+ python -m lidar_slam --no-model /working/ff8c623c-376f-4e6e-9c31-7f1dda13867f Lidar SLAM 0.0.13 ===================================================== The recording path: /working/ff8c623c-376f-4e6e-9c31-7f1dda13867f 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 0.01538475 Adjusted end_distance from 9.223372036854776e+18 to 193.81538475 -=-=-> Lidar cleaning parameters file not found. --> Creating a generic default one. SLAMing on 0.01538475 meters Centerline goodness [0,1] 0.2027947653601191 Centerline is valid? [0, False] SLAMing on 0.04538475 meters Centerline goodness [0,1] 0.19906382440382064 Centerline is valid? [False, False] Translation: X:0.01, Y:-0.00, Z:-0.00 [[ 9.99994557e-01 -1.16662902e-03 -3.08618719e-03 1.18936364e-02] [ 1.16923012e-03 9.99998963e-01 8.41150733e-04 -9.09318574e-05] [ 3.08520267e-03 -8.44754618e-04 9.99994884e-01 -1.82955158e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.07538475 meters Centerline goodness [0,1] 0.19881727910948077 Centerline is valid? [False, False] Translation: X:0.05, Y:-0.00, Z:-0.00 [[ 0.99998967 0.00297959 -0.00343139 0.04706271] [-0.00296784 0.99998972 0.00342685 -0.00417159] [ 0.00344157 -0.00341663 0.99998824 -0.00109719] [ 0. 0. 0. 1. ]] SLAMing on 0.10538475 meters Centerline goodness [0,1] 0.19066172511007629 Centerline is valid? [False, False] Translation: X:0.08, Y:-0.01, Z:-0.00 [[ 9.99979349e-01 5.88641627e-03 -2.57897586e-03 7.99598316e-02] [-5.87554009e-03 9.99973899e-01 4.20472224e-03 -7.68105282e-03] [ 2.60365929e-03 -4.18948253e-03 9.99987835e-01 -4.50719622e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.13538475 meters Centerline goodness [0,1] 0.1940166064524308 Centerline is valid? [False, False] Translation: X:0.09, Y:-0.01, Z:0.00 [[ 9.99978375e-01 4.00683737e-03 -5.21490447e-03 8.95511124e-02] [-3.98192375e-03 9.99980652e-01 4.77903535e-03 -8.36482833e-03] [ 5.23395239e-03 -4.75816665e-03 9.99974982e-01 2.72554751e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.16538475 meters Centerline goodness [0,1] 0.1869737887212073 Centerline is valid? [False, False] Translation: X:0.10, Y:-0.01, Z:0.00 [[ 0.99996851 0.002308 -0.00759313 0.09854488] [-0.00226856 0.99998392 0.00519774 -0.00860713] [ 0.007605 -0.00518035 0.99995766 0.00108581] [ 0. 0. 0. 1. ]] SLAMing on 0.19538475 meters Centerline goodness [0,1] 0.18185572249928528 Centerline is valid? [False, False] Translation: X:0.13, Y:-0.01, Z:0.00 [[ 9.99973072e-01 3.88737473e-03 -6.22446424e-03 1.30342420e-01] [-3.87478654e-03 9.99990426e-01 2.03315771e-03 -9.72569524e-03] [ 6.23230829e-03 -2.00898449e-03 9.99978561e-01 9.93728620e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.22538475 meters Centerline goodness [0,1] 0.18009839707982855 Centerline is valid? [False, False] Translation: X:0.14, Y:-0.01, Z:0.00 [[ 9.99959284e-01 2.20531988e-03 -8.75023583e-03 1.40030756e-01] [-2.18207983e-03 9.99994069e-01 2.66459264e-03 -1.00650927e-02] [ 8.75606021e-03 -2.64539043e-03 9.99958166e-01 7.75955141e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.25538475 meters Centerline goodness [0,1] 0.17574966575412232 Centerline is valid? [False, False] Translation: X:0.17, Y:-0.02, Z:0.00 [[ 0.99995864 0.0041266 -0.00810445 0.1745866 ] [-0.00410221 0.99998701 0.00302475 -0.01589908] [ 0.00811683 -0.00299138 0.99996258 0.00130219] [ 0. 0. 0. 1. ]] SLAMing on 0.28538475 meters Centerline goodness [0,1] 0.1719238873635145 Centerline is valid? [False, False] Translation: X:0.20, Y:-0.01, Z:-0.00 [[ 0.99997616 -0.00350841 -0.00594734 0.20399431] [ 0.00354749 0.99997211 0.0065725 -0.01499661] [ 0.00592411 -0.00659344 0.99996071 -0.00304729] [ 0. 0. 0. 1. ]] SLAMing on 0.31538475 meters Centerline goodness [0,1] 0.17235746316463807 Centerline is valid? [False, False] Translation: X:0.22, Y:-0.02, Z:-0.00 [[ 0.99993927 -0.00546566 -0.00957027 0.21699389] [ 0.0055438 0.99995137 0.00815672 -0.01755324] [ 0.00952522 -0.00820928 0.99992094 -0.00249385] [ 0. 0. 0. 1. ]] SLAMing on 0.34538474999999996 meters Centerline goodness [0,1] 0.16414923831655048 Centerline is valid? [False, False] Translation: X:0.25, Y:-0.02, Z:-0.00 [[ 0.99980004 -0.01847375 -0.00765531 0.24912404] [ 0.01855609 0.99976918 0.01082812 -0.02110801] [ 0.00745351 -0.01096801 0.99991207 -0.0030893 ] [ 0. 0. 0. 1. ]] SLAMing on 0.37538475 meters Centerline goodness [0,1] 0.16342148600213113 Centerline is valid? [False, False] Translation: X:0.26, Y:-0.02, Z:-0.00 [[ 0.99970988 -0.02097909 -0.01183379 0.26291795] [ 0.02112378 0.99970197 0.01223753 -0.02380449] [ 0.01157353 -0.01248396 0.99985509 -0.0013409 ] [ 0. 0. 0. 1. ]] SLAMing on 0.40538475 meters Centerline goodness [0,1] 0.16971881290992918 Centerline is valid? [False, False] Translation: X:0.29, Y:-0.03, Z:-0.00 [[ 9.99698517e-01 -2.26369244e-02 -9.51024344e-03 2.93139610e-01] [ 2.27322138e-02 9.99691235e-01 1.00339621e-02 -3.13056707e-02] [ 9.28016897e-03 -1.02471259e-02 9.99904433e-01 -5.18177438e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.43538475 meters Centerline goodness [0,1] 0.17687339759192544 Centerline is valid? [False, False] Translation: X:0.31, Y:-0.03, Z:0.00 [[ 9.99594611e-01 -2.50623049e-02 -1.35090292e-02 3.06368719e-01] [ 2.52090070e-02 9.99623852e-01 1.08009025e-02 -3.17468919e-02] [ 1.32332523e-02 -1.11370732e-02 9.99850412e-01 8.12712356e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.46538474999999996 meters Centerline goodness [0,1] 0.16749343449080834 Centerline is valid? [False, False] Translation: X:0.34, Y:-0.04, Z:0.00 [[ 9.99701292e-01 -2.19221584e-02 -1.08048695e-02 3.35891889e-01] [ 2.20602657e-02 9.99674277e-01 1.28329424e-02 -3.65747396e-02] [ 1.05200243e-02 -1.30674673e-02 9.99859275e-01 3.46053774e-05] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.49538475 meters Centerline goodness [0,1] 0.16730738168308834 Centerline is valid? [False, False] Translation: X:0.35, Y:-0.04, Z:-0.00 [[ 0.99961966 -0.02375366 -0.01401045 0.34882957] [ 0.0239469 0.99961812 0.0137902 -0.03699616] [ 0.01367753 -0.01412046 0.99980675 -0.00120453] [ 0. 0. 0. 1. ]] SLAMing on 0.52538475 meters Centerline goodness [0,1] 0.16844267556810888 Centerline is valid? [False, False] Translation: X:0.38, Y:-0.04, Z:-0.00 [[ 0.99972798 -0.02042301 -0.01126388 0.37800576] [ 0.02059488 0.99966991 0.01535957 -0.04075268] [ 0.01094647 -0.01558737 0.99981859 -0.00130655] [ 0. 0. 0. 1. ]] SLAMing on 0.55538475 meters Centerline goodness [0,1] 0.16677355223497725 Centerline is valid? [False, False] Translation: X:0.39, Y:-0.04, Z:-0.00 [[ 9.99624971e-01 -2.27881645e-02 -1.51860532e-02 3.90924357e-01] [ 2.30270937e-02 9.99610788e-01 1.57488493e-02 -3.95929241e-02] [ 1.48212553e-02 -1.60926337e-02 9.99760650e-01 -8.43625876e-06] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.5853847499999999 meters Centerline goodness [0,1] 0.1704215926834709 Centerline is valid? [False, False] Translation: X:0.42, Y:-0.04, Z:-0.00 [[ 0.99971996 -0.02093632 -0.01103075 0.4163901 ] [ 0.02108259 0.99968907 0.01331485 -0.03958232] [ 0.01074856 -0.01354368 0.99985051 -0.00153725] [ 0. 0. 0. 1. ]] SLAMing on 0.6153847499999999 meters Centerline goodness [0,1] 0.17413014439285035 Centerline is valid? [False, False] Translation: X:0.43, Y:-0.04, Z:-0.00 [[ 9.99636486e-01 -2.30935401e-02 -1.39134394e-02 4.26188698e-01] [ 2.32758251e-02 9.99643445e-01 1.30850440e-02 -3.73191752e-02] [ 1.36062985e-02 -1.34041342e-02 9.99817582e-01 -8.45407885e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.64538475 meters Centerline goodness [0,1] 0.19097573306370075 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.04, Z:-0.00 [[ 9.99783306e-01 -1.87686693e-02 -9.00430671e-03 4.48854194e-01] [ 1.88909534e-02 9.99727774e-01 1.36934315e-02 -3.79554738e-02] [ 8.74484801e-03 -1.38605642e-02 9.99865697e-01 -2.97615984e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.6753847499999999 meters Centerline goodness [0,1] 0.19097573306370075 Centerline is valid? [False, False] Translation: X:0.45, Y:-0.04, Z:-0.00 [[ 9.99783306e-01 -1.87686693e-02 -9.00430671e-03 4.48854194e-01] [ 1.88909534e-02 9.99727774e-01 1.36934315e-02 -3.79554738e-02] [ 8.74484801e-03 -1.38605642e-02 9.99865697e-01 -2.97615984e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7053847499999999 meters Centerline goodness [0,1] 0.19433956376571915 Centerline is valid? [False, False] Translation: X:0.47, Y:-0.04, Z:-0.00 [[ 9.99900677e-01 -1.36417311e-02 -3.54114525e-03 4.70691771e-01] [ 1.36916075e-02 9.99801632e-01 1.44649858e-02 -3.59853039e-02] [ 3.34311535e-03 -1.45120330e-02 9.99889106e-01 -5.02559248e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.7353847499999999 meters Centerline goodness [0,1] 0.2033482420176419 Centerline is valid? [False, False] Translation: X:0.48, Y:-0.03, Z:-0.00 [[ 9.99857092e-01 -1.54861210e-02 -6.78057006e-03 4.81426693e-01] [ 1.55791474e-02 9.99782173e-01 1.38887027e-02 -3.14121811e-02] [ 6.56401094e-03 -1.39923534e-02 9.99880557e-01 -3.00237668e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.76538475 meters Centerline goodness [0,1] 0.2047620506848895 Centerline is valid? [False, False] Translation: X:0.50, Y:-0.03, Z:-0.00 [[ 0.99994653 -0.01027727 -0.00114537 0.50298984] [ 0.01029071 0.99986993 0.01241899 -0.02564385] [ 0.00101759 -0.01243011 0.99992223 -0.00404252] [ 0. 0. 0. 1. ]] SLAMing on 0.79538475 meters Centerline goodness [0,1] 0.21733814269120255 Centerline is valid? [False, False] Translation: X:0.51, Y:-0.02, Z:-0.00 [[ 0.99996344 -0.00793509 -0.00318685 0.51020966] [ 0.00798408 0.99984545 0.01566318 -0.02210999] [ 0.00306206 -0.01568805 0.99987225 -0.0045257 ] [ 0. 0. 0. 1. ]] SLAMing on 0.8253847499999999 meters Centerline goodness [0,1] 0.23855793679622228 Centerline is valid? [False, False] Translation: X:0.54, Y:-0.02, Z:0.00 [[ 9.99900336e-01 -4.91040423e-03 -1.32365311e-02 5.38027168e-01] [ 5.15203563e-03 9.99819577e-01 1.82830290e-02 -1.55549409e-02] [ 1.31443658e-02 -1.83494019e-02 9.99745230e-01 2.65409509e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.8553847499999999 meters Centerline goodness [0,1] 0.24402258800913135 Centerline is valid? [False, False] Translation: X:0.55, Y:-0.01, Z:0.00 [[ 0.99986508 -0.00297651 -0.01615424 0.54771858] [ 0.00333257 0.99975111 0.02205926 -0.01283344] [ 0.01608456 -0.02211012 0.99962614 0.00131269] [ 0. 0. 0. 1. ]] SLAMing on 0.8853847499999999 meters Centerline goodness [0,1] 0.2457844247154859 Centerline is valid? [False, False] Translation: X:0.57, Y:-0.01, Z:-0.00 [[ 9.99936949e-01 6.83173673e-04 -1.12085730e-02 5.74099545e-01] [-4.47096081e-04 9.99778298e-01 2.10512364e-02 -8.69453774e-03] [ 1.12204697e-02 -2.10448978e-02 9.99715566e-01 -1.44393392e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 0.9153847499999999 meters Centerline goodness [0,1] 0.2538361277326856 Centerline is valid? [False, False] Translation: X:0.59, Y:-0.01, Z:-0.00 [[ 0.99985435 0.01165957 -0.01246325 0.58631043] [-0.0114347 0.99977325 0.01796401 -0.01254898] [ 0.01266987 -0.01781888 0.99976095 -0.00235417] [ 0. 0. 0. 1. ]] SLAMing on 0.9453847499999999 meters Centerline goodness [0,1] 0.26821678116376024 Centerline is valid? [False, False] Translation: X:0.62, Y:-0.00, Z:-0.01 [[ 0.99997505 0.00335397 -0.00621634 0.61839435] [-0.0032121 0.99973729 0.02269414 -0.00374419] [ 0.00629082 -0.02267361 0.99972313 -0.00844425] [ 0. 0. 0. 1. ]] SLAMing on 0.9753847499999999 meters Centerline goodness [0,1] 0.27590336809511296 Centerline is valid? [False, False] Translation: X:0.65, Y:-0.00, Z:-0.01 [[ 0.99999019 0.00384636 -0.00219787 0.65492653] [-0.00379071 0.99968562 0.02478497 -0.00133306] [ 0.00229251 -0.02477639 0.99969039 -0.00954186] [ 0. 0. 0. 1. ]] SLAMing on 1.00538475 meters Centerline goodness [0,1] 0.27853082641014426 Centerline is valid? [False, False] Translation: X:0.67, Y:0.00, Z:-0.01 [[ 9.99982246e-01 1.91676237e-03 -5.64217632e-03 6.67739044e-01] [-1.77271403e-03 9.99675139e-01 2.54258494e-02 8.88340014e-04] [ 5.68907871e-03 -2.54153960e-02 9.99660788e-01 -8.67933567e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.03538475 meters Centerline goodness [0,1] 0.28229748603351956 Centerline is valid? [False, False] Translation: X:0.70, Y:0.00, Z:-0.01 [[ 9.99999236e-01 6.73109274e-04 -1.03679352e-03 6.99116207e-01] [-6.49328696e-04 9.99740549e-01 2.27686951e-02 3.53403321e-03] [ 1.05185034e-03 -2.27680045e-02 9.99740222e-01 -1.01681221e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.06538475 meters Centerline goodness [0,1] 0.28268448576409066 Centerline is valid? [False, False] Translation: X:0.72, Y:0.00, Z:-0.00 [[ 9.99969883e-01 -2.43455951e-04 -7.75716200e-03 7.18109915e-01] [ 4.24611305e-04 9.99727023e-01 2.33602217e-02 3.90810920e-03] [ 7.74935728e-03 -2.33628119e-02 9.99697017e-01 -4.30544027e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.09538475 meters Centerline goodness [0,1] 0.28918175235336707 Centerline is valid? [False, False] Translation: X:0.75, Y:0.01, Z:-0.01 [[ 0.99999529 0.00193179 -0.00238438 0.74581275] [-0.0018756 0.99972562 0.02334864 0.00615132] [ 0.00242883 -0.02334406 0.99972454 -0.00580823] [ 0. 0. 0. 1. ]] SLAMing on 1.1253847499999998 meters Centerline goodness [0,1] 0.28866338069005504 Centerline is valid? [False, False] Translation: X:0.76, Y:0.01, Z:-0.01 [[ 9.99987631e-01 6.46319224e-04 -4.93163410e-03 7.56045424e-01] [-5.31573657e-04 9.99729932e-01 2.32331901e-02 1.02729991e-02] [ 4.94531828e-03 -2.32302811e-02 9.99717909e-01 -6.80290914e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.1553847499999998 meters Centerline goodness [0,1] 0.29224508643828107 Centerline is valid? [False, False] Translation: X:0.78, Y:0.02, Z:-0.01 [[ 0.99997769 0.00632297 0.00215228 0.77674946] [-0.00636967 0.99972812 0.02243026 0.01601026] [-0.00200987 -0.02244347 0.99974609 -0.01240727] [ 0. 0. 0. 1. ]] SLAMing on 1.1853847499999999 meters Centerline goodness [0,1] 0.2919439981638742 Centerline is valid? [False, False] Translation: X:0.79, Y:0.02, Z:-0.01 [[ 9.99959246e-01 8.97422484e-03 -9.84844343e-04 7.90589327e-01] [-8.94513539e-03 9.99612148e-01 2.63730425e-02 2.29708418e-02] [ 1.22113998e-03 -2.63631581e-02 9.99651686e-01 -1.45472752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.21538475 meters Centerline goodness [0,1] 0.2923173911797575 Centerline is valid? [False, False] Translation: X:0.80, Y:0.03, Z:-0.02 [[ 0.99996478 0.00810978 -0.00216012 0.7962539 ] [-0.00805158 0.99963693 0.02571326 0.02699372] [ 0.00236786 -0.02569496 0.99966703 -0.01631727] [ 0. 0. 0. 1. ]] SLAMing on 1.24538475 meters Centerline goodness [0,1] 0.29503737006385844 Centerline is valid? [False, False] Translation: X:0.79, Y:0.03, Z:-0.02 [[ 0.99990533 0.01352367 0.00253613 0.79158244] [-0.01357376 0.99968944 0.02089934 0.03339469] [-0.00225271 -0.02093179 0.99977837 -0.01959992] [ 0. 0. 0. 1. ]] SLAMing on 1.27538475 meters Centerline goodness [0,1] 0.2945714285714286 Centerline is valid? [False, False] Translation: X:0.80, Y:0.04, Z:-0.02 [[ 9.99922664e-01 1.23755685e-02 1.22898913e-03 7.97029231e-01] [-1.23980930e-02 9.99714583e-01 2.04215663e-02 3.63222504e-02] [-9.75909866e-04 -2.04352241e-02 9.99790703e-01 -2.02886097e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.30538475 meters Centerline goodness [0,1] 0.29614226301448443 Centerline is valid? [False, False] Translation: X:0.81, Y:0.04, Z:-0.02 [[ 0.9999419 0.01066721 -0.00155235 0.80958711] [-0.01063312 0.99973281 0.02052405 0.03818387] [ 0.00177087 -0.02050635 0.99978815 -0.02268942] [ 0. 0. 0. 1. ]] SLAMing on 1.3353847499999998 meters Centerline goodness [0,1] 0.2972064148991206 Centerline is valid? [False, False] Translation: X:0.82, Y:0.04, Z:-0.02 [[ 0.9999503 0.00953937 -0.00289743 0.81585153] [-0.00947789 0.99974416 0.02053715 0.03920916] [ 0.0030926 -0.02050867 0.99978489 -0.02388184] [ 0. 0. 0. 1. ]] SLAMing on 1.3653847499999998 meters Centerline goodness [0,1] 0.29693995381062355 Centerline is valid? [False, False] Translation: X:0.83, Y:0.04, Z:-0.02 [[ 0.99991307 0.01140464 -0.00661763 0.83132428] [-0.01122426 0.99958094 0.0266825 0.03791806] [ 0.00691916 -0.0266059 0.99962205 -0.02293758] [ 0. 0. 0. 1. ]] SLAMing on 1.3953847499999998 meters Centerline goodness [0,1] 0.29721406780636617 Centerline is valid? [False, False] Translation: X:0.84, Y:0.04, Z:-0.04 [[ 0.99989691 0.01256549 0.00694859 0.83575809] [-0.01272428 0.99964753 0.02330054 0.03924198] [-0.00665336 -0.02338655 0.99970436 -0.03508204] [ 0. 0. 0. 1. ]] SLAMing on 1.4253847499999999 meters Centerline goodness [0,1] 0.2980377423922781 Centerline is valid? [False, False] Translation: X:0.86, Y:0.04, Z:-0.03 [[ 0.99989069 0.01468588 -0.00171362 0.86256641] [-0.01463841 0.99957949 0.02503103 0.0357359 ] [ 0.0020805 -0.02500321 0.99968521 -0.02925852] [ 0. 0. 0. 1. ]] SLAMing on 1.45538475 meters Centerline goodness [0,1] 0.2972013731308547 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:-0.03 [[ 0.99985236 0.01622632 0.00565443 0.88536018] [-0.01634971 0.99961304 0.02250472 0.03502977] [-0.00528708 -0.02259384 0.99973075 -0.0337005 ] [ 0. 0. 0. 1. ]] SLAMing on 1.48538475 meters Centerline goodness [0,1] 0.2968745448719816 Centerline is valid? [False, False] Translation: X:0.89, Y:0.04, Z:-0.03 [[ 0.99986943 0.01567251 0.00393683 0.89151304] [-0.01575917 0.99961027 0.0230426 0.03548243] [-0.00357416 -0.02310163 0.99972673 -0.03292676] [ 0. 0. 0. 1. ]] SLAMing on 1.51538475 meters Centerline goodness [0,1] 0.17740467874020371 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.03 [[ 0.9998774 0.01546748 0.00243814 0.89674019] [-0.01552057 0.99960299 0.02351557 0.0363798 ] [-0.00207344 -0.02355053 0.9997205 -0.03225139] [ 0. 0. 0. 1. ]] SLAMing on 1.54538475 meters Centerline goodness [0,1] 0.17468721346387062 Centerline is valid? [False, False] Translation: X:0.90, Y:0.04, Z:-0.03 [[ 0.99981717 0.01903675 0.00179675 0.90282776] [-0.01908172 0.99937721 0.02968297 0.03619546] [-0.00123057 -0.02971183 0.99955775 -0.02810491] [ 0. 0. 0. 1. ]] SLAMing on 1.57538475 meters Centerline goodness [0,1] 0.17455901503492366 Centerline is valid? [False, False] Translation: X:0.91, Y:0.04, Z:-0.03 [[ 9.99817118e-01 1.91131657e-02 6.46425454e-04 9.06962090e-01] [-1.91239488e-02 9.99369891e-01 2.99014438e-02 3.71506570e-02] [-7.45068857e-05 -2.99083376e-02 9.99552643e-01 -2.80266220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 1.6053847499999998 meters Centerline goodness [0,1] 0.16885508882419342 Centerline is valid? [False, False] Translation: X:0.92, Y:0.04, Z:-0.03 [[ 0.99981405 0.01923447 -0.00137602 0.91721024] [-0.01918364 0.99935167 0.03046698 0.03799532] [ 0.00196114 -0.03043492 0.99953483 -0.03024888] [ 0. 0. 0. 1. ]] SLAMing on 1.6353847499999998 meters Centerline goodness [0,1] 0.16966008609173222 Centerline is valid? [False, False] Translation: X:0.92, Y:0.04, Z:-0.03 [[ 0.99981418 0.0191357 -0.00232945 0.92116986] [-0.01905577 0.99935261 0.0305161 0.03839803] [ 0.00291189 -0.03046604 0.99953156 -0.03095958] [ 0. 0. 0. 1. ]] SLAMing on 1.6653847499999999 meters Centerline goodness [0,1] 0.163563988985993 Centerline is valid? [False, False] Translation: X:0.93, Y:0.04, Z:-0.03 [[ 0.99979739 0.01972878 -0.00399331 0.92980425] [-0.0195901 0.99928915 0.03220901 0.03672758] [ 0.00462591 -0.03212426 0.99947318 -0.03203265] [ 0. 0. 0. 1. ]] SLAMing on 1.6953847499999999 meters Centerline goodness [0,1] 0.16864003876086364 Centerline is valid? [False, False] Translation: X:0.94, Y:0.03, Z:-0.03 [[ 0.99984718 0.0166248 -0.00540618 0.93717604] [-0.01645539 0.99941441 0.03000112 0.03340504] [ 0.00590177 -0.02990757 0.99953525 -0.03346312] [ 0. 0. 0. 1. ]] SLAMing on 1.72538475 meters Centerline goodness [0,1] 0.16325972724235338 Centerline is valid? [False, False] Translation: X:0.94, Y:0.03, Z:-0.03 [[ 0.99989964 0.01283735 -0.00599314 0.93976909] [-0.01267469 0.99957025 0.02643213 0.03133684] [ 0.00632988 -0.02635352 0.99963264 -0.03432316] [ 0. 0. 0. 1. ]] SLAMing on 1.75538475 meters Centerline goodness [0,1] 0.16857160509081925 Centerline is valid? [False, False] Translation: X:0.95, Y:0.02, Z:-0.04 [[ 0.99994141 0.00801771 -0.0072734 0.95017423] [-0.00783211 0.99965184 0.02519652 0.02353478] [ 0.00747289 -0.02513808 0.99965606 -0.03690509] [ 0. 0. 0. 1. ]] SLAMing on 1.78538475 meters Centerline goodness [0,1] 0.17128787403550594 Centerline is valid? [False, False] Translation: X:0.95, Y:0.02, Z:-0.04 [[ 0.9999639 0.00405496 -0.00746658 0.95409874] [-0.00388871 0.99974713 0.02214851 0.01948476] [ 0.0075545 -0.02211867 0.99972681 -0.03974571] [ 0. 0. 0. 1. ]] SLAMing on 1.8153847499999998 meters Centerline goodness [0,1] 0.16880074452039406 Centerline is valid? [False, False] Translation: X:0.97, Y:0.01, Z:-0.04 [[ 0.99995988 -0.00152822 -0.00882621 0.96656855] [ 0.00172096 0.9997593 0.02187195 0.00923195] [ 0.00879066 -0.02188626 0.99972182 -0.0418945 ] [ 0. 0. 0. 1. ]] SLAMing on 1.8453847499999998 meters Centerline goodness [0,1] 0.17292627099519653 Centerline is valid? [False, False] Translation: X:0.98, Y:0.00, Z:-0.04 [[ 0.99990196 -0.00130881 -0.01394118 0.98139318] [ 0.00156915 0.99982428 0.01868006 0.00118773] [ 0.01391429 -0.01870011 0.99972831 -0.03870196] [ 0. 0. 0. 1. ]] SLAMing on 1.8753847499999998 meters Centerline goodness [0,1] 0.17942337679572673 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.01, Z:-0.04 [[ 0.99984687 -0.00900836 -0.01500277 0.98990763] [ 0.00921826 0.99985977 0.01398088 -0.00685682] [ 0.01487472 -0.01411703 0.9997897 -0.0396621 ] [ 0. 0. 0. 1. ]] SLAMing on 1.9053847499999998 meters Centerline goodness [0,1] 0.17822410854526616 Centerline is valid? [False, False] Translation: X:0.99, Y:-0.01, Z:-0.04 [[ 0.99979821 -0.0127594 -0.01551566 0.99200097] [ 0.01293384 0.99985368 0.01119508 -0.01148459] [ 0.01537055 -0.0113935 0.99981695 -0.03912452] [ 0. 0. 0. 1. ]] SLAMing on 1.9353847499999999 meters Centerline goodness [0,1] 0.16885643108214177 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.02, Z:-0.04 [[ 0.99962788 -0.02208665 -0.01600896 1.0017789 ] [ 0.02221485 0.9997222 0.00787487 -0.019499 ] [ 0.01583059 -0.00822757 0.99984084 -0.03766686] [ 0. 0. 0. 1. ]] SLAMing on 1.96538475 meters Centerline goodness [0,1] 0.17556009557117624 Centerline is valid? [False, False] Translation: X:1.00, Y:-0.02, Z:-0.04 [[ 0.99952863 -0.02599225 -0.01633761 1.00346951] [ 0.02607909 0.99964675 0.00512477 -0.02332428] [ 0.01619863 -0.00554842 0.9998534 -0.03686158] [ 0. 0. 0. 1. ]] SLAMing on 1.99538475 meters Centerline goodness [0,1] 0.171827888333156 Centerline is valid? [False, False] Translation: X:1.01, Y:-0.03, Z:-0.03 [[ 0.99936167 -0.03184666 -0.0161877 1.00698947] [ 0.03193828 0.99947507 0.00543331 -0.03127773] [ 0.01600617 -0.00594685 0.99985421 -0.03063559] [ 0. 0. 0. 1. ]] SLAMing on 2.0253847499999997 meters Centerline goodness [0,1] 0.1700813820673901 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.04, Z:-0.03 [[ 9.99300411e-01 -3.05702295e-02 -2.15441219e-02 1.01823514e+00] [ 3.05792550e-02 9.99532341e-01 8.95410542e-05 -3.75007202e-02] [ 2.15313093e-02 -7.48281610e-04 9.99767894e-01 -2.60432564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.05538475 meters Centerline goodness [0,1] 0.1716471777104085 Centerline is valid? [False, False] Translation: X:1.02, Y:-0.04, Z:-0.02 [[ 0.9992602 -0.03148177 -0.02208956 1.02109017] [ 0.031542 0.99949959 0.00238337 -0.04271668] [ 0.02200348 -0.00307836 0.99975315 -0.02301089] [ 0. 0. 0. 1. ]] SLAMing on 2.08538475 meters Centerline goodness [0,1] 0.17506745817593095 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.05, Z:-0.02 [[ 9.99256056e-01 -2.67425281e-02 -2.77879946e-02 1.03841166e+00] [ 2.67695713e-02 9.99641450e-01 6.01576322e-04 -4.71114458e-02] [ 2.77619435e-02 -1.34500148e-03 9.99613658e-01 -2.07902003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.11538475 meters Centerline goodness [0,1] 0.1782717663724529 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.05, Z:-0.02 [[ 9.99259308e-01 -2.63915407e-02 -2.80057334e-02 1.03894523e+00] [ 2.64131052e-02 9.99651033e-01 4.00287242e-04 -4.69506895e-02] [ 2.79853962e-02 -1.13970914e-03 9.99607682e-01 -2.14527202e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 2.14538475 meters Centerline goodness [0,1] 0.18343366939870898 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.05, Z:-0.02 [[ 0.99933254 -0.02249051 -0.02878633 1.04142844] [ 0.02263393 0.99973293 0.00466635 -0.04788319] [ 0.02867369 -0.00531478 0.9995747 -0.02160314] [ 0. 0. 0. 1. ]] SLAMing on 2.17538475 meters Centerline goodness [0,1] 0.18506517148474477 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.05, Z:-0.02 [[ 0.99932834 -0.02236504 -0.02902891 1.042297 ] [ 0.02250059 0.99973736 0.00435095 -0.04778925] [ 0.02892398 -0.00500119 0.9995691 -0.02255824] [ 0. 0. 0. 1. ]] SLAMing on 2.20538475 meters Centerline goodness [0,1] 0.18695907290597036 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.05, Z:-0.02 [[ 0.99932173 -0.02223706 -0.02935298 1.04342458] [ 0.02238534 0.99973822 0.00473256 -0.04964631] [ 0.02924006 -0.00538643 0.99955791 -0.02265647] [ 0. 0. 0. 1. ]] SLAMing on 2.2353847499999997 meters Centerline goodness [0,1] 0.1866260505743752 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.05, Z:-0.02 [[ 0.99930334 -0.022587 -0.02970976 1.04487683] [ 0.02274531 0.99972878 0.00500115 -0.05060742] [ 0.02958874 -0.00567342 0.99954606 -0.02264146] [ 0. 0. 0. 1. ]] SLAMing on 2.26538475 meters Centerline goodness [0,1] 0.18786916715888957 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.02 [[ 0.99928108 -0.02318811 -0.02999379 1.04698992] [ 0.02337454 0.99970949 0.00587983 -0.05374193] [ 0.02984873 -0.0065767 0.99953279 -0.02249231] [ 0. 0. 0. 1. ]] SLAMing on 2.2953847499999998 meters Centerline goodness [0,1] 0.18748378969209678 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.06, Z:-0.02 [[ 0.99926078 -0.02362664 -0.0303263 1.04852044] [ 0.02383599 0.99969436 0.00656026 -0.05595406] [ 0.03016203 -0.00727827 0.99951852 -0.02218251] [ 0. 0. 0. 1. ]] SLAMing on 2.32538475 meters Centerline goodness [0,1] 0.19445485200449608 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.06, Z:-0.02 [[ 0.99914274 -0.02826301 -0.0302488 1.04996464] [ 0.02837917 0.99959139 0.00341779 -0.05896215] [ 0.03013985 -0.0042733 0.99953656 -0.02198368] [ 0. 0. 0. 1. ]] SLAMing on 2.35538475 meters Centerline goodness [0,1] 0.19808282782895226 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.06, Z:-0.02 [[ 0.99912281 -0.02904366 -0.03016745 1.05027369] [ 0.02925907 0.99954925 0.00672372 -0.06209781] [ 0.02995857 -0.00760049 0.99952224 -0.01591957] [ 0. 0. 0. 1. ]] SLAMing on 2.38538475 meters Centerline goodness [0,1] 0.20285832176750818 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.06, Z:-0.01 [[ 0.99912865 -0.02887382 -0.03013701 1.04933798] [ 0.02912037 0.99954568 0.00777434 -0.06248449] [ 0.02989884 -0.00864517 0.99951554 -0.01333697] [ 0. 0. 0. 1. ]] SLAMing on 2.41538475 meters Centerline goodness [0,1] 0.21160704230639293 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.06, Z:-0.01 [[ 0.99911899 -0.0299084 -0.02944032 1.04510296] [ 0.03010927 0.9995261 0.00640326 -0.06125398] [ 0.02923485 -0.00728405 0.99954603 -0.00950985] [ 0. 0. 0. 1. ]] SLAMing on 2.4453847499999997 meters Centerline goodness [0,1] 0.2128515566250564 Centerline is valid? [False, False] Translation: X:1.04, Y:-0.06, Z:-0.01 [[ 0.99911887 -0.03002275 -0.02932771 1.04490739] [ 0.03022824 0.99952131 0.0065884 -0.0605957 ] [ 0.02911587 -0.00746912 0.99954814 -0.00889049] [ 0. 0. 0. 1. ]] SLAMing on 2.47538475 meters Centerline goodness [0,1] 0.2706190387132972 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.06, Z:-0.01 [[ 0.99908982 -0.03101467 -0.02928528 1.04617321] [ 0.03122367 0.99948992 0.00670632 -0.05939538] [ 0.02906235 -0.00761461 0.9995486 -0.00847077] [ 0. 0. 0. 1. ]] SLAMing on 2.5053847499999997 meters Centerline goodness [0,1] 0.276916177734594 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.06, Z:-0.01 [[ 0.99907096 -0.03146048 -0.02945244 1.04695765] [ 0.03167432 0.99947496 0.0068222 -0.05914223] [ 0.02922235 -0.00774875 0.9995429 -0.00819933] [ 0. 0. 0. 1. ]] SLAMing on 2.53538475 meters Centerline goodness [0,1] 0.29740563411646814 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.06, Z:-0.01 [[ 0.99904108 -0.03235413 -0.02949801 1.04796725] [ 0.03256921 0.99944608 0.00684004 -0.05836766] [ 0.02926037 -0.0077942 0.99954144 -0.00761259] [ 0. 0. 0. 1. ]] SLAMing on 2.5653847499999998 meters Centerline goodness [0,1] 0.3077518237418023 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.06, Z:-0.01 [[ 0.99900813 -0.03303869 -0.02985303 1.04902122] [ 0.03323577 0.99942874 0.00612948 -0.05621532] [ 0.02963347 -0.00711559 0.99953551 -0.00762633] [ 0. 0. 0. 1. ]] SLAMing on 2.59538475 meters Centerline goodness [0,1] 0.3077518237418023 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.06, Z:-0.01 [[ 0.99900813 -0.03303869 -0.02985303 1.04902122] [ 0.03323577 0.99942874 0.00612948 -0.05621532] [ 0.02963347 -0.00711559 0.99953551 -0.00762633] [ 0. 0. 0. 1. ]] SLAMing on 2.62538475 meters Centerline goodness [0,1] 0.33434929494712107 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.01 [[ 0.99899415 -0.03324828 -0.0300872 1.04955029] [ 0.03342957 0.99942571 0.00554273 -0.05449084] [ 0.02988563 -0.00654296 0.99953191 -0.00798049] [ 0. 0. 0. 1. ]] SLAMing on 2.6553847499999996 meters Centerline goodness [0,1] 0.3741033390379783 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.01 [[ 0.99906571 -0.03027611 -0.03083931 1.05198286] [ 0.03056239 0.99949364 0.00885417 -0.05246051] [ 0.03055562 -0.00978842 0.99948514 -0.00862875] [ 0. 0. 0. 1. ]] SLAMing on 2.68538475 meters Centerline goodness [0,1] 0.3747056479368185 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.01 [[ 0.9990464 -0.03079135 -0.03095469 1.05320296] [ 0.03104526 0.99948789 0.00775538 -0.05047993] [ 0.03070004 -0.00870899 0.9994907 -0.0105153 ] [ 0. 0. 0. 1. ]] SLAMing on 2.7153847499999997 meters Centerline goodness [0,1] 0.4294604316546763 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.05, Z:-0.01 [[ 0.99898337 -0.03215009 -0.03160064 1.05636124] [ 0.03235421 0.99945864 0.00596907 -0.04754628] [ 0.03139163 -0.00698542 0.99948275 -0.01349297] [ 0. 0. 0. 1. ]] SLAMing on 2.74538475 meters Centerline goodness [0,1] 0.4551362608164877 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.05, Z:-0.01 [[ 0.99897166 -0.03231669 -0.03180007 1.05680254] [ 0.03251593 0.99945457 0.00576841 -0.04680315] [ 0.03159631 -0.00679648 0.9994776 -0.01354377] [ 0. 0. 0. 1. ]] SLAMing on 2.7753847499999997 meters Centerline goodness [0,1] 0.5273573089998211 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.05, Z:-0.01 [[ 0.9989951 -0.03195545 -0.03142683 1.05515954] [ 0.03218151 0.99945949 0.00671377 -0.04638688] [ 0.0311953 -0.00771838 0.99948351 -0.01096625] [ 0. 0. 0. 1. ]] SLAMing on 2.80538475 meters Centerline goodness [0,1] 0.5571208924804234 Centerline is valid? [False, False] Translation: X:1.05, Y:-0.05, Z:-0.01 [[ 0.99898425 -0.03219874 -0.03152329 1.05499078] [ 0.03244194 0.99944744 0.00723385 -0.04643221] [ 0.03127295 -0.00824918 0.99947684 -0.0093959 ] [ 0. 0. 0. 1. ]] SLAMing on 2.83538475 meters Centerline goodness [0,1] 0.553707529026284 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.05, Z:-0.01 [[ 0.99891615 -0.03377372 -0.03202916 1.05664523] [ 0.03405626 0.99938531 0.00831727 -0.04636605] [ 0.03172857 -0.00939905 0.99945233 -0.00638653] [ 0. 0. 0. 1. ]] SLAMing on 2.86538475 meters Centerline goodness [0,1] 0.5385621377067722 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.04, Z:-0.00 [[ 0.99886536 -0.03501463 -0.03227966 1.05737853] [ 0.03530889 0.99933952 0.00859105 -0.04417409] [ 0.03195753 -0.00972106 0.99944195 -0.00420857] [ 0. 0. 0. 1. ]] SLAMing on 2.89538475 meters Centerline goodness [0,1] 0.5326380842023948 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.04, Z:-0.00 [[ 0.99880173 -0.03607175 -0.03307478 1.05908016] [ 0.03635419 0.99930712 0.00797824 -0.04219456] [ 0.03276407 -0.00917109 0.99942104 -0.00381551] [ 0. 0. 0. 1. ]] SLAMing on 2.9253847499999996 meters Centerline goodness [0,1] 0.6897329953821048 Centerline is valid? [False, False] Translation: X:1.06, Y:-0.04, Z:-0.01 [[ 0.99911933 -0.03664576 -0.02043662 1.06338021] [ 0.03668737 0.99932541 0.0016648 -0.03586394] [ 0.02036182 -0.0024131 0.99978976 -0.01123108] [ 0. 0. 0. 1. ]] SLAMing on 2.95538475 meters Centerline goodness [0,1] 0.6951009439812581 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.03, Z:-0.01 [[ 0.99918959 -0.0338919 -0.02171391 1.0659559 ] [ 0.03400952 0.99940865 0.00507028 -0.03378786] [ 0.02152923 -0.00580465 0.99975137 -0.01083121] [ 0. 0. 0. 1. ]] SLAMing on 2.9853847499999997 meters Centerline goodness [0,1] 0.6902625008435117 Centerline is valid? [False, False] Translation: X:1.07, Y:-0.03, Z:-0.01 [[ 0.99932692 -0.02814332 -0.02352987 1.07028678] [ 0.02840087 0.99953952 0.01068391 -0.02726065] [ 0.02321835 -0.01134499 0.99966604 -0.0119865 ] [ 0. 0. 0. 1. ]] SLAMing on 3.01538475 meters Centerline goodness [0,1] 0.7325741081895829 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.02, Z:-0.02 [[ 9.99503736e-01 -2.43500622e-02 -1.99839124e-02 1.07977692e+00] [ 2.43463741e-02 9.99703492e-01 -4.27857889e-04 -2.30307040e-02] [ 1.99884054e-02 -5.88902492e-05 9.99800210e-01 -1.87759564e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.0453847499999998 meters Centerline goodness [0,1] 0.7095449427038485 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.02, Z:-0.02 [[ 0.99958308 -0.02045428 -0.02037866 1.07943152] [ 0.02051646 0.99978546 0.00284698 -0.01885596] [ 0.02031605 -0.00326389 0.99978828 -0.0174616 ] [ 0. 0. 0. 1. ]] SLAMing on 3.07538475 meters Centerline goodness [0,1] 0.7968626417084103 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.02, Z:-0.02 [[ 0.99963409 -0.0170251 -0.02101998 1.08041691] [ 0.0171675 0.99983076 0.00661292 -0.01745593] [ 0.02090384 -0.00697136 0.99975719 -0.0166586 ] [ 0. 0. 0. 1. ]] SLAMing on 3.10538475 meters Centerline goodness [0,1] 0.7339300771875203 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.01, Z:-0.02 [[ 0.99965905 -0.01447216 -0.02173338 1.08299956] [ 0.01464 0.99986407 0.00758377 -0.00986596] [ 0.02162067 -0.00789936 0.99973504 -0.01934657] [ 0. 0. 0. 1. ]] SLAMing on 3.13538475 meters Centerline goodness [0,1] 0.7707334341711454 Centerline is valid? [False, False] Translation: X:1.08, Y:-0.01, Z:-0.02 [[ 0.99965344 -0.01480686 -0.02176588 1.08349747] [ 0.01494643 0.99986868 0.00626354 -0.00587216] [ 0.02167027 -0.00658669 0.99974347 -0.02057123] [ 0. 0. 0. 1. ]] SLAMing on 3.16538475 meters Centerline goodness [0,1] 0.7608501972763141 Centerline is valid? [False, False] Translation: X:1.09, Y:-0.00, Z:-0.03 [[ 9.99776954e-01 -1.19257366e-02 -1.74303957e-02 1.09470239e+00] [ 1.18689968e-02 9.99923932e-01 -3.35506208e-03 -5.73689531e-04] [ 1.74690814e-02 3.14743244e-03 9.99842450e-01 -2.60388453e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.1953847499999997 meters Centerline goodness [0,1] 0.759364898269633 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.00, Z:-0.02 [[ 9.99804926e-01 -8.19459816e-03 -1.79710263e-02 1.09500517e+00] [ 8.21903532e-03 9.99965396e-01 1.28637096e-03 -7.37627029e-04] [ 1.79598632e-02 -1.43382452e-03 9.99837681e-01 -2.40733570e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.22538475 meters Centerline goodness [0,1] 0.7704881959070762 Centerline is valid? [False, False] Translation: X:1.09, Y:0.00, Z:-0.02 [[ 0.99982278 -0.0044301 -0.01829682 1.09465092] [ 0.00452112 0.99997759 0.00493661 0.00291599] [ 0.01827454 -0.00501846 0.99982041 -0.02231525] [ 0. 0. 0. 1. ]] SLAMing on 3.2553847499999997 meters Centerline goodness [0,1] 0.8349771320120718 Centerline is valid? [False, False] Translation: X:1.10, Y:0.01, Z:-0.02 [[ 0.99982158 -0.00116214 -0.01885357 1.09541447] [ 0.00131143 0.99996787 0.00790801 0.00779373] [ 0.01884377 -0.00793133 0.99979098 -0.02154781] [ 0. 0. 0. 1. ]] SLAMing on 3.28538475 meters Centerline goodness [0,1] 0.8641749379652606 Centerline is valid? [False, False] Translation: X:1.10, Y:0.01, Z:-0.02 [[ 0.99982135 -0.00132612 -0.01885498 1.09519406] [ 0.00146017 0.99997374 0.0070978 0.01066204] [ 0.01884507 -0.00712406 0.99979703 -0.02157369] [ 0. 0. 0. 1. ]] SLAMing on 3.3153847499999998 meters Centerline goodness [0,1] 0.804275607505383 Centerline is valid? [False, False] Translation: X:1.10, Y:0.02, Z:-0.03 [[ 9.99983179e-01 -3.53145248e-03 -4.60115288e-03 1.09565918e+00] [ 3.53536133e-03 9.99993396e-01 8.41682073e-04 1.69408625e-02] [ 4.59815014e-03 -8.57934653e-04 9.99989060e-01 -2.85305652e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.34538475 meters Centerline goodness [0,1] 0.841112336150925 Centerline is valid? [False, False] Translation: X:1.10, Y:0.02, Z:-0.03 [[ 9.99979872e-01 -4.07198183e-03 -4.86569783e-03 1.09610964e+00] [ 4.07418009e-03 9.99991603e-01 4.41959397e-04 1.86391193e-02] [ 4.86385732e-03 -4.61774230e-04 9.99988065e-01 -2.81155401e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.37538475 meters Centerline goodness [0,1] 0.8554342173686947 Centerline is valid? [False, False] Translation: X:1.10, Y:0.02, Z:-0.03 [[ 9.99975964e-01 -4.86722724e-03 -4.93781381e-03 1.09620528e+00] [ 4.86735122e-03 9.99988154e-01 1.30916067e-05 2.16194365e-02] [ 4.93769159e-03 -3.71253660e-05 9.99987809e-01 -2.71771727e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.4053847499999996 meters Centerline goodness [0,1] 0.8760690263870713 Centerline is valid? [False, False] Translation: X:1.10, Y:0.02, Z:-0.03 [[ 0.99998159 -0.00259152 -0.00548663 1.09816998] [ 0.0026114 0.99999004 0.00361962 0.02179333] [ 0.0054772 -0.00363388 0.9999784 -0.02684252] [ 0. 0. 0. 1. ]] SLAMing on 3.43538475 meters Centerline goodness [0,1] 0.8204509099689132 Centerline is valid? [False, False] Translation: X:1.10, Y:0.03, Z:-0.03 [[ 0.9999795 -0.00343874 -0.00540177 1.09854827] [ 0.00345063 0.99999164 0.0021932 0.02680939] [ 0.00539418 -0.00221179 0.99998301 -0.02742502] [ 0. 0. 0. 1. ]] SLAMing on 3.4653847499999997 meters Centerline goodness [0,1] 0.8081854487583702 Centerline is valid? [False, False] Translation: X:1.10, Y:0.03, Z:-0.03 [[ 0.99997684 -0.00390438 -0.00557382 1.0990937 ] [ 0.00391174 0.99999149 0.00130936 0.02934889] [ 0.00556866 -0.00133113 0.99998361 -0.02780255] [ 0. 0. 0. 1. ]] SLAMing on 3.49538475 meters Centerline goodness [0,1] 0.8327494835174706 Centerline is valid? [False, False] Translation: X:1.10, Y:0.03, Z:-0.03 [[ 9.99971971e-01 -4.51742973e-03 -5.97068879e-03 1.10001493e+00] [ 4.51654691e-03 9.99989787e-01 -1.61334954e-04 3.31998300e-02] [ 5.97135663e-03 1.34363536e-04 9.99982162e-01 -2.83662518e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.5253847499999997 meters Centerline goodness [0,1] 0.842391304347826 Centerline is valid? [False, False] Translation: X:1.10, Y:0.04, Z:-0.03 [[ 0.9999676 -0.00504271 -0.0062748 1.10129368] [ 0.00503442 0.99998643 -0.00133608 0.03586058] [ 0.00628145 0.00130445 0.99997942 -0.02961666] [ 0. 0. 0. 1. ]] SLAMing on 3.55538475 meters Centerline goodness [0,1] 0.8694171306717213 Centerline is valid? [False, False] Translation: X:1.11, Y:0.04, Z:-0.03 [[ 9.99964177e-01 -3.75767394e-03 -7.58451887e-03 1.10708314e+00] [ 3.75459762e-03 9.99992863e-01 -4.19802404e-04 4.20824406e-02] [ 7.58604222e-03 3.91310549e-04 9.99971149e-01 -3.38049354e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.58538475 meters Centerline goodness [0,1] 0.853982430884038 Centerline is valid? [False, False] Translation: X:1.11, Y:0.04, Z:-0.04 [[ 0.99996146 -0.00153685 -0.00864382 1.1107517 ] [ 0.00155814 0.99999577 0.00245679 0.04335969] [ 0.00864 -0.00247017 0.99995962 -0.03527658] [ 0. 0. 0. 1. ]] SLAMing on 3.6153847499999996 meters Centerline goodness [0,1] 0.8198378776713338 Centerline is valid? [False, False] Translation: X:1.11, Y:0.05, Z:-0.04 [[ 9.99950155e-01 -2.90735678e-03 -9.55170849e-03 1.11331444e+00] [ 2.91688738e-03 9.99995262e-01 9.84010441e-04 4.62862329e-02] [ 9.54880236e-03 -1.01182265e-03 9.99953897e-01 -3.62630333e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.64538475 meters Centerline goodness [0,1] 0.8130830120942825 Centerline is valid? [False, False] Translation: X:1.11, Y:0.05, Z:-0.04 [[ 9.99944719e-01 -3.31387973e-03 -9.97880728e-03 1.11378486e+00] [ 3.32342695e-03 9.99994035e-01 9.40319623e-04 4.64158499e-02] [ 9.97563166e-03 -9.73431478e-04 9.99949768e-01 -3.54734338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.6753847499999996 meters Centerline goodness [0,1] 0.8162429669779362 Centerline is valid? [False, False] Translation: X:1.11, Y:0.05, Z:-0.03 [[ 9.99929898e-01 -4.78122179e-03 -1.08322687e-02 1.11495710e+00] [ 4.78972746e-03 9.99988241e-01 7.59409604e-04 4.82458892e-02] [ 1.08285104e-02 -8.11239983e-04 9.99941041e-01 -3.34840404e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.70538475 meters Centerline goodness [0,1] 0.8181525493180355 Centerline is valid? [False, False] Translation: X:1.12, Y:0.05, Z:-0.03 [[ 9.99916521e-01 -6.30376176e-03 -1.12788735e-02 1.11610748e+00] [ 6.30297002e-03 9.99980130e-01 -1.05741934e-04 5.31582826e-02] [ 1.12793160e-02 3.46427054e-05 9.99936386e-01 -3.27325128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.7353847499999997 meters Centerline goodness [0,1] 0.8109480318636748 Centerline is valid? [False, False] Translation: X:1.12, Y:0.06, Z:-0.03 [[ 9.99914675e-01 -6.61449450e-03 -1.12646131e-02 1.11574030e+00] [ 6.60795577e-03 9.99977977e-01 -6.17587145e-04 5.63158699e-02] [ 1.12684500e-02 5.43098385e-04 9.99936362e-01 -3.20689424e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.76538475 meters Centerline goodness [0,1] 0.836873480726936 Centerline is valid? [False, False] Translation: X:1.11, Y:0.06, Z:-0.03 [[ 0.9999183 -0.00654268 -0.01098095 1.11333623] [ 0.00652986 0.99997796 -0.00120306 0.0620394 ] [ 0.01098858 0.00113125 0.99993898 -0.02922832] [ 0. 0. 0. 1. ]] SLAMing on 3.7953847499999998 meters Centerline goodness [0,1] 0.7995625773403552 Centerline is valid? [False, False] Translation: X:1.11, Y:0.07, Z:-0.03 [[ 0.99992025 -0.00643655 -0.01086593 1.11216662] [ 0.00641946 0.9999781 -0.00160739 0.06505683] [ 0.01087604 0.00153751 0.99993967 -0.02793017] [ 0. 0. 0. 1. ]] SLAMing on 3.82538475 meters Centerline goodness [0,1] 0.8437946607214314 Centerline is valid? [False, False] Translation: X:1.11, Y:0.07, Z:-0.03 [[ 9.99927422e-01 -3.75668555e-03 -1.14472072e-02 1.11359985e+00] [ 3.76046988e-03 9.99992882e-01 3.09083108e-04 7.38636424e-02] [ 1.14459645e-02 -3.52107553e-04 9.99934431e-01 -2.79239576e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.85538475 meters Centerline goodness [0,1] 0.8525117404297708 Centerline is valid? [False, False] Translation: X:1.12, Y:0.08, Z:-0.03 [[ 9.99927494e-01 -9.20270147e-04 -1.20066873e-02 1.11542334e+00] [ 9.52631674e-04 9.99995929e-01 2.68985119e-03 7.87356149e-02] [ 1.20041630e-02 -2.70109411e-03 9.99924299e-01 -2.87592526e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 3.8853847499999996 meters Centerline goodness [0,1] 0.880943718339817 Centerline is valid? [False, False] Translation: X:1.12, Y:0.09, Z:-0.03 [[ 0.99992744 0.0022448 -0.01183573 1.11584406] [-0.00219766 0.99998961 0.00399434 0.08857428] [ 0.01184457 -0.00396804 0.99992198 -0.02986515] [ 0. 0. 0. 1. ]] SLAMing on 3.91538475 meters Centerline goodness [0,1] 0.8710725893824485 Centerline is valid? [False, False] Translation: X:1.12, Y:0.09, Z:-0.03 [[ 0.99992919 0.00224401 -0.01168674 1.11536575] [-0.00221164 0.99999368 0.00278247 0.09294414] [ 0.01169291 -0.00275642 0.99992784 -0.02993501] [ 0. 0. 0. 1. ]] SLAMing on 3.9453847499999997 meters Centerline goodness [0,1] 0.9195899141036298 Centerline is valid? [False, False] Translation: X:1.12, Y:0.10, Z:-0.03 [[ 0.99991242 0.00561367 -0.01198487 1.11578122] [-0.0055547 0.99997233 0.00494819 0.09849559] [ 0.01201232 -0.00488118 0.99991594 -0.02980994] [ 0. 0. 0. 1. ]] SLAMing on 3.97538475 meters Centerline goodness [0,1] 0.9205615194054501 Centerline is valid? [False, False] Translation: X:1.12, Y:0.10, Z:-0.03 [[ 0.99991619 0.00506823 -0.01191321 1.11679718] [-0.00503021 0.99998217 0.00321945 0.10404795] [ 0.01192931 -0.00315925 0.99992385 -0.03150128] [ 0. 0. 0. 1. ]] SLAMing on 4.00538475 meters Centerline goodness [0,1] 0.9254622811323843 Centerline is valid? [False, False] Translation: X:1.12, Y:0.11, Z:-0.03 [[ 0.99989745 0.00818499 -0.01175135 1.11892329] [-0.00812879 0.99995533 0.00482246 0.11319042] [ 0.0117903 -0.00472644 0.99991932 -0.03453546] [ 0. 0. 0. 1. ]] SLAMing on 4.0353847499999995 meters Centerline goodness [0,1] 0.9293577981651376 Centerline is valid? [False, False] Translation: X:1.12, Y:0.12, Z:-0.04 [[ 0.99989679 0.00784428 -0.01203682 1.1198603 ] [-0.00780623 0.99996439 0.00320509 0.11848179] [ 0.01206153 -0.0031108 0.99992242 -0.03547724] [ 0. 0. 0. 1. ]] SLAMing on 4.06538475 meters Centerline goodness [0,1] 0.931770749719056 Centerline is valid? [False, False] Translation: X:1.12, Y:0.12, Z:-0.03 [[ 0.99984285 0.01270049 -0.01236853 1.11915135] [-0.01262645 0.99990201 0.00604541 0.12455122] [ 0.0124441 -0.00588829 0.99990523 -0.03432758] [ 0. 0. 0. 1. ]] SLAMing on 4.09538475 meters Centerline goodness [0,1] 0.9323806482516366 Centerline is valid? [False, False] Translation: X:1.12, Y:0.13, Z:-0.03 [[ 0.99969658 0.02121178 -0.01252265 1.1174078 ] [-0.02104648 0.99969152 0.01318783 0.1291682 ] [ 0.01279853 -0.01292027 0.99983462 -0.03179174] [ 0. 0. 0. 1. ]] SLAMing on 4.125384749999999 meters Centerline goodness [0,1] 0.9303672467171986 Centerline is valid? [False, False] Translation: X:1.12, Y:0.13, Z:-0.03 [[ 0.99967226 0.02245871 -0.0122877 1.11631606] [-0.02229863 0.99966666 0.01301335 0.13372478] [ 0.01257587 -0.01273509 0.99983982 -0.03143913] [ 0. 0. 0. 1. ]] SLAMing on 4.15538475 meters Centerline goodness [0,1] 0.928045983072745 Centerline is valid? [False, False] Translation: X:1.12, Y:0.14, Z:-0.03 [[ 0.9994622 0.03152065 -0.00904175 1.12393466] [-0.03145547 0.99947877 0.00726245 0.13781934] [ 0.00926595 -0.00697413 0.99993275 -0.03457146] [ 0. 0. 0. 1. ]] SLAMing on 4.18538475 meters Centerline goodness [0,1] 0.9268506235075616 Centerline is valid? [False, False] Translation: X:1.12, Y:0.14, Z:-0.03 [[ 0.99945794 0.03168291 -0.00894571 1.1236116 ] [-0.03162333 0.99947723 0.00672493 0.13980427] [ 0.0091541 -0.00643839 0.99993737 -0.0345669 ] [ 0. 0. 0. 1. ]] SLAMing on 4.21538475 meters Centerline goodness [0,1] 0.9253976670201485 Centerline is valid? [False, False] Translation: X:1.12, Y:0.14, Z:-0.03 [[ 0.9994491 0.03196445 -0.00893185 1.12307995] [-0.0319048 0.99946817 0.00674311 0.1403809 ] [ 0.00914264 -0.00645442 0.99993737 -0.03399495] [ 0. 0. 0. 1. ]] SLAMing on 4.2453847499999995 meters Centerline goodness [0,1] 0.9280998966038336 Centerline is valid? [False, False] Translation: X:1.12, Y:0.14, Z:-0.03 [[ 0.9995459 0.02888998 -0.00856544 1.12133563] [-0.02886687 0.99957932 0.00280975 0.141888 ] [ 0.00864301 -0.00256121 0.99995937 -0.0332538 ] [ 0. 0. 0. 1. ]] SLAMing on 4.27538475 meters Centerline goodness [0,1] 0.9275738704120843 Centerline is valid? [False, False] Translation: X:1.12, Y:0.14, Z:-0.03 [[ 0.99964997 0.02507195 -0.00844622 1.12085138] [-0.0250833 0.99968459 -0.00124084 0.14172665] [ 0.00841245 0.00145226 0.99996356 -0.03336895] [ 0. 0. 0. 1. ]] SLAMing on 4.30538475 meters Centerline goodness [0,1] 0.9270789025946405 Centerline is valid? [False, False] Translation: X:1.12, Y:0.14, Z:-0.03 [[ 0.99972579 0.02204056 -0.00791002 1.11962264] [-0.02208013 0.99974395 -0.00495067 0.142946 ] [ 0.00779888 0.00512397 0.99995646 -0.03351157] [ 0. 0. 0. 1. ]] SLAMing on 4.33538475 meters Centerline goodness [0,1] 0.9248816243546186 Centerline is valid? [False, False] Translation: X:1.12, Y:0.14, Z:-0.03 [[ 0.99973052 0.02180772 -0.00795629 1.12064107] [-0.02184902 0.99974806 -0.00514231 0.14224446] [ 0.00784215 0.00531477 0.99995513 -0.03484793] [ 0. 0. 0. 1. ]] SLAMing on 4.36538475 meters Centerline goodness [0,1] 0.9244336526402861 Centerline is valid? [False, False] Translation: X:1.12, Y:0.14, Z:-0.04 [[ 0.99973103 0.02167322 -0.00825459 1.12154076] [-0.02171698 0.99975038 -0.00524902 0.14160007] [ 0.00813877 0.00542687 0.99995215 -0.0354838 ] [ 0. 0. 0. 1. ]] SLAMing on 4.39538475 meters Centerline goodness [0,1] 0.9217332975583579 Centerline is valid? [False, False] Translation: X:1.12, Y:0.14, Z:-0.04 [[ 0.99971404 0.02253319 -0.00800593 1.12074281] [-0.02256894 0.99973559 -0.00440354 0.13871099] [ 0.00790459 0.00458296 0.99995826 -0.0352827 ] [ 0. 0. 0. 1. ]] SLAMing on 4.42538475 meters Centerline goodness [0,1] 0.9236416246918873 Centerline is valid? [False, False] Translation: X:1.12, Y:0.14, Z:-0.04 [[ 0.99970472 0.02290872 -0.00810387 1.12073043] [-0.02294138 0.99972897 -0.00396026 0.13723333] [ 0.00801095 0.00414501 0.99995932 -0.03519224] [ 0. 0. 0. 1. ]] SLAMing on 4.4553847499999994 meters Centerline goodness [0,1] 0.9227244548664456 Centerline is valid? [False, False] Translation: X:1.12, Y:0.14, Z:-0.04 [[ 0.99967087 0.02459284 -0.0073043 1.1191676 ] [-0.02461648 0.99969196 -0.00316483 0.13602463] [ 0.00722422 0.0033436 0.99996832 -0.03570859] [ 0. 0. 0. 1. ]] SLAMing on 4.48538475 meters Centerline goodness [0,1] 0.9227244548664456 Centerline is valid? [False, False] Translation: X:1.12, Y:0.14, Z:-0.04 [[ 0.99967087 0.02459284 -0.0073043 1.1191676 ] [-0.02461648 0.99969196 -0.00316483 0.13602463] [ 0.00722422 0.0033436 0.99996832 -0.03570859] [ 0. 0. 0. 1. ]] SLAMing on 4.51538475 meters Centerline goodness [0,1] 0.9226349437565752 Centerline is valid? [False, False] Translation: X:1.12, Y:0.14, Z:-0.04 [[ 0.99965793 0.02515456 -0.00716043 1.11895156] [-0.02517599 0.99967877 -0.00291907 0.13541154] [ 0.0070847 0.00309834 0.9999701 -0.03609173] [ 0. 0. 0. 1. ]] SLAMing on 4.54538475 meters Centerline goodness [0,1] 0.92542932986619 Centerline is valid? [False, False] Translation: X:1.12, Y:0.13, Z:-0.04 [[ 0.9996162 0.02694112 -0.00645251 1.11763016] [-0.02694911 0.99963614 -0.00115441 0.13011029] [ 0.00641906 0.00132786 0.99997852 -0.03660663] [ 0. 0. 0. 1. ]] SLAMing on 4.57538475 meters Centerline goodness [0,1] 0.9291347207009858 Centerline is valid? [False, False] Translation: X:1.12, Y:0.12, Z:-0.04 [[ 0.99967852 0.02469534 -0.0057447 1.11629499] [-0.02471346 0.99968976 -0.00310453 0.12307512] [ 0.00566625 0.00324551 0.99997868 -0.03741123] [ 0. 0. 0. 1. ]] SLAMing on 4.60538475 meters Centerline goodness [0,1] 0.9316573505520831 Centerline is valid? [False, False] Translation: X:1.12, Y:0.12, Z:-0.04 [[ 0.99975739 0.02130798 -0.00557888 1.11570079] [-0.02134288 0.99975253 -0.0062731 0.12020799] [ 0.00544384 0.00639065 0.99996476 -0.03755897] [ 0. 0. 0. 1. ]] SLAMing on 4.63538475 meters Centerline goodness [0,1] 0.9370580702633484 Centerline is valid? [False, False] Translation: X:1.12, Y:0.11, Z:-0.04 [[ 0.99982268 0.01791061 -0.00581566 1.11592002] [-0.01795453 0.99981 -0.00758958 0.11180286] [ 0.00567862 0.00769265 0.99995429 -0.03705896] [ 0. 0. 0. 1. ]] SLAMing on 4.665384749999999 meters Centerline goodness [0,1] 0.9364847804741198 Centerline is valid? [False, False] Translation: X:1.12, Y:0.11, Z:-0.04 [[ 0.99987784 0.01466815 -0.00539841 1.11501318] [-0.01472386 0.99983721 -0.01042885 0.10848465] [ 0.00524456 0.01050706 0.99993105 -0.03724641] [ 0. 0. 0. 1. ]] SLAMing on 4.69538475 meters Centerline goodness [0,1] 0.9418393414703378 Centerline is valid? [False, False] Translation: X:1.11, Y:0.10, Z:-0.03 [[ 0.99992564 0.01095955 -0.00534856 1.11469622] [-0.01100459 0.9999036 -0.00846715 0.09693842] [ 0.00525524 0.00852538 0.99994985 -0.03201347] [ 0. 0. 0. 1. ]] SLAMing on 4.72538475 meters Centerline goodness [0,1] 0.9451557587882252 Centerline is valid? [False, False] Translation: X:1.11, Y:0.09, Z:-0.03 [[ 0.99995717 0.00774384 -0.00506946 1.11389974] [-0.00780047 0.99990633 -0.0112467 0.0932263 ] [ 0.0049819 0.01128576 0.9999239 -0.03197099] [ 0. 0. 0. 1. ]] SLAMing on 4.75538475 meters Centerline goodness [0,1] 0.9432384905877944 Centerline is valid? [False, False] Translation: X:1.12, Y:0.09, Z:-0.03 [[ 0.99997153 0.00533124 -0.00534084 1.1168163 ] [-0.00539545 0.99991247 -0.01208079 0.08604176] [ 0.00527596 0.01210927 0.99991276 -0.03478564] [ 0. 0. 0. 1. ]] SLAMing on 4.7853847499999995 meters Centerline goodness [0,1] 0.9431311199953647 Centerline is valid? [False, False] Translation: X:1.12, Y:0.08, Z:-0.04 [[ 0.99996982 0.00540067 -0.00558462 1.11773088] [-0.0054634 0.99992146 -0.01127978 0.08297265] [ 0.00552326 0.01130996 0.99992079 -0.03534007] [ 0. 0. 0. 1. ]] SLAMing on 4.81538475 meters Centerline goodness [0,1] 0.944186989515148 Centerline is valid? [False, False] Translation: X:1.12, Y:0.08, Z:-0.04 [[ 0.99996665 0.00571533 -0.00583334 1.11865441] [-0.00577351 0.99993327 -0.01000612 0.07790969] [ 0.00577577 0.01003947 0.99993292 -0.03594343] [ 0. 0. 0. 1. ]] SLAMing on 4.84538475 meters Centerline goodness [0,1] 0.9451712308855166 Centerline is valid? [False, False] Translation: X:1.12, Y:0.08, Z:-0.04 [[ 0.99996294 0.0066223 -0.00550195 1.11739222] [-0.00667153 0.99993743 -0.00897885 0.0758209 ] [ 0.00544214 0.00901522 0.99994455 -0.03523743] [ 0. 0. 0. 1. ]] SLAMing on 4.875384749999999 meters Centerline goodness [0,1] 0.9425143786672864 Centerline is valid? [False, False] Translation: X:1.12, Y:0.07, Z:-0.03 [[ 0.99995598 0.00756666 -0.00554855 1.11680768] [-0.00761122 0.9999386 -0.00805434 0.07348181] [ 0.00548727 0.00809622 0.99995217 -0.03472916] [ 0. 0. 0. 1. ]] SLAMing on 4.90538475 meters Centerline goodness [0,1] 0.9421229376551321 Centerline is valid? [False, False] Translation: X:1.12, Y:0.07, Z:-0.03 [[ 0.99995243 0.00808522 -0.00545676 1.1163057 ] [-0.00812647 0.99993825 -0.00758013 0.07248833] [ 0.00539514 0.00762411 0.99995638 -0.03444511] [ 0. 0. 0. 1. ]] SLAMing on 4.93538475 meters Centerline goodness [0,1] 0.9430977513962396 Centerline is valid? [False, False] Translation: X:1.12, Y:0.07, Z:-0.03 [[ 0.99994801 0.0080871 -0.00621075 1.11731312] [-0.00812826 0.99994498 -0.0066307 0.06900035] [ 0.00615679 0.00668083 0.99995873 -0.03369207] [ 0. 0. 0. 1. ]] SLAMing on 4.96538475 meters Centerline goodness [0,1] 0.9420268562865454 Centerline is valid? [False, False] Translation: X:1.12, Y:0.07, Z:-0.03 [[ 0.99994648 0.00773941 -0.00686616 1.11851813] [-0.00778039 0.99995195 -0.00596285 0.06604942] [ 0.00681968 0.00601596 0.99995865 -0.03333397] [ 0. 0. 0. 1. ]] SLAMing on 4.9953847499999995 meters Centerline goodness [0,1] 0.9453469448143217 Centerline is valid? [False, False] Translation: X:1.12, Y:0.06, Z:-0.03 [[ 0.99996769 0.00412559 -0.00689951 1.11823003] [-0.00418268 0.99995696 -0.00828112 0.06110182] [ 0.00686505 0.00830971 0.99994191 -0.03256614] [ 0. 0. 0. 1. ]] SLAMing on 5.02538475 meters Centerline goodness [0,1] 0.9473135573028354 Centerline is valid? [False, False] Translation: X:1.12, Y:0.05, Z:-0.03 [[ 9.99970510e-01 -9.19414438e-04 -7.62458836e-03 1.12001350e+00] [ 8.46139239e-04 9.99953484e-01 -9.60804449e-03 5.48330042e-02] [ 7.63306746e-03 9.60130969e-03 9.99924773e-01 -3.02908413e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.05538475 meters Centerline goodness [0,1] 0.9475072698384147 Centerline is valid? [False, False] Translation: X:1.12, Y:0.05, Z:-0.03 [[ 0.9999642 -0.00191612 -0.00824176 1.1216919 ] [ 0.00184732 0.99996345 -0.00834755 0.05030603] [ 0.00825745 0.00833202 0.99993119 -0.02947441] [ 0. 0. 0. 1. ]] SLAMing on 5.085384749999999 meters Centerline goodness [0,1] 0.9488593328687854 Centerline is valid? [False, False] Translation: X:1.13, Y:0.04, Z:-0.03 [[ 0.99992339 -0.00838956 -0.00910081 1.12509117] [ 0.00828451 0.99989932 -0.01151993 0.04460351] [ 0.00919654 0.01144365 0.99989223 -0.02945813] [ 0. 0. 0. 1. ]] SLAMing on 5.11538475 meters Centerline goodness [0,1] 0.9384074444545483 Centerline is valid? [False, False] Translation: X:1.13, Y:0.04, Z:-0.03 [[ 0.99990354 -0.00978488 -0.00985772 1.12709168] [ 0.00968198 0.9998987 -0.01043283 0.04043508] [ 0.00995881 0.01033638 0.99989699 -0.02830604] [ 0. 0. 0. 1. ]] SLAMing on 5.14538475 meters Centerline goodness [0,1] 0.9421778063017634 Centerline is valid? [False, False] Translation: X:1.13, Y:0.04, Z:-0.03 [[ 0.99980979 -0.01631328 -0.01068927 1.13059315] [ 0.01616007 0.99976764 -0.0142658 0.03673774] [ 0.01091951 0.01409035 0.9998411 -0.0285667 ] [ 0. 0. 0. 1. ]] SLAMing on 5.17538475 meters Centerline goodness [0,1] 0.9348731773067026 Centerline is valid? [False, False] Translation: X:1.13, Y:0.04, Z:-0.03 [[ 0.99978418 -0.01734719 -0.01143113 1.13260498] [ 0.01718643 0.99975408 -0.01401454 0.03556997] [ 0.01167143 0.01381505 0.99983645 -0.0283963 ] [ 0. 0. 0. 1. ]] SLAMing on 5.2053847499999994 meters Centerline goodness [0,1] 0.9373072342504657 Centerline is valid? [False, False] Translation: X:1.14, Y:0.04, Z:-0.03 [[ 0.99980201 -0.01564388 -0.01229634 1.13575027] [ 0.01551569 0.99982499 -0.01045278 0.03526867] [ 0.01245771 0.01025992 0.99986976 -0.02852735] [ 0. 0. 0. 1. ]] SLAMing on 5.23538475 meters Centerline goodness [0,1] 0.9299939467312348 Centerline is valid? [False, False] Translation: X:1.14, Y:0.04, Z:-0.03 [[ 0.99987578 -0.00866687 -0.01316488 1.13731042] [ 0.00863538 0.99995972 -0.00244686 0.03640761] [ 0.01318556 0.00233288 0.99991035 -0.02720541] [ 0. 0. 0. 1. ]] SLAMing on 5.26538475 meters Centerline goodness [0,1] 0.9347832626417591 Centerline is valid? [False, False] Translation: X:1.14, Y:0.04, Z:-0.03 [[ 0.99989755 -0.00472974 -0.01350962 1.13748414] [ 0.00474645 0.99998801 0.00120482 0.03857811] [ 0.01350376 -0.00126882 0.99990802 -0.02653963] [ 0. 0. 0. 1. ]] SLAMing on 5.295384749999999 meters Centerline goodness [0,1] 0.9187583543739789 Centerline is valid? [False, False] Translation: X:1.14, Y:0.05, Z:-0.03 [[ 0.99989855 0.00375218 -0.01374105 1.13674809] [-0.00365018 0.99996566 0.00744027 0.04633928] [ 0.01376849 -0.00738936 0.99987791 -0.02606813] [ 0. 0. 0. 1. ]] SLAMing on 5.32538475 meters Centerline goodness [0,1] 0.9498188885943988 Centerline is valid? [False, False] Translation: X:1.14, Y:0.05, Z:-0.03 [[ 0.99987349 0.00832288 -0.01355482 1.1357715 ] [-0.00818171 0.99991206 0.01043725 0.05128168] [ 0.0136405 -0.01032502 0.99985365 -0.02591912] [ 0. 0. 0. 1. ]] SLAMing on 5.35538475 meters Centerline goodness [0,1] 0.9496952104499274 Centerline is valid? [False, False] Translation: X:1.13, Y:0.06, Z:-0.02 [[ 0.99969737 0.02090887 -0.01296128 1.13117672] [-0.02064798 0.99958783 0.01994565 0.05921229] [ 0.01337298 -0.01967199 0.99971705 -0.02252487] [ 0. 0. 0. 1. ]] SLAMing on 5.38538475 meters Centerline goodness [0,1] 0.948020158387329 Centerline is valid? [False, False] Translation: X:1.13, Y:0.06, Z:-0.02 [[ 0.99958721 0.02584168 -0.01255487 1.12962433] [-0.02554308 0.99940008 0.02338883 0.06306185] [ 0.01315175 -0.02305848 0.99964761 -0.02192213] [ 0. 0. 0. 1. ]] SLAMing on 5.415384749999999 meters Centerline goodness [0,1] 0.9439286829628368 Centerline is valid? [False, False] Translation: X:1.13, Y:0.07, Z:-0.02 [[ 0.99932836 0.03461488 -0.01202678 1.12710214] [-0.03423411 0.99894707 0.03054144 0.06884514] [ 0.01307131 -0.0301092 0.99946114 -0.01985657] [ 0. 0. 0. 1. ]] SLAMing on 5.44538475 meters Centerline goodness [0,1] 0.9424187521232024 Centerline is valid? [False, False] Translation: X:1.13, Y:0.07, Z:-0.02 [[ 0.9993168 0.03501213 -0.01183608 1.12643767] [-0.03464797 0.99895859 0.02968579 0.07220115] [ 0.01286312 -0.02925541 0.9994892 -0.02015928] [ 0. 0. 0. 1. ]] SLAMing on 5.47538475 meters Centerline goodness [0,1] 0.9396491030442986 Centerline is valid? [False, False] Translation: X:1.13, Y:0.08, Z:-0.02 [[ 0.99931188 0.03511367 -0.0119499 1.12673196] [-0.03476157 0.99898929 0.02849624 0.07571557] [ 0.01293843 -0.02806124 0.99952247 -0.02104014] [ 0. 0. 0. 1. ]] SLAMing on 5.50538475 meters Centerline goodness [0,1] 0.9347465022661374 Centerline is valid? [False, False] Translation: X:1.13, Y:0.08, Z:-0.02 [[ 0.99942981 0.03165921 -0.01173686 1.12649412] [-0.0313782 0.99923364 0.02339969 0.07869271] [ 0.01246868 -0.02301807 0.99965729 -0.02279793] [ 0. 0. 0. 1. ]] SLAMing on 5.5353847499999995 meters Centerline goodness [0,1] 0.9355538037051636 Centerline is valid? [False, False] Translation: X:1.13, Y:0.08, Z:-0.02 [[ 0.99953324 0.02837394 -0.01132375 1.12613236] [-0.02816058 0.99943078 0.01857689 0.0806774 ] [ 0.01184441 -0.01824933 0.99976331 -0.02491219] [ 0. 0. 0. 1. ]] SLAMing on 5.56538475 meters Centerline goodness [0,1] 0.9353558663777334 Centerline is valid? [False, False] Translation: X:1.13, Y:0.08, Z:-0.03 [[ 0.99963262 0.02479006 -0.01095813 1.12568459] [-0.02463739 0.99960045 0.01385438 0.08242099] [ 0.0112972 -0.01357931 0.99984398 -0.02636654] [ 0. 0. 0. 1. ]] SLAMing on 5.59538475 meters Centerline goodness [0,1] 0.9327242993289347 Centerline is valid? [False, False] Translation: X:1.13, Y:0.08, Z:-0.03 [[ 0.99972348 0.02090642 -0.01076463 1.12559161] [-0.02080432 0.99973832 0.00951133 0.08245565] [ 0.01096066 -0.00928475 0.99989682 -0.02741842] [ 0. 0. 0. 1. ]] SLAMing on 5.625384749999999 meters Centerline goodness [0,1] 0.9346135354506632 Centerline is valid? [False, False] Translation: X:1.13, Y:0.08, Z:-0.03 [[ 0.9997991 0.01697926 -0.01065218 1.12561038] [-0.01692722 0.99984444 0.00495717 0.08313184] [ 0.01073469 -0.00477586 0.99993098 -0.02846071] [ 0. 0. 0. 1. ]] SLAMing on 5.65538475 meters Centerline goodness [0,1] 0.9360344778700842 Centerline is valid? [False, False] Translation: X:1.13, Y:0.08, Z:-0.03 [[ 9.99857857e-01 1.32127324e-02 -1.04733173e-02 1.12517878e+00] [-1.32014252e-02 9.99912198e-01 1.14802394e-03 8.17611140e-02] [ 1.04875663e-02 -1.00959804e-03 9.99944494e-01 -2.87806804e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.68538475 meters Centerline goodness [0,1] 0.9341705258970935 Centerline is valid? [False, False] Translation: X:1.12, Y:0.08, Z:-0.03 [[ 0.99990331 0.00990122 -0.0097643 1.12372141] [-0.00992879 0.99994684 -0.00277972 0.08184678] [ 0.00973626 0.0028764 0.99994846 -0.02920999] [ 0. 0. 0. 1. ]] SLAMing on 5.71538475 meters Centerline goodness [0,1] 0.9352556818181819 Centerline is valid? [False, False] Translation: X:1.12, Y:0.08, Z:-0.03 [[ 0.99990254 0.01007905 -0.00966021 1.12341462] [-0.01010334 0.99994591 -0.00246961 0.08080521] [ 0.00963479 0.00256697 0.99995029 -0.02905614] [ 0. 0. 0. 1. ]] SLAMing on 5.7453847499999995 meters Centerline goodness [0,1] 0.9341570799602329 Centerline is valid? [False, False] Translation: X:1.12, Y:0.08, Z:-0.03 [[ 0.99989813 0.01098255 -0.00911643 1.12196397] [-0.01099975 0.99993781 -0.00183919 0.07911736] [ 0.00909567 0.00193928 0.99995675 -0.02885403] [ 0. 0. 0. 1. ]] SLAMing on 5.77538475 meters Centerline goodness [0,1] 0.9350638273675831 Centerline is valid? [False, False] Translation: X:1.12, Y:0.08, Z:-0.03 [[ 0.99989617 0.01130028 -0.00894186 1.12165704] [-0.01131606 0.9999345 -0.00171636 0.07841269] [ 0.00892188 0.00181737 0.99995855 -0.02913649] [ 0. 0. 0. 1. ]] SLAMing on 5.80538475 meters Centerline goodness [0,1] 0.9297676008202324 Centerline is valid? [False, False] Translation: X:1.12, Y:0.08, Z:-0.03 [[ 9.99888471e-01 1.23339172e-02 -8.42144864e-03 1.12063567e+00] [-1.23420072e-02 9.99923421e-01 -9.09341635e-04 7.54665910e-02] [ 8.40958799e-03 1.01317780e-03 9.99964126e-01 -2.96274988e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.835384749999999 meters Centerline goodness [0,1] 0.9321146584277378 Centerline is valid? [False, False] Translation: X:1.12, Y:0.07, Z:-0.03 [[ 9.99880289e-01 1.31243731e-02 -8.19499471e-03 1.12017320e+00] [-1.31220114e-02 9.99913844e-01 3.41891452e-04 7.08777289e-02] [ 8.19877578e-03 -2.34315710e-04 9.99966362e-01 -2.97368175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 5.86538475 meters Centerline goodness [0,1] 0.9323978491531759 Centerline is valid? [False, False] Translation: X:1.12, Y:0.07, Z:-0.03 [[ 0.99992039 0.0100541 -0.00762454 1.11890078] [-0.010081 0.99994307 -0.00349819 0.07036267] [ 0.00758894 0.00357477 0.99996481 -0.03043663] [ 0. 0. 0. 1. ]] SLAMing on 5.89538475 meters Centerline goodness [0,1] 0.9319261060921936 Centerline is valid? [False, False] Translation: X:1.12, Y:0.06, Z:-0.03 [[ 0.99994776 0.00712375 -0.00733061 1.11851884] [-0.0071672 0.9999568 -0.00591914 0.06411911] [ 0.00728812 0.00597137 0.99995561 -0.03107779] [ 0. 0. 0. 1. ]] SLAMing on 5.92538475 meters Centerline goodness [0,1] 0.9312908115671642 Centerline is valid? [False, False] Translation: X:1.12, Y:0.06, Z:-0.03 [[ 0.99996899 0.00375337 -0.00692356 1.11796145] [-0.00381791 0.99994917 -0.00933216 0.06142731] [ 0.00688818 0.0093583 0.99993249 -0.03186579] [ 0. 0. 0. 1. ]] SLAMing on 5.9553847499999994 meters Centerline goodness [0,1] 0.9319913267698078 Centerline is valid? [False, False] Translation: X:1.12, Y:0.06, Z:-0.03 [[ 0.99996659 0.00362004 -0.00732964 1.11908991] [-0.00367783 0.99996213 -0.00788707 0.05629671] [ 0.00730081 0.00791377 0.99994203 -0.03157236] [ 0. 0. 0. 1. ]] SLAMing on 5.98538475 meters Centerline goodness [0,1] 0.9322093950219965 Centerline is valid? [False, False] Translation: X:1.12, Y:0.05, Z:-0.03 [[ 9.99974289e-01 4.73462224e-05 -7.17077405e-03 1.12027346e+00] [-1.18330152e-04 9.99950997e-01 -9.89896022e-03 4.86303574e-02] [ 7.16995398e-03 9.89955422e-03 9.99925293e-01 -3.29475049e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.01538475 meters Centerline goodness [0,1] 0.9334776677145739 Centerline is valid? [False, False] Translation: X:1.12, Y:0.04, Z:-0.03 [[ 9.99972987e-01 2.09158497e-04 -7.34720016e-03 1.12085752e+00] [-2.71067333e-04 9.99964462e-01 -8.42619572e-03 4.35252595e-02] [ 7.34517665e-03 8.42795969e-03 9.99937507e-01 -3.26947622e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.045384749999999 meters Centerline goodness [0,1] 0.9336815875589181 Centerline is valid? [False, False] Translation: X:1.12, Y:0.04, Z:-0.03 [[ 0.99997474 -0.00234203 -0.00671013 1.12021745] [ 0.00227047 0.99994069 -0.01065136 0.03701479] [ 0.00673468 0.01063586 0.99992076 -0.03385258] [ 0. 0. 0. 1. ]] SLAMing on 6.07538475 meters Centerline goodness [0,1] 0.9351234456658858 Centerline is valid? [False, False] Translation: X:1.12, Y:0.03, Z:-0.03 [[ 0.99997643 -0.00158567 -0.00668041 1.11975325] [ 0.00152383 0.99995604 -0.00925186 0.03306741] [ 0.00669478 0.00924146 0.99993489 -0.03322839] [ 0. 0. 0. 1. ]] SLAMing on 6.10538475 meters Centerline goodness [0,1] 0.9330436619293323 Centerline is valid? [False, False] Translation: X:1.12, Y:0.03, Z:-0.03 [[ 9.99982675e-01 4.83134358e-04 -5.86648099e-03 1.11713687e+00] [-5.24022346e-04 9.99975570e-01 -6.97022843e-03 2.71438964e-02] [ 5.86297012e-03 6.97318184e-03 9.99958499e-01 -3.22797826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.13538475 meters Centerline goodness [0,1] 0.9342177159856718 Centerline is valid? [False, False] Translation: X:1.11, Y:0.02, Z:-0.03 [[ 0.99998531 0.00341359 -0.00421086 1.11243491] [-0.00343581 0.99998016 -0.00528048 0.0234893 ] [ 0.00419275 0.00529487 0.99997719 -0.03192481] [ 0. 0. 0. 1. ]] SLAMing on 6.165384749999999 meters Centerline goodness [0,1] 0.9324796982876609 Centerline is valid? [False, False] Translation: X:1.11, Y:0.02, Z:-0.03 [[ 0.99998261 0.00456306 -0.00373677 1.11084985] [-0.00458019 0.99997898 -0.00458846 0.02208165] [ 0.00371575 0.0046055 0.99998249 -0.03169021] [ 0. 0. 0. 1. ]] SLAMing on 6.19538475 meters Centerline goodness [0,1] 0.9312437113150593 Centerline is valid? [False, False] Translation: X:1.11, Y:0.02, Z:-0.03 [[ 0.99997068 0.00714039 -0.00276733 1.10713559] [-0.00714788 0.9999708 -0.00270317 0.01771621] [ 0.00274794 0.00272287 0.99999252 -0.03049864] [ 0. 0. 0. 1. ]] SLAMing on 6.22538475 meters Centerline goodness [0,1] 0.9321982086632226 Centerline is valid? [False, False] Translation: X:1.11, Y:0.01, Z:-0.03 [[ 0.99996678 0.00766744 -0.00276472 1.10701706] [-0.00767281 0.99996868 -0.00193932 0.01491461] [ 0.00274976 0.00196047 0.9999943 -0.03046462] [ 0. 0. 0. 1. ]] SLAMing on 6.25538475 meters Centerline goodness [0,1] 0.9336061286650463 Centerline is valid? [False, False] Translation: X:1.11, Y:0.01, Z:-0.03 [[ 9.99961688e-01 8.38740825e-03 -2.50470617e-03 1.10679899e+00] [-8.38907335e-03 9.99964597e-01 -6.55024608e-04 8.85066419e-03] [ 2.49912353e-03 6.76011677e-04 9.99996649e-01 -3.10002815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.2853847499999995 meters Centerline goodness [0,1] 0.9341207837301587 Centerline is valid? [False, False] Translation: X:1.11, Y:0.01, Z:-0.03 [[ 0.99998487 0.00519929 -0.00179412 1.10554577] [-0.00520742 0.99997606 -0.00455737 0.00732589] [ 0.00177038 0.00456664 0.99998801 -0.0321739 ] [ 0. 0. 0. 1. ]] SLAMing on 6.31538475 meters Centerline goodness [0,1] 0.935743600990006 Centerline is valid? [False, False] Translation: X:1.10, Y:-0.00, Z:-0.03 [[ 9.99996831e-01 2.15273414e-03 -1.30515285e-03 1.10458208e+00] [-2.16046850e-03 9.99979942e-01 -5.95385829e-03 -1.07494823e-03] [ 1.29230959e-03 5.95665916e-03 9.99981424e-01 -3.13841706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.34538475 meters Centerline goodness [0,1] 0.9368696419566314 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.01, Z:-0.03 [[ 0.99999811 0.00125895 -0.00148466 1.10603381] [-0.00126603 0.99998782 -0.00477125 -0.00654673] [ 0.00147863 0.00477312 0.99998752 -0.03106209] [ 0. 0. 0. 1. ]] SLAMing on 6.375384749999999 meters Centerline goodness [0,1] 0.9431343140696301 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.01, Z:-0.03 [[ 0.9999783 -0.00642266 -0.00146716 1.11039971] [ 0.00640768 0.9999295 -0.00999666 -0.01429137] [ 0.00153127 0.00998704 0.99994896 -0.03452389] [ 0. 0. 0. 1. ]] SLAMing on 6.40538475 meters Centerline goodness [0,1] 0.9431343140696301 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.02, Z:-0.03 [[ 0.99999146 -0.00347516 -0.0022383 1.11215901] [ 0.00346111 0.99997448 -0.00625002 -0.01641516] [ 0.00225996 0.00624222 0.99997796 -0.03446366] [ 0. 0. 0. 1. ]] SLAMing on 6.43538475 meters Centerline goodness [0,1] 0.9437129585135352 Centerline is valid? [False, False] Translation: X:1.11, Y:-0.02, Z:-0.04 [[ 0.99996528 -0.00793486 -0.00254333 1.11380948] [ 0.00791051 0.99992407 -0.00944832 -0.02082145] [ 0.00261811 0.00942788 0.99995213 -0.03502083] [ 0. 0. 0. 1. ]] SLAMing on 6.46538475 meters Centerline goodness [0,1] 0.9446078431372549 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.03, Z:-0.04 [[ 0.99983806 -0.01782583 -0.00247014 1.11704466] [ 0.01778217 0.99970252 -0.01669319 -0.0290611 ] [ 0.00276697 0.01664656 0.99985761 -0.03704361] [ 0. 0. 0. 1. ]] SLAMing on 6.4953847499999995 meters Centerline goodness [0,1] 0.9348140835801251 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.03, Z:-0.04 [[ 0.99973388 -0.02288497 -0.00290804 1.11978718] [ 0.02282073 0.99952982 -0.02047796 -0.03231482] [ 0.00337531 0.02040615 0.99978608 -0.03838613] [ 0. 0. 0. 1. ]] SLAMing on 6.52538475 meters Centerline goodness [0,1] 0.8997101256122347 Centerline is valid? [False, False] Translation: X:1.12, Y:-0.04, Z:-0.04 [[ 0.9994605 -0.03272336 -0.00281075 1.12326726] [ 0.03262967 0.9990575 -0.02862542 -0.03666175] [ 0.00374483 0.02851826 0.99958626 -0.04113183] [ 0. 0. 0. 1. ]] SLAMing on 6.55538475 meters Centerline goodness [0,1] 0.8394758118851907 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.04, Z:-0.04 [[ 0.99924864 -0.03864128 -0.00300165 1.12601111] [ 0.03852831 0.99876472 -0.03137849 -0.0415221 ] [ 0.00421044 0.03123927 0.99950307 -0.04040197] [ 0. 0. 0. 1. ]] SLAMing on 6.585384749999999 meters Centerline goodness [0,1] 0.7781347220343569 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.04, Z:-0.04 [[ 0.99920095 -0.03978451 -0.00382805 1.1283702 ] [ 0.0396493 0.99874608 -0.03056483 -0.04340475] [ 0.00503926 0.03038863 0.99952546 -0.03935503] [ 0. 0. 0. 1. ]] SLAMing on 6.61538475 meters Centerline goodness [0,1] 0.8017677619593819 Centerline is valid? [False, False] Translation: X:1.13, Y:-0.05, Z:-0.04 [[ 0.9992636 -0.03806876 -0.00479797 1.13162503] [ 0.03793828 0.99897098 -0.02485292 -0.04623426] [ 0.00573915 0.02465259 0.9996796 -0.03648303] [ 0. 0. 0. 1. ]] SLAMing on 6.64538475 meters Centerline goodness [0,1] 0.7862343265471214 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.05, Z:-0.03 [[ 0.99929824 -0.03692344 -0.00629985 1.13591259] [ 0.03679302 0.99912883 -0.01969379 -0.04699785] [ 0.00702152 0.01944818 0.99978621 -0.03328957] [ 0. 0. 0. 1. ]] SLAMing on 6.67538475 meters Centerline goodness [0,1] 0.7897906992395182 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.05, Z:-0.03 [[ 0.99939818 -0.03385464 -0.00755976 1.13772248] [ 0.03374427 0.99932849 -0.01427883 -0.0480058 ] [ 0.00803809 0.01401514 0.99986947 -0.03006816] [ 0. 0. 0. 1. ]] SLAMing on 6.7053847499999994 meters Centerline goodness [0,1] 0.7854014598540147 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.05, Z:-0.03 [[ 0.99955478 -0.02835412 -0.00928878 1.14098297] [ 0.02829899 0.99958142 -0.00601335 -0.04565289] [ 0.00945539 0.0057478 0.99993878 -0.026645 ] [ 0. 0. 0. 1. ]] SLAMing on 6.73538475 meters Centerline goodness [0,1] 0.8048048048048049 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.04, Z:-0.03 [[ 0.99961289 -0.02585999 -0.01026266 1.14288119] [ 0.02582354 0.99965979 -0.00366863 -0.03838768] [ 0.01035404 0.0034022 0.99994061 -0.02621634] [ 0. 0. 0. 1. ]] SLAMing on 6.76538475 meters Centerline goodness [0,1] 0.8107669855683477 Centerline is valid? [False, False] Translation: X:1.14, Y:-0.04, Z:-0.03 [[ 9.99671245e-01 -2.29510844e-02 -1.14301846e-02 1.14489322e+00] [ 2.29516451e-02 9.99736573e-01 -8.21324346e-05 -3.57758458e-02] [ 1.14290586e-02 -1.80236106e-04 9.99934670e-01 -2.51012636e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 6.795384749999999 meters Centerline goodness [0,1] 0.7739904263179875 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.03, Z:-0.03 [[ 0.99971095 -0.02053719 -0.01249967 1.14696143] [ 0.02055839 0.99978742 0.00157006 -0.0266165 ] [ 0.01246476 -0.00182658 0.99992064 -0.02514054] [ 0. 0. 0. 1. ]] SLAMing on 6.82538475 meters Centerline goodness [0,1] 0.8493565239551478 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.02, Z:-0.02 [[ 0.99974986 -0.01779597 -0.0135472 1.14918132] [ 0.01785843 0.99983038 0.00450399 -0.02269039] [ 0.01346474 -0.00474479 0.99989809 -0.02490694] [ 0. 0. 0. 1. ]] SLAMing on 6.85538475 meters Centerline goodness [0,1] 0.8559776641465633 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.01, Z:-0.03 [[ 0.9997659 -0.01586692 -0.01471038 1.15201655] [ 0.01595039 0.99985724 0.00557448 -0.01253493] [ 0.01461983 -0.00580782 0.99987626 -0.02566869] [ 0. 0. 0. 1. ]] SLAMing on 6.88538475 meters Centerline goodness [0,1] 0.8229478542914171 Centerline is valid? [False, False] Translation: X:1.15, Y:-0.01, Z:-0.03 [[ 0.99979874 -0.01287597 -0.01538483 1.1534341 ] [ 0.01300764 0.99987936 0.0084895 -0.00880714] [ 0.01527366 -0.00868792 0.99984561 -0.02553364] [ 0. 0. 0. 1. ]] SLAMing on 6.915384749999999 meters Centerline goodness [0,1] 0.8838187007088716 Centerline is valid? [False, False] Translation: X:1.16, Y:0.00, Z:-0.03 [[ 0.99981987 -0.01026443 -0.01596478 1.15528035] [ 0.01041179 0.99990371 0.00917434 0.00160254] [ 0.01586907 -0.00933891 0.99983046 -0.02752693] [ 0. 0. 0. 1. ]] SLAMing on 6.94538475 meters Centerline goodness [0,1] 0.8704612664248041 Centerline is valid? [False, False] Translation: X:1.16, Y:0.01, Z:-0.03 [[ 0.99981657 -0.01058781 -0.01595992 1.15567159] [ 0.01070618 0.99991568 0.00734975 0.00761319] [ 0.01588075 -0.00751927 0.99984562 -0.02898773] [ 0. 0. 0. 1. ]] SLAMing on 6.97538475 meters Centerline goodness [0,1] 0.8982176784583371 Centerline is valid? [False, False] Translation: X:1.16, Y:0.02, Z:-0.03 [[ 0.99984357 -0.00718312 -0.01616277 1.1558471 ] [ 0.00732778 0.99993346 0.00890908 0.01592126] [ 0.0160977 -0.00902612 0.99982968 -0.02973638] [ 0. 0. 0. 1. ]] SLAMing on 7.005384749999999 meters Centerline goodness [0,1] 0.8968375529326966 Centerline is valid? [False, False] Translation: X:1.16, Y:0.02, Z:-0.03 [[ 0.99984994 -0.00688767 -0.01589532 1.15508713] [ 0.00700649 0.99994784 0.00743164 0.02110932] [ 0.0158433 -0.00754189 0.99984604 -0.03064021] [ 0. 0. 0. 1. ]] SLAMing on 7.0353847499999995 meters Centerline goodness [0,1] 0.9309047830593811 Centerline is valid? [False, False] Translation: X:1.15, Y:0.03, Z:-0.03 [[ 0.99986929 -0.0029252 -0.01590119 1.15450518] [ 0.00307026 0.99995383 0.00910603 0.02959312] [ 0.01587382 -0.00915367 0.9998321 -0.03124339] [ 0. 0. 0. 