,1] 0.8281608601261243 Centerline is valid? [False, False] Translation: X:3.60, Y:0.65, Z:-0.30 [[ 9.99252339e-01 3.73781445e-03 -3.84810663e-02 3.60384022e+00] [-2.29176950e-04 9.95870795e-01 9.07816488e-02 6.52304576e-01] [ 3.86614950e-02 -9.07049559e-02 9.95127077e-01 -3.00973630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.41654761499998 meters Centerline goodness [0,1] 0.8260248742834675 Centerline is valid? [False, False] Translation: X:3.61, Y:0.66, Z:-0.30 [[ 9.99237724e-01 1.60124606e-03 -3.90052245e-02 3.60629989e+00] [ 1.83971740e-03 9.96116775e-01 8.80226466e-02 6.57704642e-01] [ 3.89947043e-02 -8.80273076e-02 9.95354513e-01 -3.03140714e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.44654761499999 meters Centerline goodness [0,1] 0.8273604907268274 Centerline is valid? [False, False] Translation: X:3.61, Y:0.66, Z:-0.30 [[ 9.99094905e-01 2.95581897e-03 -4.24338867e-02 3.61144610e+00] [ 6.71016066e-04 9.96363419e-01 8.52026271e-02 6.62632052e-01] [ 4.25314160e-02 -8.51539844e-02 9.95459631e-01 -3.00911294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.47654761499999 meters Centerline goodness [0,1] 0.8253054317318804 Centerline is valid? [False, False] Translation: X:3.61, Y:0.67, Z:-0.30 [[ 9.99080097e-01 1.95773635e-03 -4.28383914e-02 3.61294664e+00] [ 1.61544508e-03 9.96530102e-01 8.32174624e-02 6.67745931e-01] [ 4.28526644e-02 -8.32101134e-02 9.95610228e-01 -3.02211772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.50654761499999 meters Centerline goodness [0,1] 0.8243858995070626 Centerline is valid? [False, False] Translation: X:3.61, Y:0.67, Z:-0.30 [[ 9.99076247e-01 1.06781308e-03 -4.29594211e-02 3.61357683e+00] [ 2.46779472e-03 9.96615774e-01 8.21639201e-02 6.69750793e-01] [ 4.29017724e-02 -8.21940360e-02 9.95692512e-01 -3.02824440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.53654761499999 meters Centerline goodness [0,1] 0.8246477853404225 Centerline is valid? [False, False] Translation: X:3.61, Y:0.68, Z:-0.30 [[ 9.99095656e-01 3.19606479e-03 -4.23987708e-02 3.60910759e+00] [ 3.39158468e-04 9.96540131e-01 8.31122816e-02 6.77330697e-01] [ 4.25177089e-02 -8.30514994e-02 9.95637832e-01 -2.99192240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.56654761499999 meters Centerline goodness [0,1] 0.8262569717425755 Centerline is valid? [False, False] Translation: X:3.62, Y:0.69, Z:-0.30 [[ 9.98784764e-01 6.49938820e-03 -4.88544037e-02 3.62294502e+00] [-3.06358686e-03 9.97536958e-01 7.00758948e-02 6.85993715e-01] [ 4.91895237e-02 -6.98410664e-02 9.96344627e-01 -2.96814849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.59654761499999 meters Centerline goodness [0,1] 0.8274790820975892 Centerline is valid? [False, False] Translation: X:3.63, Y:0.69, Z:-0.30 [[ 0.99874358 0.00929299 -0.04924335 3.62509154] [-0.00573269 0.99739147 0.07195414 0.69173404] [ 0.04978357 -0.07158144 0.9961916 -0.29870433] [ 0. 0. 0. 1. ]] SLAMing on 78.62654761499999 meters Centerline goodness [0,1] 0.8251427153139737 Centerline is valid? [False, False] Translation: X:3.63, Y:0.70, Z:-0.30 [[ 0.99871369 0.00954798 -0.04979757 3.62523375] [-0.00601115 0.99747978 0.07069619 0.69653091] [ 0.05034707 -0.07030592 0.99625411 -0.2978708 ] [ 0. 0. 0. 1. ]] SLAMing on 78.65654761499998 meters Centerline goodness [0,1] 0.8253117954869801 Centerline is valid? [False, False] Translation: X:3.62, Y:0.70, Z:-0.30 [[ 9.98740592e-01 4.36724200e-03 -4.99815637e-02 3.62369508e+00] [-1.10896230e-03 9.97882527e-01 6.50325555e-02 6.99956730e-01] [ 5.01597420e-02 -6.48952253e-02 9.96630629e-01 -2.95897051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.68654761499998 meters Centerline goodness [0,1] 0.8259500227922589 Centerline is valid? [False, False] Translation: X:3.63, Y:0.70, Z:-0.30 [[ 9.98718734e-01 2.41130221e-03 -5.05477586e-02 3.62590115e+00] [ 7.77187621e-04 9.98015472e-01 6.29643893e-02 7.04735768e-01] [ 5.05992713e-02 -6.29230003e-02 9.96734874e-01 -2.97401641e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.71654761499998 meters Centerline goodness [0,1] 0.8253955123565299 Centerline is valid? [False, False] Translation: X:3.63, Y:0.71, Z:-0.30 [[ 9.98919533e-01 -7.92128722e-04 -4.64665454e-02 3.63070629e+00] [ 3.01009445e-03 9.98858031e-01 4.76820041e-02 7.10469577e-01] [ 4.63757118e-02 -4.77703539e-02 9.97781182e-01 -2.96674945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.74654761499998 meters Centerline goodness [0,1] 0.821600413009809 Centerline is valid? [False, False] Translation: X:3.63, Y:0.72, Z:-0.30 [[ 9.98892746e-01 9.40555969e-04 -4.70361346e-02 3.63355746e+00] [ 1.33727398e-03 9.98828479e-01 4.83723287e-02 7.18811027e-01] [ 4.70265276e-02 -4.83816685e-02 9.97721264e-01 -2.98963675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.77654761499998 meters Centerline goodness [0,1] 0.8267058994177252 Centerline is valid? [False, False] Translation: X:3.63, Y:0.72, Z:-0.30 [[ 9.98866740e-01 8.67781292e-04 -4.75865895e-02 3.63427565e+00] [ 1.34973564e-03 9.98915157e-01 4.65476921e-02 7.23785639e-01] [ 4.75753588e-02 -4.65591708e-02 9.97781955e-01 -2.98702472e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.80654761499999 meters Centerline goodness [0,1] 0.823400426139302 Centerline is valid? [False, False] Translation: X:3.63, Y:0.74, Z:-0.30 [[ 0.99889818 0.00625909 -0.04651085 3.62922198] [-0.00390695 0.99871683 0.05049181 0.73731961] [ 0.0467672 -0.05025446 0.99764088 -0.29569144] [ 0. 