1. ]] SLAMing on 7.06538475 meters Centerline goodness [0,1] 0.9326510205282043 Centerline is valid? [False, False] Translation: X:1.15, Y:0.03, Z:-0.03 [[ 0.99987248 -0.00265697 -0.01574701 1.15400037] [ 0.0027764 0.99996751 0.00756714 0.03497714] [ 0.01572639 -0.00760989 0.99984737 -0.03228925] [ 0. 0. 0. 1. ]] SLAMing on 7.09538475 meters Centerline goodness [0,1] 0.9385409678266197 Centerline is valid? [False, False] Translation: X:1.15, Y:0.04, Z:-0.03 [[ 9.99873923e-01 9.71847253e-04 -1.58490638e-02 1.15360998e+00] [-8.15831733e-04 9.99951181e-01 9.84732819e-03 4.26308906e-02] [ 1.58578601e-02 -9.83315651e-03 9.99825903e-01 -3.19077707e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.125384749999999 meters Centerline goodness [0,1] 0.9314308938369089 Centerline is valid? [False, False] Translation: X:1.15, Y:0.05, Z:-0.03 [[ 9.99873339e-01 6.55085513e-04 -1.59020966e-02 1.15377834e+00] [-5.20689769e-04 9.99964128e-01 8.45411768e-03 4.69469518e-02] [ 1.59070643e-02 -8.44476682e-03 9.99837812e-01 -3.25427530e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.15538475 meters Centerline goodness [0,1] 0.9362192696774937 Centerline is valid? [False, False] Translation: X:1.15, Y:0.05, Z:-0.03 [[ 9.99876332e-01 7.25978721e-04 -1.57096640e-02 1.15275827e+00] [-6.18183137e-04 9.99976241e-01 6.86550555e-03 5.37202974e-02] [ 1.57142750e-02 -6.85494506e-03 9.99853025e-01 -3.25896134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.18538475 meters Centerline goodness [0,1] 0.935879788942418 Centerline is valid? [False, False] Translation: X:1.15, Y:0.06, Z:-0.03 [[ 9.99872894e-01 -7.88446372e-06 -1.59435480e-02 1.15351728e+00] [ 9.63638185e-05 9.99984601e-01 5.54877921e-03 5.71241221e-02] [ 1.59432587e-02 -5.54961031e-03 9.99857497e-01 -3.31435161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.215384749999999 meters Centerline goodness [0,1] 0.9395823824737563 Centerline is valid? [False, False] Translation: X:1.15, Y:0.06, Z:-0.03 [[ 0.99986527 -0.00135355 -0.01635895 1.15485564] [ 0.00141616 0.99999172 0.00381624 0.06301381] [ 0.01635364 -0.00383889 0.9998589 -0.03353166] [ 0. 0. 0. 1. ]] SLAMing on 7.2453847499999995 meters Centerline goodness [0,1] 0.9370513842998747 Centerline is valid? [False, False] Translation: X:1.16, Y:0.07, Z:-0.03 [[ 0.99985356 -0.00255592 -0.01692089 1.15676757] [ 0.00260048 0.99999321 0.00261156 0.06562525] [ 0.0169141 -0.00265518 0.99985342 -0.03434836] [ 0. 0. 0. 1. ]] SLAMing on 7.27538475 meters Centerline goodness [0,1] 0.9266294332775777 Centerline is valid? [False, False] Translation: X:1.16, Y:0.07, Z:-0.04 [[ 9.99826709e-01 -5.14898415e-03 -1.78896848e-02 1.16021796e+00] [ 5.16366637e-03 9.99986368e-01 7.74613085e-04 6.93774442e-02] [ 1.78854525e-02 -8.66855215e-04 9.99839667e-01 -3.52893546e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.30538475 meters Centerline goodness [0,1] 0.8813004458994187 Centerline is valid? [False, False] Translation: X:1.16, Y:0.07, Z:-0.03 [[ 9.99814295e-01 -5.98309855e-03 -1.83187930e-02 1.16117586e+00] [ 5.99239689e-03 9.99981943e-01 4.52734838e-04 7.02393994e-02] [ 1.83157535e-02 -5.62424241e-04 9.99832094e-01 -3.49263036e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.335384749999999 meters Centerline goodness [0,1] 0.8982582717997858 Centerline is valid? [False, False] Translation: X:1.16, Y:0.07, Z:-0.03 [[ 9.99794630e-01 -7.57724174e-03 -1.87958090e-02 1.16213414e+00] [ 7.57169361e-03 9.99971267e-01 -3.66327007e-04 7.33602499e-02] [ 1.87980447e-02 2.23935668e-04 9.99823276e-01 -3.39275872e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.36538475 meters Centerline goodness [0,1] 0.8931749908756562 Centerline is valid? [False, False] Translation: X:1.16, Y:0.08, Z:-0.03 [[ 9.99786199e-01 -8.21540791e-03 -1.89753427e-02 1.16270864e+00] [ 8.19443239e-03 9.99965725e-01 -1.18289919e-03 7.63373702e-02] [ 1.89844103e-02 1.02715412e-03 9.99819252e-01 -3.40803658e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.39538475 meters Centerline goodness [0,1] 0.874059836202574 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:-0.03 [[ 9.99779608e-01 -6.38112735e-03 -2.00004284e-02 1.16587438e+00] [ 6.40541899e-03 9.99978823e-01 1.15072875e-03 8.00394032e-02] [ 1.99926619e-02 -1.27858626e-03 9.99799309e-01 -3.48122366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.42538475 meters Centerline goodness [0,1] 0.8888888888888888 Centerline is valid? [False, False] Translation: X:1.17, Y:0.08, Z:-0.04 [[ 9.99773416e-01 -6.79794636e-03 -2.01718890e-02 1.16643373e+00] [ 6.80634708e-03 9.99976776e-01 3.47829566e-04 8.23617698e-02] [ 2.01690560e-02 -4.85047632e-04 9.99796466e-01 -3.51424476e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.4553847499999994 meters Centerline goodness [0,1] 0.8353096905851856 Centerline is valid? [False, False] Translation: X:1.17, Y:0.09, Z:-0.04 [[ 9.99773879e-01 -7.25878809e-03 -1.99875037e-02 1.16601339e+00] [ 7.24255686e-03 9.99973381e-01 -8.84337640e-04 8.81308923e-02] [ 1.99933908e-02 7.39377041e-04 9.99799839e-01 -3.50455055e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.48538475 meters Centerline goodness [0,1] 0.8646332727172535 Centerline is valid? [False, False] Translation: X:1.17, Y:0.09, Z:-0.04 [[ 0.99977104 -0.00772004 -0.01995681 1.16616934] [ 0.00768704 0.99996896 -0.00173012 0.09124378] [ 0.01996954 0.00157632 0.99979935 -0.03529817] [ 0. 0. 0. 1. ]] SLAMing on 7.51538475 meters Centerline goodness [0,1] 0.8442703768624014 Centerline is valid? [False, False] Translation: X:1.17, Y:0.10, Z:-0.04 [[ 0.99975186 -0.00905925 -0.0203508 1.16763314] [ 0.00899679 0.99995454 -0.00315896 0.09593333] [ 0.02037849 0.00297509 0.99978791 -0.03586798] [ 0. 0. 0. 1. ]] SLAMing on 7.545384749999999 meters Centerline goodness [0,1] 0.8307578699778464 Centerline is valid? [False, False] Translation: X:1.17, Y:0.10, Z:-0.04 [[ 0.99973951 -0.00979923 -0.0206126 1.16888646] [ 0.0097188 0.99994478 -0.00399866 0.09780068] [ 0.02065065 0.00379729 0.99977954 -0.03674956] [ 0. 0. 0. 1. ]] SLAMing on 7.57538475 meters Centerline goodness [0,1] 0.8288819204152249 Centerline is valid? [False, False] Translation: X:1.17, Y:0.10, Z:-0.04 [[ 9.99742310e-01 -7.44165319e-03 -2.14460914e-02 1.17154242e+00] [ 7.42017506e-03 9.99971886e-01 -1.08089706e-03 9.97809004e-02] [ 2.14535321e-02 9.21484771e-04 9.99769422e-01 -3.74495578e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 7.60538475 meters Centerline goodness [0,1] 0.8155471289274107 Centerline is valid? [False, False] Translation: X:1.17, Y:0.10, Z:-0.04 [[ 0.9997352 -0.00780403 -0.02164798 1.17242033] [ 0.00775977 0.99996763 -0.00212756 0.10260052] [ 0.02166389 0.00195902 0.99976339 -0.03830644] [ 0. 0. 0. 1. ]] SLAMing on 7.63538475 meters Centerline goodness [0,1] 0.8261290062595708 Centerline is valid? [False, False] Translation: X:1.17, Y:0.10, Z:-0.04 [[ 0.99974563 -0.00432144 -0.02213611 1.17365379] [ 0.00435102 0.9999897 0.00128871 0.10431434] [ 0.02213031 -0.00138469 0.99975414 -0.03854939] [ 0. 0. 0. 1. ]] SLAMing on 7.665384749999999 meters Centerline goodness [0,1] 0.8577912254160363 Centerline is valid? [False, False] Translation: X:1.18, Y:0.11, Z:-0.04 [[ 0.99973612 0.00276871 -0.02280388 1.17532514] [-0.00259878 0.99996866 0.00747793 0.11095857] [ 0.02282387 -0.00741669 0.99971199 -0.03895639] [ 0. 0. 0. 1. ]] SLAMing on 7.69538475 meters Centerline goodness [0,1] 0.8887958334423827 Centerline is valid? [False, False] Translation: X:1.17, Y:0.12, Z:-0.04 [[ 0.99968222 0.01026297 -0.02302467 1.17407939] [-0.00995565 0.99986035 0.01342295 0.11890241] [ 0.02315921 -0.01318946 0.99964478 -0.03709945] [ 0. 0. 0. 1. ]] SLAMing on 7.72538475 meters Centerline goodness [0,1] 0.9155086880860237 Centerline is valid? [False, False] Translation: X:1.17, Y:0.12, Z:-0.04 [[ 0.99963327 0.01423316 -0.0230378 1.17372094] [-0.01385254 0.99976629 0.01659757 0.12241455] [ 0.02326865 -0.01627235 0.99959681 -0.03655618] [ 0. 0. 0. 1. ]] SLAMing on 7.755384749999999 meters Centerline goodness [0,1] 0.9196760214609988 Centerline is valid? [False, False] Translation: X:1.17, Y:0.13, Z:-0.04 [[ 0.99956543 0.01827229 -0.02313187 1.17321622] [-0.01781528 0.99964501 0.01981092 0.12591554] [ 0.02348565 -0.01939021 0.99953611 -0.03565164] [ 0. 0. 0. 1. ]] SLAMing on 7.7853847499999995 meters Centerline goodness [0,1] 0.9205136044023234 Centerline is valid? [False, False] Translation: X:1.18, Y:0.13, Z:-0.04 [[ 0.99947997 0.0257421 -0.01942005 1.17702434] [-0.02557353 0.99963351 0.00887913 0.13431258] [ 0.0196415 -0.00837787 0.99977199 -0.03930142] [ 0. 0. 0. 1. ]] SLAMing on 7.81538475 meters Centerline goodness [0,1] 0.921278650200742 Centerline is valid? [False, False] Translation: X:1.18, Y:0.14, Z:-0.04 [[ 0.99946784 0.02638729 -0.019177 1.17592722] [-0.02623587 0.99962292 0.00810511 0.13843537] [ 0.01938364 -0.00759768 0.99978325 -0.03895763] [ 0. 0. 0. 1. ]] SLAMing on 7.84538475 meters Centerline goodness [0,1] 0.9196363908798042 Centerline is valid? [False, False] Translation: X:1.18, Y:0.15, Z:-0.04 [[ 0.9993543 0.03055134 -0.01891033 1.17577559] [-0.03035774 0.99948456 0.01044161 0.14620396] [ 0.01921958 -0.00986079 0.99976666 -0.03949189] [ 0. 0. 0. 1. ]] SLAMing on 7.875384749999999 meters Centerline goodness [0,1] 0.9120468419085586 Centerline is valid? [False, False] Translation: X:1.18, Y:0.15, Z:-0.04 [[ 0.99925267 0.03369339 -0.01894334 1.17688826] [-0.03345602 0.99935936 0.01271115 0.15094944] [ 0.01935949 -0.01206788 0.99973975 -0.04053882] [ 0. 0. 0. 1. ]] SLAMing on 7.90538475 meters Centerline goodness [0,1] 0.9137159339566342 Centerline is valid? [False, False] Translation: X:1.18, Y:0.15, Z:-0.04 [[ 0.99937173 0.02997968 -0.01890408 1.17671339] [-0.02983484 0.99952364 0.00789803 0.15375768] [ 0.01913185 -0.00732907 0.99979011 -0.04123184] [ 0. 0. 0. 1. ]] SLAMing on 7.93538475 meters Centerline goodness [0,1] 0.9148533585619678 Centerline is valid? [False, False] Translation: X:1.18, Y:0.16, Z:-0.04 [[ 0.99949182 0.02566047 -0.01891117 1.17691806] [-0.02560664 0.99966734 0.00308353 0.15505147] [ 0.018984 -0.00259772 0.99981641 -0.04201136] [ 0. 0. 0. 1. ]] SLAMing on 7.965384749999999 meters Centerline goodness [0,1] 0.9186347138666534 Centerline is valid? [False, False] Translation: X:1.18, Y:0.16, Z:-0.04 [[ 0.99961128 0.02027145 -0.01914035 1.17866606] [-0.02030939 0.99979214 -0.00178966 0.1555235 ] [ 0.01910009 0.00217769 0.9998152 -0.04367443] [ 0. 0. 0. 1. ]] SLAMing on 7.9953847499999995 meters Centerline goodness [0,1] 0.9170645578434298 Centerline is valid? [False, False] Translation: X:1.18, Y:0.16, Z:-0.05 [[ 0.99963049 0.01862109 -0.01980245 1.1812793 ] [-0.0186747 0.99982242 -0.00252561 0.15539673] [ 0.0197519 0.00289448 0.99980072 -0.04502182] [ 0. 0. 0. 1. ]] SLAMing on 8.02538475 meters Centerline goodness [0,1] 0.9152199435465741 Centerline is valid? [False, False] Translation: X:1.18, Y:0.15, Z:-0.05 [[ 0.99972688 0.01161643 -0.02027871 1.1844033 ] [-0.01177667 0.99990022 -0.00780065 0.15442331] [ 0.02018607 0.00803733 0.99976393 -0.04692395] [ 0. 0. 0. 1. ]] SLAMing on 8.05538475 meters Centerline goodness [0,1] 0.9045582977020978 Centerline is valid? [False, False] Translation: X:1.19, Y:0.15, Z:-0.05 [[ 0.99972658 0.01038866 -0.02094842 1.1863209 ] [-0.01054986 0.99991547 -0.00759948 0.15205802] [ 0.0208677 0.00781841 0.99975167 -0.04718395] [ 0. 0. 0. 1. ]] SLAMing on 8.085384750000001 meters Centerline goodness [0,1] 0.8738853822262298 Centerline is valid? [False, False] Translation: X:1.19, Y:0.15, Z:-0.05 [[ 0.99976476 0.00539175 -0.02100827 1.1874352 ] [-0.00563939 0.99991511 -0.01174636 0.15093314] [ 0.02094315 0.01186207 0.9997103 -0.04820959] [ 0. 0. 0. 1. ]] SLAMing on 8.11538475 meters Centerline goodness [0,1] 0.8867839422643211 Centerline is valid? [False, False] Translation: X:1.19, Y:0.15, Z:-0.05 [[ 0.99976203 0.00539027 -0.02113808 1.18739887] [-0.00562907 0.99992083 -0.0112541 0.14974732] [ 0.02107574 0.01137041 0.99971322 -0.04768473] [ 0. 0. 0. 1. ]] SLAMing on 8.14538475 meters Centerline goodness [0,1] 0.8914436768996733 Centerline is valid? [False, False] Translation: X:1.19, Y:0.15, Z:-0.05 [[ 0.99976828 0.00636962 -0.02056245 1.18518715] [-0.00659366 0.99991944 -0.01084622 0.1511929 ] [ 0.0204917 0.01097929 0.99972974 -0.04633725] [ 0. 0. 0. 1. ]] SLAMing on 8.175384750000001 meters Centerline goodness [0,1] 0.882342713792504 Centerline is valid? [False, False] Translation: X:1.18, Y:0.15, Z:-0.05 [[ 0.99973352 0.01056546 -0.02052457 1.18464309] [-0.01070454 0.9999204 -0.00667831 0.15155052] [ 0.02045238 0.00689624 0.99976704 -0.04546667] [ 0. 0. 0. 1. ]] SLAMing on 8.20538475 meters Centerline goodness [0,1] 0.8807586070829634 Centerline is valid? [False, False] Translation: X:1.18, Y:0.16, Z:-0.05 [[ 0.9996827 0.01540973 -0.01992571 1.18342631] [-0.01547686 0.99987505 -0.00321889 0.15625859] [ 0.01987362 0.00352626 0.99979628 -0.04544262] [ 0. 0. 0. 1. ]] SLAMing on 8.23538475 meters Centerline goodness [0,1] 0.9081590112072983 Centerline is valid? [False, False] Translation: X:1.18, Y:0.16, Z:-0.05 [[ 0.99967753 0.0160007 -0.01971853 1.18310565] [-0.01607908 0.99986342 -0.00382281 0.15963434] [ 0.01965467 0.00413863 0.99979826 -0.04591303] [ 0. 0. 0. 1. ]] SLAMing on 8.26538475 meters Centerline goodness [0,1] 0.9084157811164041 Centerline is valid? [False, False] Translation: X:1.18, Y:0.16, Z:-0.05 [[ 9.99593187e-01 2.07789782e-02 -1.95370286e-02 1.18237303e+00] [-2.07906593e-02 9.99783773e-01 -3.94954112e-04 1.61540949e-01] [ 1.95245975e-02 8.00981146e-04 9.99809056e-01 -4.56455650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.29538475 meters Centerline goodness [0,1] 0.9084157811164041 Centerline is valid? [False, False] Translation: X:1.18, Y:0.16, Z:-0.05 [[ 9.99593187e-01 2.07789782e-02 -1.95370286e-02 1.18237303e+00] [-2.07906593e-02 9.99783773e-01 -3.94954112e-04 1.61540949e-01] [ 1.95245975e-02 8.00981146e-04 9.99809056e-01 -4.56455650e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.325384750000001 meters Centerline goodness [0,1] 0.908944948548909 Centerline is valid? [False, False] Translation: X:1.18, Y:0.16, Z:-0.05 [[ 9.99581422e-01 2.13627337e-02 -1.95093507e-02 1.18225455e+00] [-2.13887491e-02 9.99770601e-01 -1.12577253e-03 1.64172601e-01] [ 1.94808257e-02 1.54258191e-03 9.99809041e-01 -4.61171630e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.35538475 meters Centerline goodness [0,1] 0.9056256508367035 Centerline is valid? [False, False] Translation: X:1.18, Y:0.17, Z:-0.05 [[ 0.99937616 0.02934669 -0.01964844 1.18381106] [-0.02924031 0.99955627 0.00567994 0.16747636] [ 0.01980641 -0.00510187 0.99979082 -0.04756729] [ 0. 0. 0. 1. ]] SLAMing on 8.38538475 meters Centerline goodness [0,1] 0.8961410768416495 Centerline is valid? [False, False] Translation: X:1.19, Y:0.17, Z:-0.05 [[ 0.99909567 0.03758063 -0.01988836 1.18526685] [-0.03732565 0.99921807 0.01303985 0.16966238] [ 0.02036286 -0.01228571 0.99971717 -0.0484243 ] [ 0. 0. 0. 1. ]] SLAMing on 8.415384750000001 meters Centerline goodness [0,1] 0.8938378378378379 Centerline is valid? [False, False] Translation: X:1.19, Y:0.17, Z:-0.05 [[ 0.9990723 0.03817342 -0.01993297 1.18534594] [-0.03792807 0.99920172 0.01254528 0.17150534] [ 0.02039595 -0.01177763 0.99972261 -0.04895491] [ 0. 0. 0. 1. ]] SLAMing on 8.44538475 meters Centerline goodness [0,1] 0.8926147031919504 Centerline is valid? [False, False] Translation: X:1.18, Y:0.17, Z:-0.05 [[ 0.99904745 0.03886324 -0.01984556 1.18496791] [-0.03862137 0.99917662 0.01242902 0.1723508 ] [ 0.02031225 -0.01165071 0.9997258 -0.04904911] [ 0. 0. 0. 1. ]] SLAMing on 8.47538475 meters Centerline goodness [0,1] 0.8856659823692791 Centerline is valid? [False, False] Translation: X:1.19, Y:0.17, Z:-0.05 [[ 0.9988976 0.04374715 -0.01702243 1.1919182 ] [-0.04370496 0.99904044 0.00284306 0.17106391] [ 0.01713047 -0.00209596 0.99985107 -0.05198104] [ 0. 0. 0. 1. ]] SLAMing on 8.505384750000001 meters Centerline goodness [0,1] 0.8845322780353978 Centerline is valid? [False, False] Translation: X:1.19, Y:0.17, Z:-0.05 [[ 9.99009084e-01 4.11825676e-02 -1.68773926e-02 1.19055595e+00] [-4.12008721e-02 9.99150611e-01 -7.38138413e-04 1.71628401e-01] [ 1.68326586e-02 1.43277027e-03 9.99857294e-01 -5.16539648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.53538475 meters Centerline goodness [0,1] 0.8847426291719374 Centerline is valid? [False, False] Translation: X:1.19, Y:0.17, Z:-0.05 [[ 9.98981245e-01 4.19440832e-02 -1.66482829e-02 1.19004598e+00] [-4.19456238e-02 9.99119862e-01 2.56787630e-04 1.68982716e-01] [ 1.66444008e-02 4.41796586e-04 9.99861375e-01 -5.16727105e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.56538475 meters Centerline goodness [0,1] 0.882996426998189 Centerline is valid? [False, False] Translation: X:1.19, Y:0.17, Z:-0.05 [[ 9.98973122e-01 4.21906408e-02 -1.65121386e-02 1.18991843e+00] [-4.21848941e-02 9.99109578e-01 6.96335343e-04 1.67607602e-01] [ 1.65268147e-02 9.42528506e-07 9.99863423e-01 -5.18814550e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.595384750000001 meters Centerline goodness [0,1] 0.8827769903719271 Centerline is valid? [False, False] Translation: X:1.19, Y:0.16, Z:-0.05 [[ 9.98960088e-01 4.25194935e-02 -1.64570532e-02 1.18955390e+00] [-4.24992887e-02 9.99095255e-01 1.57567579e-03 1.64897363e-01] [ 1.65091607e-02 -8.74624170e-04 9.99863332e-01 -5.15188028e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.62538475 meters Centerline goodness [0,1] 0.885538005923001 Centerline is valid? [False, False] Translation: X:1.19, Y:0.16, Z:-0.06 [[ 0.99917286 0.04058935 -0.00246787 1.18826362] [-0.04060238 0.99916035 -0.00548096 0.1593107 ] [ 0.00224333 0.00557663 0.99998193 -0.05584106] [ 0. 0. 0. 1. ]] SLAMing on 8.655384750000001 meters Centerline goodness [0,1] 0.8893109739334716 Centerline is valid? [False, False] Translation: X:1.19, Y:0.15, Z:-0.06 [[ 0.99925671 0.03850675 -0.00180422 1.1857634 ] [-0.03851882 0.99923179 -0.00721948 0.15263412] [ 0.00152484 0.00728361 0.99997231 -0.05505239] [ 0. 0. 0. 1. ]] SLAMing on 8.68538475 meters Centerline goodness [0,1] 0.8897665437949798 Centerline is valid? [False, False] Translation: X:1.19, Y:0.15, Z:-0.06 [[ 0.99924874 0.03871468 -0.00176961 1.1859676 ] [-0.03872525 0.99922944 -0.0063945 0.14928041] [ 0.00152069 0.00645823 0.99997799 -0.05544209] [ 0. 0. 0. 1. ]] SLAMing on 8.71538475 meters Centerline goodness [0,1] 0.8909664395659853 Centerline is valid? [False, False] Translation: X:1.19, Y:0.15, Z:-0.06 [[ 9.99361745e-01 3.56953183e-02 -1.39510428e-03 1.18511737e+00] [-3.57071405e-02 9.99315748e-01 -9.64553588e-03 1.47451879e-01] [ 1.04984921e-03 9.68919476e-03 9.99952508e-01 -5.60147898e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.745384750000001 meters Centerline goodness [0,1] 0.8939844230375077 Centerline is valid? [False, False] Translation: X:1.19, Y:0.14, Z:-0.06 [[ 9.99470770e-01 3.24966858e-02 -1.46460529e-03 1.18666282e+00] [-3.25111169e-02 9.99408216e-01 -1.12359216e-02 1.37774961e-01] [ 1.09860834e-03 1.12775912e-02 9.99935802e-01 -5.81438534e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.77538475 meters Centerline goodness [0,1] 0.8981788728346354 Centerline is valid? [False, False] Translation: X:1.19, Y:0.13, Z:-0.06 [[ 0.99967773 0.02532774 -0.00171638 1.18953315] [-0.02535194 0.99955115 -0.01596206 0.12569888] [ 0.00131132 0.01600043 0.99987113 -0.06148289] [ 0. 0. 0. 1. ]] SLAMing on 8.80538475 meters Centerline goodness [0,1] 0.8993627889830955 Centerline is valid? [False, False] Translation: X:1.19, Y:0.12, Z:-0.06 [[ 0.99976959 0.02135783 -0.00214932 1.19167273] [-0.02139358 0.9996041 -0.01827444 0.11859234] [ 0.00175817 0.01831621 0.9998307 -0.06316768] [ 0. 0. 0. 1. ]] SLAMing on 8.835384750000001 meters Centerline goodness [0,1] 0.9050231715761998 Centerline is valid? [False, False] Translation: X:1.19, Y:0.11, Z:-0.07 [[ 0.9998432 0.01751468 -0.00260986 1.19424801] [-0.01756434 0.99963755 -0.02040233 0.11131802] [ 0.00225158 0.02044497 0.99978844 -0.06526281] [ 0. 0. 0. 1. ]] SLAMing on 8.86538475 meters Centerline goodness [0,1] 0.9121650821089023 Centerline is valid? [False, False] Translation: X:1.21, Y:0.10, Z:-0.06 [[ 0.99991403 0.01044585 -0.0079251 1.2052999 ] [-0.01057664 0.99980551 -0.01664558 0.09623808] [ 0.00774968 0.01672797 0.99983004 -0.06396572] [ 0. 0. 0. 1. ]] SLAMing on 8.89538475 meters Centerline goodness [0,1] 0.9111756404689535 Centerline is valid? [False, False] Translation: X:1.21, Y:0.09, Z:-0.06 [[ 0.99994544 0.00650072 -0.00817674 1.20636506] [-0.00666036 0.99978473 -0.01965014 0.09187087] [ 0.00804724 0.01970353 0.99977348 -0.06477722] [ 0. 0. 0. 1. ]] SLAMing on 8.925384750000001 meters Centerline goodness [0,1] 0.9126990721506717 Centerline is valid? [False, False] Translation: X:1.21, Y:0.08, Z:-0.07 [[ 9.99967980e-01 -4.37486753e-04 -7.99042475e-03 1.20684904e+00] [ 2.37225735e-04 9.99686262e-01 -2.50463980e-02 8.33582179e-02] [ 7.99887532e-03 2.50437004e-02 9.99654356e-01 -6.57216777e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.95538475 meters Centerline goodness [0,1] 0.9117565081665645 Centerline is valid? [False, False] Translation: X:1.21, Y:0.08, Z:-0.07 [[ 9.99963551e-01 -7.77352936e-04 -8.50250127e-03 1.20840880e+00] [ 5.75442310e-04 9.99718383e-01 -2.37239229e-02 7.79704159e-02] [ 8.51854868e-03 2.37181655e-02 9.99682391e-01 -6.58669741e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 8.98538475 meters Centerline goodness [0,1] 0.9036826397882763 Centerline is valid? [False, False] Translation: X:1.21, Y:0.07, Z:-0.07 [[ 0.99994943 -0.00475052 -0.00886401 1.21148184] [ 0.0045192 0.99965338 -0.02593637 0.07140878] [ 0.00898414 0.025895 0.9996243 -0.06823256] [ 0. 0. 0. 1. ]] SLAMing on 9.01538475 meters Centerline goodness [0,1] 0.8970857900527548 Centerline is valid? [False, False] Translation: X:1.21, Y:0.07, Z:-0.07 [[ 0.9999453 -0.00483196 -0.00927631 1.21247622] [ 0.00460057 0.99968172 -0.02480506 0.06759789] [ 0.00939321 0.02476102 0.99964927 -0.06804352] [ 0. 0. 0. 1. ]] SLAMing on 9.04538475 meters Centerline goodness [0,1] 0.8840509778320229 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:-0.07 [[ 0.99994076 -0.00504048 -0.00964755 1.21320444] [ 0.00481358 0.9997146 -0.02339967 0.06288293] [ 0.00976274 0.02335185 0.99967964 -0.0672376 ] [ 0. 0. 0. 1. ]] SLAMing on 9.075384750000001 meters Centerline goodness [0,1] 0.8644800045476508 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:-0.07 [[ 0.99993834 -0.00489833 -0.00996598 1.2131729 ] [ 0.00467313 0.99973599 -0.02249673 0.06108584] [ 0.01007355 0.02244877 0.99969724 -0.06600615] [ 0. 0. 0. 1. ]] SLAMing on 9.10538475 meters Centerline goodness [0,1] 0.8530550652012984 Centerline is valid? [False, False] Translation: X:1.21, Y:0.06, Z:-0.06 [[ 0.99994799 -0.0021014 -0.00997996 1.21370229] [ 0.00197502 0.99991795 -0.01265696 0.05534648] [ 0.01000574 0.0126366 0.99987009 -0.05707445] [ 0. 0. 0. 1. ]] SLAMing on 9.13538475 meters Centerline goodness [0,1] 0.8639149397109547 Centerline is valid? [False, False] Translation: X:1.21, Y:0.05, Z:-0.05 [[ 0.99994205 0.00172251 -0.01062706 1.21396403] [-0.00179958 0.99997212 -0.00724696 0.05261807] [ 0.01061428 0.00726566 0.99991727 -0.05460138] [ 0. 0. 0. 1. ]] SLAMing on 9.165384750000001 meters Centerline goodness [0,1] 0.883853498646145 Centerline is valid? [False, False] Translation: X:1.21, Y:0.05, Z:-0.05 [[ 0.99994007 0.00173889 -0.01080928 1.21361581] [-0.00181625 0.99997278 -0.00715157 0.05385974] [ 0.01079655 0.00717078 0.999916 -0.05348525] [ 0. 0. 0. 1. ]] SLAMing on 9.19538475 meters Centerline goodness [0,1] 0.8649658804541722 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.05 [[ 0.99992376 0.00417837 -0.01161948 1.21600091] [-0.00421523 0.99998615 -0.00315032 0.05253222] [ 0.01160615 0.00319906 0.99992753 -0.05315159] [ 0. 0. 0. 1. ]] SLAMing on 9.22538475 meters Centerline goodness [0,1] 0.8740738637976552 Centerline is valid? [False, False] Translation: X:1.22, Y:0.05, Z:-0.05 [[ 0.99992252 0.00382869 -0.01184471 1.21658576] [-0.00387007 0.99998648 -0.00347237 0.05362409] [ 0.01183126 0.00351794 0.99992382 -0.05323139] [ 0. 0. 0. 1. ]] SLAMing on 9.255384750000001 meters Centerline goodness [0,1] 0.8702002155294651 Centerline is valid? [False, False] Translation: X:1.22, Y:0.06, Z:-0.05 [[ 0.99991716 0.00300719 -0.01251496 1.21784545] [-0.0030622 0.99998573 -0.00437815 0.05679788] [ 0.01250162 0.00441611 0.9999121 -0.05292204] [ 0. 0. 0. 1. ]] SLAMing on 9.28538475 meters Centerline goodness [0,1] 0.8643054537251142 Centerline is valid? [False, False] Translation: X:1.22, Y:0.06, Z:-0.05 [[ 9.99890833e-01 5.46777695e-03 -1.37267806e-02 1.22075016e+00] [-5.47985592e-03 9.99984631e-01 -8.42498502e-04 5.70185508e-02] [ 1.37219630e-02 9.17627309e-04 9.99905428e-01 -5.26645963e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.31538475 meters Centerline goodness [0,1] 0.8733659902029391 Centerline is valid? [False, False] Translation: X:1.22, Y:0.06, Z:-0.05 [[ 0.99985832 0.00805844 -0.01477835 1.2232124 ] [-0.00803823 0.99996668 0.00142667 0.0623322 ] [ 0.01478935 -0.00130768 0.99988978 -0.05284003] [ 0. 0. 0. 1. ]] SLAMing on 9.345384750000001 meters Centerline goodness [0,1] 0.890320236964176 Centerline is valid? [False, False] Translation: X:1.22, Y:0.07, Z:-0.05 [[ 9.99857839e-01 8.30444821e-03 -1.46743856e-02 1.22248970e+00] [-8.29728887e-03 9.99965426e-01 5.48695518e-04 6.63265256e-02] [ 1.46784349e-02 -4.26859898e-04 9.99892175e-01 -5.25826396e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.37538475 meters Centerline goodness [0,1] 0.905345798540794 Centerline is valid? [False, False] Translation: X:1.22, Y:0.07, Z:-0.05 [[ 0.99981377 0.01221334 -0.01494161 1.22176215] [-0.01216461 0.9999204 0.00334803 0.07207276] [ 0.01498131 -0.00316565 0.99988276 -0.05103092] [ 0. 0. 0. 1. ]] SLAMing on 9.40538475 meters Centerline goodness [0,1] 0.9097657220121969 Centerline is valid? [False, False] Translation: X:1.22, Y:0.08, Z:-0.05 [[ 0.99981553 0.01219629 -0.01483794 1.22165764] [-0.01216764 0.99992393 0.00201958 0.07692268] [ 0.01486144 -0.00183867 0.99988787 -0.05159437] [ 0. 0. 0. 1. ]] SLAMing on 9.43538475 meters Centerline goodness [0,1] 0.89283371597245 Centerline is valid? [False, False] Translation: X:1.22, Y:0.08, Z:-0.05 [[ 0.99976352 0.01536574 -0.01538804 1.22277891] [-0.01530154 0.99987376 0.00428122 0.08313859] [ 0.01545188 -0.00404475 0.99987243 -0.05152646] [ 0. 0. 0. 1. ]] SLAMing on 9.46538475 meters Centerline goodness [0,1] 0.9126008555802242 Centerline is valid? [False, False] Translation: X:1.22, Y:0.09, Z:-0.05 [[ 0.99970883 0.01805548 -0.01600793 1.22405578] [-0.01795336 0.9998177 0.00649984 0.08946697] [ 0.01612237 -0.00621055 0.99985074 -0.05118782] [ 0. 0. 0. 1. ]] SLAMing on 9.495384750000001 meters Centerline goodness [0,1] 0.9113855779084192 Centerline is valid? [False, False] Translation: X:1.23, Y:0.09, Z:-0.05 [[ 0.99972063 0.01721663 -0.01619399 1.22502589] [-0.01714028 0.99984137 0.00484147 0.09447399] [ 0.01627477 -0.00456255 0.99985715 -0.05208885] [ 0. 0. 0. 1. ]] SLAMing on 9.52538475 meters Centerline goodness [0,1] 0.8925897098687565 Centerline is valid? [False, False] Translation: X:1.23, Y:0.10, Z:-0.05 [[ 0.99973121 0.01638695 -0.01640035 1.22604942] [-0.01633533 0.9998612 0.00327614 0.0990381 ] [ 0.01645176 -0.00300736 0.99986014 -0.05298603] [ 0. 0. 0. 1. ]] SLAMing on 9.55538475 meters Centerline goodness [0,1] 0.8951634405161841 Centerline is valid? [False, False] Translation: X:1.23, Y:0.11, Z:-0.05 [[ 9.99737164e-01 1.55806250e-02 -1.68180410e-02 1.22730435e+00] [-1.55608814e-02 9.99878072e-01 1.30418299e-03 1.05004081e-01] [ 1.68363104e-02 -1.04213666e-03 9.99857716e-01 -5.38500627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.585384750000001 meters Centerline goodness [0,1] 0.9120408325179171 Centerline is valid? [False, False] Translation: X:1.23, Y:0.11, Z:-0.05 [[ 9.99740386e-01 1.49331507e-02 -1.72093284e-02 1.22848787e+00] [-1.49385513e-02 9.99888396e-01 -1.85300893e-04 1.08695352e-01] [ 1.72046406e-02 4.42335221e-04 9.99851891e-01 -5.46641155e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 9.61538475 meters Centerline goodness [0,1] 0.9085709788283443 Centerline is valid? [False, False] Translation: X:1.23, Y:0.12, Z:-0.06 [[ 0.9996723 0.01914613 -0.01699163 1.22853061] [-0.01910676 0.99981438 0.00247617 0.11650388] [ 0.01703588 -0.0021507 0.99985257 -0.05518291] [ 0. 0. 0. 1. ]] SLAMing on 9.64538475 meters Centerline goodness [0,1] 0.9092186767997501 Centerline is valid? [False, False] Translation: X:1.23, Y:0.12, Z:-0.06 [[ 0.99959072 0.02278056 -0.01730414 1.22929749] [-0.02268769 0.99972723 0.0055445 0.11962463] [ 0.01742572 -0.00514964 0.9998349 -0.05522466] [ 0. 0. 0. 1. ]] SLAMing on 9.675384750000001 meters Centerline goodness [0,1] 0.9062942463637533 Centerline is valid? [False, False] Translation: X:1.23, Y:0.13, Z:-0.05 [[ 0.99937082 0.03090175 -0.01740801 1.22945847] [-0.03068954 0.99945293 0.0123289 0.12527254] [ 0.01777948 -0.0117869 0.99977245 -0.05484099] [ 0. 0. 0. 1. ]] SLAMing on 9.70538475 meters Centerline goodness [0,1] 0.9007066775911512 Centerline is valid? [False, False] Translation: X:1.23, Y:0.13, Z:-0.05 [[ 0.99918843 0.03654142 -0.01694688 1.22684488] [-0.03627185 0.99921466 0.0159502 0.13036307] [ 0.01751641 -0.01532256 0.99972916 -0.05289525] [ 0. 0. 0. 1. ]] SLAMing on 9.73538475 meters Centerline goodness [0,1] 0.9044626663601297 Centerline is valid? [False, False] Translation: X:1.23, Y:0.13, Z:-0.05 [[ 0.99916615 0.03728078 -0.01664771 1.22537551] [-0.03702191 0.99919274 0.01559642 0.13269594] [ 0.01721572 -0.01496709 0.99973977 -0.05212019] [ 0. 0. 0. 1. ]] SLAMing on 9.76538475 meters Centerline goodness [0,1] 0.9029017287980009 Centerline is valid? [False, False] Translation: X:1.22, Y:0.13, Z:-0.05 [[ 0.99914657 0.03791755 -0.01638265 1.22403017] [-0.03766645 0.99917211 0.01537316 0.13474081] [ 0.016952 -0.01474296 0.99974761 -0.05135096] [ 0. 0. 0. 1. ]] SLAMing on 9.79538475 meters Centerline goodness [0,1] 0.904749854493003 Centerline is valid? [False, False] Translation: X:1.23, Y:0.14, Z:-0.05 [[ 0.99904088 0.04229908 -0.01131869 1.2298128 ] [-0.04223959 0.99909268 0.00544434 0.13765404] [ 0.01153871 -0.00496102 0.99992112 -0.05453616] [ 0. 0. 0. 1. ]] SLAMing on 9.825384750000001 meters Centerline goodness [0,1] 0.9070806570362284 Centerline is valid? [False, False] Translation: X:1.23, Y:0.14, Z:-0.05 [[ 0.99901396 0.04305372 -0.01083865 1.22787031] [-0.04298963 0.99905703 0.00607864 0.13749045] [ 0.01109014 -0.0056067 0.99992278 -0.05319103] [ 0. 0. 0. 1. ]] SLAMing on 9.85538475 meters Centerline goodness [0,1] 0.9104488987119884 Centerline is valid? [False, False] Translation: X:1.23, Y:0.14, Z:-0.05 [[ 0.99914868 0.03990678 -0.0104577 1.2266423 ] [-0.03988892 0.99920229 0.00191112 0.13878156] [ 0.01052562 -0.00149235 0.99994349 -0.05354166] [ 0. 0. 0. 1. ]] SLAMing on 9.88538475 meters Centerline goodness [0,1] 0.9142711907485068 Centerline is valid? [False, False] Translation: X:1.23, Y:0.14, Z:-0.05 [[ 0.99915716 0.03969736 -0.0104448 1.22693825] [-0.03967294 0.9992095 0.00253495 0.13548348] [ 0.01053718 -0.00211844 0.99994224 -0.05372354] [ 0. 0. 0. 1. ]] SLAMing on 9.915384750000001 meters Centerline goodness [0,1] 0.9156873287758917 Centerline is valid? [False, False] Translation: X:1.23, Y:0.14, Z:-0.05 [[ 0.99929714 0.03616186 -0.0098765 1.22624376] [-0.03617841 0.99934422 -0.00150237 0.13544975] [ 0.00981569 0.00185863 0.9999501 -0.05485073] [ 0. 0. 0. 1. ]] SLAMing on 9.94538475 meters Centerline goodness [0,1] 0.9202108511185395 Centerline is valid? [False, False] Translation: X:1.23, Y:0.13, Z:-0.06 [[ 0.99942309 0.03255129 -0.00969039 1.22765251] [-0.03259744 0.99945778 -0.00464349 0.13127741] [ 0.00953398 0.00495669 0.99994227 -0.05742585] [ 0. 0. 0. 1. ]] SLAMing on 9.97538475 meters Centerline goodness [0,1] 0.9214510877990801 Centerline is valid? [False, False] Translation: X:1.23, Y:0.13, Z:-0.06 [[ 0.99953696 0.0289265 -0.00944049 1.22752661] [-0.02900712 0.99954291 -0.0085178 0.13008567] [ 0.00918978 0.0087877 0.99991916 -0.05854616] [ 0. 0. 0. 1. ]] SLAMing on 10.005384750000001 meters Centerline goodness [0,1] 0.9247037374658158 Centerline is valid? [False, False] Translation: X:1.23, Y:0.12, Z:-0.06 [[ 0.99963671 0.02527727 -0.00935448 1.22780844] [-0.02538126 0.99961544 -0.01116984 0.12456981] [ 0.00906854 0.01140321 0.99989386 -0.05936474] [ 0. 0. 0. 1. ]] SLAMing on 10.03538475 meters Centerline goodness [0,1] 0.9262594622813887 Centerline is valid? [False, False] Translation: X:1.23, Y:0.12, Z:-0.06 [[ 0.99964057 0.02499808 -0.00968608 1.22885453] [-0.02509748 0.99963215 -0.01027986 0.12066614] [ 0.00942554 0.01051926 0.99990025 -0.0596027 ] [ 0. 0. 0. 1. ]] SLAMing on 10.06538475 meters Centerline goodness [0,1] 0.9282137774732515 Centerline is valid? [False, False] Translation: X:1.23, Y:0.12, Z:-0.06 [[ 0.99972698 0.02138514 -0.0094154 1.22936285] [-0.0215085 0.9996815 -0.01320174 0.11656006] [ 0.00913008 0.01340065 0.99986852 -0.06115666] [ 0. 0. 0. 1. ]] SLAMing on 10.095384750000001 meters Centerline goodness [0,1] 0.9300142397552872 Centerline is valid? [False, False] Translation: X:1.23, Y:0.11, Z:-0.06 [[ 0.99973154 0.0209444 -0.00990835 1.23108301] [-0.0210684 0.99969889 -0.01257957 0.11332264] [ 0.00964189 0.01278494 0.99987178 -0.06190503] [ 0. 0. 0. 1. ]] SLAMing on 10.12538475 meters Centerline goodness [0,1] 0.9313046258793434 Centerline is valid? [False, False] Translation: X:1.23, Y:0.11, Z:-0.06 [[ 0.99979754 0.01773906 -0.00949765 1.23088191] [-0.01788215 0.99972457 -0.01519919 0.10796101] [ 0.00922542 0.01536595 0.99983938 -0.0630204 ] [ 0. 0. 0. 1. ]] SLAMing on 10.15538475 meters Centerline goodness [0,1] 0.9324849296718017 Centerline is valid? [False, False] Translation: X:1.23, Y:0.10, Z:-0.06 [[ 0.99979261 0.0179165 -0.00968123 1.23113557] [-0.01805112 0.99973903 -0.01400134 0.10435284] [ 0.00942785 0.01417319 0.99985511 -0.06262899] [ 0. 0. 0. 1. ]] SLAMing on 10.18538475 meters Centerline goodness [0,1] 0.933978967700397 Centerline is valid? [False, False] Translation: X:1.23, Y:0.10, Z:-0.06 [[ 0.99978612 0.01830335 -0.00962863 1.23090258] [-0.01842707 0.9997467 -0.01292189 0.10136044] [ 0.00938968 0.01309656 0.99987015 -0.06229815] [ 0. 0. 0. 1. ]] SLAMing on 10.21538475 meters Centerline goodness [0,1] 0.933978967700397 Centerline is valid? [False, False] Translation: X:1.23, Y:0.10, Z:-0.06 [[ 0.99978612 0.01830335 -0.00962863 1.23090258] [-0.01842707 0.9997467 -0.01292189 0.10136044] [ 0.00938968 0.01309656 0.99987015 -0.06229815] [ 0. 0. 0. 1. ]] SLAMing on 10.245384750000001 meters Centerline goodness [0,1] 0.935162563427927 Centerline is valid? [False, False] Translation: X:1.23, Y:0.10, Z:-0.06 [[ 0.99978856 0.0180972 -0.00976341 1.23245925] [-0.01821816 0.99975657 -0.01244603 0.09815892] [ 0.0095358 0.01262126 0.99987488 -0.06388657] [ 0. 0. 0. 1. ]] SLAMing on 10.27538475 meters Centerline goodness [0,1] 0.9341076914784671 Centerline is valid? [False, False] Translation: X:1.23, Y:0.09, Z:-0.06 [[ 0.99978677 0.01835448 -0.0094618 1.23264023] [-0.01846436 0.99976153 -0.01165936 0.09479251] [ 0.00924554 0.01183158 0.99988726 -0.06486167] [ 0. 0. 0. 1. ]] SLAMing on 10.30538475 meters Centerline goodness [0,1] 0.9350371872887085 Centerline is valid? [False, False] Translation: X:1.23, Y:0.09, Z:-0.06 [[ 0.99977893 0.01878185 -0.00945203 1.23195278] [-0.01888126 0.99976618 -0.01054005 0.09208059] [ 0.00925186 0.01071619 0.99989978 -0.06377285] [ 0. 0. 0. 1. ]] SLAMing on 10.335384750000001 meters Centerline goodness [0,1] 0.9349081934311518 Centerline is valid? [False, False] Translation: X:1.23, Y:0.09, Z:-0.06 [[ 0.99976814 0.0194354 -0.00926964 1.23079766] [-0.01952194 0.99976582 -0.00933805 0.08933969] [ 0.00908598 0.00951684 0.99991343 -0.06254599] [ 0. 0. 0. 1. ]] SLAMing on 10.36538475 meters Centerline goodness [0,1] 0.9346943225489929 Centerline is valid? [False, False] Translation: X:1.23, Y:0.09, Z:-0.06 [[ 0.99976725 0.01957359 -0.00907336 1.23071509] [-0.01965167 0.99976992 -0.00859769 0.08647242] [ 0.00890299 0.008774 0.99992187 -0.06274693] [ 0. 0. 0. 1. ]] SLAMing on 10.39538475 meters Centerline goodness [0,1] 0.9342916371174513 Centerline is valid? [False, False] Translation: X:1.23, Y:0.09, Z:-0.06 [[ 0.99977409 0.01913905 -0.00924496 1.23172407] [-0.01922038 0.99977664 -0.00878953 0.08626215] [ 0.00907467 0.00896523 0.99991863 -0.06355445] [ 0. 0. 0. 1. ]] SLAMing on 10.425384750000001 meters Centerline goodness [0,1] 0.9322875460373755 Centerline is valid? [False, False] Translation: X:1.23, Y:0.08, Z:-0.06 [[ 0.99979195 0.01790064 -0.00977827 1.23427037] [-0.01798734 0.99979903 -0.00885207 0.08445263] [ 0.00961785 0.00902611 0.99991301 -0.06491127] [ 0. 0. 0. 1. ]] SLAMing on 10.45538475 meters Centerline goodness [0,1] 0.9336499396068958 Centerline is valid? [False, False] Translation: X:1.23, Y:0.08, Z:-0.07 [[ 0.99985672 0.01387253 -0.00970063 1.23454599] [-0.01399423 0.99982279 -0.012592 0.0823512 ] [ 0.00952423 0.01272595 0.99987366 -0.06572586] [ 0. 0. 0. 1. ]] SLAMing on 10.48538475 meters Centerline goodness [0,1] 0.9308758299583988 Centerline is valid? [False, False] Translation: X:1.24, Y:0.08, Z:-0.07 [[ 0.9998566 0.01366335 -0.01000468 1.23515746] [-0.01378196 0.99983441 -0.01188358 0.07960391] [ 0.00984066 0.01201976 0.99987934 -0.06537766] [ 0. 0. 0. 1. ]] SLAMing on 10.51538475 meters Centerline goodness [0,1] 0.9271214917233591 Centerline is valid? [False, False] Translation: X:1.24, Y:0.08, Z:-0.07 [[ 0.9998577 0.01314077 -0.0105778 1.23640261] [-0.01326153 0.99984675 -0.01142822 0.07768837] [ 0.01042601 0.01156688 0.99987875 -0.06513574] [ 0. 0. 0. 1. ]] SLAMing on 10.54538475 meters Centerline goodness [0,1] 0.9218659375258927 Centerline is valid? [False, False] Translation: X:1.24, Y:0.08, Z:-0.07 [[ 0.99991203 0.0078159 -0.01071644 1.23792527] [-0.00799029 0.99983476 -0.01632808 0.08004488] [ 0.01058705 0.01641227 0.99980926 -0.06638098] [ 0. 0. 0. 1. ]] SLAMing on 10.57538475 meters Centerline goodness [0,1] 0.8951025901612327 Centerline is valid? [False, False] Translation: X:1.24, Y:0.08, Z:-0.06 [[ 0.99991929 0.00594439 -0.01122864 1.23931167] [-0.00612367 0.99985324 -0.01600012 0.07989881] [ 0.01113188 0.01606758 0.99980894 -0.06484926] [ 0. 0. 0. 1. ]] SLAMing on 10.60538475 meters Centerline goodness [0,1] 0.8777397449345774 Centerline is valid? [False, False] Translation: X:1.24, Y:0.08, Z:-0.06 [[ 0.99991609 0.00582369 -0.01157157 1.23889442] [-0.005998 0.9998682 -0.01508691 0.07820815] [ 0.01148218 0.01515505 0.99981923 -0.06275912] [ 0. 0. 0. 1. ]] SLAMing on 10.63538475 meters Centerline goodness [0,1] 0.8624300515264003 Centerline is valid? [False, False] Translation: X:1.24, Y:0.08, Z:-0.06 [[ 0.99991317 0.0056957 -0.01188352 1.23854154] [-0.00586435 0.99988189 -0.01420593 0.07620757] [ 0.0118012 0.01427439 0.99982847 -0.06085822] [ 0. 0. 0. 1. ]] SLAMing on 10.665384750000001 meters Centerline goodness [0,1] 0.8335313458403559 Centerline is valid? [False, False] Translation: X:1.24, Y:0.08, Z:-0.06 [[ 0.99991031 0.0039805 -0.01278781 1.24043718] [-0.00416702 0.99988485 -0.01459213 0.07653348] [ 0.01272825 0.01464411 0.99981175 -0.0599192 ] [ 0. 0. 0. 1. ]] SLAMing on 10.69538475 meters Centerline goodness [0,1] 0.8211167847142151 Centerline is valid? [False, False] Translation: X:1.24, Y:0.08, Z:-0.06 [[ 0.99990992 0.00263857 -0.01316045 1.24256129] [-0.00284778 0.99986948 -0.01590325 0.07985089] [ 0.01311677 0.0159393 0.99978692 -0.06135973] [ 0. 0. 0. 1. ]] SLAMing on 10.72538475 meters Centerline goodness [0,1] 0.8361402652347246 Centerline is valid? [False, False] Translation: X:1.25, Y:0.09, Z:-0.06 [[ 0.99989003 0.00273193 -0.01457599 1.24930524] [-0.00294681 0.999887 -0.01474146 0.08680241] [ 0.01453407 0.01478279 0.99978509 -0.06451256] [ 0. 0. 0. 1. ]] SLAMing on 10.755384750000001 meters Centerline goodness [0,1] 0.8240095129992974 Centerline is valid? [False, False] Translation: X:1.25, Y:0.09, Z:-0.06 [[ 0.99986724 0.00544326 -0.01535835 1.25146871] [-0.00562145 0.99991711 -0.01158323 0.08854326] [ 0.01529403 0.01166803 0.99981496 -0.0647731 ] [ 0. 0. 0. 1. ]] SLAMing on 10.78538475 meters Centerline goodness [0,1] 0.7834812504997202 Centerline is valid? [False, False] Translation: X:1.25, Y:0.09, Z:-0.06 [[ 0.99982707 0.00797954 -0.01679754 1.25290719] [-0.00813081 0.99992683 -0.00895671 0.09328066] [ 0.01672484 0.00909174 0.99981879 -0.06247407] [ 0. 0. 0. 1. ]] SLAMing on 10.81538475 meters Centerline goodness [0,1] 0.8402008171549122 Centerline is valid? [False, False] Translation: X:1.25, Y:0.10, Z:-0.06 [[ 0.99982524 0.00800688 -0.01689314 1.25252884] [-0.00817419 0.99991799 -0.00985854 0.09733193] [ 0.01681282 0.0099949 0.9998087 -0.06192072] [ 0. 0. 0. 1. ]] SLAMing on 10.845384750000001 meters Centerline goodness [0,1] 0.8395253381045098 Centerline is valid? [False, False] Translation: X:1.26, Y:0.11, Z:-0.06 [[ 0.99978992 0.01119847 -0.0171669 1.255169 ] [-0.01132306 0.99991013 -0.00717755 0.10648161] [ 0.01708498 0.00737042 0.99982688 -0.06338707] [ 0. 0. 0. 1. ]] SLAMing on 10.87538475 meters Centerline goodness [0,1] 0.8340932183518746 Centerline is valid? [False, False] Translation: X:1.26, Y:0.11, Z:-0.06 [[ 0.99974323 0.01399539 -0.01782119 1.2576082 ] [-0.01408281 0.99988936 -0.00478928 0.1107644 ] [ 0.01775219 0.00503902 0.99982972 -0.0646387 ] [ 0. 0. 0. 1. ]] SLAMing on 10.90538475 meters Centerline goodness [0,1] 0.8738230238345691 Centerline is valid? [False, False] Translation: X:1.26, Y:0.12, Z:-0.06 [[ 9.99608589e-01 2.08436053e-02 -1.86604461e-02 1.25954638e+00] [-2.08257452e-02 9.99782458e-01 1.15094366e-03 1.17969643e-01] [ 1.86803765e-02 -7.61875470e-04 9.99825216e-01 -6.45474261e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.93538475 meters Centerline goodness [0,1] 0.8603179463624997 Centerline is valid? [False, False] Translation: X:1.26, Y:0.12, Z:-0.06 [[ 9.99603325e-01 2.09930905e-02 -1.87745015e-02 1.25949221e+00] [-2.09980489e-02 9.99779514e-01 -6.69869194e-05 1.23211261e-01] [ 1.87689558e-02 4.61188248e-04 9.99823741e-01 -6.45982193e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 10.96538475 meters Centerline goodness [0,1] 0.873336022589754 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:-0.06 [[ 0.99951674 0.02457523 -0.01903537 1.25849768] [-0.0245409 0.99969675 0.00203529 0.13091559] [ 0.01907962 -0.00156716 0.99981674 -0.06270818] [ 0. 0. 0. 1. ]] SLAMing on 10.995384750000001 meters Centerline goodness [0,1] 0.9076919227304574 Centerline is valid? [False, False] Translation: X:1.26, Y:0.14, Z:-0.06 [[ 9.99519844e-01 2.45417457e-02 -1.89151987e-02 1.25807934e+00] [-2.45323948e-02 9.99698772e-01 7.26273084e-04 1.36324769e-01] [ 1.89273249e-02 -2.61889238e-04 9.99820828e-01 -6.26316382e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.02538475 meters Centerline goodness [0,1] 0.9092927996841533 Centerline is valid? [False, False] Translation: X:1.26, Y:0.14, Z:-0.06 [[ 0.999423 0.0282631 -0.0188376 1.25707081] [-0.02821377 0.99959776 0.00287955 0.14489205] [ 0.01891141 -0.00234641 0.99981841 -0.06126451] [ 0. 0. 0. 1. ]] SLAMing on 11.05538475 meters Centerline goodness [0,1] 0.9154681106510181 Centerline is valid? [False, False] Translation: X:1.26, Y:0.15, Z:-0.06 [[ 0.99942004 0.02838198 -0.018816 1.25632586] [-0.02835106 0.99959621 0.00190793 0.14988779] [ 0.01886255 -0.00137337 0.99982114 -0.0605078 ] [ 0. 0. 0. 1. ]] SLAMing on 11.085384750000001 meters Centerline goodness [0,1] 0.9135533792769919 Centerline is valid? [False, False] Translation: X:1.25, Y:0.16, Z:-0.06 [[ 0.99933482 0.03132565 -0.01867137 1.25328352] [-0.03127045 0.99950571 0.00324096 0.15777681] [ 0.01876367 -0.00265494 0.99982042 -0.05698718] [ 0. 0. 0. 1. ]] SLAMing on 11.11538475 meters Centerline goodness [0,1] 0.9147082123052548 Centerline is valid? [False, False] Translation: X:1.25, Y:0.16, Z:-0.06 [[ 0.99933145 0.03136979 -0.01877749 1.2529138 ] [-0.03133557 0.99950669 0.00211376 0.16251067] [ 0.01883454 -0.00152394 0.99982145 -0.05640784] [ 0. 0. 0. 1. ]] SLAMing on 11.14538475 meters Centerline goodness [0,1] 0.9161142091281143 Centerline is valid? [False, False] Translation: X:1.25, Y:0.17, Z:-0.06 [[ 9.99326154e-01 3.15110092e-02 -1.88227017e-02 1.25254304e+00] [-3.14967497e-02 9.99503299e-01 1.05361666e-03 1.66900116e-01] [ 1.88465530e-02 -4.60052763e-04 9.99822282e-01 -5.60308129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.175384750000001 meters Centerline goodness [0,1] 0.9127732482571193 Centerline is valid? [False, False] Translation: X:1.25, Y:0.17, Z:-0.06 [[ 0.99921627 0.03454822 -0.0193202 1.25380766] [-0.03449251 0.9993998 0.00320942 0.17228685] [ 0.01941949 -0.0025405 0.9998082 -0.05607458] [ 0. 0. 0. 1. ]] SLAMing on 11.20538475 meters Centerline goodness [0,1] 0.9130261180007516 Centerline is valid? [False, False] Translation: X:1.25, Y:0.18, Z:-0.06 [[ 9.99222951e-01 3.43547083e-02 -1.93196567e-02 1.25389717e+00] [-3.43253676e-02 9.99409002e-01 1.84835819e-03 1.78432400e-01] [ 1.93717386e-02 -1.18376760e-03 9.99811649e-01 -5.61153805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.23538475 meters Centerline goodness [0,1] 0.9117233952900416 Centerline is valid? [False, False] Translation: X:1.26, Y:0.18, Z:-0.06 [[ 9.99242193e-01 3.36039920e-02 -1.96420869e-02 1.25500811e+00] [-3.35968448e-02 9.99435226e-01 6.93837099e-04 1.80775733e-01] [ 1.96543093e-02 -3.33991577e-05 9.99806835e-01 -5.67829870e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.26538475 meters Centerline goodness [0,1] 0.912271722693963 Centerline is valid? [False, False] Translation: X:1.26, Y:0.18, Z:-0.06 [[ 9.99277737e-01 3.22512367e-02 -2.00963119e-02 1.25724193e+00] [-3.22798868e-02 9.99478260e-01 -1.10280332e-03 1.84542424e-01] [ 2.00502601e-02 1.75071348e-03 9.99797441e-01 -5.84802864e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.29538475 meters Centerline goodness [0,1] 0.9091183715201934 Centerline is valid? [False, False] Translation: X:1.26, Y:0.19, Z:-0.06 [[ 0.99930197 0.03127129 -0.02043724 1.25903518] [-0.03132196 0.99950701 -0.0021636 0.18604202] [ 0.02035951 0.00280223 0.9997888 -0.05989829] [ 0. 0. 0. 1. ]] SLAMing on 11.32538475 meters Centerline goodness [0,1] 0.9080927679173743 Centerline is valid? [False, False] Translation: X:1.26, Y:0.19, Z:-0.06 [[ 0.99940986 0.02740311 -0.02071214 1.26115996] [-0.02753449 0.99960234 -0.00608438 0.18829602] [ 0.02053718 0.00665109 0.99976697 -0.06162167] [ 0. 0. 0. 1. ]] SLAMing on 11.35538475 meters Centerline goodness [0,1] 0.9048258925468573 Centerline is valid? [False, False] Translation: X:1.26, Y:0.19, Z:-0.06 [[ 0.99941563 0.02701123 -0.02094717 1.26177106] [-0.02714999 0.99961109 -0.00636836 0.18842609] [ 0.020767 0.00693335 0.9997603 -0.06178998] [ 0. 0. 0. 1. ]] SLAMing on 11.38538475 meters Centerline goodness [0,1] 0.8943736976151887 Centerline is valid? [False, False] Translation: X:1.26, Y:0.19, Z:-0.06 [[ 0.99943024 0.02627669 -0.02118348 1.26229996] [-0.02643596 0.99962404 -0.0072739 0.19088771] [ 0.02098438 0.00782976 0.99974914 -0.06176166] [ 0. 0. 0. 1. ]] SLAMing on 11.415384750000001 meters Centerline goodness [0,1] 0.8902709189089398 Centerline is valid? [False, False] Translation: X:1.26, Y:0.19, Z:-0.06 [[ 0.99942811 0.0263009 -0.02125371 1.26229981] [-0.02647035 0.9996197 -0.00773088 0.19280494] [ 0.0210423 0.00828905 0.99974422 -0.06163708] [ 0. 0. 0. 1. ]] SLAMing on 11.44538475 meters Centerline goodness [0,1] 0.9060227740430786 Centerline is valid? [False, False] Translation: X:1.26, Y:0.20, Z:-0.06 [[ 0.99928543 0.03151316 -0.02086977 1.26025156] [-0.03160272 0.9994926 -0.00397561 0.19784872] [ 0.0207339 0.00463231 0.9997743 -0.05974023] [ 0. 0. 0. 1. ]] SLAMing on 11.47538475 meters Centerline goodness [0,1] 0.9101769208057959 Centerline is valid? [False, False] Translation: X:1.26, Y:0.20, Z:-0.06 [[ 9.99143646e-01 3.57785419e-02 -2.07814975e-02 1.25971859e+00] [-3.57978331e-02 9.99358897e-01 -5.56904404e-04 2.00590736e-01] [ 2.07482492e-02 1.30036008e-03 9.99783886e-01 -5.89480522e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.505384750000001 meters Centerline goodness [0,1] 0.9087089122331413 Centerline is valid? [False, False] Translation: X:1.26, Y:0.21, Z:-0.06 [[ 0.99882812 0.04371326 -0.02077334 1.25741175] [-0.04360315 0.99903253 0.00572463 0.20516031] [ 0.02100348 -0.00481214 0.99976782 -0.05580214] [ 0. 0. 0. 1. ]] SLAMing on 11.53538475 meters Centerline goodness [0,1] 0.905247288600873 Centerline is valid? [False, False] Translation: X:1.26, Y:0.21, Z:-0.06 [[ 0.99880668 0.04422143 -0.02072898 1.25691669] [-0.0441249 0.99901305 0.0050914 0.20776483] [ 0.02093367 -0.00417066 0.99977217 -0.05549616] [ 0. 0. 0. 1. ]] SLAMing on 11.56538475 meters Centerline goodness [0,1] 0.9036249720295368 Centerline is valid? [False, False] Translation: X:1.26, Y:0.21, Z:-0.05 [[ 0.99878083 0.04484048 -0.02064411 1.25607829] [-0.04475676 0.99898778 0.00449996 0.21145942] [ 0.02082499 -0.00357051 0.99977676 -0.05484965] [ 0. 0. 0. 1. ]] SLAMing on 11.595384750000001 meters Centerline goodness [0,1] 0.907940906957513 Centerline is valid? [False, False] Translation: X:1.26, Y:0.21, Z:-0.05 [[ 9.98917207e-01 4.17091828e-02 -2.06096641e-02 1.25546726e+00] [-4.17030270e-02 9.99129785e-01 7.28567554e-04 2.14362392e-01] [ 2.06221172e-02 1.31706712e-04 9.99787333e-01 -5.46408884e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 11.62538475 meters Centerline goodness [0,1] 0.9060974250362278 Centerline is valid? [False, False] Translation: X:1.26, Y:0.22, Z:-0.05 [[ 0.99908545 0.03740564 -0.0207142 1.2550659 ] [-0.03748797 0.99929059 -0.00360067 0.21573347] [ 0.02056481 0.00437391 0.99977895 -0.05420563] [ 0. 0. 0. 1. ]] SLAMing on 11.65538475 meters Centerline goodness [0,1] 0.911124506061215 Centerline is valid? [False, False] Translation: X:1.25, Y:0.22, Z:-0.05 [[ 0.99922701 0.03341114 -0.02071397 1.2547485 ] [-0.03357631 0.99940667 -0.00767775 0.21613511] [ 0.02044516 0.00836731 0.99975596 -0.05419347] [ 0. 0. 0. 1. ]] SLAMing on 11.68538475 meters Centerline goodness [0,1] 0.9100363782444707 Centerline is valid? [False, False] Translation: X:1.26, Y:0.21, Z:-0.06 [[ 0.99937953 0.02820608 -0.0210944 1.25611223] [-0.02845905 0.99952543 -0.01179008 0.21411059] [ 0.02075184 0.01238309 0.99970797 -0.05512648] [ 0. 0. 0. 1. ]] SLAMing on 11.71538475 meters Centerline goodness [0,1] 0.9102026242970633 Centerline is valid? [False, False] Translation: X:1.26, Y:0.21, Z:-0.06 [[ 0.99939697 0.02737073 -0.02136663 1.25722979] [-0.02762569 0.99954951 -0.01173008 0.21231998] [ 0.02103594 0.01231328 0.99970289 -0.05571879] [ 0. 0. 0. 1. ]] SLAMing on 11.745384750000001 meters Centerline goodness [0,1] 0.91038158366177 Centerline is valid? [False, False] Translation: X:1.26, Y:0.21, Z:-0.06 [[ 0.99951064 0.02268791 -0.02153473 1.2582537 ] [-0.02303118 0.99960943 -0.01582864 0.21171249] [ 0.0211672 0.01631686 0.99964279 -0.05679095] [ 0. 0. 0. 1. ]] SLAMing on 11.77538475 meters Centerline goodness [0,1] 0.9070214239438822 Centerline is valid? [False, False] Translation: X:1.26, Y:0.21, Z:-0.06 [[ 0.99951244 0.02258819 -0.02155581 1.25805595] [-0.0229232 0.99961826 -0.0154229 0.210659 ] [ 0.02119921 0.01590951 0.99964868 -0.05635197] [ 0. 0. 0. 1. ]] SLAMing on 11.80538475 meters Centerline goodness [0,1] 0.9068877267163681 Centerline is valid? [False, False] Translation: X:1.26, Y:0.21, Z:-0.06 [[ 0.99951105 0.02263573 -0.02157025 1.25773006] [-0.02297009 0.99961782 -0.01538127 0.2109646 ] [ 0.02121384 0.01586922 0.99964901 -0.05580801] [ 0. 0. 0. 1. ]] SLAMing on 11.835384750000001 meters Centerline goodness [0,1] 0.9087352745054457 Centerline is valid? [False, False] Translation: X:1.26, Y:0.21, Z:-0.06 [[ 0.99950308 0.02309576 -0.02145163 1.25699724] [-0.02342536 0.99960938 -0.01524274 0.21159518] [ 0.02109121 0.01573768 0.99965368 -0.05519792] [ 0. 0. 0. 1. ]] SLAMing on 11.86538475 meters Centerline goodness [0,1] 0.912296942846437 Centerline is valid? [False, False] Translation: X:1.26, Y:0.21, Z:-0.05 [[ 0.99939603 0.02748071 -0.02126943 1.25598506] [-0.02772044 0.99955453 -0.01105938 0.21210247] [ 0.02095604 0.0116423 0.99971261 -0.05391756] [ 0. 0. 0. 1. ]] SLAMing on 11.89538475 meters Centerline goodness [0,1] 0.9103945805656974 Centerline is valid? [False, False] Translation: X:1.26, Y:0.21, Z:-0.05 [[ 0.9992786 0.03174322 -0.02084829 1.25509694] [-0.03189875 0.99946538 -0.00717053 0.21354903] [ 0.02060953 0.00783039 0.99975694 -0.05333066] [ 0. 0. 0. 1. ]] SLAMing on 11.925384750000001 meters Centerline goodness [0,1] 0.9114805217620449 Centerline is valid? [False, False] Translation: X:1.25, Y:0.22, Z:-0.05 [[ 0.99927964 0.03182341 -0.02067519 1.25485573] [-0.03198668 0.99945929 -0.00761473 0.21510815] [ 0.02042168 0.00827057 0.99975725 -0.05344768] [ 0. 0. 0. 1. ]] SLAMing on 11.95538475 meters Centerline goodness [0,1] 0.9115497873268623 Centerline is valid? [False, False] Translation: X:1.26, Y:0.22, Z:-0.05 [[ 0.99928466 0.03151311 -0.02090683 1.25551853] [-0.0316903 0.99946411 -0.00819855 0.21630699] [ 0.02063727 0.00885523 0.99974781 -0.05380012] [ 0. 0. 0. 1. ]] SLAMing on 11.98538475 meters Centerline goodness [0,1] 0.9102833158447009 Centerline is valid? [False, False] Translation: X:1.26, Y:0.22, Z:-0.05 [[ 0.9992864 0.03141925 -0.02096456 1.25595184] [-0.0316008 0.99946539 -0.00838585 0.21630368] [ 0.02068988 0.00904236 0.99974505 -0.05426386] [ 0. 0. 0. 1. ]] SLAMing on 12.01538475 meters Centerline goodness [0,1] 0.9096377664443572 Centerline is valid? [False, False] Translation: X:1.26, Y:0.22, Z:-0.06 [[ 0.99929757 0.03094621 -0.0211352 1.25699096] [-0.03113844 0.9994761 -0.00882785 0.2165168 ] [ 0.02085094 0.00947977 0.99973765 -0.05521855] [ 0. 0. 0. 1. ]] SLAMing on 12.04538475 meters Centerline goodness [0,1] 0.9064145524174246 Centerline is valid? [False, False] Translation: X:1.26, Y:0.22, Z:-0.06 [[ 0.999324 0.02991468 -0.02136935 1.25904357] [-0.03013228 0.99949655 -0.00993435 0.21813626] [ 0.02106141 0.01057154 0.99972229 -0.05727519] [ 0. 0. 0. 1. ]] SLAMing on 12.07538475 meters Centerline goodness [0,1] 0.9035009658585289 Centerline is valid? [False, False] Translation: X:1.26, Y:0.22, Z:-0.06 [[ 0.99933223 0.02947716 -0.02159123 1.25993681] [-0.02970796 0.99950402 -0.01044749 0.21903364] [ 0.02127256 0.01108195 0.99971229 -0.05789711] [ 0. 0. 0. 1. ]] SLAMing on 12.10538475 meters Centerline goodness [0,1] 0.9024896714325885 Centerline is valid? [False, False] Translation: X:1.26, Y:0.22, Z:-0.06 [[ 0.99934293 0.02890606 -0.02186678 1.26103722] [-0.02915342 0.99951355 -0.01107894 0.21957104] [ 0.0215359 0.01170915 0.99969951 -0.05865804] [ 0. 0. 0. 1. ]] SLAMing on 12.13538475 meters Centerline goodness [0,1] 0.9024896714325885 Centerline is valid? [False, False] Translation: X:1.26, Y:0.22, Z:-0.06 [[ 0.99934293 0.02890606 -0.02186678 1.26103722] [-0.02915342 0.99951355 -0.01107894 0.21957104] [ 0.0215359 0.01170915 0.99969951 -0.05865804] [ 0. 0. 0. 1. ]] SLAMing on 12.165384750000001 meters Centerline goodness [0,1] 0.9010328881974157 Centerline is valid? [False, False] Translation: X:1.26, Y:0.22, Z:-0.06 [[ 0.99934718 0.02873001 -0.02190452 1.26163981] [-0.02898616 0.99951403 -0.01146766 0.22031322] [ 0.02156441 0.01209511 0.9996943 -0.05936857] [ 0. 0. 0. 1. ]] SLAMing on 12.19538475 meters Centerline goodness [0,1] 0.8988343584670309 Centerline is valid? [False, False] Translation: X:1.26, Y:0.22, Z:-0.06 [[ 0.99925367 0.03169478 -0.02208037 1.26343937] [-0.03189025 0.99945474 -0.00855728 0.22153085] [ 0.02179711 0.00925504 0.99971958 -0.06083076] [ 0. 0. 0. 1. ]] SLAMing on 12.22538475 meters Centerline goodness [0,1] 0.8958695792254656 Centerline is valid? [False, False] Translation: X:1.26, Y:0.22, Z:-0.06 [[ 0.99925729 0.0317056 -0.02190011 1.26332422] [-0.03190965 0.99944995 -0.00903129 0.22338834] [ 0.02160172 0.00972341 0.99971937 -0.06111508] [ 0. 0. 0. 1. ]] SLAMing on 12.255384750000001 meters Centerline goodness [0,1] 0.9012107575270545 Centerline is valid? [False, False] Translation: X:1.26, Y:0.23, Z:-0.06 [[ 0.99910507 0.03641006 -0.021526 1.26154047] [-0.03653029 0.99931892 -0.00521827 0.22627781] [ 0.02132135 0.00599995 0.99975467 -0.05930996] [ 0. 0. 0. 1. ]] SLAMing on 12.28538475 meters Centerline goodness [0,1] 0.898962899604405 Centerline is valid? [False, False] Translation: X:1.26, Y:0.23, Z:-0.06 [[ 0.99906502 0.03747641 -0.02155461 1.26045254] [-0.03759666 0.99927946 -0.00520085 0.22875267] [ 0.02134417 0.00600637 0.99975414 -0.05814052] [ 0. 0. 0. 1. ]] SLAMing on 12.31538475 meters Centerline goodness [0,1] 0.9014664759749824 Centerline is valid? [False, False] Translation: X:1.26, Y:0.23, Z:-0.06 [[ 9.98845258e-01 4.30875978e-02 -2.12510986e-02 1.25832666e+00] [-4.31141810e-02 9.99069836e-01 -7.94120856e-04 2.30434144e-01] [ 2.11971148e-02 1.70942756e-03 9.99773855e-01 -5.58964629e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.345384750000001 meters Centerline goodness [0,1] 0.9002067040296631 Centerline is valid? [False, False] Translation: X:1.26, Y:0.23, Z:-0.06 [[ 9.98807577e-01 4.38868493e-02 -2.13861640e-02 1.25789863e+00] [-4.39174107e-02 9.99034703e-01 -9.61235241e-04 2.32224625e-01] [ 2.13233344e-02 1.89931399e-03 9.99770828e-01 -5.53376541e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.37538475 meters Centerline goodness [0,1] 0.8977006302295067 Centerline is valid? [False, False] Translation: X:1.26, Y:0.23, Z:-0.05 [[ 0.99855453 0.0495442 -0.02083792 1.25601079] [-0.04947925 0.99876859 0.00362112 0.2341619 ] [ 0.02099167 -0.00258484 0.99977631 -0.05390271] [ 0. 0. 0. 1. ]] SLAMing on 12.40538475 meters Centerline goodness [0,1] 0.8950159977667547 Centerline is valid? [False, False] Translation: X:1.26, Y:0.24, Z:-0.05 [[ 0.99851513 0.05029828 -0.02091925 1.25592645] [-0.05023691 0.99873137 0.00344937 0.23596417] [ 0.02106621 -0.00239333 0.99977522 -0.05390279] [ 0. 0. 0. 1. ]] SLAMing on 12.43538475 meters Centerline goodness [0,1] 0.8926602343211578 Centerline is valid? [False, False] Translation: X:1.26, Y:0.24, Z:-0.05 [[ 0.99824359 0.05551597 -0.02068145 1.25519646] [-0.05535769 0.99843333 0.00814894 0.23527352] [ 0.02110144 -0.00698974 0.99975291 -0.0531806 ] [ 0. 0. 0. 1. ]] SLAMing on 12.46538475 meters Centerline goodness [0,1] 0.8935806423686261 Centerline is valid? [False, False] Translation: X:1.25, Y:0.23, Z:-0.05 [[ 0.9982111 0.05612254 -0.02061223 1.25459266] [-0.05595557 0.9983963 0.00859037 0.23465525] [ 0.02106129 -0.00742163 0.99975064 -0.05266523] [ 0. 0. 0. 1. ]] SLAMing on 12.495384750000001 meters Centerline goodness [0,1] 0.8914224617600209 Centerline is valid? [False, False] Translation: X:1.25, Y:0.23, Z:-0.05 [[ 0.99831341 0.05422098 -0.02074657 1.25342665] [-0.05410442 0.99851641 0.00613914 0.23323433] [ 0.02104866 -0.00500631 0.99976592 -0.05186876] [ 0. 0. 0. 1. ]] SLAMing on 12.52538475 meters Centerline goodness [0,1] 0.8899587951435559 Centerline is valid? [False, False] Translation: X:1.25, Y:0.23, Z:-0.05 [[ 0.99847516 0.05113962 -0.0207871 1.25355877] [-0.05108334 0.99868917 0.00323018 0.2304133 ] [ 0.02092504 -0.00216338 0.99977871 -0.05270212] [ 0. 0. 0. 1. ]] SLAMing on 12.55538475 meters Centerline goodness [0,1] 0.8887507768800498 Centerline is valid? [False, False] Translation: X:1.25, Y:0.23, Z:-0.05 [[ 9.98654072e-01 4.74652674e-02 -2.09067644e-02 1.25375101e+00] [-4.74857336e-02 9.98871799e-01 -4.83293337e-04 2.29182503e-01] [ 2.08602378e-02 1.47541591e-03 9.99781313e-01 -5.33913841e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 12.585384750000001 meters Centerline goodness [0,1] 0.8897743253197616 Centerline is valid? [False, False] Translation: X:1.25, Y:0.23, Z:-0.05 [[ 0.99881808 0.04382592 -0.02101719 1.25386214] [-0.04391546 0.99902796 -0.00381768 0.22671989] [ 0.02082945 0.00473615 0.99977183 -0.05388664] [ 0. 0. 0. 1. ]] SLAMing on 12.61538475 meters Centerline goodness [0,1] 0.8863351632081273 Centerline is valid? [False, False] Translation: X:1.25, Y:0.22, Z:-0.05 [[ 0.99899754 0.03924498 -0.02153485 1.25444677] [-0.03941283 0.99919542 -0.00742582 0.21961775] [ 0.0212261 0.00826713 0.99974052 -0.05432227] [ 0. 0. 0. 1. ]] SLAMing on 12.64538475 meters Centerline goodness [0,1] 0.8896883593033914 Centerline is valid? [False, False] Translation: X:1.25, Y:0.22, Z:-0.06 [[ 0.99908732 0.0369219 -0.02147796 1.25493372] [-0.03712959 0.99926669 -0.00935276 0.21664104] [ 0.02111689 0.01014169 0.99972557 -0.05526874] [ 0. 0. 0. 1. ]] SLAMing on 12.675384750000001 meters Centerline goodness [0,1] 0.8862664932168742 Centerline is valid? [False, False] Translation: X:1.26, Y:0.21, Z:-0.06 [[ 0.99917709 0.0345224 -0.02129175 1.25575773] [-0.03476054 0.99933604 -0.01091758 0.210907 ] [ 0.02090072 0.01164871 0.99971369 -0.05694383] [ 0. 0. 0. 1. ]] SLAMing on 12.70538475 meters Centerline goodness [0,1] 0.8862041354622957 Centerline is valid? [False, False] Translation: X:1.26, Y:0.20, Z:-0.06 [[ 0.99915353 0.03539129 -0.02096844 1.25524846] [-0.0355934 0.99932266 -0.00934536 0.20473414] [ 0.02062349 0.01008378 0.99973646 -0.05719789] [ 0. 0. 0. 1. ]] SLAMing on 12.73538475 meters Centerline goodness [0,1] 0.8842242194891201 Centerline is valid? [False, False] Translation: X:1.25, Y:0.20, Z:-0.06 [[ 0.99913285 0.03604335 -0.02084282 1.25472011] [-0.03622397 0.99930878 -0.00835377 0.20180163] [ 0.02052732 0.00910154 0.99974786 -0.05686951] [ 0. 0. 0. 1. ]] SLAMing on 12.76538475 meters Centerline goodness [0,1] 0.8848170045718936 Centerline is valid? [False, False] Translation: X:1.25, Y:0.20, Z:-0.06 [[ 0.99909424 0.03729258 -0.02049309 1.25394324] [-0.0374357 0.99927695 -0.00664495 0.19536001] [ 0.02023047 0.00740611 0.99976791 -0.05700239] [ 0. 0. 0. 1. ]] SLAMing on 12.79538475 meters Centerline goodness [0,1] 0.88546054056656 Centerline is valid? [False, False] Translation: X:1.25, Y:0.19, Z:-0.06 [[ 0.99907781 0.03769999 -0.02054847 1.2543241 ] [-0.03782782 0.99926704 -0.0058679 0.19225595] [ 0.02031219 0.00663979 0.99977164 -0.05746906] [ 0. 0. 0. 1. ]] SLAMing on 12.82538475 meters Centerline goodness [0,1] 0.8869548446201693 Centerline is valid? [False, False] Translation: X:1.26, Y:0.19, Z:-0.06 [[ 0.99906911 0.03777493 -0.0208319 1.25531817] [-0.03789171 0.99926811 -0.00523968 0.1886778 ] [ 0.02061873 0.00602416 0.99976926 -0.05819227] [ 0. 0. 0. 1. ]] SLAMing on 12.85538475 meters Centerline goodness [0,1] 0.8878012788981801 Centerline is valid? [False, False] Translation: X:1.26, Y:0.18, Z:-0.06 [[ 0.9991872 0.03453302 -0.02079463 1.25631187] [-0.03469411 0.99937031 -0.00743601 0.18076862] [ 0.02052475 0.00815142 0.99975611 -0.06009187] [ 0. 0. 0. 1. ]] SLAMing on 12.88538475 meters Centerline goodness [0,1] 0.8901473934118113 Centerline is valid? [False, False] Translation: X:1.26, Y:0.18, Z:-0.06 [[ 0.99930094 0.03103659 -0.02084128 1.25707326] [-0.03125836 0.99945722 -0.01040085 0.17682375] [ 0.02050716 0.01104504 0.99972869 -0.06138926] [ 0. 0. 0. 1. ]] SLAMing on 12.915384750000001 meters Centerline goodness [0,1] 0.8944784046497645 Centerline is valid? [False, False] Translation: X:1.26, Y:0.17, Z:-0.06 [[ 0.99939688 0.02739646 -0.02133796 1.25948065] [-0.02765335 0.99954747 -0.01183856 0.1669305 ] [ 0.02100397 0.01242148 0.99970223 -0.06317586] [ 0. 0. 0. 1. ]] SLAMing on 12.94538475 meters Centerline goodness [0,1] 0.897780137540453 Centerline is valid? [False, False] Translation: X:1.26, Y:0.16, Z:-0.06 [[ 0.99947959 0.02427458 -0.02124348 1.25988745] [-0.02455813 0.99961138 -0.0131903 0.1590399 ] [ 0.02091503 0.01370513 0.99968732 -0.06385198] [ 0. 0. 0. 1. ]] SLAMing on 12.97538475 meters Centerline goodness [0,1] 0.8982680684646249 Centerline is valid? [False, False] Translation: X:1.26, Y:0.15, Z:-0.06 [[ 0.99947141 0.02453802 -0.02132565 1.25966451] [-0.02478824 0.99962601 -0.01154917 0.15467028] [ 0.02103428 0.0120717 0.99970587 -0.06294313] [ 0. 0. 0. 1. ]] SLAMing on 13.005384750000001 meters Centerline goodness [0,1] 0.8995961351669137 Centerline is valid? [False, False] Translation: X:1.26, Y:0.15, Z:-0.06 [[ 0.99947299 0.02449781 -0.02129768 1.2595202 ] [-0.02472379 0.99964009 -0.01041281 0.15014972] [ 0.02103493 0.01093388 0.99971895 -0.06250036] [ 0. 0. 0. 1. ]] SLAMing on 13.03538475 meters Centerline goodness [0,1] 0.9030860995850623 Centerline is valid? [False, False] Translation: X:1.26, Y:0.14, Z:-0.06 [[ 0.9995451 0.02163944 -0.02100762 1.25793012] [-0.02188975 0.99969123 -0.01175899 0.14179821] [ 0.02074667 0.0122135 0.99971016 -0.06123908] [ 0. 0. 0. 1. ]] SLAMing on 13.06538475 meters Centerline goodness [0,1] 0.9032501104154218 Centerline is valid? [False, False] Translation: X:1.26, Y:0.14, Z:-0.06 [[ 0.99953939 0.02147221 -0.02144655 1.2587321 ] [-0.02170543 0.99970713 -0.01070136 0.13727677] [ 0.02121049 0.01116194 0.99971272 -0.06091608] [ 0. 0. 0. 1. ]] SLAMing on 13.095384750000001 meters Centerline goodness [0,1] 0.9045569554216553 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:-0.06 [[ 0.99955002 0.02093163 -0.02148525 1.25932219] [-0.0211502 0.99972633 -0.00999668 0.13100392] [ 0.02127012 0.0104466 0.99971919 -0.06129443] [ 0. 0. 0. 1. ]] SLAMing on 13.12538475 meters Centerline goodness [0,1] 0.9006408572779324 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:-0.06 [[ 0.99954084 0.02167669 -0.02117166 1.25923444] [-0.02187051 0.9997206 -0.00896636 0.1270788 ] [ 0.02097138 0.00942528 0.99973565 -0.06209994] [ 0. 0. 0. 1. ]] SLAMing on 13.15538475 meters Centerline goodness [0,1] 0.8996472384562734 Centerline is valid? [False, False] Translation: X:1.26, Y:0.13, Z:-0.06 [[ 0.99953206 0.02232114 -0.02091483 1.25885277] [-0.02250241 0.99971089 -0.00847207 0.12566167] [ 0.02071967 0.00893874 0.99974536 -0.06247093] [ 0. 0. 0. 1. ]] SLAMing on 13.18538475 meters Centerline goodness [0,1] 0.901070788057812 Centerline is valid? [False, False] Translation: X:1.26, Y:0.12, Z:-0.06 [[ 0.99950893 0.0236468 -0.02056014 1.2578507 ] [-0.02379533 0.99969228 -0.00700977 0.12189486] [ 0.02038806 0.00749557 0.99976404 -0.062366 ] [ 0. 0. 0. 1. ]] SLAMing on 13.21538475 meters Centerline goodness [0,1] 0.9003090577700293 Centerline is valid? [False, False] Translation: X:1.26, Y:0.12, Z:-0.06 [[ 0.99949436 0.02434717 -0.02045079 1.25707526] [-0.02447352 0.99968277 -0.00595079 0.11927797] [ 0.02029941 0.00644828 0.99977315 -0.06169654] [ 0. 0. 0. 1. ]] SLAMing on 13.24538475 meters Centerline goodness [0,1] 0.8979337418105621 Centerline is valid? [False, False] Translation: X:1.26, Y:0.12, Z:-0.06 [[ 0.9994831 0.02494604 -0.02027872 1.25636406] [-0.0250535 0.99967329 -0.00506239 0.11638866] [ 0.02014581 0.00556783 0.99978155 -0.06130763] [ 0. 0. 0. 1. ]] SLAMing on 13.27538475 meters Centerline goodness [0,1] 0.8963931445683271 Centerline is valid? [False, False] Translation: X:1.26, Y:0.11, Z:-0.06 [[ 0.99946933 0.02539018 -0.02040578 1.25697106] [-0.02547749 0.99966727 -0.00403021 0.11133809] [ 0.02029666 0.00454796 0.99978366 -0.06193724] [ 0. 0. 0. 1. ]] SLAMing on 13.30538475 meters Centerline goodness [0,1] 0.8953397901966571 Centerline is valid? [False, False] Translation: X:1.26, Y:0.11, Z:-0.06 [[ 0.99948768 0.02424986 -0.02088822 1.25987337] [-0.02434202 0.99969499 -0.00416935 0.1067377 ] [ 0.02078075 0.00467568 0.99977312 -0.06427422] [ 0. 0. 0. 1. ]] SLAMing on 13.335384750000001 meters Centerline goodness [0,1] 0.8957935247732594 Centerline is valid? [False, False] Translation: X:1.26, Y:0.10, Z:-0.06 [[ 0.99949096 0.0237155 -0.02134005 1.26131828] [-0.0238008 0.99970968 -0.00375186 0.10291552] [ 0.02124488 0.00425786 0.99976524 -0.06479434] [ 0. 0. 0. 1. ]] SLAMing on 13.36538475 meters Centerline goodness [0,1] 0.8972280758631869 Centerline is valid? [False, False] Translation: X:1.26, Y:0.10, Z:-0.06 [[ 0.99956742 0.02024478 -0.02133364 1.26076981] [-0.02037948 0.99977361 -0.00611549 0.09766105] [ 0.021205 0.00654761 0.99975371 -0.06414998] [ 0. 0. 0. 1. ]] SLAMing on 13.39538475 meters Centerline goodness [0,1] 0.899019899019899 Centerline is valid? [False, False] Translation: X:1.26, Y:0.10, Z:-0.06 [[ 0.99956433 0.02035714 -0.02137146 1.26068184] [-0.02047239 0.99977696 -0.00518808 0.09500372] [ 0.02126108 0.00562335 0.99975814 -0.06367271] [ 0. 0. 0. 1. ]] SLAMing on 13.425384750000001 meters Centerline goodness [0,1] 0.8987214636662233 Centerline is valid? [False, False] Translation: X:1.26, Y:0.09, Z:-0.06 [[ 0.99956394 0.02044543 -0.02130504 1.26029255] [-0.02054306 0.9997794 -0.00437362 0.09275876] [ 0.02121092 0.00480939 0.99976346 -0.06306305] [ 0. 0. 0. 1. ]] SLAMing on 13.45538475 meters Centerline goodness [0,1] 0.902218124627149 Centerline is valid? [False, False] Translation: X:1.26, Y:0.09, Z:-0.06 [[ 0.99963869 0.01649158 -0.02122553 1.25982834] [-0.01665103 0.99983429 -0.00735742 0.0896665 ] [ 0.02110068 0.00770818 0.99974764 -0.0624931 ] [ 0. 0. 0. 1. ]] SLAMing on 13.48538475 meters Centerline goodness [0,1] 0.9065218580729879 Centerline is valid? [False, False] Translation: X:1.26, Y:0.09, Z:-0.06 [[ 0.99969928 0.01160125 -0.02160443 1.26112212] [-0.0118348 0.99987257 -0.01071389 0.08549645] [ 0.02147738 0.01096635 0.99970919 -0.06259596] [ 0. 0. 0. 1. ]] SLAMing on 13.51538475 meters Centerline goodness [0,1] 0.9039037389082718 Centerline is valid? [False, False] Translation: X:1.26, Y:0.08, Z:-0.06 [[ 0.9996931 0.01046206 -0.02245549 1.26309366] [-0.0106954 0.99988979 -0.01029661 0.08290069] [ 0.0223453 0.01053362 0.99969482 -0.06217756] [ 0. 0. 0. 1. ]] SLAMing on 13.54538475 meters Centerline goodness [0,1] 0.9080662983425414 Centerline is valid? [False, False] Translation: X:1.27, Y:0.08, Z:-0.06 [[ 0.99972928 0.00433715 -0.0228595 1.26560822] [-0.00467237 0.99988204 -0.01463146 0.08114979] [ 0.02279334 0.0147343 0.99963161 -0.06323678] [ 0. 0. 0. 1. ]] SLAMing on 13.57538475 meters Centerline goodness [0,1] 0.9094317774530617 Centerline is valid? [False, False] Translation: X:1.27, Y:0.08, Z:-0.06 [[ 0.99971488 0.00235725 -0.02376138 1.26859806] [-0.00270901 0.99988706 -0.0147824 0.07965703] [ 0.02372385 0.01484255 0.99960836 -0.06356605] [ 0. 0. 0. 1. ]] SLAMing on 13.60538475 meters Centerline goodness [0,1] 0.8937822397248877 Centerline is valid? [False, False] Translation: X:1.27, Y:0.08, Z:-0.07 [[ 0.99967186 -0.00609787 -0.02487935 1.27407215] [ 0.0055862 0.99977252 -0.02058413 0.07927303] [ 0.02499921 0.0204384 0.99947852 -0.06540049] [ 0. 0. 0. 1. ]] SLAMing on 13.63538475 meters Centerline goodness [0,1] 0.8755923510062998 Centerline is valid? [False, False] Translation: X:1.28, Y:0.08, Z:-0.07 [[ 0.99964493 -0.00770725 -0.02550727 1.27593278] [ 0.00718333 0.99976264 -0.02056831 0.07753105] [ 0.02565974 0.02037778 0.99946302 -0.06503633] [ 0. 0. 0. 1. ]] SLAMing on 13.665384750000001 meters Centerline goodness [0,1] 0.8429157251652858 Centerline is valid? [False, False] Translation: X:1.28, Y:0.08, Z:-0.07 [[ 0.99955354 -0.01400474 -0.02639281 1.27906762] [ 0.01332697 0.99958129 -0.02568324 0.07850256] [ 0.02674145 0.02532004 0.99932167 -0.06577111] [ 0. 0. 0. 1. ]] SLAMing on 13.69538475 meters Centerline goodness [0,1] 0.803092101636995 Centerline is valid? [False, False] Translation: X:1.29, Y:0.08, Z:-0.07 [[ 0.99943955 -0.01778908 -0.02835743 1.28558982] [ 0.01699548 0.99946385 -0.02798526 0.08343701] [ 0.02884006 0.02748763 0.99920603 -0.06720528] [ 0. 0. 0. 1. ]] SLAMing on 13.72538475 meters Centerline goodness [0,1] 0.8157481616128233 Centerline is valid? [False, False] Translation: X:1.29, Y:0.09, Z:-0.07 [[ 0.99945805 -0.01535911 -0.02911551 1.28797909] [ 0.01463373 0.9995812 -0.02496545 0.08549064] [ 0.02948677 0.02452585 0.99926424 -0.06769705] [ 0. 0. 0. 1. ]] SLAMing on 13.755384750000001 meters Centerline goodness [0,1] 0.8035787460729409 Centerline is valid? [False, False] Translation: X:1.29, Y:0.09, Z:-0.07 [[ 0.99947581 -0.01252103 -0.02985506 1.28969339] [ 0.01186844 0.99968891 -0.02193677 0.08868047] [ 0.03012044 0.02157093 0.99931349 -0.06761735] [ 0. 0. 0. 1. ]] SLAMing on 13.78538475 meters Centerline goodness [0,1] 0.8329692851171696 Centerline is valid? [False, False] Translation: X:1.29, Y:0.10, Z:-0.07 [[ 0.99950653 -0.00654681 -0.0307218 1.28957358] [ 0.00603645 0.99984273 -0.01667574 0.09766079] [ 0.03082614 0.01648206 0.99938886 -0.06511877] [ 0. 0. 0. 1. ]] SLAMing on 13.81538475 meters Centerline goodness [0,1] 0.8268057784911718 Centerline is valid? [False, False] Translation: X:1.29, Y:0.10, Z:-0.06 [[ 0.99951442 -0.00253229 -0.0310565 1.28883927] [ 0.00212455 0.99991121 -0.01315497 0.10182829] [ 0.03108705 0.0130826 0.99943106 -0.06328214] [ 0. 0. 0. 1. ]] SLAMing on 13.845384750000001 meters Centerline goodness [0,1] 0.8840126216145149 Centerline is valid? [False, False] Translation: X:1.29, Y:0.11, Z:-0.06 [[ 0.99949075 0.00368169 -0.03169694 1.28774285] [-0.0039411 0.99995922 -0.0081257 0.11246129] [ 0.03166573 0.00824649 0.9994645 -0.06010911] [ 0. 0. 0. 1. ]] SLAMing on 13.87538475 meters Centerline goodness [0,1] 0.8560606060606061 Centerline is valid? [False, False] Translation: X:1.29, Y:0.12, Z:-0.06 [[ 0.9994636 0.00715391 -0.03195821 1.2878329 ] [-0.00732447 0.99995954 -0.00522301 0.11784345] [ 0.03191955 0.00545429 0.99947556 -0.05929077] [ 0. 0. 0. 1. ]] SLAMing on 13.90538475 meters Centerline goodness [0,1] 0.8907595033137807 Centerline is valid? [False, False] Translation: X:1.29, Y:0.13, Z:-0.06 [[ 9.99373447e-01 1.29277406e-02 -3.29482444e-02 1.28873328e+00] [-1.29519735e-02 9.99915983e-01 -5.22151106e-04 1.29797991e-01] [ 3.29387260e-02 9.48568739e-04 9.99456923e-01 -5.74147551e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 13.93538475 meters Centerline goodness [0,1] 0.924856217193661 Centerline is valid? [False, False] Translation: X:1.29, Y:0.14, Z:-0.06 [[ 0.99924114 0.01981331 -0.03353473 1.28832976] [-0.01968038 0.99979712 0.00428959 0.14135272] [ 0.03361292 -0.00362635 0.99942835 -0.05549059] [ 0. 0. 0. 1. ]] SLAMing on 13.96538475 meters Centerline goodness [0,1] 0.9218098829132765 Centerline is valid? [False, False] Translation: X:1.29, Y:0.15, Z:-0.05 [[ 0.99915435 0.0235861 -0.03367917 1.28822131] [-0.02336806 0.99970344 0.0068533 0.14719082] [ 0.03383083 -0.00606049 0.9994092 -0.05485849] [ 0. 0. 0. 1. ]] SLAMing on 13.99538475 meters Centerline goodness [0,1] 0.9264277139427199 Centerline is valid? [False, False] Translation: X:1.29, Y:0.15, Z:-0.05 [[ 0.99905659 0.02738232 -0.03370659 1.28835698] [-0.02708629 0.99959069 0.00920816 0.15306396] [ 0.03394494 -0.00828649 0.99938935 -0.05487795] [ 0. 0. 0. 1. ]] SLAMing on 14.02538475 meters Centerline goodness [0,1] 0.9234911214282295 Centerline is valid? [False, False] Translation: X:1.29, Y:0.16, Z:-0.05 [[ 0.99867068 0.03884261 -0.03388409 1.2877041 ] [-0.03824801 0.99910572 0.01802346 0.16339946] [ 0.03455387 -0.0167035 0.99926324 -0.05329942] [ 0. 0. 0. 1. ]] SLAMing on 14.05538475 meters Centerline goodness [0,1] 0.9234911214282295 Centerline is valid? [False, False] Translation: X:1.29, Y:0.16, Z:-0.05 [[ 0.99867068 0.03884261 -0.03388409 1.2877041 ] [-0.03824801 0.99910572 0.01802346 0.16339946] [ 0.03455387 -0.0167035 0.99926324 -0.05329942] [ 0. 0. 0. 1. ]] SLAMing on 14.085384750000001 meters Centerline goodness [0,1] 0.9185097012260445 Centerline is valid? [False, False] Translation: X:1.29, Y:0.17, Z:-0.05 [[ 0.99850229 0.04309497 -0.0337045 1.28770171] [-0.04241919 0.99888926 0.0205147 0.16901878] [ 0.03455114 -0.01905426 0.99922127 -0.05369434] [ 0. 0. 0. 1. ]] SLAMing on 14.11538475 meters Centerline goodness [0,1] 0.9133291248743307 Centerline is valid? [False, False] Translation: X:1.29, Y:0.18, Z:-0.05 [[ 0.99790995 0.05530614 -0.03342108 1.28781177] [-0.05430721 0.99807071 0.03009281 0.17696837] [ 0.03502092 -0.02821491 0.99898822 -0.0536658 ] [ 0. 0. 0. 1. ]] SLAMing on 14.14538475 meters Centerline goodness [0,1] 0.9093096258277387 Centerline is valid? [False, False] Translation: X:1.29, Y:0.18, Z:-0.05 [[ 0.997379 0.06453672 -0.03271314 1.28621118] [-0.06331872 0.99730746 0.03699408 0.18306352] [ 0.03501253 -0.03482576 0.9987799 -0.05257782] [ 0. 0. 0. 1. ]] SLAMing on 14.175384750000001 meters Centerline goodness [0,1] 0.9063813175962708 Centerline is valid? [False, False] Translation: X:1.29, Y:0.19, Z:-0.05 [[ 0.9973152 0.06555039 -0.03264272 1.2851894 ] [-0.0643434 0.99725099 0.03674764 0.18631821] [ 0.0349618 -0.03454864 0.9987913 -0.05181642] [ 0. 0. 0. 1. ]] SLAMing on 14.20538475 meters Centerline goodness [0,1] 0.9046338907367749 Centerline is valid? [False, False] Translation: X:1.29, Y:0.19, Z:-0.05 [[ 0.9972514 0.06793343 -0.0295751 1.29187999] [-0.06721532 0.99743433 0.02463435 0.18923577] [ 0.03117272 -0.02257874 0.99925896 -0.05492068] [ 0. 