0. 0. 1. ]] SLAMing on 78.83654761499999 meters Centerline goodness [0,1] 0.8219297336511555 Centerline is valid? [False, False] Translation: X:3.64, Y:0.75, Z:-0.30 [[ 9.98684156e-01 3.15692114e-03 -5.11858382e-02 3.63844829e+00] [-1.06774808e-03 9.99167109e-01 4.07915304e-02 7.45446562e-01] [ 5.12719816e-02 -4.06832015e-02 9.97855732e-01 -2.96341951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.86654761499999 meters Centerline goodness [0,1] 0.806057088368815 Centerline is valid? [False, False] Translation: X:3.65, Y:0.75, Z:-0.30 [[ 0.99862031 -0.00386547 -0.05236929 3.64547611] [ 0.00563445 0.999417 0.03367364 0.75275296] [ 0.05220859 -0.03392226 0.99805989 -0.30197274] [ 0. 0. 0. 1. ]] SLAMing on 78.89654761499999 meters Centerline goodness [0,1] 0.7647717377783306 Centerline is valid? [False, False] Translation: X:3.64, Y:0.76, Z:-0.30 [[ 0.99855411 -0.01074049 -0.052672 3.64463988] [ 0.01217518 0.99956146 0.02699339 0.76103834] [ 0.05235897 -0.02759566 0.99824697 -0.3003818 ] [ 0. 0. 0. 1. ]] SLAMing on 78.92654761499999 meters Centerline goodness [0,1] 0.7481326684736505 Centerline is valid? [False, False] Translation: X:3.65, Y:0.77, Z:-0.30 [[ 0.9990057 -0.01339552 -0.04252254 3.64953712] [ 0.0145039 0.99956022 0.0258651 0.7703134 ] [ 0.04215736 -0.02645613 0.99876065 -0.29794904] [ 0. 0. 0. 1. ]] SLAMing on 78.95654761499999 meters Centerline goodness [0,1] 0.7609216780326513 Centerline is valid? [False, False] Translation: X:3.65, Y:0.77, Z:-0.30 [[ 0.9989752 -0.01354411 -0.04318693 3.65165733] [ 0.01459176 0.99960459 0.02403634 0.77492137] [ 0.04284431 -0.02464188 0.99877782 -0.299071 ] [ 0. 0. 0. 1. ]] SLAMing on 78.98654761499999 meters Centerline goodness [0,1] 0.8071058628547753 Centerline is valid? [False, False] Translation: X:3.65, Y:0.78, Z:-0.30 [[ 0.99902615 -0.00598951 -0.04371363 3.6538201 ] [ 0.00726365 0.99955165 0.02904713 0.78245326] [ 0.04352005 -0.02933637 0.99862174 -0.30086795] [ 0. 0. 0. 1. ]] SLAMing on 79.016547615 meters Centerline goodness [0,1] 0.8226882745471877 Centerline is valid? [False, False] Translation: X:3.65, Y:0.79, Z:-0.30 [[ 9.99030061e-01 4.68582070e-03 -4.37833272e-02 3.65246313e+00] [-3.03823705e-03 9.99287444e-01 3.76214362e-02 7.92617512e-01] [ 4.39284165e-02 -3.74519216e-02 9.98332434e-01 -2.99263672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.04654761499998 meters Centerline goodness [0,1] 0.8272542850045541 Centerline is valid? [False, False] Translation: X:3.66, Y:0.80, Z:-0.31 [[ 0.99889158 0.00920146 -0.04616212 3.66067292] [-0.00742051 0.99922702 0.03860432 0.80015314] [ 0.04648165 -0.03821899 0.99818774 -0.30553586] [ 0. 0. 0. 1. ]] SLAMing on 79.07654761499998 meters Centerline goodness [0,1] 0.8253543894553593 Centerline is valid? [False, False] Translation: X:3.66, Y:0.81, Z:-0.30 [[ 0.9988594 0.0119746 -0.04622234 3.65913527] [-0.01014919 0.99916697 0.03952662 0.80698095] [ 0.04665715 -0.03901241 0.99814886 -0.30343424] [ 0. 0. 0. 1. ]] SLAMing on 79.10654761499998 meters Centerline goodness [0,1] 0.829977074168164 Centerline is valid? [False, False] Translation: X:3.66, Y:0.81, Z:-0.30 [[ 0.99888851 0.00765159 -0.04651015 3.65898795] [-0.00606422 0.99939745 0.03417532 0.81224295] [ 0.04674362 -0.03385529 0.99833304 -0.30267253] [ 0. 0. 0. 1. ]] SLAMing on 79.13654761499998 meters Centerline goodness [0,1] 0.8236208075241864 Centerline is valid? [False, False] Translation: X:3.66, Y:0.82, Z:-0.30 [[ 9.98929686e-01 2.16771451e-03 -4.62037153e-02 3.65890349e+00] [-8.46175143e-04 9.99590497e-01 2.86028373e-02 8.16500285e-01] [ 4.62467976e-02 -2.85331268e-02 9.98522456e-01 -3.03512934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.16654761499998 meters Centerline goodness [0,1] 0.8198201930645896 Centerline is valid? [False, False] Translation: X:3.66, Y:0.82, Z:-0.30 [[ 0.99889012 -0.00653303 -0.04664589 3.6601014 ] [ 0.00749207 0.99976352 0.02041482 0.81580586] [ 0.04650149 -0.02074163 0.99870286 -0.30379099] [ 0. 0. 0. 1. ]] SLAMing on 79.19654761499999 meters Centerline goodness [0,1] 0.8192102100857747 Centerline is valid? [False, False] Translation: X:3.66, Y:0.82, Z:-0.30 [[ 0.99884645 -0.010618 -0.04682967 3.66035358] [ 0.01136445 0.99981212 0.01570236 0.81917234] [ 0.04665414 -0.01621644 0.99877946 -0.30348664] [ 0. 0. 0. 