0. 0. 1. ]] SLAMing on 14.23538475 meters Centerline goodness [0,1] 0.9055792037513373 Centerline is valid? [False, False] Translation: X:1.29, Y:0.19, Z:-0.05 [[ 0.99722673 0.06839889 -0.02933325 1.29107616] [-0.06770329 0.99741472 0.02408619 0.19306432] [ 0.03090488 -0.02203343 0.99927945 -0.05462975] [ 0. 0. 0. 1. ]] SLAMing on 14.26538475 meters Centerline goodness [0,1] 0.9078989446754078 Centerline is valid? [False, False] Translation: X:1.29, Y:0.19, Z:-0.05 [[ 0.99748735 0.06445067 -0.02941264 1.29083084] [-0.06388914 0.99776355 0.01964886 0.19493632] [ 0.03061324 -0.01772034 0.99937421 -0.05494014] [ 0. 0. 0. 1. ]] SLAMing on 14.29538475 meters Centerline goodness [0,1] 0.9070570742308133 Centerline is valid? [False, False] Translation: X:1.29, Y:0.20, Z:-0.06 [[ 0.99774081 0.06024504 -0.02972895 1.29114868] [-0.05981389 0.99809403 0.01518582 0.19586045] [ 0.03058716 -0.01337331 0.99944263 -0.0553916 ] [ 0. 0. 0. 1. ]] SLAMing on 14.32538475 meters Centerline goodness [0,1] 0.913459776433938 Centerline is valid? [False, False] Translation: X:1.29, Y:0.20, Z:-0.06 [[ 0.9981959 0.05207767 -0.02988068 1.29077618] [-0.05188178 0.99862659 0.00729472 0.1954089 ] [ 0.03021953 -0.0057313 0.99952685 -0.05576194] [ 0. 0. 0. 1. ]] SLAMing on 14.35538475 meters Centerline goodness [0,1] 0.915293092776415 Centerline is valid? [False, False] Translation: X:1.29, Y:0.19, Z:-0.06 [[ 0.99841092 0.04773188 -0.02995486 1.29075252] [-0.0476555 0.99885851 0.00325898 0.1949234 ] [ 0.03007623 -0.00182629 0.99954594 -0.05606549] [ 0. 0. 0. 1. ]] SLAMing on 14.38538475 meters Centerline goodness [0,1] 0.9173481576771111 Centerline is valid? [False, False] Translation: X:1.29, Y:0.19, Z:-0.06 [[ 9.98604045e-01 4.35348994e-02 -2.99111099e-02 1.29042222e+00] [-4.35728580e-02 9.99050061e-01 -6.18109637e-04 1.94296788e-01] [ 2.98557868e-02 1.92055933e-03 9.99552372e-01 -5.61992433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 14.41538475 meters Centerline goodness [0,1] 0.9231840980865689 Centerline is valid? [False, False] Translation: X:1.29, Y:0.19, Z:-0.06 [[ 0.99888557 0.03678234 -0.02957489 1.29064654] [-0.03698709 0.99929521 -0.00640592 0.19163722] [ 0.02931842 0.00749267 0.99954204 -0.05738526] [ 0. 0. 0. 1. ]] SLAMing on 14.44538475 meters Centerline goodness [0,1] 0.9225288159273489 Centerline is valid? [False, False] Translation: X:1.29, Y:0.19, Z:-0.06 [[ 0.99902859 0.0326584 -0.02958553 1.29076782] [-0.03297617 0.99940288 -0.01031738 0.19115714] [ 0.02923091 0.01128297 0.999509 -0.05787551] [ 0. 0. 0. 1. ]] SLAMing on 14.47538475 meters Centerline goodness [0,1] 0.9256934032983508 Centerline is valid? [False, False] Translation: X:1.29, Y:0.19, Z:-0.06 [[ 0.99916644 0.02786226 -0.02983476 1.29198595] [-0.02829216 0.99950045 -0.01408533 0.18870148] [ 0.0294274 0.01491768 0.9994556 -0.0589522 ] [ 0. 0. 0. 1. ]] SLAMing on 14.505384750000001 meters Centerline goodness [0,1] 0.9269586761406133 Centerline is valid? [False, False] Translation: X:1.29, Y:0.19, Z:-0.06 [[ 0.99917832 0.02707001 -0.0301647 1.29307142] [-0.02749763 0.99952588 -0.01385265 0.18663257] [ 0.02977541 0.01467073 0.99944895 -0.05930611] [ 0. 0. 0. 1. ]] SLAMing on 14.53538475 meters Centerline goodness [0,1] 0.9259398496240602 Centerline is valid? [False, False] Translation: X:1.29, Y:0.19, Z:-0.06 [[ 0.9991798 0.02695621 -0.03021733 1.29351753] [-0.02738532 0.99952861 -0.01387819 0.18640167] [ 0.02982898 0.01469432 0.999447 -0.05974866] [ 0. 0. 0. 1. ]] SLAMing on 14.56538475 meters Centerline goodness [0,1] 0.9245670062239213 Centerline is valid? [False, False] Translation: X:1.29, Y:0.19, Z:-0.06 [[ 0.99918335 0.02667319 -0.03035091 1.29450816] [-0.02711199 0.99953241 -0.01413879 0.18661412] [ 0.02995959 0.01495012 0.9994393 -0.06068065] [ 0. 0. 0. 1. ]] SLAMing on 14.595384750000001 meters Centerline goodness [0,1] 0.9243350908025776 Centerline is valid? [False, False] Translation: X:1.29, Y:0.19, Z:-0.06 [[ 0.99918601 0.02702627 -0.02994827 1.29400642] [-0.02745686 0.99952409 -0.014061 0.18704929] [ 0.029554 0.01487184 0.99945254 -0.06102656] [ 0. 0. 0. 1. ]] SLAMing on 14.62538475 meters Centerline goodness [0,1] 0.9212685167822989 Centerline is valid? [False, False] Translation: X:1.29, Y:0.19, Z:-0.06 [[ 0.99917529 0.02748361 -0.02988979 1.29355077] [-0.02790331 0.99951652 -0.01371636 0.18683908] [ 0.02949836 0.01453907 0.99945908 -0.06061264] [ 0. 0. 0. 1. ]] SLAMing on 14.65538475 meters Centerline goodness [0,1] 0.9191763552318252 Centerline is valid? [False, False] Translation: X:1.29, Y:0.19, Z:-0.06 [[ 0.99906421 0.03131035 -0.02983906 1.29429888] [-0.03161384 0.99945256 -0.00975396 0.18601954] [ 0.02951733 0.01068816 0.99950712 -0.06126932] [ 0. 0. 0. 1. ]] SLAMing on 14.68538475 meters Centerline goodness [0,1] 0.9235469726653606 Centerline is valid? [False, False] Translation: X:1.30, Y:0.19, Z:-0.06 [[ 0.99896161 0.03433345 -0.0299484 1.29610896] [-0.03453959 0.99938288 -0.00639284 0.18568656] [ 0.02971043 0.0074206 0.999531 -0.06275989] [ 0. 0. 0. 1. ]] SLAMing on 14.71538475 meters Centerline goodness [0,1] 0.9215119666286034 Centerline is valid? [False, False] Translation: X:1.30, Y:0.19, Z:-0.06 [[ 0.99896278 0.03427093 -0.02998112 1.29652741] [-0.03448337 0.9993835 -0.00659744 0.18610036] [ 0.02973654 0.00762444 0.99952869 -0.06324808] [ 0. 0. 0. 1. ]] SLAMing on 14.74538475 meters Centerline goodness [0,1] 0.9166336772000093 Centerline is valid? [False, False] Translation: X:1.30, Y:0.19, Z:-0.06 [[ 0.99896873 0.03399716 -0.03009446 1.29702763] [-0.03421435 0.99939185 -0.00673155 0.18585459] [ 0.02984731 0.00775427 0.99952439 -0.0635712 ] [ 0. 0. 0. 1. ]] SLAMing on 14.77538475 meters Centerline goodness [0,1] 0.9165716413395081 Centerline is valid? [False, False] Translation: X:1.30, Y:0.19, Z:-0.06 [[ 0.99897363 0.03381366 -0.03013855 1.29703373] [-0.03402919 0.9993986 -0.00666706 0.18509593] [ 0.02989499 0.0076858 0.9995235 -0.06337478] [ 0. 0. 0. 1. ]] SLAMing on 14.80538475 meters Centerline goodness [0,1] 0.9162838182746299 Centerline is valid? [False, False] Translation: X:1.30, Y:0.18, Z:-0.06 [[ 0.99897972 0.03356742 -0.03021173 1.29697714] [-0.03378158 0.99940741 -0.00660631 0.18440068] [ 0.02997207 0.00762017 0.99952169 -0.06307001] [ 0. 0. 0. 1. ]] SLAMing on 14.835384750000001 meters Centerline goodness [0,1] 0.91559245836965 Centerline is valid? [False, False] Translation: X:1.30, Y:0.18, Z:-0.06 [[ 0.99901721 0.03251469 -0.03012315 1.29685559] [-0.03274268 0.99943855 -0.00710642 0.18471599] [ 0.02987518 0.00808574 0.99952093 -0.06269467] [ 0. 0. 0. 1. ]] SLAMing on 14.86538475 meters Centerline goodness [0,1] 0.9099386614155406 Centerline is valid? [False, False] Translation: X:1.30, Y:0.19, Z:-0.06 [[ 0.99905353 0.03117548 -0.03033361 1.29774559] [-0.03144763 0.99946894 -0.00853673 0.18867386] [ 0.03005136 0.00948258 0.99950337 -0.06301484] [ 0. 0. 0. 1. ]] SLAMing on 14.89538475 meters Centerline goodness [0,1] 0.90837478337197 Centerline is valid? [False, False] Translation: X:1.30, Y:0.19, Z:-0.06 [[ 0.99906709 0.03064823 -0.03042416 1.29806795] [-0.03093892 0.99947958 -0.00912989 0.19012963] [ 0.03012851 0.01006267 0.99949538 -0.06308287] [ 0. 0. 0. 1. ]] SLAMing on 14.925384750000001 meters Centerline goodness [0,1] 0.8986219159813291 Centerline is valid? [False, False] Translation: X:1.30, Y:0.19, Z:-0.06 [[ 0.9991649 0.0276502 -0.03008269 1.29736508] [-0.02802723 0.9995329 -0.01218447 0.19417683] [ 0.02973173 0.01301743 0.99947315 -0.06262234] [ 0. 0. 0. 1. ]] SLAMing on 14.95538475 meters Centerline goodness [0,1] 0.8984033221558482 Centerline is valid? [False, False] Translation: X:1.30, Y:0.20, Z:-0.06 [[ 0.99917443 0.02723138 -0.03014824 1.29716298] [-0.02762533 0.99953731 -0.01272854 0.19575261] [ 0.02978768 0.01355088 0.99946439 -0.06212275] [ 0. 0. 0. 1. ]] SLAMing on 14.98538475 meters Centerline goodness [0,1] 0.8856180561630653 Centerline is valid? [False, False] Translation: X:1.30, Y:0.20, Z:-0.06 [[ 0.9991893 0.02680921 -0.03003346 1.2964765 ] [-0.02723157 0.99953467 -0.01374322 0.19945997] [ 0.02965104 0.01454993 0.99945441 -0.06137381] [ 0. 0. 0. 1. ]] SLAMing on 15.01538475 meters Centerline goodness [0,1] 0.8848559885312134 Centerline is valid? [False, False] Translation: X:1.30, Y:0.20, Z:-0.06 [[ 0.99919377 0.02655724 -0.03010861 1.29683041] [-0.02700909 0.99952708 -0.01470134 0.20299775] [ 0.02970394 0.0155027 0.99943851 -0.06165679] [ 0. 0. 0. 1. ]] SLAMing on 15.04538475 meters Centerline goodness [0,1] 0.8924733489200146 Centerline is valid? [False, False] Translation: X:1.30, Y:0.21, Z:-0.06 [[ 0.99909477 0.03036497 -0.02979292 1.29743025] [-0.03073194 0.99945637 -0.01193748 0.20997281] [ 0.02941424 0.01284226 0.99948481 -0.06236839] [ 0. 0. 0. 1. ]] SLAMing on 15.07538475 meters Centerline goodness [0,1] 0.8937137515667821 Centerline is valid? [False, False] Translation: X:1.30, Y:0.21, Z:-0.06 [[ 0.99898834 0.03357272 -0.02991928 1.29819207] [-0.03385942 0.99938492 -0.00912773 0.2123709 ] [ 0.02959444 0.01013155 0.99951064 -0.06258709] [ 0. 0. 0. 1. ]] SLAMing on 15.10538475 meters Centerline goodness [0,1] 0.7887410483495063 Centerline is valid? [False, False] Translation: X:1.30, Y:0.22, Z:-0.06 [[ 0.99887398 0.03683334 -0.02990113 1.29749786] [-0.03706395 0.99928699 -0.00719523 0.21840746] [ 0.02961478 0.00829538 0.99952696 -0.06142642] [ 0. 0. 0. 1. ]] SLAMing on 15.13538475 meters Centerline goodness [0,1] 0.895777027027027 Centerline is valid? [False, False] Translation: X:1.30, Y:0.22, Z:-0.06 [[ 0.99886301 0.03734135 -0.0296363 1.29660918] [-0.03758098 0.99926491 -0.00756998 0.22197179] [ 0.02933185 0.00867513 0.99953208 -0.06084875] [ 0. 0. 0. 1. ]] SLAMing on 15.16538475 meters Centerline goodness [0,1] 0.9027521782841823 Centerline is valid? [False, False] Translation: X:1.30, Y:0.23, Z:-0.06 [[ 0.99873855 0.04049785 -0.02968565 1.29717242] [-0.04068913 0.99915463 -0.00586762 0.2285138 ] [ 0.02942293 0.0070681 0.99954206 -0.06100741] [ 0. 0. 0. 1. ]] SLAMing on 15.19538475 meters Centerline goodness [0,1] 0.9048788680354369 Centerline is valid? [False, False] Translation: X:1.30, Y:0.23, Z:-0.06 [[ 0.99872213 0.04103876 -0.02949452 1.29633646] [-0.04124005 0.99912973 -0.006249 0.23188821] [ 0.0292124 0.00745737 0.99954541 -0.06036094] [ 0. 0. 0. 1. ]] SLAMing on 15.22538475 meters Centerline goodness [0,1] 0.9032782443782172 Centerline is valid? [False, False] Translation: X:1.30, Y:0.24, Z:-0.06 [[ 0.99872022 0.04085951 -0.02980659 1.29715776] [-0.04109778 0.99912754 -0.0074254 0.23518671] [ 0.02947718 0.00864088 0.9995281 -0.06083866] [ 0. 0. 0. 1. ]] SLAMing on 15.255384750000001 meters Centerline goodness [0,1] 0.9123606783630622 Centerline is valid? [False, False] Translation: X:1.30, Y:0.24, Z:-0.06 [[ 0.99857233 0.04437895 -0.02972899 1.29773368] [-0.04455499 0.99899295 -0.00528543 0.24058475] [ 0.02946449 0.00660246 0.99954402 -0.06131253] [ 0. 0. 0. 1. ]] SLAMing on 15.28538475 meters Centerline goodness [0,1] 0.8387197210287066 Centerline is valid? [False, False] Translation: X:1.30, Y:0.24, Z:-0.06 [[ 0.99844499 0.04698923 -0.02999355 1.29980741] [-0.0471106 0.99888405 -0.00335244 0.24472992] [ 0.02980255 0.00476024 0.99954447 -0.06276183] [ 0. 0. 0. 1. ]] SLAMing on 15.31538475 meters Centerline goodness [0,1] 0.8321256038647343 Centerline is valid? [False, False] Translation: X:1.30, Y:0.25, Z:-0.06 [[ 0.99846285 0.0465664 -0.03005853 1.30019383] [-0.0467099 0.99890013 -0.00408947 0.24629693] [ 0.02983503 0.00548721 0.99953977 -0.06309763] [ 0. 0. 0. 1. ]] SLAMing on 15.345384750000001 meters Centerline goodness [0,1] 0.8395639920424403 Centerline is valid? [False, False] Translation: X:1.30, Y:0.25, Z:-0.06 [[ 0.99852589 0.04500822 -0.03033655 1.30194178] [-0.04522116 0.99895669 -0.0063697 0.25066994] [ 0.03001821 0.00773217 0.99951944 -0.0645633 ] [ 0. 0. 0. 1. ]] SLAMing on 15.37538475 meters Centerline goodness [0,1] 0.8391521455359178 Centerline is valid? [False, False] Translation: X:1.30, Y:0.25, Z:-0.07 [[ 0.99855595 0.04420219 -0.03053168 1.30271367] [-0.04445023 0.9989835 -0.00749328 0.25307613] [ 0.03016942 0.0088396 0.99950571 -0.06502872] [ 0. 0. 0. 1. ]] SLAMing on 15.40538475 meters Centerline goodness [0,1] 0.8459320416545658 Centerline is valid? [False, False] Translation: X:1.30, Y:0.26, Z:-0.07 [[ 0.99858738 0.04327429 -0.03083157 1.3036264 ] [-0.04356297 0.99901234 -0.00875339 0.25551217] [ 0.03042232 0.01008414 0.99948626 -0.0654384 ] [ 0. 0. 0. 1. ]] SLAMing on 15.43538475 meters Centerline goodness [0,1] 0.7813729326715136 Centerline is valid? [False, False] Translation: X:1.31, Y:0.26, Z:-0.07 [[ 0.99865187 0.04133923 -0.03139288 1.30521545] [-0.04170757 0.99906742 -0.01117038 0.25945416] [ 0.03090183 0.01246464 0.9994447 -0.06600487] [ 0. 0. 0. 1. ]] SLAMing on 15.46538475 meters Centerline goodness [0,1] 0.7869468295904888 Centerline is valid? [False, False] Translation: X:1.30, Y:0.26, Z:-0.06 [[ 0.9987251 0.03956217 -0.03135311 1.30438784] [-0.04000383 0.99910715 -0.01358664 0.26441446] [ 0.03078759 0.01482356 0.99941602 -0.06499329] [ 0. 0. 0. 1. ]] SLAMing on 15.49538475 meters Centerline goodness [0,1] 0.7797696317817477 Centerline is valid? [False, False] Translation: X:1.30, Y:0.27, Z:-0.06 [[ 0.99874392 0.03919223 -0.0312178 1.30394002] [-0.03965316 0.99911139 -0.01428513 0.26680394] [ 0.03063019 0.01550507 0.99941052 -0.06461797] [ 0. 0. 0. 1. ]] SLAMing on 15.52538475 meters Centerline goodness [0,1] 0.7701531764609256 Centerline is valid? [False, False] Translation: X:1.30, Y:0.27, Z:-0.06 [[ 0.99875312 0.03923804 -0.03086408 1.30226065] [-0.03971057 0.99910088 -0.01484905 0.27134213] [ 0.03025368 0.01605617 0.99941329 -0.06310119] [ 0. 0. 0. 1. ]] SLAMing on 15.55538475 meters Centerline goodness [0,1] 0.7680041152263375 Centerline is valid? [False, False] Translation: X:1.30, Y:0.27, Z:-0.06 [[ 0.99875443 0.03911377 -0.03097917 1.30222834] [-0.03960437 0.999097 -0.01538418 0.27331629] [ 0.03034946 0.01659193 0.99940163 -0.06279078] [ 0. 0. 0. 1. ]] SLAMing on 15.585384750000001 meters Centerline goodness [0,1] 0.8100972480860749 Centerline is valid? [False, False] Translation: X:1.30, Y:0.28, Z:-0.06 [[ 0.99862074 0.04243877 -0.03091237 1.30272981] [-0.04284626 0.9990017 -0.01264099 0.276067 ] [ 0.03034504 0.01394803 0.99944216 -0.06305479] [ 0. 0. 0. 1. ]] SLAMing on 15.61538475 meters Centerline goodness [0,1] 0.7843355605048256 Centerline is valid? [False, False] Translation: X:1.30, Y:0.28, Z:-0.06 [[ 0.99861316 0.04265771 -0.03085569 1.30250402] [-0.04308509 0.9989826 -0.013321 0.27900477] [ 0.03025605 0.01463195 0.99943508 -0.06287681] [ 0. 0. 0. 1. ]] SLAMing on 15.64538475 meters Centerline goodness [0,1] 0.8083403798956421 Centerline is valid? [False, False] Translation: X:1.30, Y:0.28, Z:-0.06 [[ 0.99845866 0.04608247 -0.03093069 1.30359223] [-0.04645498 0.99885494 -0.01143431 0.28451135] [ 0.03036835 0.01285357 0.99945613 -0.06358681] [ 0. 0. 0. 1. ]] SLAMing on 15.675384750000001 meters Centerline goodness [0,1] 0.8397255744751199 Centerline is valid? [False, False] Translation: X:1.30, Y:0.29, Z:-0.06 [[ 0.99844469 0.04633968 -0.03099744 1.30411329] [-0.046733 0.99883429 -0.0120867 0.28758638] [ 0.03040121 0.01351651 0.99944638 -0.06408711] [ 0. 0. 0. 1. ]] SLAMing on 15.70538475 meters Centerline goodness [0,1] 0.8208955223880597 Centerline is valid? [False, False] Translation: X:1.31, Y:0.29, Z:-0.06 [[ 0.99845226 0.04599141 -0.03127089 1.30514879] [-0.04641964 0.99883601 -0.01310863 0.29022818] [ 0.0306316 0.01453992 0.99942498 -0.06477652] [ 0. 0. 0. 1. ]] SLAMing on 15.73538475 meters Centerline goodness [0,1] 0.8241712821360668 Centerline is valid? [False, False] Translation: X:1.31, Y:0.29, Z:-0.07 [[ 0.9984797 0.04512256 -0.03165826 1.30668649] [-0.04560558 0.99885129 -0.01470456 0.2937619 ] [ 0.03095839 0.01612599 0.99939058 -0.06577778] [ 0. 0. 0. 1. ]] SLAMing on 15.76538475 meters Centerline goodness [0,1] 0.8113191946752656 Centerline is valid? [False, False] Translation: X:1.31, Y:0.30, Z:-0.07 [[ 0.9984935 0.04479556 -0.03168747 1.30677951] [-0.04530068 0.99885459 -0.01540626 0.2959364 ] [ 0.03096105 0.01681851 0.99937908 -0.06576315] [ 0. 0. 0. 1. ]] SLAMing on 15.79538475 meters Centerline goodness [0,1] 0.8069447298130266 Centerline is valid? [False, False] Translation: X:1.31, Y:0.30, Z:-0.07 [[ 0.99839556 0.04687461 -0.03176599 1.30835547] [-0.04733739 0.99878118 -0.01397598 0.3006813 ] [ 0.03107215 0.01545727 0.99939762 -0.0668785 ] [ 0. 0. 0. 1. ]] SLAMing on 15.82538475 meters Centerline goodness [0,1] 0.7995524165400567 Centerline is valid? [False, False] Translation: X:1.31, Y:0.30, Z:-0.07 [[ 0.9982867 0.04909688 -0.03183028 1.31025927] [-0.04951379 0.99869591 -0.01244443 0.30493975] [ 0.03117779 0.01399914 0.99941581 -0.06845749] [ 0. 0. 0. 1. ]] SLAMing on 15.85538475 meters Centerline goodness [0,1] 0.8181986809563067 Centerline is valid? [False, False] Translation: X:1.31, Y:0.31, Z:-0.07 [[ 0.9982986 0.0489096 -0.03174512 1.31067427] [-0.04935249 0.99869259 -0.01332056 0.30772555] [ 0.03105211 0.0148646 0.99940723 -0.06908025] [ 0. 0. 0. 1. ]] SLAMing on 15.88538475 meters Centerline goodness [0,1] 0.8073109520283057 Centerline is valid? [False, False] Translation: X:1.31, Y:0.31, Z:-0.07 [[ 0.99828254 0.04929602 -0.03165253 1.31074801] [-0.04975168 0.99866665 -0.01377276 0.31109099] [ 0.03093138 0.01532388 0.99940404 -0.06925322] [ 0. 0. 0. 1. ]] SLAMing on 15.91538475 meters Centerline goodness [0,1] 0.8073109520283057 Centerline is valid? [False, False] Translation: X:1.31, Y:0.31, Z:-0.07 [[ 0.99828254 0.04929602 -0.03165253 1.31074801] [-0.04975168 0.99866665 -0.01377276 0.31109099] [ 0.03093138 0.01532388 0.99940404 -0.06925322] [ 0. 0. 0. 1. ]] SLAMing on 15.94538475 meters Centerline goodness [0,1] 0.8667369465459507 Centerline is valid? [False, False] Translation: X:1.31, Y:0.32, Z:-0.07 [[ 0.99795329 0.05580755 -0.03122087 1.31019772] [-0.05610268 0.99838747 -0.00865749 0.31710307] [ 0.03068738 0.01039135 0.99947501 -0.06846837] [ 0. 0. 0. 1. ]] SLAMing on 15.97538475 meters Centerline goodness [0,1] 0.8801415666989033 Centerline is valid? [False, False] Translation: X:1.31, Y:0.32, Z:-0.07 [[ 0.99773224 0.05966116 -0.03115959 1.30995841] [-0.05986172 0.99819129 -0.00554296 0.31948714] [ 0.03077253 0.00739566 0.99949905 -0.06772535] [ 0. 0. 0. 1. ]] SLAMing on 16.00538475 meters Centerline goodness [0,1] 0.9178990099830164 Centerline is valid? [False, False] Translation: X:1.31, Y:0.32, Z:-0.07 [[ 0.99742904 0.06466055 -0.0308922 1.30848944] [-0.06476612 0.99789752 -0.00242772 0.32485534] [ 0.03067028 0.00442225 0.99951977 -0.06574457] [ 0. 0. 0. 1. ]] SLAMing on 16.03538475 meters Centerline goodness [0,1] 0.9183020697909573 Centerline is valid? [False, False] Translation: X:1.31, Y:0.33, Z:-0.07 [[ 0.99740322 0.06490118 -0.03121929 1.30905508] [-0.06503501 0.99787756 -0.00328935 0.32781343] [ 0.03093954 0.00531115 0.99950715 -0.0657698 ] [ 0. 0. 0. 1. ]] SLAMing on 16.06538475 meters Centerline goodness [0,1] 0.9186560383281017 Centerline is valid? [False, False] Translation: X:1.31, Y:0.33, Z:-0.07 [[ 9.97130466e-01 6.89629559e-02 -3.12240907e-02 1.30955959e+00] [-6.89989091e-02 9.97616733e-01 -7.41640283e-05 3.29846907e-01] [ 3.11445608e-02 2.22837941e-03 9.99512406e-01 -6.57453067e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.095384749999997 meters Centerline goodness [0,1] 0.9198450351157057 Centerline is valid? [False, False] Translation: X:1.31, Y:0.33, Z:-0.07 [[ 9.97125598e-01 6.90404997e-02 -3.12081811e-02 1.30974960e+00] [-6.90951005e-02 9.97609851e-01 -6.73248371e-04 3.31838137e-01] [ 3.10871075e-02 2.82764560e-03 9.99512679e-01 -6.60250252e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.12538475 meters Centerline goodness [0,1] 0.9187423775761209 Centerline is valid? [False, False] Translation: X:1.31, Y:0.33, Z:-0.07 [[ 9.97101106e-01 6.93978039e-02 -3.11982219e-02 1.30982489e+00] [-6.94678501e-02 9.97583510e-01 -1.16562489e-03 3.34422197e-01] [ 3.10419399e-02 3.32951927e-03 9.99512537e-01 -6.61029457e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.15538475 meters Centerline goodness [0,1] 0.9192068781109877 Centerline is valid? [False, False] Translation: X:1.31, Y:0.34, Z:-0.07 [[ 0.99729096 0.06652259 -0.03139253 1.30938574] [-0.06670068 0.99776215 -0.004659 0.33542125] [ 0.03101234 0.00674028 0.99949627 -0.06579207] [ 0. 0. 0. 1. ]] SLAMing on 16.185384749999997 meters Centerline goodness [0,1] 0.9177318102294947 Centerline is valid? [False, False] Translation: X:1.31, Y:0.33, Z:-0.07 [[ 0.99749083 0.06339533 -0.03151322 1.30884972] [-0.06366081 0.99794347 -0.0074926 0.33264452] [ 0.03097342 0.00947996 0.99947525 -0.06562566] [ 0. 0. 0. 1. ]] SLAMing on 16.21538475 meters Centerline goodness [0,1] 0.9161059974408717 Centerline is valid? [False, False] Translation: X:1.31, Y:0.33, Z:-0.07 [[ 0.99769048 0.06012246 -0.0316068 1.3085925 ] [-0.0604837 0.99811291 -0.01059924 0.33118443] [ 0.03090991 0.01248646 0.99944418 -0.06574257] [ 0. 0. 0. 1. ]] SLAMing on 16.24538475 meters Centerline goodness [0,1] 0.917056869984942 Centerline is valid? [False, False] Translation: X:1.31, Y:0.33, Z:-0.07 [[ 0.99790657 0.05631356 -0.03180031 1.3084972 ] [-0.05674689 0.99830536 -0.01289183 0.32636991] [ 0.03102044 0.01466941 0.9994111 -0.06578472] [ 0. 0. 0. 1. ]] SLAMing on 16.275384749999997 meters Centerline goodness [0,1] 0.9175558312655087 Centerline is valid? [False, False] Translation: X:1.31, Y:0.32, Z:-0.07 [[ 0.99809515 0.05275819 -0.03197873 1.30839513] [-0.05328085 0.99845586 -0.01571784 0.32391272] [ 0.0311001 0.01739175 0.99936495 -0.06583467] [ 0. 0. 0. 1. ]] SLAMing on 16.305384749999998 meters Centerline goodness [0,1] 0.9058133552834654 Centerline is valid? [False, False] Translation: X:1.31, Y:0.32, Z:-0.07 [[ 0.99826867 0.04915019 -0.03230984 1.30842365] [-0.04976133 0.99859181 -0.01839062 0.32047528] [ 0.03136044 0.01996656 0.99930869 -0.06570528] [ 0. 0. 0. 1. ]] SLAMing on 16.33538475 meters Centerline goodness [0,1] 0.8504520832904249 Centerline is valid? [False, False] Translation: X:1.31, Y:0.31, Z:-0.07 [[ 0.9986182 0.04126949 -0.03253488 1.30779312] [-0.04206261 0.9988247 -0.0240821 0.31279686] [ 0.03150279 0.02541732 0.99918043 -0.0653414 ] [ 0. 0. 0. 1. ]] SLAMing on 16.365384749999997 meters Centerline goodness [0,1] 0.8115662056351343 Centerline is valid? [False, False] Translation: X:1.31, Y:0.31, Z:-0.07 [[ 0.99889904 0.03360611 -0.03273123 1.30751564] [-0.0345964 0.99894576 -0.03017387 0.30771714] [ 0.03168269 0.03127303 0.99900861 -0.06538853] [ 0. 0. 0. 1. ]] SLAMing on 16.395384749999998 meters Centerline goodness [0,1] 0.7850494233937397 Centerline is valid? [False, False] Translation: X:1.31, Y:0.30, Z:-0.07 [[ 0.99891273 0.03333399 -0.03259137 1.30730638] [-0.03429451 0.99898011 -0.0293705 0.30448393] [ 0.03157909 0.03045628 0.99903712 -0.06536396] [ 0. 0. 0. 1. ]] SLAMing on 16.42538475 meters Centerline goodness [0,1] 0.7834476755031401 Centerline is valid? [False, False] Translation: X:1.31, Y:0.30, Z:-0.07 [[ 0.99892719 0.03293805 -0.0325508 1.30790345] [-0.0338843 0.99900613 -0.02895875 0.30156758] [ 0.0315646 0.03003065 0.99905047 -0.06619272] [ 0. 0. 0. 1. ]] SLAMing on 16.455384749999997 meters Centerline goodness [0,1] 0.766839057960563 Centerline is valid? [False, False] Translation: X:1.31, Y:0.30, Z:-0.07 [[ 0.99891976 0.03297707 -0.0327388 1.30875256] [-0.03392252 0.99901069 -0.02875583 0.30105252] [ 0.03175813 0.02983535 0.99905019 -0.06682949] [ 0. 0. 0. 1. ]] SLAMing on 16.485384749999998 meters Centerline goodness [0,1] 0.7603992658128648 Centerline is valid? [False, False] Translation: X:1.31, Y:0.30, Z:-0.07 [[ 0.99881731 0.03617312 -0.03248815 1.30876971] [-0.03699352 0.99900233 -0.02501654 0.29994974] [ 0.03155081 0.0261888 0.99915899 -0.06686643] [ 0. 0. 0. 1. ]] SLAMing on 16.51538475 meters Centerline goodness [0,1] 0.7725395448725891 Centerline is valid? [False, False] Translation: X:1.31, Y:0.30, Z:-0.07 [[ 0.9988172 0.03621606 -0.03244387 1.3083472 ] [-0.03703816 0.9989984 -0.02510707 0.30082775] [ 0.0315021 0.02627903 0.99915816 -0.06638038] [ 0. 0. 0. 1. ]] SLAMing on 16.54538475 meters Centerline goodness [0,1] 0.7725593013893763 Centerline is valid? [False, False] Translation: X:1.31, Y:0.30, Z:-0.07 [[ 0.99873895 0.03878897 -0.03187362 1.30702783] [-0.03951764 0.99896421 -0.0225582 0.30305973] [ 0.0309656 0.02378932 0.99923731 -0.06531955] [ 0. 0. 0. 1. ]] SLAMing on 16.575384749999998 meters Centerline goodness [0,1] 0.7681536018478418 Centerline is valid? [False, False] Translation: X:1.31, Y:0.30, Z:-0.06 [[ 0.9987415 0.03872202 -0.0318751 1.30674561] [-0.03945842 0.9989609 -0.02280699 0.30437107] [ 0.03095884 0.02403603 0.99923161 -0.06490243] [ 0. 0. 0. 1. ]] SLAMing on 16.60538475 meters Centerline goodness [0,1] 0.758224564581875 Centerline is valid? [False, False] Translation: X:1.31, Y:0.31, Z:-0.06 [[ 0.99876782 0.03795007 -0.03197868 1.30630905] [-0.03870544 0.99897799 -0.02334245 0.30537589] [ 0.03106015 0.02455144 0.99921594 -0.06393373] [ 0. 0. 0. 1. ]] SLAMing on 16.63538475 meters Centerline goodness [0,1] 0.7506586530545035 Centerline is valid? [False, False] Translation: X:1.31, Y:0.31, Z:-0.06 [[ 0.99878064 0.0375631 -0.03203521 1.30620764] [-0.03832389 0.9989896 -0.02347451 0.30547749] [ 0.03112106 0.0246736 0.99921104 -0.06360629] [ 0. 0. 0. 1. ]] SLAMing on 16.665384749999998 meters Centerline goodness [0,1] 0.7219945355191257 Centerline is valid? [False, False] Translation: X:1.31, Y:0.31, Z:-0.06 [[ 0.99894881 0.03252597 -0.03230065 1.30657498] [-0.03345269 0.99903166 -0.0285771 0.3089479 ] [ 0.03133987 0.02962761 0.99906958 -0.06355947] [ 0. 0. 0. 1. ]] SLAMing on 16.69538475 meters Centerline goodness [0,1] 0.7218592341410968 Centerline is valid? [False, False] Translation: X:1.31, Y:0.31, Z:-0.06 [[ 0.99896499 0.03185859 -0.03246501 1.306947 ] [-0.03280922 0.99903552 -0.02918205 0.31041572] [ 0.031504 0.030217 0.99904676 -0.06354486] [ 0. 0. 0. 1. ]] SLAMing on 16.72538475 meters Centerline goodness [0,1] 0.7111276393537458 Centerline is valid? [False, False] Translation: X:1.31, Y:0.31, Z:-0.06 [[ 0.99889551 0.03377575 -0.0326644 1.30862968] [-0.03467489 0.99902397 -0.02736358 0.31440445] [ 0.0317083 0.02846599 0.99909172 -0.06437725] [ 0. 0. 0. 1. ]] SLAMing on 16.755384749999997 meters Centerline goodness [0,1] 0.7145770252734351 Centerline is valid? [False, False] Translation: X:1.31, Y:0.32, Z:-0.07 [[ 0.99877808 0.03686076 -0.03291849 1.31031752] [-0.0376764 0.99898935 -0.02451067 0.31623092] [ 0.03198174 0.02572097 0.99915745 -0.06538007] [ 0. 0. 0. 1. ]] SLAMing on 16.78538475 meters Centerline goodness [0,1] 0.7234360101156668 Centerline is valid? [False, False] Translation: X:1.31, Y:0.32, Z:-0.07 [[ 0.99853067 0.04292145 -0.03307939 1.31144995] [-0.04358938 0.99885445 -0.01974203 0.32263308] [ 0.03219414 0.02115493 0.99925773 -0.06535476] [ 0. 0. 0. 1. ]] SLAMing on 16.81538475 meters Centerline goodness [0,1] 0.7337018404653955 Centerline is valid? [False, False] Translation: X:1.31, Y:0.33, Z:-0.07 [[ 0.99837975 0.04631981 -0.03305073 1.31183402] [-0.04690888 0.99874977 -0.01727585 0.32657797] [ 0.03220919 0.01879823 0.99930436 -0.06527459] [ 0. 0. 0. 1. ]] SLAMing on 16.845384749999997 meters Centerline goodness [0,1] 0.7586000165384934 Centerline is valid? [False, False] Translation: X:1.31, Y:0.33, Z:-0.07 [[ 0.9980424 0.05309155 -0.03305538 1.31255602] [-0.05352183 0.99849129 -0.01227047 0.33297319] [ 0.03235405 0.01401564 0.9993782 -0.06505751] [ 0. 0. 0. 1. ]] SLAMing on 16.87538475 meters Centerline goodness [0,1] 0.7747201780965927 Centerline is valid? [False, False] Translation: X:1.31, Y:0.34, Z:-0.07 [[ 0.9978459 0.05658857 -0.03318573 1.3138186 ] [-0.05693677 0.99833122 -0.00964231 0.33595057] [ 0.0325847 0.01151103 0.99940269 -0.06574286] [ 0. 0. 0. 1. ]] SLAMing on 16.90538475 meters Centerline goodness [0,1] 0.8071862452383404 Centerline is valid? [False, False] Translation: X:1.32, Y:0.34, Z:-0.07 [[ 0.99738663 0.06409933 -0.03333452 1.316214 ] [-0.06427916 0.99792247 -0.00435033 0.34287022] [ 0.03298641 0.00648168 0.99943478 -0.0672695 ] [ 0. 0. 0. 1. ]] SLAMing on 16.935384749999997 meters Centerline goodness [0,1] 0.880573215432086 Centerline is valid? [False, False] Translation: X:1.32, Y:0.35, Z:-0.07 [[ 9.96878650e-01 7.15751050e-02 -3.33160977e-02 1.31848594e+00] [-7.15649255e-02 9.97434816e-01 1.49943845e-03 3.48058944e-01] [ 3.33379583e-02 8.89505877e-04 9.99443740e-01 -6.87784351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.96538475 meters Centerline goodness [0,1] 0.8965117002093395 Centerline is valid? [False, False] Translation: X:1.32, Y:0.35, Z:-0.07 [[ 9.96820376e-01 7.23418589e-02 -3.34034810e-02 1.31871981e+00] [-7.23495471e-02 9.97378856e-01 9.80068665e-04 3.51364261e-01] [ 3.33868257e-02 1.43977431e-03 9.99441467e-01 -6.88137931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 16.99538475 meters Centerline goodness [0,1] 0.9062448338568359 Centerline is valid? [False, False] Translation: X:1.32, Y:0.35, Z:-0.07 [[ 9.96769290e-01 7.30342576e-02 -3.34212387e-02 1.31858408e+00] [-7.30576167e-02 9.97327584e-01 5.23346214e-04 3.54154645e-01] [ 3.33701454e-02 1.92002061e-03 9.99441217e-01 -6.85354431e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.025384749999997 meters Centerline goodness [0,1] 0.9052354610810699 Centerline is valid? [False, False] Translation: X:1.32, Y:0.36, Z:-0.07 [[ 0.99642023 0.07777194 -0.0331399 1.31805403] [-0.07767082 0.99696966 0.00432995 0.35563834] [ 0.03337623 -0.00174045 0.99944134 -0.06771662] [ 0. 0. 0. 1. ]] SLAMing on 17.055384749999998 meters Centerline goodness [0,1] 0.9060917378092895 Centerline is valid? [False, False] Translation: X:1.32, Y:0.36, Z:-0.07 [[ 0.99638368 0.07815345 -0.03334074 1.31843557] [-0.07806008 0.99694025 0.00409502 0.35679166] [ 0.03355876 -0.00147763 0.99943565 -0.06777802] [ 0. 0. 0. 1. ]] SLAMing on 17.08538475 meters Centerline goodness [0,1] 0.9026592660094441 Centerline is valid? [False, False] Translation: X:1.32, Y:0.36, Z:-0.07 [[ 0.99599616 0.08305138 -0.03307759 1.31866301] [-0.08282019 0.99652993 0.00830137 0.35727381] [ 0.03365225 -0.00552864 0.99941831 -0.0678076 ] [ 0. 0. 0. 1. ]] SLAMing on 17.115384749999997 meters Centerline goodness [0,1] 0.9026293398634486 Centerline is valid? [False, False] Translation: X:1.32, Y:0.36, Z:-0.07 [[ 0.99594715 0.08366573 -0.03300492 1.31858957] [-0.08343674 0.99647886 0.00825768 0.35824455] [ 0.03357959 -0.00547039 0.99942108 -0.06786062] [ 0. 0. 0. 1. ]] SLAMing on 17.145384749999998 meters Centerline goodness [0,1] 0.901379324606572 Centerline is valid? [False, False] Translation: X:1.32, Y:0.36, Z:-0.07 [[ 0.99574507 0.08612004 -0.03278879 1.31762476] [-0.08583905 0.99625997 0.00988573 0.3567658 ] [ 0.03351752 -0.00702911 0.99941341 -0.06719713] [ 0. 0. 0. 1. ]] SLAMing on 17.17538475 meters Centerline goodness [0,1] 0.900962775449226 Centerline is valid? [False, False] Translation: X:1.32, Y:0.36, Z:-0.07 [[ 0.99565672 0.08716352 -0.03271404 1.31743384] [-0.08686177 0.99616465 0.01053685 0.35600544] [ 0.033507 -0.00764948 0.99940921 -0.06715938] [ 0. 0. 0. 1. ]] SLAMing on 17.205384749999997 meters Centerline goodness [0,1] 0.9018697374938088 Centerline is valid? [False, False] Translation: X:1.32, Y:0.35, Z:-0.07 [[ 0.99515688 0.09290867 -0.03210547 1.31720753] [-0.09242386 0.9955868 0.01627138 0.35174252] [ 0.03347553 -0.01322526 0.99935203 -0.06750756] [ 0. 0. 0. 1. ]] SLAMing on 17.235384749999998 meters Centerline goodness [0,1] 0.9031727765904981 Centerline is valid? [False, False] Translation: X:1.32, Y:0.35, Z:-0.07 [[ 0.99505881 0.09400799 -0.03194461 1.31671558] [-0.0934889 0.99546869 0.01737546 0.34955403] [ 0.03343329 -0.01430313 0.9993386 -0.06732795] [ 0. 0. 0. 1. ]] SLAMing on 17.26538475 meters Centerline goodness [0,1] 0.9041417196469353 Centerline is valid? [False, False] Translation: X:1.32, Y:0.34, Z:-0.07 [[ 0.99481676 0.0966965 -0.03145486 1.31507639] [-0.09607869 0.99516063 0.02059637 0.34224966] [ 0.03329424 -0.01746747 0.99929294 -0.06660292] [ 0. 0. 0. 1. ]] SLAMing on 17.29538475 meters Centerline goodness [0,1] 0.9056813962124025 Centerline is valid? [False, False] Translation: X:1.31, Y:0.34, Z:-0.07 [[ 0.99502546 0.0945056 -0.0315124 1.31440171] [-0.09395892 0.99540598 0.01840276 0.33933871] [ 0.03310679 -0.01535034 0.99933393 -0.06659422] [ 0. 0. 0. 1. ]] SLAMing on 17.325384749999998 meters Centerline goodness [0,1] 0.9091077036763348 Centerline is valid? [False, False] Translation: X:1.31, Y:0.33, Z:-0.07 [[ 0.99508488 0.09401008 -0.03111574 1.31329487] [-0.09345449 0.99544498 0.01885605 0.32914219] [ 0.03274667 -0.01585547 0.99933791 -0.06714002] [ 0. 0. 0. 1. ]] SLAMing on 17.35538475 meters Centerline goodness [0,1] 0.9080851239498834 Centerline is valid? [False, False] Translation: X:1.31, Y:0.32, Z:-0.07 [[ 0.99530603 0.09167657 -0.03100511 1.3120243 ] [-0.0911793 0.9956878 0.01709214 0.32424412] [ 0.03243835 -0.01418488 0.99937307 -0.06678197] [ 0. 0. 0. 1. ]] SLAMing on 17.38538475 meters Centerline goodness [0,1] 0.9097942386831276 Centerline is valid? [False, False] Translation: X:1.31, Y:0.31, Z:-0.07 [[ 0.99535583 0.09134408 -0.03038132 1.30966073] [-0.09084112 0.99571083 0.01754507 0.31149342] [ 0.03185365 -0.01470371 0.99938438 -0.06676892] [ 0. 0. 0. 1. ]] SLAMing on 17.415384749999998 meters Centerline goodness [0,1] 0.9110651499482937 Centerline is valid? [False, False] Translation: X:1.31, Y:0.31, Z:-0.07 [[ 0.99554071 0.08934967 -0.03025436 1.30888989] [-0.0888959 0.99591196 0.01602791 0.30645463] [ 0.03156277 -0.01326695 0.99941372 -0.06700331] [ 0. 0. 0. 1. ]] SLAMing on 17.44538475 meters Centerline goodness [0,1] 0.9138233533552129 Centerline is valid? [False, False] Translation: X:1.31, Y:0.29, Z:-0.07 [[ 0.99548246 0.09026541 -0.02944207 1.30709971] [-0.08977262 0.99580582 0.01765346 0.29377993] [ 0.03091208 -0.01493061 0.99941059 -0.06785222] [ 0. 0. 0. 1. ]] SLAMing on 17.47538475 meters Centerline goodness [0,1] 0.9130416795945806 Centerline is valid? [False, False] Translation: X:1.31, Y:0.29, Z:-0.07 [[ 0.99539666 0.09123176 -0.02936436 1.30733163] [-0.09068338 0.9956889 0.01949697 0.2871328 ] [ 0.03101651 -0.01674436 0.99937861 -0.06853402] [ 0. 0. 0. 1. ]] SLAMing on 17.505384749999997 meters Centerline goodness [0,1] 0.9164738451367656 Centerline is valid? [False, False] Translation: X:1.30, Y:0.27, Z:-0.07 [[ 0.9953983 0.09158444 -0.02818712 1.30368759] [-0.09102249 0.99563544 0.02061515 0.27317702] [ 0.02995212 -0.01795462 0.99939006 -0.0682323 ] [ 0. 0. 0. 1. ]] SLAMing on 17.53538475 meters Centerline goodness [0,1] 0.9183411360152463 Centerline is valid? [False, False] Translation: X:1.30, Y:0.27, Z:-0.07 [[ 0.99560833 0.08936769 -0.02788319 1.30185683] [-0.08885 0.99585829 0.01928576 0.26716288] [ 0.02949123 -0.01672364 0.99942513 -0.06758806] [ 0. 0. 0. 1. ]] SLAMing on 17.56538475 meters Centerline goodness [0,1] 0.9181960538678359 Centerline is valid? [False, False] Translation: X:1.30, Y:0.25, Z:-0.07 [[ 0.99602337 0.08489193 -0.02703359 1.29911038] [-0.0844724 0.99629246 0.01630209 0.25419564] [ 0.02831728 -0.01395367 0.99950159 -0.06795398] [ 0. 0. 0. 1. ]] SLAMing on 17.595384749999997 meters Centerline goodness [0,1] 0.9148922753547031 Centerline is valid? [False, False] Translation: X:1.30, Y:0.25, Z:-0.07 [[ 0.99629894 0.08151148 -0.02728192 1.29930941] [-0.0811492 0.99660174 0.01413448 0.24727371] [ 0.02834133 -0.01186826 0.99952785 -0.06862544] [ 0. 0. 0. 1. ]] SLAMing on 17.62538475 meters Centerline goodness [0,1] 0.9059017305182999 Centerline is valid? [False, False] Translation: X:1.30, Y:0.23, Z:-0.07 [[ 0.99702368 0.07219067 -0.02706077 1.29828519] [-0.07203425 0.99737957 0.00671226 0.23421094] [ 0.02747442 -0.00474298 0.99961125 -0.07017924] [ 0. 0. 0. 1. ]] SLAMing on 17.65538475 meters Centerline goodness [0,1] 0.9045145652079817 Centerline is valid? [False, False] Translation: X:1.30, Y:0.23, Z:-0.07 [[ 0.99728606 0.06831442 -0.0274526 1.29898938] [-0.06822961 0.99766156 0.00401554 0.22759035] [ 0.02766272 -0.00213156 0.99961504 -0.07113007] [ 0. 0. 0. 1. ]] SLAMing on 17.685384749999997 meters Centerline goodness [0,1] 0.8975900940884076 Centerline is valid? [False, False] Translation: X:1.30, Y:0.21, Z:-0.07 [[ 9.97675025e-01 6.24947053e-02 -2.71837443e-02 1.29960216e+00] [-6.25195730e-02 9.98043736e-01 -6.50191815e-05 2.14976645e-01] [ 2.71265024e-02 1.76438410e-03 9.99630452e-01 -7.39971651e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.71538475 meters Centerline goodness [0,1] 0.8967589180012956 Centerline is valid? [False, False] Translation: X:1.30, Y:0.21, Z:-0.08 [[ 0.99783747 0.05990022 -0.02706205 1.30046664] [-0.05997677 0.99819772 -0.00202548 0.2094486 ] [ 0.02689195 0.00364419 0.9996317 -0.07594208] [ 0. 0. 0. 1. ]] SLAMing on 17.74538475 meters Centerline goodness [0,1] 0.8944491457585253 Centerline is valid? [False, False] Translation: X:1.30, Y:0.20, Z:-0.08 [[ 0.99790211 0.05923911 -0.02611707 1.29948691] [-0.0593155 0.99823695 -0.00215943 0.19761347] [ 0.0259431 0.00370404 0.99965656 -0.07814478] [ 0. 0. 0. 1. ]] SLAMing on 17.775384749999997 meters Centerline goodness [0,1] 0.8957083525611444 Centerline is valid? [False, False] Translation: X:1.30, Y:0.19, Z:-0.08 [[ 9.97862289e-01 5.99158253e-02 -2.60949388e-02 1.29980154e+00] [-5.99598071e-02 9.98200381e-01 -9.05566027e-04 1.91592926e-01] [ 2.59937201e-02 2.46827769e-03 9.99659059e-01 -7.89911808e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.805384749999998 meters Centerline goodness [0,1] 0.900666792774047 Centerline is valid? [False, False] Translation: X:1.30, Y:0.18, Z:-0.08 [[ 9.97918903e-01 5.94914004e-02 -2.48724116e-02 1.29799804e+00] [-5.95377483e-02 9.98225419e-01 -1.12640269e-03 1.79686719e-01] [ 2.47612623e-02 2.60490592e-03 9.99689999e-01 -8.10352416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.83538475 meters Centerline goodness [0,1] 0.900666792774047 Centerline is valid? [False, False] Translation: X:1.30, Y:0.18, Z:-0.08 [[ 9.97918903e-01 5.94914004e-02 -2.48724116e-02 1.29799804e+00] [-5.95377483e-02 9.98225419e-01 -1.12640269e-03 1.79686719e-01] [ 2.47612623e-02 2.60490592e-03 9.99689999e-01 -8.10352416e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 17.865384749999997 meters Centerline goodness [0,1] 0.9044080754987457 Centerline is valid? [False, False] Translation: X:1.30, Y:0.17, Z:-0.08 [[ 0.99799733 0.05821998 -0.02473389 1.29800203] [-0.05829171 0.99829719 -0.00218828 0.1738941 ] [ 0.02456437 0.00362568 0.99969168 -0.08221244] [ 0. 0. 0. 1. ]] SLAMing on 17.895384749999998 meters Centerline goodness [0,1] 0.9082937522835222 Centerline is valid? [False, False] Translation: X:1.30, Y:0.16, Z:-0.08 [[ 0.99808403 0.05715503 -0.0236976 1.29697984] [-0.05723517 0.99835703 -0.00271697 0.1622498 ] [ 0.02350338 0.0040681 0.99971548 -0.08455339] [ 0. 0. 0. 1. ]] SLAMing on 17.92538475 meters Centerline goodness [0,1] 0.9075110456553755 Centerline is valid? [False, False] Translation: X:1.30, Y:0.16, Z:-0.09 [[ 0.99807011 0.05743085 -0.0236166 1.29733605] [-0.05748538 0.99834501 -0.00163616 0.15641704] [ 0.02348355 0.00299061 0.99971975 -0.08548114] [ 0. 0. 0. 1. ]] SLAMing on 17.955384749999997 meters Centerline goodness [0,1] 0.9083199919951971 Centerline is valid? [False, False] Translation: X:1.30, Y:0.14, Z:-0.09 [[ 0.99822309 0.05502528 -0.02286642 1.29690544] [-0.0551008 0.99847719 -0.00268528 0.14463274] [ 0.02268384 0.00394046 0.99973492 -0.08764451] [ 0. 0. 0. 1. ]] SLAMing on 17.985384749999998 meters Centerline goodness [0,1] 0.9099387492753258 Centerline is valid? [False, False] Translation: X:1.30, Y:0.14, Z:-0.09 [[ 0.99839351 0.05186252 -0.02281854 1.29671989] [-0.05199157 0.99863451 -0.00509871 0.13896771] [ 0.02252295 0.00627689 0.99972662 -0.0882948 ] [ 0. 0. 0. 1. ]] SLAMing on 18.01538475 meters Centerline goodness [0,1] 0.9098876808800473 Centerline is valid? [False, False] Translation: X:1.29, Y:0.13, Z:-0.09 [[ 0.99865745 0.04689774 -0.02199761 1.29450472] [-0.04709002 0.99885612 -0.0083054 0.12620823] [ 0.02158294 0.00933012 0.99972352 -0.08829103] [ 0. 0. 0. 1. ]] SLAMing on 18.045384749999997 meters Centerline goodness [0,1] 0.9134033417826289 Centerline is valid? [False, False] Translation: X:1.29, Y:0.12, Z:-0.09 [[ 0.99879071 0.04421886 -0.02148996 1.29299033] [-0.04445041 0.99895726 -0.01041933 0.1209861 ] [ 0.02100682 0.01136197 0.99971477 -0.08828184] [ 0. 0. 0. 1. ]] SLAMing on 18.075384749999998 meters Centerline goodness [0,1] 0.9103786003896582 Centerline is valid? [False, False] Translation: X:1.29, Y:0.11, Z:-0.09 [[ 0.99890047 0.04209829 -0.02062951 1.29112377] [-0.04231894 0.99905025 -0.01037848 0.10845563] [ 0.020173 0.01124009 0.99973332 -0.08802515] [ 0. 0. 0. 1. ]] SLAMing on 18.10538475 meters Centerline goodness [0,1] 0.9126939764167266 Centerline is valid? [False, False] Translation: X:1.29, Y:0.10, Z:-0.09 [[ 0.99898888 0.04014278 -0.02024299 1.29089406] [-0.04035937 0.99913103 -0.01040711 0.09719082] [ 0.01980763 0.01121358 0.99974092 -0.08878481] [ 0. 0. 0. 1. ]] SLAMing on 18.13538475 meters Centerline goodness [0,1] 0.9099768352104801 Centerline is valid? [False, False] Translation: X:1.29, Y:0.09, Z:-0.09 [[ 0.99899131 0.03993113 -0.02053921 1.29235086] [-0.04013066 0.99915026 -0.00939565 0.0921471 ] [ 0.02014658 0.01021042 0.9997449 -0.08971532] [ 0. 0. 0. 1. ]] SLAMing on 18.165384749999998 meters Centerline goodness [0,1] 0.9106139213143104 Centerline is valid? [False, False] Translation: X:1.29, Y:0.08, Z:-0.09 [[ 0.99909666 0.03763307 -0.01973868 1.29208851] [-0.03784618 0.99922803 -0.01053653 0.08287369] [ 0.01932692 0.01127404 0.99974965 -0.09167515] [ 0. 0. 0. 1. ]] SLAMing on 18.19538475 meters Centerline goodness [0,1] 0.913353776016933 Centerline is valid? [False, False] Translation: X:1.29, Y:0.08, Z:-0.09 [[ 0.99920883 0.03474616 -0.01934981 1.2911624 ] [-0.03500388 0.99930075 -0.01314309 0.07844926] [ 0.01887961 0.01381001 0.99972638 -0.09223453] [ 0. 0. 0. 1. ]] SLAMing on 18.22538475 meters Centerline goodness [0,1] 0.9112803453110824 Centerline is valid? [False, False] Translation: X:1.29, Y:0.07, Z:-0.09 [[ 0.99929074 0.03225438 -0.01943354 1.29119212] [-0.03251218 0.9993855 -0.01309889 0.066714 ] [ 0.0189991 0.01372143 0.99972534 -0.09161216] [ 0. 0. 0. 1. ]] SLAMing on 18.255384749999997 meters Centerline goodness [0,1] 0.9137964423050322 Centerline is valid? [False, False] Translation: X:1.29, Y:0.06, Z:-0.09 [[ 0.99929119 0.03204605 -0.01975249 1.29230461] [-0.03228769 0.99940612 -0.0120383 0.06119317] [ 0.01935497 0.01266753 0.99973242 -0.09200316] [ 0. 0. 0. 1. ]] SLAMing on 18.28538475 meters Centerline goodness [0,1] 0.9116983025336567 Centerline is valid? [False, False] Translation: X:1.29, Y:0.05, Z:-0.09 [[ 0.99937369 0.02962552 -0.0193536 1.29343796] [-0.02987962 0.99946929 -0.01297499 0.05267108] [ 0.01895894 0.01354514 0.99972851 -0.09422355] [ 0. 0. 0. 1. ]] SLAMing on 18.31538475 meters Centerline goodness [0,1] 0.9112932553780737 Centerline is valid? [False, False] Translation: X:1.29, Y:0.05, Z:-0.09 [[ 0.99936688 0.0298157 -0.01941277 1.29382204] [-0.03004724 0.99947946 -0.01174639 0.04799595] [ 0.01905244 0.01232225 0.99974255 -0.09430235] [ 0. 0. 0. 1. ]] SLAMing on 18.345384749999997 meters Centerline goodness [0,1] 0.9157969169848678 Centerline is valid? [False, False] Translation: X:1.29, Y:0.04, Z:-0.09 [[ 0.99943681 0.02774606 -0.01887354 1.29169745] [-0.02799064 0.99952597 -0.01282045 0.03937021] [ 0.01850888 0.01334151 0.99973968 -0.09353579] [ 0. 0. 0. 1. ]] SLAMing on 18.37538475 meters Centerline goodness [0,1] 0.9184010477464909 Centerline is valid? [False, False] Translation: X:1.29, Y:0.03, Z:-0.09 [[ 0.9994232 0.02814013 -0.01901053 1.29155798] [-0.02835686 0.99953479 -0.01122904 0.03421131] [ 0.01868569 0.01176165 0.99975622 -0.09264951] [ 0. 0. 0. 1. ]] SLAMing on 18.40538475 meters Centerline goodness [0,1] 0.9153474181106441 Centerline is valid? [False, False] Translation: X:1.29, Y:0.03, Z:-0.09 [[ 0.99950763 0.02505817 -0.01888325 1.29167543] [-0.02530638 0.99959492 -0.0130223 0.02707607] [ 0.01854929 0.01349376 0.99973689 -0.09324078] [ 0. 0. 0. 1. ]] SLAMing on 18.435384749999997 meters Centerline goodness [0,1] 0.9141329479768786 Centerline is valid? [False, False] Translation: X:1.29, Y:0.02, Z:-0.09 [[ 0.99951289 0.02448136 -0.01935551 1.29365404] [-0.02472104 0.99961943 -0.01224214 0.02259904] [ 0.01904844 0.01271466 0.99973771 -0.09403442] [ 0. 0. 0. 1. ]] SLAMing on 18.46538475 meters Centerline goodness [0,1] 0.9134660284847069 Centerline is valid? [False, False] Translation: X:1.30, Y:0.01, Z:-0.10 [[ 0.99958369 0.02115067 -0.01962375 1.29635775] [-0.02142518 0.99967402 -0.01388549 0.01457118] [ 0.01932367 0.01430015 0.99971101 -0.09629448] [ 0. 0. 0. 1. ]] SLAMing on 18.49538475 meters Centerline goodness [0,1] 0.9152964623816642 Centerline is valid? [False, False] Translation: X:1.30, Y:0.01, Z:-0.10 [[ 0.99957612 0.02108554 -0.02007457 1.29763587] [-0.02134091 0.99969295 -0.01259286 0.01004764] [ 0.01980288 0.01301593 0.99971918 -0.09614744] [ 0. 0. 0. 1. ]] SLAMing on 18.525384749999997 meters Centerline goodness [0,1] 0.911728998252939 Centerline is valid? [False, False] Translation: X:1.30, Y:0.00, Z:-0.10 [[ 0.99963771 0.01812983 -0.01989367 1.2971939 ] [-0.01842252 0.99972326 -0.01462946 0.00365074] [ 0.01962294 0.01499065 0.99969506 -0.09631199] [ 0. 0. 0. 1. ]] SLAMing on 18.555384749999998 meters Centerline goodness [0,1] 0.9116747349351073 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.00, Z:-0.10 [[ 9.99623489e-01 1.85339518e-02 -2.02329519e-02 1.29738031e+00] [-1.87990059e-02 9.99738901e-01 -1.29894699e-02 -7.71280037e-04] [ 1.99869229e-02 1.33649386e-02 9.99710909e-01 -9.51446383e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.58538475 meters Centerline goodness [0,1] 0.9138404585622164 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.01, Z:-0.09 [[ 0.99960509 0.0191603 -0.0205559 1.29761563] [-0.01937784 0.99975776 -0.01043645 -0.0085505 ] [ 0.02035095 0.01083066 0.99973423 -0.09367749] [ 0. 0. 0. 1. ]] SLAMing on 18.615384749999997 meters Centerline goodness [0,1] 0.9143688679528339 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.01, Z:-0.09 [[ 0.9995979 0.01979907 -0.0202988 1.29698172] [-0.01999638 0.99975431 -0.00956358 -0.01118399] [ 0.02010446 0.00996563 0.99974822 -0.09362227] [ 0. 0. 0. 1. ]] SLAMing on 18.645384749999998 meters Centerline goodness [0,1] 0.9150354396018701 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.01, Z:-0.09 [[ 0.99958551 0.0211269 -0.01955677 1.29554297] [-0.0212964 0.99973707 -0.00849981 -0.01475349] [ 0.01937206 0.00891277 0.99977262 -0.09432568] [ 0. 0. 0. 1. ]] SLAMing on 18.67538475 meters Centerline goodness [0,1] 0.9188119410200628 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.02, Z:-0.09 [[ 0.99955728 0.02264626 -0.01929733 1.29404005] [-0.02278401 0.99971626 -0.00694838 -0.01906042] [ 0.0191345 0.00738498 0.99978964 -0.09358385] [ 0. 0. 0. 1. ]] SLAMing on 18.705384749999997 meters Centerline goodness [0,1] 0.9177255496588325 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.02, Z:-0.09 [[ 0.99954301 0.02333745 -0.01921288 1.2933146 ] [-0.02345807 0.99970635 -0.0060768 -0.02150629] [ 0.01906542 0.00652472 0.99979695 -0.0930139 ] [ 0. 0. 0. 1. ]] SLAMing on 18.735384749999998 meters Centerline goodness [0,1] 0.9213373563743866 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.02, Z:-0.09 [[ 0.99952442 0.02437993 -0.0188827 1.29198322] [-0.0244771 0.99968822 -0.00493216 -0.02444177] [ 0.01875657 0.00539201 0.99980954 -0.09237729] [ 0. 0. 0. 1. ]] SLAMing on 18.76538475 meters Centerline goodness [0,1] 0.9222058552752715 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.03, Z:-0.09 [[ 0.99949952 0.02536001 -0.01890983 1.29176573] [-0.02542975 0.99967064 -0.00345672 -0.02994187] [ 0.01881594 0.00393586 0.99981522 -0.09233819] [ 0. 0. 0. 1. ]] SLAMing on 18.795384749999997 meters Centerline goodness [0,1] 0.9253101813367814 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.03, Z:-0.09 [[ 0.99949147 0.02557887 -0.01904019 1.2922683 ] [-0.02563995 0.99966683 -0.00297109 -0.03234185] [ 0.01895784 0.00345777 0.9998143 -0.09275607] [ 0. 0. 0. 1. ]] SLAMing on 18.825384749999998 meters Centerline goodness [0,1] 0.9287962962962963 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.04, Z:-0.09 [[ 0.99948354 0.02580059 -0.01915667 1.29351098] [-0.02585022 0.99966307 -0.00234773 -0.03643675] [ 0.01908965 0.00284172 0.99981374 -0.09424918] [ 0. 0. 0. 1. ]] SLAMing on 18.85538475 meters Centerline goodness [0,1] 0.9269955379276152 Centerline is valid? [False, False] Translation: X:1.29, Y:-0.04, Z:-0.09 [[ 0.99947769 0.02586049 -0.01937997 1.29425779] [-0.02590071 0.99966285 -0.0018275 -0.03908921] [ 0.01932618 0.0023285 0.99981052 -0.09456223] [ 0. 0. 0. 1. ]] SLAMing on 18.88538475 meters Centerline goodness [0,1] 0.9265104118031562 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.04, Z:-0.09 [[ 9.99469302e-01 2.58039641e-02 -1.98814165e-02 1.29526032e+00] [-2.58283617e-02 9.99665920e-01 -9.71313146e-04 -4.27153246e-02] [ 1.98497108e-02 1.48430209e-03 9.99801873e-01 -9.41362687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 18.915384749999998 meters Centerline goodness [0,1] 0.9278113587709357 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.05, Z:-0.09 [[ 0.99954408 0.02231883 -0.02033487 1.29530409] [-0.02238654 0.99974456 -0.00310822 -0.04974637] [ 0.02026031 0.00356203 0.99978839 -0.09287132] [ 0. 0. 0. 1. ]] SLAMing on 18.94538475 meters Centerline goodness [0,1] 0.9277491572855053 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.06, Z:-0.09 [[ 0.99961902 0.01837084 -0.0205993 1.29607796] [-0.01849033 0.99981321 -0.00562539 -0.05552602] [ 0.02049211 0.00600414 0.99977199 -0.09266902] [ 0. 0. 0. 1. ]] SLAMing on 18.97538475 meters Centerline goodness [0,1] 0.9296125815113156 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.06, Z:-0.09 [[ 0.99962082 0.01748489 -0.02127181 1.29858698] [-0.0175972 0.99983213 -0.0051038 -0.05877278] [ 0.021179 0.00547619 0.9997607 -0.09307534] [ 0. 0. 0. 1. ]] SLAMing on 19.005384749999997 meters Centerline goodness [0,1] 0.9267702824713014 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.06, Z:-0.10 [[ 0.99968361 0.0132533 -0.02137812 1.302468 ] [-0.01341295 0.99988309 -0.00734207 -0.06445277] [ 0.02127832 0.00762649 0.9997445 -0.09579178] [ 0. 0. 0. 1. ]] SLAMing on 19.03538475 meters Centerline goodness [0,1] 0.9292382495948136 Centerline is valid? [False, False] Translation: X:1.30, Y:-0.07, Z:-0.10 [[ 0.99968152 0.01250708 -0.02191882 1.30429362] [-0.01264723 0.99990038 -0.00626734 -0.06857021] [ 0.02183825 0.00654256 0.99974011 -0.09515774] [ 0. 0. 0. 1. ]] SLAMing on 19.06538475 meters Centerline goodness [0,1] 0.933331149259599 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.08, Z:-0.09 [[ 0.99971865 0.00745592 -0.02251722 1.30576788] [-0.00760471 0.99994977 -0.00652947 -0.07600618] [ 0.02246741 0.00669887 0.99972513 -0.09028819] [ 0. 0. 0. 1. ]] SLAMing on 19.095384749999997 meters Centerline goodness [0,1] 0.9352574873974498 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.08, Z:-0.09 [[ 0.99974589 0.0035634 -0.02225897 1.30514391] [-0.00379685 0.99993814 -0.0104544 -0.07656083] [ 0.02222034 0.01053625 0.99969758 -0.09039558] [ 0. 0. 0. 1. ]] SLAMing on 19.12538475 meters Centerline goodness [0,1] 0.9359236762181434 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.08, Z:-0.09 [[ 0.99972342 0.00244538 -0.02339025 1.3074297 ] [-0.00266435 0.99995288 -0.00933524 -0.07840922] [ 0.02336632 0.00939498 0.99968282 -0.08799853] [ 0. 0. 0. 1. ]] SLAMing on 19.15538475 meters Centerline goodness [0,1] 0.937015152015317 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.08, Z:-0.09 [[ 0.99971363 0.00154557 -0.02388037 1.30947236] [-0.00177351 0.99995305 -0.0095267 -0.07836183] [ 0.02386453 0.00956632 0.99966943 -0.08849681] [ 0. 0. 0. 1. ]] SLAMing on 19.185384749999997 meters Centerline goodness [0,1] 0.9369005886632714 Centerline is valid? [False, False] Translation: X:1.31, Y:-0.08, Z:-0.09 [[ 9.99698923e-01 -6.88135196e-04 -2.45273181e-02 1.31349247e+00] [ 4.31094278e-04 9.99944953e-01 -1.04835282e-02 -7.77590260e-02] [ 2.45331820e-02 1.04697983e-02 9.99644190e-01 -9.02843573e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.21538475 meters Centerline goodness [0,1] 0.9376363997090139 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.08, Z:-0.09 [[ 0.99968055 -0.00174393 -0.0252143 1.31581176] [ 0.0014832 0.99994528 -0.01035539 -0.07794931] [ 0.02523098 0.01031468 0.99962843 -0.09012897] [ 0. 0. 0. 1. ]] SLAMing on 19.24538475 meters Centerline goodness [0,1] 0.9397542608006342 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.08, Z:-0.09 [[ 0.99963192 -0.00457496 -0.02674139 1.32081998] [ 0.00432145 0.99994525 -0.00953006 -0.07913583] [ 0.02678352 0.00941099 0.99959696 -0.08794443] [ 0. 0. 0. 1. ]] SLAMing on 19.275384749999997 meters Centerline goodness [0,1] 0.9411960353888112 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.08, Z:-0.09 [[ 0.99960092 -0.00562705 -0.02768269 1.32299018] [ 0.0053787 0.99994469 -0.00903763 -0.08058514] [ 0.02773202 0.00888512 0.9995759 -0.08669662] [ 0. 0. 0. 1. ]] SLAMing on 19.305384749999998 meters Centerline goodness [0,1] 0.9437181917972258 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.08, Z:-0.09 [[ 0.99954304 -0.00840292 -0.02903622 1.32763504] [ 0.00815053 0.99992806 -0.00879977 -0.08135453] [ 0.02910807 0.00855908 0.99953963 -0.08540507] [ 0. 0. 0. 1. ]] SLAMing on 19.33538475 meters Centerline goodness [0,1] 0.9420890376901913 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.08, Z:-0.09 [[ 0.99951704 -0.0093345 -0.0296405 1.32964504] [ 0.00906928 0.99991774 -0.00906952 -0.08071543] [ 0.02972272 0.00879632 0.99951948 -0.08558559] [ 0. 0. 0. 1. ]] SLAMing on 19.365384749999997 meters Centerline goodness [0,1] 0.9429641413137138 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.08, Z:-0.09 [[ 0.9994904 -0.01038316 -0.030185 1.33145028] [ 0.0101075 0.99990594 -0.0092706 -0.07929025] [ 0.03027842 0.00896078 0.99950134 -0.08530105] [ 0. 0. 0. 1. ]] SLAMing on 19.395384749999998 meters Centerline goodness [0,1] 0.9432243532412468 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.08, Z:-0.09 [[ 0.99948195 -0.01064784 -0.03037206 1.33191466] [ 0.010366 0.99990188 -0.00942216 -0.07796067] [ 0.0304694 0.00910244 0.99949425 -0.08511786] [ 0. 0. 0. 1. ]] SLAMing on 19.42538475 meters Centerline goodness [0,1] 0.9447332061319824 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.08, Z:-0.08 [[ 0.99948902 -0.00701772 -0.03118424 1.33289437] [ 0.00686619 0.99996411 -0.0049636 -0.07647131] [ 0.03121796 0.00474694 0.99950133 -0.08308547] [ 0. 0. 0. 1. ]] SLAMing on 19.455384749999997 meters Centerline goodness [0,1] 0.9436286587168621 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.07, Z:-0.08 [[ 0.99950032 -0.00625858 -0.03098293 1.33134622] [ 0.00610402 0.99996846 -0.00508079 -0.0744661 ] [ 0.03101375 0.00488913 0.999507 -0.0824359 ] [ 0. 0. 0. 1. ]] SLAMing on 19.485384749999998 meters Centerline goodness [0,1] 0.9431066505914171 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.07, Z:-0.08 [[ 9.99508557e-01 -1.14814363e-03 -3.13261196e-02 1.32934681e+00] [ 1.13135581e-03 9.99999207e-01 -5.53624573e-04 -7.19952319e-02] [ 3.13267304e-02 5.17911511e-04 9.99509063e-01 -7.93652805e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.51538475 meters Centerline goodness [0,1] 0.9413999090968119 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.07, Z:-0.08 [[ 9.99521179e-01 7.15586267e-05 -3.09419939e-02 1.32716096e+00] [-9.60330907e-05 9.99999684e-01 -7.89493530e-04 -6.87424445e-02] [ 3.09419277e-02 7.92086960e-04 9.99520870e-01 -7.89669537e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.545384749999997 meters Centerline goodness [0,1] 0.9374154044473091 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.06, Z:-0.08 [[ 0.99951856 0.00515087 -0.03059592 1.32484836] [-0.00506392 0.99998292 0.00291871 -0.06458505] [ 0.03061043 -0.00276237 0.99952757 -0.0778256 ] [ 0. 0. 0. 1. ]] SLAMing on 19.575384749999998 meters Centerline goodness [0,1] 0.9352139765988139 Centerline is valid? [False, False] Translation: X:1.32, Y:-0.06, Z:-0.08 [[ 0.99952403 0.00534207 -0.03038371 1.32447891] [-0.00528323 0.99998401 0.00201651 -0.06161189] [ 0.03039399 -0.00185502 0.99953627 -0.07875484] [ 0. 0. 0. 1. ]] SLAMing on 19.60538475 meters Centerline goodness [0,1] 0.9298580612309847 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.06, Z:-0.08 [[ 0.99953156 0.00600731 -0.03000965 1.32506292] [-0.00594985 0.99998029 0.00200334 -0.05645915] [ 0.0300211 -0.00182385 0.9995476 -0.08024855] [ 0. 0. 0. 1. ]] SLAMing on 19.63538475 meters Centerline goodness [0,1] 0.930240669689571 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.06, Z:-0.08 [[ 0.99952452 0.00569002 -0.03030439 1.32571465] [-0.00564639 0.9999829 0.0015251 -0.05512309] [ 0.03031255 -0.00135326 0.99953955 -0.08038675] [ 0. 0. 0. 1. ]] SLAMing on 19.665384749999998 meters Centerline goodness [0,1] 0.9320703137416956 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.06, Z:-0.08 [[ 0.99950436 0.005212 -0.03104608 1.32659037] [-0.00515813 0.99998505 0.00181514 -0.05566075] [ 0.03105508 -0.0016541 0.99951631 -0.07885453] [ 0. 0. 0. 1. ]] SLAMing on 19.69538475 meters Centerline goodness [0,1] 0.9327241467142129 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.06, Z:-0.08 [[ 0.99949451 0.00475183 -0.03143482 1.32747921] [-0.00469159 0.99998701 0.00198981 -0.05630702] [ 0.03144386 -0.00184133 0.99950382 -0.07837733] [ 0. 0. 0. 1. ]] SLAMing on 19.72538475 meters Centerline goodness [0,1] 0.9327241467142129 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.06, Z:-0.08 [[ 0.99949451 0.00475183 -0.03143482 1.32747921] [-0.00469159 0.99998701 0.00198981 -0.05630702] [ 0.03144386 -0.00184133 0.99950382 -0.07837733] [ 0. 0. 0. 1. ]] SLAMing on 19.755384749999997 meters Centerline goodness [0,1] 0.9325212067096116 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.06, Z:-0.08 [[ 9.99481871e-01 3.17010991e-03 -3.20303057e-02 1.33016962e+00] [-3.12633387e-03 9.99994109e-01 1.41669630e-03 -5.61050830e-02] [ 3.20346081e-02 -1.31582484e-03 9.99485894e-01 -7.90360710e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.78538475 meters Centerline goodness [0,1] 0.9310257224515719 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.06, Z:-0.08 [[ 9.99467067e-01 2.26783041e-03 -3.25643866e-02 1.33225307e+00] [-2.24354768e-03 9.99997177e-01 7.82203868e-04 -5.54398542e-02] [ 3.25660686e-02 -7.08727251e-04 9.99469334e-01 -7.99745183e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.81538475 meters Centerline goodness [0,1] 0.9331914352881377 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.05, Z:-0.08 [[ 9.99455096e-01 1.56020125e-03 -3.29708575e-02 1.33364986e+00] [-1.55118521e-03 9.99998752e-01 2.99031970e-04 -5.43695909e-02] [ 3.29712829e-02 -2.47725120e-04 9.99456269e-01 -8.03079080e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.845384749999997 meters Centerline goodness [0,1] 0.9309731138371575 Centerline is valid? [False, False] Translation: X:1.33, Y:-0.05, Z:-0.08 [[ 9.99442777e-01 1.11089582e-03 -3.33601714e-02 1.33481094e+00] [-1.11456128e-03 9.99999375e-01 -9.12792705e-05 -5.34458859e-02] [ 3.33600492e-02 1.28410363e-04 9.99443390e-01 -8.06628378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.87538475 meters Centerline goodness [0,1] 0.931358542083373 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.05, Z:-0.08 [[ 9.99425828e-01 5.41988466e-04 -3.38780241e-02 1.33587434e+00] [-5.51146613e-04 9.99999814e-01 -2.60989116e-04 -5.27585259e-02] [ 3.38778763e-02 2.79511022e-04 9.99425941e-01 -8.01840822e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.90538475 meters Centerline goodness [0,1] 0.9319271941806169 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.05, Z:-0.08 [[ 9.99415528e-01 3.82826557e-04 -3.41826783e-02 1.33597858e+00] [-3.78289490e-04 9.99999919e-01 1.39197277e-04 -5.29518457e-02] [ 3.41827288e-02 -1.26184972e-04 9.99415592e-01 -7.89641420e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.935384749999997 meters Centerline goodness [0,1] 0.932326764144946 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.05, Z:-0.08 [[ 9.99397672e-01 -5.95526808e-04 -3.46978310e-02 1.33693459e+00] [ 6.15427440e-04 9.99999652e-01 5.62863695e-04 -5.33672813e-02] [ 3.46974837e-02 -5.83878663e-04 9.99397690e-01 -7.72898024e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.96538475 meters Centerline goodness [0,1] 0.9371619471842189 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.05, Z:-0.08 [[ 9.99388479e-01 -1.16663158e-03 -3.49472116e-02 1.33761105e+00] [ 1.19200281e-03 9.99999041e-01 7.05161154e-04 -5.37195244e-02] [ 3.49463554e-02 -7.46387108e-04 9.99388911e-01 -7.67310839e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 19.99538475 meters Centerline goodness [0,1] 0.938179045682699 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.05, Z:-0.08 [[ 9.99376690e-01 -1.63427751e-03 -3.52641452e-02 1.33812798e+00] [ 1.67364800e-03 9.99998009e-01 1.08695510e-03 -5.42186433e-02] [ 3.52622985e-02 -1.14529736e-03 9.99377436e-01 -7.57170879e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.025384749999997 meters Centerline goodness [0,1] 0.9374067134554924 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.05, Z:-0.07 [[ 9.99361999e-01 -2.71267804e-03 -3.56123070e-02 1.33916585e+00] [ 2.74898995e-03 9.99995750e-01 9.70720016e-04 -5.36343327e-02] [ 3.56095224e-02 -1.06799857e-03 9.99365209e-01 -7.49038806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.055384749999998 meters Centerline goodness [0,1] 0.9351210522971342 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.05, Z:-0.08 [[ 9.99349112e-01 -3.91847890e-03 -3.58608192e-02 1.34065666e+00] [ 3.91877620e-03 9.99992320e-01 -6.19977700e-05 -5.10566916e-02] [ 3.58607867e-02 -7.85731086e-05 9.99356792e-01 -7.56032359e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.08538475 meters Centerline goodness [0,1] 0.929481894856998 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.05, Z:-0.08 [[ 9.99348529e-01 -4.27510776e-03 -3.58363191e-02 1.34103851e+00] [ 4.25836323e-03 9.99990785e-01 -5.43563998e-04 -4.94779693e-02] [ 3.58383127e-02 3.90605817e-04 9.99357525e-01 -7.60247429e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.115384749999997 meters Centerline goodness [0,1] 0.91708423938735 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.05, Z:-0.08 [[ 0.99933952 -0.00529717 -0.03595076 1.34192993] [ 0.00523568 0.99998467 -0.00180435 -0.04521533] [ 0.03595976 0.00161494 0.99935193 -0.07652282] [ 0. 0. 0. 1. ]] SLAMing on 20.145384749999998 meters Centerline goodness [0,1] 0.9090248372622133 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.04, Z:-0.08 [[ 0.99933289 -0.00586387 -0.03604705 1.34238109] [ 0.00578317 0.99998053 -0.00234237 -0.04344884] [ 0.03606008 0.00213234 0.99934735 -0.07656497] [ 0. 0. 0. 1. ]] SLAMing on 20.17538475 meters Centerline goodness [0,1] 0.9116195744413363 Centerline is valid? [False, False] Translation: X:1.34, Y:-0.04, Z:-0.08 [[ 0.99928957 -0.00762001 -0.03690919 1.34446029] [ 0.00749224 0.99996546 -0.00359896 -0.03918171] [ 0.03693534 0.00331988 0.99931214 -0.07596587] [ 0. 0. 0. 1. ]] SLAMing on 20.205384749999997 meters Centerline goodness [0,1] 0.9264738076622361 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.04, Z:-0.08 [[ 0.99926979 -0.00834699 -0.03728556 1.34527893] [ 0.00819251 0.99995722 -0.00429426 -0.03659999] [ 0.03731981 0.00398566 0.99929542 -0.07571693] [ 0. 0. 0. 1. ]] SLAMing on 20.235384749999998 meters Centerline goodness [0,1] 0.9123953567983071 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.03, Z:-0.08 [[ 0.99922778 -0.01055887 -0.03784642 1.34774576] [ 0.01032153 0.99992586 -0.00646099 -0.02922396] [ 0.03791184 0.00606536 0.99926268 -0.07639863] [ 0. 0. 0. 1. ]] SLAMing on 20.26538475 meters Centerline goodness [0,1] 0.9130758031039931 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.03, Z:-0.08 [[ 0.99919263 -0.01193308 -0.03836251 1.34952752] [ 0.01164071 0.99990154 -0.00783554 -0.0252739 ] [ 0.03845223 0.00738265 0.99923317 -0.07689819] [ 0. 0. 0. 1. ]] SLAMing on 20.295384749999997 meters Centerline goodness [0,1] 0.8934512398738482 Centerline is valid? [False, False] Translation: X:1.35, Y:-0.02, Z:-0.08 [[ 0.99915159 -0.01336234 -0.03895562 1.35144175] [ 0.0130209 0.99987467 -0.00900531 -0.0220523 ] [ 0.03907107 0.00849044 0.99920036 -0.07722833] [ 0. 0. 0. 1. ]] SLAMing on 20.325384749999998 meters Centerline goodness [0,1] 0.89497590768192 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.02, Z:-0.08 [[ 0.99899758 -0.0177888 -0.04107801 1.35771226] [ 0.01733771 0.9997857 -0.0113117 -0.01549125] [ 0.04127043 0.01058816 0.99909191 -0.07673394] [ 0. 0. 0. 1. ]] SLAMing on 20.35538475 meters Centerline goodness [0,1] 0.8169828641370869 Centerline is valid? [False, False] Translation: X:1.36, Y:-0.01, Z:-0.08 [[ 0.99893457 -0.01945366 -0.04184825 1.35990864] [ 0.01894479 0.99974211 -0.0125225 -0.01210794] [ 0.04208106 0.01171635 0.9990455 -0.07680566] [ 0. 0. 0. 1. ]] SLAMing on 20.38538475 meters Centerline goodness [0,1] 0.7782142317570631 Centerline is valid? [False, False] Translation: X:1.37, Y:-0.00, Z:-0.08 [[ 0.99875386 -0.02389972 -0.04381245 1.36626435] [ 0.02323782 0.99960894 -0.01555525 -0.00193264] [ 0.04416709 0.01451776 0.99891867 -0.07713114] [ 0. 0. 0. 1. ]] SLAMing on 20.415384749999998 meters Centerline goodness [0,1] 0.8173729317938341 Centerline is valid? [False, False] Translation: X:1.37, Y:0.01, Z:-0.08 [[ 0.99866811 -0.02379979 -0.04577737 1.37023836] [ 0.02315341 0.99962533 -0.01459878 0.00934802] [ 0.04610766 0.01351944 0.99884499 -0.07538223] [ 0. 0. 0. 1. ]] SLAMing on 20.44538475 meters Centerline goodness [0,1] 0.7627373511027243 Centerline is valid? [False, False] Translation: X:1.37, Y:0.01, Z:-0.07 [[ 0.99868928 -0.02120264 -0.04658499 1.37161398] [ 0.02067055 0.99971583 -0.01187422 0.01430501] [ 0.04682352 0.01089572 0.99884375 -0.07452788] [ 0. 0. 0. 1. ]] SLAMing on 20.47538475 meters Centerline goodness [0,1] 0.8084123016103715 Centerline is valid? [False, False] Translation: X:1.37, Y:0.02, Z:-0.07 [[ 0.99868117 -0.01878656 -0.04778052 1.37389044] [ 0.01835698 0.99978718 -0.00941366 0.02010596] [ 0.0479472 0.00852414 0.9988135 -0.07391439] [ 0. 0. 0. 1. ]] SLAMing on 20.505384749999997 meters Centerline goodness [0,1] 0.7907574545869988 Centerline is valid? [False, False] Translation: X:1.38, Y:0.03, Z:-0.07 [[ 0.99864243 -0.01759996 -0.0490258 1.37742584] [ 0.01719217 0.99981412 -0.00872719 0.03492952] [ 0.04917029 0.00787248 0.99875938 -0.07398126] [ 0. 0. 0. 1. ]] SLAMing on 20.53538475 meters Centerline goodness [0,1] 0.8009878633926051 Centerline is valid? [False, False] Translation: X:1.38, Y:0.04, Z:-0.07 [[ 0.99862531 -0.01515927 -0.05017658 1.37949038] [ 0.01484815 0.99986819 -0.00656746 0.04128688] [ 0.05026953 0.0058134 0.99871877 -0.07344244] [ 0. 0. 0. 1. ]] SLAMing on 20.56538475 meters Centerline goodness [0,1] 0.7708396317163666 Centerline is valid? [False, False] Translation: X:1.38, Y:0.06, Z:-0.07 [[ 0.99859146 -0.01049088 -0.05200998 1.38313413] [ 0.01034683 0.99994185 -0.00303813 0.05698647] [ 0.05203883 0.00249572 0.99864194 -0.07298927] [ 0. 0. 0. 1. ]] SLAMing on 20.595384749999997 meters Centerline goodness [0,1] 0.7844583860631681 Centerline is valid? [False, False] Translation: X:1.38, Y:0.07, Z:-0.07 [[ 9.98582335e-01 -4.82035337e-03 -5.30102367e-02 1.38468038e+00] [ 4.85918048e-03 9.99988012e-01 6.03585442e-04 7.30409645e-02] [ 5.30066917e-02 -8.60316067e-04 9.98593787e-01 -7.26070554e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.62538475 meters Centerline goodness [0,1] 0.8497592636927087 Centerline is valid? [False, False] Translation: X:1.38, Y:0.08, Z:-0.07 [[ 9.98570948e-01 -1.11899409e-03 -5.34304236e-02 1.38424103e+00] [ 1.28712875e-03 9.99994328e-01 3.11248951e-03 8.03266312e-02] [ 5.34266377e-02 -3.17681344e-03 9.98566724e-01 -7.12181132e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 20.65538475 meters Centerline goodness [0,1] 0.8563588141067724 Centerline is valid? [False, False] Translation: X:1.38, Y:0.09, Z:-0.07 [[ 0.99855967 0.00272801 -0.05358302 1.38310076] [-0.0024404 0.99998227 0.00543213 0.08777012] [ 0.05359689 -0.00529354 0.99854862 -0.06977796] [ 0. 0. 0. 1. ]] SLAMing on 20.685384749999997 meters Centerline goodness [0,1] 0.9093307379043618 Centerline is valid? [False, False] Translation: X:1.38, Y:0.10, Z:-0.07 [[ 0.99845842 0.01294823 -0.05397345 1.38151971] [-0.0122612 0.99983979 0.01304093 0.10270922] [ 0.05413366 -0.01235904 0.99845721 -0.06698987] [ 0. 0. 0. 1. ]] SLAMing on 20.71538475 meters Centerline goodness [0,1] 0.9189004997728305 Centerline is valid? [False, False] Translation: X:1.38, Y:0.11, Z:-0.07 [[ 0.99839913 0.01671738 -0.05403439 1.38154623] [-0.01591382 0.9997568 0.01526739 0.11171837] [ 0.05427648 -0.01438306 0.99842235 -0.0668389 ] [ 0. 0. 0. 1. ]] SLAMing on 20.74538475 meters Centerline goodness [0,1] 0.928463948296702 Centerline is valid? [False, False] Translation: X:1.38, Y:0.13, Z:-0.07 [[ 0.99812646 0.02704353 -0.05488359 1.38243195] [-0.02581624 0.99940326 0.02294884 0.12524245] [ 0.05547145 -0.02148896 0.998229 -0.0658449 ] [ 0. 0. 0. 1. ]] SLAMing on 20.775384749999997 meters Centerline goodness [0,1] 0.9249216415190612 Centerline is valid? [False, False] Translation: X:1.38, Y:0.14, Z:-0.06 [[ 0.99789038 0.03447961 -0.05500852 1.38129543] [-0.03302415 0.99908567 0.02715212 0.13602682] [ 0.05589441 -0.02527823 0.99811664 -0.06467444] [ 0. 0. 0. 1. ]] SLAMing on 20.805384749999998 meters Centerline goodness [0,1] 0.9210152772765547 Centerline is valid? [False, False] Translation: X:1.38, Y:0.14, Z:-0.06 [[ 0.99774496 0.03818991 -0.05519537 1.38153934] [-0.03659135 0.99888922 0.02968822 0.14077903] [ 0.05626785 -0.0276016 0.99803411 -0.06437963] [ 0. 0. 0. 1. ]] SLAMing on 20.83538475 meters Centerline goodness [0,1] 0.91592477981433 Centerline is valid? [False, False] Translation: X:1.38, Y:0.15, Z:-0.06 [[ 0.99759537 0.04183598 -0.05525606 1.38198692] [-0.04010945 0.99868293 0.03199427 0.14610292] [ 0.0565218 -0.02970104 0.99795949 -0.06463516] [ 0. 0. 0. 1. ]] SLAMing on 20.865384749999997 meters Centerline goodness [0,1] 0.9132008500105083 Centerline is valid? [False, False] Translation: X:1.38, Y:0.16, Z:-0.06 [[ 0.99726745 0.04950036 -0.05483932 1.38081841] [-0.04751107 0.99818505 0.03700401 0.15649414] [ 0.0565715 -0.03429742 0.99780928 -0.06378969] [ 0. 0. 0. 1. ]] SLAMing on 20.895384749999998 meters Centerline goodness [0,1] 0.9083843075932484 Centerline is valid? [False, False] Translation: X:1.38, Y:0.16, Z:-0.06 [[ 0.99693177 0.05590056 -0.05479203 1.37928212] [-0.05364562 0.99768491 0.04179667 0.16453554] [ 0.05700164 -0.03872908 0.99762261 -0.06150626] [ 0. 0. 0. 1. ]] SLAMing on 20.92538475 meters Centerline goodness [0,1] 0.9110837662929542 Centerline is valid? [False, False] Translation: X:1.38, Y:0.17, Z:-0.06 [[ 0.9969246 0.05616267 -0.05465438 1.37829391] [-0.05395692 0.99769991 0.04103085 0.16846222] [ 0.05683307 -0.03795568 0.99766195 -0.06083169] [ 0. 0. 0. 1. ]] SLAMing on 20.955384749999997 meters Centerline goodness [0,1] 0.9068983344197442 Centerline is valid? [False, False] Translation: X:1.38, Y:0.18, Z:-0.06 [[ 0.9968246 0.05796124 -0.05460042 1.37715367] [-0.05573022 0.99758158 0.04153464 0.17502368] [ 0.05687577 -0.03835986 0.99764406 -0.05955187] [ 0. 0. 0. 1. ]] SLAMing on 20.985384749999998 meters Centerline goodness [0,1] 0.9062145888417357 Centerline is valid? [False, False] Translation: X:1.38, Y:0.18, Z:-0.06 [[ 0.99685366 0.05737425 -0.05468985 1.37769537] [-0.0552307 0.99767477 0.03993273 0.17928918] [ 0.0568538 -0.03678653 0.99770456 -0.06023662] [ 0. 0. 0. 1. ]] SLAMing on 21.01538475 meters Centerline goodness [0,1] 0.9041610797265514 Centerline is valid? [False, False] Translation: X:1.38, Y:0.18, Z:-0.06 [[ 0.99687586 0.05683801 -0.0548449 1.37854087] [-0.05477689 0.99776071 0.0383805 0.18349246] [ 0.05690356 -0.03525636 0.99775697 -0.06113954] [ 0. 0. 0. 1. ]] SLAMing on 21.045384749999997 meters Centerline goodness [0,1] 0.9031663413576231 Centerline is valid? [False, False] Translation: X:1.38, Y:0.19, Z:-0.06 [[ 0.99670314 0.05963505 -0.05501371 1.38001817] [-0.05747335 0.99754242 0.04007408 0.18881491] [ 0.05726833 -0.03678014 0.99768109 -0.06212603] [ 0. 0. 0. 1. ]] SLAMing on 21.075384749999998 meters Centerline goodness [0,1] 0.9030103235880975 Centerline is valid? [False, False] Translation: X:1.38, Y:0.19, Z:-0.06 [[ 0.99672429 0.05903406 -0.05527814 1.38089692] [-0.05693405 0.99762275 0.03882483 0.1917127 ] [ 0.05743872 -0.03555044 0.99771587 -0.06278398] [ 0. 0. 0. 1. ]] SLAMing on 21.10538475 meters Centerline goodness [0,1] 0.9023222718157707 Centerline is valid? [False, False] Translation: X:1.38, Y:0.20, Z:-0.06 [[ 0.9967635 0.05821478 -0.0554397 1.38133982] [-0.05619009 0.99771913 0.0374059 0.19529861] [ 0.05749083 -0.03416968 0.99776111 -0.0630643 ] [ 0. 0. 0. 1. ]] SLAMing on 21.135384749999997 meters Centerline goodness [0,1] 0.9031558143032073 Centerline is valid? [False, False] Translation: X:1.38, Y:0.20, Z:-0.06 [[ 0.99695347 0.05474515 -0.05555849 1.3804432 ] [-0.05295503 0.99804493 0.03319776 0.19817556] [ 0.05726729 -0.03015452 0.99790338 -0.06249592] [ 0. 0. 0. 1. ]] SLAMing on 21.165384749999998 meters Centerline goodness [0,1] 0.9044543763231615 Centerline is valid? [False, False] Translation: X:1.38, Y:0.20, Z:-0.06 [[ 0.99697305 0.05438385 -0.05556192 1.37958491] [-0.05264422 0.99809054 0.03230884 0.20115311] [ 0.0572129 -0.02928602 0.99793237 -0.06152782] [ 0. 0. 0. 1. ]] SLAMing on 21.19538475 meters Centerline goodness [0,1] 0.9049312268449516 Centerline is valid? [False, False] Translation: X:1.38, Y:0.20, Z:-0.06 [[ 0.9969924 0.05397913 -0.05560947 1.37956254] [-0.05228164 0.99813413 0.0315417 0.20317773] [ 0.05720831 -0.02853948 0.99795426 -0.0614711 ] [ 0. 0. 0. 1. ]] SLAMing on 21.22538475 meters Centerline goodness [0,1] 0.9056856045332031 Centerline is valid? [False, False] Translation: X:1.38, Y:0.21, Z:-0.06 [[ 0.99701228 0.05346874 -0.05574587 1.38016869] [-0.051846 0.99819952 0.03016141 0.20693326] [ 0.0572582 -0.02718109 0.99798932 -0.06207611] [ 0. 0. 0. 1. ]] SLAMing on 21.255384749999997 meters Centerline goodness [0,1] 0.9062572642167326 Centerline is valid? [False, False] Translation: X:1.38, Y:0.21, Z:-0.06 [[ 0.9971855 0.04972886 -0.05610803 1.38058438] [-0.04835202 0.99850131 0.02563619 0.21011409] [ 0.0572988 -0.0228511 0.99809552 -0.06258853] [ 0. 0. 0. 1. ]] SLAMing on 21.28538475 meters Centerline goodness [0,1] 0.9083319278124473 Centerline is valid? [False, False] Translation: X:1.38, Y:0.21, Z:-0.06 [[ 0.99737358 0.04519904 -0.05659496 1.38163963] [-0.04411222 0.99882015 0.02030822 0.21409479] [ 0.0574461 -0.01775835 0.99819066 -0.06349743] [ 0. 0. 0. 1. ]] SLAMing on 21.31538475 meters Centerline goodness [0,1] 0.9079806098251947 Centerline is valid? [False, False] Translation: X:1.38, Y:0.22, Z:-0.07 [[ 0.99755833 0.04004235 -0.05721876 1.38380885] [-0.03926129 0.99912069 0.01471029 0.21708827] [ 0.05775748 -0.01242789 0.99825328 -0.06533162] [ 0. 0. 0. 1. ]] SLAMing on 21.345384749999997 meters Centerline goodness [0,1] 0.9084114117275502 Centerline is valid? [False, False] Translation: X:1.38, Y:0.22, Z:-0.07 [[ 0.99771693 0.03628947 -0.05695608 1.38430386] [-0.03573085 0.99930313 0.01079625 0.21951662] [ 0.05730818 -0.00873652 0.99831831 -0.06661072] [ 0. 0. 0. 1. ]] SLAMing on 21.37538475 meters Centerline goodness [0,1] 0.910246160319798 Centerline is valid? [False, False] Translation: X:1.39, Y:0.22, Z:-0.07 [[ 0.99777314 0.03397201 -0.05739922 1.38723857] [-0.03351519 0.99939855 0.00890291 0.22161572] [ 0.05766714 -0.00695934 0.99831161 -0.06888635] [ 0. 0. 0. 1. ]] SLAMing on 21.40538475 meters Centerline goodness [0,1] 0.912107113534452 Centerline is valid? [False, False] Translation: X:1.39, Y:0.22, Z:-0.07 [[ 0.99791419 0.0295787 -0.05737926 1.38727332] [-0.02937785 0.99955895 0.00434103 0.22359704] [ 0.05748235 -0.0026463 0.99834302 -0.06930433] [ 0. 0. 0. 