1. ]] SLAMing on 79.22654761499999 meters Centerline goodness [0,1] 0.7458811369509044 Centerline is valid? [False, False] Translation: X:3.67, Y:0.82, Z:-0.31 [[ 0.99903329 -0.02013647 -0.03907696 3.66914258] [ 0.02077752 0.99965499 0.01606843 0.82056743] [ 0.03873992 -0.01686482 0.999107 -0.3073692 ] [ 0. 0. 0. 1. ]] SLAMing on 79.25654761499999 meters Centerline goodness [0,1] 0.7285344916744234 Centerline is valid? [False, False] Translation: X:3.68, Y:0.82, Z:-0.31 [[ 0.99917214 -0.02651214 -0.03085693 3.67738432] [ 0.02708913 0.99946305 0.01843344 0.82270738] [ 0.03035165 -0.01925406 0.99935382 -0.31011002] [ 0. 0. 0. 1. ]] SLAMing on 79.28654761499999 meters Centerline goodness [0,1] 0.7089773032917468 Centerline is valid? [False, False] Translation: X:3.67, Y:0.83, Z:-0.31 [[ 0.9990678 -0.03079251 -0.03025475 3.67475612] [ 0.03121003 0.99942267 0.01342604 0.832255 ] [ 0.02982386 -0.01435777 0.99945205 -0.30832143] [ 0. 0. 0. 1. ]] SLAMing on 79.31654761499999 meters Centerline goodness [0,1] 0.7702503986910507 Centerline is valid? [False, False] Translation: X:3.68, Y:0.84, Z:-0.32 [[ 0.99913274 -0.02634654 -0.03224325 3.68111632] [ 0.026719 0.99958051 0.01117556 0.84344149] [ 0.03193529 -0.01202737 0.99941757 -0.31577526] [ 0. 0. 0. 1. ]] SLAMing on 79.34654761499999 meters Centerline goodness [0,1] 0.7775272065212894 Centerline is valid? [False, False] Translation: X:3.68, Y:0.87, Z:-0.31 [[ 0.99946211 -0.01185144 -0.03057831 3.67603704] [ 0.01247827 0.99971422 0.02039037 0.86536763] [ 0.03032791 -0.02076096 0.99932437 -0.31245886] [ 0. 0. 0. 1. ]] SLAMing on 79.37654761499999 meters Centerline goodness [0,1] 0.7775272065212894 Centerline is valid? [False, False] Translation: X:3.68, Y:0.87, Z:-0.31 [[ 0.99946211 -0.01185144 -0.03057831 3.67603704] [ 0.01247827 0.99971422 0.02039037 0.86536763] [ 0.03032791 -0.02076096 0.99932437 -0.31245886] [ 0. 0. 0. 1. ]] SLAMing on 79.40654761499998 meters Centerline goodness [0,1] 0.8091951163899426 Centerline is valid? [False, False] Translation: X:3.68, Y:0.87, Z:-0.31 [[ 0.99943706 -0.01350933 -0.03070934 3.67583461] [ 0.01405486 0.999746 0.01761825 0.87187004] [ 0.03046352 -0.01803995 0.99937307 -0.31192673] [ 0. 0. 0. 1. ]] SLAMing on 79.43654761499998 meters Centerline goodness [0,1] 0.7859087534031846 Centerline is valid? [False, False] Translation: X:3.68, Y:0.88, Z:-0.31 [[ 0.99931947 -0.0198804 -0.03107026 3.67781867] [ 0.02020163 0.99974532 0.01005943 0.87921141] [ 0.03086236 -0.01068025 0.99946658 -0.31323762] [ 0. 0. 0. 1. ]] SLAMing on 79.46654761499998 meters Centerline goodness [0,1] 0.7399709904682967 Centerline is valid? [False, False] Translation: X:3.68, Y:0.89, Z:-0.31 [[ 0.99940001 -0.01601372 -0.03071139 3.67704814] [ 0.01642764 0.99977696 0.01327294 0.89020297] [ 0.03049199 -0.01376949 0.99944016 -0.31379991] [ 0. 0. 0. 1. ]] SLAMing on 79.49654761499998 meters Centerline goodness [0,1] 0.787137400640033 Centerline is valid? [False, False] Translation: X:3.68, Y:0.90, Z:-0.32 [[ 0.99942003 -0.0138358 -0.03111541 3.67910163] [ 0.01428247 0.99979746 0.01417904 0.89730321] [ 0.03091293 -0.01461522 0.99941522 -0.31544912] [ 0. 0. 0. 1. ]] SLAMing on 79.52654761499998 meters Centerline goodness [0,1] 0.7944989851290336 Centerline is valid? [False, False] Translation: X:3.68, Y:0.91, Z:-0.32 [[ 0.99944162 -0.01198957 -0.03118813 3.67900497] [ 0.01243384 0.99982342 0.01409004 0.90711559] [ 0.03101369 -0.01446996 0.99941421 -0.31511962] [ 0. 0. 0. 1. ]] SLAMing on 79.55654761499999 meters Centerline goodness [0,1] 0.7897339347043489 Centerline is valid? [False, False] Translation: X:3.68, Y:0.92, Z:-0.32 [[ 9.99612499e-01 -1.34571923e-02 -2.43671160e-02 3.68440716e+00] [ 1.35154105e-02 9.99906185e-01 2.22608927e-03 9.15812760e-01] [ 2.43348730e-02 -2.55455823e-03 9.99700599e-01 -3.16431414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.58654761499999 meters Centerline goodness [0,1] 0.7679192906861121 Centerline is valid? [False, False] Translation: X:3.69, Y:0.92, Z:-0.32 [[ 0.99973853 -0.01663199 -0.01569203 3.6909482 ] [ 0.01678463 0.99981259 0.00964653 0.92400819] [ 0.01552865 -0.00990739 0.99983034 -0.32076624] [ 0. 0. 0. 1. ]] SLAMing on 79.61654761499999 meters Centerline goodness [0,1] 0.7679351087383864 Centerline is valid? [False, False] Translation: X:3.69, Y:0.93, Z:-0.32 [[ 0.99971524 -0.01787107 -0.01581314 3.69097245] [ 0.0179808 0.99981504 0.00682404 0.93110986] [ 0.01568826 -0.00710643 0.99985168 -0.32036195] [ 0. 0. 0. 1. ]] SLAMing on 79.64654761499999 meters Centerline goodness [0,1] 0.7623309138898053 Centerline is valid? [False, False] Translation: X:3.69, Y:0.93, Z:-0.32 [[ 9.99641603e-01 -2.10678967e-02 -1.65169480e-02 3.69377042e+00] [ 2.11152303e-02 9.99773412e-01 2.69660881e-03 9.33062208e-01] [ 1.64563936e-02 -3.04440151e-03 9.99859950e-01 -3.21835234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.67654761499999 meters Centerline goodness [0,1] 0.7604209657449443 Centerline is valid? [False, False] Translation: X:3.70, Y:0.94, Z:-0.33 [[ 0.99970017 -0.01776909 -0.01684717 3.6968966 ] [ 0.01785719 0.99982757 0.00509344 0.94316298] [ 0.01675376 -0.00539275 0.9998451 -0.32523693] [ 0. 