1. ]] SLAMing on 21.435384749999997 meters Centerline goodness [0,1] 0.9122030396930796 Centerline is valid? [False, False] Translation: X:1.39, Y:0.22, Z:-0.07 [[ 9.98053737e-01 2.39210286e-02 -5.75892512e-02 1.38754346e+00] [-2.40056202e-02 9.99711521e-01 -7.77420074e-04 2.24933217e-01] [ 5.75540412e-02 2.15837270e-03 9.98340059e-01 -6.92247056e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.46538475 meters Centerline goodness [0,1] 0.8090698653198654 Centerline is valid? [False, False] Translation: X:1.39, Y:0.23, Z:-0.07 [[ 0.99807239 0.02282797 -0.05770957 1.38806515] [-0.02294947 0.99973558 -0.00144349 0.22541096] [ 0.05766136 0.00276511 0.99833237 -0.06941055] [ 0. 0. 0. 1. ]] SLAMing on 21.49538475 meters Centerline goodness [0,1] 0.7861888842457166 Centerline is valid? [False, False] Translation: X:1.39, Y:0.23, Z:-0.07 [[ 0.99811651 0.02073985 -0.05773467 1.38898579] [-0.02096181 0.99977502 -0.00324143 0.22791494] [ 0.05765445 0.00444555 0.9983267 -0.07005372] [ 0. 0. 0. 1. ]] SLAMing on 21.525384749999997 meters Centerline goodness [0,1] 0.7637910186382021 Centerline is valid? [False, False] Translation: X:1.39, Y:0.23, Z:-0.07 [[ 0.99812224 0.02015022 -0.05784435 1.38937312] [-0.02042405 0.99978281 -0.00414661 0.230078 ] [ 0.05774823 0.00532024 0.998317 -0.07025479] [ 0. 0. 0. 1. ]] SLAMing on 21.555384749999998 meters Centerline goodness [0,1] 0.7562902890413807 Centerline is valid? [False, False] Translation: X:1.39, Y:0.24, Z:-0.07 [[ 0.99806237 0.02246206 -0.0580256 1.39047805] [-0.02266385 0.99973916 -0.00282181 0.23608365] [ 0.05794709 0.00413143 0.99831111 -0.0707911 ] [ 0. 0. 0. 1. ]] SLAMing on 21.58538475 meters Centerline goodness [0,1] 0.7644238751452764 Centerline is valid? [False, False] Translation: X:1.39, Y:0.24, Z:-0.07 [[ 9.97980612e-01 2.56318053e-02 -5.81180571e-02 1.39113112e+00] [-2.56866836e-02 9.99670023e-01 -1.97267219e-04 2.38836509e-01] [ 5.80938231e-02 1.68972900e-03 9.98309698e-01 -7.10414195e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.615384749999997 meters Centerline goodness [0,1] 0.7920367724703398 Centerline is valid? [False, False] Translation: X:1.39, Y:0.25, Z:-0.07 [[ 9.97902765e-01 2.81192842e-02 -5.83041833e-02 1.39201699e+00] [-2.81221986e-02 9.99604196e-01 7.70693819e-04 2.45538293e-01] [ 5.83027776e-02 8.70564331e-04 9.98298567e-01 -7.14678549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.645384749999998 meters Centerline goodness [0,1] 0.7920367724703398 Centerline is valid? [False, False] Translation: X:1.39, Y:0.25, Z:-0.07 [[ 9.97902765e-01 2.81192842e-02 -5.83041833e-02 1.39201699e+00] [-2.81221986e-02 9.99604196e-01 7.70693819e-04 2.45538293e-01] [ 5.83027776e-02 8.70564331e-04 9.98298567e-01 -7.14678549e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.67538475 meters Centerline goodness [0,1] 0.7928160800694818 Centerline is valid? [False, False] Translation: X:1.39, Y:0.25, Z:-0.07 [[ 9.97911525e-01 2.76203384e-02 -5.83926870e-02 1.39237704e+00] [-2.77020995e-02 9.99616048e-01 -5.91011968e-04 2.48987951e-01] [ 5.83539431e-02 2.20737768e-03 9.98293516e-01 -7.17482222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.705384749999997 meters Centerline goodness [0,1] 0.7959251078587206 Centerline is valid? [False, False] Translation: X:1.39, Y:0.25, Z:-0.07 [[ 0.9979214 0.02707717 -0.05847828 1.39277098] [-0.02723746 0.9996271 -0.00194554 0.25269073] [ 0.0584038 0.00353429 0.99828679 -0.07202081] [ 0. 0. 0. 1. ]] SLAMing on 21.735384749999998 meters Centerline goodness [0,1] 0.8002985879279242 Centerline is valid? [False, False] Translation: X:1.39, Y:0.26, Z:-0.07 [[ 9.97859031e-01 2.91241844e-02 -5.85588262e-02 1.39402851e+00] [-2.92264576e-02 9.99572419e-01 -8.90611662e-04 2.59499244e-01] [ 5.85078492e-02 2.60017194e-03 9.98283562e-01 -7.28873409e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 21.76538475 meters Centerline goodness [0,1] 0.7511648043541005 Centerline is valid? [False, False] Translation: X:1.40, Y:0.27, Z:-0.07 [[ 0.99789194 0.02698708 -0.05902019 1.39610041] [-0.02723936 0.9996229 -0.00347399 0.26522116] [ 0.05890418 0.00507434 0.99825074 -0.07411288] [ 0. 0. 0. 1. ]] SLAMing on 21.795384749999997 meters Centerline goodness [0,1] 0.7418392091027793 Centerline is valid? [False, False] Translation: X:1.40, Y:0.27, Z:-0.07 [[ 0.99791163 0.02597543 -0.05914095 1.39670063] [-0.02628463 0.99964457 -0.00445613 0.26682385] [ 0.05900418 0.00600132 0.9982397 -0.07446523] [ 0. 0. 0. 1. ]] SLAMing on 21.825384749999998 meters Centerline goodness [0,1] 0.7170107025756295 Centerline is valid? [False, False] Translation: X:1.40, Y:0.27, Z:-0.07 [[ 0.99791967 0.02498936 -0.05942953 1.39762736] [-0.02536132 0.99966315 -0.00551277 0.26856333] [ 0.05927175 0.00700851 0.99821728 -0.07486774] [ 0. 0. 0. 1. ]] SLAMing on 21.85538475 meters Centerline goodness [0,1] 0.6974875415282392 Centerline is valid? [False, False] Translation: X:1.40, Y:0.27, Z:-0.08 [[ 0.99794959 0.02346006 -0.05955029 1.39820031] [-0.02395543 0.999684 -0.00761816 0.273027 ] [ 0.05935275 0.00902909 0.99819624 -0.07512803] [ 0. 0. 0. 1. ]] SLAMing on 21.885384749999997 meters Centerline goodness [0,1] 0.7080431177446103 Centerline is valid? [False, False] Translation: X:1.40, Y:0.27, Z:-0.08 [[ 0.99795383 0.02287273 -0.0597076 1.39867874] [-0.0234179 0.99969008 -0.00844685 0.27488808] [ 0.0594959 0.0098278 0.99818017 -0.07532333] [ 0. 0. 0. 1. ]] SLAMing on 21.915384749999998 meters Centerline goodness [0,1] 0.6858762693913152 Centerline is valid? [False, False] Translation: X:1.40, Y:0.28, Z:-0.08 [[ 0.99797779 0.02206235 -0.05961202 1.3987194 ] [-0.02268056 0.99969557 -0.00971379 0.28060013] [ 0.05937957 0.01104618 0.99817436 -0.07527038] [ 0. 0. 0. 1. ]] SLAMing on 21.94538475 meters Centerline goodness [0,1] 0.7130580634473619 Centerline is valid? [False, False] Translation: X:1.40, Y:0.29, Z:-0.08 [[ 0.99791443 0.02458479 -0.05968562 1.39969811] [-0.02511169 0.99965189 -0.0080939 0.28688488] [ 0.05946586 0.00957582 0.99818441 -0.07574879] [ 0. 0. 0. 1. ]] SLAMing on 21.97538475 meters Centerline goodness [0,1] 0.7008435677955589 Centerline is valid? [False, False] Translation: X:1.40, Y:0.29, Z:-0.08 [[ 0.99783946 0.02777384 -0.05954011 1.39974257] [-0.02813662 0.99959023 -0.0052632 0.2890279 ] [ 0.05936954 0.00692709 0.99821204 -0.07569586] [ 0. 0. 0. 1. ]] SLAMing on 22.005384749999997 meters Centerline goodness [0,1] 0.7119412831931387 Centerline is valid? [False, False] Translation: X:1.40, Y:0.29, Z:-0.08 [[ 0.99774656 0.03095821 -0.05952636 1.39980856] [-0.03116478 0.99951102 -0.00254476 0.29117161] [ 0.05941847 0.00439415 0.99822349 -0.07540611] [ 0. 0. 0. 1. ]] SLAMing on 22.03538475 meters Centerline goodness [0,1] 0.6939307434528981 Centerline is valid? [False, False] Translation: X:1.40, Y:0.30, Z:-0.07 [[ 0.99766855 0.03410406 -0.05911327 1.39776358] [-0.03425887 0.9994117 -0.00160695 0.29895025] [ 0.05902369 0.00362836 0.99824999 -0.073626 ] [ 0. 0. 0. 1. ]] SLAMing on 22.06538475 meters Centerline goodness [0,1] 0.7452032655090961 Centerline is valid? [False, False] Translation: X:1.40, Y:0.30, Z:-0.07 [[ 0.99765961 0.03501389 -0.05873094 1.39641711] [-0.03517837 0.99937948 -0.00176868 0.30366277] [ 0.05863257 0.0038306 0.99827228 -0.07271508] [ 0. 0. 0. 1. ]] SLAMing on 22.095384749999997 meters Centerline goodness [0,1] 0.7474450453414488 Centerline is valid? [False, False] Translation: X:1.41, Y:0.31, Z:-0.08 [[ 0.99766079 0.04124023 -0.05451774 1.40664514] [-0.04167818 0.99910712 -0.00692038 0.31273981] [ 0.05418367 0.0091764 0.99848882 -0.07565824] [ 0. 0. 0. 1. ]] SLAMing on 22.12538475 meters Centerline goodness [0,1] 0.7684884151611178 Centerline is valid? [False, False] Translation: X:1.41, Y:0.32, Z:-0.08 [[ 0.99744955 0.04624374 -0.0543683 1.40830611] [-0.04649264 0.99891311 -0.00332149 0.32127008] [ 0.05415561 0.00584074 0.99851543 -0.07694052] [ 0. 0. 0. 1. ]] SLAMing on 22.15538475 meters Centerline goodness [0,1] 0.7527195706265808 Centerline is valid? [False, False] Translation: X:1.41, Y:0.32, Z:-0.08 [[ 0.99747715 0.04552629 -0.05446734 1.40847403] [-0.04584922 0.99893735 -0.00469348 0.32477454] [ 0.05419578 0.00717892 0.99850452 -0.0769047 ] [ 0. 0. 0. 1. ]] SLAMing on 22.185384749999997 meters Centerline goodness [0,1] 0.7665930801130619 Centerline is valid? [False, False] Translation: X:1.41, Y:0.33, Z:-0.08 [[ 0.99750876 0.04484474 -0.05445387 1.40826592] [-0.04521514 0.99896164 -0.00558853 0.3264732 ] [ 0.05414671 0.00803674 0.99850065 -0.07664472] [ 0. 0. 0. 1. ]] SLAMing on 22.21538475 meters Centerline goodness [0,1] 0.7344448795366955 Centerline is valid? [False, False] Translation: X:1.41, Y:0.33, Z:-0.08 [[ 0.99767691 0.04150017 -0.0540234 1.40693248] [-0.04203938 0.99907647 -0.00888275 0.33007511] [ 0.05360487 0.01113323 0.99850016 -0.07588507] [ 0. 0. 0. 1. ]] SLAMing on 22.24538475 meters Centerline goodness [0,1] 0.723910526751013 Centerline is valid? [False, False] Translation: X:1.41, Y:0.33, Z:-0.08 [[ 0.9977634 0.03931003 -0.05406399 1.40835827] [-0.03994403 0.99914467 -0.01069628 0.33266287] [ 0.05359728 0.01283189 0.99848018 -0.07728736] [ 0. 0. 0. 1. ]] SLAMing on 22.275384749999997 meters Centerline goodness [0,1] 0.7024038362166967 Centerline is valid? [False, False] Translation: X:1.41, Y:0.33, Z:-0.08 [[ 0.99780333 0.03832945 -0.05403124 1.40908607] [-0.03900229 0.99917348 -0.01145345 0.33375314] [ 0.05354757 0.01353563 0.99847356 -0.07810114] [ 0. 0. 0. 1. ]] SLAMing on 22.305384749999998 meters Centerline goodness [0,1] 0.700797954597002 Centerline is valid? [False, False] Translation: X:1.41, Y:0.33, Z:-0.08 [[ 0.99783084 0.0376371 -0.05400989 1.40980791] [-0.0383305 0.99919473 -0.01186006 0.33424226] [ 0.05352002 0.01390456 0.99846996 -0.07893825] [ 0. 0. 0. 1. ]] SLAMing on 22.33538475 meters Centerline goodness [0,1] 0.6905640919872125 Centerline is valid? [False, False] Translation: X:1.41, Y:0.34, Z:-0.08 [[ 0.99789224 0.0359612 -0.05401733 1.41090394] [-0.03672866 0.999237 -0.0132825 0.33588923] [ 0.05349846 0.01523848 0.99845165 -0.08005052] [ 0. 0. 0. 1. ]] SLAMing on 22.365384749999997 meters Centerline goodness [0,1] 0.7023794718733158 Centerline is valid? [False, False] Translation: X:1.41, Y:0.34, Z:-0.08 [[ 0.997894 0.03581577 -0.05408134 1.41119169] [-0.03660763 0.99923549 -0.01372289 0.33711078] [ 0.0535485 0.01567378 0.99844223 -0.08026504] [ 0. 0. 0. 1. ]] SLAMing on 22.395384749999998 meters Centerline goodness [0,1] 0.7036312331362897 Centerline is valid? [False, False] Translation: X:1.41, Y:0.34, Z:-0.08 [[ 0.997754 0.03926355 -0.05427085 1.41214195] [-0.03992893 0.99913941 -0.01123054 0.34031645] [ 0.05378319 0.0133723 0.99846309 -0.08055119] [ 0. 0. 0. 1. ]] SLAMing on 22.42538475 meters Centerline goodness [0,1] 0.7116159008776459 Centerline is valid? [False, False] Translation: X:1.41, Y:0.34, Z:-0.08 [[ 0.99760227 0.0429421 -0.05427426 1.41265539] [-0.04345186 0.99902148 -0.00824691 0.34279684] [ 0.05386701 0.01058546 0.99849201 -0.08070416] [ 0. 0. 0. 1. ]] SLAMing on 22.455384749999997 meters Centerline goodness [0,1] 0.720412895811529 Centerline is valid? [False, False] Translation: X:1.41, Y:0.35, Z:-0.08 [[ 0.99725843 0.05009195 -0.05446478 1.41472627] [-0.05033875 0.99872718 -0.00316802 0.3511479 ] [ 0.05423676 0.00590102 0.99851067 -0.08165794] [ 0. 0. 0. 1. ]] SLAMing on 22.485384749999998 meters Centerline goodness [0,1] 0.7384252554925732 Centerline is valid? [False, False] Translation: X:1.41, Y:0.36, Z:-0.08 [[ 9.97077662e-01 5.36847712e-02 -5.43514683e-02 1.41476205e+00] [-5.37984162e-02 9.98551619e-01 -6.28939854e-04 3.55123016e-01] [ 5.42389822e-02 3.55112479e-03 9.98521668e-01 -8.13842128e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.51538475 meters Centerline goodness [0,1] 0.7441408671929897 Centerline is valid? [False, False] Translation: X:1.41, Y:0.36, Z:-0.08 [[ 9.96883445e-01 5.73151563e-02 -5.42067400e-02 1.41452346e+00] [-5.72795843e-02 9.98355729e-01 2.21089352e-03 3.57905652e-01] [ 5.42443271e-02 9.00936385e-04 9.98527286e-01 -8.08556134e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.545384749999997 meters Centerline goodness [0,1] 0.769335618843064 Centerline is valid? [False, False] Translation: X:1.41, Y:0.36, Z:-0.08 [[ 9.96680586e-01 6.07428687e-02 -5.42043591e-02 1.41471009e+00] [-6.06010669e-02 9.98152987e-01 4.25738711e-03 3.62309764e-01] [ 5.43628488e-02 -9.58413088e-04 9.98520787e-01 -8.05416271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.575384749999998 meters Centerline goodness [0,1] 0.7693531064111038 Centerline is valid? [False, False] Translation: X:1.42, Y:0.37, Z:-0.08 [[ 9.96716916e-01 6.00286937e-02 -5.43318017e-02 1.41571071e+00] [-5.99622218e-02 9.98196566e-01 2.85422345e-03 3.65371196e-01] [ 5.44051532e-02 4.13002751e-04 9.98518857e-01 -8.14597752e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.60538475 meters Centerline goodness [0,1] 0.748592015901938 Centerline is valid? [False, False] Translation: X:1.42, Y:0.37, Z:-0.08 [[ 9.96813992e-01 5.81757113e-02 -5.45660334e-02 1.41739110e+00] [-5.82207803e-02 9.98303439e-01 7.64654059e-04 3.69308362e-01] [ 5.45179431e-02 2.41465918e-03 9.98509871e-01 -8.28205412e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.635384749999997 meters Centerline goodness [0,1] 0.7317628079174336 Centerline is valid? [False, False] Translation: X:1.42, Y:0.37, Z:-0.08 [[ 9.96872684e-01 5.70738159e-02 -5.46574090e-02 1.41792148e+00] [-5.71640648e-02 9.98364794e-01 -8.79335583e-05 3.70347621e-01] [ 5.45630142e-02 3.21209823e-03 9.98505163e-01 -8.31768861e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.665384749999998 meters Centerline goodness [0,1] 0.7052772900960447 Centerline is valid? [False, False] Translation: X:1.42, Y:0.37, Z:-0.08 [[ 0.99714815 0.0517834 -0.0549003 1.41807399] [-0.05215772 0.99862422 -0.00540647 0.37343112] [ 0.05454481 0.00825453 0.9984772 -0.08318944] [ 0. 0. 0. 1. ]] SLAMing on 22.69538475 meters Centerline goodness [0,1] 0.7070940576688889 Centerline is valid? [False, False] Translation: X:1.42, Y:0.37, Z:-0.08 [[ 0.99718261 0.05107372 -0.05493917 1.41829443] [-0.05149242 0.99865394 -0.00623178 0.37496848] [ 0.05454694 0.00904318 0.99847026 -0.08329711] [ 0. 0. 0. 1. ]] SLAMing on 22.72538475 meters Centerline goodness [0,1] 0.7014974629759498 Centerline is valid? [False, False] Translation: X:1.42, Y:0.38, Z:-0.08 [[ 0.9972146 0.05027827 -0.0550921 1.41890468] [-0.0507922 0.99867746 -0.00796751 0.37956523] [ 0.05461865 0.01074357 0.99844949 -0.08354135] [ 0. 0. 0. 1. ]] SLAMing on 22.755384749999997 meters Centerline goodness [0,1] 0.7073044736026449 Centerline is valid? [False, False] Translation: X:1.42, Y:0.38, Z:-0.08 [[ 0.99722127 0.04994216 -0.05527671 1.41921117] [-0.05050702 0.99868433 -0.00886844 0.38208932] [ 0.05476108 0.01163566 0.99843169 -0.08342656] [ 0. 0. 0. 1. ]] SLAMing on 22.78538475 meters Centerline goodness [0,1] 0.6866511885927966 Centerline is valid? [False, False] Translation: X:1.42, Y:0.39, Z:-0.08 [[ 0.99709986 0.05244597 -0.0551478 1.419639 ] [-0.05292191 0.99857266 -0.00720456 0.38742361] [ 0.05469124 0.01010219 0.99845221 -0.08347055] [ 0. 0. 0. 1. ]] SLAMing on 22.81538475 meters Centerline goodness [0,1] 0.7122085218001941 Centerline is valid? [False, False] Translation: X:1.42, Y:0.39, Z:-0.08 [[ 0.99706977 0.05363203 -0.05454786 1.41797691] [-0.05405934 0.99851729 -0.00638751 0.39076222] [ 0.05412441 0.00931762 0.99849073 -0.08243235] [ 0. 0. 0. 1. ]] SLAMing on 22.845384749999997 meters Centerline goodness [0,1] 0.7116303989449391 Centerline is valid? [False, False] Translation: X:1.42, Y:0.40, Z:-0.08 [[ 0.99707875 0.05328966 -0.05471917 1.41843794] [-0.05377849 0.99852473 -0.00749919 0.3961262 ] [ 0.05423881 0.01042 0.99847362 -0.08224712] [ 0. 0. 0. 1. ]] SLAMing on 22.87538475 meters Centerline goodness [0,1] 0.7129258414029893 Centerline is valid? [False, False] Translation: X:1.42, Y:0.40, Z:-0.08 [[ 0.99709746 0.05284167 -0.05481258 1.41901031] [-0.05339134 0.99853653 -0.00861162 0.39880549] [ 0.05427731 0.01151314 0.99845952 -0.08261103] [ 0. 0. 0. 1. ]] SLAMing on 22.90538475 meters Centerline goodness [0,1] 0.7232482961681801 Centerline is valid? [False, False] Translation: X:1.42, Y:0.41, Z:-0.08 [[ 0.99692228 0.05618819 -0.05467051 1.41989499] [-0.05664471 0.998371 -0.00683575 0.40518892] [ 0.05419736 0.0099115 0.99848105 -0.08318959] [ 0. 0. 0. 1. ]] SLAMing on 22.935384749999997 meters Centerline goodness [0,1] 0.7314187439133047 Centerline is valid? [False, False] Translation: X:1.42, Y:0.41, Z:-0.08 [[ 0.99671458 0.05988442 -0.05453358 1.42018819] [-0.06018976 0.99817905 -0.0039726 0.40805141] [ 0.05419638 0.00724192 0.99850403 -0.08319351] [ 0. 0. 0. 1. ]] SLAMing on 22.96538475 meters Centerline goodness [0,1] 0.7532111980238781 Centerline is valid? [False, False] Translation: X:1.42, Y:0.41, Z:-0.08 [[ 9.96220125e-01 6.70164814e-02 -5.52653110e-02 1.42173782e+00] [-6.70750918e-02 9.97747613e-01 7.95761008e-04 4.14062328e-01] [ 5.51941613e-02 2.91417268e-03 9.98471388e-01 -8.23839685e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 22.99538475 meters Centerline goodness [0,1] 0.8589428459298123 Centerline is valid? [False, False] Translation: X:1.42, Y:0.42, Z:-0.08 [[ 0.99555761 0.07625653 -0.05522664 1.42299164] [-0.07598714 0.99708448 0.00696446 0.42061334] [ 0.05559671 -0.00273701 0.99844956 -0.08242705] [ 0. 0. 0. 1. ]] SLAMing on 23.025384749999997 meters Centerline goodness [0,1] 0.883011169270082 Centerline is valid? [False, False] Translation: X:1.42, Y:0.42, Z:-0.08 [[ 0.99518004 0.08098246 -0.05530397 1.42423632] [-0.08053925 0.99669925 0.01020005 0.42369027] [ 0.05594745 -0.00569675 0.99841746 -0.0829634 ] [ 0. 0. 0. 1. ]] SLAMing on 23.055384749999998 meters Centerline goodness [0,1] 0.9081380503274165 Centerline is valid? [False, False] Translation: X:1.43, Y:0.43, Z:-0.08 [[ 0.9947961 0.08551925 -0.05538204 1.42564236] [-0.08489534 0.99629806 0.01352618 0.42598657] [ 0.05633377 -0.00875411 0.99837361 -0.08365046] [ 0. 0. 0. 1. ]] SLAMing on 23.08538475 meters Centerline goodness [0,1] 0.9016607576040306 Centerline is valid? [False, False] Translation: X:1.43, Y:0.43, Z:-0.08 [[ 0.99396494 0.0950778 -0.05471665 1.42602234] [-0.09403199 0.99533945 0.02138619 0.42762328] [ 0.05649499 -0.016112 0.99827287 -0.08381942] [ 0. 0. 0. 1. ]] SLAMing on 23.115384749999997 meters Centerline goodness [0,1] 0.8998352214212153 Centerline is valid? [False, False] Translation: X:1.43, Y:0.43, Z:-0.08 [[ 0.99291577 0.10396554 -0.05752773 1.42930379] [-0.10262482 0.99438558 0.02579667 0.42763793] [ 0.05988671 -0.01971014 0.99801057 -0.08018868] [ 0. 0. 0. 1. ]] SLAMing on 23.145384749999998 meters Centerline goodness [0,1] 0.8986707524121081 Centerline is valid? [False, False] Translation: X:1.43, Y:0.43, Z:-0.08 [[ 0.99281816 0.10492176 -0.05747635 1.42915162] [-0.10357612 0.99428375 0.02591934 0.42845056] [ 0.05986731 -0.01978001 0.99801035 -0.0800433 ] [ 0. 0. 0. 1. ]] SLAMing on 23.17538475 meters Centerline goodness [0,1] 0.8959414476812703 Centerline is valid? [False, False] Translation: X:1.43, Y:0.43, Z:-0.08 [[ 0.99221088 0.11077258 -0.05698245 1.42915495] [-0.10910712 0.9935288 0.03156203 0.42518504] [ 0.06010991 -0.025099 0.99787616 -0.08018403] [ 0. 0. 0. 1. ]] SLAMing on 23.205384749999997 meters Centerline goodness [0,1] 0.8923745473357475 Centerline is valid? [False, False] Translation: X:1.43, Y:0.42, Z:-0.08 [[ 0.99211938 0.11159006 -0.05698058 1.42909336] [-0.10987828 0.9934185 0.0323488 0.42353007] [ 0.06021537 -0.02583294 0.99785108 -0.08012657] [ 0. 0. 0. 1. ]] SLAMing on 23.235384749999998 meters Centerline goodness [0,1] 0.890904962430848 Centerline is valid? [False, False] Translation: X:1.43, Y:0.42, Z:-0.08 [[ 0.99186292 0.11398621 -0.05670185 1.4277669 ] [-0.11210857 0.9930698 0.03527087 0.41694377] [ 0.06032928 -0.02862711 0.99776794 -0.07927215] [ 0. 0. 0. 1. ]] SLAMing on 23.26538475 meters Centerline goodness [0,1] 0.8908650461716842 Centerline is valid? [False, False] Translation: X:1.43, Y:0.41, Z:-0.08 [[ 0.99215329 0.11128378 -0.05698928 1.42700006] [-0.10954326 0.99344022 0.03281464 0.41403929] [ 0.06026718 -0.02631437 0.99783537 -0.078761 ] [ 0. 0. 0. 1. ]] SLAMing on 23.295384749999997 meters Centerline goodness [0,1] 0.8914129375919746 Centerline is valid? [False, False] Translation: X:1.43, Y:0.40, Z:-0.08 [[ 0.99265165 0.10653892 -0.05737744 1.42597756] [-0.10499431 0.99404104 0.02930212 0.40494781] [ 0.06015735 -0.02306249 0.99792245 -0.07856799] [ 0. 0. 0. 1. ]] SLAMing on 23.325384749999998 meters Centerline goodness [0,1] 0.8914447803221666 Centerline is valid? [False, False] Translation: X:1.43, Y:0.40, Z:-0.08 [[ 0.99292463 0.10380757 -0.0576599 1.4254803 ] [-0.1023557 0.99436504 0.0275949 0.39961886] [ 0.06019955 -0.02149784 0.99795484 -0.0783111 ] [ 0. 0. 0. 1. ]] SLAMing on 23.35538475 meters Centerline goodness [0,1] 0.889632037769449 Centerline is valid? [False, False] Translation: X:1.42, Y:0.39, Z:-0.08 [[ 0.99319498 0.10106781 -0.05787079 1.42467926] [-0.09970555 0.99467803 0.02596954 0.39395277] [ 0.06018749 -0.02002278 0.99798625 -0.07789042] [ 0. 0. 0. 1. ]] SLAMing on 23.385384749999997 meters Centerline goodness [0,1] 0.88848660391021 Centerline is valid? [False, False] Translation: X:1.42, Y:0.38, Z:-0.08 [[ 0.99364527 0.09644374 -0.0580317 1.42303314] [-0.09524154 0.99518512 0.02314364 0.38188411] [ 0.05998435 -0.01746954 0.99804644 -0.0774132 ] [ 0. 0. 0. 1. ]] SLAMing on 23.415384749999998 meters Centerline goodness [0,1] 0.887684158251945 Centerline is valid? [False, False] Translation: X:1.42, Y:0.38, Z:-0.08 [[ 0.99389794 0.09368194 -0.05822862 1.42246607] [-0.09257649 0.99547544 0.02140676 0.3763576 ] [ 0.05997058 -0.01588553 0.99807373 -0.07723222] [ 0. 0. 0. 1. ]] SLAMing on 23.44538475 meters Centerline goodness [0,1] 0.8884809734969579 Centerline is valid? [False, False] Translation: X:1.42, Y:0.36, Z:-0.08 [[ 0.99430622 0.08904089 -0.05853942 1.42171626] [-0.08811203 0.99594307 0.01826655 0.36358943] [ 0.0599284 -0.01300451 0.99811796 -0.07748942] [ 0. 0. 0. 1. ]] SLAMing on 23.47538475 meters Centerline goodness [0,1] 0.8890218984128294 Centerline is valid? [False, False] Translation: X:1.42, Y:0.36, Z:-0.08 [[ 0.99483185 0.08271141 -0.05889319 1.4208804 ] [-0.08210308 0.99654318 0.01267935 0.35895689] [ 0.05973834 -0.00777851 0.99818376 -0.07732042] [ 0. 0. 0. 1. ]] SLAMing on 23.505384749999997 meters Centerline goodness [0,1] 0.8875450705676315 Centerline is valid? [False, False] Translation: X:1.42, Y:0.35, Z:-0.08 [[ 0.99535087 0.07595015 -0.05923031 1.41997442] [-0.07567158 0.99710868 0.00693535 0.35408051] [ 0.05958579 -0.00242105 0.99822025 -0.07704097] [ 0. 0. 0. 1. ]] SLAMing on 23.53538475 meters Centerline goodness [0,1] 0.8875450705676315 Centerline is valid? [False, False] Translation: X:1.42, Y:0.35, Z:-0.08 [[ 0.99535087 0.07595015 -0.05923031 1.41997442] [-0.07567158 0.99710868 0.00693535 0.35408051] [ 0.05958579 -0.00242105 0.99822025 -0.07704097] [ 0. 0. 0. 1. ]] SLAMing on 23.56538475 meters Centerline goodness [0,1] 0.8912086555866381 Centerline is valid? [False, False] Translation: X:1.42, Y:0.34, Z:-0.07 [[ 0.99601922 0.06619594 -0.05969766 1.4184798 ] [-0.06618309 0.99780508 0.00219474 0.33983556] [ 0.05971191 0.00176497 0.99821409 -0.07492871] [ 0. 0. 0. 1. ]] SLAMing on 23.595384749999997 meters Centerline goodness [0,1] 0.8944626743232158 Centerline is valid? [False, False] Translation: X:1.42, Y:0.33, Z:-0.07 [[ 0.99665066 0.05551558 -0.06004566 1.41782287] [-0.05573552 0.99844358 -0.00199307 0.3250291 ] [ 0.05984156 0.00533307 0.99819364 -0.07364312] [ 0. 0. 0. 1. ]] SLAMing on 23.62538475 meters Centerline goodness [0,1] 0.8970358172087278 Centerline is valid? [False, False] Translation: X:1.42, Y:0.32, Z:-0.07 [[ 0.99686323 0.05135641 -0.06021815 1.4181013 ] [-0.05169939 0.99865407 -0.00415046 0.31786691] [ 0.05992395 0.00725068 0.99817661 -0.07416585] [ 0. 0. 0. 1. ]] SLAMing on 23.65538475 meters Centerline goodness [0,1] 0.9040122625680966 Centerline is valid? [False, False] Translation: X:1.42, Y:0.30, Z:-0.07 [[ 0.99717588 0.04423934 -0.06068893 1.4182739 ] [-0.04468879 0.99898253 -0.00606798 0.30404917] [ 0.06035874 0.00876296 0.99813828 -0.07348727] [ 0. 0. 0. 1. ]] SLAMing on 23.685384749999997 meters Centerline goodness [0,1] 0.9045221983825714 Centerline is valid? [False, False] Translation: X:1.42, Y:0.30, Z:-0.07 [[ 0.99728997 0.04143343 -0.06079455 1.41757946] [-0.04198351 0.99908787 -0.00779822 0.29913159] [ 0.06041599 0.01032946 0.99811984 -0.07292225] [ 0. 0. 0. 1. ]] SLAMing on 23.71538475 meters Centerline goodness [0,1] 0.9043290931473122 Centerline is valid? [False, False] Translation: X:1.42, Y:0.29, Z:-0.07 [[ 0.99732493 0.04082445 -0.06063294 1.41552231] [-0.04134372 0.99911807 -0.00733385 0.2901311 ] [ 0.06028007 0.00982102 0.99813319 -0.0715105 ] [ 0. 0. 0. 1. ]] SLAMing on 23.74538475 meters Centerline goodness [0,1] 0.9047765793528505 Centerline is valid? [False, False] Translation: X:1.41, Y:0.29, Z:-0.07 [[ 0.99729305 0.0421129 -0.06027501 1.41429318] [-0.04252301 0.99908015 -0.00553693 0.28634388] [ 0.05998639 0.00808501 0.99816645 -0.07087699] [ 0. 0. 0. 1. ]] SLAMing on 23.775384749999997 meters Centerline goodness [0,1] 0.9033602233306649 Centerline is valid? [False, False] Translation: X:1.41, Y:0.28, Z:-0.07 [[ 0.99724 0.04369134 -0.06002865 1.4136723 ] [-0.0439629 0.99902801 -0.00321003 0.28114724] [ 0.05983006 0.0058402 0.99819149 -0.07072034] [ 0. 0. 0. 1. ]] SLAMing on 23.805384749999998 meters Centerline goodness [0,1] 0.9042623356280144 Centerline is valid? [False, False] Translation: X:1.41, Y:0.28, Z:-0.07 [[ 0.99721895 0.04417394 -0.06002519 1.41374981] [-0.0443861 0.99901202 -0.00220512 0.27856082] [ 0.05986848 0.00486327 0.99819443 -0.07084231] [ 0. 0. 0. 1. ]] SLAMing on 23.83538475 meters Centerline goodness [0,1] 0.9035885563089135 Centerline is valid? [False, False] Translation: X:1.41, Y:0.28, Z:-0.07 [[ 9.97207684e-01 4.43887139e-02 -6.00539430e-02 1.41381346e+00] [-4.45373270e-02 9.99007073e-01 -1.13773649e-03 2.75115794e-01] [ 5.99438112e-02 3.80920167e-03 9.98194485e-01 -7.08107815e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 23.865384749999997 meters Centerline goodness [0,1] 0.9055394791236048 Centerline is valid? [False, False] Translation: X:1.41, Y:0.27, Z:-0.07 [[ 0.99738409 0.04011806 -0.06012925 1.41354888] [-0.04040521 0.99917701 -0.00356688 0.26851619] [ 0.05993667 0.00598708 0.99818423 -0.07064203] [ 0. 0. 0. 1. ]] SLAMing on 23.895384749999998 meters Centerline goodness [0,1] 0.8974623053472852 Centerline is valid? [False, False] Translation: X:1.42, Y:0.26, Z:-0.07 [[ 0.99766046 0.03167656 -0.06058219 1.41501838] [-0.03233441 0.99942798 -0.00990924 0.26316201] [ 0.06023365 0.01184494 0.99811402 -0.0719077 ] [ 0. 0. 0. 1. ]] SLAMing on 23.92538475 meters Centerline goodness [0,1] 0.8761319999178594 Centerline is valid? [False, False] Translation: X:1.42, Y:0.26, Z:-0.07 [[ 0.99777877 0.02726004 -0.06078167 1.41563993] [-0.0281236 0.99951467 -0.01339754 0.26135816] [ 0.06038695 0.01507718 0.99806117 -0.07248523] [ 0. 0. 0. 1. ]] SLAMing on 23.955384749999997 meters Centerline goodness [0,1] 0.8271381578947369 Centerline is valid? [False, False] Translation: X:1.42, Y:0.26, Z:-0.07 [[ 0.9978782 0.0230212 -0.06090252 1.4158333 ] [-0.02409118 0.99956703 -0.01689305 0.25998401] [ 0.06048725 0.01832442 0.99800076 -0.07270913] [ 0. 0. 0. 1. ]] SLAMing on 23.985384749999998 meters Centerline goodness [0,1] 0.7732099326529769 Centerline is valid? [False, False] Translation: X:1.42, Y:0.26, Z:-0.07 [[ 0.99799116 0.01763855 -0.06084833 1.41656812] [-0.0189303 0.99960612 -0.02071829 0.2577174 ] [ 0.06045893 0.02182855 0.99793198 -0.07363554] [ 0. 0. 0. 1. ]] SLAMing on 24.01538475 meters Centerline goodness [0,1] 0.7552373868848394 Centerline is valid? [False, False] Translation: X:1.42, Y:0.26, Z:-0.07 [[ 0.9979979 0.01729476 -0.06083651 1.41671957] [-0.01856458 0.99962014 -0.02036974 0.25602179] [ 0.06046112 0.02145836 0.99793987 -0.07373829] [ 0. 0. 0. 1. ]] SLAMing on 24.045384749999997 meters Centerline goodness [0,1] 0.7321498687718283 Centerline is valid? [False, False] Translation: X:1.42, Y:0.26, Z:-0.07 [[ 0.99802915 0.01631991 -0.06059271 1.41670661] [-0.0176118 0.99962752 -0.02084835 0.2561675 ] [ 0.06022989 0.02187441 0.99794482 -0.07402605] [ 0. 0. 0. 1. ]] SLAMing on 24.075384749999998 meters Centerline goodness [0,1] 0.7439014288672603 Centerline is valid? [False, False] Translation: X:1.42, Y:0.26, Z:-0.07 [[ 0.99798108 0.01948241 -0.06045 1.41686642] [-0.02056352 0.99963862 -0.01731407 0.25591615] [ 0.06009084 0.01852218 0.99802105 -0.07404504] [ 0. 0. 0. 1. ]] SLAMing on 24.10538475 meters Centerline goodness [0,1] 0.7493501134722509 Centerline is valid? [False, False] Translation: X:1.42, Y:0.26, Z:-0.07 [[ 0.99790452 0.022818 -0.06054676 1.41795897] [-0.02373737 0.99961294 -0.01450877 0.25818222] [ 0.06019227 0.01591559 0.99805991 -0.07480412] [ 0. 0. 0. 1. ]] SLAMing on 24.135384749999997 meters Centerline goodness [0,1] 0.7324592194920504 Centerline is valid? [False, False] Translation: X:1.42, Y:0.26, Z:-0.07 [[ 0.99781386 0.02647568 -0.06055203 1.41843247] [-0.02717748 0.99957233 -0.01079582 0.25815781] [ 0.06024031 0.01241787 0.99810666 -0.07499232] [ 0. 0. 0. 1. ]] SLAMing on 24.165384749999998 meters Centerline goodness [0,1] 0.7282008887051772 Centerline is valid? [False, False] Translation: X:1.42, Y:0.26, Z:-0.08 [[ 0.99773126 0.02971448 -0.06041016 1.41870711] [-0.03025128 0.99951038 -0.00799066 0.26064014] [ 0.06014314 0.00980002 0.99814165 -0.07518953] [ 0. 0. 0. 1. ]] SLAMing on 24.19538475 meters Centerline goodness [0,1] 0.7499689350950587 Centerline is valid? [False, False] Translation: X:1.42, Y:0.26, Z:-0.08 [[ 0.99773464 0.02954509 -0.06043739 1.41867377] [-0.03011135 0.99951058 -0.00848 0.26230677] [ 0.06015727 0.01028065 0.99813597 -0.07509628] [ 0. 0. 0. 1. ]] SLAMing on 24.22538475 meters Centerline goodness [0,1] 0.7594437097040834 Centerline is valid? [False, False] Translation: X:1.42, Y:0.26, Z:-0.08 [[ 0.99773553 0.02920813 -0.06058626 1.41921715] [-0.02980515 0.99951545 -0.00897366 0.26343843] [ 0.0602948 0.01075912 0.99812263 -0.07542998] [ 0. 0. 0. 1. ]] SLAMing on 24.255384749999997 meters Centerline goodness [0,1] 0.7360469213073304 Centerline is valid? [False, False] Translation: X:1.42, Y:0.27, Z:-0.08 [[ 0.99774986 0.02820295 -0.06082601 1.4206107 ] [-0.02887805 0.9995304 -0.01024837 0.26646029] [ 0.06050842 0.01198184 0.99809577 -0.0765036 ] [ 0. 0. 0. 1. ]] SLAMing on 24.28538475 meters Centerline goodness [0,1] 0.7386358910376378 Centerline is valid? [False, False] Translation: X:1.42, Y:0.27, Z:-0.08 [[ 0.99777257 0.02692018 -0.06103446 1.42163386] [-0.02768501 0.99954799 -0.01172012 0.26938052] [ 0.06069136 0.01338376 0.99806685 -0.07716636] [ 0. 0. 0. 1. ]] SLAMing on 24.31538475 meters Centerline goodness [0,1] 0.724481310548418 Centerline is valid? [False, False] Translation: X:1.42, Y:0.27, Z:-0.08 [[ 0.99777822 0.02647765 -0.06113558 1.42194089] [-0.02728444 0.9995508 -0.01239965 0.27122042] [ 0.0607798 0.01404015 0.99805245 -0.07726982] [ 0. 0. 0. 1. ]] SLAMing on 24.345384749999997 meters Centerline goodness [0,1] 0.717943929112453 Centerline is valid? [False, False] Translation: X:1.42, Y:0.28, Z:-0.08 [[ 0.99773773 0.0283786 -0.06094329 1.4220628 ] [-0.02911336 0.99951334 -0.01120233 0.27653553] [ 0.06059572 0.01295125 0.99807837 -0.0772405 ] [ 0. 0. 0. 1. ]] SLAMing on 24.37538475 meters Centerline goodness [0,1] 0.722996407135885 Centerline is valid? [False, False] Translation: X:1.42, Y:0.28, Z:-0.08 [[ 0.99771262 0.03023485 -0.06045971 1.4213015 ] [-0.03087416 0.99947652 -0.00966795 0.27984883] [ 0.06013575 0.01151248 0.99812382 -0.07680814] [ 0. 0. 0. 1. ]] SLAMing on 24.40538475 meters Centerline goodness [0,1] 0.7172884158313526 Centerline is valid? [False, False] Translation: X:1.42, Y:0.29, Z:-0.08 [[ 0.99762179 0.03250337 -0.06078076 1.42203284] [-0.03310605 0.99941191 -0.00893481 0.2874973 ] [ 0.0604546 0.01092577 0.99811115 -0.07649728] [ 0. 0. 0. 1. ]] SLAMing on 24.435384749999997 meters Centerline goodness [0,1] 0.7273743016759777 Centerline is valid? [False, False] Translation: X:1.42, Y:0.29, Z:-0.08 [[ 0.99756903 0.0345238 -0.06053219 1.42117769] [-0.03505047 0.99935619 -0.00766027 0.29192093] [ 0.06022876 0.00976333 0.99813685 -0.07564001] [ 0. 0. 0. 1. ]] SLAMing on 24.46538475 meters Centerline goodness [0,1] 0.737168489158071 Centerline is valid? [False, False] Translation: X:1.42, Y:0.30, Z:-0.07 [[ 0.99748842 0.03713729 -0.0603132 1.42035514] [-0.03760658 0.9992704 -0.00666399 0.3008509 ] [ 0.06002172 0.00891543 0.99815726 -0.07452842] [ 0. 0. 0. 1. ]] SLAMing on 24.49538475 meters Centerline goodness [0,1] 0.7450687263817948 Centerline is valid? [False, False] Translation: X:1.42, Y:0.30, Z:-0.07 [[ 0.99748947 0.03741557 -0.06012354 1.41934603] [-0.0379131 0.99925542 -0.00715528 0.30490142] [ 0.05981106 0.00941679 0.9981653 -0.07363271] [ 0. 0. 0. 1. ]] SLAMing on 24.525384749999997 meters Centerline goodness [0,1] 0.7353398742973304 Centerline is valid? [False, False] Translation: X:1.42, Y:0.31, Z:-0.07 [[ 0.99750084 0.03695352 -0.06022045 1.41946537] [-0.03752077 0.99926125 -0.0083157 0.30822422] [ 0.05986867 0.01055444 0.99815046 -0.07354019] [ 0. 0. 0. 1. ]] SLAMing on 24.555384749999998 meters Centerline goodness [0,1] 0.7191687061849256 Centerline is valid? [False, False] Translation: X:1.42, Y:0.31, Z:-0.07 [[ 0.99741244 0.03900262 -0.06039218 1.42125593] [-0.03951301 0.99919254 -0.00727968 0.31421452] [ 0.06005949 0.00964712 0.99814818 -0.07474485] [ 0. 0. 0. 1. ]] SLAMing on 24.58538475 meters Centerline goodness [0,1] 0.7348371552010635 Centerline is valid? [False, False] Translation: X:1.42, Y:0.32, Z:-0.08 [[ 0.99728625 0.04208141 -0.06040932 1.42226457] [-0.04244161 0.99908793 -0.00469151 0.31702066] [ 0.06015679 0.00724265 0.99816266 -0.0754065 ] [ 0. 0. 0. 1. ]] SLAMing on 24.615384749999997 meters Centerline goodness [0,1] 0.7420375579086698 Centerline is valid? [False, False] Translation: X:1.42, Y:0.32, Z:-0.08 [[ 0.99714474 0.04489253 -0.06072094 1.42375466] [-0.04517784 0.9989734 -0.0033334 0.32322283] [ 0.06050896 0.00606713 0.99814922 -0.07600947] [ 0. 0. 0. 1. ]] SLAMing on 24.645384749999998 meters Centerline goodness [0,1] 0.7428747940691928 Centerline is valid? [False, False] Translation: X:1.42, Y:0.33, Z:-0.08 [[ 0.99697454 0.04812725 -0.06103709 1.42479704] [-0.04831577 0.9988308 -0.00161559 0.32873364] [ 0.06088798 0.00455976 0.99813419 -0.07605635] [ 0. 0. 0. 1. ]] SLAMing on 24.67538475 meters Centerline goodness [0,1] 0.7519804744865245 Centerline is valid? [False, False] Translation: X:1.42, Y:0.33, Z:-0.08 [[ 0.99694474 0.04904729 -0.06079109 1.42374444] [-0.04922716 0.99878654 -0.00146377 0.33208399] [ 0.06064553 0.00445187 0.99814944 -0.07523043] [ 0. 0. 0. 1. ]] SLAMing on 24.705384749999997 meters Centerline goodness [0,1] 0.7470639139572259 Centerline is valid? [False, False] Translation: X:1.42, Y:0.34, Z:-0.08 [[ 0.9969579 0.04839468 -0.06109742 1.424642 ] [-0.04865892 0.99881141 -0.00284366 0.33546119] [ 0.06088718 0.00580795 0.99812776 -0.07560247] [ 0. 0. 0. 1. ]] SLAMing on 24.735384749999998 meters Centerline goodness [0,1] 0.7515769445535955 Centerline is valid? [False, False] Translation: X:1.43, Y:0.34, Z:-0.08 [[ 0.99696625 0.04797769 -0.06128981 1.42515297] [-0.0483192 0.99882353 -0.00410123 0.33971297] [ 0.06102094 0.00705027 0.99811159 -0.07575051] [ 0. 0. 0. 1. ]] SLAMing on 24.76538475 meters Centerline goodness [0,1] 0.7467872441694432 Centerline is valid? [False, False] Translation: X:1.43, Y:0.34, Z:-0.08 [[ 0.99698188 0.04748614 -0.06141825 1.42551524] [-0.04787885 0.99884095 -0.00493735 0.34168054] [ 0.0611126 0.00786309 0.99809991 -0.07586505] [ 0. 0. 0. 1. ]] SLAMing on 24.795384749999997 meters Centerline goodness [0,1] 0.7608560665645568 Centerline is valid? [False, False] Translation: X:1.43, Y:0.35, Z:-0.08 [[ 0.9970096 0.04669419 -0.06157517 1.42591976] [-0.04716449 0.99886786 -0.0062058 0.34535907] [ 0.06121569 0.0090914 0.99808316 -0.07592606] [ 0. 0. 0. 1. ]] SLAMing on 24.825384749999998 meters Centerline goodness [0,1] 0.7426602570715303 Centerline is valid? [False, False] Translation: X:1.43, Y:0.35, Z:-0.08 [[ 0.99692764 0.04865679 -0.06138237 1.42546206] [-0.04903637 0.99878597 -0.00469178 0.34906321] [ 0.06107956 0.00768733 0.9981033 -0.0753146 ] [ 0. 0. 0. 1. ]] SLAMing on 24.85538475 meters Centerline goodness [0,1] 0.7601738770440902 Centerline is valid? [False, False] Translation: X:1.42, Y:0.35, Z:-0.07 [[ 0.99692049 0.04886743 -0.0613312 1.42496291] [-0.04927345 0.99877218 -0.00512426 0.3509389 ] [ 0.06100549 0.00813048 0.99810432 -0.07481244] [ 0. 0. 0. 1. ]] SLAMing on 24.885384749999997 meters Centerline goodness [0,1] 0.7687204577493988 Centerline is valid? [False, False] Translation: X:1.42, Y:0.35, Z:-0.07 [[ 0.99690363 0.04930516 -0.0612548 1.42453392] [-0.04975209 0.99874481 -0.00579164 0.35419163] [ 0.06089236 0.00882126 0.99810536 -0.07437923] [ 0. 0. 0. 1. ]] SLAMing on 24.915384749999998 meters Centerline goodness [0,1] 0.7629897653261656 Centerline is valid? [False, False] Translation: X:1.42, Y:0.36, Z:-0.07 [[ 0.99690691 0.04908532 -0.06137788 1.42490758] [-0.04957813 0.99874889 -0.00653122 0.35628124] [ 0.0609805 0.00955402 0.99809323 -0.07452116] [ 0. 0. 0. 1. ]] SLAMing on 24.94538475 meters Centerline goodness [0,1] 0.7814386109962794 Centerline is valid? [False, False] Translation: X:1.42, Y:0.36, Z:-0.07 [[ 0.99688241 0.05033349 -0.06076176 1.42357575] [-0.05076941 0.99869442 -0.00565084 0.35968252] [ 0.060398 0.00871806 0.9981363 -0.07381799] [ 0. 0. 0. 1. ]] SLAMing on 24.97538475 meters Centerline goodness [0,1] 0.7726850609819015 Centerline is valid? [False, False] Translation: X:1.42, Y:0.36, Z:-0.07 [[ 0.99688984 0.05011761 -0.0608184 1.42350673] [-0.05057529 0.99870218 -0.00600842 0.36053816] [ 0.06043834 0.00906564 0.99813076 -0.07359731] [ 0. 0. 0. 1. ]] SLAMing on 25.005384749999997 meters Centerline goodness [0,1] 0.7755495245395596 Centerline is valid? [False, False] Translation: X:1.42, Y:0.36, Z:-0.07 [[ 0.99689899 0.04992866 -0.0608237 1.4232261 ] [-0.05040315 0.99870914 -0.00629098 0.3611532 ] [ 0.06043109 0.00933718 0.9981287 -0.07324608] [ 0. 0. 0. 1. ]] SLAMing on 25.03538475 meters Centerline goodness [0,1] 0.7520346248628051 Centerline is valid? [False, False] Translation: X:1.42, Y:0.36, Z:-0.07 [[ 0.99692203 0.04936815 -0.06090358 1.42373105] [-0.04987787 0.99873165 -0.00687668 0.36213124] [ 0.06048685 0.00989326 0.99811997 -0.07361834] [ 0. 0. 0. 1. ]] SLAMing on 25.06538475 meters Centerline goodness [0,1] 0.7597724772165826 Centerline is valid? [False, False] Translation: X:1.42, Y:0.36, Z:-0.07 [[ 0.99693442 0.04913147 -0.06089212 1.42363743] [-0.04964883 0.99874212 -0.00701172 0.36241622] [ 0.06047103 0.01001345 0.99811972 -0.07349995] [ 0. 0. 0. 1. ]] SLAMing on 25.095384749999997 meters Centerline goodness [0,1] 0.7531957142266165 Centerline is valid? [False, False] Translation: X:1.42, Y:0.36, Z:-0.07 [[ 0.99695717 0.04877354 -0.06080743 1.42379633] [-0.04930793 0.99875681 -0.00731806 0.36313202] [ 0.06037491 0.01029408 0.99812269 -0.07378285] [ 0. 0. 0. 1. ]] SLAMing on 25.12538475 meters Centerline goodness [0,1] 0.7439191432840777 Centerline is valid? [False, False] Translation: X:1.42, Y:0.36, Z:-0.07 [[ 0.9969709 0.0485177 -0.06078699 1.42396731] [-0.04907042 0.99876616 -0.0076323 0.36364509] [ 0.06034169 0.01059202 0.99812158 -0.07400653] [ 0. 0. 0. 1. ]] SLAMing on 25.15538475 meters Centerline goodness [0,1] 0.725416787324701 Centerline is valid? [False, False] Translation: X:1.42, Y:0.36, Z:-0.07 [[ 0.99698527 0.04809996 -0.06088317 1.42488864] [-0.04867587 0.9987825 -0.00801099 0.36402433] [ 0.06042372 0.01095038 0.99811275 -0.07480547] [ 0. 0. 0. 1. ]] SLAMing on 25.185384749999997 meters Centerline goodness [0,1] 0.7203849337748345 Centerline is valid? [False, False] Translation: X:1.42, Y:0.36, Z:-0.07 [[ 0.99699492 0.04794367 -0.0608485 1.42495809] [-0.04852816 0.99878845 -0.00816369 0.36430677] [ 0.06038338 0.01109202 0.99811363 -0.07493467] [ 0. 0. 0. 1. ]] SLAMing on 25.21538475 meters Centerline goodness [0,1] 0.7203996944484587 Centerline is valid? [False, False] Translation: X:1.42, Y:0.37, Z:-0.07 [[ 0.99700773 0.04791942 -0.06065732 1.42396007] [-0.04852013 0.9987863 -0.00846869 0.36587502] [ 0.06017788 0.01138645 0.99812272 -0.07409314] [ 0. 0. 0. 1. ]] SLAMing on 25.24538475 meters Centerline goodness [0,1] 0.7180901615635717 Centerline is valid? [False, False] Translation: X:1.42, Y:0.37, Z:-0.07 [[ 0.99701152 0.04802146 -0.0605142 1.42308626] [-0.04863059 0.99877953 -0.00863282 0.36690541] [ 0.06002578 0.01154986 0.99813 -0.07334115] [ 0. 0. 0. 1. ]] SLAMing on 25.275384749999997 meters Centerline goodness [0,1] 0.7363360009926174 Centerline is valid? [False, False] Translation: X:1.42, Y:0.37, Z:-0.07 [[ 0.99701207 0.04816176 -0.06039351 1.4223795 ] [-0.04877423 0.99877187 -0.00870767 0.36756449] [ 0.05989996 0.0116273 0.99813666 -0.07277655] [ 0. 0. 0. 1. ]] SLAMing on 25.305384749999998 meters Centerline goodness [0,1] 0.7516692506459948 Centerline is valid? [False, False] Translation: X:1.42, Y:0.37, Z:-0.07 [[ 0.9970064 0.04895938 -0.05984323 1.42001224] [-0.04955114 0.99873589 -0.00844403 0.36935834] [ 0.05935417 0.01138405 0.99817207 -0.07112476] [ 0. 0. 0. 1. ]] SLAMing on 25.33538475 meters Centerline goodness [0,1] 0.7681027529007839 Centerline is valid? [False, False] Translation: X:1.42, Y:0.37, Z:-0.07 [[ 0.9968611 0.05229417 -0.05944134 1.41998835] [-0.05272206 0.99859323 -0.00565207 0.37201635] [ 0.05906215 0.0087682 0.9982158 -0.07137018] [ 0. 0. 0. 1. ]] SLAMing on 25.365384749999997 meters Centerline goodness [0,1] 0.7723688579017265 Centerline is valid? [False, False] Translation: X:1.42, Y:0.37, Z:-0.07 [[ 0.99685909 0.05233111 -0.05944254 1.42020524] [-0.05280418 0.99858428 -0.00641463 0.3745885 ] [ 0.0590227 0.00953329 0.99821112 -0.07158756] [ 0. 0. 0. 1. ]] SLAMing on 25.395384749999998 meters Centerline goodness [0,1] 0.7735354244533008 Centerline is valid? [False, False] Translation: X:1.42, Y:0.38, Z:-0.07 [[ 0.99669711 0.05533217 -0.05944097 1.42183616] [-0.05567282 0.99844069 -0.00408885 0.37730564] [ 0.05912204 0.00738459 0.99822345 -0.07294919] [ 0. 0. 0. 1. ]] SLAMing on 25.42538475 meters Centerline goodness [0,1] 0.7787868155456028 Centerline is valid? [False, False] Translation: X:1.42, Y:0.38, Z:-0.07 [[ 0.99670253 0.05518563 -0.05948624 1.42249777] [-0.05557003 0.99844313 -0.00482605 0.37912592] [ 0.0591273 0.00811579 0.99821746 -0.07363147] [ 0. 0. 0. 1. ]] SLAMing on 25.455384749999997 meters Centerline goodness [0,1] 0.7787868155456028 Centerline is valid? [False, False] Translation: X:1.42, Y:0.38, Z:-0.07 [[ 0.99670253 0.05518563 -0.05948624 1.42249777] [-0.05557003 0.99844313 -0.00482605 0.37912592] [ 0.0591273 0.00811579 0.99821746 -0.07363147] [ 0. 0. 0. 1. ]] SLAMing on 25.485384749999998 meters Centerline goodness [0,1] 0.7944103105153189 Centerline is valid? [False, False] Translation: X:1.42, Y:0.38, Z:-0.07 [[ 0.99667534 0.05602776 -0.05915375 1.42324585] [-0.05640838 0.99839632 -0.00478304 0.38262225] [ 0.05879091 0.0081039 0.99823742 -0.07482595] [ 0. 0. 0. 1. ]] SLAMing on 25.51538475 meters Centerline goodness [0,1] 0.7799792746113989 Centerline is valid? [False, False] Translation: X:1.42, Y:0.39, Z:-0.08 [[ 0.99670631 0.05561083 -0.05902511 1.42354972] [-0.05606135 0.99840928 -0.00600311 0.38600098] [ 0.05859738 0.00929236 0.99823845 -0.07540224] [ 0. 0. 0. 1. ]] SLAMing on 25.545384749999997 meters Centerline goodness [0,1] 0.7668204099360897 Centerline is valid? [False, False] Translation: X:1.42, Y:0.39, Z:-0.08 [[ 0.99672331 0.0552636 -0.05906414 1.42373924] [-0.05574798 0.99842317 -0.00658352 0.38733273] [ 0.05860718 0.00985465 0.99823248 -0.07554754] [ 0. 0. 0. 1. ]] SLAMing on 25.575384749999998 meters Centerline goodness [0,1] 0.777045590695945 Centerline is valid? [False, False] Translation: X:1.42, Y:0.39, Z:-0.08 [[ 0.99674583 0.05493795 -0.05898797 1.42352536] [-0.05544277 0.99843765 -0.00695457 0.38810634] [ 0.05851374 0.01020239 0.99823447 -0.07543592] [ 0. 0. 0. 1. ]] SLAMing on 25.60538475 meters Centerline goodness [0,1] 0.7585038930998163 Centerline is valid? [False, False] Translation: X:1.42, Y:0.39, Z:-0.08 [[ 0.99680281 0.05416548 -0.05873886 1.42296833] [-0.05468888 0.99847647 -0.00733877 0.38799248] [ 0.05825186 0.01052766 0.99824641 -0.07533782] [ 0. 0. 0. 1. ]] SLAMing on 25.635384749999997 meters Centerline goodness [0,1] 0.7605232750082536 Centerline is valid? [False, False] Translation: X:1.42, Y:0.39, Z:-0.08 [[ 0.99682671 0.05380322 -0.05866625 1.42287439] [-0.05433121 0.99849524 -0.00744106 0.38790367] [ 0.05817762 0.01060486 0.99824992 -0.0753499 ] [ 0. 0. 0. 1. ]] SLAMing on 25.665384749999998 meters Centerline goodness [0,1] 0.740961987639265 Centerline is valid? [False, False] Translation: X:1.42, Y:0.39, Z:-0.08 [[ 0.99691427 0.05234298 -0.05849923 1.42292007] [-0.05292095 0.9985636 -0.00837365 0.38891675] [ 0.0579769 0.01144365 0.99825233 -0.07569031] [ 0. 0. 0. 1. ]] SLAMing on 25.69538475 meters Centerline goodness [0,1] 0.7208851891535482 Centerline is valid? [False, False] Translation: X:1.42, Y:0.39, Z:-0.08 [[ 0.99695191 0.05176707 -0.05837005 1.42274744] [-0.05236792 0.99858899 -0.00881054 0.38941416] [ 0.05783159 0.0118404 0.99825614 -0.07572124] [ 0. 0. 0. 1. ]] SLAMing on 25.725384749999996 meters Centerline goodness [0,1] 0.7303465939604247 Centerline is valid? [False, False] Translation: X:1.42, Y:0.39, Z:-0.08 [[ 0.99697176 0.0514069 -0.05834924 1.42282596] [-0.05202938 0.99860319 -0.00919856 0.39008905] [ 0.05779487 0.01220658 0.99825385 -0.0758602 ] [ 0. 0. 0. 1. ]] SLAMing on 25.755384749999997 meters Centerline goodness [0,1] 0.7235207803748941 Centerline is valid? [False, False] Translation: X:1.42, Y:0.39, Z:-0.08 [[ 0.9970034 0.05066424 -0.05845818 1.42393023] [-0.05136255 0.99862483 -0.0105043 0.39312576] [ 0.05784559 0.01347539 0.99823459 -0.07684477] [ 0. 0. 0. 1. ]] SLAMing on 25.78538475 meters Centerline goodness [0,1] 0.7170216278685818 Centerline is valid? [False, False] Translation: X:1.42, Y:0.40, Z:-0.08 [[ 0.99701452 0.05035333 -0.05853707 1.42463992] [-0.05109651 0.99863015 -0.01126822 0.39505199] [ 0.05788949 0.01422562 0.99822164 -0.077443 ] [ 0. 0. 0. 1. ]] SLAMing on 25.81538475 meters Centerline goodness [0,1] 0.7447872538281912 Centerline is valid? [False, False] Translation: X:1.42, Y:0.40, Z:-0.08 [[ 0.9968302 0.05407354 -0.05835757 1.42498645] [-0.05464734 0.99847138 -0.00828053 0.39738779] [ 0.0578206 0.01144337 0.9982614 -0.0777018 ] [ 0. 0. 0. 1. ]] SLAMing on 25.845384749999997 meters Centerline goodness [0,1] 0.7526036833096166 Centerline is valid? [False, False] Translation: X:1.42, Y:0.40, Z:-0.08 [[ 0.99681973 0.05429561 -0.05833019 1.42487118] [-0.0549059 0.99845178 -0.00891028 0.39997419] [ 0.05775609 0.01208461 0.99825758 -0.07751781] [ 0. 0. 0. 1. ]] SLAMing on 25.87538475 meters Centerline goodness [0,1] 0.7667106783297574 Centerline is valid? [False, False] Translation: X:1.42, Y:0.40, Z:-0.08 [[ 0.99663115 0.05791057 -0.05807517 1.42486616] [-0.05837005 0.99827548 -0.00624554 0.40354997] [ 0.05761333 0.00961435 0.99829268 -0.07746042] [ 0. 0. 0. 1. ]] SLAMing on 25.90538475 meters Centerline goodness [0,1] 0.7756419541062303 Centerline is valid? [False, False] Translation: X:1.43, Y:0.41, Z:-0.08 [[ 0.99663533 0.05777869 -0.05813461 1.42502772] [-0.0582817 0.99827568 -0.00699299 0.40595296] [ 0.05763032 0.01035764 0.99828426 -0.07749664] [ 0. 0. 0. 1. ]] SLAMing on 25.935384749999997 meters Centerline goodness [0,1] 0.7613566035400421 Centerline is valid? [False, False] Translation: X:1.43, Y:0.41, Z:-0.08 [[ 0.99665792 0.057254 -0.05826643 1.42575645] [-0.05780732 0.99829686 -0.00785417 0.40765171] [ 0.05771751 0.01119615 0.99827017 -0.07804202] [ 0. 0. 0. 1. ]] SLAMing on 25.96538475 meters Centerline goodness [0,1] 0.7565901096627353 Centerline is valid? [False, False] Translation: X:1.43, Y:0.41, Z:-0.08 [[ 0.99668369 0.0568212 -0.05824916 1.42581569] [-0.05737863 0.99832091 -0.00794087 0.40695626] [ 0.05770015 0.0112568 0.99827049 -0.07820081] [ 0. 0. 0. 1. ]] SLAMing on 25.99538475 meters Centerline goodness [0,1] 0.7140110798743178 Centerline is valid? [False, False] Translation: X:1.43, Y:0.41, Z:-0.08 [[ 0.99696036 0.05150216 -0.05845993 1.42665013] [-0.0523254 0.9985501 -0.01263894 0.40740584] [ 0.05772424 0.01565946 0.99820974 -0.07920049] [ 0. 0. 0. 1. ]] SLAMing on 26.025384749999997 meters Centerline goodness [0,1] 0.732096867990363 Centerline is valid? [False, False] Translation: X:1.43, Y:0.41, Z:-0.08 [[ 0.99701608 0.05054354 -0.05834633 1.42700896] [-0.051391 0.99859248 -0.0131157 0.40744614] [ 0.05760129 0.01607504 0.99821024 -0.07982072] [ 0. 0. 0. 1. ]] SLAMing on 26.055384749999998 meters Centerline goodness [0,1] 0.6957546682106743 Centerline is valid? [False, False] Translation: X:1.43, Y:0.41, Z:-0.08 [[ 0.99706735 0.04905294 -0.05874095 1.42808282] [-0.04996249 0.99865133 -0.01411607 0.40886585] [ 0.05796929 0.01700952 0.99817345 -0.08019262] [ 0. 0. 0. 1. ]] SLAMing on 26.08538475 meters Centerline goodness [0,1] 0.7007467920947312 Centerline is valid? [False, False] Translation: X:1.43, Y:0.41, Z:-0.08 [[ 0.99707381 0.04886874 -0.05878492 1.42789485] [-0.04978889 0.99865752 -0.01429041 0.40947101] [ 0.05800765 0.01717543 0.99816838 -0.0798435 ] [ 0. 0. 0. 1. ]] SLAMing on 26.115384749999997 meters Centerline goodness [0,1] 0.6985664792647761 Centerline is valid? [False, False] Translation: X:1.43, Y:0.41, Z:-0.08 [[ 0.99709666 0.04836355 -0.05881506 1.42775566] [-0.04933411 0.99866723 -0.0151626 0.41169847] [ 0.05800335 0.01802016 0.99815374 -0.0795348 ] [ 0. 0. 0. 1. ]] SLAMing on 26.145384749999998 meters Centerline goodness [0,1] 0.7202947114283931 Centerline is valid? [False, False] Translation: X:1.43, Y:0.41, Z:-0.08 [[ 0.99709977 0.04827773 -0.05883298 1.42788224] [-0.04927507 0.99866309 -0.0156202 0.41311452] [ 0.05800021 0.0184739 0.99814563 -0.07960532] [ 0. 0. 0. 1. ]] SLAMing on 26.17538475 meters Centerline goodness [0,1] 0.7152884495576691 Centerline is valid? [False, False] Translation: X:1.43, Y:0.42, Z:-0.08 [[ 0.99693432 0.05168462 -0.05874235 1.42831313] [-0.05254288 0.99853195 -0.01316012 0.41706099] [ 0.05797594 0.01620627 0.99818643 -0.07965883] [ 0. 0. 0. 1. ]] SLAMing on 26.205384749999997 meters Centerline goodness [0,1] 0.7046959040132396 Centerline is valid? [False, False] Translation: X:1.43, Y:0.42, Z:-0.08 [[ 0.99675626 0.05523958 -0.05852818 1.42849397] [-0.05590654 0.99838772 -0.00981885 0.41809653] [ 0.05789143 0.01305911 0.99823747 -0.07976701] [ 0. 0. 0. 1. ]] SLAMing on 26.235384749999998 meters Centerline goodness [0,1] 0.7176596886741815 Centerline is valid? [False, False] Translation: X:1.43, Y:0.42, Z:-0.08 [[ 0.99656117 0.05881487 -0.05836646 1.42853455] [-0.05932199 0.99821441 -0.00699267 0.42067304] [ 0.05785097 0.01043104 0.99827073 -0.0795922 ] [ 0. 0. 0. 1. ]] SLAMing on 26.26538475 meters Centerline goodness [0,1] 0.7190675681280849 Centerline is valid? [False, False] Translation: X:1.43, Y:0.42, Z:-0.08 [[ 0.99656611 0.05865423 -0.05844376 1.42875165] [-0.05920064 0.99821671 -0.00766076 0.42251535] [ 0.0578902 0.01109437 0.99826131 -0.07964323] [ 0. 0. 0. 1. ]] SLAMing on 26.295384749999997 meters Centerline goodness [0,1] 0.7301418882370074 Centerline is valid? [False, False] Translation: X:1.43, Y:0.43, Z:-0.08 [[ 0.99658336 0.05836741 -0.05843668 1.42947348] [-0.0589673 0.99822293 -0.00859297 0.42510748] [ 0.05783129 0.01200946 0.99825413 -0.08042653] [ 0. 0. 0. 1. ]] SLAMing on 26.325384749999998 meters Centerline goodness [0,1] 0.7229439920432648 Centerline is valid? [False, False] Translation: X:1.43, Y:0.43, Z:-0.08 [[ 0.99658738 0.05807611 -0.05865795 1.43044757] [-0.05871746 0.99823161 -0.00926858 0.42694053] [ 0.05801594 0.0126812 0.99823511 -0.08104928] [ 0. 0. 0. 1. ]] SLAMing on 26.35538475 meters Centerline goodness [0,1] 0.718250753090267 Centerline is valid? [False, False] Translation: X:1.43, Y:0.43, Z:-0.08 [[ 0.99654611 0.05916765 -0.05826701 1.42915625] [-0.05976651 0.99817544 -0.00858776 0.4292206 ] [ 0.05765258 0.01204051 0.9982641 -0.08016122] [ 0. 0. 0. 1. ]] SLAMing on 26.385384749999997 meters Centerline goodness [0,1] 0.7234210471660887 Centerline is valid? [False, False] Translation: X:1.43, Y:0.43, Z:-0.08 [[ 0.99655356 0.0590082 -0.05830117 1.42940431] [-0.05963275 0.99817954 -0.00902983 0.43019438] [ 0.0576622 0.01247536 0.9982582 -0.08032369] [ 0. 0. 0. 1. ]] SLAMing on 26.415384749999998 meters Centerline goodness [0,1] 0.7122679496974829 Centerline is valid? [False, False] Translation: X:1.43, Y:0.43, Z:-0.08 [[ 0.99652095 0.05918707 -0.05867609 1.43043885] [-0.05984371 0.99816259 -0.00949592 0.43175293] [ 0.05800624 0.01297428 0.99823191 -0.08074302] [ 0. 0. 0. 1. ]] SLAMing on 26.44538475 meters Centerline goodness [0,1] 0.7470123640573957 Centerline is valid? [False, False] Translation: X:1.43, Y:0.43, Z:-0.08 [[ 0.99628881 0.06310989 -0.05852985 1.43072082] [-0.06356956 0.99795923 -0.00602327 0.43265392] [ 0.05803027 0.00972164 0.99826749 -0.0808067 ] [ 0. 0. 0. 1. ]] SLAMing on 26.475384749999996 meters Centerline goodness [0,1] 0.7325876550343604 Centerline is valid? [False, False] Translation: X:1.43, Y:0.43, Z:-0.08 [[ 0.99627772 0.06321408 -0.05860621 1.43100137] [-0.06371061 0.99794632 -0.00664089 0.43494123] [ 0.05806606 0.01035001 0.99825909 -0.08085473] [ 0. 0. 0. 1. ]] SLAMing on 26.505384749999997 meters Centerline goodness [0,1] 0.7431687242798354 Centerline is valid? [False, False] Translation: X:1.43, Y:0.44, Z:-0.08 [[ 0.99602638 0.06697574 -0.05870013 1.4320075 ] [-0.06730629 0.99772561 -0.00366998 0.4377504 ] [ 0.05832082 0.00760629 0.99826891 -0.08114866] [ 0. 0. 0. 1. ]] SLAMing on 26.53538475 meters Centerline goodness [0,1] 0.7932355606822115 Centerline is valid? [False, False] Translation: X:1.43, Y:0.44, Z:-0.08 [[ 0.99602608 0.06685587 -0.05884165 1.43221295] [-0.06721372 0.99773009 -0.00412127 0.43898383] [ 0.05843255 0.00805986 0.99825882 -0.08103529] [ 0. 0. 0. 1. ]] SLAMing on 26.56538475 meters Centerline goodness [0,1] 0.7996817721571301 Centerline is valid? [False, False] Translation: X:1.43, Y:0.44, Z:-0.08 [[ 0.99602464 0.06683868 -0.05888546 1.43196584] [-0.06719473 0.99773152 -0.00408495 0.43857194] [ 0.05847885 0.0080255 0.99825639 -0.08070415] [ 0. 0. 0. 1. ]] SLAMing on 26.595384749999997 meters Centerline goodness [0,1] 0.7703223149006282 Centerline is valid? [False, False] Translation: X:1.43, Y:0.44, Z:-0.08 [[ 0.99606639 0.06612118 -0.05898927 1.43155641] [-0.06646575 0.9977811 -0.00389633 0.43662757] [ 0.05860075 0.00780177 0.99825101 -0.08018063] [ 0. 0. 0. 1. ]] SLAMing on 26.62538475 meters Centerline goodness [0,1] 0.7546951509266338 Centerline is valid? [False, False] Translation: X:1.43, Y:0.44, Z:-0.08 [[ 0.99624395 0.06351802 -0.05885111 1.42959191] [-0.06399292 0.99793098 -0.00621838 0.43663306] [ 0.05833437 0.00996107 0.9982474 -0.07865947] [ 0. 0. 0. 1. ]] SLAMing on 26.65538475 meters Centerline goodness [0,1] 0.7419949082027611 Centerline is valid? [False, False] Translation: X:1.43, Y:0.44, Z:-0.08 [[ 0.99650421 0.05908546 -0.05906154 1.42956874] [-0.05978123 0.99816059 -0.01008222 0.435977 ] [ 0.05835719 0.01357775 0.99820343 -0.07874467] [ 0. 0. 0. 1. ]] SLAMing on 26.685384749999997 meters Centerline goodness [0,1] 0.7370052061813073 Centerline is valid? [False, False] Translation: X:1.43, Y:0.44, Z:-0.08 [[ 0.99651507 0.05899625 -0.05896742 1.4297251 ] [-0.05969787 0.99816431 -0.01020698 0.43630325] [ 0.058257 0.01369164 0.99820772 -0.07907276] [ 0. 0. 0. 1. ]] SLAMing on 26.71538475 meters Centerline goodness [0,1] 0.7324954003266284 Centerline is valid? [False, False] Translation: X:1.43, Y:0.44, Z:-0.08 [[ 0.99651792 0.05894712 -0.05896832 1.42977994] [-0.05967912 0.99815995 -0.01072889 0.43810707] [ 0.05822738 0.01421071 0.9982022 -0.0790462 ] [ 0. 0. 0. 1. ]] SLAMing on 26.74538475 meters Centerline goodness [0,1] 0.750676555043692 Centerline is valid? [False, False] Translation: X:1.43, Y:0.44, Z:-0.08 [[ 0.99651029 0.0590585 -0.05898587 1.42963229] [-0.05981442 0.99814745 -0.0111313 0.43985328] [ 0.0582192 0.01462066 0.99819675 -0.07873304] [ 0. 0. 0. 1. ]] SLAMing on 26.775384749999997 meters Centerline goodness [0,1] 0.7386483305457474 Centerline is valid? [False, False] Translation: X:1.43, Y:0.44, Z:-0.08 [[ 0.99651006 0.05903887 -0.05900944 1.43000748] [-0.05984976 0.99813444 -0.01206861 0.44298506] [ 0.05818683 0.01555819 0.99818447 -0.0788966 ] [ 0. 0. 0. 1. ]] SLAMing on 26.805384749999998 meters Centerline goodness [0,1] 0.7564453286910388 Centerline is valid? [False, False] Translation: X:1.43, Y:0.44, Z:-0.08 [[ 0.99651141 0.05892434 -0.05910099 1.43074549] [-0.0597644 0.99813365 -0.01254705 0.44426404] [ 0.05825136 0.01603541 0.99817315 -0.07955492] [ 0. 0. 0. 1. ]] SLAMing on 26.83538475 meters Centerline goodness [0,1] 0.723032550473836 Centerline is valid? [False, False] Translation: X:1.43, Y:0.44, Z:-0.08 [[ 0.99649595 0.05885191 -0.05943292 1.43416795] [-0.05970186 0.99813639 -0.01262647 0.444793 ] [ 0.05857906 0.01613048 0.99815244 -0.08252029] [ 0. 0. 0. 1. ]] SLAMing on 26.865384749999997 meters Centerline goodness [0,1] 0.7164913436399942 Centerline is valid? [False, False] Translation: X:1.43, Y:0.44, Z:-0.08 [[ 0.99650458 0.05880334 -0.0593362 1.43424057] [-0.05965354 0.99813887 -0.01265882 0.44476013] [ 0.05848139 0.01615419 0.99815779 -0.08280965] [ 0. 0. 0. 1. ]] SLAMing on 26.895384749999998 meters Centerline goodness [0,1] 0.7306044250339911 Centerline is valid? [False, False] Translation: X:1.43, Y:0.45, Z:-0.08 [[ 0.99649935 0.05885944 -0.05936837 1.43493425] [-0.0597344 0.99812873 -0.01307073 0.44641478] [ 0.05848794 0.0165713 0.99815057 -0.08343936] [ 0. 0. 0. 1. ]] SLAMing on 26.92538475 meters Centerline goodness [0,1] 0.7464477031582866 Centerline is valid? [False, False] Translation: X:1.43, Y:0.45, Z:-0.08 [[ 0.99639504 0.06112838 -0.05882388 1.43365696] [-0.06186335 0.99802669 -0.01075385 0.44717164] [ 0.05805043 0.01435413 0.99821045 -0.08273845] [ 0. 0. 0. 1. ]] SLAMing on 26.955384749999997 meters Centerline goodness [0,1] 0.7324788262204546 Centerline is valid? [False, False] Translation: X:1.44, Y:0.45, Z:-0.08 [[ 0.99629923 0.06231686 -0.05919842 1.43597206] [-0.06300557 0.99796469 -0.00983768 0.44759554] [ 0.05846488 0.0135311 0.99819776 -0.08431656] [ 0. 0. 0. 1. ]] SLAMing on 26.985384749999998 meters Centerline goodness [0,1] 0.7292377701934016 Centerline is valid? [False, False] Translation: X:1.44, Y:0.45, Z:-0.08 [[ 0.99629156 0.06237648 -0.05926477 1.43594471] [-0.06305867 0.99796259 -0.00970951 0.44711816] [ 0.05853838 0.01341066 0.99819508 -0.08416971] [ 0. 0. 0. 1. ]] SLAMing on 27.01538475 meters Centerline goodness [0,1] 0.7201664743695402 Centerline is valid? [False, False] Translation: X:1.44, Y:0.45, Z:-0.08 [[ 0.9966815 0.06073925 -0.05419156 1.43875334] [-0.06093836 0.99813947 -0.00202786 0.44500435] [ 0.05396757 0.00532348 0.9985285 -0.08204449] [ 0. 0. 0. 1. ]] SLAMing on 27.045384749999997 meters Centerline goodness [0,1] 0.7465020915328979 Centerline is valid? [False, False] Translation: X:1.44, Y:0.45, Z:-0.08 [[ 0.99669271 0.06056944 -0.05417544 1.43829197] [-0.06077674 0.99814899 -0.00218564 0.44519355] [ 0.05394278 0.00547102 0.99852904 -0.0815195 ] [ 0. 0. 0. 1. ]] SLAMing on 27.075384749999998 meters Centerline goodness [0,1] 0.7525466454532306 Centerline is valid? [False, False] Translation: X:1.44, Y:0.45, Z:-0.08 [[ 0.99670064 0.06040611 -0.054212 1.43840112] [-0.06061914 0.99815834 -0.00229232 0.44507191] [ 0.05397369 0.00557105 0.99852682 -0.08159404] [ 0. 0. 0. 1. ]] SLAMing on 27.10538475 meters Centerline goodness [0,1] 0.7523585392539378 Centerline is valid? [False, False] Translation: X:1.44, Y:0.45, Z:-0.08 [[ 0.99670864 0.06011242 -0.05439095 1.43886942] [-0.06034665 0.9981739 -0.00267291 0.44579555] [ 0.05413095 0.00594643 0.99851614 -0.08178516] [ 0. 0. 0. 1. ]] SLAMing on 27.135384749999997 meters Centerline goodness [0,1] 0.7409278350515465 Centerline is valid? [False, False] Translation: X:1.44, Y:0.45, Z:-0.08 [[ 0.99671589 0.06002639 -0.05435309 1.439089 ] [-0.06030522 0.99817384 -0.00350318 0.44971738] [ 0.05404355 0.00676945 0.99851563 -0.08187924] [ 0. 0. 0. 1. ]] SLAMing on 27.165384749999998 meters Centerline goodness [0,1] 0.7514524702295109 Centerline is valid? [False, False] Translation: X:1.44, Y:0.45, Z:-0.08 [[ 0.99672552 0.05991156 -0.05430326 1.43883685] [-0.06023095 0.99817537 -0.00426272 0.45192162] [ 0.05394879 0.0075195 0.99851539 -0.08157336] [ 0. 0. 0. 1. ]] SLAMing on 27.19538475 meters Centerline goodness [0,1] 0.7507425742574257 Centerline is valid? [False, False] Translation: X:1.44, Y:0.45, Z:-0.08 [[ 0.99672369 0.05984934 -0.0544053 1.4384735 ] [-0.06020135 0.99817446 -0.00485293 0.45350225] [ 0.05401554 0.00811231 0.99850714 -0.08082498] [ 0. 0. 0. 1. ]] SLAMing on 27.225384749999996 meters Centerline goodness [0,1] 0.7602265963342296 Centerline is valid? [False, False] Translation: X:1.44, Y:0.46, Z:-0.08 [[ 0.99667069 0.06029749 -0.05487942 1.43884209] [-0.06068944 0.99814153 -0.00550228 0.45602687] [ 0.05444565 0.00881456 0.99847783 -0.08011025] [ 0. 0. 0. 1. ]] SLAMing on 27.255384749999997 meters Centerline goodness [0,1] 0.7821784223792405 Centerline is valid? [False, False] Translation: X:1.44, Y:0.46, Z:-0.08 [[ 0.99666971 0.06019855 -0.05500564 1.43920674] [-0.06061646 0.99814334 -0.00595951 0.45716125] [ 0.05454476 0.00927391 0.99846826 -0.08024126] [ 0. 0. 0. 1. ]] SLAMing on 27.28538475 meters Centerline goodness [0,1] 0.7895192188851811 Centerline is valid? [False, False] Translation: X:1.44, Y:0.46, Z:-0.08 [[ 0.99666499 0.05991125 -0.05540344 1.44065557] [-0.06036851 0.99815424 -0.00661546 0.45855479] [ 0.05490484 0.00993802 0.99844213 -0.08112628] [ 0. 0. 0. 1. ]] SLAMing on 27.31538475 meters Centerline goodness [0,1] 0.7934867796889824 Centerline is valid? [False, False] Translation: X:1.44, Y:0.46, Z:-0.08 [[ 0.99666733 0.05979183 -0.05549032 1.44112752] [-0.06026131 0.9981593 -0.00682485 0.45904688] [ 0.05498011 0.01014603 0.9984359 -0.08147799] [ 0. 0. 0. 1. ]] SLAMing on 27.345384749999997 meters Centerline goodness [0,1] 0.7934867796889824 Centerline is valid? [False, False] Translation: X:1.44, Y:0.46, Z:-0.08 [[ 0.99666733 0.05979183 -0.05549032 1.44112752] [-0.06026131 0.9981593 -0.00682485 0.45904688] [ 0.05498011 0.01014603 0.9984359 -0.08147799] [ 0. 0. 0. 1. ]] SLAMing on 27.37538475 meters Centerline goodness [0,1] 0.7475602490086907 Centerline is valid? [False, False] Translation: X:1.44, Y:0.46, Z:-0.08 [[ 0.9966623 0.05961572 -0.05576949 1.44182425] [-0.06010025 0.99816745 -0.00705015 0.45974779] [ 0.05524699 0.01037838 0.99841878 -0.08165634] [ 0. 0. 0. 1. ]] SLAMing on 27.40538475 meters Centerline goodness [0,1] 0.7635809084164538 Centerline is valid? [False, False] Translation: X:1.44, Y:0.46, Z:-0.08 [[ 0.9966437 0.05977021 -0.05593613 1.44174379] [-0.06025318 0.99815868 -0.00698657 0.4597342 ] [ 0.05541554 0.01033345 0.9984099 -0.08116239] [ 0. 0. 0. 1. ]] SLAMing on 27.435384749999997 meters Centerline goodness [0,1] 0.7700581214966802 Centerline is valid? [False, False] Translation: X:1.44, Y:0.46, Z:-0.08 [[ 0.99661458 0.06016092 -0.0560361 1.44197575] [-0.06065082 0.99813392 -0.0070818 0.4604457 ] [ 0.05550548 0.01045646 0.99840363 -0.08114402] [ 0. 0. 0. 1. ]] SLAMing on 27.46538475 meters Centerline goodness [0,1] 0.8702642536175125 Centerline is valid? [False, False] Translation: X:1.44, Y:0.46, Z:-0.08 [[ 0.99624235 0.06594725 -0.05614397 1.44301715] [-0.06623198 0.99779904 -0.00322393 0.46305066] [ 0.05580779 0.00693034 0.99841748 -0.08140283] [ 0. 0. 0. 1. ]] SLAMing on 27.49538475 meters Centerline goodness [0,1] 0.9138454547332329 Centerline is valid? [False, False] Translation: X:1.44, Y:0.46, Z:-0.08 [[ 9.95940556e-01 7.04652743e-02 -5.60094055e-02 1.44329188e+00] [-7.05490630e-02 9.97508194e-01 4.82337564e-04 4.64376237e-01] [ 5.59038290e-02 3.47103154e-03 9.98430125e-01 -8.13716939e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.525384749999997 meters Centerline goodness [0,1] 0.9248004279483171 Centerline is valid? [False, False] Translation: X:1.44, Y:0.47, Z:-0.08 [[ 9.95613187e-01 7.50050236e-02 -5.59341349e-02 1.44392340e+00] [-7.48780716e-02 9.97183143e-01 4.36494893e-03 4.65116834e-01] [ 5.61039696e-02 -1.57560558e-04 9.98424919e-01 -8.15913924e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.555384749999998 meters Centerline goodness [0,1] 0.9325585235952273 Centerline is valid? [False, False] Translation: X:1.44, Y:0.47, Z:-0.08 [[ 0.9952039 0.08035585 -0.05578646 1.44436789] [-0.07999225 0.99675731 0.00872399 0.46548563] [ 0.05630659 -0.00421967 0.99840461 -0.08169104] [ 0. 0. 0. 1. ]] SLAMing on 27.58538475 meters Centerline goodness [0,1] 0.9317456066256 Centerline is valid? [False, False] Translation: X:1.44, Y:0.46, Z:-0.08 [[ 0.99511076 0.08146872 -0.05583394 1.44388913] [-0.08105798 0.99666329 0.00958576 0.46424987] [ 0.05642858 -0.00501311 0.99839405 -0.08096978] [ 0. 0. 0. 1. ]] SLAMing on 27.615384749999997 meters Centerline goodness [0,1] 0.9329644561461248 Centerline is valid? [False, False] Translation: X:1.44, Y:0.46, Z:-0.08 [[ 0.99534391 0.07835119 -0.05613909 1.44339382] [-0.07813973 0.99692463 0.00595534 0.46462335] [ 0.05643305 -0.00154092 0.9984052 -0.08029245] [ 0. 0. 0. 1. ]] SLAMing on 27.645384749999998 meters Centerline goodness [0,1] 0.9342928918540483 Centerline is valid? [False, False] Translation: X:1.44, Y:0.46, Z:-0.08 [[ 9.95520988e-01 7.59861657e-02 -5.62500216e-02 1.44243548e+00] [-7.59086974e-02 9.97108575e-01 3.51566070e-03 4.62823283e-01] [ 5.63545204e-02 7.69951850e-04 9.98410524e-01 -7.95527738e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.67538475 meters Centerline goodness [0,1] 0.9343033966013288 Centerline is valid? [False, False] Translation: X:1.44, Y:0.46, Z:-0.08 [[ 9.95493205e-01 7.63936413e-02 -5.61897749e-02 1.44234177e+00] [-7.62761476e-02 9.97077734e-01 4.23586267e-03 4.61115886e-01] [ 5.63491664e-02 6.91670617e-05 9.98411121e-01 -7.96254454e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.705384749999997 meters Centerline goodness [0,1] 0.9343666797382923 Centerline is valid? [False, False] Translation: X:1.44, Y:0.46, Z:-0.08 [[ 9.95719779e-01 7.32017225e-02 -5.64236525e-02 1.44220643e+00] [-7.32802768e-02 9.97311156e-01 6.78322826e-04 4.61258596e-01] [ 5.63215924e-02 3.45932141e-03 9.98406686e-01 -7.95312648e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 27.735384749999998 meters Centerline goodness [0,1] 0.93289213260762 Centerline is valid? [False, False] Translation: X:1.44, Y:0.46, Z:-0.08 [[ 0.99592035 0.07027768 -0.0566013 1.44185383] [-0.07047445 0.99751248 -0.0014854 0.45697838] [ 0.05635611 0.00546829 0.99839576 -0.07944435] [ 0. 0. 0. 1. ]] SLAMing on 27.76538475 meters Centerline goodness [0,1] 0.9319504643962848 Centerline is valid? [False, False] Translation: X:1.44, Y:0.45, Z:-0.08 [[ 0.99633607 0.0639002 -0.05684367 1.44087074] [-0.06436461 0.99790609 -0.00637502 0.4500152 ] [ 0.05631728 0.01001038 0.99836274 -0.07913905] [ 0. 0. 0. 1. ]] SLAMing on 27.795384749999997 meters Centerline goodness [0,1] 0.9298508689043178 Centerline is valid? [False, False] Translation: X:1.44, Y:0.45, Z:-0.08 [[ 0.99654578 0.06044527 -0.05694627 1.44052261] [-0.06104297 0.99809622 -0.00881394 0.44626022] [ 0.0563051 0.01225966 0.99833834 -0.07916195] [ 0. 0. 0. 1. ]] SLAMing on 27.825384749999998 meters Centerline goodness [0,1] 0.9184587443761093 Centerline is valid? [False, False] Translation: X:1.44, Y:0.44, Z:-0.08 [[ 0.99694384 0.05324239 -0.05716842 1.43980478] [-0.05410182 0.99844292 -0.01359128 0.4389093 ] [ 0.05635577 0.01664266 0.99827203 -0.0789856 ] [ 0. 0. 0. 1. ]] SLAMing on 27.85538475 meters Centerline goodness [0,1] 0.8974906235106405 Centerline is valid? [False, False] Translation: X:1.44, Y:0.44, Z:-0.08 [[ 0.99710752 0.04970336 -0.05749927 1.44007977] [-0.05070679 0.9985834 -0.01612479 0.43553751] [ 0.05661636 0.01899376 0.99821532 -0.07919427] [ 0. 0. 0. 1. ]] SLAMing on 27.885384749999997 meters Centerline goodness [0,1] 0.8749429768174843 Centerline is valid? [False, False] Translation: X:1.44, Y:0.43, Z:-0.08 [[ 0.99722952 0.04700267 -0.05765438 1.43991523] [-0.04805445 0.99870015 -0.01699352 0.42846009] [ 0.05678069 0.01971699 0.99819196 -0.07924881] [ 0. 0. 0. 1. ]] SLAMing on 27.915384749999998 meters Centerline goodness [0,1] 0.854061439099114 Centerline is valid? [False, False] Translation: X:1.44, Y:0.43, Z:-0.08 [[ 0.99720087 0.04765008 -0.05761859 1.43972115] [-0.04862727 0.99869395 -0.01567723 0.42544816] [ 0.05679631 0.01843519 0.99821557 -0.07918991] [ 0. 0. 0. 1. ]] SLAMing on 27.94538475 meters Centerline goodness [0,1] 0.8975575397236436 Centerline is valid? [False, False] Translation: X:1.44, Y:0.42, Z:-0.08 [[ 0.99716752 0.04847216 -0.05750994 1.43862932] [-0.0493337 0.99868899 -0.01365583 0.41937576] [ 0.05677262 0.01645433 0.99825153 -0.07835706] [ 0. 0. 0. 1. ]] SLAMing on 27.975384749999996 meters Centerline goodness [0,1] 0.8491805303903806 Centerline is valid? [False, False] Translation: X:1.44, Y:0.42, Z:-0.08 [[ 0.99714099 0.04894347 -0.05757061 1.43856441] [-0.04973976 0.99868424 -0.01248 0.41630224] [ 0.05688405 0.01530787 0.99826343 -0.07825615] [ 0. 0. 0. 1. ]] SLAMing on 28.005384749999997 meters Centerline goodness [0,1] 0.8529771150460805 Centerline is valid? [False, False] Translation: X:1.44, Y:0.41, Z:-0.08 [[ 0.99716768 0.04865295 -0.05735422 1.4381949 ] [-0.04939141 0.99871297 -0.01152814 0.4125159 ] [ 0.05671952 0.0143283 0.99828733 -0.07838025] [ 0. 0. 0. 1. ]] SLAMing on 28.03538475 meters Centerline goodness [0,1] 0.8359221899044909 Centerline is valid? [False, False] Translation: X:1.44, Y:0.41, Z:-0.08 [[ 0.99716249 0.04867079 -0.05742925 1.43820674] [-0.04936756 0.99872254 -0.01077609 0.41068391] [ 0.0568314 0.01358065 0.99829142 -0.0782542 ] [ 0. 0. 0. 1. ]] SLAMing on 28.06538475 meters Centerline goodness [0,1] 0.8234345939243646 Centerline is valid? [False, False] Translation: X:1.44, Y:0.41, Z:-0.08 [[ 0.99734068 0.04467532 -0.057582 1.43761174] [-0.04553015 0.99887012 -0.01361924 0.40763389] [ 0.0569085 0.01620474 0.99824788 -0.07768818] [ 0. 0. 0. 1. ]] SLAMing on 28.095384749999997 meters Centerline goodness [0,1] 0.8101685777676405 Centerline is valid? [False, False] Translation: X:1.44, Y:0.41, Z:-0.08 [[ 0.9973593 0.04440719 -0.05746668 1.43710047] [-0.04522666 0.99889166 -0.01303811 0.40522164] [ 0.056824 0.0156027 0.99826228 -0.07734811] [ 0. 0. 0. 1. ]] SLAMing on 28.12538475 meters Centerline goodness [0,1] 0.7996852611090405 Centerline is valid? [False, False] Translation: X:1.44, Y:0.40, Z:-0.08 [[ 0.99736048 0.04439744 -0.05745384 1.43673706] [-0.0451906 0.99889918 -0.01257962 0.40386184] [ 0.05683209 0.01514279 0.99826891 -0.07695848] [ 0. 0. 0. 1. ]] SLAMing on 28.15538475 meters Centerline goodness [0,1] 0.8104155445995774 Centerline is valid? [False, False] Translation: X:1.44, Y:0.40, Z:-0.08 [[ 0.9973686 0.04431827 -0.05737398 1.4362884 ] [-0.04510099 0.99890523 -0.01241955 0.40325689] [ 0.05676075 0.01497449 0.9982755 -0.07658278] [ 0. 0. 0. 1. ]] SLAMing on 28.185384749999997 meters Centerline goodness [0,1] 0.7825898835891625 Centerline is valid? [False, False] Translation: X:1.44, Y:0.40, Z:-0.08 [[ 0.99734802 0.04438158 -0.05768195 1.43754028] [-0.04517268 0.99890119 -0.01248343 0.40327431] [ 0.05706453 0.01505597 0.99825696 -0.07743636] [ 0. 0. 0. 1. ]] SLAMing on 28.21538475 meters Centerline goodness [0,1] 0.8006854405813857 Centerline is valid? [False, False] Translation: X:1.44, Y:0.40, Z:-0.08 [[ 0.99733592 0.04445179 -0.05783683 1.43827791] [-0.04525297 0.99889589 -0.01261644 0.40384014] [ 0.05721215 0.01520012 0.99824633 -0.07799516] [ 0. 0. 0. 1. ]] SLAMing on 28.24538475 meters Centerline goodness [0,1] 0.7812060550914054 Centerline is valid? [False, False] Translation: X:1.44, Y:0.40, Z:-0.08 [[ 0.99732775 0.04447054 -0.05796313 1.43892305] [-0.045291 0.99889031 -0.01291819 0.40496506] [ 0.05732433 0.01550888 0.99823514 -0.07845654] [ 0. 0. 0. 1. ]] SLAMing on 28.275384749999997 meters Centerline goodness [0,1] 0.8154049915152519 Centerline is valid? [False, False] Translation: X:1.44, Y:0.41, Z:-0.08 [[ 0.99730968 0.04468906 -0.05810593 1.4394198 ] [-0.04552077 0.9988779 -0.01306899 0.40571889] [ 0.05745669 0.01567886 0.99822488 -0.07871826] [ 0. 0. 0. 1. ]] SLAMing on 28.305384749999998 meters Centerline goodness [0,1] 0.7963970299282301 Centerline is valid? [False, False] Translation: X:1.44, Y:0.41, Z:-0.08 [[ 0.99729388 0.04489872 -0.0582153 1.4396706 ] [-0.04571963 0.99887171 -0.0128462 0.40527075] [ 0.05757284 0.01547302 0.9982214 -0.07881401] [ 0. 0. 0. 1. ]] SLAMing on 28.33538475 meters Centerline goodness [0,1] 0.7869578718559156 Centerline is valid? [False, False] Translation: X:1.44, Y:0.41, Z:-0.08 [[ 0.99728249 0.04486427 -0.05843659 1.4412317 ] [-0.04568442 0.99887424 -0.01277462 0.40519811] [ 0.05779769 0.01540955 0.99820938 -0.08018308] [ 0. 0. 0. 1. ]] SLAMing on 28.365384749999997 meters Centerline goodness [0,1] 0.7565145399979303 Centerline is valid? [False, False] Translation: X:1.44, Y:0.40, Z:-0.08 [[ 0.99732278 0.04326658 -0.05895142 1.44371724] [-0.04412688 0.99893647 -0.01336995 0.40364407] [ 0.05831025 0.0159355 0.99817132 -0.08204862] [ 0. 0. 0. 1. ]] SLAMing on 28.395384749999998 meters Centerline goodness [0,1] 0.7599018649811838 Centerline is valid? [False, False] Translation: X:1.44, Y:0.40, Z:-0.08 [[ 0.9973391 0.04297035 -0.05889207 1.44383569] [-0.04380163 0.99895699 -0.01289727 0.40148932] [ 0.05827644 0.01544252 0.99818104 -0.08237236] [ 0. 0. 0. 1. ]] SLAMing on 28.42538475 meters Centerline goodness [0,1] 0.7639305592915226 Centerline is valid? [False, False] Translation: X:1.44, Y:0.40, Z:-0.08 [[ 0.99733404 0.04289421 -0.05903304 1.44420858] [-0.04368322 0.99897167 -0.01214004 0.39904238] [ 0.05845159 0.01468643 0.99818221 -0.08258368] [ 0. 0. 0. 1. ]] SLAMing on 28.455384749999997 meters Centerline goodness [0,1] 0.7443387821907308 Centerline is valid? [False, False] Translation: X:1.44, Y:0.40, Z:-0.08 [[ 0.9973733 0.0424364 -0.05869973 1.44338863] [-0.04319777 0.99899729 -0.01176259 0.39706199] [ 0.05814171 0.01426739 0.99820638 -0.08229377] [ 0. 0. 0. 1. ]] SLAMing on 28.485384749999998 meters Centerline goodness [0,1] 0.7438072546522614 Centerline is valid? [False, False] Translation: X:1.44, Y:0.40, Z:-0.08 [[ 0.99736218 0.04312321 -0.05838732 1.4411548 ] [-0.04382754 0.99898034 -0.01083617 0.39634241] [ 0.05786049 0.01336656 0.99823519 -0.08027961] [ 0. 0. 0. 1. ]] SLAMing on 28.51538475 meters Centerline goodness [0,1] 0.7458331610074858 Centerline is valid? [False, False] Translation: X:1.44, Y:0.40, Z:-0.08 [[ 0.99736741 0.04323787 -0.05821281 1.44025343] [-0.04393911 0.99897562 -0.01081981 0.39659716] [ 0.05768535 0.01334915 0.99824556 -0.07958169] [ 0. 0. 0. 1. ]] SLAMing on 28.545384749999997 meters Centerline goodness [0,1] 0.7442642568292481 Centerline is valid? [False, False] Translation: X:1.44, Y:0.40, Z:-0.08 [[ 0.99722434 0.04682329 -0.05788944 1.43966394] [-0.04735955 0.99884646 -0.00792577 0.39904857] [ 0.05745155 0.01064539 0.99829154 -0.07903263] [ 0. 0. 0. 1. ]] SLAMing on 28.575384749999998 meters Centerline goodness [0,1] 0.7734151413453025 Centerline is valid? [False, False] Translation: X:1.44, Y:0.40, Z:-0.08 [[ 0.99705277 0.05045655 -0.05779192 1.4399649 ] [-0.05080552 0.99869804 -0.00458416 0.40021834] [ 0.05748538 0.0075068 0.99831813 -0.07909747] [ 0. 0. 0. 1. ]] SLAMing on 28.60538475 meters Centerline goodness [0,1] 0.7893559743218057 Centerline is valid? [False, False] Translation: X:1.44, Y:0.40, Z:-0.08 [[ 0.99699524 0.05205498 -0.05736531 1.4381499 ] [-0.05234832 0.99862232 -0.0036218 0.40246714] [ 0.05709775 0.0066139 0.99834669 -0.07773492] [ 0. 0. 0. 1. ]] SLAMing on 28.635384749999997 meters Centerline goodness [0,1] 0.7806105610561056 Centerline is valid? [False, False] Translation: X:1.44, Y:0.41, Z:-0.08 [[ 0.99697472 0.05240182 -0.05740607 1.43795388] [-0.0527334 0.99859947 -0.00427545 0.40541086] [ 0.05710163 0.00728973 0.99834176 -0.07730943] [ 0. 0. 0. 1. ]] SLAMing on 28.665384749999998 meters Centerline goodness [0,1] 0.7928491758582228 Centerline is valid? [False, False] Translation: X:1.44, Y:0.41, Z:-0.08 [[ 0.99698632 0.05227698 -0.05731832 1.43763552] [-0.05264418 0.99860124 -0.00491415 0.40722188] [ 0.05698124 0.00791681 0.99834386 -0.07705187] [ 0. 0. 0. 1. ]] SLAMing on 28.69538475 meters Centerline goodness [0,1] 0.822678199120616 Centerline is valid? [False, False] Translation: X:1.44, Y:0.41, Z:-0.08 [[ 0.99698002 0.05246697 -0.05725425 1.43758877] [-0.05287422 0.99858536 -0.00562038 0.41025076] [ 0.05687837 0.00863068 0.99834381 -0.07699175] [ 0. 0. 0. 1. ]] SLAMing on 28.725384749999996 meters Centerline goodness [0,1] 0.8081895218655286 Centerline is valid? [False, False] Translation: X:1.44, Y:0.41, Z:-0.08 [[ 0.9970053 0.05209815 -0.05715078 1.43815142] [-0.05254179 0.99859894 -0.00628671 0.41186845] [ 0.05674318 0.00927069 0.99834576 -0.07782953] [ 0. 0. 0. 1. ]] SLAMing on 28.755384749999997 meters Centerline goodness [0,1] 0.8201086731096271 Centerline is valid? [False, False] Translation: X:1.44, Y:0.41, Z:-0.08 [[ 0.99700597 0.05196292 -0.05726211 1.43858269] [-0.05241206 0.99860524 -0.00636871 0.41179821] [ 0.0568513 0.00935087 0.99833887 -0.07812292] [ 0. 0. 0. 1. ]] SLAMing on 28.78538475 meters Centerline goodness [0,1] 0.768386591994729 Centerline is valid? [False, False] Translation: X:1.44, Y:0.41, Z:-0.08 [[ 0.99706376 0.04998294 -0.05801346 1.44213802] [-0.05052298 0.99869182 -0.00787886 0.41107805] [ 0.05754376 0.01078674 0.99828471 -0.08075463] [ 0. 0. 0. 1. ]] SLAMing on 28.815384749999996 meters Centerline goodness [0,1] 0.7639282537186834 Centerline is valid? [False, False] Translation: X:1.44, Y:0.41, Z:-0.08 [[ 0.99707287 0.04973963 -0.05806607 1.44285048] [-0.05028318 0.99870346 -0.00793681 0.41084709] [ 0.05759601 0.01083333 0.99828119 -0.08148072] [ 0. 0. 0. 1. ]] SLAMing on 28.845384749999997 meters Centerline goodness [0,1] 0.7561870978386405 Centerline is valid? [False, False] Translation: X:1.44, Y:0.41, Z:-0.08 [[ 0.99707022 0.04955213 -0.05827146 1.44386274] [-0.05010942 0.99871056 -0.00814076 0.41134368] [ 0.05779293 0.01103686 0.99826758 -0.08218269] [ 0. 0. 0. 1. ]] SLAMing on 28.87538475 meters Centerline goodness [0,1] 0.783409755793929 Centerline is valid? [False, False] Translation: X:1.44, Y:0.41, Z:-0.08 [[ 0.99705211 0.04963942 -0.05850662 1.44434704] [-0.05021086 0.99870384 -0.00833692 0.41202126] [ 0.05801695 0.01125002 0.99825221 -0.08224204] [ 0. 0. 0. 1. ]] SLAMing on 28.90538475 meters Centerline goodness [0,1] 0.7956089151070769 Centerline is valid? [False, False] Translation: X:1.44, Y:0.41, Z:-0.08 [[ 0.99703712 0.04988471 -0.05855334 1.44427335] [-0.05045271 0.99869228 -0.0082616 0.41164614] [ 0.05806464 0.0111913 0.99825009 -0.0820612 ] [ 0. 0. 0. 1. ]] SLAMing on 28.935384749999997 meters Centerline goodness [0,1] 0.7915114173310298 Centerline is valid? [False, False] Translation: X:1.44, Y:0.41, Z:-0.08 [[ 0.99703285 0.04996655 -0.05855636 1.44415495] [-0.05054666 0.99868581 -0.0084671 0.41257871] [ 0.05805633 0.0114018 0.9982482 -0.08191128] [ 0. 0. 0. 1. ]] SLAMing on 28.96538475 meters Centerline goodness [0,1] 0.7863423333748082 Centerline is valid? [False, False] Translation: X:1.44, Y:0.42, Z:-0.08 [[ 0.99684883 0.05371964 -0.05836612 1.44447272] [-0.05413035 0.99851885 -0.00547751 0.4154262 ] [ 0.05798542 0.00861963 0.99828022 -0.08207509] [ 0. 0. 0. 1. ]] SLAMing on 28.99538475 meters Centerline goodness [0,1] 0.815379502305679 Centerline is valid? [False, False] Translation: X:1.44, Y:0.42, Z:-0.08 [[ 0.99683811 0.053764 -0.0585083 1.44466044] [-0.05420641 0.99851173 -0.0059996 0.41733844] [ 0.05809866 0.00915216 0.99826889 -0.08195974] [ 0. 0. 0. 1. ]] SLAMing on 29.025384749999997 meters Centerline goodness [0,1] 0.8310186144853032 Centerline is valid? [False, False] Translation: X:1.44, Y:0.42, Z:-0.08 [[ 0.99683783 0.05371899 -0.05855437 1.44466147] [-0.0541829 0.99851075 -0.00636301 0.41843429] [ 0.05812535 0.00951553 0.99826394 -0.08185295] [ 0. 0. 0. 1. ]] SLAMing on 29.055384749999998 meters Centerline goodness [0,1] 0.7932443080495998 Centerline is valid? [False, False] Translation: X:1.44, Y:0.42, Z:-0.08 [[ 0.99683876 0.05363535 -0.05861519 1.44429049] [-0.05410335 0.99851467 -0.00642554 0.4183588 ] [ 0.0581835 0.00957651 0.99825997 -0.08128286] [ 0. 0. 0. 1. ]] SLAMing on 29.08538475 meters Centerline goodness [0,1] 0.798107450624665 Centerline is valid? [False, False] Translation: X:1.44, Y:0.42, Z:-0.08 [[ 0.99684357 0.05336436 -0.05878053 1.44389104] [-0.0538056 0.99853371 -0.00594845 0.41630008] [ 0.05837691 0.0090924 0.99825321 -0.08054129] [ 0. 0. 0. 1. ]] SLAMing on 29.115384749999997 meters Centerline goodness [0,1] 0.8108697005540684 Centerline is valid? [False, False] Translation: X:1.44, Y:0.42, Z:-0.08 [[ 0.99685002 0.05328873 -0.05873964 1.44348062] [-0.05371357 0.99854025 -0.00567634 0.41535589] [ 0.05835141 0.00881358 0.9982572 -0.08016025] [ 0. 0. 0. 1. ]] SLAMing on 29.145384749999998 meters Centerline goodness [0,1] 0.7940032280759839 Centerline is valid? [False, False] Translation: X:1.44, Y:0.41, Z:-0.08 [[ 0.99685441 0.05338161 -0.05858068 1.44290032] [-0.05378569 0.99853821 -0.00534184 0.41473663] [ 0.05820989 0.00847584 0.99826838 -0.07977048] [ 0. 0. 0. 1. ]] SLAMing on 29.17538475 meters Centerline goodness [0,1] 0.8095238095238095 Centerline is valid? [False, False] Translation: X:1.44, Y:0.41, Z:-0.08 [[ 0.9968464 0.05345555 -0.0586495 1.44312312] [-0.05385886 0.99853441 -0.00531642 0.41487229] [ 0.05827935 0.00845845 0.99826448 -0.07989514] [ 0. 0. 0. 1. ]] SLAMing on 29.205384749999997 meters Centerline goodness [0,1] 0.8132291688252482 Centerline is valid? [False, False] Translation: X:1.44, Y:0.41, Z:-0.08 [[ 0.99681974 0.05389198 -0.05870323 1.44366321] [-0.05427316 0.99851402 -0.00491726 0.41425594] [ 0.05835099 0.00808763 0.99826337 -0.08042835] [ 0. 0. 0. 1. ]] SLAMing on 29.235384749999998 meters Centerline goodness [0,1] 0.8166611254259829 Centerline is valid? [False, False] Translation: X:1.44, Y:0.41, Z:-0.08 [[ 0.9968037 0.05413584 -0.05875106 1.44378965] [-0.0545036 0.99850263 -0.00467425 0.41381679] [ 0.05841005 0.00786145 0.99826172 -0.08050586] [ 0. 0. 0. 1. ]] SLAMing on 29.26538475 meters Centerline goodness [0,1] 0.8166611254259829 Centerline is valid? [False, False] Translation: X:1.44, Y:0.41, Z:-0.08 [[ 0.9968037 0.05413584 -0.05875106 1.44378965] [-0.0545036 0.99850263 -0.00467425 0.41381679] [ 0.05841005 0.00786145 0.99826172 -0.08050586] [ 0. 0. 0. 1. ]] SLAMing on 29.295384749999997 meters Centerline goodness [0,1] 0.821107597570109 Centerline is valid? [False, False] Translation: X:1.44, Y:0.41, Z:-0.08 [[ 0.99678075 0.05456043 -0.05874771 1.44396991] [-0.0549134 0.99848138 -0.00440951 0.41333919] [ 0.05841791 0.00762135 0.99826312 -0.08076307] [ 0. 0. 0. 1. ]] SLAMing on 29.325384749999998 meters Centerline goodness [0,1] 0.8398270198345046 Centerline is valid? [False, False] Translation: X:1.44, Y:0.41, Z:-0.08 [[ 0.99677776 0.05460367 -0.05875823 1.44414372] [-0.05495188 0.99847963 -0.00432548 0.41290526] [ 0.05843271 0.00754042 0.99826287 -0.08096513] [ 0. 0. 0. 1. ]] SLAMing on 29.35538475 meters Centerline goodness [0,1] 0.838813467845726 Centerline is valid? [False, False] Translation: X:1.44, Y:0.41, Z:-0.08 [[ 0.99678107 0.0543876 -0.05890237 1.44470592] [-0.05472932 0.99849238 -0.00420266 0.41181842] [ 0.058585 0.00741282 0.9982549 -0.0813861 ] [ 0. 0. 0. 1. ]] SLAMing on 29.385384749999997 meters Centerline goodness [0,1] 0.8008490370677159 Centerline is valid? [False, False] Translation: X:1.44, Y:0.41, Z:-0.08 [[ 0.99679607 0.05413856 -0.05887799 1.44497436] [-0.05448742 0.99850505 -0.00433478 0.4118248 ] [ 0.05855529 0.007529 0.99825577 -0.08173647] [ 0. 0. 0. 1. ]] SLAMing on 29.415384749999998 meters Centerline goodness [0,1] 0.7918144667786836 Centerline is valid? [False, False] Translation: X:1.44, Y:0.41, Z:-0.08 [[ 0.99681408 0.05387867 -0.05881145 1.44498291] [-0.05423411 0.99851827 -0.00446315 0.41191413] [ 0.05848384 0.00763852 0.99825913 -0.08188499] [ 0. 0. 0. 1. ]] SLAMing on 29.44538475 meters Centerline goodness [0,1] 0.7887014548016744 Centerline is valid? [False, False] Translation: X:1.45, Y:0.41, Z:-0.08 [[ 0.9968248 0.05365336 -0.05883567 1.44539504] [-0.05402769 0.99852795 -0.00478891 0.41256015] [ 0.05849212 0.00795246 0.99825619 -0.082328 ] [ 0. 0. 0. 1. ]] SLAMing on 29.475384749999996 meters Centerline goodness [0,1] 0.7839583892340399 Centerline is valid? [False, False] Translation: X:1.45, Y:0.41, Z:-0.08 [[ 0.99682531 0.05347459 -0.05898961 1.44617013] [-0.0538758 0.99853394 -0.00523083 0.41359035] [ 0.05862341 0.00839234 0.99824489 -0.08290412] [ 0. 0. 0. 1. ]] SLAMing on 29.505384749999997 meters Centerline goodness [0,1] 0.8208531787119486 Centerline is valid? [False, False] Translation: X:1.45, Y:0.42, Z:-0.08 [[ 0.99682608 0.05359884 -0.05886362 1.44554658] [-0.05402856 0.99852294 -0.00573211 0.41556216] [ 0.05846944 0.00889423 0.99824958 -0.08236049] [ 0. 0. 0. 1. ]] SLAMing on 29.53538475 meters Centerline goodness [0,1] 0.8422644323383806 Centerline is valid? [False, False] Translation: X:1.44, Y:0.42, Z:-0.08 [[ 0.99685641 0.05335693 -0.0585691 1.44472586] [-0.05382575 0.99852948 -0.00645512 0.41739211] [ 0.05813855 0.00958735 0.99826249 -0.08196394] [ 0. 0. 0. 1. ]] SLAMing on 29.565384749999996 meters Centerline goodness [0,1] 0.8034209221616262 Centerline is valid? [False, False] Translation: X:1.44, Y:0.42, Z:-0.08 [[ 0.99687159 0.05307181 -0.0585698 1.44477859] [-0.05357133 0.99853956 -0.00699049 0.41868882] [ 0.05811326 0.01010628 0.99825884 -0.0819516 ] [ 0. 0. 0. 1. ]] SLAMing on 29.595384749999997 meters Centerline goodness [0,1] 0.8151260504201681 Centerline is valid? [False, False] Translation: X:1.44, Y:0.42, Z:-0.08 [[ 0.9968975 0.05267435 -0.05848745 1.44472542] [-0.0532123 0.99855371 -0.00767767 0.42042956] [ 0.05799845 0.01076611 0.99825862 -0.08199998] [ 0. 0. 0. 1. ]] SLAMing on 29.62538475 meters Centerline goodness [0,1] 0.8120493909008039 Centerline is valid? [False, False] Translation: X:1.44, Y:0.42, Z:-0.08 [[ 0.99691463 0.05223612 -0.05858843 1.44478989] [-0.0528331 0.99856558 -0.00868585 0.42358873] [ 0.05805067 0.01175445 0.99824444 -0.08177057] [ 0. 0. 0. 1. ]] SLAMing on 29.65538475 meters Centerline goodness [0,1] 0.7985766748967777 Centerline is valid? [False, False] Translation: X:1.44, Y:0.43, Z:-0.08 [[ 0.99694919 0.05165078 -0.0585193 1.44484766] [-0.05229688 0.9985858 -0.00956265 0.42518885] [ 0.05794263 0.01259385 0.99824048 -0.08190875] [ 0. 0. 0. 1. ]] SLAMing on 29.685384749999997 meters Centerline goodness [0,1] 0.7912993207110854 Centerline is valid? [False, False] Translation: X:1.45, Y:0.43, Z:-0.08 [[ 0.99695462 0.05138292 -0.05866246 1.44546739] [-0.05205041 0.99859532 -0.00990687 0.42588125] [ 0.05807102 0.01293011 0.99822872 -0.08231695] [ 0. 0. 0. 1. ]] SLAMing on 29.71538475 meters Centerline goodness [0,1] 0.7841127482383088 Centerline is valid? [False, False] Translation: X:1.45, Y:0.43, Z:-0.08 [[ 0.99698511 0.05081852 -0.0586359 1.44571653] [-0.05152417 0.99861565 -0.01058502 0.42724535] [ 0.05801681 0.01357427 0.99822332 -0.08262433] [ 0. 0. 0. 1. ]] SLAMing on 29.74538475 meters Centerline goodness [0,1] 0.758866276060537 Centerline is valid? [False, False] Translation: X:1.45, Y:0.43, Z:-0.08 [[ 0.9970477 0.04964547 -0.05857658 1.44595046] [-0.05040257 0.99866256 -0.01151805 0.42838172] [ 0.05792642 0.01443646 0.99821647 -0.08301139] [ 0. 0. 0. 1. ]] SLAMing on 29.775384749999997 meters Centerline goodness [0,1] 0.756581267503371 Centerline is valid? [False, False] Translation: X:1.45, Y:0.43, Z:-0.08 [[ 0.99706786 0.04928554 -0.05853737 1.44607637] [-0.0500515 0.99867821 -0.01169076 0.42814265] [ 0.05788381 0.01458636 0.99821676 -0.0832648 ] [ 0. 0. 0. 1. ]] SLAMing on 29.805384749999998 meters Centerline goodness [0,1] 0.7332919896640827 Centerline is valid? [False, False] Translation: X:1.45, Y:0.43, Z:-0.08 [[ 0.99709657 0.04857409 -0.05864297 1.44685028] [-0.04935696 0.99870941 -0.01197515 0.42794196] [ 0.0579856 0.01483482 0.99820719 -0.08397716] [ 0. 0. 0. 1. ]] SLAMing on 29.83538475 meters Centerline goodness [0,1] 0.7309815314380577 Centerline is valid? [False, False] Translation: X:1.45, Y:0.43, Z:-0.08 [[ 0.99694196 0.05186926 -0.05844925 1.44754448] [-0.05245279 0.99858729 -0.0084928 0.42780366] [ 0.05792616 0.01153265 0.99825426 -0.08477688] [ 0. 0. 0. 1. ]] SLAMing on 29.865384749999997 meters Centerline goodness [0,1] 0.754194214876033 Centerline is valid? [False, False] Translation: X:1.45, Y:0.43, Z:-0.09 [[ 0.99690606 0.05221319 -0.05875455 1.4483984 ] [-0.0528032 0.99856847 -0.00853362 0.42842395] [ 0.05822487 0.01160965 0.99823598 -0.08512476] [ 0. 0. 0. 1. ]] SLAMing on 29.895384749999998 meters Centerline goodness [0,1] 0.7584580853736383 Centerline is valid? [False, False] Translation: X:1.45, Y:0.43, Z:-0.09 [[ 0.99681605 0.05372686 -0.0589167 1.44977097] [-0.05426002 0.99849878 -0.00748611 0.42846898] [ 0.05842605 0.0106591 0.99823483 -0.08613087] [ 0. 0. 0. 1. ]] SLAMing on 29.92538475 meters Centerline goodness [0,1] 0.8112588249865819 Centerline is valid? [False, False] Translation: X:1.45, Y:0.43, Z:-0.09 [[ 0.99653556 0.05911338 -0.05850197 1.4492731 ] [-0.05940681 0.99822844 -0.0032877 0.42995428] [ 0.05820398 0.00675173 0.99828188 -0.08584973] [ 0. 0. 0. 1. ]] SLAMing on 29.955384749999997 meters Centerline goodness [0,1] 0.8036060168967649 Centerline is valid? [False, False] Translation: X:1.45, Y:0.43, Z:-0.09 [[ 0.9964828 0.05993054 -0.05856933 1.44948614] [-0.06022601 0.99817934 -0.00329115 0.43112793] [ 0.05826545 0.00680697 0.99827792 -0.0858779 ] [ 0. 0. 0. 1. ]] SLAMing on 29.985384749999998 meters Centerline goodness [0,1] 0.9032391254980491 Centerline is valid? [False, False] Translation: X:1.45, Y:0.43, Z:-0.09 [[ 0.99614763 0.06543264 -0.05838206 1.44959394] [-0.06543233 0.99785516 0.001919 0.42884689] [ 0.05838241 0.00190847 0.99829247 -0.08595263] [ 0. 0. 0. 1. ]] SLAMing on 30.01538475 meters Centerline goodness [0,1] 0.9202728321793604 Centerline is valid? [False, False] Translation: X:1.45, Y:0.43, Z:-0.09 [[ 0.99609393 0.06616481 -0.0584731 1.44955425] [-0.06614327 0.99780747 0.00230592 0.42854171] [ 0.05849747 0.00157069 0.99828632 -0.08574826] [ 0. 0. 0. 1. ]] SLAMing on 30.045384749999997 meters Centerline goodness [0,1] 0.9330239273927393 Centerline is valid? [False, False] Translation: X:1.45, Y:0.43, Z:-0.08 [[ 9.95950958e-01 6.87712147e-02 -5.78982731e-02 1.44757156e+00] [-6.86280867e-02 9.97632348e-01 4.45919556e-03 4.26278891e-01] [ 5.80678544e-02 -4.67692387e-04 9.98312529e-01 -8.46194560e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.075384749999998 meters Centerline goodness [0,1] 0.9348601775786242 Centerline is valid? [False, False] Translation: X:1.45, Y:0.42, Z:-0.08 [[ 9.95900327e-01 6.95626821e-02 -5.78236348e-02 1.44706007e+00] [-6.93750389e-02 9.97576842e-01 5.24866357e-03 4.24805827e-01] [ 5.80486301e-02 -1.21562885e-03 9.98313016e-01 -8.42417766e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.10538475 meters Centerline goodness [0,1] 0.9375465915679616 Centerline is valid? [False, False] Translation: X:1.45, Y:0.42, Z:-0.08 [[ 0.99580357 0.07118823 -0.05751079 1.44608788] [-0.07089587 0.99745838 0.00711058 0.42115037] [ 0.05787081 -0.00300347 0.99831956 -0.08385921] [ 0. 0. 0. 1. ]] SLAMing on 30.135384749999997 meters Centerline goodness [0,1] 0.9366076054294892 Centerline is valid? [False, False] Translation: X:1.45, Y:0.42, Z:-0.08 [[ 0.99577106 0.07176827 -0.05735251 1.44573618] [-0.07143204 0.99741423 0.00789395 0.41946388] [ 0.05777074 -0.00376376 0.99832278 -0.08384381] [ 0. 0. 0. 1. ]] SLAMing on 30.165384749999998 meters Centerline goodness [0,1] 0.9354457661541012 Centerline is valid? [False, False] Translation: X:1.44, Y:0.41, Z:-0.08 [[ 0.99593188 0.06960495 -0.0572263 1.44491907] [-0.06936751 0.99757235 0.00612757 0.41466001] [ 0.05751389 -0.002133 0.99834243 -0.0839248 ] [ 0. 0. 0. 1. ]] SLAMing on 30.19538475 meters Centerline goodness [0,1] 0.9350015446400989 Centerline is valid? [False, False] Translation: X:1.45, Y:0.41, Z:-0.08 [[ 9.96135620e-01 6.62694289e-02 -5.76384432e-02 1.44563388e+00] [-6.62005794e-02 9.97801504e-01 3.10522900e-03 4.12342115e-01] [ 5.77175070e-02 7.22469123e-04 9.98332694e-01 -8.45537123e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.225384749999996 meters Centerline goodness [0,1] 0.9323712624584718 Centerline is valid? [False, False] Translation: X:1.45, Y:0.41, Z:-0.09 [[ 0.99628352 0.06401433 -0.05763091 1.44644898] [-0.06400369 0.99794759 0.0020323 0.40599314] [ 0.05764272 0.00166385 0.99833589 -0.08612686] [ 0. 0. 0. 1. ]] SLAMing on 30.255384749999997 meters Centerline goodness [0,1] 0.93172931708629 Centerline is valid? [False, False] Translation: X:1.45, Y:0.40, Z:-0.09 [[ 9.96454638e-01 6.09428482e-02 -5.80010617e-02 1.44709587e+00] [-6.10868720e-02 9.98132199e-01 -7.11674825e-04 4.03771564e-01] [ 5.78493558e-02 4.25225511e-03 9.98316268e-01 -8.66947638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.28538475 meters Centerline goodness [0,1] 0.9288770385068519 Centerline is valid? [False, False] Translation: X:1.45, Y:0.40, Z:-0.09 [[ 0.99661041 0.05835819 -0.0579828 1.4472813 ] [-0.05858371 0.99828008 -0.0021959 0.39774716] [ 0.05775492 0.00558531 0.99831517 -0.08754099] [ 0. 0. 0. 1. ]] SLAMing on 30.315384749999996 meters Centerline goodness [0,1] 0.92900132824174 Centerline is valid? [False, False] Translation: X:1.45, Y:0.40, Z:-0.09 [[ 0.99678023 0.05519291 -0.05816286 1.44670246] [-0.0555678 0.99844315 -0.00484684 0.39519969] [ 0.0578048 0.00806322 0.99829534 -0.08708961] [ 0. 0. 0. 1. ]] SLAMing on 30.345384749999997 meters Centerline goodness [0,1] 0.9298757917249322 Centerline is valid? [False, False] Translation: X:1.45, Y:0.39, Z:-0.09 [[ 0.99675884 0.0554515 -0.05828325 1.44656795] [-0.05574399 0.99843929 -0.00340332 0.39104788] [ 0.05800357 0.00664123 0.99829429 -0.08679152] [ 0. 0. 0. 1. ]] SLAMing on 30.37538475 meters Centerline goodness [0,1] 0.9318911085808923 Centerline is valid? [False, False] Translation: X:1.44, Y:0.39, Z:-0.09 [[ 0.9969519 0.05228382 -0.05790771 1.44426782] [-0.05266102 0.9985999 -0.00500597 0.38531336] [ 0.05756491 0.00804019 0.99830939 -0.08540803] [ 0. 0. 0. 1. ]] SLAMing on 30.40538475 meters Centerline goodness [0,1] 0.9309903097171429 Centerline is valid? [False, False] Translation: X:1.44, Y:0.38, Z:-0.08 [[ 0.99713131 0.04878794 -0.05786954 1.44323992] [-0.0492766 0.99876031 -0.0070466 0.38003481] [ 0.05745401 0.009878 0.99829928 -0.08478782] [ 0. 0. 0. 1. ]] SLAMing on 30.435384749999997 meters Centerline goodness [0,1] 0.9283505792142475 Centerline is valid? [False, False] Translation: X:1.44, Y:0.38, Z:-0.08 [[ 0.99714531 0.04854077 -0.05783627 1.44312037] [-0.04898815 0.99877923 -0.00634185 0.37678627] [ 0.05745782 0.00915704 0.99830594 -0.08481216] [ 0. 0. 0. 1. ]] SLAMing on 30.46538475 meters Centerline goodness [0,1] 0.9265122238525285 Centerline is valid? [False, False] Translation: X:1.44, Y:0.37, Z:-0.09 [[ 0.99715274 0.04846898 -0.05776834 1.44318475] [-0.04887413 0.99878913 -0.00562047 0.37409462] [ 0.05742597 0.00842784 0.99831419 -0.08506636] [ 0. 0. 0. 1. ]] SLAMing on 30.49538475 meters Centerline goodness [0,1] 0.9235085094445483 Centerline is valid? [False, False] Translation: X:1.44, Y:0.37, Z:-0.09 [[ 0.99717685 0.04814265 -0.05762469 1.44334188] [-0.04850098 0.99881143 -0.00483522 0.37076558] [ 0.05732342 0.00761642 0.99832661 -0.08560754] [ 0. 0. 0. 1. ]] SLAMing on 30.525384749999997 meters Centerline goodness [0,1] 0.9207429316014809 Centerline is valid? [False, False] Translation: X:1.44, Y:0.37, Z:-0.09 [[ 0.99716809 0.048257 -0.05768067 1.44371573] [-0.04859371 0.99880872 -0.00444822 0.36951614] [ 0.0573973 0.00723854 0.99832517 -0.08594723] [ 0. 0. 0. 1. ]] SLAMing on 30.555384749999998 meters Centerline goodness [0,1] 0.9246558352970359 Centerline is valid? [False, False] Translation: X:1.44, Y:0.37, Z:-0.09 [[ 0.99712917 0.04896219 -0.05775917 1.44404778] [-0.04925009 0.9987801 -0.00357069 0.36722348] [ 0.05751388 0.00640509 0.99832416 -0.08619506] [ 0. 0. 0. 1. ]] SLAMing on 30.58538475 meters Centerline goodness [0,1] 0.922541466135129 Centerline is valid? [False, False] Translation: X:1.44, Y:0.37, Z:-0.09 [[ 0.9971137 0.04936196 -0.05768595 1.4442664 ] [-0.0496237 0.99876313 -0.00311292 0.36606745] [ 0.05746094 0.00596652 0.99832993 -0.08666048] [ 0. 0. 0. 1. ]] SLAMing on 30.615384749999997 meters Centerline goodness [0,1] 0.923682140047207 Centerline is valid? [False, False] Translation: X:1.44, Y:0.36, Z:-0.09 [[ 0.99708561 0.05013551 -0.05750411 1.44449902] [-0.05031903 0.99873167 -0.00174685 0.36218438] [ 0.05734359 0.00463531 0.99834374 -0.087425 ] [ 0. 0. 0. 1. ]] SLAMing on 30.645384749999998 meters Centerline goodness [0,1] 0.9244641384995878 Centerline is valid? [False, False] Translation: X:1.45, Y:0.36, Z:-0.09 [[ 9.97071860e-01 5.02142566e-02 -5.76735101e-02 1.44518880e+00] [-5.03676965e-02 9.98730010e-01 -1.20900937e-03 3.60134578e-01] [ 5.75395559e-02 4.11035108e-03 9.98334766e-01 -8.79183625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 30.67538475 meters Centerline goodness [0,1] 0.9248000331551245 Centerline is valid? [False, False] Translation: X:1.44, Y:0.36, Z:-0.09 [[ 0.99721754 0.04717299 -0.05772256 1.44462818] [-0.04745736 0.9988669 -0.00356488 0.35705855] [ 0.05748899 0.00629432 0.9983263 -0.08768848] [ 0. 0. 0. 1. ]] SLAMing on 30.705384749999997 meters Centerline goodness [0,1] 0.9176516860910428 Centerline is valid? [False, False] Translation: X:1.44, Y:0.35, Z:-0.09 [[ 0.99737705 0.04372358 -0.05768241 1.44413974] [-0.04411832 0.99901069 -0.00558699 0.3515303 ] [ 0.05738106 0.00811719 0.99831935 -0.08766556] [ 0. 0. 0. 1. ]] SLAMing on 30.735384749999998 meters Centerline goodness [0,1] 0.9080078326290838 Centerline is valid? [False, False] Translation: X:1.44, Y:0.35, Z:-0.09 [[ 0.99751405 0.04007876 -0.05796048 1.44457416] [-0.0406471 0.99913604 -0.00865958 0.34941627] [ 0.05756334 0.01099398 0.99828132 -0.08800549] [ 0. 0. 0. 1. ]] SLAMing on 30.76538475 meters Centerline goodness [0,1] 0.89344909234412 Centerline is valid? [False, False] Translation: X:1.45, Y:0.35, Z:-0.09 [[ 0.99753137 0.03959775 -0.05799301 1.44503326] [-0.04013542 0.99916113 -0.00813563 0.34657727] [ 0.05762221 0.01044312 0.99828384 -0.08849354] [ 0. 0. 0. 1. ]] SLAMing on 30.795384749999997 meters Centerline goodness [0,1] 0.865065230896666 Centerline is valid? [False, False] Translation: X:1.45, Y:0.34, Z:-0.09 [[ 0.99757991 0.03851421 -0.05788758 1.4452138 ] [-0.03903332 0.99920697 -0.00786333 0.34329163] [ 0.05753882 0.01010384 0.99829214 -0.08883051] [ 0. 0. 0. 1. ]] SLAMing on 30.825384749999998 meters Centerline goodness [0,1] 0.8267714914898434 Centerline is valid? [False, False] Translation: X:1.45, Y:0.34, Z:-0.09 [[ 0.99757119 0.03861915 -0.05796802 1.44504655] [-0.03911945 0.99920624 -0.0075204 0.3425943 ] [ 0.05763158 0.00976981 0.99829011 -0.08843436] [ 0. 0. 0. 1. ]] SLAMing on 30.85538475 meters Centerline goodness [0,1] 0.8580562395249229 Centerline is valid? [False, False] Translation: X:1.44, Y:0.34, Z:-0.09 [[ 0.99755338 0.03924476 -0.05785419 1.44346644] [-0.03972108 0.99918554 -0.00710581 0.34300006] [ 0.05752821 0.00938646 0.99829975 -0.0868278 ] [ 0. 0. 0. 1. ]] SLAMing on 30.885384749999997 meters Centerline goodness [0,1] 0.8626316876678373 Centerline is valid? [False, False] Translation: X:1.44, Y:0.34, Z:-0.09 [[ 0.99754564 0.03937989 -0.0578957 1.44318709] [-0.03986704 0.99917845 -0.00728304 0.34404439] [ 0.05756133 0.0095733 0.99829607 -0.0863789 ] [ 0. 0. 0. 1. ]] SLAMing on 30.915384749999998 meters Centerline goodness [0,1] 0.8754292333788424 Centerline is valid? [False, False] Translation: X:1.44, Y:0.35, Z:-0.08 [[ 0.99749398 0.04129122 -0.05745253 1.44132196] [-0.04169904 0.99911269 -0.00591729 0.34667293] [ 0.05715722 0.00829818 0.9983307 -0.08491069] [ 0. 0. 0. 1. ]] SLAMing on 30.94538475 meters Centerline goodness [0,1] 0.8517279821627648 Centerline is valid? [False, False] Translation: X:1.44, Y:0.35, Z:-0.09 [[ 0.99749246 0.04118829 -0.05755265 1.44172504] [-0.04162005 0.9991135 -0.00632314 0.34784602] [ 0.05724119 0.00870263 0.99832245 -0.08516025] [ 0. 0. 0. 1. ]] SLAMing on 30.975384749999996 meters Centerline goodness [0,1] 0.8265590487789773 Centerline is valid? [False, False] Translation: X:1.44, Y:0.35, Z:-0.09 [[ 0.99752084 0.04044424 -0.0575885 1.44224384] [-0.04091213 0.99913845 -0.00696862 0.34866073] [ 0.05725705 0.00930741 0.99831608 -0.08562969] [ 0. 0. 0. 1. ]] SLAMing on 31.005384749999997 meters Centerline goodness [0,1] 0.8000912068322209 Centerline is valid? [False, False] Translation: X:1.44, Y:0.35, Z:-0.09 [[ 0.99754187 0.03996081 -0.05756171 1.44237449] [-0.04044303 0.99915564 -0.00723657 0.34863888] [ 0.05722393 0.00954675 0.99831572 -0.08577873] [ 0. 0. 0. 1. ]] SLAMing on 31.03538475 meters Centerline goodness [0,1] 0.7869332838069296 Centerline is valid? [False, False] Translation: X:1.44, Y:0.35, Z:-0.09 [[ 0.9975809 0.03910521 -0.0574729 1.44189779] [-0.03958812 0.99918951 -0.00728756 0.34762738] [ 0.05714134 0.00954517 0.99832047 -0.08525841] [ 0. 0. 0. 1. ]] SLAMing on 31.065384749999996 meters Centerline goodness [0,1] 0.774980993280868 Centerline is valid? [False, False] Translation: X:1.44, Y:0.35, Z:-0.09 [[ 0.99757813 0.0388999 -0.05765998 1.44211034] [-0.03937387 0.99919928 -0.00710652 0.34679213] [ 0.05733736 0.0093596 0.99831099 -0.08508553] [ 0. 0. 0. 1. ]] SLAMing on 31.095384749999997 meters Centerline goodness [0,1] 0.7530006576783953 Centerline is valid? [False, False] Translation: X:1.44, Y:0.35, Z:-0.09 [[ 0.99761347 0.03805591 -0.05761183 1.44257032] [-0.0385481 0.99922893 -0.00745571 0.34660823] [ 0.05728367 0.00965874 0.99831122 -0.08565651] [ 0. 0. 0. 1. ]] SLAMing on 31.12538475 meters Centerline goodness [0,1] 0.7647725399703313 Centerline is valid? [False, False] Translation: X:1.44, Y:0.35, Z:-0.09 [[ 0.9976163 0.03795497 -0.05762927 1.44262737] [-0.03845434 0.9992316 -0.00758072 0.34707216] [ 0.05729726 0.00977875 0.99830927 -0.08565002] [ 0. 0. 0. 1. ]] SLAMing on 31.15538475 meters Centerline goodness [0,1] 0.7647725399703313 Centerline is valid? [False, False] Translation: X:1.44, Y:0.35, Z:-0.09 [[ 0.9976163 0.03795497 -0.05762927 1.44262737] [-0.03845434 0.9992316 -0.00758072 0.34707216] [ 0.05729726 0.00977875 0.99830927 -0.08565002] [ 0. 0. 0. 1. ]] SLAMing on 31.185384749999997 meters Centerline goodness [0,1] 0.7874707381243397 Centerline is valid? [False, False] Translation: X:1.44, Y:0.35, Z:-0.09 [[ 0.99760444 0.03804522 -0.05777487 1.44259141] [-0.03855309 0.99922688 -0.00770101 0.34759184] [ 0.05743722 0.00990996 0.99829993 -0.08528411] [ 0. 0. 0. 1. ]] SLAMing on 31.21538475 meters Centerline goodness [0,1] 0.7622579911978016 Centerline is valid? [False, False] Translation: X:1.44, Y:0.35, Z:-0.09 [[ 0.99759654 0.03803243 -0.05791957 1.44304193] [-0.03855342 0.99922528 -0.00790386 0.34819373] [ 0.0575741 0.01011786 0.99828996 -0.08545734] [ 0. 0. 0. 1. ]] SLAMing on 31.24538475 meters Centerline goodness [0,1] 0.7824828384748987 Centerline is valid? [False, False] Translation: X:1.44, Y:0.35, Z:-0.09 [[ 0.99746235 0.04122383 -0.05804695 1.44417099] [-0.04159242 0.99912136 -0.00515565 0.35009583] [ 0.05778341 0.00755688 0.99830054 -0.08603623] [ 0. 0. 0. 1. ]] SLAMing on 31.275384749999997 meters Centerline goodness [0,1] 0.7686691483454332 Centerline is valid? [False, False] Translation: X:1.45, Y:0.35, Z:-0.09 [[ 0.99741618 0.04216057 -0.05816748 1.44613552] [-0.04249304 0.99908667 -0.00449015 0.35161137] [ 0.05792505 0.00695026 0.99829674 -0.08763281] [ 0. 0. 0. 1. ]] SLAMing on 31.305384749999998 meters Centerline goodness [0,1] 0.7919947236077332 Centerline is valid? [False, False] Translation: X:1.45, Y:0.36, Z:-0.09 [[ 0.99740493 0.04217603 -0.05834891 1.44681135] [-0.04257349 0.99907773 -0.00558511 0.35543793] [ 0.05805954 0.00805473 0.99828063 -0.08796822] [ 0. 0. 0. 1. ]] SLAMing on 31.33538475 meters Centerline goodness [0,1] 0.8016875012956859 Centerline is valid? [False, False] Translation: X:1.45, Y:0.36, Z:-0.09 [[ 0.99740306 0.04210282 -0.05843366 1.44690467] [-0.04253765 0.99907552 -0.00621715 0.35730105] [ 0.05811788 0.00868664 0.99827193 -0.08789859] [ 0. 0. 0. 1. ]] SLAMing on 31.365384749999997 meters Centerline goodness [0,1] 0.8232403526521174 Centerline is valid? [False, False] Translation: X:1.45, Y:0.36, Z:-0.09 [[ 0.99725781 0.04544502 -0.05840902 1.44761972] [-0.04573602 0.99894688 -0.00365418 0.36034959] [ 0.05818145 0.00631556 0.99828605 -0.08826818] [ 0. 0. 0. 1. ]] SLAMing on 31.395384749999998 meters Centerline goodness [0,1] 0.8375491616642516 Centerline is valid? [False, False] Translation: X:1.45, Y:0.36, Z:-0.09 [[ 0.99725652 0.04555133 -0.05834824 1.44752976] [-0.04587981 0.9989377 -0.00430181 0.36290835] [ 0.0580903 0.00696701 0.99828702 -0.08823494] [ 0. 0. 0. 1. ]] SLAMing on 31.42538475 meters Centerline goodness [0,1] 0.8430206044525517 Centerline is valid? [False, False] Translation: X:1.45, Y:0.37, Z:-0.09 [[ 0.99724621 0.04576382 -0.05835808 1.44816068] [-0.04614555 0.99892114 -0.00520972 0.36627534] [ 0.0580567 0.00788834 0.99828212 -0.08889131] [ 0. 0. 0. 1. ]] SLAMing on 31.455384749999997 meters Centerline goodness [0,1] 0.8396222507559127 Centerline is valid? [False, False] Translation: X:1.45, Y:0.37, Z:-0.09 [[ 0.99725505 0.0454756 -0.05843237 1.44852387] [-0.0458872 0.99893025 -0.005721 0.36734231] [ 0.0581097 0.00838659 0.99827498 -0.08914805] [ 0. 0. 0. 1. ]] SLAMing on 31.485384749999998 meters Centerline goodness [0,1] 0.7717362045760431 Centerline is valid? [False, False] Translation: X:1.45, Y:0.37, Z:-0.09 [[ 0.99732409 0.04415409 -0.05826736 1.4488536 ] [-0.04462555 0.99898054 -0.00681453 0.36901832] [ 0.05790707 0.0093965 0.99827776 -0.08973906] [ 0. 0. 0. 1. ]] SLAMing on 31.51538475 meters Centerline goodness [0,1] 0.7901820896760545 Centerline is valid? [False, False] Translation: X:1.45, Y:0.37, Z:-0.09 [[ 0.99735942 0.0434913 -0.05816097 1.44877284] [-0.04398137 0.99900661 -0.00717212 0.369134 ] [ 0.05779127 0.00971118 0.99828145 -0.08983602] [ 0. 0. 0. 1. ]] SLAMing on 31.545384749999997 meters Centerline goodness [0,1] 0.7582253859206225 Centerline is valid? [False, False] Translation: X:1.45, Y:0.37, Z:-0.09 [[ 0.9975295 0.03901186 -0.05842066 1.44834108] [-0.03972156 0.99914984 -0.01103615 0.36847513] [ 0.05794046 0.01332945 0.99823105 -0.08914656] [ 0. 0. 0. 1. ]] SLAMing on 31.575384749999998 meters Centerline goodness [0,1] 0.7384302494500476 Centerline is valid? [False, False] Translation: X:1.45, Y:0.37, Z:-0.09 [[ 0.99755829 0.03845476 -0.0582982 1.44803546] [-0.03914941 0.99917478 -0.0108201 0.36671837] [ 0.05783401 0.01307602 0.99824057 -0.08905723] [ 0. 0. 0. 1. ]] SLAMing on 31.60538475 meters Centerline goodness [0,1] 0.7211354520209812 Centerline is valid? [False, False] Translation: X:1.45, Y:0.36, Z:-0.09 [[ 0.99796568 0.03529317 -0.05309321 1.45169895] [-0.03561529 0.99935239 -0.00513284 0.36466495] [ 0.05287768 0.00701332 0.99857637 -0.08846434] [ 0. 0. 0. 1. ]] SLAMing on 31.635384749999997 meters Centerline goodness [0,1] 0.7302825768365431 Centerline is valid? [False, False] Translation: X:1.45, Y:0.37, Z:-0.09 [[ 0.99798321 0.03503969 -0.05293141 1.451294 ] [-0.03538191 0.9993585 -0.0055419 0.36606819] [ 0.05270327 0.00740354 0.99858277 -0.08830991] [ 0. 0. 0. 1. ]] SLAMing on 31.665384749999998 meters Centerline goodness [0,1] 0.7376876318074681 Centerline is valid? [False, False] Translation: X:1.45, Y:0.37, Z:-0.09 [[ 0.99786622 0.03848225 -0.0527458 1.45119822] [-0.0386698 0.99924882 -0.00253935 0.36797718] [ 0.05260846 0.0045736 0.99860474 -0.08820792] [ 0. 0. 0. 1. ]] SLAMing on 31.69538475 meters Centerline goodness [0,1] 0.7434835717687005 Centerline is valid? [False, False] Translation: X:1.45, Y:0.37, Z:-0.09 [[ 0.9978609 0.03871106 -0.05267908 1.45098859] [-0.03892995 0.99923702 -0.00313512 0.37010344] [ 0.05251752 0.00517921 0.99860657 -0.08803753] [ 0. 0. 0. 1. ]] SLAMing on 31.725384749999996 meters Centerline goodness [0,1] 0.7792824408571075 Centerline is valid? [False, False] Translation: X:1.45, Y:0.37, Z:-0.09 [[ 9.97690973e-01 4.29171396e-02 -5.26387797e-02 1.45145923e+00] [-4.30138301e-02 9.99074228e-01 -7.04838416e-04 3.74790483e-01] [ 5.25597986e-02 2.96740645e-03 9.98613370e-01 -8.82287585e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.755384749999997 meters Centerline goodness [0,1] 0.7970246839502597 Centerline is valid? [False, False] Translation: X:1.45, Y:0.38, Z:-0.09 [[ 9.97518950e-01 4.67542467e-02 -5.26306408e-02 1.45198719e+00] [-4.66917044e-02 9.98906421e-01 2.41793067e-03 3.77144608e-01] [ 5.26861336e-02 4.54826673e-05 9.98611120e-01 -8.83991616e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.78538475 meters Centerline goodness [0,1] 0.8552740348846821 Centerline is valid? [False, False] Translation: X:1.45, Y:0.38, Z:-0.09 [[ 0.99728899 0.05129322 -0.05276046 1.4530935 ] [-0.05109793 0.99868091 0.00504455 0.38138285] [ 0.05294962 -0.00233493 0.99859446 -0.08906062] [ 0. 0. 0. 1. ]] SLAMing on 31.815384749999996 meters Centerline goodness [0,1] 0.854445041988996 Centerline is valid? [False, False] Translation: X:1.45, Y:0.38, Z:-0.09 [[ 0.99726594 0.05155908 -0.05293684 1.45365748] [-0.05140098 0.99866865 0.00434472 0.3836942 ] [ 0.05309038 -0.00161183 0.99858841 -0.08938509] [ 0. 0. 0. 1. ]] SLAMing on 31.845384749999997 meters Centerline goodness [0,1] 0.8975289798275649 Centerline is valid? [False, False] Translation: X:1.45, Y:0.39, Z:-0.09 [[ 9.97242614e-01 5.19385351e-02 -5.30052591e-02 1.45404685e+00] [-5.18155716e-02 9.98649845e-01 3.69235111e-03 3.86039570e-01] [ 5.31254691e-02 -9.35672075e-04 9.98587407e-01 -8.97498089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 31.87538475 meters Centerline goodness [0,1] 0.9185422258930415 Centerline is valid? [False, False] Translation: X:1.45, Y:0.39, Z:-0.09 [[ 0.99703641 0.05595837 -0.05279263 1.45396103] [-0.05566183 0.99842463 0.00707196 0.38800464] [ 0.05310519 -0.00411247 0.99858046 -0.08959047] [ 0. 0. 0. 1. ]] SLAMing on 31.90538475 meters Centerline goodness [0,1] 0.9192304502860934 Centerline is valid? [False, False] Translation: X:1.45, Y:0.39, Z:-0.09 [[ 0.99702901 0.05608186 -0.05280128 1.45433052] [-0.055782 0.99841746 0.00713691 0.38773532] [ 0.05311797 -0.00417035 0.99857954 -0.09005922] [ 0. 0. 0. 1. ]] SLAMing on 31.935384749999997 meters Centerline goodness [0,1] 0.9172912205567452 Centerline is valid? [False, False] Translation: X:1.45, Y:0.39, Z:-0.09 [[ 0.9970191 0.05617027 -0.05289434 1.45465713] [-0.05585707 0.99841148 0.00738211 0.3868591 ] [ 0.05322497 -0.00440558 0.99857283 -0.09026496] [ 0. 0. 0. 1. ]] SLAMing on 31.96538475 meters Centerline goodness [0,1] 0.9155696307335651 Centerline is valid? [False, False] Translation: X:1.45, Y:0.39, Z:-0.09 [[ 0.99700993 0.05627107 -0.05296002 1.45470431] [-0.05594743 0.99840498 0.00757496 0.38621045] [ 0.05330179 -0.00458934 0.9985679 -0.09021983] [ 0. 0. 0. 1. ]] SLAMing on 31.99538475 meters Centerline goodness [0,1] 0.9181176373159976 Centerline is valid? [False, False] Translation: X:1.45, Y:0.39, Z:-0.09 [[ 0.99698843 0.05658261 -0.05303285 1.45471792] [-0.05624962 0.99838664 0.00775195 0.38589997] [ 0.05338592 -0.00474553 0.99856268 -0.09008112] [ 0. 0. 0. 1. ]] SLAMing on 32.02538475 meters Centerline goodness [0,1] 0.9235672744582653 Centerline is valid? [False, False] Translation: X:1.46, Y:0.39, Z:-0.09 [[ 0.99694607 0.0571976 -0.05316916 1.45538413] [-0.05685483 0.9983509 0.00793828 0.38598904] [ 0.05353552 -0.00489111 0.99855397 -0.0906088 ] [ 0. 0. 0. 1. ]] SLAMing on 32.05538475 meters Centerline goodness [0,1] 0.9257758388984225 Centerline is valid? [False, False] Translation: X:1.46, Y:0.39, Z:-0.09 [[ 0.99692893 0.05736947 -0.05330523 1.45590871] [-0.05702362 0.99834087 0.00798777 0.38578902] [ 0.05367504 -0.00492358 0.99854632 -0.09096267] [ 0. 0. 0. 1. ]] SLAMing on 32.08538475 meters Centerline goodness [0,1] 0.9253273661528261 Centerline is valid? [False, False] Translation: X:1.46, Y:0.39, Z:-0.09 [[ 0.99691715 0.05760607 -0.05327049 1.45591296] [-0.05725375 0.99832666 0.00811757 0.38544166] [ 0.05364897 -0.0050426 0.99854712 -0.09107274] [ 0. 0. 0. 1. ]] SLAMing on 32.115384750000004 meters Centerline goodness [0,1] 0.9272449337933029 Centerline is valid? [False, False] Translation: X:1.46, Y:0.39, Z:-0.09 [[ 0.99708398 0.05451785 -0.05339794 1.45526594] [-0.05434414 0.9985112 0.00470081 0.38511935] [ 0.05357472 -0.00178524 0.99856225 -0.09057264] [ 0. 0. 0. 1. ]] SLAMing on 32.14538475 meters Centerline goodness [0,1] 0.9268791863061275 Centerline is valid? [False, False] Translation: X:1.45, Y:0.39, Z:-0.09 [[ 9.97267984e-01 5.09968318e-02 -5.34405388e-02 1.45473166e+00] [-5.10187133e-02 9.98697240e-01 9.55563605e-04 3.85428773e-01] [ 5.34196493e-02 1.77351453e-03 9.98570576e-01 -9.03219618e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.17538475 meters Centerline goodness [0,1] 0.9258429762349135 Centerline is valid? [False, False] Translation: X:1.45, Y:0.38, Z:-0.09 [[ 0.99743599 0.04755068 -0.05348251 1.45422132] [-0.04773428 0.99885773 -0.00216009 0.3839539 ] [ 0.0533187 0.0047075 0.99856645 -0.09013399] [ 0. 0. 0. 1. ]] SLAMing on 32.20538475 meters Centerline goodness [0,1] 0.9242201264379728 Centerline is valid? [False, False] Translation: X:1.45, Y:0.38, Z:-0.09 [[ 0.9975882 0.04417284 -0.05354007 1.45357174] [-0.04450329 0.99899675 -0.004995 0.38117622] [ 0.05326571 0.00736567 0.99855321 -0.08969759] [ 0. 0. 0. 1. ]] SLAMing on 32.23538475 meters Centerline goodness [0,1] 0.9232816788065121 Centerline is valid? [False, False] Translation: X:1.45, Y:0.38, Z:-0.09 [[ 0.99758686 0.04407893 -0.05364238 1.45393913] [-0.04437653 0.99900532 -0.00436886 0.37845038] [ 0.05339645 0.00673878 0.99855065 -0.08995016] [ 0. 0. 0. 1. ]] SLAMing on 32.26538475 meters Centerline goodness [0,1] 0.9230944019830614 Centerline is valid? [False, False] Translation: X:1.45, Y:0.38, Z:-0.09 [[ 0.99757177 0.044255 -0.05377786 1.45427436] [-0.04451227 0.99900237 -0.00359504 0.37580301] [ 0.05356511 0.00598009 0.99854645 -0.09011215] [ 0. 0. 0. 1. ]] SLAMing on 32.295384750000004 meters Centerline goodness [0,1] 0.9222690812866948 Centerline is valid? [False, False] Translation: X:1.46, Y:0.37, Z:-0.09 [[ 0.99763794 0.04225624 -0.0541568 1.45609788] [-0.04258627 0.99908051 -0.0049539 0.37093601] [ 0.05389767 0.00724853 0.99852015 -0.09178728] [ 0. 0. 0. 1. ]] SLAMing on 32.325384750000005 meters Centerline goodness [0,1] 0.9214533518914764 Centerline is valid? [False, False] Translation: X:1.46, Y:0.37, Z:-0.09 [[ 0.99760971 0.04287529 -0.05419025 1.4563425 ] [-0.04314142 0.99906194 -0.00375033 0.36753905] [ 0.05397862 0.00607921 0.99852359 -0.09209411] [ 0. 0. 0. 1. ]] SLAMing on 32.35538475 meters Centerline goodness [0,1] 0.9211280380960234 Centerline is valid? [False, False] Translation: X:1.46, Y:0.36, Z:-0.09 [[ 9.97549468e-01 4.43764605e-02 -5.40905568e-02 1.45675027e+00] [-4.45153207e-02 9.99007770e-01 -1.36448413e-03 3.61439514e-01] [ 5.39763355e-02 3.76899890e-03 9.98535102e-01 -9.27709437e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.38538475 meters Centerline goodness [0,1] 0.921474658202112 Centerline is valid? [False, False] Translation: X:1.46, Y:0.36, Z:-0.09 [[ 9.97532697e-01 4.49373392e-02 -5.39365653e-02 1.45622898e+00] [-4.50253819e-02 9.98985756e-01 -4.17691192e-04 3.59366807e-01] [ 5.38630905e-02 2.84517507e-03 9.98544277e-01 -9.25071017e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.41538475 meters Centerline goodness [0,1] 0.9221875649823248 Centerline is valid? [False, False] Translation: X:1.46, Y:0.36, Z:-0.09 [[ 9.97501778e-01 4.58823866e-02 -5.37122919e-02 1.45589526e+00] [-4.58768485e-02 9.98946209e-01 1.33671841e-03 3.55350443e-01] [ 5.37170222e-02 1.13077169e-03 9.98555558e-01 -9.25470625e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.44538475 meters Centerline goodness [0,1] 0.9211258828417117 Centerline is valid? [False, False] Translation: X:1.46, Y:0.35, Z:-0.09 [[ 9.97483428e-01 4.61339612e-02 -5.38374321e-02 1.45667876e+00] [-4.60851383e-02 9.98935205e-01 2.14862083e-03 3.52529175e-01] [ 5.38792307e-02 3.37891841e-04 9.98547402e-01 -9.32499166e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.47538475 meters Centerline goodness [0,1] 0.9179748414596112 Centerline is valid? [False, False] Translation: X:1.46, Y:0.35, Z:-0.09 [[ 9.97608671e-01 4.32018155e-02 -5.39494464e-02 1.45695199e+00] [-4.32553960e-02 9.99064032e-01 1.74642822e-04 3.46620478e-01] [ 5.39064964e-02 2.15937947e-03 9.98543653e-01 -9.37775621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 32.505384750000005 meters Centerline goodness [0,1] 0.919127245602039 Centerline is valid? [False, False] Translation: X:1.46, Y:0.34, Z:-0.09 [[ 0.99773748 0.03982098 -0.05416838 1.45707068] [-0.04002579 0.999195 -0.0027008 0.34396804] [ 0.05401723 0.00486283 0.99852816 -0.09392505] [ 0. 0. 0. 1. ]] SLAMing on 32.53538475 meters Centerline goodness [0,1] 0.9188143525741029 Centerline is valid? [False, False] Translation: X:1.46, Y:0.34, Z:-0.09 [[ 0.9979 0.03579489 -0.05398432 1.45633405] [-0.03610265 0.99933686 -0.00473617 0.33776044] [ 0.05377899 0.0066752 0.99853055 -0.09367826] [ 0. 0. 0. 1. ]] SLAMing on 32.56538475 meters Centerline goodness [0,1] 0.9054418103448276 Centerline is valid? [False, False] Translation: X:1.46, Y:0.33, Z:-0.09 [[ 0.99793197 0.03513343 -0.05382772 1.45627431] [-0.03536102 0.99936922 -0.00328122 0.33301277] [ 0.05367848 0.00517783 0.99854485 -0.09364114] [ 0. 0. 0. 1. ]] SLAMing on 32.59538475 meters Centerline goodness [0,1] 0.9009747314832061 Centerline is valid? [False, False] Translation: X:1.46, Y:0.33, Z:-0.09 [[ 0.99793347 0.03523154 -0.0537357 1.45589634] [-0.03541517 0.99936964 -0.00246861 0.33054655] [ 0.05361486 0.00436657 0.99855214 -0.09335346] [ 0. 0. 0. 1. ]] SLAMing on 32.62538475 meters Centerline goodness [0,1] 0.9033480340393814 Centerline is valid? [False, False] Translation: X:1.46, Y:0.33, Z:-0.09 [[ 0.99792571 0.03535288 -0.05380001 1.45567993] [-0.03549451 0.99936846 -0.00167908 0.32784584] [ 0.05370668 0.0035852 0.99855032 -0.09293331] [ 0. 0. 0. 1. ]] SLAMing on 32.65538475 meters Centerline goodness [0,1] 0.8765919616275223 Centerline is valid? [False, False] Translation: X:1.45, Y:0.32, Z:-0.09 [[ 0.99801937 0.03259671 -0.05380331 1.45439388] [-0.03284838 0.99945312 -0.00379972 0.32406351] [ 0.05365003 0.00555954 0.99854432 -0.09176703] [ 0. 0. 0. 1. ]] SLAMing on 32.685384750000004 meters Centerline goodness [0,1] 0.8838523406888018 Centerline is valid? [False, False] Translation: X:1.45, Y:0.32, Z:-0.09 [[ 0.99801853 0.03273153 -0.05373694 1.45404503] [-0.03294825 0.99945209 -0.00315195 0.3219228 ] [ 0.05360433 0.00491624 0.99855015 -0.09146442] [ 0. 0. 0. 1. ]] SLAMing on 32.71538475 meters Centerline goodness [0,1] 0.845705130838434 Centerline is valid? [False, False] Translation: X:1.45, Y:0.32, Z:-0.09 [[ 0.99802574 0.03273631 -0.05360006 1.45358834] [-0.03290271 0.99945608 -0.00222479 0.31927611] [ 0.05349807 0.00398399 0.99856001 -0.09111256] [ 0. 0. 0. 1. ]] SLAMing on 32.74538475 meters Centerline goodness [0,1] 0.875880535530381 Centerline is valid? [False, False] Translation: X:1.45, Y:0.32, Z:-0.09 [[ 0.99803215 0.03253262 -0.05360464 1.45388761] [-0.0326923 0.99946325 -0.0021046 0.31867762] [ 0.0535074 0.00385292 0.99856002 -0.09143571] [ 0. 0. 0. 1. ]] SLAMing on 32.77538475 meters Centerline goodness [0,1] 0.8517484542051823 Centerline is valid? [False, False] Translation: X:1.45, Y:0.32, Z:-0.09 [[ 0.99804378 0.03218556 -0.0535976 1.45464733] [-0.03231802 0.99947635 -0.00160622 0.31632385] [ 0.05351784 0.00333524 0.99856132 -0.09230802] [ 0. 0. 0. 1. ]] SLAMing on 32.80538475 meters Centerline goodness [0,1] 0.8021147412333237 Centerline is valid? [False, False] Translation: X:1.45, Y:0.31, Z:-0.09 [[ 0.99814845 0.02854794 -0.05370922 1.4548977 ] [-0.02883144 0.99957411 -0.00451085 0.313807 ] [ 0.05355757 0.00605101 0.99854643 -0.09270145] [ 0. 0. 0. 1. ]] SLAMing on 32.83538475 meters Centerline goodness [0,1] 0.8267407178854262 Centerline is valid? [False, False] Translation: X:1.46, Y:0.31, Z:-0.09 [[ 0.99814922 0.02829371 -0.0538294 1.45557095] [-0.0285569 0.99958365 -0.00412635 0.31182543] [ 0.05369023 0.00565591 0.99854162 -0.09321033] [ 0. 0. 0. 1. ]] SLAMing on 32.865384750000004 meters Centerline goodness [0,1] 0.7940641534391535 Centerline is valid? [False, False] Translation: X:1.46, Y:0.31, Z:-0.09 [[ 0.99815838 0.02819646 -0.0537105 1.45577113] [-0.02844501 0.99958787 -0.00386859 0.3105107 ] [ 0.05357928 0.00538927 0.99854906 -0.09369315] [ 0. 0. 0. 1. ]] SLAMing on 32.89538475 meters Centerline goodness [0,1] 0.8017655673122538 Centerline is valid? [False, False] Translation: X:1.46, Y:0.31, Z:-0.09 [[ 0.99816735 0.02778524 -0.05375795 1.45663487] [-0.02804671 0.99959814 -0.00411544 0.31053559] [ 0.053622 0.00561564 0.99854552 -0.09457182] [ 0. 0. 0. 1. ]] SLAMing on 32.92538475 meters Centerline goodness [0,1] 0.7965269214960954 Centerline is valid? [False, False] Translation: X:1.46, Y:0.31, Z:-0.09 [[ 0.9981668 0.02750624 -0.05391147 1.45713497] [-0.02779653 0.99960282 -0.00464208 0.31208044] [ 0.05376237 0.00613212 0.99853493 -0.09479521] [ 0. 0. 0. 1. ]] SLAMing on 32.95538475 meters Centerline goodness [0,1] 0.7979887852014318 Centerline is valid? [False, False] Translation: X:1.46, Y:0.32, Z:-0.09 [[ 0.99811266 0.02995248 -0.05360948 1.45609224] [-0.03015538 0.99954078 -0.00297978 0.31680947] [ 0.05349561 0.00459077 0.99855753 -0.09390437] [ 0. 0. 0. 1. ]] SLAMing on 32.98538475 meters Centerline goodness [0,1] 0.806619668809824 Centerline is valid? [False, False] Translation: X:1.46, Y:0.32, Z:-0.09 [[ 9.98018702e-01 3.28508697e-02 -5.36608788e-02 1.45637424e+00] [-3.29574622e-02 9.99456147e-01 -1.10247990e-03 3.21556868e-01] [ 5.35954778e-02 2.86882195e-03 9.98558609e-01 -9.36814481e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.01538475 meters Centerline goodness [0,1] 0.8003534658145126 Centerline is valid? [False, False] Translation: X:1.46, Y:0.32, Z:-0.09 [[ 0.99801386 0.03255708 -0.05392927 1.45699371] [-0.03272139 0.99946216 -0.00216645 0.32454747] [ 0.05382974 0.00392679 0.99854241 -0.09383429] [ 0. 0. 0. 1. ]] SLAMing on 33.045384750000004 meters Centerline goodness [0,1] 0.8135904689145382 Centerline is valid? [False, False] Translation: X:1.46, Y:0.33, Z:-0.09 [[ 9.97926125e-01 3.51948423e-02 -5.38959453e-02 1.45712416e+00] [-3.52978031e-02 9.99376378e-01 -9.59363723e-04 3.30945901e-01] [ 5.38285699e-02 2.85978259e-03 9.98546096e-01 -9.36490147e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.075384750000005 meters Centerline goodness [0,1] 0.8257037893172624 Centerline is valid? [False, False] Translation: X:1.46, Y:0.34, Z:-0.09 [[ 0.9979154 0.03547884 -0.05390826 1.45748971] [-0.03561618 0.99936428 -0.00158881 0.33552268] [ 0.05381762 0.0035055 0.99854463 -0.09384839] [ 0. 0. 0. 1. ]] SLAMing on 33.10538475 meters Centerline goodness [0,1] 0.8257037893172624 Centerline is valid? [False, False] Translation: X:1.46, Y:0.34, Z:-0.09 [[ 0.9979154 0.03547884 -0.05390826 1.45748971] [-0.03561618 0.99936428 -0.00158881 0.33552268] [ 0.05381762 0.0035055 0.99854463 -0.09384839] [ 0. 0. 0. 1. ]] SLAMing on 33.13538475 meters Centerline goodness [0,1] 0.8434152684044331 Centerline is valid? [False, False] Translation: X:1.46, Y:0.34, Z:-0.09 [[ 9.97804065e-01 3.82027473e-02 -5.41072869e-02 1.45904848e+00] [-3.82849008e-02 9.99266748e-01 -4.82274409e-04 3.42558552e-01] [ 5.40491884e-02 2.55270747e-03 9.98535011e-01 -9.48121627e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 33.16538475 meters Centerline goodness [0,1] 0.8445770734719078 Centerline is valid? [False, False] Translation: X:1.46, Y:0.35, Z:-0.10 [[ 0.99780649 0.03784569 -0.0543131 1.46017974] [-0.0379969 0.99927632 -0.00175378 0.34656244] [ 0.05420742 0.00381366 0.99852241 -0.09564156] [ 0. 0. 0. 1. ]] SLAMing on 33.19538475 meters Centerline goodness [0,1] 0.8550667632750233 Centerline is valid? [False, False] Translation: X:1.46, Y:0.35, Z:-0.10 [[ 0.99781188 0.03758181 -0.05439729 1.46058863] [-0.03778726 0.99928201 -0.00275296 0.35007787] [ 0.05425477 0.00480246 0.99851558 -0.09589801] [ 0. 0. 0. 1. ]] SLAMing on 33.22538475 meters Centerline goodness [0,1] 0.8372718619376733 Centerline is valid? [False, False] Translation: X:1.46, Y:0.36, Z:-0.10 [[ 0.99784956 0.03645195 -0.05447482 1.46151984] [-0.03676393 0.99931276 -0.00473567 0.3550564 ] [ 0.05426476 0.0067282 0.99850391 -0.0967095 ] [ 0. 0. 0. 1. ]] SLAMing on 33.255384750000005 meters Centerline goodness [0,1] 0.8260025606079379 Centerline is valid? [False, False] Translation: X:1.46, Y:0.36, Z:-0.10 [[ 0.99789843 0.03499742 -0.05453359 1.46206381] [-0.03541354 0.9993504 -0.0066827 0.35938213] [ 0.05426428 0.00859988 0.99848957 -0.09705771] [ 0. 0. 0. 1. ]] SLAMing on 33.28538475 meters Centerline goodness [0,1] 0.8096614368290669 Centerline is valid? [False, False] Translation: X:1.46, Y:0.36, Z:-0.10 [[ 0.99792054 0.03425316 -0.05460141 1.4623741 ] [-0.03472421 0.99936726 -0.00770157 0.36206814] [ 0.05430305 0.00958155 0.99847853 -0.09722181] [ 0. 0. 0. 1. ]] SLAMing on 33.31538475 meters Centerline goodness [0,1] 0.7875681659764648 Centerline is valid? [False, False] Translation: X:1.46, Y:0.37, Z:-0.10 [[ 0.99794978 0.03292218 -0.05488507 1.46267057] [-0.03349447 0.99939337 -0.00953991 0.3674322 ] [ 0.0545377 0.01135869 0.9984471 -0.09676465] [ 0. 0. 0. 1. ]] SLAMing on 33.34538475 meters Centerline goodness [0,1] 0.7882311704913301 Centerline is valid? [False, False] Translation: X:1.46, Y:0.37, Z:-0.10 [[ 0.99794908 0.0327509 -0.05500018 1.46245774] [-0.03336612 0.99939007 -0.01030476 0.36995446] [ 0.05462914 0.01211877 0.99843317 -0.0962146 ] [ 0. 0. 0. 1. ]] SLAMing on 33.37538475 meters Centerline goodness [0,1] 0.8025921408933998 Centerline is valid? [False, False] Translation: X:1.46, Y:0.38, Z:-0.10 [[ 0.99780802 0.03712134 -0.05478293 1.4619117 ] [-0.03759186 0.9992644 -0.00758321 0.37513385] [ 0.05446113 0.00962598 0.99846949 -0.09553232] [ 0. 0. 0. 1. ]] SLAMing on 33.40538475 meters Centerline goodness [0,1] 0.8613087504382437 Centerline is valid? [False, False] Translation: X:1.46, Y:0.38, Z:-0.10 [[ 0.99764628 0.04105918 -0.05491852 1.46291417] [-0.04138708 0.99913143 -0.00484623 0.37872769] [ 0.05467183 0.00710774 0.99847908 -0.09597721] [ 0. 0. 0. 1. ]] SLAMing on 33.435384750000004 meters Centerline goodness [0,1] 0.9228318293008819 Centerline is valid? [False, False] Translation: X:1.47, Y:0.39, Z:-0.10 [[ 0.99703188 0.05362734 -0.05524078 1.46570763] [-0.05344336 0.99855933 0.00480336 0.38529743] [ 0.05541879 -0.00183685 0.99846151 -0.0974345 ] [ 0. 0. 0. 1. ]] SLAMing on 33.46538475 meters Centerline goodness [0,1] 0.9365703116963275 Centerline is valid? [False, False] Translation: X:1.47, Y:0.39, Z:-0.10 [[ 0.99676878 0.05813567 -0.05542785 1.46705545] [-0.05780083 0.998299 0.00762631 0.38912268] [ 0.05577692 -0.00439789 0.99843357 -0.09808477] [ 0. 0. 0. 1. ]] SLAMing on 33.49538475 meters Centerline goodness [0,1] 0.934157823016889 Centerline is valid? [False, False] Translation: X:1.47, Y:0.39, Z:-0.10 [[ 0.99595432 0.07085599 -0.05526682 1.46938742] [-0.06995146 0.99738554 0.01813524 0.39354541] [ 0.05640732 -0.01419588 0.99830691 -0.09944461] [ 0. 0. 0. 1. ]] SLAMing on 33.52538475 meters Centerline goodness [0,1] 0.9321009304916544 Centerline is valid? [False, False] Translation: X:1.47, Y:0.40, Z:-0.10 [[ 0.99565242 0.07497011 -0.05527874 1.47050755] [-0.0738922 0.99703885 0.02129505 0.39582716] [ 0.05671154 -0.0171178 0.99824385 -0.10011489] [ 0. 0. 0. 1. ]] SLAMing on 33.55538475 meters Centerline goodness [0,1] 0.9295064000496288 Centerline is valid? [False, False] Translation: X:1.47, Y:0.40, Z:-0.10 [[ 0.9952758 0.07986143 -0.05521077 1.47094438] [-0.07856645 0.9965892 0.02524428 0.39667989] [ 0.0570385 -0.0207873 0.99815555 -0.10008305] [ 0. 0. 0. 1. ]] SLAMing on 33.58538475 meters Centerline goodness [0,1] 0.9281263495588871 Centerline is valid? [False, False] Translation: X:1.47, Y:0.40, Z:-0.10 [[ 0.99546536 0.07709332 -0.05572553 1.47133678] [-0.07598886 0.99687301 0.02167711 0.39744324] [ 0.05722244 -0.01734429 0.99821078 -0.10017055] [ 0. 0. 0. 1. ]] SLAMing on 33.615384750000004 meters Centerline goodness [0,1] 0.9306704060379849 Centerline is valid? [False, False] Translation: X:1.47, Y:0.40, Z:-0.10 [[ 0.99540409 0.07787115 -0.0557385 1.47109776] [-0.0767202 0.9967987 0.02250262 0.39566076] [ 0.05731237 -0.01812293 0.99819179 -0.09993601] [ 0. 0. 0. 1. ]] SLAMing on 33.64538475 meters Centerline goodness [0,1] 0.930902427474315 Centerline is valid? [False, False] Translation: X:1.47, Y:0.40, Z:-0.10 [[ 0.99561131 0.07497685 -0.05600522 1.47078223] [-0.07402085 0.99707651 0.01895644 0.39671204] [ 0.05726278 -0.01472769 0.9982505 -0.09966163] [ 0. 0. 0. 1. ]] SLAMing on 33.67538475 meters Centerline goodness [0,1] 0.9330479912329673 Centerline is valid? [False, False] Translation: X:1.47, Y:0.39, Z:-0.10 [[ 0.99583062 0.07187823 -0.05616843 1.46934117] [-0.0710651 0.99733775 0.01634487 0.39379724] [ 0.05719374 -0.01228511 0.99828751 -0.09834391] [ 0. 0. 0. 1. ]] SLAMing on 33.70538475 meters Centerline goodness [0,1] 0.9341343280506151 Centerline is valid? [False, False] Translation: X:1.47, Y:0.39, Z:-0.10 [[ 0.99607635 0.06814778 -0.05646044 1.4687942 ] [-0.06750442 0.99763129 0.01322698 0.39135982] [ 0.05722809 -0.00936375 0.99831722 -0.09778762] [ 0. 0. 0. 1. ]] SLAMing on 33.73538475 meters Centerline goodness [0,1] 0.9327215229118869 Centerline is valid? [False, False] Translation: X:1.47, Y:0.39, Z:-0.10 [[ 0.99652399 0.06088239 -0.05686188 1.46800861] [-0.06062706 0.99814119 0.00620628 0.39013132] [ 0.05713404 -0.00273734 0.99836276 -0.09722288] [ 0. 0. 0. 1. ]] SLAMing on 33.76538475 meters Centerline goodness [0,1] 0.9325002072452955 Centerline is valid? [False, False] Translation: X:1.47, Y:0.38, Z:-0.10 [[ 0.99713194 0.04903762 -0.05764728 1.46758516] [-0.04933024 0.99877581 -0.00366305 0.38478461] [ 0.05739708 0.00649629 0.99833029 -0.09660667] [ 0. 0. 0. 1. ]] SLAMing on 33.795384750000004 meters Centerline goodness [0,1] 0.9312264580487603 Centerline is valid? [False, False] Translation: X:1.47, Y:0.38, Z:-0.10 [[ 0.99749169 0.04090397 -0.05776847 1.46656143] [-0.04149407 0.99909774 -0.00905213 0.37746223] [ 0.05734608 0.01142647 0.99828897 -0.09591022] [ 0. 0. 0. 1. ]] SLAMing on 33.825384750000005 meters Centerline goodness [0,1] 0.9308605587612603 Centerline is valid? [False, False] Translation: X:1.47, Y:0.38, Z:-0.10 [[ 0.99762561 0.03739875 -0.0578315 1.46572727] [-0.03814661 0.99920151 -0.01188184 0.37521013] [ 0.05734096 0.0140597 0.99825565 -0.09524337] [ 0. 0. 0. 1. ]] SLAMing on 33.85538475 meters Centerline goodness [0,1] 0.9347157742700918 Centerline is valid? [False, False] Translation: X:1.46, Y:0.37, Z:-0.09 [[ 0.997604 0.03859518 -0.05741656 1.4632162 ] [-0.03917132 0.99919249 -0.00894251 0.36870554] [ 0.05702506 0.01117016 0.99831026 -0.09292578] [ 0. 0. 0. 1. ]] SLAMing on 33.88538475 meters Centerline goodness [0,1] 0.9350217977994603 Centerline is valid? [False, False] Translation: X:1.46, Y:0.37, Z:-0.09 [[ 0.99756583 0.039682 -0.05733901 1.46220555] [-0.0401735 0.99916499 -0.00744429 0.36581932] [ 0.05699572 0.00972968 0.99832701 -0.09195062] [ 0. 0. 0. 1. ]] SLAMing on 33.91538475 meters Centerline goodness [0,1] 0.9320874734960296 Centerline is valid? [False, False] Translation: X:1.46, Y:0.36, Z:-0.09 [[ 0.99748795 0.04168164 -0.05727501 1.46175343] [-0.0420389 0.99910323 -0.00504636 0.36082087] [ 0.05701331 0.00744146 0.99834569 -0.09168932] [ 0. 0. 0. 1. ]] SLAMing on 33.94538475 meters Centerline goodness [0,1] 0.9319709543568465 Centerline is valid? [False, False] Translation: X:1.46, Y:0.36, Z:-0.09 [[ 0.99745616 0.04235652 -0.05733346 1.46198626] [-0.04265412 0.99908199 -0.00397641 0.3580174 ] [ 0.0571124 0.0064118 0.99834717 -0.09189382] [ 0. 0. 0. 1. ]] SLAMing on 33.97538475 meters Centerline goodness [0,1] 0.9282816574905824 Centerline is valid? [False, False] Translation: X:1.46, Y:0.35, Z:-0.09 [[ 0.99750851 0.04059804 -0.05769371 1.46180252] [-0.04094032 0.99915024 -0.00476261 0.35169877] [ 0.05745133 0.00711274 0.99832297 -0.091407 ] [ 0. 0. 0. 1. ]] SLAMing on 34.005384750000005 meters Centerline goodness [0,1] 0.9295285359801488 Centerline is valid? [False, False] Translation: X:1.46, Y:0.35, Z:-0.09 [[ 0.99752566 0.0401778 -0.05769144 1.4614695 ] [-0.0404901 0.99917088 -0.00425408 0.34743555] [ 0.05747269 0.00657949 0.9983254 -0.0911147 ] [ 0. 0. 0. 1. ]] SLAMing on 34.03538475 meters Centerline goodness [0,1] 0.9298647672137916 Centerline is valid? [False, False] Translation: X:1.46, Y:0.34, Z:-0.09 [[ 0.99765369 0.03665636 -0.05782232 1.46120199] [-0.03704811 0.99929713 -0.00571742 0.3407564 ] [ 0.0575721 0.00784621 0.99831052 -0.09086593] [ 0. 0. 0. 1. ]] SLAMing on 34.06538475 meters Centerline goodness [0,1] 0.9240747253656619 Centerline is valid? [False, False] Translation: X:1.46, Y:0.34, Z:-0.09 [[ 0.99765972 0.03639009 -0.05788643 1.46167911] [-0.0367292 0.9993137 -0.0048047 0.33679534] [ 0.05767186 0.00691958 0.99831161 -0.09128221] [ 0. 0. 0. 1. ]] SLAMing on 34.09538475 meters Centerline goodness [0,1] 0.9154670306941342 Centerline is valid? [False, False] Translation: X:1.46, Y:0.33, Z:-0.09 [[ 0.99777452 0.03219793 -0.05838923 1.46296406] [-0.03267853 0.99943929 -0.0072946 0.32939624] [ 0.05812162 0.00918644 0.99826724 -0.09219622] [ 0. 0. 0. 1. ]] SLAMing on 34.12538475 meters Centerline goodness [0,1] 0.9229109617459132 Centerline is valid? [False, False] Translation: X:1.46, Y:0.33, Z:-0.09 [[ 0.99787263 0.02872762 -0.05852299 1.46254229] [-0.02936711 0.9995177 -0.01009626 0.32680562] [ 0.05820472 0.01179344 0.99823501 -0.09181376] [ 0. 0. 0. 1. ]] SLAMing on 34.15538475 meters Centerline goodness [0,1] 0.9177820267686424 Centerline is valid? [False, False] Translation: X:1.46, Y:0.32, Z:-0.09 [[ 0.99797294 0.02530665 -0.05839164 1.46107072] [-0.02606018 0.99958618 -0.0121795 0.32244075] [ 0.05805925 0.01367651 0.99821945 -0.09057196] [ 0. 0. 0. 1. ]] SLAMing on 34.185384750000004 meters Centerline goodness [0,1] 0.9139111193829228 Centerline is valid? [False, False] Translation: X:1.46, Y:0.32, Z:-0.09 [[ 0.99795496 0.02577916 -0.05849225 1.46086615] [-0.02647488 0.99958729 -0.01115051 0.31990952] [ 0.05818065 0.01267628 0.99822559 -0.09013983] [ 0. 0. 0. 1. ]] SLAMing on 34.21538475 meters Centerline goodness [0,1] 0.9129420508268131 Centerline is valid? [False, False] Translation: X:1.46, Y:0.32, Z:-0.09 [[ 0.99790889 0.02685849 -0.05879181 1.46140358] [-0.02748846 0.99957277 -0.00993272 0.31740567] [ 0.05849992 0.01152804 0.99822085 -0.09018968] [ 0. 0. 0. 1. ]] SLAMing on 34.24538475 meters Centerline goodness [0,1] 0.9179909017261794 Centerline is valid? [False, False] Translation: X:1.46, Y:0.32, Z:-0.09 [[ 0.99777799 0.03142897 -0.05874783 1.46159223] [-0.03180507 0.99947908 -0.00547776 0.3163589 ] [ 0.05854506 0.00733407 0.99825783 -0.09018944] [ 0. 0. 0. 1. ]] SLAMing on 34.27538475 meters Centerline goodness [0,1] 0.9257128667797873 Centerline is valid? [False, False] Translation: X:1.47, Y:0.32, Z:-0.09 [[ 9.97102277e-01 4.33993135e-02 -6.24783805e-02 1.46623611e+00] [-4.33590024e-02 9.99057551e-01 2.00152217e-03 3.16021984e-01] [ 6.25063626e-02 7.13277930e-04 9.98044311e-01 -8.74696954e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.30538475 meters Centerline goodness [0,1] 0.926741143735205 Centerline is valid? [False, False] Translation: X:1.47, Y:0.32, Z:-0.09 [[ 0.99688473 0.04827807 -0.06237036 1.46622812] [-0.04798078 0.99882866 0.0062565 0.31611444] [ 0.06259936 -0.00324443 0.99803346 -0.08727561] [ 0. 0. 0. 1. ]] SLAMing on 34.33538475 meters Centerline goodness [0,1] 0.9256825180317028 Centerline is valid? [False, False] Translation: X:1.47, Y:0.31, Z:-0.09 [[ 0.99638088 0.05790533 -0.06222637 1.46684745] [-0.05706759 0.99825524 0.01515822 0.31470282] [ 0.06299555 -0.01155225 0.99794695 -0.08736824] [ 0. 0. 0. 1. ]] SLAMing on 34.365384750000004 meters Centerline goodness [0,1] 0.9252307565518378 Centerline is valid? [False, False] Translation: X:1.47, Y:0.31, Z:-0.09 [[ 0.99626069 0.0598514 -0.0623093 1.46668201] [-0.05892591 0.99812453 0.01658798 0.31303337] [ 0.06318526 -0.01285432 0.99791903 -0.08713421] [ 0. 0. 0. 1. ]] SLAMing on 34.39538475 meters Centerline goodness [0,1] 0.9268016160949868 Centerline is valid? [False, False] Translation: X:1.47, Y:0.31, Z:-0.09 [[ 0.99640472 0.05736316 -0.06234659 1.46581853] [-0.05661882 0.99830266 0.01364203 0.31230354] [ 0.06302331 -0.010063 0.99796132 -0.08672877] [ 0. 0. 0. 1. ]] SLAMing on 34.42538475 meters Centerline goodness [0,1] 0.9267856040496327 Centerline is valid? [False, False] Translation: X:1.46, Y:0.31, Z:-0.09 [[ 0.99653123 0.05517395 -0.06230048 1.46478175] [-0.05454279 0.99844185 0.01178786 0.30815058] [ 0.06285379 -0.00834893 0.99798782 -0.08626793] [ 0. 0. 0. 1. ]] SLAMing on 34.45538475 meters Centerline goodness [0,1] 0.9286732059886422 Centerline is valid? [False, False] Translation: X:1.46, Y:0.31, Z:-0.09 [[ 0.99669584 0.05228955 -0.06215464 1.46366754] [-0.05182852 0.99861537 0.00900777 0.30651313] [ 0.06253959 -0.00575662 0.99802588 -0.08584427] [ 0. 0. 0. 1. ]] SLAMing on 34.48538475 meters Centerline goodness [0,1] 0.9289542025639969 Centerline is valid? [False, False] Translation: X:1.46, Y:0.30, Z:-0.09 [[ 0.99685935 0.04905469 -0.06216974 1.46324317] [-0.0487752 0.99879172 0.00600627 0.30455369] [ 0.06238926 -0.00295507 0.99804752 -0.0859115 ] [ 0. 0. 0. 1. ]] SLAMing on 34.51538475 meters Centerline goodness [0,1] 0.9274990163391248 Centerline is valid? [False, False] Translation: X:1.46, Y:0.30, Z:-0.09 [[ 0.99698972 0.04644684 -0.06208209 1.46259242] [-0.04623665 0.99891889 0.00481877 0.29706874] [ 0.06223879 -0.0019338 0.99805941 -0.08578542] [ 0. 0. 0. 1. ]] SLAMing on 34.545384750000004 meters Centerline goodness [0,1] 0.9238789976920541 Centerline is valid? [False, False] Translation: X:1.46, Y:0.29, Z:-0.09 [[ 9.97142395e-01 4.28497669e-02 -6.22168922e-02 1.46263149e+00] [-4.27515561e-02 9.99081498e-01 2.90950406e-03 2.88590513e-01] [ 6.22844174e-02 -2.41320887e-04 9.98058412e-01 -8.59237366e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.575384750000005 meters Centerline goodness [0,1] 0.9285478206982029 Centerline is valid? [False, False] Translation: X:1.46, Y:0.29, Z:-0.09 [[ 9.97278117e-01 3.94379681e-02 -6.22977093e-02 1.46216324e+00] [-3.95037267e-02 9.99219408e-01 1.76266028e-04 2.85616269e-01] [ 6.22560317e-02 2.28520543e-03 9.98057596e-01 -8.56469958e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.60538475 meters Centerline goodness [0,1] 0.9252759107128039 Centerline is valid? [False, False] Translation: X:1.46, Y:0.28, Z:-0.09 [[ 0.9973923 0.03645676 -0.06228559 1.46220658] [-0.03662638 0.99932777 -0.0015833 0.28001124] [ 0.062186 0.00386047 0.99805711 -0.08607167] [ 0. 0. 0. 1. ]] SLAMing on 34.63538475 meters Centerline goodness [0,1] 0.9263015971790085 Centerline is valid? [False, False] Translation: X:1.46, Y:0.28, Z:-0.09 [[ 9.97381495e-01 3.69208565e-02 -6.21852375e-02 1.46219514e+00] [-3.70259432e-02 9.99314160e-01 -5.38003733e-04 2.77003627e-01] [ 6.21227248e-02 2.83906204e-03 9.98064480e-01 -8.62325997e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.66538475 meters Centerline goodness [0,1] 0.937445627407929 Centerline is valid? [False, False] Translation: X:1.46, Y:0.27, Z:-0.09 [[ 9.97360180e-01 3.75505476e-02 -6.21500384e-02 1.46182158e+00] [-3.75910781e-02 9.99293072e-01 5.17419140e-04 2.74301376e-01] [ 6.21255321e-02 1.82023370e-03 9.98066684e-01 -8.58321666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.69538475 meters Centerline goodness [0,1] 0.9402040098487513 Centerline is valid? [False, False] Translation: X:1.46, Y:0.27, Z:-0.09 [[ 9.97984745e-01 4.12508248e-02 -4.82163723e-02 1.46139299e+00] [-4.11856310e-02 9.99148760e-01 2.34524037e-03 2.68302111e-01] [ 4.82720716e-02 -3.54692396e-04 9.98834161e-01 -8.86455643e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.72538475 meters Centerline goodness [0,1] 0.9424253104720834 Centerline is valid? [False, False] Translation: X:1.46, Y:0.26, Z:-0.09 [[ 0.99789799 0.04438967 -0.04721403 1.45783143] [-0.04418546 0.99900896 0.00536044 0.26356161] [ 0.04740519 -0.003263 0.99887041 -0.08670498] [ 0. 0. 0. 1. ]] SLAMing on 34.755384750000005 meters Centerline goodness [0,1] 0.9428689883913765 Centerline is valid? [False, False] Translation: X:1.46, Y:0.26, Z:-0.09 [[ 0.99785016 0.04566553 -0.04700756 1.45673793] [-0.04539132 0.99894556 0.00688498 0.26053531] [ 0.0472724 -0.00473644 0.99887081 -0.08589529] [ 0. 0. 0. 1. ]] SLAMing on 34.78538475 meters Centerline goodness [0,1] 0.9426903743093349 Centerline is valid? [False, False] Translation: X:1.46, Y:0.25, Z:-0.09 [[ 0.99776644 0.04793093 -0.04652694 1.45630836] [-0.04752637 0.99882227 0.00976346 0.25256849] [ 0.04694011 -0.0075304 0.99886932 -0.08650846] [ 0. 0. 0. 1. ]] SLAMing on 34.81538475 meters Centerline goodness [0,1] 0.9447663590083192 Centerline is valid? [False, False] Translation: X:1.46, Y:0.25, Z:-0.09 [[ 0.99789205 0.0453008 -0.04646823 1.45618938] [-0.04501172 0.99896016 0.00724916 0.249795 ] [ 0.04674831 -0.00514226 0.99889346 -0.08709565] [ 0. 0. 0. 1. ]] SLAMing on 34.84538475 meters Centerline goodness [0,1] 0.9435607791021222 Centerline is valid? [False, False] Translation: X:1.46, Y:0.24, Z:-0.09 [[ 0.99799436 0.04311559 -0.04634981 1.45529649] [-0.0428659 0.99906054 0.00636821 0.23904246] [ 0.04658084 -0.00436861 0.99890497 -0.08704526] [ 0. 0. 0. 1. ]] SLAMing on 34.87538475 meters Centerline goodness [0,1] 0.9427275956455421 Centerline is valid? [False, False] Translation: X:1.45, Y:0.23, Z:-0.09 [[ 0.99812392 0.04018421 -0.04619388 1.45444862] [-0.0400274 0.99918927 0.004315 0.23395521] [ 0.04632983 -0.00245788 0.99892317 -0.0867947 ] [ 0. 0. 0. 1. ]] SLAMing on 34.90538475 meters Centerline goodness [0,1] 0.9410675267922173 Centerline is valid? [False, False] Translation: X:1.45, Y:0.23, Z:-0.09 [[ 9.98234301e-01 3.71733674e-02 -4.63294762e-02 1.45450883e+00] [-3.71101566e-02 9.99308706e-01 2.22403456e-03 2.28953496e-01] [ 4.63801238e-02 -5.00813470e-04 9.98923737e-01 -8.69632347e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 34.935384750000004 meters Centerline goodness [0,1] 0.9396382516198476 Centerline is valid? [False, False] Translation: X:1.45, Y:0.22, Z:-0.09 [[ 0.99844828 0.03179669 -0.04571644 1.45414605] [-0.03190069 0.99948985 -0.00154702 0.21925438] [ 0.04564393 0.00300301 0.99895326 -0.08839502] [ 0. 0. 0. 1. ]] SLAMing on 34.96538475 meters Centerline goodness [0,1] 0.9396382516198476 Centerline is valid? [False, False] Translation: X:1.45, Y:0.22, Z:-0.09 [[ 0.99844828 0.03179669 -0.04571644 1.45414605] [-0.03190069 0.99948985 -0.00154702 0.21925438] [ 0.04564393 0.00300301 0.99895326 -0.08839502] [ 0. 0. 0. 1. ]] SLAMing on 34.99538475 meters Centerline goodness [0,1] 0.9334382342163688 Centerline is valid? [False, False] Translation: X:1.45, Y:0.21, Z:-0.09 [[ 0.99862639 0.02614726 -0.04540551 1.45483394] [-0.02641865 0.99963645 -0.00538716 0.20924082] [ 0.04524815 0.00657931 0.99895411 -0.09031098] [ 0. 0. 0. 1. ]] SLAMing on 35.02538475 meters Centerline goodness [0,1] 0.9330170612813371 Centerline is valid? [False, False] Translation: X:1.46, Y:0.20, Z:-0.09 [[ 0.99870088 0.02296891 -0.04548603 1.45502243] [-0.02333132 0.99970001 -0.00745264 0.20375578] [ 0.04530121 0.00850421 0.99893717 -0.09058303] [ 0. 0. 0. 1. ]] SLAMing on 35.05538475 meters Centerline goodness [0,1] 0.9306222222222222 Centerline is valid? [False, False] Translation: X:1.45, Y:0.19, Z:-0.09 [[ 0.99884217 0.01721819 -0.04492055 1.45446933] [-0.01774049 0.99977928 -0.01125464 0.19244316] [ 0.04471685 0.01203852 0.99892716 -0.09146536] [ 0. 0. 0. 1. ]] SLAMing on 35.08538475 meters Centerline goodness [0,1] 0.9294464048908768 Centerline is valid? [False, False] Translation: X:1.45, Y:0.19, Z:-0.09 [[ 0.99883969 0.01717533 -0.04499196 1.45467451] [-0.01764645 0.99979333 -0.010095 0.18625883] [ 0.04480927 0.01087724 0.99893634 -0.09147049] [ 0. 0. 0. 1. ]] SLAMing on 35.115384750000004 meters Centerline goodness [0,1] 0.9285421878553559 Centerline is valid? [False, False] Translation: X:1.45, Y:0.18, Z:-0.09 [[ 0.99888877 0.01464873 -0.0447956 1.45434485] [-0.01516135 0.99982317 -0.0111252 0.17866164] [ 0.04462471 0.011792 0.99893422 -0.09152837] [ 0. 0. 0. 1. ]] SLAMing on 35.14538475 meters Centerline goodness [0,1] 0.9282381335478681 Centerline is valid? [False, False] Translation: X:1.45, Y:0.17, Z:-0.09 [[ 0.99887171 0.01572856 -0.0448098 1.45393694] [-0.016139 0.99983092 -0.0088126 0.17159859] [ 0.04466362 0.00952584 0.99895667 -0.09089598] [ 0. 0. 0. 1. ]] SLAMing on 35.17538475 meters Centerline goodness [0,1] 0.9283836147246056 Centerline is valid? [False, False] Translation: X:1.45, Y:0.17, Z:-0.09 [[ 0.99886299 0.01643034 -0.04475242 1.45338819] [-0.01678496 0.99983054 -0.00755983 0.16830642] [ 0.04462062 0.0083024 0.9989695 -0.09030714] [ 0. 0. 0. 1. ]] SLAMing on 35.20538475 meters Centerline goodness [0,1] 0.9267344151484989 Centerline is valid? [False, False] Translation: X:1.45, Y:0.17, Z:-0.09 [[ 0.99885954 0.01725835 -0.04451712 1.45250138] [-0.01755781 0.99982572 -0.00634466 0.16533059] [ 0.04439986 0.00711904 0.99898847 -0.0897562 ] [ 0. 0. 0. 1. ]] SLAMing on 35.23538475 meters Centerline goodness [0,1] 0.9267361757587042 Centerline is valid? [False, False] Translation: X:1.45, Y:0.16, Z:-0.09 [[ 0.99885534 0.01837192 -0.04416434 1.45207951] [-0.01861401 0.99981386 -0.00507668 0.16176383] [ 0.04406285 0.00589295 0.99901138 -0.09018825] [ 0. 0. 0. 1. ]] SLAMing on 35.26538475 meters Centerline goodness [0,1] 0.9254566744730679 Centerline is valid? [False, False] Translation: X:1.45, Y:0.16, Z:-0.09 [[ 0.99885502 0.01886002 -0.04396537 1.45207296] [-0.01907713 0.99980778 -0.00452368 0.16010015] [ 0.04387161 0.00535724 0.99902281 -0.0907267 ] [ 0. 0. 0. 1. ]] SLAMing on 35.295384750000004 meters Centerline goodness [0,1] 0.9259696976859622 Centerline is valid? [False, False] Translation: X:1.45, Y:0.16, Z:-0.09 [[ 0.9988535 0.01911877 -0.04388792 1.45359197] [-0.01930931 0.99980587 -0.00392169 0.15634021] [ 0.04380442 0.00476464 0.99902876 -0.09282017] [ 0. 0. 0. 1. ]] SLAMing on 35.32538475 meters Centerline goodness [0,1] 0.9255713039171757 Centerline is valid? [False, False] Translation: X:1.46, Y:0.15, Z:-0.09 [[ 0.99884812 0.01884242 -0.04412926 1.45522661] [-0.01903449 0.99981108 -0.00393617 0.15481381] [ 0.04404675 0.00477162 0.99901808 -0.09429031] [ 0. 0. 0. 1. ]] SLAMing on 35.35538475 meters Centerline goodness [0,1] 0.9256306833098642 Centerline is valid? [False, False] Translation: X:1.46, Y:0.15, Z:-0.10 [[ 0.99890972 0.01683391 -0.04354309 1.45556988] [-0.01708435 0.99983955 -0.00538587 0.15035368] [ 0.04344544 0.00612391 0.99903703 -0.09598394] [ 0. 0. 0. 1. ]] SLAMing on 35.38538475 meters Centerline goodness [0,1] 0.9249372465726975 Centerline is valid? [False, False] Translation: X:1.46, Y:0.15, Z:-0.10 [[ 0.99896729 0.01360982 -0.0433488 1.45541743] [-0.01397788 0.99986869 -0.00819871 0.14664845] [ 0.04323152 0.00879617 0.99902636 -0.09656776] [ 0. 0. 0. 1. ]] SLAMing on 35.41538475 meters Centerline goodness [0,1] 0.924125265803209 Centerline is valid? [False, False] Translation: X:1.46, Y:0.14, Z:-0.10 [[ 0.9989579 0.01370024 -0.04353636 1.45604099] [-0.01404827 0.99987168 -0.00769811 0.14492385] [ 0.04342531 0.0083017 0.99902218 -0.0968314 ] [ 0. 0. 0. 1. ]] SLAMing on 35.44538475 meters Centerline goodness [0,1] 0.9232592449270806 Centerline is valid? [False, False] Translation: X:1.46, Y:0.14, Z:-0.10 [[ 0.99894897 0.01355165 -0.04378712 1.45722029] [-0.01389164 0.99987561 -0.0074697 0.14338948] [ 0.04368044 0.00807013 0.99901296 -0.0976405 ] [ 0. 0. 0. 1. ]] SLAMing on 35.47538475 meters Centerline goodness [0,1] 0.9217130453869229 Centerline is valid? [False, False] Translation: X:1.46, Y:0.14, Z:-0.10 [[ 0.99900033 0.00974986 -0.0436265 1.45768893] [-0.01022646 0.9998903 -0.01071466 0.14033803] [ 0.04351725 0.01115009 0.99899045 -0.0987296 ] [ 0. 0. 0. 1. ]] SLAMing on 35.505384750000005 meters Centerline goodness [0,1] 0.9209647947374833 Centerline is valid? [False, False] Translation: X:1.46, Y:0.14, Z:-0.10 [[ 0.99898926 0.00988874 -0.04384829 1.4577509 ] [-0.01031953 0.99990058 -0.0096091 0.13720641] [ 0.04374891 0.01005188 0.99899199 -0.09800979] [ 0. 0. 0. 1. ]] SLAMing on 35.53538475 meters Centerline goodness [0,1] 0.9203715504141954 Centerline is valid? [False, False] Translation: X:1.46, Y:0.13, Z:-0.10 [[ 0.99904309 0.0066368 -0.04323027 1.4555248 ] [-0.00715795 0.99990343 -0.01191167 0.13372253] [ 0.04314704 0.01220971 0.99899412 -0.09661908] [ 0. 0. 0. 1. ]] SLAMing on 35.56538475 meters Centerline goodness [0,1] 0.9205756667812761 Centerline is valid? [False, False] Translation: X:1.45, Y:0.13, Z:-0.10 [[ 0.99906428 0.0062085 -0.04280197 1.45486061] [-0.00666285 0.99992288 -0.01048054 0.1281979 ] [ 0.0427336 0.01075592 0.9990286 -0.09577449] [ 0. 0. 0. 1. ]] SLAMing on 35.59538475 meters Centerline goodness [0,1] 0.9187527773663161 Centerline is valid? [False, False] Translation: X:1.45, Y:0.13, Z:-0.10 [[ 0.99906822 0.0062437 -0.04270497 1.45467002] [-0.00666433 0.99993061 -0.00971431 0.12584572] [ 0.04264135 0.00998986 0.9990405 -0.09552098] [ 0. 0. 0. 1. ]] SLAMing on 35.62538475 meters Centerline goodness [0,1] 0.9197833312815462 Centerline is valid? [False, False] Translation: X:1.45, Y:0.12, Z:-0.09 [[ 0.99906176 0.00625503 -0.04285413 1.45473153] [-0.00664359 0.99993805 -0.00893076 0.12388061] [ 0.04279561 0.00920709 0.99904142 -0.09497661] [ 0. 0. 0. 1. ]] SLAMing on 35.65538475 meters Centerline goodness [0,1] 0.9216005928121527 Centerline is valid? [False, False] Translation: X:1.45, Y:0.12, Z:-0.09 [[ 0.99908523 0.00631567 -0.04229438 1.45324247] [-0.00662999 0.99995141 -0.00729541 0.11969617] [ 0.04224625 0.00756914 0.99907856 -0.09344624] [ 0. 0. 0. 1. ]] SLAMing on 35.685384750000004 meters Centerline goodness [0,1] 0.920908572985559 Centerline is valid? [False, False] Translation: X:1.45, Y:0.12, Z:-0.09 [[ 0.99908744 0.00667521 -0.04218691 1.45242565] [-0.00694698 0.99995603 -0.00629872 0.11732054] [ 0.04214301 0.00658604 0.99908988 -0.09250516] [ 0. 0. 0. 1. ]] SLAMing on 35.71538475 meters Centerline goodness [0,1] 0.920369729622856 Centerline is valid? [False, False] Translation: X:1.45, Y:0.12, Z:-0.09 [[ 0.99908801 0.00635711 -0.04222236 1.45283071] [-0.00660554 0.99996167 -0.00574702 0.11508166] [ 0.04218421 0.00602068 0.99909171 -0.09254334] [ 0. 0. 0. 1. ]] SLAMing on 35.74538475 meters Centerline goodness [0,1] 0.9212182791435368 Centerline is valid? [False, False] Translation: X:1.45, Y:0.11, Z:-0.09 [[ 0.99909159 0.00630639 -0.0421452 1.45306834] [-0.00654668 0.99996308 -0.00556593 0.11437252] [ 0.04210854 0.00583678 0.99909599 -0.09293718] [ 0. 0. 0. 1. ]] SLAMing on 35.77538475 meters Centerline goodness [0,1] 0.921859178582895 Centerline is valid? [False, False] Translation: X:1.45, Y:0.11, Z:-0.09 [[ 0.99908247 0.00590688 -0.04241837 1.45427228] [-0.00613556 0.99996733 -0.00526279 0.11232707] [ 0.0423859 0.00551822 0.99908607 -0.09353862] [ 0. 0. 0. 1. ]] SLAMing on 35.80538475 meters Centerline goodness [0,1] 0.9213263335149324 Centerline is valid? [False, False] Translation: X:1.46, Y:0.11, Z:-0.10 [[ 0.99906959 0.00512481 -0.04282164 1.45690818] [-0.00536573 0.99997041 -0.00551309 0.1106917 ] [ 0.04279212 0.00573773 0.99906752 -0.09564541] [ 0. 0. 0. 1. ]] SLAMing on 35.83538475 meters Centerline goodness [0,1] 0.9205863321885421 Centerline is valid? [False, False] Translation: X:1.46, Y:0.11, Z:-0.10 [[ 0.99906193 0.00503463 -0.04301056 1.4577539 ] [-0.00527144 0.99997156 -0.00539411 0.10990518] [ 0.04298218 0.00561578 0.99906006 -0.0962352 ] [ 0. 0. 0. 1. ]] SLAMing on 35.865384750000004 meters Centerline goodness [0,1] 0.9208012172915263 Centerline is valid? [False, False] Translation: X:1.46, Y:0.11, Z:-0.10 [[ 0.99906034 0.00512637 -0.04303673 1.45826819] [-0.00535363 0.99997232 -0.00516714 0.10906219] [ 0.04300905 0.00539268 0.99906013 -0.09681478] [ 0. 0. 0. 