0. 0. 1. ]] SLAMing on 79.70654761499999 meters Centerline goodness [0,1] 0.7693582123552923 Centerline is valid? [False, False] Translation: X:3.70, Y:0.95, Z:-0.33 [[ 0.99970431 -0.0177476 -0.0166227 3.6966864 ] [ 0.01781549 0.99983351 0.00394534 0.9469563 ] [ 0.01654991 -0.00424031 0.99985405 -0.32529357] [ 0. 0. 0. 1. ]] SLAMing on 79.73654761499999 meters Centerline goodness [0,1] 0.7695579995849762 Centerline is valid? [False, False] Translation: X:3.70, Y:0.95, Z:-0.33 [[ 9.99695647e-01 -1.78857375e-02 -1.69916043e-02 3.69769861e+00] [ 1.79402032e-02 9.99834384e-01 3.05843365e-03 9.50888370e-01] [ 1.69340879e-02 -3.36233564e-03 9.99850955e-01 -3.25610530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.766547615 meters Centerline goodness [0,1] 0.755416735845924 Centerline is valid? [False, False] Translation: X:3.70, Y:0.96, Z:-0.33 [[ 9.99678316e-01 -1.85152856e-02 -1.73334454e-02 3.69874347e+00] [ 1.85435870e-02 9.99826967e-01 1.47344649e-03 9.57123102e-01] [ 1.73031649e-02 -1.79439676e-03 9.99848679e-01 -3.25939712e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.79654761499998 meters Centerline goodness [0,1] 0.7639517032488279 Centerline is valid? [False, False] Translation: X:3.70, Y:0.96, Z:-0.33 [[ 9.99686110e-01 -1.83235191e-02 -1.70859515e-02 3.69947853e+00] [ 1.83171745e-02 9.99832087e-01 -5.27771007e-04 9.63518598e-01] [ 1.70927532e-02 2.14638990e-04 9.99853885e-01 -3.27091629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.82654761499998 meters Centerline goodness [0,1] 0.7917581734554344 Centerline is valid? [False, False] Translation: X:3.70, Y:0.97, Z:-0.33 [[ 9.99734670e-01 -1.57168230e-02 -1.68395850e-02 3.69780848e+00] [ 1.57348505e-02 9.99875759e-01 9.38579234e-04 9.70027736e-01] [ 1.68227414e-02 -1.20329855e-03 9.99857764e-01 -3.25550656e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.85654761499998 meters Centerline goodness [0,1] 0.7767691355477615 Centerline is valid? [False, False] Translation: X:3.70, Y:0.98, Z:-0.33 [[ 9.99900160e-01 -1.29774414e-02 -5.59064838e-03 3.70021607e+00] [ 1.29732581e-02 9.99915536e-01 -7.83894975e-04 9.83152998e-01] [ 5.60034912e-03 7.11287787e-04 9.99984065e-01 -3.26585292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.88654761499998 meters Centerline goodness [0,1] 0.7617437208726853 Centerline is valid? [False, False] Translation: X:3.70, Y:0.99, Z:-0.32 [[ 0.99986724 -0.01539582 -0.00533661 3.69787833] [ 0.01537091 0.99987092 -0.00467778 0.99178881] [ 0.00540794 0.00459513 0.99997482 -0.32376882] [ 0. 0. 0. 1. ]] SLAMing on 79.91654761499998 meters Centerline goodness [0,1] 0.7704945066270896 Centerline is valid? [False, False] Translation: X:3.70, Y:1.00, Z:-0.33 [[ 0.9998567 -0.01597884 -0.0055908 3.70052371] [ 0.01594597 0.9998556 -0.00587455 0.99632935] [ 0.00568386 0.00578456 0.99996712 -0.32647733] [ 0. 0. 0. 1. ]] SLAMing on 79.94654761499999 meters Centerline goodness [0,1] 0.7754478028221391 Centerline is valid? [False, False] Translation: X:3.71, Y:1.01, Z:-0.33 [[ 9.99933354e-01 -9.81154099e-03 -6.08443065e-03 3.70570210e+00] [ 9.80228844e-03 9.99950757e-01 -1.54865460e-03 1.01042238e+00] [ 6.09932573e-03 1.48891004e-03 9.99980290e-01 -3.32110700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.97654761499999 meters Centerline goodness [0,1] 0.8285773323690464 Centerline is valid? [False, False] Translation: X:3.71, Y:1.02, Z:-0.34 [[ 9.99986204e-01 1.65407089e-03 -4.98566427e-03 3.70558170e+00] [-1.67300382e-03 9.99991397e-01 -3.79569979e-03 1.01800401e+00] [ 4.97934302e-03 3.80398846e-03 9.99980368e-01 -3.40633700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.00654761499999 meters Centerline goodness [0,1] 0.8367118980638756 Centerline is valid? [False, False] Translation: X:3.71, Y:1.02, Z:-0.34 [[ 9.99962615e-01 6.89825446e-03 -5.21363031e-03 3.70750342e+00] [-6.89852674e-03 9.99976204e-01 -3.42417613e-05 1.02403154e+00] [ 5.21327004e-03 7.02068493e-05 9.99986408e-01 -3.42050820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.03654761499999 meters Centerline goodness [0,1] 0.8414480087808313 Centerline is valid? [False, False] Translation: X:3.70, Y:1.03, Z:-0.34 [[ 9.99918665e-01 1.19597726e-02 -4.43033808e-03 3.70264981e+00] [-1.19439880e-02 9.99922287e-01 3.57232458e-03 1.03318780e+00] [ 4.47271797e-03 -3.51911812e-03 9.99983805e-01 -3.37033393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.06654761499999 meters Centerline goodness [0,1] 0.8380869708994709 Centerline is valid? [False, False] Translation: X:3.71, Y:1.04, Z:-0.34 [[ 9.99958172e-01 7.54116218e-03 -5.17552166e-03 3.70676479e+00] [-7.55288755e-03 9.99968946e-01 -2.24975062e-03 1.03833121e+00] [ 5.15839520e-03 2.28874665e-03 9.99984076e-01 -3.40232178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.09654761499999 meters Centerline goodness [0,1] 0.8400761936312062 Centerline is valid? [False, False] Translation: X:3.70, Y:1.04, Z:-0.34 [[ 0.99996992 0.00593114 -0.00499751 3.70485133] [-0.00595348 0.9999723 -0.00446678 1.04309007] [ 0.00497088 0.00449639 0.99997754 -0.33797553] [ 0. 0. 0. 1. ]] SLAMing on 80.12654761499999 meters Centerline goodness [0,1] 0.8380236482988549 Centerline is valid? [False, False] Translation: X:3.70, Y:1.05, Z:-0.34 [[ 0.99997537 0.00483381 -0.00508926 3.70441358] [-0.00486315 0.99997154 -0.0057686 1.04601036] [ 0.00506123 0.0057932 0.99997041 -0.33707559] [ 0. 0. 0. 1. ]] SLAMing on 80.15654761499998 meters Centerline goodness [0,1] 0.837363865998592 Centerline is valid? [False, False] Translation: X:3.70, Y:1.05, Z:-0.34 [[ 0.99997933 0.00400128 -0.00503206 3.7036164 ] [-0.0040367 0.99996701 -0.00704901 1.04868807] [ 0.00500369 0.00706917 0.99996249 -0.33596573] [ 0. 0. 0. 1. ]] SLAMing on 80.18654761499998 meters Centerline goodness [0,1] 0.8327615425949655 Centerline is valid? [False, False] Translation: X:3.70, Y:1.05, Z:-0.33 [[ 0.99996513 0.00673873 -0.00493235 3.70234686] [-0.00676025 0.99996764 -0.00436054 1.05126719] [ 0.0049028 0.00439373 0.99997833 -0.33459583] [ 0. 0. 0. 1. ]] SLAMing on 80.21654761499998 meters Centerline goodness [0,1] 0.8396286877959023 Centerline is valid? [False, False] Translation: X:3.71, Y:1.05, Z:-0.34 [[ 0.99995709 0.00754324 -0.00537661 3.70555102] [-0.00756857 0.99996028 -0.00470592 1.05483714] [ 0.00534089 0.00474641 0.99997447 -0.33739049] [ 0. 0. 0. 1. ]] SLAMing on 80.24654761499998 meters Centerline goodness [0,1] 0.8502534395365677 Centerline is valid? [False, False] Translation: X:3.70, Y:1.06, Z:-0.33 [[ 9.99881710e-01 1.46468126e-02 -4.69433596e-03 3.70303062e+00] [-1.46452551e-02 9.99892686e-01 3.65979741e-04 1.06199465e+00] [ 4.69919263e-03 -2.97186702e-04 9.99988915e-01 -3.34596204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.27654761499998 meters Centerline goodness [0,1] 0.852366820926806 Centerline is valid? [False, False] Translation: X:3.70, Y:1.07, Z:-0.33 [[ 0.99959349 0.02808063 -0.00493187 3.70444582] [-0.02802329 0.999543 0.01133515 1.06703865] [ 0.00524791 -0.01119234 0.99992359 -0.33418398] [ 0. 0. 0. 1. ]] SLAMing on 80.30654761499999 meters Centerline goodness [0,1] 0.8389174190342086 Centerline is valid? [False, False] Translation: X:3.72, Y:1.07, Z:-0.34 [[ 0.99919288 0.03801998 -0.01296448 3.72486232] [-0.037874 0.99921834 0.01132524 1.06659638] [ 0.01338493 -0.01082508 0.99985182 -0.33710702] [ 0. 0. 0. 1. ]] SLAMing on 80.33654761499999 meters Centerline goodness [0,1] 0.7737533026816735 Centerline is valid? [False, False] Translation: X:3.73, Y:1.07, Z:-0.34 [[ 0.99881283 0.04704334 -0.01264342 3.72509 ] [-0.0467916 0.99871396 0.01951871 1.06933706] [ 0.01354538 -0.01890393 0.99972955 -0.33692643] [ 0. 0. 0. 1. ]] SLAMing on 80.36654761499999 meters Centerline goodness [0,1] 0.7410564300379519 Centerline is valid? [False, False] Translation: X:3.73, Y:1.07, Z:-0.34 [[ 0.99860911 0.0509819 -0.01344249 3.730831 ] [-0.05066888 0.99845795 0.02268021 1.06591706] [ 0.01457804 -0.02196755 0.99965239 -0.34154466] [ 0. 0. 0. 1. ]] SLAMing on 80.39654761499999 meters Centerline goodness [0,1] 0.7374589584805287 Centerline is valid? [False, False] Translation: X:3.73, Y:1.06, Z:-0.34 [[ 0.99885391 0.04573132 -0.01412508 3.73391465] [-0.04548419 0.99881442 0.01734773 1.05866774] [ 0.01490166 -0.01668538 0.99974974 -0.34413743] [ 0. 0. 0. 1. ]] SLAMing on 80.42654761499999 meters Centerline goodness [0,1] 0.729592891093201 Centerline is valid? [False, False] Translation: X:3.74, Y:1.05, Z:-0.35 [[ 0.99894223 0.04558256 -0.0060538 3.74048775] [-0.0453933 0.99856558 0.02839433 1.05493204] [ 0.0073394 -0.02808949 0.99957847 -0.34616814] [ 0. 0. 0. 1. ]] SLAMing on 80.45654761499999 meters Centerline goodness [0,1] 0.7393843986909151 Centerline is valid? [False, False] Translation: X:3.74, Y:1.05, Z:-0.35 [[ 0.99907927 0.04245206 -0.00619893 3.73971198] [-0.04228059 0.99877837 0.02557571 1.04938009] [ 0.0072771 -0.02529006 0.99965367 -0.3451642 ] [ 0. 0. 0. 1. ]] SLAMing on 80.48654761499999 meters Centerline goodness [0,1] 0.773827017405882 Centerline is valid? [False, False] Translation: X:3.74, Y:1.05, Z:-0.34 [[ 0.99941158 0.03394801 0.00490202 3.74190409] [-0.03404742 0.99918105 0.02186322 1.04538112] [-0.00415579 -0.02201726 0.99974895 -0.34310089] [ 0. 0. 0. 