1. ]] SLAMing on 35.89538475 meters Centerline goodness [0,1] 0.9206380857427717 Centerline is valid? [False, False] Translation: X:1.46, Y:0.11, Z:-0.10 [[ 0.99904688 0.00476114 -0.04338961 1.46025556] [-0.00499007 0.99997419 -0.00516933 0.10769085] [ 0.04336388 0.00538092 0.99904485 -0.09841653] [ 0. 0. 0. 1. ]] SLAMing on 35.92538475 meters Centerline goodness [0,1] 0.91782430541675 Centerline is valid? [False, False] Translation: X:1.46, Y:0.11, Z:-0.10 [[ 0.99904988 0.0052253 -0.04326696 1.45987918] [-0.00542691 0.99997495 -0.00454349 0.1063298 ] [ 0.04324213 0.00477398 0.99905322 -0.09824304] [ 0. 0. 0. 1. ]] SLAMing on 35.95538475 meters Centerline goodness [0,1] 0.9220389805097451 Centerline is valid? [False, False] Translation: X:1.46, Y:0.11, Z:-0.10 [[ 0.99904246 0.00549337 -0.04340495 1.45972541] [-0.00568332 0.9999748 -0.00425404 0.10585992] [ 0.04338049 0.00449665 0.9990485 -0.09777671] [ 0. 0. 0. 1. ]] SLAMing on 35.98538475 meters Centerline goodness [0,1] 0.9212945661110696 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.10 [[ 9.99002263e-01 9.94233547e-03 -4.35388214e-02 1.45924369e+00] [-9.93935093e-03 9.99950563e-01 2.85030283e-04 1.04051579e-01] [ 4.35395029e-02 1.48001728e-04 9.99051695e-01 -9.66905682e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.01538475 meters Centerline goodness [0,1] 0.918525703200776 Centerline is valid? [False, False] Translation: X:1.46, Y:0.11, Z:-0.10 [[ 9.99011609e-01 1.07316375e-02 -4.31351133e-02 1.45803796e+00] [-1.07312833e-02 9.99942389e-01 2.39773486e-04 1.05588685e-01] [ 4.31352014e-02 2.23358623e-04 9.99069219e-01 -9.65193930e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.045384750000004 meters Centerline goodness [0,1] 0.9169246007180885 Centerline is valid? [False, False] Translation: X:1.46, Y:0.11, Z:-0.10 [[ 0.99895521 0.01580234 -0.04288101 1.45730012] [-0.01565252 0.99987017 0.00382728 0.10821697] [ 0.04293592 -0.00315209 0.99907286 -0.09664568] [ 0. 0. 0. 1. ]] SLAMing on 36.07538475 meters Centerline goodness [0,1] 0.9118092636284615 Centerline is valid? [False, False] Translation: X:1.46, Y:0.11, Z:-0.10 [[ 0.9989531 0.01703411 -0.04245625 1.45599253] [-0.01688391 0.99984987 0.00389401 0.10960728] [ 0.04251621 -0.00317311 0.99909074 -0.096601 ] [ 0. 0. 0. 1. ]] SLAMing on 36.10538475 meters Centerline goodness [0,1] 0.9118322590205231 Centerline is valid? [False, False] Translation: X:1.46, Y:0.11, Z:-0.10 [[ 0.99884666 0.02245127 -0.04244164 1.45569266] [-0.02213229 0.99972327 0.00797098 0.1101852 ] [ 0.04260886 -0.00702246 0.99906715 -0.0967776 ] [ 0. 0. 0. 1. ]] SLAMing on 36.13538475 meters Centerline goodness [0,1] 0.9112368993474392 Centerline is valid? [False, False] Translation: X:1.46, Y:0.11, Z:-0.10 [[ 0.99884108 0.02334979 -0.04208665 1.45500753] [-0.02304507 0.99970469 0.00771112 0.11164275] [ 0.04225427 -0.0067323 0.99908421 -0.09735519] [ 0. 0. 0. 1. ]] SLAMing on 36.16538475 meters Centerline goodness [0,1] 0.9136621454993835 Centerline is valid? [False, False] Translation: X:1.46, Y:0.11, Z:-0.10 [[ 9.98833622e-01 3.06816509e-02 -3.72831185e-02 1.46168067e+00] [-3.06784308e-02 9.99529089e-01 6.58591737e-04 1.12346828e-01] [ 3.72857681e-02 4.85964000e-04 9.99304526e-01 -1.01722471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.19538475 meters Centerline goodness [0,1] 0.9144907167689917 Centerline is valid? [False, False] Translation: X:1.46, Y:0.11, Z:-0.10 [[ 9.98825989e-01 3.12632357e-02 -3.70034289e-02 1.46130757e+00] [-3.12594184e-02 9.99511072e-01 6.81847288e-04 1.12707101e-01] [ 3.70066537e-02 4.75658877e-04 9.99314906e-01 -1.02246761e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.22538475 meters Centerline goodness [0,1] 0.9184890164258857 Centerline is valid? [False, False] Translation: X:1.46, Y:0.11, Z:-0.10 [[ 9.98795974e-01 3.26390839e-02 -3.66236604e-02 1.46027186e+00] [-3.25923819e-02 9.99466975e-01 1.87165087e-03 1.09477634e-01] [ 3.66652280e-02 -6.75745028e-04 9.99327376e-01 -1.02279986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.255384750000005 meters Centerline goodness [0,1] 0.9194902623211447 Centerline is valid? [False, False] Translation: X:1.46, Y:0.11, Z:-0.10 [[ 9.98776258e-01 3.29964293e-02 -3.68404951e-02 1.46075172e+00] [-3.29214680e-02 9.99454456e-01 2.63969332e-03 1.06206677e-01] [ 3.69074975e-02 -1.42361984e-03 9.99317672e-01 -1.02417747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.28538475 meters Centerline goodness [0,1] 0.9224689499435453 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.10 [[ 9.98865201e-01 3.09376913e-02 -3.62100828e-02 1.46004259e+00] [-3.09317213e-02 9.99521237e-01 7.25198039e-04 9.98985364e-02] [ 3.62151827e-02 3.95665103e-04 9.99343937e-01 -1.03691821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.31538475 meters Centerline goodness [0,1] 0.9235773177680845 Centerline is valid? [False, False] Translation: X:1.46, Y:0.10, Z:-0.10 [[ 0.99896294 0.02824089 -0.03571415 1.4587783 ] [-0.02833904 0.99959585 -0.00224494 0.09752191] [ 0.03563631 0.00325472 0.99935952 -0.10411677] [ 0. 0. 0. 1. ]] SLAMing on 36.34538475 meters Centerline goodness [0,1] 0.9258213813447259 Centerline is valid? [False, False] Translation: X:1.46, Y:0.09, Z:-0.11 [[ 0.99899953 0.02782031 -0.03501373 1.45769788] [-0.02792238 0.99960714 -0.00242942 0.08984742] [ 0.03493239 0.00340465 0.99938388 -0.10509506] [ 0. 0. 0. 1. ]] SLAMing on 36.37538475 meters Centerline goodness [0,1] 0.9301968805931987 Centerline is valid? [False, False] Translation: X:1.46, Y:0.09, Z:-0.10 [[ 9.98973638e-01 2.88365364e-02 -3.49302763e-02 1.45711677e+00] [-2.88888188e-02 9.99582138e-01 -9.92886098e-04 8.53716420e-02] [ 3.48870488e-02 2.00096146e-03 9.99389258e-01 -1.04757635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.40538475 meters Centerline goodness [0,1] 0.9329066886870355 Centerline is valid? [False, False] Translation: X:1.45, Y:0.08, Z:-0.10 [[ 9.98920561e-01 3.13680871e-02 -3.42601074e-02 1.45472581e+00] [-3.13256324e-02 9.99507655e-01 1.77538522e-03 7.56250829e-02] [ 3.42989300e-02 -7.00249266e-04 9.99411373e-01 -1.04298573e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.435384750000004 meters Centerline goodness [0,1] 0.932163803394405 Centerline is valid? [False, False] Translation: X:1.45, Y:0.07, Z:-0.10 [[ 9.99000487e-01 2.96832436e-02 -3.34205392e-02 1.45230403e+00] [-2.97210303e-02 9.99558031e-01 -6.34316172e-04 7.25793821e-02] [ 3.33869398e-02 1.62697502e-03 9.99441176e-01 -1.04505436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.46538475 meters Centerline goodness [0,1] 0.9298241062626472 Centerline is valid? [False, False] Translation: X:1.45, Y:0.07, Z:-0.10 [[ 9.98981469e-01 3.05563273e-02 -3.32014366e-02 1.45192638e+00] [-3.05535826e-02 9.99532956e-01 5.90134331e-04 6.84919475e-02] [ 3.32039624e-02 4.24889575e-04 9.99448506e-01 -1.04753493e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.49538475 meters Centerline goodness [0,1] 0.9293789767050533 Centerline is valid? [False, False] Translation: X:1.45, Y:0.06, Z:-0.11 [[ 9.99073854e-01 2.94646270e-02 -3.13571410e-02 1.44908463e+00] [-2.95018687e-02 9.99564462e-01 -7.25563786e-04 6.07834596e-02] [ 3.13221053e-02 1.64998606e-03 9.99507981e-01 -1.06566436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.52538475 meters Centerline goodness [0,1] 0.9281674507109255 Centerline is valid? [False, False] Translation: X:1.45, Y:0.06, Z:-0.11 [[ 0.99916613 0.02666525 -0.0309193 1.44786267] [-0.02678459 0.99963527 -0.00345198 0.05674877] [ 0.03081598 0.00427726 0.99951592 -0.10691628] [ 0. 0. 0. 1. ]] SLAMing on 36.55538475 meters Centerline goodness [0,1] 0.9361759256773085 Centerline is valid? [False, False] Translation: X:1.45, Y:0.05, Z:-0.11 [[ 0.99931846 0.02214311 -0.02953485 1.44523125] [-0.02237716 0.99972058 -0.00761762 0.04706464] [ 0.02935792 0.00827333 0.99953472 -0.10800892] [ 0. 0. 0. 1. ]] SLAMing on 36.58538475 meters Centerline goodness [0,1] 0.9413063378385655 Centerline is valid? [False, False] Translation: X:1.45, Y:0.04, Z:-0.11 [[ 0.99930369 0.02205169 -0.03009747 1.446401 ] [-0.02224257 0.99973447 -0.00602207 0.0409579 ] [ 0.02995668 0.00668732 0.99952883 -0.10741883] [ 0. 0. 0. 1. ]] SLAMing on 36.615384750000004 meters Centerline goodness [0,1] 0.9445004221017946 Centerline is valid? [False, False] Translation: X:1.45, Y:0.03, Z:-0.11 [[ 0.99936013 0.01832543 -0.03071655 1.44757896] [-0.01854912 0.99980335 -0.00701326 0.03083678] [ 0.03058199 0.00757853 0.99950353 -0.10642335] [ 0. 0. 0. 1. ]] SLAMing on 36.64538475 meters Centerline goodness [0,1] 0.9468731944864776 Centerline is valid? [False, False] Translation: X:1.45, Y:0.03, Z:-0.11 [[ 0.99942178 0.01497216 -0.03052753 1.44686707] [-0.01528054 0.9998343 -0.00989346 0.02707676] [ 0.03037435 0.01035421 0.99948496 -0.10638029] [ 0. 0. 0. 1. ]] SLAMing on 36.67538475 meters Centerline goodness [0,1] 0.9454575874184373 Centerline is valid? [False, False] Translation: X:1.45, Y:0.02, Z:-0.11 [[ 0.99947291 0.01055494 -0.03070009 1.44820027] [-0.01092799 0.99986817 -0.01200904 0.0177759 ] [ 0.03056929 0.0123382 0.9994565 -0.10690679] [ 0. 0. 0. 1. ]] SLAMing on 36.70538475 meters Centerline goodness [0,1] 0.9452293836194765 Centerline is valid? [False, False] Translation: X:1.45, Y:0.01, Z:-0.11 [[ 0.99952216 0.00342627 -0.03071986 1.4515294 ] [-0.00395608 0.9998442 -0.01720234 0.00978727] [ 0.03065613 0.01731565 0.99937999 -0.11029839] [ 0. 0. 0. 1. ]] SLAMing on 36.73538475 meters Centerline goodness [0,1] 0.9444522968197879 Centerline is valid? [False, False] Translation: X:1.45, Y:0.00, Z:-0.11 [[ 0.99950619 0.00232975 -0.03133613 1.45390926] [-0.00283477 0.99986667 -0.01608142 0.0042825 ] [ 0.03129449 0.01616231 0.99937952 -0.11025201] [ 0. 0. 0. 1. ]] SLAMing on 36.76538475 meters Centerline goodness [0,1] 0.9432417115330122 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.00, Z:-0.11 [[ 9.99489027e-01 1.88627393e-03 -3.19081093e-02 1.45552769e+00] [-2.34807904e-03 9.99892956e-01 -1.44416959e-02 -1.33482763e-03] [ 3.18774528e-02 1.45092394e-02 9.99386467e-01 -1.09482857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.795384750000004 meters Centerline goodness [0,1] 0.9463594945413909 Centerline is valid? [False, False] Translation: X:1.46, Y:-0.01, Z:-0.11 [[ 9.99495322e-01 -1.24308687e-03 -3.17420091e-02 1.45510529e+00] [ 7.26306316e-04 9.99867094e-01 -1.62869934e-02 -8.38413386e-03] [ 3.17580365e-02 1.62557193e-02 9.99363387e-01 -1.09189299e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.82538475 meters Centerline goodness [0,1] 0.946491379807415 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.01, Z:-0.11 [[ 9.99495742e-01 -5.81466238e-04 -3.17478257e-02 1.45472124e+00] [ 1.08416649e-04 9.99888984e-01 -1.48999088e-02 -1.20547905e-02] [ 3.17529650e-02 1.48889534e-02 9.99384845e-01 -1.08489453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.85538475 meters Centerline goodness [0,1] 0.9488664331007326 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.02, Z:-0.11 [[ 9.99510152e-01 1.21933220e-03 -3.12725039e-02 1.45270550e+00] [-1.60977245e-03 9.99921039e-01 -1.24629607e-02 -1.81937429e-02] [ 3.12548381e-02 1.25071973e-02 9.99433192e-01 -1.07220501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.88538475 meters Centerline goodness [0,1] 0.9488664331007326 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.02, Z:-0.11 [[ 9.99510152e-01 1.21933220e-03 -3.12725039e-02 1.45270550e+00] [-1.60977245e-03 9.99921039e-01 -1.24629607e-02 -1.81937429e-02] [ 3.12548381e-02 1.25071973e-02 9.99433192e-01 -1.07220501e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 36.91538475 meters Centerline goodness [0,1] 0.9491962346125996 Centerline is valid? [False, False] Translation: X:1.45, Y:-0.02, Z:-0.11 [[ 0.99949382 0.00445325 -0.03150025 1.45371098] [-0.00470778 0.99995683 -0.00801074 -0.02229665] [ 0.03146322 0.00815498 0.99947164 -0.10680321] [ 0. 0. 0. 1. ]] SLAMing on 36.94538475 meters Centerline goodness [0,1] 0.9514068728722321 Centerline is valid? [False, True] Translation: X:1.45, Y:-0.03, Z:-0.11 [[ 0.99950667 0.00598519 -0.03083187 1.45208055] [-0.00618871 0.99995966 -0.00650987 -0.02701645] [ 0.03079166 0.00669747 0.99950339 -0.10691583] [ 0. 0. 0. 1. ]] SLAMing on 36.97538475 meters Centerline goodness [0,1] 0.9527082119976703 Centerline is valid? [True, True] Translation: X:1.48, Y:-0.03, Z:-0.10 [[ 9.99506191e-01 7.43739765e-03 -3.05296531e-02 1.48102021e+00] [-7.44877211e-03 9.99972224e-01 -2.58855454e-04 -3.08418649e-02] [ 3.05268799e-02 4.86136057e-04 9.99533828e-01 -1.02588969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.005384750000005 meters Centerline goodness [0,1] 0.9529325941056317 Centerline is valid? [True, True] Translation: X:1.51, Y:-0.03, Z:-0.10 [[ 9.99480973e-01 8.85487317e-03 -3.09738009e-02 1.50920931e+00] [-8.86735482e-03 9.99960649e-01 -2.65634134e-04 -3.14197392e-02] [ 3.09702299e-02 5.40151945e-04 9.99520161e-01 -1.02512427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.03538475 meters Centerline goodness [0,1] 0.9544443143225202 Centerline is valid? [True, True] Translation: X:1.54, Y:-0.03, Z:-0.10 [[ 9.99477002e-01 1.15383454e-02 -3.02090957e-02 1.53698803e+00] [-1.15515397e-02 9.99933244e-01 -2.62273628e-04 -3.28612638e-02] [ 3.02040528e-02 6.11098027e-04 9.99543567e-01 -1.03384640e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.06538475 meters Centerline goodness [0,1] 0.9540754705865024 Centerline is valid? [True, True] Translation: X:1.57, Y:-0.04, Z:-0.11 [[ 9.99440950e-01 1.19345695e-02 -3.12306435e-02 1.56570453e+00] [-1.19489467e-02 9.99928571e-01 -2.73754791e-04 -3.77282327e-02] [ 3.12251456e-02 6.46775042e-04 9.99512167e-01 -1.05566265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.09538475 meters Centerline goodness [0,1] 0.953482880755608 Centerline is valid? [True, True] Translation: X:1.59, Y:-0.04, Z:-0.11 [[ 9.99423674e-01 1.19617592e-02 -3.17684769e-02 1.59469418e+00] [-1.19767250e-02 9.99928237e-01 -2.80833898e-04 -4.03609383e-02] [ 3.17628378e-02 6.61154357e-04 9.99495215e-01 -1.06207323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.12538475 meters Centerline goodness [0,1] 0.9523695976154992 Centerline is valid? [True, True] Translation: X:1.62, Y:-0.05, Z:-0.11 [[ 9.99430330e-01 9.25867805e-03 -3.24544616e-02 1.62329478e+00] [-9.27295241e-03 9.99956963e-01 -2.89337984e-04 -4.81160385e-02] [ 3.24503859e-02 5.90121835e-04 9.99473173e-01 -1.06455179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.15538475 meters Centerline goodness [0,1] 0.9525774428896066 Centerline is valid? [True, True] Translation: X:1.65, Y:-0.05, Z:-0.11 [[ 9.99435012e-01 6.69014266e-03 -3.29377989e-02 1.65150034e+00] [-6.70354243e-03 9.99977487e-01 -2.96406228e-04 -5.23669849e-02] [ 3.29350744e-02 5.17038694e-04 9.99457360e-01 -1.05807972e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.185384750000004 meters Centerline goodness [0,1] 0.952345181935639 Centerline is valid? [True, True] Translation: X:1.68, Y:-0.06, Z:-0.10 [[ 9.99445447e-01 5.48578185e-03 -3.28436547e-02 1.68015357e+00] [-5.49854445e-03 9.99984838e-01 -2.98277959e-04 -5.63470450e-02] [ 3.28415204e-02 4.78704844e-04 9.99460457e-01 -1.04230653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.21538475 meters Centerline goodness [0,1] 0.9494584837545126 Centerline is valid? [True, False] Translation: X:1.68, Y:-0.06, Z:-0.11 [[ 0.99946662 0.00242641 -0.03256652 1.68296835] [-0.00248814 0.99999518 -0.00185507 -0.05915479] [ 0.03256186 0.00193511 0.99946785 -0.10652743] [ 0. 0. 0. 1. ]] SLAMing on 37.24538475 meters Centerline goodness [0,1] 0.9486293061620572 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.06, Z:-0.11 [[ 0.99946569 -0.00206253 -0.03262017 1.68440914] [ 0.00186928 0.99998053 -0.00595364 -0.06059483] [ 0.03263181 0.00588949 0.99945009 -0.10809444] [ 0. 0. 0. 1. ]] SLAMing on 37.27538475 meters Centerline goodness [0,1] 0.9475074382172567 Centerline is valid? [False, False] Translation: X:1.69, Y:-0.06, Z:-0.11 [[ 0.99944055 -0.00245366 -0.03335508 1.68599209] [ 0.00228295 0.99998411 -0.00515487 -0.06298781] [ 0.0333672 0.00507584 0.99943027 -0.10732071] [ 0. 0. 0. 1. ]] SLAMing on 37.30538475 meters Centerline goodness [0,1] 0.9478940777618277 Centerline is valid? [False, False] Translation: X:1.68, Y:-0.07, Z:-0.11 [[ 0.99943666 -0.00602372 -0.03301641 1.6849426 ] [ 0.00575564 0.99994975 -0.00820848 -0.0654757 ] [ 0.0330642 0.00801382 0.9994211 -0.10669114] [ 0. 0. 0. 1. ]] SLAMing on 37.33538475 meters Centerline goodness [0,1] 0.9511933247438493 Centerline is valid? [False, True] Translation: X:1.68, Y:-0.07, Z:-0.10 [[ 0.99942728 -0.00581462 -0.03333609 1.68471775] [ 0.00559469 0.99996199 -0.00668666 -0.06832765] [ 0.03337371 0.00649632 0.99942183 -0.10458435] [ 0. 0. 0. 1. ]] SLAMing on 37.365384750000004 meters Centerline goodness [0,1] 0.9543984973981587 Centerline is valid? [True, True] Translation: X:1.71, Y:-0.08, Z:-0.10 [[ 9.99491385e-01 -9.79357355e-03 -3.03489192e-02 1.71247735e+00] [ 9.79359341e-03 9.99952031e-01 -1.47995960e-04 -7.72008594e-02] [ 3.03489128e-02 -1.49304288e-04 9.99539355e-01 -9.64808921e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.39538475 meters Centerline goodness [0,1] 0.95604906151273 Centerline is valid? [True, True] Translation: X:1.74, Y:-0.08, Z:-0.10 [[ 9.99494679e-01 -1.26424287e-02 -2.91643015e-02 1.74079875e+00] [ 1.26435059e-02 9.99920057e-01 -1.47479793e-04 -7.99608446e-02] [ 2.91638345e-02 -2.21333751e-04 9.99574620e-01 -9.50473888e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.42538475 meters Centerline goodness [0,1] 0.9560552341854823 Centerline is valid? [True, True] Translation: X:1.77, Y:-0.09, Z:-0.09 [[ 9.99470135e-01 -1.70318191e-02 -2.77374460e-02 1.76879233e+00] [ 1.70343291e-02 9.99854895e-01 -1.45812609e-04 -8.63089452e-02] [ 2.77359046e-02 -3.26753436e-04 9.99615232e-01 -9.44577000e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.45538475 meters Centerline goodness [0,1] 0.9569153918201686 Centerline is valid? [True, True] Translation: X:1.80, Y:-0.09, Z:-0.09 [[ 9.99392675e-01 -2.02653809e-02 -2.83477433e-02 1.79784715e+00] [ 2.02691709e-02 9.99794547e-01 -1.53677881e-04 -8.83291186e-02] [ 2.83450335e-02 -4.21000704e-04 9.99598110e-01 -9.31264120e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.48538475 meters Centerline goodness [0,1] 0.9566377794523989 Centerline is valid? [True, True] Translation: X:1.83, Y:-0.09, Z:-0.09 [[ 9.99205272e-01 -2.58032274e-02 -3.03811939e-02 1.82730381e+00] [ 2.58099797e-02 9.99666853e-01 -1.69953077e-04 -9.49288037e-02] [ 3.03754578e-02 -6.14319985e-04 9.99538371e-01 -9.37392992e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.51538475 meters Centerline goodness [0,1] 0.9564368901479383 Centerline is valid? [True, True] Translation: X:1.86, Y:-0.10, Z:-0.09 [[ 9.99090327e-01 -2.89568100e-02 -3.13053070e-02 1.85600016e+00] [ 2.89653743e-02 9.99580399e-01 -1.79982053e-04 -9.66113720e-02] [ 3.12973830e-02 -7.26951608e-04 9.99509853e-01 -9.39488177e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.545384750000004 meters Centerline goodness [0,1] 0.9539737082689701 Centerline is valid? [True, True] Translation: X:1.89, Y:-0.10, Z:-0.10 [[ 9.98850845e-01 -3.42655729e-02 -3.35090933e-02 1.88655179e+00] [ 3.42782209e-02 9.99412310e-01 -1.97123408e-04 -1.01236095e-01] [ 3.34961549e-02 -9.51735218e-04 9.99438393e-01 -9.59718742e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.57538475 meters Centerline goodness [0,1] 0.9536943319838057 Centerline is valid? [True, True] Translation: X:1.92, Y:-0.10, Z:-0.10 [[ 9.98738901e-01 -3.64883230e-02 -3.44849118e-02 1.91553412e+00] [ 3.65028790e-02 9.99333526e-01 -2.07605459e-04 -1.02136663e-01] [ 3.44695037e-02 -1.05145492e-03 9.99405197e-01 -9.56089279e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.60538475 meters Centerline goodness [0,1] 0.9520530638029059 Centerline is valid? [True, True] Translation: X:1.94, Y:-0.10, Z:-0.10 [[ 9.98622122e-01 -3.86231502e-02 -3.55261810e-02 1.94330080e+00] [ 3.86397015e-02 9.99253183e-01 -2.20826500e-04 -1.03784991e-01] [ 3.55081785e-02 -1.15219880e-03 9.99368722e-01 -9.62982575e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.63538475 meters Centerline goodness [0,1] 0.9520136561927041 Centerline is valid? [True, True] Translation: X:1.97, Y:-0.10, Z:-0.10 [[ 9.98563199e-01 -3.94265090e-02 -3.62917123e-02 1.97252690e+00] [ 3.94440427e-02 9.99221754e-01 -2.33002460e-04 -1.02267949e-01] [ 3.62726549e-02 -1.19882417e-03 9.99341212e-01 -9.74064933e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.66538475 meters Centerline goodness [0,1] 0.949519838261309 Centerline is valid? [True, False] Translation: X:1.97, Y:-0.10, Z:-0.10 [[ 0.99868535 -0.03528427 -0.03718324 1.97295134] [ 0.03547713 0.99936018 0.00453944 -0.10251907] [ 0.03699927 -0.00585262 0.99929815 -0.09528726] [ 0. 0. 0. 1. ]] SLAMing on 37.69538475 meters Centerline goodness [0,1] 0.9489840989399293 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.10, Z:-0.09 [[ 0.99879834 -0.03110787 -0.03787061 1.97324664] [ 0.0314774 0.99946212 0.00920067 -0.10284218] [ 0.03756403 -0.01038168 0.99924029 -0.0936206 ] [ 0. 0. 0. 1. ]] SLAMing on 37.72538475 meters Centerline goodness [0,1] 0.9465926553140779 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.10, Z:-0.09 [[ 0.99895382 -0.02574458 -0.03779517 1.97084361] [ 0.02625605 0.99956942 0.01309928 -0.09969107] [ 0.03744167 -0.01407793 0.99919965 -0.09239778] [ 0. 0. 0. 1. ]] SLAMing on 37.755384750000005 meters Centerline goodness [0,1] 0.9487627547040285 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.10, Z:-0.09 [[ 0.99900087 -0.02471039 -0.03723785 1.96851682] [ 0.02518845 0.99960552 0.0124239 -0.09646298] [ 0.03691616 -0.01334945 0.9992292 -0.09252351] [ 0. 0. 0. 1. ]] SLAMing on 37.78538475 meters Centerline goodness [0,1] 0.9485654086881081 Centerline is valid? [False, False] Translation: X:1.97, Y:-0.09, Z:-0.10 [[ 0.9993058 -0.01896146 -0.03206846 1.97477719] [ 0.01904745 0.99981575 0.00237801 -0.09031513] [ 0.03201746 -0.00298718 0.99948285 -0.09766257] [ 0. 0. 0. 1. ]] SLAMing on 37.81538475 meters Centerline goodness [0,1] 0.950058718091353 Centerline is valid? [False, True] Translation: X:1.97, Y:-0.09, Z:-0.10 [[ 0.99934641 -0.01787123 -0.03142254 1.97211994] [ 0.01795221 0.99983621 0.00229686 -0.08823771] [ 0.03137634 -0.00285946 0.99950355 -0.09705014] [ 0. 0. 0. 1. ]] SLAMing on 37.84538475 meters Centerline goodness [0,1] 0.9535758323057953 Centerline is valid? [True, True] Translation: X:2.00, Y:-0.08, Z:-0.10 [[ 9.99446064e-01 -1.43679470e-02 -3.00187882e-02 2.00096310e+00] [ 1.43639304e-02 9.99896772e-01 -3.49453710e-04 -8.22864785e-02] [ 3.00207103e-02 -8.19276494e-05 9.99549274e-01 -9.61430158e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.87538475 meters Centerline goodness [0,1] 0.9527804336427844 Centerline is valid? [True, True] Translation: X:2.03, Y:-0.08, Z:-0.10 [[ 9.99466992e-01 -1.41233466e-02 -2.94323411e-02 2.02892123e+00] [ 1.41191390e-02 9.99900258e-01 -3.50788384e-04 -8.05470777e-02] [ 2.94343597e-02 -6.49579050e-05 9.99566713e-01 -9.55137003e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.90538475 meters Centerline goodness [0,1] 0.9518784037414233 Centerline is valid? [True, True] Translation: X:2.06, Y:-0.08, Z:-0.10 [[ 9.99472437e-01 -1.39796693e-02 -2.93157927e-02 2.05555641e+00] [ 1.39752247e-02 9.99902278e-01 -3.56505482e-04 -8.02047145e-02] [ 2.93179118e-02 -5.33773881e-05 9.99570136e-01 -9.54686914e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.935384750000004 meters Centerline goodness [0,1] 0.9515205890542339 Centerline is valid? [True, True] Translation: X:2.08, Y:-0.08, Z:-0.09 [[ 9.99418517e-01 -1.81773020e-02 -2.88481025e-02 2.08338609e+00] [ 1.81746314e-02 9.99834765e-01 -3.54796716e-04 -8.36072390e-02] [ 2.88497850e-02 -1.69713223e-04 9.99583744e-01 -9.48779588e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.96538475 meters Centerline goodness [0,1] 0.9536452531253868 Centerline is valid? [True, True] Translation: X:2.11, Y:-0.09, Z:-0.09 [[ 9.99352466e-01 -2.08931412e-02 -2.92937765e-02 2.11196848e+00] [ 2.08913946e-02 9.99781684e-01 -3.65715713e-04 -8.54796130e-02] [ 2.92950221e-02 -2.46508943e-04 9.99570778e-01 -9.38326757e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 37.99538475 meters Centerline goodness [0,1] 0.9515953307392996 Centerline is valid? [True, True] Translation: X:2.14, Y:-0.09, Z:-0.09 [[ 9.99129731e-01 -2.81909731e-02 -3.07416488e-02 2.14039106e+00] [ 2.81923539e-02 9.99602441e-01 -3.88613273e-04 -9.19255198e-02] [ 3.07403825e-02 -4.78404365e-04 9.99527288e-01 -9.44547904e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.02538475 meters Centerline goodness [0,1] 0.9500031228530386 Centerline is valid? [True, True] Translation: X:2.17, Y:-0.10, Z:-0.10 [[ 9.98977688e-01 -3.17583754e-02 -3.21711835e-02 2.16884635e+00] [ 3.17616601e-02 9.99495387e-01 -4.09058586e-04 -9.58960955e-02] [ 3.21679406e-02 -6.13169796e-04 9.99482290e-01 -9.53602934e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.05538475 meters Centerline goodness [0,1] 0.9519728788021471 Centerline is valid? [True, True] Translation: X:2.20, Y:-0.10, Z:-0.09 [[ 9.98684242e-01 -3.95707727e-02 -3.26180713e-02 2.19961920e+00] [ 3.95782816e-02 9.99216386e-01 -4.15667301e-04 -1.03246978e-01] [ 3.26089596e-02 -8.75846827e-04 9.99467803e-01 -9.39458669e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.08538475 meters Centerline goodness [0,1] 0.9526284292418659 Centerline is valid? [True, True] Translation: X:2.23, Y:-0.11, Z:-0.09 [[ 9.98524568e-01 -4.30298526e-02 -3.31227836e-02 2.22874211e+00] [ 4.30394604e-02 9.99073283e-01 -4.23198286e-04 -1.06320444e-01] [ 3.31102983e-02 -1.00301285e-03 9.99451200e-01 -9.39428968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.115384750000004 meters Centerline goodness [0,1] 0.9525355353146964 Centerline is valid? [True, True] Translation: X:2.26, Y:-0.11, Z:-0.09 [[ 9.98288129e-01 -4.76618108e-02 -3.38993208e-02 2.25800499e+00] [ 4.76744793e-02 9.98862831e-01 -4.34951516e-04 -1.09115612e-01] [ 3.38815021e-02 -1.18192553e-03 9.99425158e-01 -9.47510138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.14538475 meters Centerline goodness [0,1] 0.9522803254904435 Centerline is valid? [True, True] Translation: X:2.29, Y:-0.11, Z:-0.09 [[ 9.98220727e-01 -4.79863816e-02 -3.53933160e-02 2.28633519e+00] [ 4.80002995e-02 9.98847217e-01 -4.56861637e-04 -1.07711526e-01] [ 3.53744383e-02 -1.24284101e-03 9.99373356e-01 -9.49326041e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.17538475 meters Centerline goodness [0,1] 0.952178566931117 Centerline is valid? [True, True] Translation: X:2.32, Y:-0.11, Z:-0.09 [[ 9.98037180e-01 -5.02037329e-02 -3.74349215e-02 2.31589757e+00] [ 5.02207829e-02 9.98738022e-01 -4.85333268e-04 -1.05578998e-01] [ 3.74120450e-02 -1.39563042e-03 9.99298950e-01 -9.45334496e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.20538475 meters Centerline goodness [0,1] 0.9505839507723219 Centerline is valid? [True, True] Translation: X:2.34, Y:-0.11, Z:-0.10 [[ 9.97983678e-01 -5.11158127e-02 -3.76264936e-02 2.34399200e+00] [ 5.11335826e-02 9.98691702e-01 -4.90535770e-04 -1.05817755e-01] [ 3.76023411e-02 -1.43443073e-03 9.99291752e-01 -9.50872170e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.23538475 meters Centerline goodness [0,1] 0.9515529515529515 Centerline is valid? [True, True] Translation: X:2.37, Y:-0.10, Z:-0.09 [[ 9.97929144e-01 -5.18781836e-02 -3.80273298e-02 2.37234619e+00] [ 5.18967564e-02 9.98652331e-01 -4.99201693e-04 -1.04909494e-01] [ 3.80019792e-02 -1.47532715e-03 9.99276575e-01 -9.42799677e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.26538475 meters Centerline goodness [0,1] 0.9507553154737602 Centerline is valid? [True, True] Translation: X:2.40, Y:-0.10, Z:-0.09 [[ 9.97781464e-01 -5.43931400e-02 -3.83866607e-02 2.40157618e+00] [ 5.44138256e-02 9.98518342e-01 -5.06461447e-04 -1.02279821e-01] [ 3.83573329e-02 -1.58342722e-03 9.99262832e-01 -9.35340451e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.295384750000004 meters Centerline goodness [0,1] 0.9495085456708195 Centerline is valid? [True, False] Translation: X:2.40, Y:-0.10, Z:-0.09 [[ 0.99786284 -0.05202798 -0.03953276 2.40386693] [ 0.05220242 0.99863076 0.00339244 -0.10072045] [ 0.03930213 -0.00544889 0.99921252 -0.09197967] [ 0. 0. 0. 1. ]] SLAMing on 38.32538475 meters Centerline goodness [0,1] 0.9499968728500844 Centerline is valid? [False, False] Translation: X:2.41, Y:-0.10, Z:-0.09 [[ 0.99797555 -0.04894474 -0.04061061 2.40545152] [ 0.04930163 0.99875322 0.00783316 -0.10111643] [ 0.04017658 -0.00981947 0.99914434 -0.09013431] [ 0. 0. 0. 1. ]] SLAMing on 38.35538475 meters Centerline goodness [0,1] 0.9498397485764073 Centerline is valid? [False, False] Translation: X:2.40, Y:-0.10, Z:-0.09 [[ 0.9979811 -0.04886259 -0.04057293 2.40441611] [ 0.04919262 0.99876353 0.00717548 -0.09665248] [ 0.04017215 -0.00915688 0.99915081 -0.08945956] [ 0. 0. 0. 1. ]] SLAMing on 38.38538475 meters Centerline goodness [0,1] 0.9501319670858562 Centerline is valid? [False, True] Translation: X:2.40, Y:-0.09, Z:-0.09 [[ 0.99800733 -0.04863036 -0.04020516 2.40319562] [ 0.04893335 0.99878033 0.00658609 -0.0937485 ] [ 0.03983584 -0.00854034 0.99916974 -0.08950944] [ 0. 0. 0. 1. ]] SLAMing on 38.41538475 meters Centerline goodness [0,1] 0.9502241459267274 Centerline is valid? [True, True] Translation: X:2.43, Y:-0.09, Z:-0.09 [[ 9.98042027e-01 -4.79689896e-02 -4.01383619e-02 2.43230293e+00] [ 4.79962318e-02 9.98847476e-01 -2.85205633e-04 -8.62464235e-02] [ 4.01057825e-02 -1.64184292e-03 9.99194091e-01 -9.20268302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.44538475 meters Centerline goodness [0,1] 0.9492863088448377 Centerline is valid? [True, False] Translation: X:2.43, Y:-0.08, Z:-0.09 [[ 0.99824018 -0.04366479 -0.04012402 2.4305745 ] [ 0.04384389 0.99903193 0.00359439 -0.08283427] [ 0.03992823 -0.00534726 0.99918824 -0.09032981] [ 0. 0. 0. 1. ]] SLAMing on 38.47538475 meters Centerline goodness [0,1] 0.9472295514511874 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.08, Z:-0.09 [[ 0.99837202 -0.03983228 -0.04082533 2.43103279] [ 0.04018581 0.99916119 0.00787537 -0.08206148] [ 0.04047739 -0.00950314 0.99913526 -0.08886376] [ 0. 0. 0. 1. ]] SLAMing on 38.505384750000005 meters Centerline goodness [0,1] 0.9468853261534695 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.08, Z:-0.09 [[ 0.9985152 -0.03592309 -0.04095038 2.43034685] [ 0.03640119 0.99927683 0.01098969 -0.07811561] [ 0.04052598 -0.01246402 0.99910074 -0.08831759] [ 0. 0. 0. 1. ]] SLAMing on 38.53538475 meters Centerline goodness [0,1] 0.9439559436516871 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.07, Z:-0.09 [[ 0.9985828 -0.03479923 -0.04026665 2.42753612] [ 0.0352308 0.99932859 0.01005806 -0.07322663] [ 0.0398896 -0.01146243 0.99913834 -0.08833543] [ 0. 0. 0. 1. ]] SLAMing on 38.56538475 meters Centerline goodness [0,1] 0.9421879272108636 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.07, Z:-0.09 [[ 0.99863112 -0.03408765 -0.03967268 2.42567466] [ 0.03450395 0.99935596 0.00985617 -0.0713395 ] [ 0.03931116 -0.01121155 0.99916412 -0.08823264] [ 0. 0. 0. 1. ]] SLAMing on 38.59538475 meters Centerline goodness [0,1] 0.9431255285731546 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.07, Z:-0.09 [[ 9.98858054e-01 -3.15769148e-02 -3.58536769e-02 2.43714229e+00] [ 3.16080464e-02 9.99500295e-01 3.01672873e-04 -6.77051156e-02] [ 3.58262348e-02 -1.43459306e-03 9.99357005e-01 -9.27561433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 38.62538475 meters Centerline goodness [0,1] 0.9402944630114715 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.07, Z:-0.09 [[ 0.99897616 -0.02741157 -0.03598945 2.4367534 ] [ 0.02758942 0.99960942 0.0044542 -0.06629862] [ 0.0358533 -0.00544257 0.99934224 -0.0918912 ] [ 0. 0. 0. 1. ]] SLAMing on 38.65538475 meters Centerline goodness [0,1] 0.9390552509489667 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.06, Z:-0.09 [[ 0.99899332 -0.02712436 -0.03572971 2.43611997] [ 0.02729179 0.99961866 0.00420641 -0.06496462] [ 0.03560199 -0.00517731 0.99935264 -0.09214359] [ 0. 0. 0. 1. ]] SLAMing on 38.685384750000004 meters Centerline goodness [0,1] 0.9377070907886017 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.06, Z:-0.09 [[ 0.99899224 -0.02720169 -0.03570106 2.43641588] [ 0.02736356 0.99961733 0.00405319 -0.0647292 ] [ 0.03557714 -0.00502602 0.99935429 -0.09261212] [ 0. 0. 0. 1. ]] SLAMing on 38.71538475 meters Centerline goodness [0,1] 0.9351548159961484 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.07, Z:-0.09 [[ 0.99900282 -0.02709436 -0.03548611 2.43592021] [ 0.02726479 0.99961888 0.00432761 -0.06500666] [ 0.03535533 -0.00529082 0.9993608 -0.09229829] [ 0. 0. 0. 1. ]] SLAMing on 38.74538475 meters Centerline goodness [0,1] 0.9374660797201954 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.07, Z:-0.09 [[ 0.99901263 -0.02682373 -0.03541541 2.43525691] [ 0.02700791 0.99962402 0.00473239 -0.06551205] [ 0.03527515 -0.00568421 0.99936147 -0.0915789 ] [ 0. 0. 0. 1. ]] SLAMing on 38.77538475 meters Centerline goodness [0,1] 0.936142732706575 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.06, Z:-0.09 [[ 0.9990203 -0.02692717 -0.03511947 2.43519057] [ 0.02709446 0.99962365 0.00429622 -0.06434423] [ 0.03499057 -0.00524356 0.99937389 -0.09239825] [ 0. 0. 0. 1. ]] SLAMing on 38.80538475 meters Centerline goodness [0,1] 0.936142732706575 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.06, Z:-0.09 [[ 0.9990203 -0.02692717 -0.03511947 2.43519057] [ 0.02709446 0.99962365 0.00429622 -0.06434423] [ 0.03499057 -0.00524356 0.99937389 -0.09239825] [ 0. 0. 0. 1. ]] SLAMing on 38.83538475 meters Centerline goodness [0,1] 0.9370343667387647 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.06, Z:-0.09 [[ 0.9990309 -0.026824 -0.03489596 2.43475014] [ 0.02698202 0.99962765 0.00406532 -0.06333633] [ 0.03477392 -0.00500295 0.99938268 -0.09260693] [ 0. 0. 0. 1. ]] SLAMing on 38.865384750000004 meters Centerline goodness [0,1] 0.9369372064498759 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.06, Z:-0.09 [[ 0.99905431 -0.02657273 -0.0344147 2.43338348] [ 0.02671547 0.99963625 0.00369458 -0.06115874] [ 0.03430401 -0.00461049 0.99940081 -0.0923997 ] [ 0. 0. 0. 1. ]] SLAMing on 38.89538475 meters Centerline goodness [0,1] 0.9370113982216387 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.06, Z:-0.09 [[ 0.99906304 -0.02645863 -0.03424898 2.43275366] [ 0.02659571 0.99963996 0.0035529 -0.05997339] [ 0.03414264 -0.00446044 0.99940702 -0.09213426] [ 0. 0. 0. 1. ]] SLAMing on 38.92538475 meters Centerline goodness [0,1] 0.9343951122579115 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.06, Z:-0.09 [[ 0.99912164 -0.02357007 -0.03464666 2.43427385] [ 0.02382004 0.999693 0.00681969 -0.0578967 ] [ 0.03447528 -0.00763899 0.99937636 -0.09242742] [ 0. 0. 0. 1. ]] SLAMing on 38.95538475 meters Centerline goodness [0,1] 0.9344704036007225 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.06, Z:-0.09 [[ 0.99912566 -0.023821 -0.03435795 2.43424736] [ 0.02404064 0.99969301 0.00599383 -0.05567198] [ 0.03420463 -0.00681457 0.99939162 -0.09341081] [ 0. 0. 0. 1. ]] SLAMing on 38.98538475 meters Centerline goodness [0,1] 0.934643618280843 Centerline is valid? [False, False] Translation: X:2.43, Y:-0.05, Z:-0.09 [[ 0.99910307 -0.02460579 -0.03446166 2.43477668] [ 0.0248031 0.99967825 0.00530969 -0.05380024] [ 0.03431993 -0.00615968 0.99939192 -0.09347663] [ 0. 0. 0. 1. ]] SLAMing on 39.01538475 meters Centerline goodness [0,1] 0.9330017467507475 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.05, Z:-0.09 [[ 0.99907132 -0.0252867 -0.0348868 2.43592251] [ 0.02548248 0.99966185 0.00517871 -0.05376044] [ 0.03474405 -0.0060629 0.99937785 -0.0933033 ] [ 0. 0. 0. 1. ]] SLAMing on 39.045384750000004 meters Centerline goodness [0,1] 0.9361111111111111 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.05, Z:-0.09 [[ 0.99898878 -0.0276801 -0.0354291 2.43909177] [ 0.0278495 0.99960289 0.00429672 -0.05369164] [ 0.03529609 -0.00527906 0.99936296 -0.09420196] [ 0. 0. 0. 1. ]] SLAMing on 39.07538475 meters Centerline goodness [0,1] 0.9388763911910963 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.05, Z:-0.09 [[ 0.9989527 -0.02844378 -0.03583932 2.4404327 ] [ 0.02861625 0.99958118 0.0043087 -0.05412772] [ 0.03570176 -0.00532977 0.99934828 -0.09415957] [ 0. 0. 0. 1. ]] SLAMing on 39.10538475 meters Centerline goodness [0,1] 0.9388921800947867 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.05, Z:-0.09 [[ 0.99886692 -0.03067153 -0.03638855 2.44345552] [ 0.03082654 0.99951788 0.00370636 -0.05431643] [ 0.03625733 -0.00482389 0.99933084 -0.09482698] [ 0. 0. 0. 1. ]] SLAMing on 39.13538475 meters Centerline goodness [0,1] 0.9364619658372244 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.05, Z:-0.09 [[ 0.99883269 -0.03140702 -0.03669967 2.44461102] [ 0.0315659 0.99949461 0.00375773 -0.05464858] [ 0.0365631 -0.0049118 0.99931928 -0.09475145] [ 0. 0. 0. 1. ]] SLAMing on 39.16538475 meters Centerline goodness [0,1] 0.9360071037442652 Centerline is valid? [False, False] Translation: X:2.44, Y:-0.06, Z:-0.09 [[ 0.99879579 -0.03242997 -0.03681385 2.44499417] [ 0.03260836 0.99945915 0.00425543 -0.0553158 ] [ 0.03665594 -0.00545075 0.99931308 -0.09325861] [ 0. 0. 0. 1. ]] SLAMing on 39.19538475 meters Centerline goodness [0,1] 0.9362349673492303 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.05, Z:-0.09 [[ 0.99875233 -0.03318165 -0.03731964 2.44633763] [ 0.03335704 0.99943514 0.00408673 -0.05496941] [ 0.03716296 -0.0053265 0.99929502 -0.09314121] [ 0. 0. 0. 1. ]] SLAMing on 39.22538475 meters Centerline goodness [0,1] 0.9258867436598196 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.05, Z:-0.09 [[ 0.99863695 -0.03554781 -0.03821776 2.45001916] [ 0.03567825 0.99935958 0.00273623 -0.05203171] [ 0.03809602 -0.00409605 0.99926569 -0.09416008] [ 0. 0. 0. 1. ]] SLAMing on 39.255384750000005 meters Centerline goodness [0,1] 0.91420604637511 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.05, Z:-0.09 [[ 0.9986039 -0.03612882 -0.03853527 2.45054268] [ 0.03625574 0.99933916 0.00259957 -0.05115157] [ 0.03841588 -0.00399306 0.99925386 -0.09352178] [ 0. 0. 0. 1. ]] SLAMing on 39.28538475 meters Centerline goodness [0,1] 0.8978935989950042 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.05, Z:-0.09 [[ 9.98507434e-01 -3.76884255e-02 -3.95283079e-02 2.45210336e+00] [ 3.77942663e-02 9.99283671e-01 1.93349201e-03 -4.86003860e-02] [ 3.94271223e-02 -3.42454953e-03 9.99216580e-01 -9.19393014e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.31538475 meters Centerline goodness [0,1] 0.9015116143340726 Centerline is valid? [False, False] Translation: X:2.45, Y:-0.05, Z:-0.09 [[ 9.98466248e-01 -3.84057162e-02 -3.98767163e-02 2.45300653e+00] [ 3.84849338e-02 9.99258435e-01 1.22055106e-03 -4.61666080e-02] [ 3.98002690e-02 -2.75333183e-03 9.99203862e-01 -9.19800836e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.34538475 meters Centerline goodness [0,1] 0.9025709245495821 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.04, Z:-0.09 [[ 0.99844253 -0.03750698 -0.04130061 2.45697521] [ 0.03767426 0.99928469 0.00327935 -0.04107694] [ 0.04114807 -0.00483021 0.99914138 -0.09196564] [ 0. 0. 0. 1. ]] SLAMing on 39.37538475 meters Centerline goodness [0,1] 0.906589928057554 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.04, Z:-0.09 [[ 0.99848525 -0.03526416 -0.04223313 2.45933866] [ 0.0355745 0.99934511 0.00661919 -0.03964017] [ 0.04197205 -0.00811159 0.99908586 -0.09150952] [ 0. 0. 0. 1. ]] SLAMing on 39.40538475 meters Centerline goodness [0,1] 0.8449026345933562 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.04, Z:-0.09 [[ 0.99843337 -0.03624031 -0.04263139 2.46027167] [ 0.03651019 0.99931776 0.00556875 -0.0360086 ] [ 0.04240049 -0.00711651 0.99907535 -0.09149413] [ 0. 0. 0. 1. ]] SLAMing on 39.435384750000004 meters Centerline goodness [0,1] 0.8959185400389248 Centerline is valid? [False, False] Translation: X:2.46, Y:-0.03, Z:-0.09 [[ 0.99828553 -0.03901071 -0.04363685 2.46294344] [ 0.03919195 0.99922623 0.00330521 -0.02779759] [ 0.04347415 -0.00500976 0.99904199 -0.0912259 ] [ 0. 0. 0. 1. ]] SLAMing on 39.46538475 meters Centerline goodness [0,1] 0.8926191339263307 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.02, Z:-0.09 [[ 0.99822446 -0.03855888 -0.04539981 2.46635722] [ 0.03879458 0.99923786 0.00432178 -0.01857212] [ 0.04519856 -0.00607538 0.99895955 -0.09026062] [ 0. 0. 0. 1. ]] SLAMing on 39.49538475 meters Centerline goodness [0,1] 0.8856007067137809 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.01, Z:-0.09 [[ 0.99828046 -0.03572523 -0.04647395 2.46750333] [ 0.03610669 0.99932058 0.0073943 -0.01490645] [ 0.04617821 -0.00905961 0.99889213 -0.08887283] [ 0. 0. 0. 1. ]] SLAMing on 39.52538475 meters Centerline goodness [0,1] 0.9033903795281542 Centerline is valid? [False, False] Translation: X:2.47, Y:-0.00, Z:-0.09 [[ 0.99842835 -0.03070497 -0.0468832 2.46552791] [ 0.03126514 0.99944768 0.01126183 -0.0036911 ] [ 0.04651151 -0.01270994 0.99883689 -0.08589266] [ 0. 0. 0. 1. ]] SLAMing on 39.55538475 meters Centerline goodness [0,1] 0.8973960981614794 Centerline is valid? [False, False] Translation: X:2.46, Y:0.00, Z:-0.08 [[ 0.99852751 -0.02697483 -0.04706551 2.46451937] [ 0.0276553 0.99952133 0.01386709 0.00312683] [ 0.04666892 -0.01514828 0.99879555 -0.08480473] [ 0. 0. 0. 1. ]] SLAMing on 39.58538475 meters Centerline goodness [0,1] 0.9084906906113825 Centerline is valid? [False, False] Translation: X:2.46, Y:0.01, Z:-0.08 [[ 0.99861835 -0.02331136 -0.04709543 2.4634236 ] [ 0.02409559 0.99957915 0.01615346 0.01080333] [ 0.04669905 -0.01726593 0.99875977 -0.08405849] [ 0. 0. 0. 1. ]] SLAMing on 39.615384750000004 meters Centerline goodness [0,1] 0.9239175364265785 Centerline is valid? [False, False] Translation: X:2.46, Y:0.03, Z:-0.08 [[ 0.99871369 -0.01702646 -0.04776057 2.46280679] [ 0.01798552 0.9996437 0.01972314 0.02548228] [ 0.04740774 -0.02055677 0.99866407 -0.0831251 ] [ 0. 0. 0. 1. ]] SLAMing on 39.64538475 meters Centerline goodness [0,1] 0.9246373897086548 Centerline is valid? [False, False] Translation: X:2.46, Y:0.04, Z:-0.08 [[ 0.99872678 -0.01489741 -0.04819627 2.46328974] [ 0.01586395 0.99967939 0.01973433 0.03903247] [ 0.04788683 -0.02047379 0.99864292 -0.08365793] [ 0. 0. 0. 1. ]] SLAMing on 39.67538475 meters Centerline goodness [0,1] 0.9358018513885414 Centerline is valid? [False, False] Translation: X:2.46, Y:0.05, Z:-0.08 [[ 0.99871011 -0.01583061 -0.04824417 2.46345993] [ 0.01670027 0.99970427 0.01767669 0.04610014] [ 0.04795007 -0.01845958 0.99867915 -0.08407048] [ 0. 0. 0. 1. ]] SLAMing on 39.70538475 meters Centerline goodness [0,1] 0.9338701684836472 Centerline is valid? [False, False] Translation: X:2.46, Y:0.05, Z:-0.08 [[ 0.99867031 -0.01718754 -0.04860248 2.46470314] [ 0.01795897 0.99971888 0.01548034 0.0526641 ] [ 0.04832274 -0.01633261 0.99869823 -0.08493732] [ 0. 0. 0. 1. ]] SLAMing on 39.73538475 meters Centerline goodness [0,1] 0.921754292495096 Centerline is valid? [False, False] Translation: X:2.47, Y:0.06, Z:-0.09 [[ 0.99855863 -0.01829184 -0.05045855 2.47041822] [ 0.01904756 0.99971289 0.01453715 0.06444679] [ 0.05017815 -0.01547731 0.99862035 -0.08671988] [ 0. 0. 0. 1. ]] SLAMing on 39.76538475 meters Centerline goodness [0,1] 0.8880068859984698 Centerline is valid? [False, False] Translation: X:2.47, Y:0.07, Z:-0.09 [[ 0.99853388 -0.01932668 -0.05056257 2.47124985] [ 0.02001085 0.99971446 0.01305998 0.07144458] [ 0.05029572 -0.01405263 0.9986355 -0.08729562] [ 0. 0. 0. 1. ]] SLAMing on 39.795384750000004 meters Centerline goodness [0,1] 0.8707487689263197 Centerline is valid? [False, False] Translation: X:2.47, Y:0.08, Z:-0.09 [[ 0.99850892 -0.01833435 -0.05141785 2.47274512] [ 0.01904258 0.99972997 0.01331826 0.08408366] [ 0.05115978 -0.01427753 0.99858842 -0.08685225] [ 0. 0. 0. 1. ]] SLAMing on 39.82538475 meters Centerline goodness [0,1] 0.8484957665285534 Centerline is valid? [False, False] Translation: X:2.47, Y:0.09, Z:-0.09 [[ 0.9985319 -0.01736972 -0.05130637 2.47208013] [ 0.01808003 0.99974657 0.01341286 0.0908572 ] [ 0.05106039 -0.01432079 0.99859289 -0.08634047] [ 0. 0. 0. 1. ]] SLAMing on 39.85538475 meters Centerline goodness [0,1] 0.867750524971316 Centerline is valid? [False, False] Translation: X:2.47, Y:0.11, Z:-0.09 [[ 0.99861405 -0.01420681 -0.05067687 2.47052598] [ 0.01495768 0.99978344 0.01446842 0.10517472] [ 0.05046035 -0.01520638 0.99861029 -0.08605441] [ 0. 0. 0. 1. ]] SLAMing on 39.88538475 meters Centerline goodness [0,1] 0.8574118049761461 Centerline is valid? [False, False] Translation: X:2.47, Y:0.11, Z:-0.09 [[ 0.99863947 -0.01155755 -0.05084908 2.47068688] [ 0.01237293 0.99979941 0.01574967 0.11253727] [ 0.05065685 -0.01635739 0.99858215 -0.0861117 ] [ 0. 0. 0. 1. ]] SLAMing on 39.91538475 meters Centerline goodness [0,1] 0.7414483756632622 Centerline is valid? [False, False] Translation: X:2.47, Y:0.13, Z:-0.09 [[ 0.99872173 -0.0047487 -0.05032258 2.46921167] [ 0.00559096 0.99984642 0.01660959 0.1300186 ] [ 0.05023598 -0.01686971 0.99859489 -0.08763073] [ 0. 0. 0. 1. ]] SLAMing on 39.94538475 meters Centerline goodness [0,1] 0.7647966631908237 Centerline is valid? [False, False] Translation: X:2.48, Y:0.14, Z:-0.09 [[ 9.98914695e-01 2.91259452e-03 -4.64860167e-02 2.47700276e+00] [-2.45825960e-03 9.99948685e-01 9.82776029e-03 1.38602015e-01] [ 4.65122555e-02 -9.70281948e-03 9.98870595e-01 -9.07572877e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 39.97538475 meters Centerline goodness [0,1] 0.7624509131708533 Centerline is valid? [False, False] Translation: X:2.48, Y:0.15, Z:-0.09 [[ 0.99904962 0.0112694 -0.04210539 2.4847214 ] [-0.0111097 0.99993019 0.00402481 0.14726024] [ 0.0421478 -0.0035532 0.99910507 -0.09387504] [ 0. 0. 0. 1. ]] SLAMing on 40.005384750000005 meters Centerline goodness [0,1] 0.8679646529297601 Centerline is valid? [False, False] Translation: X:2.49, Y:0.16, Z:-0.10 [[ 9.98999548e-01 2.42484167e-02 -3.75755019e-02 2.49078988e+00] [-2.42771617e-02 9.99705219e-01 -3.08839705e-04 1.64118128e-01] [ 3.75569365e-02 1.22075726e-03 9.99293744e-01 -9.68381869e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.03538475 meters Centerline goodness [0,1] 0.9186039328734685 Centerline is valid? [False, False] Translation: X:2.50, Y:0.18, Z:-0.10 [[ 0.99877125 0.03711301 -0.03284215 2.49770554] [-0.03726516 0.99929727 -0.00403286 0.17973187] [ 0.0326694 0.00525177 0.99945241 -0.1000025 ] [ 0. 0. 0. 1. ]] SLAMing on 40.06538475 meters Centerline goodness [0,1] 0.9270581925449182 Centerline is valid? [False, False] Translation: X:2.50, Y:0.19, Z:-0.10 [[ 9.98601984e-01 4.15674134e-02 -3.26531363e-02 2.49731863e+00] [-4.16315366e-02 9.99132204e-01 -1.28605340e-03 1.87153871e-01] [ 3.25713421e-02 2.64365571e-03 9.99465917e-01 -9.94272538e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.09538475 meters Centerline goodness [0,1] 0.9236922950042267 Centerline is valid? [False, False] Translation: X:2.50, Y:0.20, Z:-0.10 [[ 9.98306052e-01 4.81857749e-02 -3.26061099e-02 2.49765794e+00] [-4.81253175e-02 9.98837825e-01 2.63689514e-03 1.98267943e-01] [ 3.26952768e-02 -1.06324899e-03 9.99464801e-01 -9.92572593e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.12538475 meters Centerline goodness [0,1] 0.9236382322713258 Centerline is valid? [False, False] Translation: X:2.50, Y:0.20, Z:-0.10 [[ 9.98318422e-01 4.76741225e-02 -3.29773475e-02 2.49879537e+00] [-4.76721630e-02 9.98862678e-01 8.46129744e-04 2.03076611e-01] [ 3.29801802e-02 7.27394575e-04 9.99455741e-01 -9.99759346e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.15538475 meters Centerline goodness [0,1] 0.9204524459589842 Centerline is valid? [False, False] Translation: X:2.50, Y:0.21, Z:-0.10 [[ 9.98398616e-01 4.55635240e-02 -3.35286302e-02 2.50107862e+00] [-4.56718349e-02 9.98953441e-01 -2.47125002e-03 2.10122423e-01] [ 3.33809416e-02 3.99860666e-03 9.99434702e-01 -1.01550568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 40.185384750000004 meters Centerline goodness [0,1] 0.9193647920352161 Centerline is valid? [False, False] Translation: X:2.50, Y:0.21, Z:-0.10 [[ 0.9984465 0.04436896 -0.03370441 2.50179744] [-0.04452242 0.9990011 -0.00381609 0.21253578] [ 0.03350143 0.00531076 0.99942456 -0.10197021] [ 0. 0. 0. 1. ]] SLAMing on 40.21538475 meters Centerline goodness [0,1] 0.9102498306406914 Centerline is valid? [False, False] Translation: X:2.50, Y:0.22, Z:-0.10 [[ 0.99867512 0.0385969 -0.03403358 2.50241773] [-0.03894615 0.99919462 -0.0096593 0.21667261] [ 0.03363335 0.01097198 0.99937401 -0.10221149] [ 0. 0. 0. 1. ]] SLAMing on 40.24538475 meters Centerline goodness [0,1] 0.9033243226512041 Centerline is valid? [False, False] Translation: X:2.50, Y:0.22, Z:-0.10 [[ 0.99871882 0.03730321 -0.03419337 2.50325357] [-0.03768533 0.99923344 -0.0105995 0.2173482 ] [ 0.03377176 0.01187451 0.99935903 -0.10274699] [ 0. 0. 0. 1. ]] SLAMing on 40.27538475 meters Centerline goodness [0,1] 0.8931897136514071 Centerline is valid? [False, False] Translation: X:2.50, Y:0.22, Z:-0.10 [[ 0.99878398 0.03523897 -0.0344787 2.50469678] [-0.0356947 0.99928214 -0.01269255 0.22041482] [ 0.03400668 0.01390782 0.99932483 -0.10360528] [ 0. 0. 0. 1. ]] SLAMing on 40.30538475 meters Centerline goodness [0,1] 0.8862052662952989 Centerline is valid? [False, False] Translation: X:2.50, Y:0.22, Z:-0.10 [[ 0.99879127 0.03499507 -0.03451579 2.50477034] [-0.03547648 0.9992802 -0.01343504 0.22273771] [ 0.03402079 0.0146433 0.99931384 -0.10355599] [ 0. 0. 0. 1. ]] SLAMing on 40.33538475 meters Centerline goodness [0,1] 0.8954447300771208 Centerline is valid? [False, False] Translation: X:2.51, Y:0.23, Z:-0.10 [[ 0.99867301 0.03827223 -0.03445952 2.50535629] [-0.03868558 0.9991863 -0.01140925 0.22776472] [ 0.03399482 0.0127272 0.99934097 -0.10391617] [ 0. 0. 0. 1. ]] SLAMing on 40.365384750000004 meters Centerline goodness [0,1] 0.9038612755038695 Centerline is valid? [False, False] Translation: X:2.51, Y:0.23, Z:-0.10 [[ 0.99853257 0.04185168 -0.03436775 2.50549814] [-0.04216012 0.9990764 -0.00829919 0.22979544] [ 0.03398867 0.00973596 0.9993748 -0.1038005 ] [ 0. 0. 0. 1. ]] SLAMing on 40.39538475 meters Centerline goodness [0,1] 0.9113994669091059 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:-0.10 [[ 0.99837854 0.04532984 -0.03443114 2.50575571] [-0.04557597 0.99894039 -0.00639735 0.23560303] [ 0.03410467 0.00795621 0.9993866 -0.10351319] [ 0. 0. 0. 1. ]] SLAMing on 40.42538475 meters Centerline goodness [0,1] 0.9103165781565189 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:-0.10 [[ 0.99838651 0.04493972 -0.03471007 2.50674631] [-0.04522767 0.99894813 -0.00755532 0.23842607] [ 0.03433403 0.00911299 0.99936886 -0.1041254 ] [ 0. 0. 0. 1. ]] SLAMing on 40.45538475 meters Centerline goodness [0,1] 0.9089816886237467 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:-0.10 [[ 0.99838871 0.04481428 -0.03480899 2.50727286] [-0.04512423 0.99894797 -0.00816998 0.24042141] [ 0.03440624 0.00972754 0.99936059 -0.10455574] [ 0. 0. 0. 1. ]] SLAMing on 40.48538475 meters Centerline goodness [0,1] 0.9101606932351664 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:-0.11 [[ 0.99843235 0.04367579 -0.03500385 2.50860725] [-0.04404371 0.99898145 -0.00980909 0.24430916] [ 0.03453978 0.01133541 0.99933904 -0.10564012] [ 0. 0. 0. 1. ]] SLAMing on 40.51538475 meters Centerline goodness [0,1] 0.8948609244131941 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:-0.11 [[ 0.99845365 0.04306077 -0.03515791 2.50902947] [-0.04344518 0.9990033 -0.0102436 0.24471021] [ 0.03468177 0.0117552 0.99932927 -0.10575703] [ 0. 0. 0. 1. ]] SLAMing on 40.545384750000004 meters Centerline goodness [0,1] 0.8761525869749902 Centerline is valid? [False, False] Translation: X:2.51, Y:0.25, Z:-0.11 [[ 0.99863862 0.03817874 -0.03554293 2.50938592] [-0.03872701 0.99913923 -0.01486672 0.24572335] [ 0.03494474 0.01622295 0.99925756 -0.10565241] [ 0. 0. 0. 1. ]] SLAMing on 40.57538475 meters Centerline goodness [0,1] 0.796006998044664 Centerline is valid? [False, False] Translation: X:2.51, Y:0.25, Z:-0.10 [[ 0.99880844 0.03289647 -0.0360489 2.50958638] [-0.03361294 0.9992456 -0.01945237 0.24647604] [ 0.0353818 0.0206409 0.99916069 -0.10493606] [ 0. 0. 0. 1. ]] SLAMing on 40.60538475 meters Centerline goodness [0,1] 0.7752342814680262 Centerline is valid? [False, False] Translation: X:2.51, Y:0.25, Z:-0.10 [[ 0.99883354 0.03207388 -0.03609457 2.50968722] [-0.03280535 0.99926445 -0.01985881 0.24654717] [ 0.03543107 0.02101974 0.99915104 -0.10483249] [ 0. 0. 0. 1. ]] SLAMing on 40.63538475 meters Centerline goodness [0,1] 0.7683569141794898 Centerline is valid? [False, False] Translation: X:2.51, Y:0.25, Z:-0.10 [[ 0.99884629 0.03158886 -0.03616937 2.50969488] [-0.03233079 0.99927479 -0.02011479 0.24710103] [ 0.03550774 0.02126097 0.99914322 -0.10456195] [ 0. 0. 0. 1. ]] SLAMing on 40.66538475 meters Centerline goodness [0,1] 0.7489932054273972 Centerline is valid? [False, False] Translation: X:2.51, Y:0.25, Z:-0.10 [[ 0.99887859 0.03027925 -0.0363968 2.50984837] [-0.03107734 0.99928431 -0.02156525 0.25059963] [ 0.03571778 0.02267218 0.99910471 -0.10401828] [ 0. 0. 0. 1. ]] SLAMing on 40.69538475 meters Centerline goodness [0,1] 0.7413817972017885 Centerline is valid? [False, False] Translation: X:2.51, Y:0.25, Z:-0.10 [[ 0.99878092 0.03346086 -0.03629118 2.51007569] [-0.03414037 0.99925007 -0.01826837 0.25137345] [ 0.03565268 0.0194851 0.99917427 -0.10398066] [ 0. 0. 0. 1. ]] SLAMing on 40.72538475 meters Centerline goodness [0,1] 0.7413817972017885 Centerline is valid? [False, False] Translation: X:2.51, Y:0.25, Z:-0.10 [[ 0.99878092 0.03346086 -0.03629118 2.51007569] [-0.03414037 0.99925007 -0.01826837 0.25137345] [ 0.03565268 0.0194851 0.99917427 -0.10398066] [ 0. 0. 0. 1. ]] SLAMing on 40.755384750000005 meters Centerline goodness [0,1] 0.7741575817641229 Centerline is valid? [False, False] Translation: X:2.51, Y:0.26, Z:-0.10 [[ 0.99864971 0.03715196 -0.03631102 2.50993911] [-0.03774573 0.99916237 -0.01580572 0.25630904] [ 0.0356934 0.01715496 0.99921554 -0.10319845] [ 0. 0. 0. 1. ]] SLAMing on 40.78538475 meters Centerline goodness [0,1] 0.8306545969579407 Centerline is valid? [False, False] Translation: X:2.52, Y:0.26, Z:-0.10 [[ 0.99840993 0.04719707 -0.03082298 2.51863044] [-0.04775291 0.99870494 -0.01755287 0.26308695] [ 0.02995462 0.01899685 0.99937072 -0.10469574] [ 0. 0. 0. 1. ]] SLAMing on 40.81538475 meters Centerline goodness [0,1] 0.8858077743492037 Centerline is valid? [False, False] Translation: X:2.52, Y:0.27, Z:-0.10 [[ 0.99800909 0.05511562 -0.03066144 2.51852297] [-0.05546192 0.99840496 -0.01056021 0.265964 ] [ 0.0300305 0.01223973 0.99947404 -0.10385736] [ 0. 0. 0. 1. ]] SLAMing on 40.84538475 meters Centerline goodness [0,1] 0.9128084022124169 Centerline is valid? [False, False] Translation: X:2.52, Y:0.27, Z:-0.10 [[ 0.9975513 0.06294876 -0.03047718 2.51878691] [-0.06309416 0.99800022 -0.00383183 0.26957049] [ 0.03017502 0.00574538 0.99952812 -0.10331698] [ 0. 0. 0. 1. ]] SLAMing on 40.87538475 meters Centerline goodness [0,1] 0.92 Centerline is valid? [False, False] Translation: X:2.52, Y:0.28, Z:-0.10 [[ 0.99669964 0.07534911 -0.030205 2.51998559] [-0.07520198 0.99715039 0.00597949 0.2764837 ] [ 0.03056948 -0.00368828 0.99952584 -0.10342154] [ 0. 0. 0. 1. ]] SLAMing on 40.90538475 meters Centerline goodness [0,1] 0.9190112415377927 Centerline is valid? [False, False] Translation: X:2.52, Y:0.28, Z:-0.10 [[ 0.99637349 0.0795299 -0.03024667 2.52084728] [-0.07928695 0.99680984 0.00915046 0.27915977] [ 0.03087791 -0.00671911 0.99950058 -0.10366806] [ 0. 0. 0. 1. ]] SLAMing on 40.935384750000004 meters Centerline goodness [0,1] 0.9144757223404035 Centerline is valid? [False, False] Translation: X:2.52, Y:0.28, Z:-0.10 [[ 0.99594641 0.08462988 -0.03047179 2.52228139] [-0.08427664 0.99636148 0.01269829 0.28162941] [ 0.03143558 -0.01007876 0.99945496 -0.10436631] [ 0. 0. 0. 1. ]] SLAMing on 40.96538475 meters Centerline goodness [0,1] 0.9116464198349848 Centerline is valid? [False, False] Translation: X:2.52, Y:0.28, Z:-0.10 [[ 0.99591305 0.08495029 -0.03066983 2.52278536] [-0.08460095 0.9963363 0.01251624 0.2824041 ] [ 0.03162072 -0.00987039 0.9994512 -0.10457748] [ 0. 0. 0. 1. ]] SLAMing on 40.99538475 meters Centerline goodness [0,1] 0.9129553818798329 Centerline is valid? [False, False] Translation: X:2.52, Y:0.28, Z:-0.11 [[ 0.99579087 0.08628468 -0.03091099 2.52375423] [-0.08591354 0.99621591 0.0131426 0.28233854] [ 0.03192802 -0.01043161 0.99943573 -0.10529374] [ 0. 0. 0. 1. ]] SLAMing on 41.02538475 meters Centerline goodness [0,1] 0.9122799751501346 Centerline is valid? [False, False] Translation: X:2.52, Y:0.28, Z:-0.11 [[ 0.99575312 0.08666892 -0.03105195 2.52427663] [-0.08629121 0.99618109 0.01330666 0.28221006] [ 0.03208664 -0.01057064 0.99942919 -0.10568357] [ 0. 0. 0. 1. ]] SLAMing on 41.05538475 meters Centerline goodness [0,1] 0.9115820316530137 Centerline is valid? [False, False] Translation: X:2.52, Y:0.28, Z:-0.11 [[ 0.99563748 0.08794424 -0.03117407 2.52445667] [-0.08751457 0.99605192 0.01489205 0.27863833] [ 0.03236066 -0.0120989 0.99940302 -0.10570328] [ 0. 0. 0. 1. ]] SLAMing on 41.08538475 meters Centerline goodness [0,1] 0.9120074657818332 Centerline is valid? [False, False] Translation: X:2.52, Y:0.28, Z:-0.11 [[ 0.99588239 0.08513291 -0.03115541 2.52359954] [-0.08480266 0.99632819 0.01177465 0.27771666] [ 0.03204343 -0.0090841 0.9994452 -0.10552954] [ 0. 0. 0. 1. ]] SLAMing on 41.115384750000004 meters Centerline goodness [0,1] 0.9098316581875336 Centerline is valid? [False, False] Translation: X:2.52, Y:0.27, Z:-0.10 [[ 0.99607255 0.08284692 -0.03123863 2.52258859] [-0.08256351 0.99653301 0.01025803 0.2720904 ] [ 0.03198018 -0.00763857 0.99945931 -0.10496019] [ 0. 0. 0. 1. ]] SLAMing on 41.14538475 meters Centerline goodness [0,1] 0.9119646288299829 Centerline is valid? [False, False] Translation: X:2.52, Y:0.27, Z:-0.10 [[ 0.99632048 0.07969787 -0.03152385 2.52211028] [-0.0794999 0.99680676 0.00748618 0.26919435] [ 0.03201982 -0.0049525 0.99947496 -0.10458134] [ 0. 0. 0. 1. ]] SLAMing on 41.17538475 meters Centerline goodness [0,1] 0.9114949177753905 Centerline is valid? [False, False] Translation: X:2.52, Y:0.26, Z:-0.10 [[ 9.96732445e-01 7.43688951e-02 -3.15230150e-02 2.51964007e+00] [-7.43070342e-02 9.97230496e-01 3.13099029e-03 2.61558433e-01] [ 3.16685601e-02 -7.78377858e-04 9.99498122e-01 -1.03119587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.20538475 meters Centerline goodness [0,1] 0.9124943431933188 Centerline is valid? [False, False] Translation: X:2.52, Y:0.26, Z:-0.10 [[ 9.96943516e-01 7.14259515e-02 -3.16537455e-02 2.51882042e+00] [-7.14419538e-02 9.97444562e-01 6.26604662e-04 2.58432499e-01] [ 3.16176121e-02 1.63671597e-03 9.99498698e-01 -1.02585422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.23538475 meters Centerline goodness [0,1] 0.9130327107625632 Centerline is valid? [False, False] Translation: X:2.52, Y:0.25, Z:-0.10 [[ 9.97073068e-01 6.97875791e-02 -3.12248516e-02 2.51687260e+00] [-6.98122267e-02 9.97560105e-01 3.01480010e-04 2.50756464e-01] [ 3.11697058e-02 1.87927882e-03 9.99512340e-01 -1.01858691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.26538475 meters Centerline goodness [0,1] 0.9117555991330375 Centerline is valid? [False, False] Translation: X:2.52, Y:0.25, Z:-0.10 [[ 9.97228552e-01 6.75702655e-02 -3.11363669e-02 2.51560070e+00] [-6.76543626e-02 9.97707448e-01 -1.65417433e-03 2.47297829e-01] [ 3.09532121e-02 3.75610093e-03 9.99513777e-01 -1.01225675e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.295384750000004 meters Centerline goodness [0,1] 0.9193725295420211 Centerline is valid? [False, False] Translation: X:2.51, Y:0.24, Z:-0.10 [[ 9.97207638e-01 6.83564164e-02 -3.00720300e-02 2.51122459e+00] [-6.84091399e-02 9.97657086e-01 -7.26708374e-04 2.36296333e-01] [ 2.99518986e-02 2.78188085e-03 9.99547470e-01 -9.97287684e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.32538475 meters Centerline goodness [0,1] 0.9196080453842187 Centerline is valid? [False, False] Translation: X:2.51, Y:0.23, Z:-0.10 [[ 9.97293186e-01 6.71417980e-02 -2.99713169e-02 2.51010795e+00] [-6.72301673e-02 9.97735588e-01 -1.94940973e-03 2.31947302e-01] [ 2.97725627e-02 3.95910970e-03 9.99548858e-01 -9.93734531e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.35538475 meters Centerline goodness [0,1] 0.9224086217239311 Centerline is valid? [False, False] Translation: X:2.51, Y:0.22, Z:-0.10 [[ 9.97015366e-01 7.16821723e-02 -2.86709934e-02 2.50704894e+00] [-7.16358365e-02 9.97427356e-01 2.64134155e-03 2.20029445e-01] [ 2.87865702e-02 -5.79587517e-04 9.99585413e-01 -9.93393116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.38538475 meters Centerline goodness [0,1] 0.9244058689811945 Centerline is valid? [False, False] Translation: X:2.51, Y:0.21, Z:-0.10 [[ 0.99689854 0.07341509 -0.02834659 2.50666571] [-0.07330431 0.99729744 0.0049289 0.21436447] [ 0.02863184 -0.00283569 0.999586 -0.09969749] [ 0. 0. 0. 1. ]] SLAMing on 41.41538475 meters Centerline goodness [0,1] 0.9281796543516506 Centerline is valid? [False, False] Translation: X:2.51, Y:0.20, Z:-0.10 [[ 0.9965846 0.07794177 -0.02728026 2.50522341] [-0.07769423 0.99692687 0.01002087 0.20198401] [ 0.02797747 -0.00786713 0.9995776 -0.10067366] [ 0. 0. 0. 1. ]] SLAMing on 41.44538475 meters Centerline goodness [0,1] 0.9297988048220673 Centerline is valid? [False, False] Translation: X:2.50, Y:0.20, Z:-0.10 [[ 0.99666887 0.07690721 -0.02713767 2.50430676] [-0.07668295 0.99701298 0.0092112 0.19642405] [ 0.02776502 -0.00709952 0.99958927 -0.10069642] [ 0. 0. 0. 1. ]] SLAMing on 41.47538475 meters Centerline goodness [0,1] 0.9310537768106932 Centerline is valid? [False, False] Translation: X:2.50, Y:0.19, Z:-0.10 [[ 0.996802 0.07522825 -0.0269535 2.50290332] [-0.07503418 0.99714772 0.0081422 0.19001149] [ 0.02748914 -0.00609372 0.99960353 -0.10025497] [ 0. 0. 0. 1. ]] SLAMing on 41.505384750000005 meters Centerline goodness [0,1] 0.9336613434516116 Centerline is valid? [False, False] Translation: X:2.50, Y:0.17, Z:-0.10 [[ 0.9970258 0.07269874 -0.02558217 2.4984128 ] [-0.07256269 0.99734453 0.00620803 0.17434518] [ 0.02596556 -0.00433326 0.99965345 -0.10007341] [ 0. 0. 0. 1. ]] SLAMing on 41.53538475 meters Centerline goodness [0,1] 0.9341378000928231 Centerline is valid? [False, False] Translation: X:2.50, Y:0.16, Z:-0.10 [[ 9.97354415e-01 6.81617259e-02 -2.52616121e-02 2.49698279e+00] [-6.80958220e-02 9.97672782e-01 3.46098287e-03 1.57953761e-01] [ 2.54387294e-02 -1.73161630e-03 9.99674883e-01 -1.00824998e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.56538475 meters Centerline goodness [0,1] 0.9325005851935395 Centerline is valid? [False, False] Translation: X:2.50, Y:0.15, Z:-0.10 [[ 9.97559371e-01 6.50718256e-02 -2.53171523e-02 2.49761777e+00] [-6.50530047e-02 9.97880579e-01 1.56717907e-03 1.50601387e-01] [ 2.53654738e-02 8.36026673e-05 9.99678241e-01 -1.02194848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.59538475 meters Centerline goodness [0,1] 0.9291263812154696 Centerline is valid? [False, False] Translation: X:2.50, Y:0.14, Z:-0.10 [[ 9.97760765e-01 6.18477466e-02 -2.54619637e-02 2.49800674e+00] [-6.18804939e-02 9.98083441e-01 -4.99458933e-04 1.43698452e-01] [ 2.53822740e-02 2.07393942e-03 9.99675667e-01 -1.03100859e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 41.62538475 meters Centerline goodness [0,1] 0.9254483804764879 Centerline is valid? [False, False] Translation: X:2.50, Y:0.13, Z:-0.10 [[ 0.99809073 0.05611359 -0.02581002 2.49873061] [-0.05623947 0.99840857 -0.00417696 0.12824339] [ 0.02553456 0.00562053 0.99965814 -0.10461171] [ 0. 0. 0. 1. ]] SLAMing on 41.65538475 meters Centerline goodness [0,1] 0.9254448154416137 Centerline is valid? [False, False] Translation: X:2.50, Y:0.11, Z:-0.11 [[ 0.99839375 0.05060203 -0.02548238 2.49903505] [-0.05081988 0.99867599 -0.0079749 0.11441843] [ 0.0250451 0.00925711 0.99964346 -0.10687497] [ 0. 0. 0. 1. ]] SLAMing on 41.685384750000004 meters Centerline goodness [0,1] 0.9250519510505657 Centerline is valid? [False, False] Translation: X:2.50, Y:0.11, Z:-0.11 [[ 0.99853003 0.04805874 -0.0250628 2.49802113] [-0.04831086 0.99878667 -0.00955279 0.10805725] [ 0.0245733 0.01074955 0.99964024 -0.10708204] [ 0. 0. 0. 1. ]] SLAMing on 41.71538475 meters Centerline goodness [0,1] 0.9293374050138484 Centerline is valid? [False, False] Translation: X:2.50, Y:0.09, Z:-0.11 [[ 0.9989064 0.0434023 -0.0173849 2.50304593] [-0.04353686 0.99902414 -0.00743754 0.09368316] [ 0.01704513 0.00818629 0.99982121 -0.10933097] [ 0. 0. 0. 1. ]] SLAMing on 41.74538475 meters Centerline goodness [0,1] 0.9317611640742599 Centerline is valid? [False, False] Translation: X:2.50, Y:0.09, Z:-0.11 [[ 0.9990318 0.04055961 -0.01704085 2.50219398] [-0.04072653 0.99912455 -0.00956498 0.08827656] [ 0.01663798 0.01024974 0.99980904 -0.10958803] [ 0. 0. 0. 1. ]] SLAMing on 41.77538475 meters Centerline goodness [0,1] 0.9309413580246914 Centerline is valid? [False, False] Translation: X:2.50, Y:0.08, Z:-0.11 [[ 0.9991519 0.03761824 -0.01674383 2.5018543 ] [-0.03782114 0.99921282 -0.01197047 0.083529 ] [ 0.01628034 0.01259359 0.99978815 -0.11040731] [ 0. 0. 0. 1. ]] SLAMing on 41.80538475 meters Centerline goodness [0,1] 0.9307228173870213 Centerline is valid? [False, False] Translation: X:2.50, Y:0.07, Z:-0.11 [[ 0.99926469 0.03453257 -0.01666068 2.50390391] [-0.03475571 0.9993074 -0.01329483 0.0714043 ] [ 0.01619003 0.01386411 0.99977281 -0.11352035] [ 0. 0. 0. 1. ]] SLAMing on 41.83538475 meters Centerline goodness [0,1] 0.9330538681660726 Centerline is valid? [False, False] Translation: X:2.50, Y:0.06, Z:-0.11 [[ 0.99944481 0.02956584 -0.01536019 2.50199955] [-0.02982865 0.99940752 -0.01717163 0.06014382] [ 0.01484339 0.01762027 0.99973456 -0.1149731 ] [ 0. 0. 0. 1. ]] SLAMing on 41.865384750000004 meters Centerline goodness [0,1] 0.9342265221355486 Centerline is valid? [False, False] Translation: X:2.50, Y:0.06, Z:-0.12 [[ 0.9995334 0.0266765 -0.01487742 2.50077645] [-0.02696245 0.99944891 -0.01936259 0.05521592] [ 0.0143527 0.01975469 0.99970183 -0.11502251] [ 0. 0. 0. 1. ]] SLAMing on 41.89538475 meters Centerline goodness [0,1] 0.933372641509434 Centerline is valid? [False, False] Translation: X:2.50, Y:0.04, Z:-0.12 [[ 0.99969991 0.0195578 -0.01475041 2.50197647] [-0.01990171 0.99952477 -0.02354035 0.04469084] [ 0.01428301 0.02382684 0.99961406 -0.1162134 ] [ 0. 0. 0. 1. ]] SLAMing on 41.92538475 meters Centerline goodness [0,1] 0.932420232660115 Centerline is valid? [False, False] Translation: X:2.50, Y:0.04, Z:-0.12 [[ 0.99977112 0.01538654 -0.01486506 2.50277682] [-0.01577152 0.99953393 -0.02613763 0.03902296] [ 0.01445596 0.02636609 0.99954783 -0.11679125] [ 0. 0. 0. 1. ]] SLAMing on 41.95538475 meters Centerline goodness [0,1] 0.9343669792048609 Centerline is valid? [False, False] Translation: X:2.50, Y:0.03, Z:-0.12 [[ 0.99989052 0.00397765 -0.01425234 2.50246522] [-0.00444832 0.99944061 -0.0331462 0.02816598] [ 0.01411253 0.03320597 0.99934889 -0.11533494] [ 0. 0. 0. 1. ]] SLAMing on 41.98538475 meters Centerline goodness [0,1] 0.9353260150773707 Centerline is valid? [False, False] Translation: X:2.50, Y:0.02, Z:-0.12 [[ 9.99899653e-01 -3.57959776e-04 -1.41617481e-02 2.50265405e+00] [-1.49283437e-04 9.99358943e-01 -3.58005774e-02 2.26686780e-02] [ 1.41654848e-02 3.57990991e-02 9.99258607e-01 -1.15214131e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.01538475 meters Centerline goodness [0,1] 0.9376941251426902 Centerline is valid? [False, False] Translation: X:2.50, Y:0.02, Z:-0.12 [[ 0.99988711 -0.00457166 -0.01431295 2.50316497] [ 0.00401723 0.99924946 -0.03852759 0.0181675 ] [ 0.01447834 0.03846574 0.99915503 -0.11501477] [ 0. 0. 0. 1. ]] SLAMing on 42.045384750000004 meters Centerline goodness [0,1] 0.9413432476529275 Centerline is valid? [False, False] Translation: X:2.50, Y:0.01, Z:-0.12 [[ 0.99986604 -0.00942722 -0.01337991 2.50272 ] [ 0.00886519 0.9991008 -0.04146094 0.0113638 ] [ 0.01375874 0.04133677 0.99905053 -0.11571034] [ 0. 0. 0. 1. ]] SLAMing on 42.07538475 meters Centerline goodness [0,1] 0.9453594420600858 Centerline is valid? [False, False] Translation: X:2.50, Y:0.01, Z:-0.12 [[ 0.9998636 -0.01001072 -0.01313614 2.50280931] [ 0.00947092 0.9991334 -0.04053081 0.00820761] [ 0.0135305 0.04040087 0.99909194 -0.1153852 ] [ 0. 0. 0. 1. ]] SLAMing on 42.10538475 meters Centerline goodness [0,1] 0.9453437491610963 Centerline is valid? [False, False] Translation: X:2.50, Y:0.01, Z:-0.11 [[ 0.99988455 -0.00712586 -0.01342011 2.50365066] [ 0.00663675 0.99932455 -0.03614422 0.00565985] [ 0.0136686 0.03605098 0.99925647 -0.1147244 ] [ 0. 0. 0. 1. ]] SLAMing on 42.13538475 meters Centerline goodness [0,1] 0.9457303974221267 Centerline is valid? [False, False] Translation: X:2.50, Y:0.01, Z:-0.11 [[ 0.99987677 -0.00774424 -0.01365527 2.50435693] [ 0.00724445 0.99931548 -0.03627794 0.00574797] [ 0.01392687 0.03617455 0.99924844 -0.11461988] [ 0. 0. 0. 1. ]] SLAMing on 42.16538475 meters Centerline goodness [0,1] 0.9465569022846723 Centerline is valid? [False, False] Translation: X:2.51, Y:0.00, Z:-0.11 [[ 0.99988327 -0.00506784 -0.01441392 2.50596845] [ 0.00460211 0.99947204 -0.03216298 0.00391775] [ 0.01456931 0.03209289 0.9993787 -0.11383454] [ 0. 0. 0. 1. ]] SLAMing on 42.19538475 meters Centerline goodness [0,1] 0.9427349284854966 Centerline is valid? [False, False] Translation: X:2.51, Y:0.00, Z:-0.11 [[ 9.99883298e-01 -2.57427679e-03 -1.50586981e-02 2.50763035e+00] [ 2.14406005e-03 9.99591036e-01 -2.85160225e-02 4.15935830e-03] [ 1.51259478e-02 2.84804079e-02 9.99479901e-01 -1.13255503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.22538475 meters Centerline goodness [0,1] 0.9435301021633012 Centerline is valid? [False, False] Translation: X:2.51, Y:0.00, Z:-0.11 [[ 9.99877576e-01 6.45955662e-04 -1.56337973e-02 2.50888535e+00] [-1.02782611e-03 9.99701008e-01 -2.44302613e-02 3.70482572e-03] [ 1.56133421e-02 2.44433393e-02 9.99579285e-01 -1.12770133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.25538475 meters Centerline goodness [0,1] 0.9434807977933376 Centerline is valid? [False, False] Translation: X:2.51, Y:0.01, Z:-0.11 [[ 0.99986563 0.00366157 -0.01597851 2.51072706] [-0.00400433 0.99976143 -0.02147226 0.00639186] [ 0.01589607 0.02153335 0.99964175 -0.11383898] [ 0. 0. 0. 1. ]] SLAMing on 42.28538475 meters Centerline goodness [0,1] 0.9420013758797693 Centerline is valid? [False, False] Translation: X:2.51, Y:0.01, Z:-0.11 [[ 0.99983911 0.00725064 -0.01640686 2.51183511] [-0.00753643 0.99981978 -0.0174245 0.00671096] [ 0.01627757 0.01754535 0.99971356 -0.11374744] [ 0. 0. 0. 1. ]] SLAMing on 42.31538475 meters Centerline goodness [0,1] 0.9395120165276288 Centerline is valid? [False, False] Translation: X:2.51, Y:0.01, Z:-0.11 [[ 0.99975459 0.01403757 -0.01713804 2.51370428] [-0.01420362 0.99985298 -0.00960592 0.0075722 ] [ 0.01700067 0.00984698 0.99980699 -0.11294655] [ 0. 0. 0. 1. ]] SLAMing on 42.34538475 meters Centerline goodness [0,1] 0.9392365210547029 Centerline is valid? [False, False] Translation: X:2.51, Y:0.01, Z:-0.11 [[ 0.99975008 0.01453229 -0.0169877 2.51314399] [-0.01470041 0.99984378 -0.00981395 0.00939837] [ 0.01684242 0.01006123 0.99980753 -0.11290667] [ 0. 0. 0. 1. ]] SLAMing on 42.37538475 meters Centerline goodness [0,1] 0.9339226576964197 Centerline is valid? [False, False] Translation: X:2.51, Y:0.01, Z:-0.11 [[ 0.99968443 0.01820245 -0.01731218 2.51438013] [-0.01831846 0.99981064 -0.0065663 0.01134471] [ 0.01718938 0.00688136 0.99982857 -0.11352212] [ 0. 0. 0. 1. ]] SLAMing on 42.40538475 meters Centerline goodness [0,1] 0.9306200846159836 Centerline is valid? [False, False] Translation: X:2.51, Y:0.01, Z:-0.11 [[ 0.99968024 0.01845736 -0.01728399 2.51463577] [-0.01858345 0.99980165 -0.00716313 0.01387662] [ 0.01714835 0.00748203 0.99982496 -0.11426699] [ 0. 0. 0. 1. ]] SLAMing on 42.435384750000004 meters Centerline goodness [0,1] 0.9292242185065946 Centerline is valid? [False, False] Translation: X:2.51, Y:0.02, Z:-0.11 [[ 0.99959274 0.02260402 -0.01741868 2.51440799] [-0.02266613 0.99973739 -0.00337606 0.01522807] [ 0.01733779 0.0037695 0.99984258 -0.11343161] [ 0. 0. 0. 1. ]] SLAMing on 42.46538475 meters Centerline goodness [0,1] 0.9273094135602866 Centerline is valid? [False, False] Translation: X:2.51, Y:0.02, Z:-0.11 [[ 9.99490757e-01 2.66169367e-02 -1.76001785e-02 2.51438693e+00] [-2.66158333e-02 9.99645692e-01 2.96973240e-04 1.72350344e-02] [ 1.76018472e-02 1.71621409e-04 9.99845061e-01 -1.12641379e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.49538475 meters Centerline goodness [0,1] 0.9237808021445509 Centerline is valid? [False, False] Translation: X:2.51, Y:0.02, Z:-0.11 [[ 9.99501726e-01 2.63030403e-02 -1.74484983e-02 2.51465547e+00] [-2.63209271e-02 9.99653227e-01 -7.96226267e-04 2.04943314e-02] [ 1.74215045e-02 1.25509018e-03 9.99847446e-01 -1.13590558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.52538475 meters Centerline goodness [0,1] 0.9242051282051282 Centerline is valid? [False, False] Translation: X:2.52, Y:0.02, Z:-0.11 [[ 9.99510093e-01 2.59512964e-02 -1.74958369e-02 2.51521459e+00] [-2.59855331e-02 9.99660818e-01 -1.73232307e-03 2.33261075e-02] [ 1.74449466e-02 2.18611305e-03 9.99845435e-01 -1.14344393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 42.55538475 meters Centerline goodness [0,1] 0.9220739377205093 Centerline is valid? [False, False] Translation: X:2.52, Y:0.03, Z:-0.11 [[ 0.99952258 0.02531856 -0.0177083 2.515983 ] [-0.02537192 0.99967417 -0.00279521 0.02578127] [ 0.01763176 0.00324317 0.99983929 -0.114843 ] [ 0. 0. 0. 1. ]] SLAMing on 42.58538475 meters Centerline goodness [0,1] 0.9226225483928708 Centerline is valid? [False, False] Translation: X:2.52, Y:0.03, Z:-0.12 [[ 0.99952941 0.02483618 -0.01800351 2.51688861] [-0.02489845 0.99968473 -0.00324281 0.02599079] [ 0.0179173 0.00368954 0.99983266 -0.11528066] [ 0. 0. 0. 1. ]] SLAMing on 42.615384750000004 meters Centerline goodness [0,1] 0.9226225483928708 Centerline is valid? [False, False] Translation: X:2.52, Y:0.03, Z:-0.12 [[ 0.99952941 0.02483618 -0.01800351 2.51688861] [-0.02489845 0.99968473 -0.00324281 0.02599079] [ 0.0179173 0.00368954 0.99983266 -0.11528066] [ 0. 0. 0. 1. ]] SLAMing on 42.64538475 meters Centerline goodness [0,1] 0.9193296661123194 Centerline is valid? [False, False] Translation: X:2.52, Y:0.03, Z:-0.12 [[ 0.99955383 0.02333479 -0.0186446 2.51910239] [-0.02341828 0.99971663 -0.00427216 0.02640801] [ 0.01853963 0.00470688 0.99981705 -0.11619196] [ 0. 0. 0. 1. ]] SLAMing on 42.67538475 meters Centerline goodness [0,1] 0.9209852519459238 Centerline is valid? [False, False] Translation: X:2.52, Y:0.03, Z:-0.12 [[ 0.99958096 0.02182109 -0.01901966 2.52098776] [-0.02192817 0.99974475 -0.00543972 0.02824658] [ 0.01889611 0.00585451 0.99980431 -0.1172879 ] [ 0. 0. 0. 1. ]] SLAMing on 42.70538475 meters Centerline goodness [0,1] 0.9210419106788206 Centerline is valid? [False, False] Translation: X:2.52, Y:0.03, Z:-0.12 [[ 0.99958701 0.02116877 -0.01943442 2.52211959] [-0.02129024 0.99975494 -0.00606498 0.02969333] [ 0.01930126 0.00647623 0.99979274 -0.11761886] [ 0. 0. 0. 1. ]] SLAMing on 42.73538475 meters Centerline goodness [0,1] 0.9219962843254523 Centerline is valid? [False, False] Translation: X:2.52, Y:0.03, Z:-0.12 [[ 0.99959206 0.02135648 -0.01896368 2.52046074] [-0.02147845 0.99974976 -0.00625192 0.03221068] [ 0.01882542 0.00665668 0.99980063 -0.11648969] [ 0. 0. 0. 1. ]] SLAMing on 42.76538475 meters Centerline goodness [0,1] 0.9182580760306979 Centerline is valid? [False, False] Translation: X:2.52, Y:0.03, Z:-0.12 [[ 0.99959321 0.02151463 -0.01872239 2.5196003 ] [-0.0216368 0.99974575 -0.00634759 0.03311942] [ 0.01858106 0.00675011 0.99980457 -0.11598037] [ 0. 0. 0. 1. ]] SLAMing on 42.795384750000004 meters Centerline goodness [0,1] 0.9213781589132579 Centerline is valid? [False, False] Translation: X:2.52, Y:0.03, Z:-0.12 [[ 0.9995976 0.02123843 -0.01880354 2.5195 ] [-0.02136295 0.999751 -0.00644636 0.03423477] [ 0.01866195 0.00684546 0.99980242 -0.11532264] [ 0. 0. 0. 1. ]] SLAMing on 42.82538475 meters Centerline goodness [0,1] 0.9217384697211458 Centerline is valid? [False, False] Translation: X:2.52, Y:0.03, Z:-0.11 [[ 0.99959956 0.02127412 -0.01865855 2.51898443] [-0.02139584 0.99975093 -0.00634857 0.03432605] [ 0.01851884 0.00674524 0.99980576 -0.1149392 ] [ 0. 