1. ]] SLAMing on 80.51654761499998 meters Centerline goodness [0,1] 0.7825503632760898 Centerline is valid? [False, False] Translation: X:3.74, Y:1.05, Z:-0.34 [[ 9.99573447e-01 2.89235508e-02 4.04376707e-03 3.74326876e+00] [-2.89914676e-02 9.99419574e-01 1.78888390e-02 1.04579914e+00] [-3.52401122e-03 -1.79984432e-02 9.99831805e-01 -3.43552077e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.54654761499998 meters Centerline goodness [0,1] 0.8299046559996706 Centerline is valid? [False, False] Translation: X:3.75, Y:1.04, Z:-0.35 [[ 9.99870215e-01 1.59534139e-02 2.24516543e-03 3.74862205e+00] [-1.59633389e-02 9.99862566e-01 4.47438242e-03 1.03865094e+00] [-2.17347520e-03 -4.50964205e-03 9.99987469e-01 -3.46095242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.57654761499998 meters Centerline goodness [0,1] 0.8491487204948385 Centerline is valid? [False, False] Translation: X:3.75, Y:1.04, Z:-0.34 [[ 9.99934262e-01 1.11571083e-02 2.64396090e-03 3.74502135e+00] [-1.11580776e-02 9.99937685e-01 3.52133852e-04 1.03739738e+00] [-2.63986735e-03 -3.81612225e-04 9.99996443e-01 -3.42531015e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.60654761499998 meters Centerline goodness [0,1] 0.8510032202130295 Centerline is valid? [False, False] Translation: X:3.75, Y:1.04, Z:-0.34 [[ 9.99971106e-01 6.94192548e-03 -3.09800133e-03 3.75405707e+00] [-6.92968440e-03 9.99968209e-01 3.94467750e-03 1.03958799e+00] [ 3.12528650e-03 -3.92309535e-03 9.99987421e-01 -3.40027264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.63654761499998 meters Centerline goodness [0,1] 0.8475985157853279 Centerline is valid? [False, False] Translation: X:3.76, Y:1.03, Z:-0.34 [[ 9.99990195e-01 3.13545730e-03 -3.12720284e-03 3.75555948e+00] [-3.13323240e-03 9.99994835e-01 7.16111199e-04 1.03355826e+00] [ 3.12943202e-03 -7.06305924e-04 9.99994854e-01 -3.42087071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.66654761499998 meters Centerline goodness [0,1] 0.850498683310179 Centerline is valid? [False, False] Translation: X:3.76, Y:1.03, Z:-0.34 [[ 9.99994575e-01 -5.15217926e-04 -3.25350291e-03 3.75642283e+00] [ 5.07612938e-04 9.99997138e-01 -2.33787030e-03 1.03062518e+00] [ 3.25469811e-03 2.33620609e-03 9.99991975e-01 -3.43062070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.69654761499999 meters Centerline goodness [0,1] 0.8547036883547452 Centerline is valid? [False, False] Translation: X:3.75, Y:1.03, Z:-0.34 [[ 9.99994609e-01 -9.28237721e-04 -3.14959168e-03 3.75495954e+00] [ 9.20114284e-04 9.99996249e-01 -2.57967262e-03 1.03287794e+00] [ 3.15197441e-03 2.57676073e-03 9.99991713e-01 -3.41172269e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.72654761499999 meters Centerline goodness [0,1] 0.852078366331502 Centerline is valid? [False, False] Translation: X:3.75, Y:1.03, Z:-0.34 [[ 9.99993695e-01 -1.66534348e-03 -3.13624911e-03 3.75399929e+00] [ 1.65789667e-03 9.99995804e-01 -2.37553780e-03 1.03070161e+00] [ 3.14019204e-03 2.37032325e-03 9.99992260e-01 -3.40157700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.75654761499999 meters Centerline goodness [0,1] 0.8527817993795244 Centerline is valid? [False, False] Translation: X:3.75, Y:1.03, Z:-0.34 [[ 9.99979112e-01 -5.89625941e-03 -2.64756640e-03 3.75088817e+00] [ 5.87988573e-03 9.99963800e-01 -6.15019486e-03 1.02791947e+00] [ 2.68373370e-03 6.13449901e-03 9.99977582e-01 -3.37266677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.78654761499999 meters Centerline goodness [0,1] 0.85404666197008 Centerline is valid? [False, False] Translation: X:3.75, Y:1.03, Z:-0.34 [[ 9.99993613e-01 -2.58901569e-03 -2.46412310e-03 3.74909978e+00] [ 2.58205722e-03 9.99992682e-01 -2.82291945e-03 1.02951788e+00] [ 2.47141365e-03 2.81653891e-03 9.99992980e-01 -3.35278428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.81654761499999 meters Centerline goodness [0,1] 0.8527819829534851 Centerline is valid? [False, False] Translation: X:3.75, Y:1.03, Z:-0.34 [[ 9.99993732e-01 1.84262494e-03 -3.02347143e-03 3.75315531e+00] [-1.83974799e-03 9.99997853e-01 9.54045647e-04 1.03263624e+00] [ 3.02522289e-03 -9.48477242e-04 9.99994974e-01 -3.39083336e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.84654761499999 meters Centerline goodness [0,1] 0.8469292514467053 Centerline is valid? [False, False] Translation: X:3.76, Y:1.04, Z:-0.34 [[ 9.99962924e-01 7.81073484e-03 -3.62523425e-03 3.75888882e+00] [-7.79332778e-03 9.99958153e-01 4.79117965e-03 1.03637422e+00] [ 3.66250518e-03 -4.76274938e-03 9.99981951e-01 -3.44675432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.87654761499999 meters Centerline goodness [0,1] 0.8024211968935587 Centerline is valid? [False, False] Translation: X:3.76, Y:1.05, Z:-0.35 [[ 0.99970867 0.0237243 -0.00444263 3.76058334] [-0.02369289 0.99969482 0.00699421 1.04681286] [ 0.00460721 -0.00688691 0.99996567 -0.35209843] [ 0. 0. 0. 1. ]] SLAMing on 80.90654761499998 meters Centerline goodness [0,1] 0.6965531604706863 Centerline is valid? [False, False] Translation: X:3.76, Y:1.05, Z:-0.35 [[ 0.99894736 0.04457531 -0.01082632 3.76264738] [-0.04447534 0.99896714 0.00930574 1.05268781] [ 0.01122994 -0.00881444 0.99989809 -0.35196435] [ 0. 0. 0. 