0. 0. 1. ]] SLAMing on 42.85538475 meters Centerline goodness [0,1] 0.9194238412272485 Centerline is valid? [False, False] Translation: X:2.52, Y:0.03, Z:-0.11 [[ 0.99961069 0.0207556 -0.01864579 2.51887231] [-0.02087438 0.99976289 -0.00619851 0.03391666] [ 0.01851272 0.00658531 0.99980694 -0.11432967] [ 0. 0. 0. 1. ]] SLAMing on 42.88538475 meters Centerline goodness [0,1] 0.9202212288809758 Centerline is valid? [False, False] Translation: X:2.52, Y:0.03, Z:-0.11 [[ 0.99961617 0.02031672 -0.01883442 2.51967752] [-0.02044061 0.99977053 -0.00640885 0.03395048] [ 0.01869989 0.00679138 0.99980208 -0.11477684] [ 0. 0. 0. 1. ]] SLAMing on 42.91538475 meters Centerline goodness [0,1] 0.9207544319097503 Centerline is valid? [False, False] Translation: X:2.52, Y:0.04, Z:-0.12 [[ 0.99963111 0.01923606 -0.01917335 2.52177877] [-0.01937863 0.99978573 -0.00727763 0.03503403] [ 0.01902925 0.00764649 0.99978969 -0.11641291] [ 0. 0. 0. 1. ]] SLAMing on 42.94538475 meters Centerline goodness [0,1] 0.9246719951741819 Centerline is valid? [False, False] Translation: X:2.52, Y:0.04, Z:-0.12 [[ 0.99963491 0.0186944 -0.01950826 2.52296429] [-0.01885096 0.99979131 -0.00787262 0.03629894] [ 0.01935701 0.00823749 0.9997787 -0.11707375] [ 0. 0. 0. 1. ]] SLAMing on 42.97538475 meters Centerline goodness [0,1] 0.9197651174412793 Centerline is valid? [False, False] Translation: X:2.52, Y:0.04, Z:-0.12 [[ 0.99964681 0.01762091 -0.0198939 2.52492309] [-0.01780344 0.99980067 -0.00903593 0.03902066] [ 0.01973071 0.00938691 0.99976126 -0.1184626 ] [ 0. 0. 0. 1. ]] SLAMing on 43.00538475 meters Centerline goodness [0,1] 0.9214194867702437 Centerline is valid? [False, False] Translation: X:2.53, Y:0.04, Z:-0.12 [[ 0.99965187 0.01720277 -0.02000521 2.52566513] [-0.01739803 0.99980229 -0.0096279 0.04030418] [ 0.01983563 0.0099726 0.99975352 -0.11910823] [ 0. 0. 0. 1. ]] SLAMing on 43.03538475 meters Centerline goodness [0,1] 0.9189182483562833 Centerline is valid? [False, False] Translation: X:2.53, Y:0.04, Z:-0.12 [[ 0.99965782 0.01638742 -0.02038867 2.52722803] [-0.01661232 0.99980247 -0.01091075 0.04340435] [ 0.02020585 0.01124572 0.99973259 -0.12018901] [ 0. 0. 0. 1. ]] SLAMing on 43.06538475 meters Centerline goodness [0,1] 0.9197459156182802 Centerline is valid? [False, False] Translation: X:2.53, Y:0.05, Z:-0.12 [[ 0.99965917 0.01596788 -0.02065336 2.52832748] [-0.0162109 0.99980068 -0.01165346 0.04544464] [ 0.02046316 0.0119843 0.99971878 -0.12097533] [ 0. 0. 0. 1. ]] SLAMing on 43.09538475 meters Centerline goodness [0,1] 0.9127447612504294 Centerline is valid? [False, False] Translation: X:2.53, Y:0.05, Z:-0.12 [[ 0.99959909 0.01906696 -0.0209309 2.52988509] [-0.01925611 0.99977521 -0.00887279 0.04818517] [ 0.02075702 0.00927228 0.99974155 -0.12194001] [ 0. 0. 0. 1. ]] SLAMing on 43.12538475 meters Centerline goodness [0,1] 0.9106257177062719 Centerline is valid? [False, False] Translation: X:2.53, Y:0.05, Z:-0.12 [[ 0.99959409 0.01909166 -0.02114613 2.53028167] [-0.01929537 0.99976896 -0.00947165 0.05063661] [ 0.02096041 0.00987582 0.99973153 -0.12209623] [ 0. 0. 0. 1. ]] SLAMing on 43.15538475 meters Centerline goodness [0,1] 0.909262943374254 Centerline is valid? [False, False] Translation: X:2.53, Y:0.05, Z:-0.12 [[ 0.99950966 0.0228819 -0.02137441 2.53108007] [-0.02302726 0.99971319 -0.00657962 0.05363221] [ 0.02121773 0.00706859 0.99974989 -0.12246395] [ 0. 0. 0. 1. ]] SLAMing on 43.185384750000004 meters Centerline goodness [0,1] 0.9077161315299185 Centerline is valid? [False, False] Translation: X:2.53, Y:0.06, Z:-0.12 [[ 0.99949097 0.02384028 -0.02119995 2.53011057] [-0.02398629 0.99969011 -0.0066597 0.05612051] [ 0.02103461 0.00716482 0.99975307 -0.12196528] [ 0. 0. 0. 1. ]] SLAMing on 43.21538475 meters Centerline goodness [0,1] 0.903558052434457 Centerline is valid? [False, False] Translation: X:2.53, Y:0.06, Z:-0.12 [[ 0.99936391 0.02879695 -0.02103607 2.529435 ] [-0.02887343 0.99957749 -0.00334118 0.0597144 ] [ 0.02093096 0.00394644 0.99977313 -0.12172181] [ 0. 0. 0. 1. ]] SLAMing on 43.24538475 meters Centerline goodness [0,1] 0.9020319476612306 Centerline is valid? [False, False] Translation: X:2.53, Y:0.06, Z:-0.12 [[ 9.99232888e-01 3.29938015e-02 -2.10960867e-02 2.52973678e+00] [-3.29933517e-02 9.99455503e-01 3.69471106e-04 6.10087058e-02] [ 2.10967902e-02 3.26842927e-04 9.99777385e-01 -1.21697811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.27538475 meters Centerline goodness [0,1] 0.8978088312182138 Centerline is valid? [False, False] Translation: X:2.53, Y:0.06, Z:-0.12 [[ 0.99891025 0.04163541 -0.02109033 2.53016123] [-0.04147638 0.99910807 0.00792273 0.06376862] [ 0.02140139 -0.00703935 0.99974618 -0.12171907] [ 0. 0. 0. 1. ]] SLAMing on 43.30538475 meters Centerline goodness [0,1] 0.8972184612461104 Centerline is valid? [False, False] Translation: X:2.53, Y:0.07, Z:-0.12 [[ 0.99886222 0.0426923 -0.02125188 2.52993713] [-0.04253418 0.99906427 0.0078375 0.06558901] [ 0.0215666 -0.00692465 0.99974343 -0.12160734] [ 0. 0. 0. 1. ]] SLAMing on 43.33538475 meters Centerline goodness [0,1] 0.8995645656363767 Centerline is valid? [False, False] Translation: X:2.54, Y:0.07, Z:-0.12 [[ 9.98574099e-01 5.00580351e-02 -1.85462229e-02 2.53671205e+00] [-5.00690062e-02 9.98745753e-01 -1.27399001e-04 6.57501103e-02] [ 1.85165840e-02 1.05580829e-03 9.99827996e-01 -1.24834107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.365384750000004 meters Centerline goodness [0,1] 0.8992632507570159 Centerline is valid? [False, False] Translation: X:2.54, Y:0.07, Z:-0.12 [[ 9.98544002e-01 5.07014886e-02 -1.84183605e-02 2.53612968e+00] [-5.07090964e-02 9.98713465e-01 5.40425517e-05 6.57179023e-02] [ 1.83974047e-02 8.80014553e-04 9.99830366e-01 -1.24627449e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.39538475 meters Centerline goodness [0,1] 0.9056585600770527 Centerline is valid? [False, False] Translation: X:2.53, Y:0.06, Z:-0.12 [[ 9.98460221e-01 5.25015731e-02 -1.79101008e-02 2.53384574e+00] [-5.24820276e-02 9.98620650e-01 1.55991327e-03 6.33970493e-02] [ 1.79672944e-02 -6.17552943e-04 9.99838384e-01 -1.23232778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.42538475 meters Centerline goodness [0,1] 0.9100856442729941 Centerline is valid? [False, False] Translation: X:2.54, Y:0.06, Z:-0.13 [[ 0.99838093 0.05545719 -0.01264991 2.54090093] [-0.05556173 0.99842266 -0.00806761 0.05973607] [ 0.01218255 0.0087574 0.99988744 -0.12694475] [ 0. 0. 0. 1. ]] SLAMing on 43.45538475 meters Centerline goodness [0,1] 0.9110025644156796 Centerline is valid? [False, False] Translation: X:2.54, Y:0.06, Z:-0.13 [[ 0.9983313 0.05640526 -0.01237221 2.53963812] [-0.05649268 0.99837962 -0.00683388 0.05660569] [ 0.0119667 0.00752142 0.99990011 -0.12609772] [ 0. 0. 0. 1. ]] SLAMing on 43.48538475 meters Centerline goodness [0,1] 0.9173285464873239 Centerline is valid? [False, False] Translation: X:2.54, Y:0.05, Z:-0.13 [[ 0.99827507 0.0574675 -0.01201515 2.53832962] [-0.05753639 0.99832843 -0.00546905 0.0530623 ] [ 0.01168077 0.00615092 0.99991286 -0.12541338] [ 0. 0. 0. 1. ]] SLAMing on 43.51538475 meters Centerline goodness [0,1] 0.918703625580068 Centerline is valid? [False, False] Translation: X:2.54, Y:0.05, Z:-0.13 [[ 0.99806698 0.06189125 -0.00563757 2.5438037 ] [-0.0619597 0.99799521 -0.01290531 0.04591276] [ 0.00482754 0.01322967 0.99990083 -0.12870874] [ 0. 0. 0. 1. ]] SLAMing on 43.545384750000004 meters Centerline goodness [0,1] 0.9222078116426398 Centerline is valid? [False, False] Translation: X:2.54, Y:0.04, Z:-0.13 [[ 0.99798492 0.06324656 -0.00509636 2.54204064] [-0.06330097 0.9979301 -0.01133616 0.04227956] [ 0.00436884 0.01163592 0.99992276 -0.12798175] [ 0. 0. 0. 1. ]] SLAMing on 43.57538475 meters Centerline goodness [0,1] 0.9241981773324606 Centerline is valid? [False, False] Translation: X:2.54, Y:0.04, Z:-0.13 [[ 0.99783831 0.06560609 -0.00381306 2.54052554] [-0.06563847 0.99780199 -0.00909787 0.03512915] [ 0.00320781 0.00932848 0.99995134 -0.12981767] [ 0. 0. 0. 1. ]] SLAMing on 43.60538475 meters Centerline goodness [0,1] 0.926694154250879 Centerline is valid? [False, False] Translation: X:2.54, Y:0.03, Z:-0.13 [[ 0.99778098 0.06647709 -0.00373054 2.5406636 ] [-0.06650514 0.99775418 -0.00797916 0.03055285] [ 0.00319173 0.00820955 0.99996121 -0.13066423] [ 0. 0. 0. 1. ]] SLAMing on 43.63538475 meters Centerline goodness [0,1] 0.91590124088525 Centerline is valid? [False, False] Translation: X:2.54, Y:0.02, Z:-0.13 [[ 9.97809559e-01 6.60912851e-02 -2.83299310e-03 2.53961085e+00] [-6.61134420e-02 9.97774955e-01 -8.61114883e-03 2.08787766e-02] [ 2.25756767e-03 8.77958554e-03 9.99958910e-01 -1.33115504e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.66538475 meters Centerline goodness [0,1] 0.9121433002481389 Centerline is valid? [False, False] Translation: X:2.54, Y:0.01, Z:-0.14 [[ 9.97701692e-01 6.77206053e-02 -2.29185822e-03 2.54147911e+00] [-6.77338214e-02 9.97683616e-01 -6.28743521e-03 1.11637438e-02] [ 1.86076048e-03 6.42822106e-03 9.99977608e-01 -1.37235929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.69538475 meters Centerline goodness [0,1] 0.9060320916608342 Centerline is valid? [False, False] Translation: X:2.54, Y:0.01, Z:-0.14 [[ 9.97677044e-01 6.80749642e-02 -2.51293999e-03 2.54301864e+00] [-6.80878641e-02 9.97664360e-01 -5.46507556e-03 6.43603014e-03] [ 2.13503585e-03 5.62348114e-03 9.99981909e-01 -1.39058146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.72538475 meters Centerline goodness [0,1] 0.9004153713524387 Centerline is valid? [False, False] Translation: X:2.54, Y:0.00, Z:-0.14 [[ 9.97802647e-01 6.62248766e-02 -2.03573108e-03 2.54307013e+00] [-6.62383372e-02 9.97775879e-01 -7.46844198e-03 2.09783807e-03] [ 1.53660672e-03 7.58687462e-03 9.99970039e-01 -1.41110091e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.75538475 meters Centerline goodness [0,1] 0.892160237231592 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.01, Z:-0.14 [[ 9.97883104e-01 6.50116610e-02 -1.67188726e-03 2.54354560e+00] [-6.50234329e-02 9.97848677e-01 -8.36482088e-03 -8.55829109e-03] [ 1.12447960e-03 8.45582527e-03 9.99963617e-01 -1.44129762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.78538475 meters Centerline goodness [0,1] 0.8717757208781243 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.01, Z:-0.15 [[ 9.97975388e-01 6.35938628e-02 -9.72247231e-04 2.54316450e+00] [-6.36003629e-02 9.97926898e-01 -9.84378705e-03 -1.32315917e-02] [ 3.44227221e-04 9.88569248e-03 9.99951076e-01 -1.46077187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.81538475 meters Centerline goodness [0,1] 0.8590721621694477 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.02, Z:-0.15 [[ 9.98058901e-01 6.22764843e-02 -2.64238998e-04 2.54299130e+00] [-6.22759220e-02 9.98006445e-01 -1.02393935e-02 -2.22790940e-02] [-3.73961208e-04 1.02359736e-02 9.99947541e-01 -1.48177551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.84538475 meters Centerline goodness [0,1] 0.8676696262194453 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.03, Z:-0.14 [[ 9.98170002e-01 6.04701105e-02 1.13384456e-04 2.54013882e+00] [-6.04668532e-02 9.98132502e-01 -8.67576189e-03 -3.47198812e-02] [-6.37796992e-04 8.65302927e-03 9.99962358e-01 -1.43905194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.87538475 meters Centerline goodness [0,1] 0.8859060402684564 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.04, Z:-0.14 [[ 9.98314764e-01 5.80298620e-02 4.08486982e-04 2.53779791e+00] [-5.80221564e-02 9.98257691e-01 -1.07243127e-02 -3.95153198e-02] [-1.03010566e-03 1.06825384e-02 9.99942409e-01 -1.42491637e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.90538475 meters Centerline goodness [0,1] 0.8925629066942218 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.05, Z:-0.14 [[ 9.98459180e-01 5.54892431e-02 4.58183991e-04 2.53638838e+00] [-5.54802370e-02 9.98392698e-01 -1.15742860e-02 -4.81962589e-02] [-1.09969592e-03 1.15310319e-02 9.99932911e-01 -1.40865103e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.935384750000004 meters Centerline goodness [0,1] 0.8937090837571297 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.05, Z:-0.14 [[ 9.98456240e-01 5.55437571e-02 1.64806754e-04 2.53675320e+00] [-5.55390325e-02 9.98402209e-01 -1.04137323e-02 -5.26584691e-02] [-7.42961245e-04 1.03885028e-02 9.99945762e-01 -1.40290561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.96538475 meters Centerline goodness [0,1] 0.8885719127782171 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.05, Z:-0.14 [[ 9.98621753e-01 5.24821706e-02 4.63954518e-04 2.53547163e+00] [-5.24709926e-02 9.98529503e-01 -1.36244655e-02 -5.49706778e-02] [-1.17831380e-03 1.35813435e-02 9.99907075e-01 -1.40408650e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 43.99538475 meters Centerline goodness [0,1] 0.9026641971790853 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.06, Z:-0.14 [[ 9.98793180e-01 4.91104721e-02 5.88063220e-04 2.53550832e+00] [-4.90942565e-02 9.98659656e-01 -1.63903847e-02 -5.99958041e-02] [-1.39221455e-03 1.63417340e-02 9.99865496e-01 -1.41508337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.02538475 meters Centerline goodness [0,1] 0.9004212396481073 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.06, Z:-0.14 [[ 9.98987126e-01 4.49957974e-02 3.17508471e-04 2.53722840e+00] [-4.49807936e-02 9.98793175e-01 -1.97210816e-02 -6.41964650e-02] [-1.20449109e-03 1.96868249e-02 9.99805470e-01 -1.43455200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.05538475 meters Centerline goodness [0,1] 0.912705970623034 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.07, Z:-0.14 [[ 9.99011292e-01 4.44563120e-02 -2.74699133e-04 2.53866375e+00] [-4.44535914e-02 9.98833717e-01 -1.88436549e-02 -6.81764184e-02] [-5.63340648e-04 1.88372354e-02 9.99822405e-01 -1.43133560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.08538475 meters Centerline goodness [0,1] 0.9167176618002739 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.07, Z:-0.14 [[ 9.99199649e-01 3.99890598e-02 -9.68228175e-04 2.54006657e+00] [-4.00006118e-02 9.98972813e-01 -2.12901512e-02 -7.43471110e-02] [ 1.15860494e-04 2.13118413e-02 9.99772870e-01 -1.42563042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.115384750000004 meters Centerline goodness [0,1] 0.9182818996310828 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.08, Z:-0.14 [[ 9.99225977e-01 3.92913147e-02 -1.90774868e-03 2.54208674e+00] [-3.93217350e-02 9.99024951e-01 -2.00735572e-02 -7.81552639e-02] [ 1.11717208e-03 2.01330358e-02 9.99796686e-01 -1.41570511e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.14538475 meters Centerline goodness [0,1] 0.9196679962458939 Centerline is valid? [False, False] Translation: X:2.54, Y:-0.08, Z:-0.14 [[ 9.99248202e-01 3.86695352e-02 -2.77455031e-03 2.54400402e+00] [-3.87152163e-02 9.99071164e-01 -1.89193470e-02 -8.19394545e-02] [ 2.04037085e-03 1.90125408e-02 9.99817163e-01 -1.40734685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.17538475 meters Centerline goodness [0,1] 0.916602476743497 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.09, Z:-0.14 [[ 9.99400780e-01 3.44615081e-02 -3.23810009e-03 2.54518012e+00] [-3.45237175e-02 9.99168979e-01 -2.16671187e-02 -8.67890551e-02] [ 2.48872758e-03 2.17659266e-02 9.99759997e-01 -1.40714225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.20538475 meters Centerline goodness [0,1] 0.9129373232097663 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.09, Z:-0.14 [[ 0.99946772 0.03235638 -0.00416484 2.54877135] [-0.03243232 0.99928014 -0.01968133 -0.0931056 ] [ 0.00352502 0.01980593 0.99979763 -0.13915135] [ 0. 0. 0. 1. ]] SLAMing on 44.23538475 meters Centerline goodness [0,1] 0.9122717901216123 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.10, Z:-0.14 [[ 0.99948576 0.0317086 -0.00477239 2.55021666] [-0.03179166 0.99932383 -0.0184711 -0.09644312] [ 0.00418347 0.01861332 0.999818 -0.13802689] [ 0. 0. 0. 1. ]] SLAMing on 44.26538475 meters Centerline goodness [0,1] 0.9093047096424048 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.10, Z:-0.14 [[ 0.99962975 0.02667449 -0.00537032 2.55178595] [-0.02678003 0.99942808 -0.02064817 -0.10105749] [ 0.00481647 0.02078434 0.99977238 -0.13628321] [ 0. 0. 0. 1. ]] SLAMing on 44.295384750000004 meters Centerline goodness [0,1] 0.9075758036556065 Centerline is valid? [False, False] Translation: X:2.55, Y:-0.10, Z:-0.14 [[ 0.99973271 0.02239591 -0.00573931 2.55246747] [-0.02252792 0.99945633 -0.02407352 -0.1031119 ] [ 0.00519704 0.02419638 0.99969372 -0.13599774] [ 0. 0. 0. 1. ]] SLAMing on 44.32538475 meters Centerline goodness [0,1] 0.9098242933537051 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.11, Z:-0.13 [[ 0.99977858 0.02005061 -0.00638541 2.55526391] [-0.02019438 0.99952433 -0.02330902 -0.10714945] [ 0.00591501 0.0234328 0.99970792 -0.13483476] [ 0. 0. 0. 1. ]] SLAMing on 44.35538475 meters Centerline goodness [0,1] 0.9116774791473586 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.11, Z:-0.13 [[ 0.99997362 0.00609074 -0.0039582 2.56022606] [-0.00613899 0.99990559 -0.01229359 -0.11248562] [ 0.00388295 0.01231756 0.9999166 -0.13028396] [ 0. 0. 0. 1. ]] SLAMing on 44.38538475 meters Centerline goodness [0,1] 0.9144099378881988 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.12, Z:-0.13 [[ 0.99998297 0.00370635 -0.0045075 2.56349091] [-0.00376084 0.99991922 -0.0121409 -0.11500971] [ 0.00446214 0.01215764 0.99991614 -0.1303908 ] [ 0. 0. 0. 1. ]] SLAMing on 44.41538475 meters Centerline goodness [0,1] 0.920576605747377 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.12, Z:-0.13 [[ 0.99998016 -0.00325638 -0.00539209 2.56801702] [ 0.00316923 0.99986548 -0.01609278 -0.11630945] [ 0.00544377 0.01607537 0.99985596 -0.13059535] [ 0. 0. 0. 1. ]] SLAMing on 44.44538475 meters Centerline goodness [0,1] 0.9243422079340804 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.12, Z:-0.13 [[ 0.99995583 -0.0066349 -0.00665755 2.57294306] [ 0.00653805 0.99987401 -0.01446453 -0.11836095] [ 0.00675268 0.01442037 0.99987322 -0.12757341] [ 0. 0. 0. 1. ]] SLAMing on 44.47538475 meters Centerline goodness [0,1] 0.9281291048977294 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.12, Z:-0.13 [[ 0.99995744 -0.00506802 -0.00770933 2.57628599] [ 0.00499372 0.99994119 -0.00962691 -0.12040142] [ 0.00775767 0.009588 0.99992394 -0.12548359] [ 0. 0. 0. 1. ]] SLAMing on 44.50538475 meters Centerline goodness [0,1] 0.9281291048977294 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.12, Z:-0.13 [[ 0.99995744 -0.00506802 -0.00770933 2.57628599] [ 0.00499372 0.99994119 -0.00962691 -0.12040142] [ 0.00775767 0.009588 0.99992394 -0.12548359] [ 0. 0. 0. 1. ]] SLAMing on 44.53538475 meters Centerline goodness [0,1] 0.9272324631171829 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.12, Z:-0.12 [[ 0.99995794 -0.00283176 -0.00872381 2.57923707] [ 0.00278538 0.99998195 -0.00532418 -0.12143821] [ 0.00873873 0.00529966 0.99994777 -0.12443673] [ 0. 0. 0. 1. ]] SLAMing on 44.56538475 meters Centerline goodness [0,1] 0.9287578450257876 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.12, Z:-0.12 [[ 9.99952404e-01 -2.70090972e-04 -9.75276184e-03 2.58218276e+00] [ 2.44127024e-04 9.99996424e-01 -2.66330720e-03 -1.17416782e-01] [ 9.75344630e-03 2.66079953e-03 9.99948894e-01 -1.24939093e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.59538475 meters Centerline goodness [0,1] 0.9297323870095554 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.11, Z:-0.12 [[ 9.99939160e-01 3.93189486e-03 -1.03061175e-02 2.58224783e+00] [-3.92947592e-03 9.99992247e-01 2.54947462e-04 -1.11653387e-01] [ 1.03070401e-02 -2.14434310e-04 9.99946858e-01 -1.24144326e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.62538475 meters Centerline goodness [0,1] 0.9277347931129393 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.11, Z:-0.12 [[ 9.99936646e-01 5.04504069e-03 -1.00623983e-02 2.58083865e+00] [-5.04950916e-03 9.99987163e-01 -4.18719626e-04 -1.07073415e-01] [ 1.00601566e-02 4.69503270e-04 9.99949285e-01 -1.24286368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.65538475 meters Centerline goodness [0,1] 0.9249450146627566 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.10, Z:-0.12 [[ 9.99932561e-01 6.32867710e-03 -9.73766722e-03 2.57944011e+00] [-6.33779163e-03 9.99979506e-01 -9.05433600e-04 -1.02535519e-01] [ 9.73173746e-03 9.67087844e-04 9.99952178e-01 -1.24622840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.685384750000004 meters Centerline goodness [0,1] 0.9203374510394697 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.10, Z:-0.13 [[ 9.99897787e-01 1.02323314e-02 -9.98574507e-03 2.58076413e+00] [-1.02210314e-02 9.99947065e-01 1.18198917e-03 -9.58164921e-02] [ 9.99731098e-03 -1.07980374e-03 9.99949443e-01 -1.26748090e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.71538475 meters Centerline goodness [0,1] 0.9200891244128628 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.09, Z:-0.13 [[ 9.99897745e-01 1.01351218e-02 -1.00885641e-02 2.58148694e+00] [-1.01366398e-02 9.99948618e-01 -9.93481795e-05 -9.21606810e-02] [ 1.00870388e-02 2.01602161e-04 9.99949104e-01 -1.28240983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.74538475 meters Centerline goodness [0,1] 0.9186298076923077 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.09, Z:-0.13 [[ 9.99896762e-01 1.04821704e-02 -9.82800135e-03 2.58068835e+00] [-1.04917502e-02 9.99944533e-01 -9.23701125e-04 -8.81561447e-02] [ 9.81777383e-03 1.02671870e-03 9.99951277e-01 -1.28470694e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.77538475 meters Centerline goodness [0,1] 0.9244840948003965 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.09, Z:-0.13 [[ 9.99895546e-01 1.05526356e-02 -9.87614781e-03 2.57950826e+00] [-1.05570601e-02 9.99944194e-01 -3.95964867e-04 -8.81305653e-02] [ 9.87141819e-03 5.00186593e-04 9.99951151e-01 -1.26058529e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.80538475 meters Centerline goodness [0,1] 0.923653099900731 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.09, Z:-0.13 [[ 9.99895662e-01 1.04421989e-02 -9.98122893e-03 2.57920442e+00] [-1.04452956e-02 9.99945413e-01 -2.58173555e-04 -8.79692704e-02] [ 9.97798819e-03 3.62403505e-04 9.99950153e-01 -1.25039422e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.83538475 meters Centerline goodness [0,1] 0.9240115197696046 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.09, Z:-0.12 [[ 9.99897295e-01 1.02185730e-02 -1.00489017e-02 2.57919682e+00] [-1.02241696e-02 9.99947604e-01 -5.05718016e-04 -8.68422128e-02] [ 1.00432074e-02 6.08407750e-04 9.99949381e-01 -1.24696876e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.865384750000004 meters Centerline goodness [0,1] 0.9229347404823659 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.08, Z:-0.13 [[ 9.99901420e-01 9.48937756e-03 -1.03490331e-02 2.58107912e+00] [-9.50733867e-03 9.99953380e-01 -1.68771998e-03 -8.24057667e-02] [ 1.03325352e-02 1.78594537e-03 9.99945023e-01 -1.26162417e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.89538475 meters Centerline goodness [0,1] 0.9213573688294634 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.08, Z:-0.13 [[ 9.99901873e-01 9.34634612e-03 -1.04350094e-02 2.58176616e+00] [-9.37368968e-03 9.99952752e-01 -2.57453972e-03 -8.02461998e-02] [ 1.04104538e-02 2.67210162e-03 9.99942239e-01 -1.27311243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 44.92538475 meters Centerline goodness [0,1] 0.9178139216794029 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.08, Z:-0.13 [[ 0.99989505 0.01051704 -0.00996447 2.5802639 ] [-0.01054498 0.9999406 -0.00275559 -0.07734297] [ 0.0099349 0.00286037 0.99994656 -0.12744448] [ 0. 0. 0. 1. ]] SLAMing on 44.95538475 meters Centerline goodness [0,1] 0.9180526783071915 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.08, Z:-0.13 [[ 0.99989207 0.01080205 -0.00995853 2.58012674] [-0.01083455 0.99993613 -0.00321537 -0.07559562] [ 0.00992316 0.00332292 0.99994524 -0.12779077] [ 0. 0. 0. 1. ]] SLAMing on 44.98538475 meters Centerline goodness [0,1] 0.9190391983495432 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.07, Z:-0.13 [[ 9.99836585e-01 1.51648252e-02 -9.84027448e-03 2.57960694e+00] [-1.51579768e-02 9.99884815e-01 7.70168449e-04 -7.47077448e-02] [ 9.85082049e-03 -6.20883939e-04 9.99951287e-01 -1.27268414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.01538475 meters Centerline goodness [0,1] 0.9178996911310486 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.07, Z:-0.13 [[ 9.99831888e-01 1.56615961e-02 -9.53471584e-03 2.57897284e+00] [-1.56613455e-02 9.99877349e-01 1.00956288e-04 -7.27404346e-02] [ 9.53512753e-03 4.83871629e-05 9.99954538e-01 -1.28023878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.045384750000004 meters Centerline goodness [0,1] 0.9187653025533403 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.07, Z:-0.13 [[ 0.99974373 0.02069932 -0.00916535 2.57793958] [-0.02066755 0.99978011 0.00354729 -0.0704938 ] [ 0.00923677 -0.00335695 0.99995171 -0.12862093] [ 0. 0. 0. 1. ]] SLAMing on 45.07538475 meters Centerline goodness [0,1] 0.9200628327079152 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.07, Z:-0.13 [[ 0.99972443 0.02182603 -0.00864269 2.57651521] [-0.02179988 0.99975752 0.00310791 -0.06852652] [ 0.00870843 -0.00291864 0.99995782 -0.12933472] [ 0. 0. 0. 1. ]] SLAMing on 45.10538475 meters Centerline goodness [0,1] 0.9206737774669231 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.07, Z:-0.13 [[ 0.99970525 0.02291911 -0.00800775 2.57471645] [-0.02289655 0.99973364 0.0028982 -0.06733865] [ 0.00807204 -0.00271399 0.99996374 -0.12959005] [ 0. 0. 0. 1. ]] SLAMing on 45.13538475 meters Centerline goodness [0,1] 0.9247732112125543 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.07, Z:-0.13 [[ 0.99964169 0.02585623 -0.00692382 2.57053652] [-0.02582951 0.99965867 0.00392232 -0.06795005] [ 0.00702288 -0.00374208 0.99996834 -0.12869872] [ 0. 0. 0. 1. ]] SLAMing on 45.16538475 meters Centerline goodness [0,1] 0.929753392674741 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.07, Z:-0.13 [[ 0.99959221 0.02799083 -0.00564961 2.56714216] [-0.02796393 0.99959748 0.00478472 -0.06943696] [ 0.00578126 -0.00462478 0.99997259 -0.12870255] [ 0. 0. 0. 1. ]] SLAMing on 45.19538475 meters Centerline goodness [0,1] 0.9285797608632255 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.07, Z:-0.13 [[ 0.99958107 0.02841771 -0.00548787 2.56698691] [-0.02839079 0.99958477 0.00492354 -0.07043728] [ 0.0056255 -0.00476567 0.99997282 -0.12933497] [ 0. 0. 0. 1. ]] SLAMing on 45.22538475 meters Centerline goodness [0,1] 0.9257617728531856 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.07, Z:-0.13 [[ 0.99955789 0.02932757 -0.00488964 2.56647839] [-0.0293011 0.99955604 0.0054 -0.07287197] [ 0.00504584 -0.00525434 0.99997347 -0.13079633] [ 0. 0. 0. 1. ]] SLAMing on 45.25538475 meters Centerline goodness [0,1] 0.928299455216449 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.07, Z:-0.13 [[ 9.99630915e-01 2.68535706e-02 -4.11343297e-03 2.56487536e+00] [-2.68472211e-02 9.99638282e-01 1.59111887e-03 -7.30258696e-02] [ 4.15467229e-03 -1.48009736e-03 9.99990274e-01 -1.32238797e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.28538475 meters Centerline goodness [0,1] 0.9268960240148327 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.08, Z:-0.13 [[ 9.99690303e-01 2.46685203e-02 -3.28066950e-03 2.56309520e+00] [-2.46720152e-02 9.99695070e-01 -1.02911979e-03 -7.78996173e-02] [ 3.25428226e-03 1.10974180e-03 9.99994089e-01 -1.33167673e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.31538475 meters Centerline goodness [0,1] 0.9260537415567944 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.08, Z:-0.13 [[ 0.99976018 0.02172236 -0.00277998 2.56199782] [-0.02173497 0.99975324 -0.00458747 -0.07970293] [ 0.00267965 0.00464679 0.99998561 -0.13409819] [ 0. 0. 0. 1. ]] SLAMing on 45.34538475 meters Centerline goodness [0,1] 0.9267755660686126 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.08, Z:-0.14 [[ 9.99819194e-01 1.88987325e-02 -2.10168934e-03 2.56133061e+00] [-1.89139067e-02 9.99793352e-01 -7.45103822e-03 -8.42034831e-02] [ 1.96043985e-03 7.48944219e-03 9.99970032e-01 -1.35571857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.37538475 meters Centerline goodness [0,1] 0.92541395404144 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.09, Z:-0.14 [[ 9.99820639e-01 1.87802488e-02 -2.44789697e-03 2.56249841e+00] [-1.87967889e-02 9.99799386e-01 -6.91871679e-03 -8.66711588e-02] [ 2.31747067e-03 6.96348845e-03 9.99973069e-01 -1.35907194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.40538475 meters Centerline goodness [0,1] 0.9277263605594992 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.09, Z:-0.14 [[ 9.99804083e-01 1.96950203e-02 -1.97522263e-03 2.56169287e+00] [-1.97058721e-02 9.99789947e-01 -5.63382609e-03 -9.16231079e-02] [ 1.86384941e-03 5.67164581e-03 9.99982179e-01 -1.36202255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.435384750000004 meters Centerline goodness [0,1] 0.9282645919072366 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.09, Z:-0.14 [[ 9.99794280e-01 2.01946157e-02 -1.89085871e-03 2.56143131e+00] [-2.02037664e-02 9.99783618e-01 -4.95232121e-03 -9.40554571e-02] [ 1.79043934e-03 4.98950489e-03 9.99985949e-01 -1.36180521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.46538475 meters Centerline goodness [0,1] 0.9228378296819362 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.10, Z:-0.14 [[ 9.99779073e-01 2.09422346e-02 -1.79683297e-03 2.56132365e+00] [-2.09492810e-02 9.99772551e-01 -3.99672372e-03 -9.84828180e-02] [ 1.71272396e-03 4.03348309e-03 9.99990399e-01 -1.36560742e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.49538475 meters Centerline goodness [0,1] 0.9205849405068274 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.10, Z:-0.14 [[ 9.99775980e-01 2.10856547e-02 -1.83966522e-03 2.56186695e+00] [-2.10925784e-02 9.99770194e-01 -3.82904020e-03 -1.00057730e-01] [ 1.75850463e-03 3.86698570e-03 9.99990977e-01 -1.37305436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.52538475 meters Centerline goodness [0,1] 0.9106735246674985 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.10, Z:-0.14 [[ 9.99754902e-01 2.20914177e-02 -1.45114363e-03 2.56106998e+00] [-2.20951639e-02 9.99752443e-01 -2.61840300e-03 -1.04599869e-01] [ 1.39294016e-03 2.64982450e-03 9.99995519e-01 -1.37508733e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.55538475 meters Centerline goodness [0,1] 0.9081236432567952 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.11, Z:-0.14 [[ 9.99754371e-01 2.21017002e-02 -1.64699924e-03 2.56198749e+00] [-2.21053870e-02 9.99753103e-01 -2.25495994e-03 -1.07154743e-01] [ 1.59675415e-03 2.29081361e-03 9.99996101e-01 -1.38177920e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.58538475 meters Centerline goodness [0,1] 0.8930543984695609 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.11, Z:-0.14 [[ 9.99809442e-01 1.94996404e-02 -9.18487473e-04 2.56311340e+00] [-1.95037879e-02 9.99798515e-01 -4.74669369e-03 -1.11745725e-01] [ 8.25743592e-04 4.76370315e-03 9.99988313e-01 -1.41437286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.615384750000004 meters Centerline goodness [0,1] 0.8942981096994113 Centerline is valid? [False, False] Translation: X:2.56, Y:-0.12, Z:-0.14 [[ 9.99816947e-01 1.90782549e-02 -1.44680591e-03 2.56491697e+00] [-1.90840633e-02 9.99809422e-01 -4.11311413e-03 -1.15209306e-01] [ 1.36805915e-03 4.13997215e-03 9.99990494e-01 -1.41817820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.64538475 meters Centerline goodness [0,1] 0.9008326316774253 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.12, Z:-0.14 [[ 9.99860066e-01 1.66297214e-02 -1.81663767e-03 2.56810279e+00] [-1.66387118e-02 9.99848807e-01 -5.05130469e-03 -1.21393974e-01] [ 1.73236122e-03 5.08082436e-03 9.99985592e-01 -1.43803665e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.67538475 meters Centerline goodness [0,1] 0.9008256708575718 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.13, Z:-0.14 [[ 9.99865997e-01 1.61845433e-02 -2.45945239e-03 2.57019017e+00] [-1.61954058e-02 9.99858886e-01 -4.46282502e-03 -1.25178247e-01] [ 2.38687654e-03 4.50205882e-03 9.99987017e-01 -1.44273755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.70538475 meters Centerline goodness [0,1] 0.9160810512715469 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.13, Z:-0.15 [[ 9.99922377e-01 1.21908417e-02 -2.57365523e-03 2.57152919e+00] [-1.22090190e-02 9.99899765e-01 -7.16940696e-03 -1.31577655e-01] [ 2.48599616e-03 7.20027226e-03 9.99970988e-01 -1.45170908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.73538475 meters Centerline goodness [0,1] 0.9235699102128875 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.13, Z:-0.15 [[ 0.99996529 0.0078712 -0.00273042 2.57240121] [-0.00790009 0.99991117 -0.01073457 -0.13378525] [ 0.00264568 0.01075577 0.99993866 -0.14548287] [ 0. 0. 0. 1. ]] SLAMing on 45.76538475 meters Centerline goodness [0,1] 0.9241918932786044 Centerline is valid? [False, False] Translation: X:2.57, Y:-0.14, Z:-0.15 [[ 0.99999055 0.00320002 -0.00294329 2.57438366] [-0.00324088 0.99989699 -0.01398211 -0.13789084] [ 0.00289824 0.01399151 0.99989791 -0.14643335] [ 0. 0. 0. 1. ]] SLAMing on 45.795384750000004 meters Centerline goodness [0,1] 0.9238352117650837 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.14, Z:-0.15 [[ 9.99990140e-01 2.54984861e-03 -3.63558159e-03 2.57673395e+00] [-2.59783100e-03 9.99908775e-01 -1.32549326e-02 -1.40441960e-01] [ 3.60145186e-03 1.32642465e-02 9.99905540e-01 -1.46476430e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.82538475 meters Centerline goodness [0,1] 0.9214920071047957 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.14, Z:-0.14 [[ 9.99989491e-01 2.46922104e-03 -3.86286172e-03 2.57748353e+00] [-2.51271787e-03 9.99933038e-01 -1.12962281e-02 -1.44922023e-01] [ 3.83471017e-03 1.13058157e-02 9.99928734e-01 -1.44906406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.85538475 meters Centerline goodness [0,1] 0.9227275676377085 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.15, Z:-0.14 [[ 0.99998751 0.00288757 -0.00408 2.57705962] [-0.00292688 0.99994903 -0.0096624 -0.1478359 ] [ 0.00405189 0.00967423 0.99994499 -0.14276572] [ 0. 0. 0. 1. ]] SLAMing on 45.88538475 meters Centerline goodness [0,1] 0.9214652872665756 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.15, Z:-0.14 [[ 0.99998551 0.00327046 -0.00427615 2.57657846] [-0.00330416 0.99996335 -0.0078985 -0.15091705] [ 0.00425016 0.00791251 0.99995966 -0.14030866] [ 0. 0. 0. 1. ]] SLAMing on 45.91538475 meters Centerline goodness [0,1] 0.9193860483421338 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.16, Z:-0.14 [[ 9.99991705e-01 -2.43784529e-04 -4.06582808e-03 2.57558431e+00] [ 2.03387927e-04 9.99950645e-01 -9.93309527e-03 -1.55221149e-01] [ 4.06804894e-03 9.93218593e-03 9.99942400e-01 -1.38087152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 45.94538475 meters Centerline goodness [0,1] 0.9129512381078662 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.16, Z:-0.14 [[ 0.99997711 -0.00514895 -0.00438901 2.57730092] [ 0.00509204 0.99990407 -0.01288073 -0.15901991] [ 0.00445491 0.01285808 0.99990741 -0.13748926] [ 0. 0. 0. 1. ]] SLAMing on 45.97538475 meters Centerline goodness [0,1] 0.9091633730778172 Centerline is valid? [False, False] Translation: X:2.58, Y:-0.16, Z:-0.14 [[ 0.99996555 -0.00636041 -0.00533332 2.58006367] [ 0.00629727 0.99991086 -0.01177315 -0.16163875] [ 0.00540773 0.01173916 0.99991647 -0.13618708] [ 0. 0. 0. 1. ]] SLAMing on 46.00538475 meters Centerline goodness [0,1] 0.9055811162232447 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.17, Z:-0.13 [[ 0.99993206 -0.00968681 -0.00648368 2.58551933] [ 0.00961923 0.99989992 -0.0103736 -0.16534026] [ 0.00658352 0.01031053 0.99992517 -0.13423562] [ 0. 0. 0. 1. ]] SLAMing on 46.03538475 meters Centerline goodness [0,1] 0.9049147442326981 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.17, Z:-0.13 [[ 0.99991398 -0.01080515 -0.00743531 2.58813117] [ 0.01073278 0.9998953 -0.00970541 -0.16711295] [ 0.0075394 0.00962477 0.99992526 -0.1332906 ] [ 0. 0. 0. 1. ]] SLAMing on 46.06538475 meters Centerline goodness [0,1] 0.9075784963513422 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.17, Z:-0.13 [[ 0.99988135 -0.01283629 -0.00851565 2.59166435] [ 0.01276523 0.99988367 -0.00834798 -0.17100775] [ 0.00862182 0.00823829 0.99992889 -0.13097078] [ 0. 0. 0. 1. ]] SLAMing on 46.09538475 meters Centerline goodness [0,1] 0.9037327436000536 Centerline is valid? [False, False] Translation: X:2.59, Y:-0.17, Z:-0.13 [[ 0.99986812 -0.01333692 -0.00926624 2.59318464] [ 0.0132645 0.99988134 -0.00783369 -0.17193894] [ 0.00936962 0.00770975 0.99992638 -0.12994902] [ 0. 0. 0. 1. ]] SLAMing on 46.12538475 meters Centerline goodness [0,1] 0.9018113762449034 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.17, Z:-0.13 [[ 0.9998744 -0.01207999 -0.01025978 2.59788437] [ 0.01204169 0.99992033 -0.00378626 -0.17351644] [ 0.0103047 0.00366224 0.9999402 -0.12989605] [ 0. 0. 0. 1. ]] SLAMing on 46.15538475 meters Centerline goodness [0,1] 0.8986784140969163 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.18, Z:-0.13 [[ 9.99888470e-01 -9.77370227e-03 -1.12925927e-02 2.60144746e+00] [ 9.78064284e-03 9.99952012e-01 5.59548687e-04 -1.75067458e-01] [ 1.12865819e-02 -6.69935096e-04 9.99936080e-01 -1.29504962e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.185384750000004 meters Centerline goodness [0,1] 0.8979069767441861 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.17, Z:-0.13 [[ 9.99873468e-01 -1.05763148e-02 -1.18822950e-02 2.60418555e+00] [ 1.05682464e-02 9.99943880e-01 -7.41612815e-04 -1.72920082e-01] [ 1.18894716e-02 6.15943957e-04 9.99929128e-01 -1.32002370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.21538475 meters Centerline goodness [0,1] 0.8954155202704942 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.17, Z:-0.13 [[ 9.99871611e-01 -1.05717244e-02 -1.20415791e-02 2.60471359e+00] [ 1.05567317e-02 9.99943421e-01 -1.30796167e-03 -1.71692460e-01] [ 1.20547252e-02 1.18067402e-03 9.99926642e-01 -1.32851369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.24538475 meters Centerline goodness [0,1] 0.8927910052910053 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.17, Z:-0.13 [[ 0.99990012 -0.00642328 -0.01258963 2.60483298] [ 0.00646699 0.99997319 0.00343447 -0.17175193] [ 0.01256723 -0.00351555 0.99991485 -0.13084643] [ 0. 0. 0. 1. ]] SLAMing on 46.27538475 meters Centerline goodness [0,1] 0.8950949628406276 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.17, Z:-0.13 [[ 0.99990267 -0.00616102 -0.0125176 2.60457462] [ 0.00619747 0.99997666 0.00287505 -0.17044358] [ 0.01249959 -0.00295235 0.99991752 -0.13155992] [ 0. 0. 0. 1. ]] SLAMing on 46.30538475 meters Centerline goodness [0,1] 0.8921343146274149 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.17, Z:-0.13 [[ 9.99908131e-01 -2.59844543e-03 -1.33033296e-02 2.60636334e+00] [ 2.68555894e-03 9.99975043e-01 6.53457793e-03 -1.69421630e-01] [ 1.32860178e-02 -6.56970447e-03 9.99890154e-01 -1.31672089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.33538475 meters Centerline goodness [0,1] 0.8910045961917269 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.17, Z:-0.13 [[ 9.99912682e-01 -2.26324649e-03 -1.30194232e-02 2.60596944e+00] [ 2.33514945e-03 9.99982092e-01 5.51019707e-03 -1.67207915e-01] [ 1.30067191e-02 -5.54011824e-03 9.99900061e-01 -1.33272748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.365384750000004 meters Centerline goodness [0,1] 0.8901992812806272 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.16, Z:-0.14 [[ 9.99925520e-01 -7.36473915e-04 -1.21824589e-02 2.60347573e+00] [ 7.89673854e-04 9.99990172e-01 4.36269578e-03 -1.63412297e-01] [ 1.21791261e-02 -4.37199101e-03 9.99916274e-01 -1.35001843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.39538475 meters Centerline goodness [0,1] 0.8901992812806272 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.16, Z:-0.14 [[ 9.99925520e-01 -7.36473915e-04 -1.21824589e-02 2.60347573e+00] [ 7.89673854e-04 9.99990172e-01 4.36269578e-03 -1.63412297e-01] [ 1.21791261e-02 -4.37199101e-03 9.99916274e-01 -1.35001843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.42538475 meters Centerline goodness [0,1] 0.8881769393397301 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.16, Z:-0.14 [[ 9.99928237e-01 -2.56478109e-04 -1.19773098e-02 2.60281249e+00] [ 2.99700649e-04 9.99993450e-01 3.60704644e-03 -1.61651697e-01] [ 1.19763062e-02 -3.61037719e-03 9.99921764e-01 -1.35919980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.45538475 meters Centerline goodness [0,1] 0.8915312287957607 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.16, Z:-0.14 [[ 9.99929421e-01 1.67292379e-03 -1.17624376e-02 2.60077513e+00] [-1.64178892e-03 9.99995125e-01 2.65613229e-03 -1.58406684e-01] [ 1.17668237e-02 -2.63663339e-03 9.99927292e-01 -1.37165540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.48538475 meters Centerline goodness [0,1] 0.8917296145651753 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.16, Z:-0.14 [[ 9.99929022e-01 2.22151552e-03 -1.17053438e-02 2.60044576e+00] [-2.19865475e-03 9.99995651e-01 1.96552647e-03 -1.56550110e-01] [ 1.17096593e-02 -1.93965095e-03 9.99929558e-01 -1.38155296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.51538475 meters Centerline goodness [0,1] 0.8945795713780805 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.15, Z:-0.14 [[ 0.99990753 0.00639831 -0.01199964 2.60113169] [-0.00633821 0.99996721 0.00503995 -0.15447144] [ 0.01203149 -0.00496343 0.9999153 -0.13927884] [ 0. 0. 0. 1. ]] SLAMing on 46.545384750000004 meters Centerline goodness [0,1] 0.8921942619009456 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.15, Z:-0.14 [[ 0.99990727 0.00627697 -0.01208502 2.60180214] [-0.00622957 0.99997277 0.0039551 -0.15254676] [ 0.01210952 -0.00387945 0.99991915 -0.14089081] [ 0. 0. 0. 1. ]] SLAMing on 46.57538475 meters Centerline goodness [0,1] 0.8935998969802331 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.15, Z:-0.14 [[ 9.99928256e-01 3.26729236e-03 -1.15242284e-02 2.59973983e+00] [-3.26793873e-03 9.99994660e-01 -3.72567907e-05 -1.51921358e-01] [ 1.15240452e-02 7.49145901e-05 9.99933593e-01 -1.40877062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.60538475 meters Centerline goodness [0,1] 0.8906335467679141 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.15, Z:-0.14 [[ 9.99925792e-01 3.50414247e-03 -1.16675163e-02 2.59959319e+00] [-3.49935333e-03 9.99993784e-01 4.30857789e-04 -1.52774416e-01] [ 1.16689535e-02 -3.89997055e-04 9.99931839e-01 -1.40177549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.63538475 meters Centerline goodness [0,1] 0.8923616699391638 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.15, Z:-0.14 [[ 9.99920523e-01 3.12791603e-03 -1.22132401e-02 2.60077848e+00] [-3.11920887e-03 9.99994867e-01 7.31911567e-04 -1.53729334e-01] [ 1.22154667e-02 -6.93757750e-04 9.99925148e-01 -1.39684431e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.66538475 meters Centerline goodness [0,1] 0.8916507741539257 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.16, Z:-0.14 [[ 9.99929063e-01 -3.72035837e-04 -1.19050879e-02 2.59985439e+00] [ 3.39660621e-04 9.99996239e-01 -2.72135003e-03 -1.55033220e-01] [ 1.19060556e-02 2.71711330e-03 9.99925429e-01 -1.39396247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.69538475 meters Centerline goodness [0,1] 0.8929540170498579 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.16, Z:-0.14 [[ 9.99915133e-01 -2.02344798e-03 -1.28698197e-02 2.60257101e+00] [ 2.02075048e-03 9.99997934e-01 -2.22599591e-04 -1.58820245e-01] [ 1.28702436e-02 1.96574005e-04 9.99917156e-01 -1.35242625e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.72538475 meters Centerline goodness [0,1] 0.8910387295414033 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.16, Z:-0.14 [[ 9.99909100e-01 -2.53718242e-03 -1.32421504e-02 2.60405370e+00] [ 2.53180121e-03 9.99996705e-01 -4.23117404e-04 -1.58992131e-01] [ 1.32431803e-02 3.89552451e-04 9.99912229e-01 -1.35876523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.75538475 meters Centerline goodness [0,1] 0.8883102600595161 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.16, Z:-0.14 [[ 9.99902601e-01 -3.23918684e-03 -1.35755418e-02 2.60642615e+00] [ 3.22309406e-03 9.99994077e-01 -1.20713526e-03 -1.58402534e-01] [ 1.35793715e-02 1.16326243e-03 9.99907119e-01 -1.38070343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.78538475 meters Centerline goodness [0,1] 0.8897299045770661 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.16, Z:-0.14 [[ 9.99904346e-01 -2.89603741e-03 -1.35245155e-02 2.60591152e+00] [ 2.88210433e-03 9.99995296e-01 -1.04958556e-03 -1.58591536e-01] [ 1.35274915e-02 1.01050610e-03 9.99907989e-01 -1.37808013e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.81538475 meters Centerline goodness [0,1] 0.8912254552524139 Centerline is valid? [False, False] Translation: X:2.60, Y:-0.16, Z:-0.14 [[ 9.99906106e-01 -2.33526406e-03 -1.35027825e-02 2.60496468e+00] [ 2.32884202e-03 9.99997168e-01 -4.91312919e-04 -1.59518744e-01] [ 1.35038916e-02 4.59820940e-04 9.99908713e-01 -1.36704075e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.84538475 meters Centerline goodness [0,1] 0.8893916865990045 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.16, Z:-0.14 [[ 9.99896105e-01 -3.10635481e-03 -1.40758351e-02 2.60749113e+00] [ 3.08603993e-03 9.99994165e-01 -1.46473555e-03 -1.57986545e-01] [ 1.40803030e-02 1.42114478e-03 9.99899858e-01 -1.38590401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.87538475 meters Centerline goodness [0,1] 0.8893339363007946 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.16, Z:-0.14 [[ 9.99890335e-01 -3.76112924e-03 -1.43238169e-02 2.60940735e+00] [ 3.72730899e-03 9.99990204e-01 -2.38708445e-03 -1.56491654e-01] [ 1.43326547e-02 2.33343338e-03 9.99894559e-01 -1.40539242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.90538475 meters Centerline goodness [0,1] 0.8864579646729513 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.16, Z:-0.14 [[ 9.99876706e-01 -1.72887126e-03 -1.56071906e-02 2.61387660e+00] [ 1.74840482e-03 9.99997705e-01 1.23801657e-03 -1.56972797e-01] [ 1.56050144e-02 -1.26515162e-03 9.99877434e-01 -1.41048033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.935384750000004 meters Centerline goodness [0,1] 0.8877593694708059 Centerline is valid? [False, False] Translation: X:2.61, Y:-0.16, Z:-0.14 [[ 9.99869171e-01 -2.33893221e-03 -1.60052982e-02 2.61487381e+00] [ 2.36410338e-03 9.99995998e-01 1.55393770e-03 -1.57497229e-01] [ 1.60015996e-02 -1.59157258e-03 9.99870699e-01 -1.40183594e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.96538475 meters Centerline goodness [0,1] 0.8885240624497023 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.16, Z:-0.14 [[ 9.99861606e-01 -2.64900418e-03 -1.64241319e-02 2.61571740e+00] [ 2.67724375e-03 9.99994975e-01 1.69764672e-03 -1.57809989e-01] [ 1.64195523e-02 -1.74138318e-03 9.99863674e-01 -1.39698387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 46.99538475 meters Centerline goodness [0,1] 0.8870728562217924 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.16, Z:-0.14 [[ 9.99851868e-01 -3.33526646e-03 -1.68854195e-02 2.61708203e+00] [ 3.36044538e-03 9.99993283e-01 1.46300947e-03 -1.57282613e-01] [ 1.68804265e-02 -1.51953528e-03 9.99856361e-01 -1.39614112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.02538475 meters Centerline goodness [0,1] 0.8898766386446355 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.16, Z:-0.14 [[ 9.99845786e-01 -3.67377902e-03 -1.71728453e-02 2.61801284e+00] [ 3.69490183e-03 9.99992456e-01 1.19844556e-03 -1.56394936e-01] [ 1.71683130e-02 -1.26171272e-03 9.99851818e-01 -1.39868875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.05538475 meters Centerline goodness [0,1] 0.8873555840821566 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.16, Z:-0.14 [[ 9.99849108e-01 -3.67290319e-03 -1.69785168e-02 2.61758773e+00] [ 3.69287678e-03 9.99992526e-01 1.14520177e-03 -1.55032271e-01] [ 1.69741837e-02 -1.20772854e-03 9.99855199e-01 -1.39600897e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.08538475 meters Centerline goodness [0,1] 0.8892528015926533 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.16, Z:-0.14 [[ 9.99848390e-01 -3.59973151e-03 -1.70363987e-02 2.61731646e+00] [ 3.62522963e-03 9.99992354e-01 1.46603880e-03 -1.55244571e-01] [ 1.70309911e-02 -1.52757739e-03 9.99853795e-01 -1.38771554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.115384750000004 meters Centerline goodness [0,1] 0.8889958911145351 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.16, Z:-0.14 [[ 9.99845626e-01 -3.85978670e-03 -1.71413686e-02 2.61690623e+00] [ 3.90485421e-03 9.99989005e-01 2.59647523e-03 -1.56806221e-01] [ 1.71311583e-02 -2.66300895e-03 9.99849705e-01 -1.36225335e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.14538475 meters Centerline goodness [0,1] 0.8898509672642998 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.16, Z:-0.14 [[ 0.99983886 -0.00414597 -0.01746609 2.6174111 ] [ 0.00419865 0.99998674 0.00298032 -0.1575322 ] [ 0.0174535 -0.00305317 0.99984301 -0.13532246] [ 0. 0. 0. 1. ]] SLAMing on 47.17538475 meters Centerline goodness [0,1] 0.8900744656845363 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.16, Z:-0.13 [[ 0.99983312 -0.00435725 -0.01774112 2.61780782] [ 0.00441671 0.99998476 0.0033138 -0.15810681] [ 0.01772641 -0.00339161 0.99983712 -0.13457654] [ 0. 0. 0. 1. ]] SLAMing on 47.20538475 meters Centerline goodness [0,1] 0.8902726246168737 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.16, Z:-0.13 [[ 0.9998181 -0.00575969 -0.01818212 2.62011534] [ 0.00581564 0.99997851 0.00302577 -0.15802907] [ 0.01816431 -0.00313096 0.99983011 -0.13489064] [ 0. 0. 0. 1. ]] SLAMing on 47.23538475 meters Centerline goodness [0,1] 0.8884772734593951 Centerline is valid? [False, False] Translation: X:2.62, Y:-0.16, Z:-0.14 [[ 9.99792717e-01 -7.59309084e-03 -1.88909638e-02 2.62365451e+00] [ 7.64026229e-03 9.99967870e-01 2.42611861e-03 -1.57905687e-01] [ 1.88719351e-02 -2.56994763e-03 9.99818606e-01 -1.36025202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.26538475 meters Centerline goodness [0,1] 0.8879997418605402 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.16, Z:-0.14 [[ 9.99778275e-01 -8.26054893e-03 -1.93691531e-02 2.62532649e+00] [ 8.31067191e-03 9.99962319e-01 2.50870866e-03 -1.58793462e-01] [ 1.93476999e-02 -2.66912309e-03 9.99809253e-01 -1.36155319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.295384750000004 meters Centerline goodness [0,1] 0.8897396136202106 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.16, Z:-0.14 [[ 9.99751752e-01 -9.55029195e-03 -2.01302446e-02 2.62782464e+00] [ 9.60383807e-03 9.99950592e-01 2.56498806e-03 -1.59845862e-01] [ 2.01047537e-02 -2.75767892e-03 9.99794076e-01 -1.35892276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.32538475 meters Centerline goodness [0,1] 0.88968282194704 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.16, Z:-0.14 [[ 9.99739653e-01 -1.00275879e-02 -2.04957037e-02 2.62923077e+00] [ 1.00785108e-02 9.99946372e-01 2.38278008e-03 -1.59933983e-01] [ 2.04707110e-02 -2.58872590e-03 9.99787102e-01 -1.36418330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.35538475 meters Centerline goodness [0,1] 0.8896825909884285 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.16, Z:-0.14 [[ 9.99729560e-01 -1.04889905e-02 -2.07554425e-02 2.63052483e+00] [ 1.05320547e-02 9.99942602e-01 1.96661431e-03 -1.59407352e-01] [ 2.07336234e-02 -2.18467992e-03 9.99782648e-01 -1.37296372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.38538475 meters Centerline goodness [0,1] 0.8923354141193127 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.16, Z:-0.14 [[ 9.99712604e-01 -1.11377635e-02 -2.12287225e-02 2.63261018e+00] [ 1.11683094e-02 9.99936760e-01 1.32087649e-03 -1.58583150e-01] [ 2.12126684e-02 -1.55758582e-03 9.99773773e-01 -1.38638666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.41538475 meters Centerline goodness [0,1] 0.8910827411004277 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.16, Z:-0.14 [[ 9.99715821e-01 -1.08824426e-02 -2.12096580e-02 2.63299830e+00] [ 1.08943915e-02 9.99940554e-01 4.47901686e-04 -1.56489308e-01] [ 2.12035229e-02 -6.78840719e-04 9.99774950e-01 -1.40328012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.44538475 meters Centerline goodness [0,1] 0.8881105460128587 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.16, Z:-0.14 [[ 0.99973879 -0.0070706 -0.02173381 2.63392935] [ 0.00717519 0.99996303 0.00473823 -0.15657328] [ 0.0216995 -0.00489294 0.99975256 -0.13962791] [ 0. 0. 0. 1. ]] SLAMing on 47.47538475 meters Centerline goodness [0,1] 0.8882811257751629 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.15, Z:-0.14 [[ 9.99759004e-01 -2.56288738e-03 -2.18028562e-02 2.63317321e+00] [ 2.75186418e-03 9.99958871e-01 8.64194207e-03 -1.54465668e-01] [ 2.17798112e-02 -8.69985790e-03 9.99724938e-01 -1.38860925e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.50538475 meters Centerline goodness [0,1] 0.8874136510552 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.15, Z:-0.14 [[ 9.99761679e-01 -2.28935637e-03 -2.17104599e-02 2.63275094e+00] [ 2.45635362e-03 9.99967580e-01 7.66847296e-03 -1.51862075e-01] [ 2.16922002e-02 -7.71997397e-03 9.99734890e-01 -1.39757738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.53538475 meters Centerline goodness [0,1] 0.8863499699338545 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.15, Z:-0.14 [[ 9.99771397e-01 -1.80803586e-03 -2.13045668e-02 2.63181001e+00] [ 1.95047307e-03 9.99975874e-01 6.66687832e-03 -1.49343268e-01] [ 2.12919988e-02 -6.70690824e-03 9.99750803e-01 -1.41015358e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.56538475 meters Centerline goodness [0,1] 0.8898286432950794 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.14, Z:-0.14 [[ 9.99782600e-01 -5.12214967e-04 -2.08444547e-02 2.63025566e+00] [ 6.10186182e-04 9.99988797e-01 4.69402053e-03 -1.44377375e-01] [ 2.08418168e-02 -4.70571905e-03 9.99771711e-01 -1.43829089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.59538475 meters Centerline goodness [0,1] 0.887959918584625 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.14, Z:-0.14 [[ 9.99785077e-01 5.69591472e-04 -2.07237721e-02 2.62897346e+00] [-4.89539654e-04 9.99992401e-01 3.86766959e-03 -1.41455485e-01] [ 2.07258176e-02 -3.85669323e-03 9.99777759e-01 -1.44501740e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.62538475 meters Centerline goodness [0,1] 0.8900687070580887 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.14, Z:-0.15 [[ 9.99788699e-01 7.82010105e-04 -2.05413039e-02 2.62864265e+00] [-7.15457580e-04 9.99994472e-01 3.24708591e-03 -1.39935096e-01] [ 2.05437296e-02 -3.23170337e-03 9.99783732e-01 -1.45284113e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.65538475 meters Centerline goodness [0,1] 0.89359239096427 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.14, Z:-0.15 [[ 9.99793851e-01 1.16866384e-03 -2.02704014e-02 2.62817309e+00] [-1.11832045e-03 9.99996263e-01 2.49474881e-03 -1.38541460e-01] [ 2.02732412e-02 -2.47156571e-03 9.99791422e-01 -1.46594282e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.685384750000004 meters Centerline goodness [0,1] 0.8941036405789836 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.14, Z:-0.15 [[ 9.99792513e-01 1.21489910e-03 -2.03336096e-02 2.62835493e+00] [-1.16406178e-03 9.99996168e-01 2.51181145e-03 -1.38762883e-01] [ 2.03365833e-02 -2.48762070e-03 9.99790096e-01 -1.46726121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.71538475 meters Centerline goodness [0,1] 0.8942987671318605 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.14, Z:-0.15 [[ 9.99785599e-01 8.39245642e-04 -2.06894222e-02 2.62946476e+00] [-7.89583120e-04 9.99996788e-01 2.40843429e-03 -1.38864821e-01] [ 2.06913770e-02 -2.39158190e-03 9.99783050e-01 -1.46919838e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.74538475 meters Centerline goodness [0,1] 0.8926800175780024 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.14, Z:-0.15 [[ 9.99778196e-01 1.36324797e-04 -2.10604133e-02 2.63105620e+00] [-8.30281279e-05 9.99996792e-01 2.53151005e-03 -1.39697770e-01] [ 2.10606909e-02 -2.52919994e-03 9.99775000e-01 -1.47068055e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.77538475 meters Centerline goodness [0,1] 0.8946073793755913 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.14, Z:-0.15 [[ 9.99778196e-01 -3.32418293e-03 -2.07968529e-02 2.63002175e+00] [ 3.30097217e-03 9.99993890e-01 -1.15030003e-03 -1.40481156e-01] [ 2.08005496e-02 1.08139506e-03 9.99783060e-01 -1.46904939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.80538475 meters Centerline goodness [0,1] 0.8953745887117186 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.14, Z:-0.15 [[ 9.99776726e-01 -3.07462691e-03 -2.09056285e-02 2.62968787e+00] [ 3.06912697e-03 9.99995247e-01 -2.95163999e-04 -1.42264484e-01] [ 2.09064367e-02 2.30936069e-04 9.99781410e-01 -1.45692348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.83538475 meters Centerline goodness [0,1] 0.8963621922160445 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.14, Z:-0.14 [[ 9.99781898e-01 -2.31656276e-03 -2.07554600e-02 2.62832671e+00] [ 2.33731058e-03 9.99996793e-01 9.75429019e-04 -1.44881214e-01] [ 2.07531338e-02 -1.02372823e-03 9.99784106e-01 -1.44028616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.865384750000004 meters Centerline goodness [0,1] 0.895572850216892 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.15, Z:-0.14 [[ 9.99768953e-01 -2.79545479e-03 -2.13125898e-02 2.62927153e+00] [ 2.83665271e-03 9.99994166e-01 1.90304549e-03 -1.47203141e-01] [ 2.13071456e-02 -1.96306221e-03 9.99771050e-01 -1.42490891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.89538475 meters Centerline goodness [0,1] 0.8983202687569989 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.15, Z:-0.14 [[ 0.99975495 -0.00385939 -0.02179775 2.63066569] [ 0.00392574 0.99998779 0.00300172 -0.15149332] [ 0.02178589 -0.00308656 0.99975789 -0.14073798] [ 0. 0. 0. 1. ]] SLAMing on 47.92538475 meters Centerline goodness [0,1] 0.8971413904841349 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.15, Z:-0.14 [[ 0.99974472 -0.0041133 -0.02221658 2.63178495] [ 0.00418937 0.99998552 0.00337868 -0.15289307] [ 0.02220236 -0.00347089 0.99974747 -0.14059486] [ 0. 0. 0. 1. ]] SLAMing on 47.95538475 meters Centerline goodness [0,1] 0.8970436354247353 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.15, Z:-0.14 [[ 9.99726959e-01 -8.26168996e-03 -2.18575300e-02 2.63227903e+00] [ 8.24299808e-03 9.99965579e-01 -9.45128828e-04 -1.53427207e-01] [ 2.18645860e-02 7.64699192e-04 9.99760649e-01 -1.42407778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 47.98538475 meters Centerline goodness [0,1] 0.896692751102953 Centerline is valid? [False, False] Translation: X:2.63, Y:-0.15, Z:-0.14 [[ 9.99723557e-01 -8.36823047e-03 -2.19723236e-02 2.63295563e+00] [ 8.35134604e-03 9.99964757e-01 -8.60090325e-04 -1.54029175e-01] [ 2.19787467e-02 6.76354080e-04 9.99758209e-01 -1.42805044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.01538475 meters Centerline goodness [0,1] 0.8976872068575126 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.15, Z:-0.14 [[ 9.99702673e-01 -9.13339174e-03 -2.26085465e-02 2.63556119e+00] [ 9.10869796e-03 9.99957801e-01 -1.19497371e-03 -1.54741873e-01] [ 2.26185066e-02 9.88683992e-04 9.99743680e-01 -1.44098170e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.045384750000004 meters Centerline goodness [0,1] 0.8965182814469983 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.15, Z:-0.14 [[ 9.99694041e-01 -9.40035761e-03 -2.28791929e-02 2.63667486e+00] [ 9.36700188e-03 9.99954905e-01 -1.56464144e-03 -1.54312143e-01] [ 2.28928694e-02 1.34985328e-03 9.99737013e-01 -1.44893948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.07538475 meters Centerline goodness [0,1] 0.8966852790239809 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.15, Z:-0.15 [[ 9.99684386e-01 -9.82608510e-03 -2.31209228e-02 2.63822935e+00] [ 9.77277280e-03 9.99949323e-01 -2.41767036e-03 -1.52962963e-01] [ 2.31435073e-02 2.19095178e-03 9.99729752e-01 -1.46595473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.10538475 meters Centerline goodness [0,1] 0.8965272627607778 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.15, Z:-0.15 [[ 9.99675824e-01 -1.00351045e-02 -2.33996604e-02 2.63870193e+00] [ 9.98422515e-03 9.99947534e-01 -2.29018268e-03 -1.52861844e-01] [ 2.34214150e-02 2.05581278e-03 9.99723567e-01 -1.46076777e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.13538475 meters Centerline goodness [0,1] 0.8939466386152817 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.15, Z:-0.15 [[ 9.99674198e-01 -7.60726162e-03 -2.43644630e-02 2.64320581e+00] [ 7.60131698e-03 9.99971053e-01 -3.36595007e-04 -1.47147280e-01] [ 2.43663183e-02 1.51283338e-04 9.99703086e-01 -1.49203161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.16538475 meters Centerline goodness [0,1] 0.895300828894702 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.14, Z:-0.15 [[ 9.99660018e-01 -5.38954374e-03 -2.55107932e-02 2.64444921e+00] [ 5.42809275e-03 9.99984228e-01 1.44207866e-03 -1.38688686e-01] [ 2.55026187e-02 -1.58006333e-03 9.99673507e-01 -1.47640010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.19538475 meters Centerline goodness [0,1] 0.892453127461793 Centerline is valid? [False, False] Translation: X:2.64, Y:-0.14, Z:-0.15 [[ 9.99655440e-01 -5.32422648e-03 -2.57031829e-02 2.64372802e+00] [ 5.35255325e-03 9.99985141e-01 1.03339740e-03 -1.36352504e-01] [ 2.56972990e-02 -1.17061899e-03 9.99669084e-01 -1.46523309e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.22538475 meters Centerline goodness [0,1] 0.8961478233636079 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.13, Z:-0.15 [[ 9.99634342e-01 -2.64384555e-03 -2.69108347e-02 2.64673008e+00] [ 2.75623502e-03 9.99987631e-01 4.14012908e-03 -1.33729706e-01] [ 2.68995560e-02 -4.21278779e-03 9.99629264e-01 -1.46406584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.25538475 meters Centerline goodness [0,1] 0.8932264977173204 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.12, Z:-0.15 [[ 9.99618787e-01 -1.02776078e-04 -2.76092422e-02 2.65063374e+00] [ 2.65375780e-04 9.99982644e-01 5.88572186e-03 -1.23560773e-01] [ 2.76081581e-02 -5.89080497e-03 9.99601465e-01 -1.49057997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.28538475 meters Centerline goodness [0,1] 0.89473033151905 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.12, Z:-0.15 [[ 9.99626853e-01 2.96886895e-04 -2.73142379e-02 2.64937465e+00] [-1.60690975e-04 9.99987545e-01 4.98832090e-03 -1.19905963e-01] [ 2.73153787e-02 -4.98207037e-03 9.99614450e-01 -1.49245471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.31538475 meters Centerline goodness [0,1] 0.89473033151905 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.12, Z:-0.15 [[ 9.99626853e-01 2.96886895e-04 -2.73142379e-02 2.64937465e+00] [-1.60690975e-04 9.99987545e-01 4.98832090e-03 -1.19905963e-01] [ 2.73153787e-02 -4.98207037e-03 9.99614450e-01 -1.49245471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.34538475 meters Centerline goodness [0,1] 0.8976701410177805 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.11, Z:-0.15 [[ 0.99975547 0.00399845 -0.02174877 2.65991862] [-0.00406824 0.99998671 -0.00316604 -0.11345936] [ 0.02173582 0.00325375 0.99975845 -0.15329717] [ 0. 0. 0. 1. ]] SLAMing on 48.37538475 meters Centerline goodness [0,1] 0.8957836846929422 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.11, Z:-0.15 [[ 0.99976068 0.00435812 -0.02143804 2.65877591] [-0.00443514 0.99998388 -0.00354648 -0.1099782 ] [ 0.02142224 0.00364071 0.99976389 -0.1530448 ] [ 0. 0. 0. 1. ]] SLAMing on 48.40538475 meters Centerline goodness [0,1] 0.893178067119017 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.11, Z:-0.15 [[ 0.9997671 0.00514035 -0.02096014 2.65619449] [-0.00521598 0.99998008 -0.00355522 -0.10604782] [ 0.02094145 0.00366372 0.99977399 -0.15130452] [ 0. 0. 0. 1. ]] SLAMing on 48.435384750000004 meters Centerline goodness [0,1] 0.8950771670835113 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.11, Z:-0.15 [[ 9.99765810e-01 5.44553749e-03 -2.09444753e-02 2.65459076e+00] [-5.50057149e-03 9.99981567e-01 -2.57090236e-03 -1.05738162e-01] [ 2.09300892e-02 2.68550686e-03 9.99777335e-01 -1.48333401e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.46538475 meters Centerline goodness [0,1] 0.8949392588975031 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.11, Z:-0.15 [[ 9.99763973e-01 5.42060712e-03 -2.10384253e-02 2.65450696e+00] [-5.47467986e-03 9.99981855e-01 -2.51344500e-03 -1.05454206e-01] [ 2.10244191e-02 2.62803040e-03 9.99775508e-01 -1.47848356e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.49538475 meters Centerline goodness [0,1] 0.8952529325513197 Centerline is valid? [False, False] Translation: X:2.65, Y:-0.10, Z:-0.15 [[ 0.99976341 0.00536201 -0.02108028 2.65454252] [-0.00542022 0.99998165 -0.00270515 -0.10470827] [ 0.02106539 0.00281877 0.99977413 -0.14782533] [ 0. 0. 0. 1. ]] SLAMing on 48.52538475 meters Centerline goodness [0,1] 0.8964511424404472 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.10, Z:-0.15 [[ 9.99726723e-01 8.05193693e-03 -2.19464402e-02 2.65733340e+00] [-8.03254405e-03 9.99967267e-01 9.71657511e-04 -1.04549117e-01] [ 2.19535455e-02 -7.95106231e-04 9.99758676e-01 -1.47854263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.55538475 meters Centerline goodness [0,1] 0.8949496792240567 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.10, Z:-0.15 [[ 9.99727177e-01 7.97782392e-03 -2.19528009e-02 2.65782821e+00] [-7.97175557e-03 9.99968159e-01 3.63926519e-04 -1.03325806e-01] [ 2.19550052e-02 -1.88824868e-04 9.99758942e-01 -1.48914611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.58538475 meters Centerline goodness [0,1] 0.894661813770094 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.10, Z:-0.15 [[ 9.99731324e-01 7.70907723e-03 -2.18597652e-02 2.65916411e+00] [-7.72840803e-03 9.99969815e-01 -7.99965243e-04 -1.01483355e-01] [ 2.18529384e-02 9.68691497e-04 9.99760727e-01 -1.51530016e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.615384750000004 meters Centerline goodness [0,1] 0.8977279630642123 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.10, Z:-0.15 [[ 9.99727409e-01 7.75532096e-03 -2.20218556e-02 2.65953336e+00] [-7.77312244e-03 9.99969528e-01 -7.22869282e-04 -1.02489964e-01] [ 2.20155785e-02 8.93850815e-04 9.99757228e-01 -1.51637295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.64538475 meters Centerline goodness [0,1] 0.8992037585039202 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.10, Z:-0.15 [[ 9.99725556e-01 7.89614767e-03 -2.20559378e-02 2.65953853e+00] [-7.91030008e-03 9.99968559e-01 -5.54487001e-04 -1.03310441e-01] [ 2.20508660e-02 7.28803911e-04 9.99756584e-01 -1.51603263e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.67538475 meters Centerline goodness [0,1] 0.9000488758553274 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.10, Z:-0.15 [[ 9.99723306e-01 8.12982810e-03 -2.20730068e-02 2.65961018e+00] [-8.13773471e-03 9.99966852e-01 -2.68401984e-04 -1.04432038e-01] [ 2.20700931e-02 4.47951993e-04 9.99756325e-01 -1.51752212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.70538475 meters Centerline goodness [0,1] 0.8991167751596834 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.10, Z:-0.15 [[ 9.99724086e-01 8.24163452e-03 -2.19960654e-02 2.65964507e+00] [-8.24939450e-03 9.99965939e-01 -2.62073203e-04 -1.04937594e-01] [ 2.19931562e-02 4.43455114e-04 9.99758023e-01 -1.52091051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.73538475 meters Centerline goodness [0,1] 0.9023853211009174 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.11, Z:-0.15 [[ 9.99719534e-01 8.65571791e-03 -2.20438698e-02 2.65959041e+00] [-8.65769542e-03 9.99962521e-01 5.72848099e-06 -1.06211037e-01] [ 2.20430932e-02 1.85122236e-04 9.99757004e-01 -1.52138274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.76538475 meters Centerline goodness [0,1] 0.905427304693472 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.11, Z:-0.15 [[ 9.99721907e-01 9.05274585e-03 -2.17751307e-02 2.65907753e+00] [-9.05567322e-03 9.99958996e-01 -3.58321827e-05 -1.06366882e-01] [ 2.17739135e-02 2.33010686e-04 9.99762893e-01 -1.52592678e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.795384750000004 meters Centerline goodness [0,1] 0.9070505969647928 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.11, Z:-0.15 [[ 9.99721756e-01 9.23119664e-03 -2.17070326e-02 2.65919238e+00] [-9.23824140e-03 9.99957301e-01 -2.24279222e-04 -1.06113377e-01] [ 2.17040354e-02 4.24751625e-04 9.99764349e-01 -1.53222057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.82538475 meters Centerline goodness [0,1] 0.905978977046367 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.11, Z:-0.15 [[ 9.99727112e-01 9.81843999e-03 -2.11966747e-02 2.65881472e+00] [-9.83140960e-03 9.99951542e-01 -5.07745891e-04 -1.06444854e-01] [ 2.11906623e-02 7.16000525e-04 9.99775196e-01 -1.54983050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 48.85538475 meters Centerline goodness [0,1] 0.9047310634098199 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.11, Z:-0.15 [[ 0.99975273 0.00536689 -0.02157959 2.65953281] [-0.00545398 0.99997721 -0.0039787 -0.10858063] [ 0.02155775 0.00409541 0.99975922 -0.15424445] [ 0. 0. 0. 1. ]] SLAMing on 48.88538475 meters Centerline goodness [0,1] 0.904313044556758 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.11, Z:-0.15 [[ 0.99974963 0.00529555 -0.02174028 2.6598967 ] [-0.00537166 0.99997964 -0.00344418 -0.11043268] [ 0.02172159 0.0035601 0.99975772 -0.15381776] [ 0. 0. 0. 1. ]] SLAMing on 48.91538475 meters Centerline goodness [0,1] 0.9024647341497443 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.11, Z:-0.15 [[ 0.99974101 0.00494435 -0.02221421 2.66110446] [-0.00501703 0.99998224 -0.00321712 -0.11141294] [ 0.02219791 0.00332774 0.99974806 -0.15361926] [ 0. 0. 0. 1. ]] SLAMing on 48.94538475 meters Centerline goodness [0,1] 0.9021252796420581 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.11, Z:-0.15 [[ 0.99974011 0.00482362 -0.02228119 2.66217962] [-0.00490397 0.99998166 -0.00355323 -0.11168939] [ 0.02226364 0.00366158 0.99974543 -0.15498709] [ 0. 0. 0. 1. ]] SLAMing on 48.97538475 meters Centerline goodness [0,1] 0.8998630392828239 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.11, Z:-0.15 [[ 0.99973715 0.00508684 -0.02235522 2.6620297 ] [-0.00515281 0.99998254 -0.00289443 -0.11332178] [ 0.02234011 0.00300886 0.9997459 -0.15425771] [ 0. 0. 0. 1. ]] SLAMing on 49.00538475 meters Centerline goodness [0,1] 0.9010268734979244 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.11, Z:-0.15 [[ 9.99737257e-01 5.43286729e-03 -2.22688135e-02 2.66158672e+00] [-5.49146533e-03 9.99981616e-01 -2.57108805e-03 -1.14200195e-01] [ 2.22544358e-02 2.69270094e-03 9.99748713e-01 -1.53988843e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.03538475 meters Centerline goodness [0,1] 0.9021190401994391 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.11, Z:-0.15 [[ 9.99732519e-01 5.39338933e-03 -2.24900427e-02 2.66213514e+00] [-5.45195816e-03 9.99981903e-01 -2.54371003e-03 -1.14685264e-01] [ 2.24759165e-02 2.66564441e-03 9.99743831e-01 -1.54097119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.06538475 meters Centerline goodness [0,1] 0.9025380076795805 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.12, Z:-0.15 [[ 9.99728322e-01 5.40260664e-03 -2.26736234e-02 2.66194005e+00] [-5.44750838e-03 9.99983321e-01 -1.91905268e-03 -1.16414999e-01] [ 2.26628773e-02 2.04204607e-03 9.99741079e-01 -1.52799306e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.09538475 meters Centerline goodness [0,1] 0.9026615019367737 Centerline is valid? [False, False] Translation: X:2.66, Y:-0.12, Z:-0.15 [[ 9.99721105e-01 4.87078251e-03 -2.31081899e-02 2.66323235e+00] [-4.92393089e-03 9.99985360e-01 -2.24363882e-03 -1.15724314e-01] [ 2.30969233e-02 2.35679621e-03 9.99730452e-01 -1.53053240e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.12538475 meters Centerline goodness [0,1] 0.9006814151031457 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.11, Z:-0.15 [[ 9.99682953e-01 7.00862342e-03 -2.41841353e-02 2.66776162e+00] [-6.99826308e-03 9.99975380e-01 5.13004315e-04 -1.14697308e-01] [ 2.41871353e-02 -3.43594727e-04 9.99707389e-01 -1.54960200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.15538475 meters Centerline goodness [0,1] 0.900441927050915 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.11, Z:-0.16 [[ 9.99677450e-01 6.71663447e-03 -2.44924852e-02 2.66871283e+00] [-6.72248550e-03 9.99977392e-01 -1.56560283e-04 -1.13076994e-01] [ 2.44908799e-02 3.21160161e-04 9.99700002e-01 -1.55578147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.185384750000004 meters Centerline goodness [0,1] 0.8999657310196579 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.11, Z:-0.15 [[ 9.99672560e-01 6.60276228e-03 -2.47219606e-02 2.66880202e+00] [-6.60693558e-03 9.99978170e-01 -8.71316892e-05 -1.13073590e-01] [ 2.47208456e-02 2.50439560e-04 9.99694362e-01 -1.54920662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.21538475 meters Centerline goodness [0,1] 0.8994227904667329 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.11, Z:-0.15 [[ 9.99670527e-01 6.56593777e-03 -2.48138233e-02 2.66875891e+00] [-6.57507988e-03 9.99978343e-01 -2.86856308e-04 -1.12011414e-01] [ 2.48114024e-02 4.49914666e-04 9.99692049e-01 -1.54660903e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.24538475 meters Centerline goodness [0,1] 0.8987691067497597 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.11, Z:-0.16 [[ 9.99675632e-01 6.75105843e-03 -2.45571722e-02 2.66839629e+00] [-6.77664875e-03 9.99976578e-01 -9.58999195e-04 -1.09226694e-01] [ 2.45501228e-02 1.12510346e-03 9.99697967e-01 -1.55391428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.27538475 meters Centerline goodness [0,1] 0.9001576458223857 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.11, Z:-0.16 [[ 9.99674628e-01 6.38416831e-03 -2.46957750e-02 2.66953514e+00] [-6.42914973e-03 9.99977815e-01 -1.74245164e-03 -1.07346596e-01] [ 2.46841030e-02 1.90065753e-03 9.99693494e-01 -1.56665516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.30538475 meters Centerline goodness [0,1] 0.9002968827313211 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.11, Z:-0.16 [[ 9.99678984e-01 6.83670812e-03 -2.43964807e-02 2.66867687e+00] [-6.88564636e-03 9.99974446e-01 -1.92251254e-03 -1.06158124e-01] [ 2.43827136e-02 2.08988093e-03 9.99700513e-01 -1.56838737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.33538475 meters Centerline goodness [0,1] 0.902169881305638 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.11, Z:-0.16 [[ 9.99674943e-01 7.06104503e-03 -2.44979474e-02 2.66821401e+00] [-7.10305790e-03 9.99973447e-01 -1.62835956e-03 -1.06282950e-01] [ 2.44857990e-02 1.80184059e-03 9.99698554e-01 -1.55931038e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.365384750000004 meters Centerline goodness [0,1] 0.9041261384053032 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.11, Z:-0.15 [[ 9.99672590e-01 7.66267607e-03 -2.44130179e-02 2.66668947e+00] [-7.68402673e-03 9.99970173e-01 -7.80870102e-04 -1.07574490e-01] [ 2.44063061e-02 9.68204719e-04 9.99701653e-01 -1.53937759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.39538475 meters Centerline goodness [0,1] 0.9072704200068092 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.11, Z:-0.15 [[ 9.99672511e-01 7.94559911e-03 -2.43256668e-02 2.66633848e+00] [-7.96982215e-03 9.99967836e-01 -8.98991714e-04 -1.06810730e-01] [ 2.43177414e-02 1.09256854e-03 9.99703683e-01 -1.54025953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.42538475 meters Centerline goodness [0,1] 0.9072757618841565 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.11, Z:-0.15 [[ 9.99673724e-01 7.87332133e-03 -2.42993068e-02 2.66671116e+00] [-7.90444929e-03 9.99968057e-01 -1.18523668e-03 -1.06209971e-01] [ 2.42891988e-02 1.37692260e-03 9.99704026e-01 -1.54686520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.45538475 meters Centerline goodness [0,1] 0.9087399629400865 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.11, Z:-0.15 [[ 9.99669990e-01 7.78873728e-03 -2.44795334e-02 2.66728543e+00] [-7.82259306e-03 9.99968574e-01 -1.28756581e-03 -1.06296490e-01] [ 2.44687356e-02 1.47863433e-03 9.99699502e-01 -1.54963415e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.48538475 meters Centerline goodness [0,1] 0.908192352977629 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.11, Z:-0.15 [[ 9.99660486e-01 7.97049699e-03 -2.48069405e-02 2.66743622e+00] [-7.99623218e-03 9.99967589e-01 -9.38394207e-04 -1.07566016e-01] [ 2.47986570e-02 1.13643767e-03 9.99691820e-01 -1.54313196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.51538475 meters Centerline goodness [0,1] 0.9083552937529065 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.11, Z:-0.16 [[ 9.99662641e-01 8.25365849e-03 -2.46268228e-02 2.66734018e+00] [-8.28438073e-03 9.99965028e-01 -1.14574630e-03 -1.07481579e-01] [ 2.46165050e-02 1.34937775e-03 9.99696057e-01 -1.55110152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.545384750000004 meters Centerline goodness [0,1] 0.9111675913585221 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.11, Z:-0.16 [[ 9.99662722e-01 8.27500958e-03 -2.46163734e-02 2.66759622e+00] [-8.31047473e-03 9.99964571e-01 -1.33875858e-03 -1.07383935e-01] [ 2.46044231e-02 1.54288080e-03 9.99696075e-01 -1.55639124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.57538475 meters Centerline goodness [0,1] 0.9102006585077965 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.11, Z:-0.16 [[ 9.99662634e-01 8.91082146e-03 -2.43970423e-02 2.66681404e+00] [-8.94476816e-03 9.99959172e-01 -1.28264949e-03 -1.07898783e-01] [ 2.43846167e-02 1.50044266e-03 9.99701525e-01 -1.55860809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.60538475 meters Centerline goodness [0,1] 0.9110643173443161 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.11, Z:-0.16 [[ 9.99658205e-01 9.06346872e-03 -2.45219714e-02 2.66701750e+00] [-9.09813778e-03 9.99957763e-01 -1.30259440e-03 -1.07751302e-01] [ 2.45091296e-02 1.52525345e-03 9.99698443e-01 -1.55985997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.63538475 meters Centerline goodness [0,1] 0.9085005720646897 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.11, Z:-0.16 [[ 9.99662864e-01 9.18140220e-03 -2.42870203e-02 2.66675429e+00] [-9.21763729e-03 9.99956564e-01 -1.38042057e-03 -1.07503011e-01] [ 2.42732912e-02 1.60382412e-03 9.99704074e-01 -1.56361816e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.66538475 meters Centerline goodness [0,1] 0.9099764967837705 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.11, Z:-0.16 [[ 9.99659245e-01 8.96504218e-03 -2.45157383e-02 2.66768981e+00] [-9.01150775e-03 9.99957801e-01 -1.78551256e-03 -1.06851171e-01] [ 2.44986966e-02 2.00582790e-03 9.99697850e-01 -1.57110089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.69538475 meters Centerline goodness [0,1] 0.9046647500695539 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.11, Z:-0.16 [[ 9.99654178e-01 8.58327900e-03 -2.48566368e-02 2.66903613e+00] [-8.64251089e-03 9.99960061e-01 -2.27649150e-03 -1.06339668e-01] [ 2.48361043e-02 2.49052799e-03 9.99688434e-01 -1.57995040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.72538475 meters Centerline goodness [0,1] 0.907260941037809 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.11, Z:-0.16 [[ 0.99965477 0.00827396 -0.02493757 2.67039693] [-0.00835116 0.99996065 -0.00299324 -0.10547013] [ 0.02491182 0.00320046 0.99968453 -0.15983696] [ 0. 