1. ]] SLAMing on 80.93654761499998 meters Centerline goodness [0,1] 0.6705096455996504 Centerline is valid? [False, False] Translation: X:3.76, Y:1.06, Z:-0.36 [[ 0.9981768 0.05984789 -0.00782915 3.75918114] [-0.05975418 0.99814454 0.01170104 1.05746514] [ 0.00851491 -0.01121188 0.99990089 -0.35818636] [ 0. 0. 0. 1. ]] SLAMing on 80.96654761499998 meters Centerline goodness [0,1] 0.6963572854291418 Centerline is valid? [False, False] Translation: X:3.77, Y:1.06, Z:-0.36 [[ 9.98568914e-01 5.34648946e-02 1.27605546e-03 3.76527783e+00] [-5.34754837e-02 9.98512260e-01 1.06601567e-02 1.05896793e+00] [-7.04212865e-04 -1.07131388e-02 9.99942365e-01 -3.56322376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.99654761499998 meters Centerline goodness [0,1] 0.7255451131719259 Centerline is valid? [False, False] Translation: X:3.77, Y:1.06, Z:-0.35 [[ 0.99905989 0.04185218 0.0113017 3.76622628] [-0.04192176 0.99910293 0.00599165 1.05809169] [-0.0110408 -0.0064598 0.99991818 -0.35174914] [ 0. 0. 0. 1. ]] SLAMing on 81.02654761499998 meters Centerline goodness [0,1] 0.7215617232808617 Centerline is valid? [False, False] Translation: X:3.77, Y:1.05, Z:-0.35 [[ 9.99306450e-01 3.55911524e-02 1.09493559e-02 3.76720228e+00] [-3.55866846e-02 9.99366412e-01 -6.02667399e-04 1.05431311e+00] [-1.09638682e-02 2.12598143e-04 9.99939872e-01 -3.52492550e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.05654761499999 meters Centerline goodness [0,1] 0.7371505487678609 Centerline is valid? [False, False] Translation: X:3.76, Y:1.05, Z:-0.35 [[ 9.99331333e-01 3.47812164e-02 1.12762444e-02 3.76463488e+00] [-3.47829953e-02 9.99394888e-01 -3.83758547e-05 1.05253917e+00] [-1.12707557e-02 -3.53871361e-04 9.99936420e-01 -3.50077575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.08654761499999 meters Centerline goodness [0,1] 0.7680797490299678 Centerline is valid? [False, False] Translation: X:3.76, Y:1.05, Z:-0.35 [[ 0.99957133 0.02723197 0.01075044 3.76466973] [-0.02716264 0.99960962 -0.00654255 1.04812799] [-0.01092441 0.00624774 0.99992081 -0.34953526] [ 0. 0. 0. 1. ]] SLAMing on 81.11654761499999 meters Centerline goodness [0,1] 0.7867777823731337 Centerline is valid? [False, False] Translation: X:3.77, Y:1.04, Z:-0.35 [[ 0.99974066 0.02027869 0.01036241 3.76642933] [-0.0201475 0.99971748 -0.01261085 1.04286251] [-0.01061522 0.01239881 0.99986678 -0.35166334] [ 0. 0. 0. 1. ]] SLAMing on 81.14654761499999 meters Centerline goodness [0,1] 0.7924368533013899 Centerline is valid? [False, False] Translation: X:3.77, Y:1.05, Z:-0.35 [[ 0.99968934 0.02290571 0.00982578 3.76949243] [-0.02280947 0.99969182 -0.00979758 1.04836584] [-0.01004718 0.00957042 0.99990373 -0.35439605] [ 0. 0. 0. 1. ]] SLAMing on 81.17654761499999 meters Centerline goodness [0,1] 0.7830336522599802 Centerline is valid? [False, False] Translation: X:3.78, Y:1.05, Z:-0.36 [[ 0.99978683 0.01875994 0.008623 3.77674678] [-0.01863196 0.99971849 -0.01468967 1.05263875] [-0.00889615 0.01452587 0.99985492 -0.36107467] [ 0. 0. 0. 1. ]] SLAMing on 81.20654761499999 meters Centerline goodness [0,1] 0.8230707179349288 Centerline is valid? [False, False] Translation: X:3.78, Y:1.06, Z:-0.36 [[ 0.9998793 0.01302387 0.00847144 3.77748999] [-0.01284111 0.99969106 -0.02128127 1.05959471] [-0.00874599 0.02116992 0.99973764 -0.36158577] [ 0. 0. 0. 1. ]] SLAMing on 81.23654761499999 meters Centerline goodness [0,1] 0.8361669562339704 Centerline is valid? [False, False] Translation: X:3.78, Y:1.07, Z:-0.36 [[ 0.9998398 0.00964594 0.01507722 3.77714565] [-0.00948778 0.99989958 -0.01052635 1.06705976] [-0.01517724 0.01038162 0.99983092 -0.35957286] [ 0. 0. 0. 1. ]] SLAMing on 81.26654761499998 meters Centerline goodness [0,1] 0.8359237930109191 Centerline is valid? [False, False] Translation: X:3.78, Y:1.09, Z:-0.36 [[ 0.99979648 0.01254051 0.01580323 3.77531405] [-0.01236578 0.99986186 -0.01110665 1.08597989] [-0.01594033 0.01090897 0.99981343 -0.35732474] [ 0. 0. 0. 1. ]] SLAMing on 81.29654761499998 meters Centerline goodness [0,1] 0.8359237930109191 Centerline is valid? [False, False] Translation: X:3.78, Y:1.09, Z:-0.36 [[ 0.99979648 0.01254051 0.01580323 3.77531405] [-0.01236578 0.99986186 -0.01110665 1.08597989] [-0.01594033 0.01090897 0.99981343 -0.35732474] [ 0. 0. 0. 1. ]] SLAMing on 81.32654761499998 meters Centerline goodness [0,1] 0.8323371933756692 Centerline is valid? [False, False] Translation: X:3.78, Y:1.10, Z:-0.36 [[ 0.99975356 0.01578743 0.01560678 3.77719397] [-0.01563494 0.99982929 -0.00984541 1.09508023] [-0.01575955 0.00959897 0.99982973 -0.35860617] [ 0. 0. 0. 1. ]] SLAMing on 81.35654761499998 meters Centerline goodness [0,1] 0.8137797165577842 Centerline is valid? [False, False] Translation: X:3.78, Y:1.11, Z:-0.36 [[ 9.99537809e-01 2.59659908e-02 1.58093620e-02 3.77667425e+00] [-2.59231923e-02 9.99659713e-01 -2.90612644e-03 1.11146310e+00] [-1.58794428e-02 2.49495412e-03 9.99870801e-01 -3.55939239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.38654761499998 meters Centerline goodness [0,1] 0.7824101860584756 Centerline is valid? [False, False] Translation: X:3.78, Y:1.13, Z:-0.36 [[ 0.99918291 0.03743804 0.01522844 3.78099734] [-0.03750963 0.99928639 0.00444314 1.12849483] [-0.01505123 -0.00501072 0.99987417 -0.35805382] [ 0. 0. 0. 1. ]] SLAMing on 81.41654761499998 meters Centerline goodness [0,1] 0.77481049054631 Centerline is valid? [False, False] Translation: X:3.78, Y:1.14, Z:-0.36 [[ 0.99889524 0.04438874 0.01542549 3.78152618] [-0.04453831 0.99896258 0.00949213 1.13854834] [-0.01498815 -0.01016866 0.99983596 -0.35765335] [ 0. 0. 0. 1. ]] SLAMing on 81.44654761499999 meters Centerline goodness [0,1] 0.7692410744189162 Centerline is valid? [False, False] Translation: X:3.78, Y:1.15, Z:-0.36 [[ 0.99859581 0.05042323 0.01624507 3.78139458] [-0.05063444 0.99863442 0.01286296 1.15028664] [-0.01557429 -0.01366746 0.9997853 -0.35742499] [ 0. 0. 0. 1. ]] SLAMing on 81.47654761499999 meters Centerline goodness [0,1] 0.7504549957380147 Centerline is valid? [False, False] Translation: X:3.81, Y:1.17, Z:-0.36 [[ 0.99832547 0.05659361 0.01197601 3.80663253] [-0.05677232 0.99827221 0.01514913 1.1749636 ] [-0.01109798 -0.01580367 0.99981352 -0.36332247] [ 0. 0. 0. 1. ]] SLAMing on 81.50654761499999 meters Centerline goodness [0,1] 0.7302916208694838 Centerline is valid? [False, False] Translation: X:3.81, Y:1.18, Z:-0.37 [[ 0.99809685 0.06049882 0.01194058 3.8093686 ] [-0.0606914 0.99802046 0.01648406 1.18339105] [-0.01091968 -0.01717738 0.99979283 -0.36501627] [ 0. 0. 0. 1. ]] SLAMing on 81.53654761499999 meters Centerline goodness [0,1] 0.728626309384619 Centerline is valid? [False, False] Translation: X:3.82, Y:1.20, Z:-0.36 [[ 0.99780834 0.06286334 0.02065694 3.8165182 ] [-0.06335496 0.99770064 0.02407462 1.19947284] [-0.01909603 -0.02533057 0.99949673 -0.36292032] [ 0. 0. 0. 1. ]] SLAMing on 81.56654761499999 meters Centerline goodness [0,1] 0.7152066558007152 Centerline is valid? [False, False] Translation: X:3.82, Y:1.22, Z:-0.36 [[ 0.99738867 0.06912863 0.02090628 3.81845555] [-0.06970113 0.99717428 0.02802159 1.21653877] [-0.01891011 -0.02940561 0.99938867 -0.36386675] [ 0. 0. 0. 1. ]] SLAMing on 81.59654761499999 meters Centerline goodness [0,1] 0.6744682453981568 Centerline is valid? [False, False] Translation: X:3.83, Y:1.24, Z:-0.36 [[ 0.99608071 0.08640607 0.01890008 3.83395844] [-0.0868347 0.99595318 0.02317332 1.241604 ] [-0.01682128 -0.02472368 0.99955279 -0.36311747] [ 0. 0. 0. 1. ]] SLAMing on 81.62654761499999 meters Centerline goodness [0,1] 0.6616821948834097 Centerline is valid? [False, False] Translation: X:3.84, Y:1.25, Z:-0.36 [[ 0.99541835 0.0935404 0.01981184 3.83559769] [-0.09406153 0.99519353 0.0272446 1.25461394] [-0.01716814 -0.02898331 0.99943245 -0.36371691] [ 0. 0. 0. 1. ]] SLAMing on 81.65654761499998 meters Centerline goodness [0,1] 0.6411445831872489 Centerline is valid? [False, False] Translation: X:3.86, Y:1.28, Z:-0.36 [[ 0.99403498 0.10696454 0.02128489 3.85587051] [-0.10765417 0.99359193 0.03443324 1.28360504] [-0.01746536 -0.03651926 0.99918032 -0.36397316] [ 0. 0. 0. 1. ]] SLAMing on 81.68654761499998 meters Centerline goodness [0,1] 0.6459358561004582 Centerline is valid? [False, False] Translation: X:3.87, Y:1.31, Z:-0.36 [[ 0.99161947 0.12771663 0.01947543 3.86897707] [-0.12835614 0.99106805 0.03617752 1.3111182 ] [-0.01468101 -0.03837413 0.99915559 -0.36020535] [ 0. 0. 0. 1. ]] SLAMing on 81.71654761499998 meters Centerline goodness [0,1] 0.623332844789682 Centerline is valid? [False, False] Translation: X:3.88, Y:1.34, Z:-0.36 [[ 0.98906204 0.14648868 0.01724384 3.88159654] [-0.14706581 0.98835237 0.03913116 1.34151991] [-0.01131072 -0.04123912 0.99908528 -0.36335975] [ 0. 0. 0. 1. ]] SLAMing on 81.74654761499998 meters Centerline goodness [0,1] 0.5973572063647792 Centerline is valid? [False, False] Translation: X:3.90, Y:1.37, Z:-0.36 [[ 0.9866677 0.16203414 0.01522424 3.89596468] [-0.16248072 0.98608603 0.03513339 1.36918216] [-0.0093196 -0.03713862 0.99926667 -0.36233797] [ 0. 0. 0. 1. ]] SLAMing on 81.77654761499998 meters Centerline goodness [0,1] 0.5988850880527049 Centerline is valid? [False, False] Translation: X:3.90, Y:1.40, Z:-0.36 [[ 0.98479024 0.17284882 0.01764827 3.89887423] [-0.17344054 0.98400098 0.04074869 1.39780015] [-0.01032255 -0.04318984 0.99901355 -0.36363306] [ 0. 0. 0. 1. ]] SLAMing on 81.80654761499999 meters Centerline goodness [0,1] 0.5864673738347799 Centerline is valid? [False, False] Translation: X:3.89, Y:1.41, Z:-0.36 [[ 0.98636903 0.16362049 0.01744888 3.89072545] [-0.1641153 0.98591433 0.03223522 1.41455869] [-0.01192876 -0.03465946 0.99932799 -0.35764024] [ 0. 0. 0. 1. ]] Total time of SLAM: 2162.36 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%| | 0/2727 [00:00