0. 0. 1. ]] SLAMing on 49.75538475 meters Centerline goodness [0,1] 0.9125151883353584 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.11, Z:-0.15 [[ 0.99966455 0.00346186 -0.02566712 2.67054072] [-0.00357031 0.99998489 -0.00418031 -0.10812188] [ 0.02565226 0.00427055 0.9996618 -0.15396695] [ 0. 0. 0. 1. ]] SLAMing on 49.78538475 meters Centerline goodness [0,1] 0.9124789837474313 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.11, Z:-0.15 [[ 0.99964597 0.0027176 -0.02646772 2.67227242] [-0.00281797 0.99998898 -0.0037557 -0.1090164 ] [ 0.02645722 0.00382896 0.99964261 -0.15299505] [ 0. 0. 0. 1. ]] SLAMing on 49.81538475 meters Centerline goodness [0,1] 0.9141805018100112 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.11, Z:-0.15 [[ 9.99635682e-01 1.87236308e-03 -2.69257869e-02 2.67419858e+00] [-1.98460866e-03 9.99989450e-01 -4.14258303e-03 -1.08661687e-01] [ 2.69177464e-02 4.19451096e-03 9.99628852e-01 -1.53688514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.84538475 meters Centerline goodness [0,1] 0.9112650246917414 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:-0.15 [[ 9.99603311e-01 3.70820556e-03 -2.79189883e-02 2.67863160e+00] [-3.73782476e-03 9.99992505e-01 -1.00878416e-03 -1.07070831e-01] [ 2.79150382e-02 1.11274027e-03 9.99609680e-01 -1.54840427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.87538475 meters Centerline goodness [0,1] 0.9108503127515948 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:-0.16 [[ 9.99600800e-01 3.46697772e-03 -2.80396251e-02 2.67941757e+00] [-3.51096397e-03 9.99992682e-01 -1.51963671e-03 -1.05741435e-01] [ 2.80341514e-02 1.61747619e-03 9.99605657e-01 -1.55637058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.90538475 meters Centerline goodness [0,1] 0.9110324703545043 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:-0.15 [[ 9.99599681e-01 3.95611482e-03 -2.80147540e-02 2.67838223e+00] [-3.98185724e-03 9.99991700e-01 -8.63161038e-04 -1.06662502e-01] [ 2.80111067e-02 9.74366250e-04 9.99607137e-01 -1.54216707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.935384750000004 meters Centerline goodness [0,1] 0.9135333665338645 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:-0.15 [[ 9.99602932e-01 4.89280955e-03 -2.77495832e-02 2.67601056e+00] [-4.89195975e-03 9.99988029e-01 9.85121745e-05 -1.06840660e-01] [ 2.77497331e-02 3.72767858e-05 9.99614901e-01 -1.51862941e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.96538475 meters Centerline goodness [0,1] 0.9137920318229846 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:-0.15 [[ 9.99605282e-01 5.19493567e-03 -2.76096539e-02 2.67536456e+00] [-5.19067719e-03 9.99986503e-01 2.25906837e-04 -1.06563053e-01] [ 2.76104548e-02 -8.25048667e-05 9.99618755e-01 -1.51512771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 49.99538475 meters Centerline goodness [0,1] 0.9163514602839957 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:-0.15 [[ 9.99604680e-01 5.15813609e-03 -2.76383479e-02 2.67567938e+00] [-5.16641529e-03 9.99986628e-01 -2.28153543e-04 -1.05290896e-01] [ 2.76368015e-02 3.70854532e-04 9.99617962e-01 -1.52104112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.02538475 meters Centerline goodness [0,1] 0.9183261988957131 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.10, Z:-0.15 [[ 9.99607599e-01 5.21288673e-03 -2.75222569e-02 2.67586051e+00] [-5.23481287e-03 9.99986036e-01 -7.24678152e-04 -1.04006453e-01] [ 2.75180950e-02 8.68467653e-04 9.99620928e-01 -1.53063935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.05538475 meters Centerline goodness [0,1] 0.9174198722892309 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.10, Z:-0.15 [[ 9.99607560e-01 5.28841843e-03 -2.75092483e-02 2.67629488e+00] [-5.32276463e-03 9.99985143e-01 -1.17545565e-03 -1.02131151e-01] [ 2.75026233e-02 1.32141961e-03 9.99620858e-01 -1.54049950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.08538475 meters Centerline goodness [0,1] 0.918716842987001 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.10, Z:-0.15 [[ 9.99602201e-01 5.33453582e-03 -2.76944472e-02 2.67642722e+00] [-5.36483238e-03 9.99985089e-01 -1.01977045e-03 -1.02679030e-01] [ 2.76885942e-02 1.16794085e-03 9.99615915e-01 -1.53725101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.115384750000004 meters Centerline goodness [0,1] 0.9219064114063031 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.10, Z:-0.15 [[ 9.99591753e-01 5.07946120e-03 -2.81162988e-02 2.67753056e+00] [-5.11192102e-03 9.99986348e-01 -1.08272566e-03 -1.03075177e-01] [ 2.81104153e-02 1.22601194e-03 9.99604072e-01 -1.53872689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.14538475 meters Centerline goodness [0,1] 0.9233315800872498 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.10, Z:-0.15 [[ 9.99593261e-01 4.95616778e-03 -2.80846870e-02 2.67796923e+00] [-4.99618694e-03 9.99986601e-01 -1.35495271e-03 -1.02517069e-01] [ 2.80775953e-02 1.49471794e-03 9.99604629e-01 -1.54566572e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.17538475 meters Centerline goodness [0,1] 0.9235995306034217 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.10, Z:-0.15 [[ 9.99596797e-01 5.34546351e-03 -2.78867110e-02 2.67715251e+00] [-5.37600884e-03 9.99985028e-01 -1.02047670e-03 -1.02937440e-01] [ 2.78808386e-02 1.16998445e-03 9.99610569e-01 -1.54197543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.20538475 meters Centerline goodness [0,1] 0.9235995306034217 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.10, Z:-0.15 [[ 9.99596797e-01 5.34546351e-03 -2.78867110e-02 2.67715251e+00] [-5.37600884e-03 9.99985028e-01 -1.02047670e-03 -1.02937440e-01] [ 2.78808386e-02 1.16998445e-03 9.99610569e-01 -1.54197543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.23538475 meters Centerline goodness [0,1] 0.9261788517396947 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.10, Z:-0.15 [[ 9.99594606e-01 5.49921179e-03 -2.79353413e-02 2.67691782e+00] [-5.51975391e-03 9.99984549e-01 -6.58284743e-04 -1.03603469e-01] [ 2.79312896e-02 8.12214087e-04 9.99609515e-01 -1.53623112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.26538475 meters Centerline goodness [0,1] 0.9313883549327215 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.10, Z:-0.15 [[ 9.99605231e-01 6.28825979e-03 -2.73832075e-02 2.67516774e+00] [-6.29562577e-03 9.99980166e-01 -1.82790051e-04 -1.03943148e-01] [ 2.73815150e-02 3.55112318e-04 9.99624993e-01 -1.53110736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.295384750000004 meters Centerline goodness [0,1] 0.931479304584545 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.10, Z:-0.15 [[ 9.99605446e-01 6.41445242e-03 -2.73460580e-02 2.67510680e+00] [-6.42422585e-03 9.99979328e-01 -2.69557140e-04 -1.03497161e-01] [ 2.73437636e-02 4.45128038e-04 9.99625990e-01 -1.53317990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.32538475 meters Centerline goodness [0,1] 0.9352201647364835 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.10, Z:-0.15 [[ 9.99600683e-01 6.50139383e-03 -2.74991905e-02 2.67518143e+00] [-6.50341764e-03 9.99978852e-01 1.58412858e-05 -1.04609181e-01] [ 2.74987119e-02 1.63003760e-04 9.99621826e-01 -1.52935618e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.35538475 meters Centerline goodness [0,1] 0.9351248558156935 Centerline is valid? [False, False] Translation: X:2.67, Y:-0.11, Z:-0.15 [[ 0.99962574 0.00290007 -0.0272023 2.67408786] [-0.00299377 0.99998972 -0.00340458 -0.10617576] [ 0.02719214 0.00348475 0.99962415 -0.15241714] [ 0. 0. 0. 1. ]] SLAMing on 50.38538475 meters Centerline goodness [0,1] 0.9363528530403297 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:-0.15 [[ 9.99606835e-01 1.88004056e-03 -2.79757042e-02 2.67634916e+00] [-1.96983080e-03 9.99992996e-01 -3.18236651e-03 -1.07102185e-01] [ 2.79695253e-02 3.23622272e-03 9.99603538e-01 -1.52086200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.41538475 meters Centerline goodness [0,1] 0.935709141013998 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:-0.15 [[ 9.99593237e-01 4.91607328e-04 -2.85152564e-02 2.67923481e+00] [-5.90077065e-04 9.99993892e-01 -3.44491793e-03 -1.08063640e-01] [ 2.85133887e-02 3.46034286e-03 9.99587421e-01 -1.53194076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.44538475 meters Centerline goodness [0,1] 0.9369854437314133 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:-0.15 [[ 9.99589839e-01 5.15615104e-04 -2.86336921e-02 2.67970356e+00] [-6.09294853e-04 9.99994491e-01 -3.26303293e-03 -1.08634491e-01] [ 2.86318519e-02 3.27914092e-03 9.99584646e-01 -1.53389180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.47538475 meters Centerline goodness [0,1] 0.9378068228010381 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:-0.15 [[ 9.99592301e-01 7.80544535e-04 -2.85415757e-02 2.67960174e+00] [-8.70244159e-04 9.99994721e-01 -3.13048405e-03 -1.08676975e-01] [ 2.85389816e-02 3.15404589e-03 9.99587704e-01 -1.53608730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.50538475 meters Centerline goodness [0,1] 0.9374765654293213 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:-0.15 [[ 9.99601396e-01 1.81521077e-03 -2.81736478e-02 2.67784054e+00] [-1.88636435e-03 9.99995098e-01 -2.49916391e-03 -1.09028457e-01] [ 2.81689732e-02 2.55131349e-03 9.99599920e-01 -1.52820743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.53538475 meters Centerline goodness [0,1] 0.9397208718833308 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:-0.15 [[ 9.99600630e-01 2.25324887e-03 -2.81691953e-02 2.67697954e+00] [-2.30274328e-03 9.99995861e-01 -1.72472392e-03 -1.10537535e-01] [ 2.81651925e-02 1.78890154e-03 9.99601682e-01 -1.51518883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.56538475 meters Centerline goodness [0,1] 0.9412537126778178 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:-0.15 [[ 9.99577537e-01 1.52744093e-03 -2.90243703e-02 2.67886276e+00] [-1.56169861e-03 9.99998110e-01 -1.15767578e-03 -1.12280505e-01] [ 2.90225472e-02 1.20251403e-03 9.99578034e-01 -1.50452411e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.59538475 meters Centerline goodness [0,1] 0.9409031372793614 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:-0.15 [[ 9.99571309e-01 9.22580080e-04 -2.92634080e-02 2.68040929e+00] [-9.71622195e-04 9.99998147e-01 -1.66171004e-03 -1.11672390e-01] [ 2.92618207e-02 1.68943066e-03 9.99570354e-01 -1.51586660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.62538475 meters Centerline goodness [0,1] 0.9398796345380274 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:-0.15 [[ 9.99572389e-01 1.06538733e-03 -2.92216397e-02 2.68051523e+00] [-1.11876882e-03 9.99997735e-01 -1.81049053e-03 -1.11487908e-01] [ 2.92196447e-02 1.84240860e-03 9.99571317e-01 -1.52142630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.65538475 meters Centerline goodness [0,1] 0.9399285603354558 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:-0.15 [[ 9.99540916e-01 4.62504384e-03 -2.99427187e-02 2.68239929e+00] [-4.54848122e-03 9.99986211e-01 2.62457759e-03 -1.12980182e-01] [ 2.99544446e-02 -2.48717879e-03 9.99548171e-01 -1.51648448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.68538475 meters Centerline goodness [0,1] 0.9408182386008744 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:-0.15 [[ 9.99570587e-01 2.05370806e-03 -2.92305333e-02 2.67975174e+00] [-2.09024136e-03 9.99997072e-01 -1.21933263e-03 -1.12036070e-01] [ 2.92279436e-02 1.27990790e-03 9.99571953e-01 -1.51704616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.71538475 meters Centerline goodness [0,1] 0.9409537517992365 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:-0.15 [[ 9.99566580e-01 2.26957831e-03 -2.93513447e-02 2.67908304e+00] [-2.28452660e-03 9.99997277e-01 -4.75763793e-04 -1.12904490e-01] [ 2.93501850e-02 5.42611515e-04 9.99569043e-01 -1.50083577e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.74538475 meters Centerline goodness [0,1] 0.9426419104776194 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:-0.15 [[ 9.99556151e-01 1.92814280e-03 -2.97285047e-02 2.68016726e+00] [-1.95591621e-03 9.99997678e-01 -9.05183626e-04 -1.12156349e-01] [ 2.97266903e-02 9.62928325e-04 9.99557600e-01 -1.50517280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.77538475 meters Centerline goodness [0,1] 0.9415056587256925 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:-0.15 [[ 9.99548992e-01 1.44336501e-03 -2.99954937e-02 2.68175354e+00] [-1.50101106e-03 9.99997070e-01 -1.89939553e-03 -1.10490793e-01] [ 2.99926643e-02 1.94356245e-03 9.99548229e-01 -1.52199736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.80538475 meters Centerline goodness [0,1] 0.9396002498438476 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:-0.15 [[ 9.99547738e-01 1.58977247e-03 -3.00298622e-02 2.68197576e+00] [-1.65408456e-03 9.99996391e-01 -2.11688436e-03 -1.09697466e-01] [ 3.00263884e-02 2.16559890e-03 9.99546760e-01 -1.52739174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.83538475 meters Centerline goodness [0,1] 0.9398416225859965 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:-0.15 [[ 9.99551761e-01 1.67147300e-03 -2.98911744e-02 2.68185118e+00] [-1.74082791e-03 9.99995853e-01 -2.29437393e-03 -1.09179887e-01] [ 2.98872154e-02 2.34538089e-03 9.99550526e-01 -1.53114535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.865384750000004 meters Centerline goodness [0,1] 0.9399974946761869 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:-0.15 [[ 9.99549600e-01 1.73622443e-03 -2.99596802e-02 2.68190669e+00] [-1.79542778e-03 9.99996488e-01 -1.94931262e-03 -1.09721103e-01] [ 2.99561906e-02 2.00222509e-03 9.99549207e-01 -1.52722812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.89538475 meters Centerline goodness [0,1] 0.9397639397639398 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:-0.15 [[ 9.99532711e-01 1.29405974e-03 -3.05398865e-02 2.68336919e+00] [-1.35968167e-03 9.99996811e-01 -2.12805923e-03 -1.09800419e-01] [ 3.05370353e-02 2.16858934e-03 9.99531284e-01 -1.52882606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.92538475 meters Centerline goodness [0,1] 0.9386659129451668 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:-0.15 [[ 9.99521207e-01 1.03822671e-03 -3.09237741e-02 2.68451339e+00] [-1.11412576e-03 9.99996409e-01 -2.43726237e-03 -1.09411571e-01] [ 3.09211327e-02 2.47054839e-03 9.99518774e-01 -1.53409321e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.95538475 meters Centerline goodness [0,1] 0.9378959914685402 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:-0.15 [[ 9.99516057e-01 9.82120925e-04 -3.10915867e-02 2.68498706e+00] [-1.06638431e-03 9.99995803e-01 -2.69370111e-03 -1.08698942e-01] [ 3.10888107e-02 2.72555310e-03 9.99512910e-01 -1.53694660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 50.98538475 meters Centerline goodness [0,1] 0.9381446531021727 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:-0.15 [[ 9.99526983e-01 1.85489793e-03 -3.06980232e-02 2.68358940e+00] [-1.93994759e-03 9.99994362e-01 -2.74097423e-03 -1.06709430e-01] [ 3.06927658e-02 2.79923026e-03 9.99524946e-01 -1.53794324e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.01538475 meters Centerline goodness [0,1] 0.9405921861697096 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:-0.15 [[ 9.99527145e-01 2.28455072e-03 -3.06637888e-02 2.68227783e+00] [-2.35382921e-03 9.99994758e-01 -2.22338642e-03 -1.06610559e-01] [ 3.06585486e-02 2.29451241e-03 9.99527283e-01 -1.52061942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.045384750000004 meters Centerline goodness [0,1] 0.9401417283331243 Centerline is valid? [False, False] Translation: X:2.68, Y:-0.11, Z:-0.15 [[ 9.99502066e-01 1.59301086e-03 -3.15132252e-02 2.68348793e+00] [-1.64065476e-03 9.99997550e-01 -1.48606995e-03 -1.07474079e-01] [ 3.15107807e-02 1.53703231e-03 9.99502230e-01 -1.49925713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.07538475 meters Centerline goodness [0,1] 0.9401955867602808 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.11, Z:-0.15 [[ 9.99488115e-01 3.27589424e-04 -3.19906295e-02 2.68565460e+00] [-4.10653165e-04 9.99996562e-01 -2.58996655e-03 -1.05053512e-01] [ 3.19896710e-02 2.60177784e-03 9.99484813e-01 -1.50957875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.10538475 meters Centerline goodness [0,1] 0.9380821404013252 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.10, Z:-0.15 [[ 9.99466100e-01 -5.82247971e-04 -3.26676551e-02 2.68796264e+00] [ 4.73544175e-04 9.99994326e-01 -3.33520473e-03 -1.03540694e-01] [ 3.26694117e-02 3.31795448e-03 9.99460705e-01 -1.51824341e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.13538475 meters Centerline goodness [0,1] 0.9342517219787101 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.10, Z:-0.15 [[ 9.99458906e-01 -1.20254869e-03 -3.28701784e-02 2.68951675e+00] [ 1.06024674e-03 9.99989993e-01 -4.34629849e-03 -1.01737716e-01] [ 3.28750761e-02 4.30909623e-03 9.99450179e-01 -1.53498209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.16538475 meters Centerline goodness [0,1] 0.9347485753647693 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.10, Z:-0.15 [[ 9.99445077e-01 -1.70854608e-03 -3.32658972e-02 2.69108108e+00] [ 1.54790336e-03 9.99987020e-01 -4.85420567e-03 -1.00685901e-01] [ 3.32737590e-02 4.80001956e-03 9.99434749e-01 -1.54342961e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.19538475 meters Centerline goodness [0,1] 0.9346493148970781 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.10, Z:-0.15 [[ 9.99444345e-01 -1.77716934e-03 -3.32842674e-02 2.69155572e+00] [ 1.61079931e-03 9.99986079e-01 -5.02460649e-03 -1.00097504e-01] [ 3.32927336e-02 4.96820026e-03 9.99433295e-01 -1.54882657e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.22538475 meters Centerline goodness [0,1] 0.9366234577541778 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.10, Z:-0.15 [[ 9.99444489e-01 -1.47193547e-03 -3.32948541e-02 2.69094228e+00] [ 1.31311800e-03 9.99987659e-01 -4.79139369e-03 -9.94413134e-02] [ 3.33014958e-02 4.74501195e-03 9.99434087e-01 -1.54072087e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.25538475 meters Centerline goodness [0,1] 0.9371369683342702 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.10, Z:-0.15 [[ 9.99452090e-01 -9.54140503e-04 -3.30848796e-02 2.68978859e+00] [ 8.16426363e-04 9.99990948e-01 -4.17570909e-03 -9.96039550e-02] [ 3.30885643e-02 4.14640981e-03 9.99443822e-01 -1.52983082e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.28538475 meters Centerline goodness [0,1] 0.9390043169042517 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.10, Z:-0.15 [[ 9.99428565e-01 2.52647281e-03 -3.37069838e-02 2.69049184e+00] [-2.48035782e-03 9.99995930e-01 1.40985844e-03 -1.01230261e-01] [ 3.37104085e-02 -1.32544742e-03 9.99430764e-01 -1.49533112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.31538475 meters Centerline goodness [0,1] 0.9387647423960274 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.10, Z:-0.15 [[ 9.99427882e-01 2.54720697e-03 -3.37256744e-02 2.69031372e+00] [-2.50247835e-03 9.99995933e-01 1.36839313e-03 -1.00821319e-01] [ 3.37290228e-02 -1.28321247e-03 9.99430191e-01 -1.49249164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.34538475 meters Centerline goodness [0,1] 0.9368558301254191 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.10, Z:-0.15 [[ 9.99434317e-01 2.83453285e-03 -3.35113709e-02 2.68936645e+00] [-2.78009130e-03 9.99994739e-01 1.67105336e-03 -1.01208789e-01] [ 3.35159312e-02 -1.57694340e-03 9.99436939e-01 -1.48511057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.37538475 meters Centerline goodness [0,1] 0.9390878671458669 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.10, Z:-0.15 [[ 9.99424771e-01 2.27547536e-03 -3.38371002e-02 2.69078863e+00] [-2.22199928e-03 9.99996223e-01 1.61791783e-03 -1.01894266e-01] [ 3.38406539e-02 -1.54180115e-03 9.99426052e-01 -1.48893519e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.40538475 meters Centerline goodness [0,1] 0.9359069767441861 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.10, Z:-0.15 [[ 9.99420962e-01 2.10310890e-03 -3.39605369e-02 2.69152507e+00] [-2.04726271e-03 9.99996495e-01 1.67913303e-03 -1.02551852e-01] [ 3.39639492e-02 -1.60863461e-03 9.99421764e-01 -1.49294480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.43538475 meters Centerline goodness [0,1] 0.937799190833565 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.10, Z:-0.15 [[ 9.99415527e-01 1.37444972e-03 -3.41572144e-02 2.69347636e+00] [-1.33030056e-03 9.99998250e-01 1.31522083e-03 -1.02698450e-01] [ 3.41589623e-02 -1.26901276e-03 9.99415607e-01 -1.50753489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.46538475 meters Centerline goodness [0,1] 0.9355627806161945 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.10, Z:-0.15 [[ 9.99414806e-01 1.36763520e-03 -3.41785712e-02 2.69404067e+00] [-1.32397198e-03 9.99998278e-01 1.30010245e-03 -1.03410436e-01] [ 3.41802904e-02 -1.25409017e-03 9.99414896e-01 -1.51479429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.49538475 meters Centerline goodness [0,1] 0.8830625378776947 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.11, Z:-0.14 [[ 0.99939618 0.00368225 -0.03455015 2.74855022] [-0.00338699 0.99995728 0.00860044 -0.10642316] [ 0.03458035 -0.00847823 0.99936596 -0.14440799] [ 0. 0. 0. 1. ]] SLAMing on 51.52538475 meters Centerline goodness [0,1] 0.9326521133302369 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.11, Z:-0.15 [[ 9.99487236e-01 2.27572597e-03 -3.19387856e-02 2.69401630e+00] [-2.02156381e-03 9.99966053e-01 7.98782685e-03 -1.07771855e-01] [ 3.19558795e-02 -7.91916469e-03 9.99457907e-01 -1.48108112e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.55538475 meters Centerline goodness [0,1] 0.934474084655756 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.11, Z:-0.15 [[ 9.99482882e-01 2.21164135e-03 -3.20792457e-02 2.69431216e+00] [-1.95253911e-03 9.99965239e-01 8.10602152e-03 -1.08526350e-01] [ 3.20960582e-02 -8.03919377e-03 9.99452457e-01 -1.48002226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.58538475 meters Centerline goodness [0,1] 0.9347751672631087 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.11, Z:-0.15 [[ 9.99512445e-01 -5.97605970e-04 -3.12172237e-02 2.69205657e+00] [ 7.17476719e-04 9.99992413e-01 3.82883101e-03 -1.07330916e-01] [ 3.12146987e-02 -3.84936187e-03 9.99505290e-01 -1.48986658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.615384750000004 meters Centerline goodness [0,1] 0.9376355412355164 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.11, Z:-0.15 [[ 9.99510536e-01 -7.94351665e-04 -3.12738967e-02 2.69299868e+00] [ 8.92257780e-04 9.99994745e-01 3.11677061e-03 -1.06708396e-01] [ 3.12712566e-02 -3.14314944e-03 9.99505993e-01 -1.50506586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.64538475 meters Centerline goodness [0,1] 0.9369115460852329 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.11, Z:-0.15 [[ 9.99510740e-01 -8.70983126e-04 -3.12653549e-02 2.69350557e+00] [ 9.55389271e-04 9.99995939e-01 2.68483269e-03 -1.06429634e-01] [ 3.12628895e-02 -2.71338970e-03 9.99507513e-01 -1.51491180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.67538475 meters Centerline goodness [0,1] 0.9345162391041351 Centerline is valid? [False, False] Translation: X:2.69, Y:-0.11, Z:-0.15 [[ 9.99508980e-01 -9.34729624e-04 -3.13197323e-02 2.69398532e+00] [ 1.01855017e-03 9.99995942e-01 2.66043826e-03 -1.07135702e-01] [ 3.13171184e-02 -2.69103265e-03 9.99505876e-01 -1.51987674e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.70538475 meters Centerline goodness [0,1] 0.9363830643912411 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.11, Z:-0.15 [[ 9.99493343e-01 -1.39559097e-03 -3.17979494e-02 2.69540591e+00] [ 1.48049058e-03 9.99995402e-01 2.64658338e-03 -1.07635155e-01] [ 3.17941096e-02 -2.69231904e-03 9.99490813e-01 -1.52112839e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.73538475 meters Centerline goodness [0,1] 0.9341990804026346 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.11, Z:-0.15 [[ 9.99475838e-01 -1.96161959e-03 -3.23141098e-02 2.69696576e+00] [ 2.05740153e-03 9.99993588e-01 2.93110680e-03 -1.09670824e-01] [ 3.23081528e-02 -2.99605352e-03 9.99473465e-01 -1.51979471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.76538475 meters Centerline goodness [0,1] 0.933314653964696 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.11, Z:-0.15 [[ 9.99467292e-01 -2.23393491e-03 -3.25598320e-02 2.69782457e+00] [ 2.33411596e-03 9.99992658e-01 3.03914495e-03 -1.10443488e-01] [ 3.25528037e-02 -3.11352440e-03 9.99465167e-01 -1.52067261e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.795384750000004 meters Centerline goodness [0,1] 0.93391055188738 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.11, Z:-0.15 [[ 0.99944941 -0.00300887 -0.03304281 2.69986828] [ 0.00310305 0.99999127 0.00279932 -0.11100712] [ 0.0330341 -0.00290031 0.99945002 -0.15280546] [ 0. 0. 0. 1. ]] SLAMing on 51.82538475 meters Centerline goodness [0,1] 0.9331488448742266 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.11, Z:-0.15 [[ 0.99943832 -0.00324267 -0.03335464 2.70049873] [ 0.00334653 0.99998972 0.00305831 -0.11187871] [ 0.03334438 -0.00316822 0.9994389 -0.15235675] [ 0. 0. 0. 1. ]] SLAMing on 51.85538475 meters Centerline goodness [0,1] 0.9360035100915131 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.11, Z:-0.15 [[ 9.99458871e-01 -5.69327589e-03 -3.23967815e-02 2.69674254e+00] [ 5.70008492e-03 9.99983747e-01 1.17822704e-04 -1.12704109e-01] [ 3.23955842e-02 -3.02423352e-04 9.99475080e-01 -1.50886076e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.88538475 meters Centerline goodness [0,1] 0.9365213578855067 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.11, Z:-0.15 [[ 9.99450285e-01 -5.57432799e-03 -3.26811153e-02 2.69659017e+00] [ 5.60506946e-03 9.99983931e-01 8.49109894e-04 -1.13559286e-01] [ 3.26758569e-02 -1.03182305e-03 9.99465469e-01 -1.49422007e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.91538475 meters Centerline goodness [0,1] 0.936872804816859 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.11, Z:-0.15 [[ 9.99462180e-01 -5.00036971e-03 -3.24090467e-02 2.69530724e+00] [ 5.05778594e-03 9.99985781e-01 1.68987219e-03 -1.14820984e-01] [ 3.24001359e-02 -1.85288137e-03 9.99473260e-01 -1.48291868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.94538475 meters Centerline goodness [0,1] 0.9365898153681628 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.11, Z:-0.15 [[ 9.99455856e-01 -5.09315940e-03 -3.25891275e-02 2.69577157e+00] [ 5.14599343e-03 9.99985577e-01 1.53754711e-03 -1.14440018e-01] [ 3.25808265e-02 -1.70441390e-03 9.99467651e-01 -1.48483099e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 51.97538475 meters Centerline goodness [0,1] 0.9351691581431943 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.11, Z:-0.15 [[ 9.99443073e-01 -5.35543283e-03 -3.29372502e-02 2.69701004e+00] [ 5.40014807e-03 9.99984614e-01 1.26878084e-03 -1.14483294e-01] [ 3.29299486e-02 -1.44594025e-03 9.99456616e-01 -1.49191209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.00538475 meters Centerline goodness [0,1] 0.9343405728674851 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.11, Z:-0.15 [[ 9.99418834e-01 -5.98606917e-03 -3.35583301e-02 2.69882498e+00] [ 6.02700376e-03 9.99981212e-01 1.11877950e-03 -1.14934229e-01] [ 3.35510025e-02 -1.32038549e-03 9.99436134e-01 -1.49428390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.03538475 meters Centerline goodness [0,1] 0.9326841259336296 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.12, Z:-0.15 [[ 9.99364289e-01 -7.69768264e-03 -3.48103973e-02 2.70297854e+00] [ 7.73069364e-03 9.99969787e-01 8.13810865e-04 -1.16299830e-01] [ 3.48030811e-02 -1.08240203e-03 9.99393603e-01 -1.49970265e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.06538475 meters Centerline goodness [0,1] 0.9329091776682042 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.12, Z:-0.15 [[ 0.99931669 -0.0123811 -0.03482616 2.70465102] [ 0.01224104 0.99991612 -0.004232 -0.11563626] [ 0.03487563 0.0038028 0.99938442 -0.15243163] [ 0. 0. 0. 1. ]] SLAMing on 52.09538475 meters Centerline goodness [0,1] 0.9349528782475802 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.12, Z:-0.15 [[ 0.99929499 -0.01263572 -0.03535327 2.70577051] [ 0.01251432 0.99991502 -0.00365294 -0.11691121] [ 0.03539643 0.00320794 0.9993682 -0.15178199] [ 0. 0. 0. 1. ]] SLAMing on 52.12538475 meters Centerline goodness [0,1] 0.9328341493072222 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.12, Z:-0.15 [[ 9.99273782e-01 -1.28776533e-02 -3.58618853e-02 2.70672036e+00] [ 1.27911718e-02 9.99914705e-01 -2.63991135e-03 -1.19276226e-01] [ 3.58928223e-02 2.17927866e-03 9.99353269e-01 -1.50506766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.15538475 meters Centerline goodness [0,1] 0.9328341493072222 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.12, Z:-0.15 [[ 9.99273782e-01 -1.28776533e-02 -3.58618853e-02 2.70672036e+00] [ 1.27911718e-02 9.99914705e-01 -2.63991135e-03 -1.19276226e-01] [ 3.58928223e-02 2.17927866e-03 9.99353269e-01 -1.50506766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.18538475 meters Centerline goodness [0,1] 0.9335088451536263 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.12, Z:-0.15 [[ 9.99267457e-01 -1.26057304e-02 -3.61336965e-02 2.70663960e+00] [ 1.25485634e-02 9.99919628e-01 -1.80845396e-03 -1.20686303e-01] [ 3.61535892e-02 1.35370321e-03 9.99345328e-01 -1.49265061e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.21538475 meters Centerline goodness [0,1] 0.9349536070889652 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.12, Z:-0.15 [[ 9.99261391e-01 -1.22726006e-02 -3.64150367e-02 2.70653328e+00] [ 1.22424469e-02 9.99924506e-01 -1.05092805e-03 -1.21706016e-01] [ 3.64251852e-02 6.04342673e-04 9.99336200e-01 -1.48086274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.24538475 meters Centerline goodness [0,1] 0.9373713991769548 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.12, Z:-0.15 [[ 9.99269765e-01 -1.14482830e-02 -3.64537172e-02 2.70571843e+00] [ 1.14362602e-02 9.99934459e-01 -5.38314459e-04 -1.22374723e-01] [ 3.64574907e-02 1.21027167e-04 9.99335197e-01 -1.47411194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.27538475 meters Centerline goodness [0,1] 0.938851819617703 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.12, Z:-0.15 [[ 9.99279870e-01 -1.04060449e-02 -3.64891246e-02 2.70427843e+00] [ 1.04281253e-02 9.99945540e-01 4.14848193e-04 -1.23518676e-01] [ 3.64828205e-02 -7.95062611e-04 9.99333964e-01 -1.45830658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.30538475 meters Centerline goodness [0,1] 0.94133006672899 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.12, Z:-0.14 [[ 9.99257076e-01 -1.06353793e-02 -3.70430145e-02 2.70503220e+00] [ 1.06775808e-02 9.99942550e-01 9.41604991e-04 -1.24337275e-01] [ 3.70308721e-02 -1.33643523e-03 9.99313228e-01 -1.44606908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.33538475 meters Centerline goodness [0,1] 0.9420523918731225 Centerline is valid? [False, False] Translation: X:2.70, Y:-0.12, Z:-0.14 [[ 9.99261422e-01 -1.03120108e-02 -3.70172069e-02 2.70443839e+00] [ 1.03654709e-02 9.99945493e-01 1.25256337e-03 -1.24554368e-01] [ 3.70022727e-02 -1.63533904e-03 9.99313843e-01 -1.44038147e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.365384750000004 meters Centerline goodness [0,1] 0.9413912313010888 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.13, Z:-0.14 [[ 9.99239645e-01 -1.08208695e-02 -3.74571762e-02 2.70556134e+00] [ 1.08919006e-02 9.99939249e-01 1.69277974e-03 -1.25289315e-01] [ 3.74365833e-02 -2.09947246e-03 9.99296800e-01 -1.43290208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.39538475 meters Centerline goodness [0,1] 0.9403322044831479 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.13, Z:-0.14 [[ 9.99200931e-01 -1.16785999e-02 -3.82244719e-02 2.70765363e+00] [ 1.17479810e-02 9.99929724e-01 1.59097981e-03 -1.25350297e-01] [ 3.82032052e-02 -2.03876887e-03 9.99267911e-01 -1.43139048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.42538475 meters Centerline goodness [0,1] 0.9407126074221893 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.12, Z:-0.14 [[ 9.99157645e-01 -1.28149716e-02 -3.89843100e-02 2.71060125e+00] [ 1.28618545e-02 9.99916830e-01 9.52037708e-04 -1.24721232e-01] [ 3.89688674e-02 -1.45264628e-03 9.99239369e-01 -1.44273266e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.45538475 meters Centerline goodness [0,1] 0.940585800904687 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.12, Z:-0.15 [[ 9.99146738e-01 -1.30933954e-02 -3.91709017e-02 2.71161767e+00] [ 1.31222870e-02 9.99913784e-01 4.80552071e-04 -1.23687426e-01] [ 3.91612325e-02 -9.94153847e-04 9.99232410e-01 -1.45175654e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.48538475 meters Centerline goodness [0,1] 0.9415157827271271 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.12, Z:-0.15 [[ 9.99158155e-01 -1.26303757e-02 -3.90314712e-02 2.71120971e+00] [ 1.26479172e-02 9.99919991e-01 2.02515988e-04 -1.22686885e-01] [ 3.90257905e-02 -6.96012319e-04 9.99237961e-01 -1.45710251e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.51538475 meters Centerline goodness [0,1] 0.9431566798114841 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.12, Z:-0.14 [[ 9.99164051e-01 -1.21657171e-02 -3.90281313e-02 2.71040898e+00] [ 1.22012882e-02 9.99925335e-01 6.73354741e-04 -1.22826221e-01] [ 3.90170254e-02 -1.14898533e-03 9.99237885e-01 -1.44755014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.545384750000004 meters Centerline goodness [0,1] 0.9437467965146079 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.12, Z:-0.14 [[ 9.99135074e-01 -1.23080984e-02 -3.97192060e-02 2.71052775e+00] [ 1.23925482e-02 9.99921441e-01 1.88065239e-03 -1.24400152e-01] [ 3.96929384e-02 -2.37124794e-03 9.99209111e-01 -1.41781237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.57538475 meters Centerline goodness [0,1] 0.9430402050296331 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.12, Z:-0.14 [[ 9.99123300e-01 -1.23718594e-02 -3.99945977e-02 2.71119057e+00] [ 1.24532718e-02 9.99920858e-01 1.78708574e-03 -1.24137180e-01] [ 3.99693229e-02 -2.28358260e-03 9.99198298e-01 -1.41891738e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.60538475 meters Centerline goodness [0,1] 0.9428589710775531 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.12, Z:-0.14 [[ 9.99103032e-01 -1.28879877e-02 -4.03364868e-02 2.71262451e+00] [ 1.29432823e-02 9.99915616e-01 1.10997308e-03 -1.23040919e-01] [ 4.03187778e-02 -1.63106401e-03 9.99185536e-01 -1.42837209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.63538475 meters Centerline goodness [0,1] 0.9412762959879607 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.12, Z:-0.14 [[ 9.99092257e-01 -1.30513441e-02 -4.05502739e-02 2.71329381e+00] [ 1.31057862e-02 9.99913535e-01 1.07703298e-03 -1.22929825e-01] [ 4.05327110e-02 -1.60749853e-03 9.99176919e-01 -1.42950298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.66538475 meters Centerline goodness [0,1] 0.9430193035336369 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.12, Z:-0.14 [[ 9.99071360e-01 -1.34585980e-02 -4.09302298e-02 2.71409017e+00] [ 1.35427190e-02 9.99906711e-01 1.77864204e-03 -1.24302462e-01] [ 4.09024735e-02 -2.33129692e-03 9.99160424e-01 -1.41718292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.69538475 meters Centerline goodness [0,1] 0.9440588651114967 Centerline is valid? [False, False] Translation: X:2.71, Y:-0.13, Z:-0.14 [[ 0.99904757 -0.0137336 -0.04141678 2.71466218] [ 0.01385938 0.99990017 0.00275129 -0.12663804] [ 0.04137486 -0.00332268 0.99913817 -0.14004832] [ 0. 0. 0. 1. ]] SLAMing on 52.72538475 meters Centerline goodness [0,1] 0.9436873232193366 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.13, Z:-0.14 [[ 0.99898879 -0.01532346 -0.04226797 2.7176671 ] [ 0.01546828 0.99987555 0.00310145 -0.1287409 ] [ 0.04221519 -0.00375213 0.9991015 -0.13929984] [ 0. 0. 0. 1. ]] SLAMing on 52.75538475 meters Centerline goodness [0,1] 0.9434382566585956 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.13, Z:-0.14 [[ 0.99897733 -0.01568392 -0.04240653 2.7187181 ] [ 0.01582511 0.99987029 0.00299567 -0.1290476 ] [ 0.04235405 -0.0036637 0.99909595 -0.13993107] [ 0. 0. 0. 1. ]] SLAMing on 52.78538475 meters Centerline goodness [0,1] 0.9435730619343619 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.13, Z:-0.14 [[ 9.98977648e-01 -1.59235556e-02 -4.23095649e-02 2.71957580e+00] [ 1.60384742e-02 9.99868547e-01 2.37806355e-03 -1.28503935e-01] [ 4.22661360e-02 -3.05421320e-03 9.99101719e-01 -1.41478457e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.81538475 meters Centerline goodness [0,1] 0.9435476075398743 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.13, Z:-0.14 [[ 0.99897215 -0.01585511 -0.04246486 2.71964911] [ 0.01598842 0.99986825 0.0028016 -0.12905385] [ 0.04241484 -0.00347767 0.99909403 -0.14079206] [ 0. 0. 0. 1. ]] SLAMing on 52.84538475 meters Centerline goodness [0,1] 0.946341936735882 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.13, Z:-0.14 [[ 0.99897347 -0.01588375 -0.04242314 2.71924465] [ 0.01605578 0.99986419 0.00371746 -0.13121559] [ 0.04235833 -0.00439478 0.99909282 -0.13925974] [ 0. 0. 0. 1. ]] SLAMing on 52.87538475 meters Centerline goodness [0,1] 0.9448610213316095 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.13, Z:-0.14 [[ 0.99897431 -0.01602368 -0.04235057 2.71954864] [ 0.01618013 0.99986347 0.00335398 -0.13050278] [ 0.04229105 -0.00403578 0.99909718 -0.13996026] [ 0. 0. 0. 1. ]] SLAMing on 52.90538475 meters Centerline goodness [0,1] 0.9412409700722394 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.13, Z:-0.14 [[ 9.98961167e-01 -1.67390428e-02 -4.23838647e-02 2.72131811e+00] [ 1.68595081e-02 9.99854777e-01 2.48637088e-03 -1.29644861e-01] [ 4.23360901e-02 -3.19835907e-03 9.99098306e-01 -1.42031698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.93538475 meters Centerline goodness [0,1] 0.9391419269574187 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.13, Z:-0.14 [[ 9.98942769e-01 -1.71863816e-02 -4.26376987e-02 2.72265838e+00] [ 1.72896711e-02 9.99848411e-01 2.05488540e-03 -1.29359867e-01] [ 4.25959192e-02 -2.78990470e-03 9.99088487e-01 -1.42990491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.96538475 meters Centerline goodness [0,1] 0.9383577052868391 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.13, Z:-0.14 [[ 9.98941659e-01 -1.73219431e-02 -4.26088208e-02 2.72331806e+00] [ 1.74037218e-02 9.99847344e-01 1.54906578e-03 -1.28374560e-01] [ 4.25754835e-02 -2.28897840e-03 9.99090631e-01 -1.44083301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 52.99538475 meters Centerline goodness [0,1] 0.935827328872877 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.13, Z:-0.14 [[ 9.98959742e-01 -1.67529517e-02 -4.24119466e-02 2.72207938e+00] [ 1.68663020e-02 9.99855071e-01 2.31616207e-03 -1.29454547e-01] [ 4.23669973e-02 -3.02908536e-03 9.99097524e-01 -1.42778580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.02538475 meters Centerline goodness [0,1] 0.935827328872877 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.13, Z:-0.14 [[ 9.98959742e-01 -1.67529517e-02 -4.24119466e-02 2.72207938e+00] [ 1.68663020e-02 9.99855071e-01 2.31616207e-03 -1.29454547e-01] [ 4.23669973e-02 -3.02908536e-03 9.99097524e-01 -1.42778580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.05538475 meters Centerline goodness [0,1] 0.936313316599086 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.13, Z:-0.14 [[ 9.98976597e-01 -1.63451887e-02 -4.21733770e-02 2.72135925e+00] [ 1.64458201e-02 9.99862677e-01 2.04027392e-03 -1.28249914e-01] [ 4.21342369e-02 -2.73176167e-03 9.99108224e-01 -1.43032982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.08538475 meters Centerline goodness [0,1] 0.9368336286036398 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.13, Z:-0.14 [[ 9.98982573e-01 -1.61487677e-02 -4.21074335e-02 2.72074465e+00] [ 1.62522749e-02 9.99865682e-01 2.11698494e-03 -1.27571747e-01] [ 4.20675910e-02 -2.79917265e-03 9.99110846e-01 -1.42504513e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.115384750000004 meters Centerline goodness [0,1] 0.9386273434222839 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.13, Z:-0.14 [[ 9.98997712e-01 -1.60377423e-02 -4.17895042e-02 2.72005264e+00] [ 1.61234953e-02 9.99868536e-01 1.71576450e-03 -1.25501458e-01] [ 4.17564934e-02 -2.38783768e-03 9.99124964e-01 -1.42687630e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.14538475 meters Centerline goodness [0,1] 0.9369152117295264 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.12, Z:-0.14 [[ 9.99016153e-01 -1.56740580e-02 -4.14855399e-02 2.71911515e+00] [ 1.57462540e-02 9.99875020e-01 1.41406033e-03 -1.22846832e-01] [ 4.14581910e-02 -2.06591096e-03 9.99138104e-01 -1.42758268e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.17538475 meters Centerline goodness [0,1] 0.9345415983804106 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.12, Z:-0.14 [[ 9.99011073e-01 -1.58650567e-02 -4.15352466e-02 2.71948630e+00] [ 1.59303406e-02 9.99872334e-01 1.24124417e-03 -1.22471818e-01] [ 4.15102516e-02 -1.90168729e-03 9.99136268e-01 -1.42967752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.20538475 meters Centerline goodness [0,1] 0.9330063788184761 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.12, Z:-0.14 [[ 9.99011358e-01 -1.60704044e-02 -4.14493503e-02 2.72004571e+00] [ 1.60998175e-02 9.99870319e-01 3.75884148e-04 -1.20620769e-01] [ 4.14379345e-02 -1.04283951e-03 9.99140536e-01 -1.44379271e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.23538475 meters Centerline goodness [0,1] 0.9322071784391366 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.12, Z:-0.14 [[ 9.98994030e-01 -1.64300371e-02 -4.17250806e-02 2.72099774e+00] [ 1.64418633e-02 9.99864822e-01 -5.97439763e-05 -1.19747999e-01] [ 4.17204219e-02 -6.26354197e-04 9.99129128e-01 -1.44838663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.26538475 meters Centerline goodness [0,1] 0.9323404391319633 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.12, Z:-0.14 [[ 9.99002571e-01 -1.62004437e-02 -4.16102050e-02 2.72057271e+00] [ 1.62134206e-02 9.99868554e-01 -2.56025891e-05 -1.19511172e-01] [ 4.16051502e-02 -6.49066702e-04 9.99133920e-01 -1.44777218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.295384750000004 meters Centerline goodness [0,1] 0.9340327910931434 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.12, Z:-0.14 [[ 9.98992227e-01 -1.61456988e-02 -4.18789541e-02 2.72063084e+00] [ 1.61776743e-02 9.99869043e-01 4.24713177e-04 -1.20108990e-01] [ 4.18666124e-02 -1.10178924e-03 9.99122601e-01 -1.43788169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.32538475 meters Centerline goodness [0,1] 0.9300185933192281 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.12, Z:-0.15 [[ 9.98963440e-01 -1.70101415e-02 -4.22220469e-02 2.72319952e+00] [ 1.69965560e-02 9.99855316e-01 -6.80744316e-04 -1.19028740e-01] [ 4.22275176e-02 -3.75906997e-05 9.99108020e-01 -1.46187256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.35538475 meters Centerline goodness [0,1] 0.9317767471613625 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.12, Z:-0.15 [[ 9.98935895e-01 -1.77032153e-02 -4.25872451e-02 2.72529138e+00] [ 1.76596634e-02 9.99843078e-01 -1.39867233e-03 -1.18123857e-01] [ 4.26053232e-02 6.45107589e-04 9.99091773e-01 -1.47722960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.38538475 meters Centerline goodness [0,1] 0.9286080492181492 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.12, Z:-0.15 [[ 9.98895626e-01 -1.85258057e-02 -4.31777951e-02 2.72759068e+00] [ 1.84601288e-02 9.99827755e-01 -1.91933838e-03 -1.17983722e-01] [ 4.32059153e-02 1.12015105e-03 9.99065560e-01 -1.48719069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.41538475 meters Centerline goodness [0,1] 0.9295291249679241 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.12, Z:-0.15 [[ 9.98886067e-01 -1.83152689e-02 -4.34876484e-02 2.72742469e+00] [ 1.82812416e-02 9.99832188e-01 -1.18005558e-03 -1.19225091e-01] [ 4.35019637e-02 3.83732870e-04 9.99053268e-01 -1.47320234e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.44538475 meters Centerline goodness [0,1] 0.928376687943035 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.12, Z:-0.15 [[ 9.98890027e-01 -1.80096797e-02 -4.35243067e-02 2.72695359e+00] [ 1.79875405e-02 9.99837806e-01 -9.00274602e-04 -1.18966356e-01] [ 4.35334610e-02 1.16380090e-04 9.99051963e-01 -1.46598910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.47538475 meters Centerline goodness [0,1] 0.9284429021271127 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.12, Z:-0.15 [[ 9.98897527e-01 -1.76895254e-02 -4.34834676e-02 2.72661967e+00] [ 1.76727496e-02 9.99843528e-01 -7.70215836e-04 -1.18879011e-01] [ 4.34902885e-02 8.94260028e-07 9.99053850e-01 -1.46494236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.50538475 meters Centerline goodness [0,1] 0.9304216480267387 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.12, Z:-0.14 [[ 9.98910992e-01 -1.69935690e-02 -4.34516859e-02 2.72534781e+00] [ 1.70274119e-02 9.99854940e-01 4.08845401e-04 -1.19955995e-01] [ 4.34384350e-02 -1.14826992e-03 9.99055446e-01 -1.44468479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.53538475 meters Centerline goodness [0,1] 0.9316578057032383 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.12, Z:-0.14 [[ 9.98914182e-01 -1.68882200e-02 -4.34194134e-02 2.72493556e+00] [ 1.69388761e-02 9.99856208e-01 7.98995459e-04 -1.20490181e-01] [ 4.33996764e-02 -1.53360396e-03 9.99056613e-01 -1.43762617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.56538475 meters Centerline goodness [0,1] 0.9295100006472911 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.12, Z:-0.14 [[ 9.98918657e-01 -1.69608998e-02 -4.32879326e-02 2.72448542e+00] [ 1.70356862e-02 9.99853958e-01 1.35931685e-03 -1.21140097e-01] [ 4.32585555e-02 -2.09528660e-03 9.99061713e-01 -1.42648997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.59538475 meters Centerline goodness [0,1] 0.9299115388354233 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.12, Z:-0.14 [[ 9.98926798e-01 -1.65935410e-02 -4.32424101e-02 2.72372575e+00] [ 1.66876328e-02 9.99859103e-01 1.81582248e-03 -1.21744680e-01] [ 4.32061864e-02 -2.53548719e-03 9.99062959e-01 -1.41800267e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.62538475 meters Centerline goodness [0,1] 0.9278327045661506 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.12, Z:-0.14 [[ 9.98936108e-01 -1.64139799e-02 -4.30956351e-02 2.72347343e+00] [ 1.65097363e-02 9.99861962e-01 1.86695384e-03 -1.22396268e-01] [ 4.30590421e-02 -2.57646517e-03 9.99069207e-01 -1.41978677e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.65538475 meters Centerline goodness [0,1] 0.9284506859111892 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.12, Z:-0.14 [[ 9.98946074e-01 -1.62583097e-02 -4.29232820e-02 2.72326917e+00] [ 1.63642677e-02 9.99863852e-01 2.11830926e-03 -1.22934839e-01] [ 4.28829980e-02 -2.81848480e-03 9.99076126e-01 -1.42032014e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.68538475 meters Centerline goodness [0,1] 0.927789219051355 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.12, Z:-0.14 [[ 9.98891426e-01 -2.03510889e-02 -4.24470627e-02 2.72261917e+00] [ 2.03199026e-02 9.99792849e-01 -1.16608054e-03 -1.24550803e-01] [ 4.24620007e-02 3.02267674e-04 9.99098037e-01 -1.41450345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.71538475 meters Centerline goodness [0,1] 0.9292131147540984 Centerline is valid? [False, False] Translation: X:2.72, Y:-0.13, Z:-0.14 [[ 9.98858512e-01 -2.07682868e-02 -4.30157074e-02 2.72387946e+00] [ 2.07685118e-02 9.99784214e-01 -4.41711069e-04 -1.26302525e-01] [ 4.30155987e-02 -4.52165363e-04 9.99074298e-01 -1.40447327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.74538475 meters Centerline goodness [0,1] 0.9243581756778911 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.13, Z:-0.14 [[ 9.98813039e-01 -2.19289514e-02 -4.34929164e-02 2.72671107e+00] [ 2.19159657e-02 9.99759516e-01 -7.75426102e-04 -1.26802468e-01] [ 4.34994613e-02 -1.78683561e-04 9.99053434e-01 -1.41743010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.77538475 meters Centerline goodness [0,1] 0.9184282109264903 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.13, Z:-0.14 [[ 9.98795004e-01 -2.26266688e-02 -4.35496791e-02 2.72854329e+00] [ 2.25888226e-02 9.99743914e-01 -1.36100356e-03 -1.26560467e-01] [ 4.35693216e-02 3.75627575e-04 9.99050336e-01 -1.43628081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.80538475 meters Centerline goodness [0,1] 0.9180139704194406 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.13, Z:-0.14 [[ 9.98799573e-01 -2.24450460e-02 -4.35388622e-02 2.72835531e+00] [ 2.24262287e-02 9.99748077e-01 -9.20646156e-04 -1.27208393e-01] [ 4.35485577e-02 -5.68714923e-05 9.99051310e-01 -1.43188414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.83538475 meters Centerline goodness [0,1] 0.9185833768949294 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.13, Z:-0.14 [[ 9.98797209e-01 -2.24133856e-02 -4.36093496e-02 2.72833229e+00] [ 2.24142439e-02 9.99748659e-01 -4.69348271e-04 -1.27754040e-01] [ 4.36089085e-02 -5.08686854e-04 9.99048550e-01 -1.42480684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.865384750000004 meters Centerline goodness [0,1] 0.9187047768719511 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.13, Z:-0.14 [[ 9.98821679e-01 -2.18693287e-02 -4.33241975e-02 2.72698622e+00] [ 2.18974717e-02 9.99760206e-01 1.75073948e-04 -1.28295958e-01] [ 4.33099799e-02 -1.12355804e-03 9.99061051e-01 -1.41372450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.89538475 meters Centerline goodness [0,1] 0.9172988881621975 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.13, Z:-0.14 [[ 9.98847815e-01 -2.12173354e-02 -4.30449492e-02 2.72588415e+00] [ 2.12568023e-02 9.99773943e-01 4.59320876e-04 -1.28729839e-01] [ 4.30254730e-02 -1.37378963e-03 9.99073031e-01 -1.41142596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.92538475 meters Centerline goodness [0,1] 0.9158512720156555 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.13, Z:-0.14 [[ 9.98874711e-01 -2.08429878e-02 -4.26014326e-02 2.72522268e+00] [ 2.08611047e-02 9.99782383e-01 -1.92982830e-05 -1.27707102e-01] [ 4.25925641e-02 -8.69436378e-04 9.99092147e-01 -1.42259223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 53.95538475 meters Centerline goodness [0,1] 0.9150201481866632 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.13, Z:-0.14 [[ 0.99894026 -0.01704229 -0.04275424 2.72645194] [ 0.01721361 0.9998452 0.00364215 -0.12709401] [ 0.04268555 -0.00437425 0.99907898 -0.14339154] [ 0. 0. 0. 1. ]] SLAMing on 53.98538475 meters Centerline goodness [0,1] 0.9122174590802806 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.13, Z:-0.14 [[ 0.99894969 -0.01696396 -0.04256463 2.72645422] [ 0.01712002 0.99984798 0.00330454 -0.12664232] [ 0.0425021 -0.00402977 0.99908825 -0.14428218] [ 0. 0. 0. 1. ]] SLAMing on 54.01538475 meters Centerline goodness [0,1] 0.9127651970499366 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.13, Z:-0.14 [[ 0.99894008 -0.01712884 -0.04272369 2.72704464] [ 0.01728301 0.99984538 0.00324181 -0.12702913] [ 0.04266156 -0.00397676 0.99908167 -0.14449904] [ 0. 0. 0. 1. ]] SLAMing on 54.045384750000004 meters Centerline goodness [0,1] 0.9127651970499366 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.13, Z:-0.14 [[ 0.99894008 -0.01712884 -0.04272369 2.72704464] [ 0.01728301 0.99984538 0.00324181 -0.12702913] [ 0.04266156 -0.00397676 0.99908167 -0.14449904] [ 0. 0. 0. 1. ]] SLAMing on 54.07538475 meters Centerline goodness [0,1] 0.9109680356387995 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.13, Z:-0.15 [[ 9.98922804e-01 -1.74326700e-02 -4.30038824e-02 2.72821822e+00] [ 1.75651445e-02 9.99842063e-01 2.70456350e-03 -1.26872948e-01] [ 4.29499427e-02 -3.45701956e-03 9.99071244e-01 -1.45518177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.10538475 meters Centerline goodness [0,1] 0.91261946557441 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.13, Z:-0.15 [[ 9.98918463e-01 -1.74343522e-02 -4.31039233e-02 2.72847572e+00] [ 1.75627180e-02 9.99842380e-01 2.60113302e-03 -1.26904669e-01] [ 4.30517802e-02 -3.35534185e-03 9.99067208e-01 -1.45695541e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.13538475 meters Centerline goodness [0,1] 0.9123964256701869 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.13, Z:-0.15 [[ 0.9989436 -0.01688504 -0.04273859 2.72719304] [ 0.01702456 0.99985086 0.0029027 -0.12675107] [ 0.0426832 -0.00362724 0.99908207 -0.14524931] [ 0. 0. 0. 1. ]] SLAMing on 54.16538475 meters Centerline goodness [0,1] 0.9128949337845312 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.13, Z:-0.15 [[ 0.99894412 -0.01690696 -0.04271776 2.72714987] [ 0.01704515 0.99985059 0.00287269 -0.12638752] [ 0.04266281 -0.00359778 0.99908305 -0.14523147] [ 0. 0. 0. 1. ]] SLAMing on 54.19538475 meters Centerline goodness [0,1] 0.907231223820502 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.12, Z:-0.15 [[ 9.98951121e-01 -1.71497893e-02 -4.24563671e-02 2.72730917e+00] [ 1.72641827e-02 9.99848250e-01 2.32916431e-03 -1.24668064e-01] [ 4.24099796e-02 -3.05969578e-03 9.99095607e-01 -1.46160232e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.22538475 meters Centerline goodness [0,1] 0.9102664067576348 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.12, Z:-0.15 [[ 9.98950050e-01 -1.70854239e-02 -4.25074891e-02 2.72726747e+00] [ 1.72022963e-02 9.99849185e-01 2.38517064e-03 -1.24375418e-01] [ 4.24603266e-02 -3.11389275e-03 9.99093301e-01 -1.45944488e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.25538475 meters Centerline goodness [0,1] 0.9116760156933952 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.12, Z:-0.15 [[ 9.98951103e-01 -1.71294430e-02 -4.24650035e-02 2.72757354e+00] [ 1.72141262e-02 9.99850498e-01 1.62929939e-03 -1.22646785e-01] [ 4.24307459e-02 -2.35858835e-03 9.99096626e-01 -1.47017668e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.28538475 meters Centerline goodness [0,1] 0.9132290184921764 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.12, Z:-0.15 [[ 0.99899203 -0.01314008 -0.04292155 2.7282213 ] [ 0.01338937 0.99989509 0.00552576 -0.12136511] [ 0.04284444 -0.00609488 0.99906316 -0.14657219] [ 0. 0. 0. 1. ]] SLAMing on 54.31538475 meters Centerline goodness [0,1] 0.9137741581022558 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.12, Z:-0.15 [[ 0.99900903 -0.01278618 -0.04263193 2.72737381] [ 0.01301674 0.99990209 0.00513498 -0.12023923] [ 0.0425621 -0.00568482 0.99907765 -0.14692813] [ 0. 0. 0. 1. ]] SLAMing on 54.34538475 meters Centerline goodness [0,1] 0.9144409089448141 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.12, Z:-0.16 [[ 9.99406015e-01 -1.44465391e-02 -3.12876224e-02 2.73192747e+00] [ 1.45014646e-02 9.99893679e-01 1.52928663e-03 -1.16390981e-01] [ 3.12622030e-02 -1.98209460e-03 9.99509253e-01 -1.55274870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.37538475 meters Centerline goodness [0,1] 0.9162994177630521 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.12, Z:-0.16 [[ 9.99401213e-01 -1.46393785e-02 -3.13512853e-02 2.73266729e+00] [ 1.46820533e-02 9.99891573e-01 1.13139561e-03 -1.15742247e-01] [ 3.13313230e-02 -1.59101939e-03 9.99507787e-01 -1.56203465e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.40538475 meters Centerline goodness [0,1] 0.9164441298542518 Centerline is valid? [False, False] Translation: X:2.73, Y:-0.12, Z:-0.16 [[ 9.99379366e-01 -1.52101496e-02 -3.17731522e-02 2.73439924e+00] [ 1.52463843e-02 9.99883363e-01 8.98440591e-04 -1.15761847e-01] [ 3.17557809e-02 -1.38230868e-03 9.99494702e-01 -1.56933635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.43538475 meters Centerline goodness [0,1] 0.914015090704768 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.12, Z:-0.16 [[ 9.99364329e-01 -1.56646724e-02 -3.20243180e-02 2.73601580e+00] [ 1.56824331e-02 9.99876977e-01 3.03487180e-04 -1.15172978e-01] [ 3.20156242e-02 -8.05513485e-04 9.99487044e-01 -1.58387333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.46538475 meters Centerline goodness [0,1] 0.9136245633152784 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.11, Z:-0.16 [[ 9.99345697e-01 -1.63878925e-02 -3.22430536e-02 2.73819749e+00] [ 1.63853717e-02 9.99865692e-01 -3.42423047e-04 -1.14900434e-01] [ 3.22443347e-02 -1.86115419e-04 9.99479999e-01 -1.60390243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.49538475 meters Centerline goodness [0,1] 0.9161191063816148 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.12, Z:-0.16 [[ 9.99341667e-01 -1.63308578e-02 -3.23965330e-02 2.73861186e+00] [ 1.63349201e-02 9.99866567e-01 -1.39289069e-04 -1.15333835e-01] [ 3.23944849e-02 -3.89997406e-04 9.99475085e-01 -1.60399302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.52538475 meters Centerline goodness [0,1] 0.9174385436364219 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.12, Z:-0.16 [[ 9.99334635e-01 -1.63408443e-02 -3.26077329e-02 2.73929934e+00] [ 1.63430907e-02 9.99866423e-01 -1.97650332e-04 -1.15573854e-01] [ 3.26066070e-02 -3.35392315e-04 9.99468207e-01 -1.60821790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.55538475 meters Centerline goodness [0,1] 0.9198986302248741 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.12, Z:-0.16 [[ 9.99305404e-01 -1.68611114e-02 -3.32326873e-02 2.74102728e+00] [ 1.68690954e-02 9.99857706e-01 -4.01395053e-05 -1.16368322e-01] [ 3.32286353e-02 -5.20493749e-04 9.99447641e-01 -1.60712561e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.58538475 meters Centerline goodness [0,1] 0.9197277164140766 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.12, Z:-0.16 [[ 9.99304153e-01 -1.68337601e-02 -3.32841388e-02 2.74120877e+00] [ 1.68395811e-02 9.99858199e-01 -1.05447412e-04 -1.15851497e-01] [ 3.32811942e-02 -4.55116918e-04 9.99445924e-01 -1.60867312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.615384750000004 meters Centerline goodness [0,1] 0.9191967871485944 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.12, Z:-0.16 [[ 9.99311869e-01 -1.64946013e-02 -3.32222223e-02 2.74049613e+00] [ 1.65181760e-02 9.99863471e-01 4.35251549e-04 -1.16302967e-01] [ 3.32105072e-02 -9.83722554e-04 9.99447895e-01 -1.59962779e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.64538475 meters Centerline goodness [0,1] 0.922761361451189 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.11, Z:-0.16 [[ 9.99313525e-01 -1.64545706e-02 -3.31922608e-02 2.74006684e+00] [ 1.64634620e-02 9.99864468e-01 -5.42947476e-06 -1.14225945e-01] [ 3.31878515e-02 -5.41033778e-04 9.99448985e-01 -1.59782814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.67538475 meters Centerline goodness [0,1] 0.9280196629213483 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.11, Z:-0.16 [[ 0.99935005 -0.01246949 -0.03382285 2.74145758] [ 0.0125827 0.99991592 0.00313659 -0.11145349] [ 0.0337809 -0.00356013 0.99942292 -0.16067121] [ 0. 0. 0. 1. ]] SLAMing on 54.70538475 meters Centerline goodness [0,1] 0.9274590033939163 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.11, Z:-0.16 [[ 9.99341106e-01 -1.27303763e-02 -3.39895745e-02 2.74219775e+00] [ 1.28195446e-02 9.99914930e-01 2.40675336e-03 -1.09864472e-01] [ 3.39560441e-02 -2.84089843e-03 9.99419290e-01 -1.61512239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.73538475 meters Centerline goodness [0,1] 0.9304648360707718 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.11, Z:-0.16 [[ 9.99346369e-01 -1.26192854e-02 -3.38760789e-02 2.74161204e+00] [ 1.26822615e-02 9.99918224e-01 1.64477298e-03 -1.06810611e-01] [ 3.38525528e-02 -2.07332319e-03 9.99424688e-01 -1.61724863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.76538475 meters Centerline goodness [0,1] 0.9319745142168827 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.11, Z:-0.16 [[ 9.99359092e-01 -1.22935880e-02 -3.36195382e-02 2.74097334e+00] [ 1.23459848e-02 9.99922872e-01 1.35136776e-03 -1.05687048e-01] [ 3.36003320e-02 -1.76556796e-03 9.99433790e-01 -1.62143870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.795384750000004 meters Centerline goodness [0,1] 0.9312503973046851 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.11, Z:-0.16 [[ 9.99356141e-01 -1.21524541e-02 -3.37582829e-02 2.74046365e+00] [ 1.22179985e-02 9.99923851e-01 1.73596358e-03 -1.05645284e-01] [ 3.37346160e-02 -2.14730452e-03 9.99428519e-01 -1.60905662e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.82538475 meters Centerline goodness [0,1] 0.929678339407384 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.10, Z:-0.16 [[ 9.99354420e-01 -1.22198067e-02 -3.37848917e-02 2.74065829e+00] [ 1.22746170e-02 9.99923662e-01 1.41539412e-03 -1.03736874e-01] [ 3.37650168e-02 -1.82917698e-03 9.99428125e-01 -1.61109454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.85538475 meters Centerline goodness [0,1] 0.9309973387403371 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.10, Z:-0.16 [[ 9.99358586e-01 -1.20948630e-02 -3.37065407e-02 2.74057770e+00] [ 1.21445766e-02 9.99925445e-01 1.27054393e-03 -1.02915945e-01] [ 3.36886607e-02 -1.67908065e-03 9.99430966e-01 -1.61424197e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.88538475 meters Centerline goodness [0,1] 0.9301099039919151 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.10, Z:-0.16 [[ 9.99348770e-01 -1.24171303e-02 -3.38799360e-02 2.74120507e+00] [ 1.24621321e-02 9.99921720e-01 1.11742105e-03 -1.02239341e-01] [ 3.38634088e-02 -1.53890959e-03 9.99425286e-01 -1.61461824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.91538475 meters Centerline goodness [0,1] 0.9308150212146159 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.10, Z:-0.16 [[ 9.99347336e-01 -1.24500457e-02 -3.39101399e-02 2.74114272e+00] [ 1.24998720e-02 9.99921083e-01 1.25775403e-03 -1.02111298e-01] [ 3.38918047e-02 -1.68080555e-03 9.99424094e-01 -1.61119047e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.94538475 meters Centerline goodness [0,1] 0.9333607178968655 Centerline is valid? [False, False] Translation: X:2.74, Y:-0.10, Z:-0.16 [[ 9.99304475e-01 -1.35449631e-02 -3.47433536e-02 2.74282978e+00] [ 1.36153928e-02 9.99905702e-01 1.79134041e-03 -1.02529328e-01] [ 3.47158137e-02 -2.26313890e-03 9.99394662e-01 -1.59249148e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 54.97538475 meters Centerline goodness [0,1] 0.9304792574351203 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.10, Z:-0.16 [[ 9.99266383e-01 -1.44958214e-02 -3.54480867e-02 2.74561469e+00] [ 1.45458906e-02 9.99893536e-01 1.15496676e-03 -1.02209737e-01] [ 3.54275706e-02 -1.66974345e-03 9.99370852e-01 -1.60557101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.00538475 meters Centerline goodness [0,1] 0.9302442868400316 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.10, Z:-0.16 [[ 9.99249828e-01 -1.49437277e-02 -3.57276688e-02 2.74720941e+00] [ 1.49648096e-02 9.99887969e-01 3.22714966e-04 -1.01092550e-01] [ 3.57188436e-02 -8.57130634e-04 9.99361511e-01 -1.62142506e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.03538475 meters Centerline goodness [0,1] 0.9294833401632885 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.10, Z:-0.16 [[ 9.99254106e-01 -1.49607701e-02 -3.56006720e-02 2.74773826e+00] [ 1.49550937e-02 9.99888076e-01 -4.25746972e-04 -9.95539772e-02] [ 3.56030569e-02 -1.06981976e-04 9.99366004e-01 -1.63740149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.06538475 meters Centerline goodness [0,1] 0.9324947457573951 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.10, Z:-0.16 [[ 0.99929437 -0.01071252 -0.03599992 2.74843361] [ 0.01085061 0.9999345 0.00364258 -0.0992688 ] [ 0.03595854 -0.00403063 0.99934515 -0.16375256] [ 0. 0. 0. 1. ]] SLAMing on 55.09538475 meters Centerline goodness [0,1] 0.9339269420759526 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.10, Z:-0.16 [[ 0.9992887 -0.01057621 -0.0361971 2.74830711] [ 0.01072203 0.99993516 0.00383682 -0.09932587] [ 0.03615417 -0.0042222 0.9993373 -0.1630485 ] [ 0. 0. 0. 1. ]] SLAMing on 55.12538475 meters Centerline goodness [0,1] 0.9326566526302558 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.10, Z:-0.16 [[ 0.99924573 -0.01151402 -0.03708623 2.75039746] [ 0.01167346 0.99992352 0.00408571 -0.10045482] [ 0.03703635 -0.00451555 0.99930372 -0.16222904] [ 0. 0. 0. 1. ]] SLAMing on 55.15538475 meters Centerline goodness [0,1] 0.9328144203195412 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.10, Z:-0.16 [[ 9.99204046e-01 -1.55016960e-02 -3.67555756e-02 2.74969498e+00] [ 1.55070724e-02 9.99879748e-01 -1.38819517e-04 -9.94786494e-02] [ 3.67533076e-02 -4.31262350e-04 9.99324276e-01 -1.62386144e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.18538475 meters Centerline goodness [0,1] 0.9334549342725957 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.10, Z:-0.16 [[ 9.99179423e-01 -1.61604114e-02 -3.71392104e-02 2.75149787e+00] [ 1.61423149e-02 9.99869395e-01 -7.87090846e-04 -9.82776035e-02] [ 3.71470796e-02 1.86932149e-04 9.99309792e-01 -1.63493191e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.21538475 meters Centerline goodness [0,1] 0.9316663006306278 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.10, Z:-0.16 [[ 9.99185585e-01 -1.33765233e-02 -3.80688348e-02 2.75518152e+00] [ 1.34829841e-02 9.99905871e-01 2.54116416e-03 -9.73935056e-02] [ 3.80312595e-02 -3.05237609e-03 9.99271888e-01 -1.64925635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.24538475 meters Centerline goodness [0,1] 0.9345492214967352 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.10, Z:-0.17 [[ 9.99184234e-01 -1.33837552e-02 -3.81017227e-02 2.75564926e+00] [ 1.34785255e-02 9.99906671e-01 2.23150183e-03 -9.67399795e-02] [ 3.80683008e-02 -2.74323649e-03 9.99271374e-01 -1.65635824e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.27538475 meters Centerline goodness [0,1] 0.9361682066754667 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.10, Z:-0.16 [[ 0.99915665 -0.01323989 -0.03886773 2.7552917 ] [ 0.01342749 0.99989941 0.00456956 -0.09969602] [ 0.03880332 -0.0050876 0.99923392 -0.16088259] [ 0. 0. 0. 1. ]] SLAMing on 55.30538475 meters Centerline goodness [0,1] 0.9377478441493045 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.10, Z:-0.16 [[ 0.99914303 -0.01329158 -0.03919875 2.75523755] [ 0.01350117 0.99989592 0.00508682 -0.10026038] [ 0.03912706 -0.00561169 0.99921849 -0.15942245] [ 0. 0. 0. 1. ]] SLAMing on 55.33538475 meters Centerline goodness [0,1] 0.9380039531892197 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.10, Z:-0.16 [[ 0.99912189 -0.01391032 -0.03952147 2.75655644] [ 0.01410282 0.99988999 0.00459636 -0.09915206] [ 0.03945319 -0.00514969 0.99920815 -0.1599429 ] [ 0. 0. 0. 1. ]] SLAMing on 55.365384750000004 meters Centerline goodness [0,1] 0.9362588485873583 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.10, Z:-0.16 [[ 0.99911933 -0.014155 -0.03949932 2.75724598] [ 0.01432033 0.99988983 0.00390589 -0.09737505] [ 0.03943968 -0.0044681 0.99921196 -0.1611331 ] [ 0. 0. 0. 1. ]] SLAMing on 55.39538475 meters Centerline goodness [0,1] 0.9387939918183805 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.10, Z:-0.16 [[ 0.99911518 -0.01449508 -0.03948101 2.75801625] [ 0.01462701 0.99988835 0.00305479 -0.09526746] [ 0.03943233 -0.00362958 0.99921565 -0.16239999] [ 0. 0. 0. 1. ]] SLAMing on 55.42538475 meters Centerline goodness [0,1] 0.9384107609914062 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.09, Z:-0.16 [[ 0.99911455 -0.01444307 -0.03951593 2.75704705] [ 0.01457553 0.99988907 0.00306599 -0.09371096] [ 0.03946726 -0.00363924 0.99921424 -0.1610003 ] [ 0. 0. 0. 1. ]] SLAMing on 55.45538475 meters Centerline goodness [0,1] 0.9414177828883985 Centerline is valid? [False, False] Translation: X:2.75, Y:-0.09, Z:-0.16 [[ 0.99911865 -0.01405834 -0.03955118 2.7549371 ] [ 0.01421451 0.99989223 0.00367013 -0.0925869 ] [ 0.03949532 -0.00422909 0.99921081 -0.15781875] [ 0. 0. 0. 1. ]] SLAMing on 55.48538475 meters Centerline goodness [0,1] 0.9379016983885491 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.09, Z:-0.16 [[ 9.99059563e-01 -1.55595004e-02 -4.04708764e-02 2.75834126e+00] [ 1.56515893e-02 9.99875586e-01 1.95956537e-03 -8.91317786e-02] [ 4.04353514e-02 -2.59115605e-03 9.99178797e-01 -1.59647060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.51538475 meters Centerline goodness [0,1] 0.9368440605554007 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.09, Z:-0.16 [[ 9.99025321e-01 -1.65755252e-02 -4.09103903e-02 2.76098115e+00] [ 1.66210538e-02 9.99861562e-01 7.72984562e-04 -8.67955045e-02] [ 4.08919141e-02 -1.45220495e-03 9.99162521e-01 -1.61714950e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.545384750000004 meters Centerline goodness [0,1] 0.9373186840318499 Centerline is valid? [False, False] Translation: X:2.76, Y:-0.08, Z:-0.16 [[ 9.99013107e-01 -1.71935462e-02 -4.09535684e-02 2.76270985e+00] [ 1.71941928e-02 9.99852112e-01 -3.36467178e-04 -8.41781836e-02] [ 4.09532969e-02 -3.68028428e-04 9.99160994e-01 -1.63935760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.57538475 meters Centerline goodness [0,1] 0.9351587228419532 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.08, Z:-0.16 [[ 0.99902172 -0.01448876 -0.04178142 2.76587502] [ 0.0146307 0.99988818 0.00309356 -0.08333271] [ 0.04173192 -0.00370182 0.99912199 -0.16469013] [ 0. 0. 0. 1. ]] SLAMing on 55.60538475 meters Centerline goodness [0,1] 0.936919766369505 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.08, Z:-0.16 [[ 0.9990221 -0.01420175 -0.04187058 2.76543073] [ 0.0143409 0.99989259 0.00302482 -0.08302793] [ 0.04182312 -0.00362232 0.99911846 -0.16427777] [ 0. 0. 0. 1. ]] SLAMing on 55.63538475 meters Centerline goodness [0,1] 0.9391929242675512 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.08, Z:-0.17 [[ 0.99927371 -0.01153858 -0.03631688 2.77438986] [ 0.01131752 0.99991619 -0.00628679 -0.08008363] [ 0.03638637 0.00587121 0.99932055 -0.16692688] [ 0. 0. 0. 1. ]] SLAMing on 55.66538475 meters Centerline goodness [0,1] 0.9408518075614019 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.08, Z:-0.17 [[ 9.99296063e-01 -7.38705204e-03 -3.67805575e-02 2.77462372e+00] [ 7.33503861e-03 9.99971899e-01 -1.54889584e-03 -8.07546803e-02] [ 3.67909657e-02 1.27801870e-03 9.99322166e-01 -1.65371503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.69538475 meters Centerline goodness [0,1] 0.9405223766610662 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.08, Z:-0.17 [[ 9.99321830e-01 -3.20246672e-03 -3.66827419e-02 2.77475876e+00] [ 3.27357690e-03 9.99992877e-01 1.87862044e-03 -7.84696980e-02] [ 3.66764644e-02 -1.99743020e-03 9.99325196e-01 -1.66155587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.72538475 meters Centerline goodness [0,1] 0.9398088586656864 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.08, Z:-0.17 [[ 9.99337969e-01 -2.79184118e-03 -3.62743549e-02 2.77408388e+00] [ 2.84295736e-03 9.99995037e-01 1.35765069e-03 -7.67769005e-02] [ 3.62703846e-02 -1.45987833e-03 9.99340947e-01 -1.67104081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.75538475 meters Centerline goodness [0,1] 0.9380956758910238 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.08, Z:-0.17 [[ 9.99329667e-01 -2.86006712e-03 -3.64970871e-02 2.77402435e+00] [ 2.90922921e-03 9.99994931e-01 1.29397824e-03 -7.60275224e-02] [ 3.64932012e-02 -1.39928923e-03 9.99332922e-01 -1.66330568e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.78538475 meters Centerline goodness [0,1] 0.9395479182064548 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.08, Z:-0.17 [[ 9.99327804e-01 -2.72432587e-03 -3.65584143e-02 2.77389257e+00] [ 2.77606978e-03 9.99995216e-01 1.36468958e-03 -7.59121992e-02] [ 3.65545215e-02 -1.46526095e-03 9.99330586e-01 -1.66053584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.81538475 meters Centerline goodness [0,1] 0.9377123442808607 Centerline is valid? [False, False] Translation: X:2.77, Y:-0.08, Z:-0.17 [[ 9.99308659e-01 -3.07077990e-03 -3.70509572e-02 2.77485005e+00] [ 3.12271275e-03 9.99994221e-01 1.34387178e-03 -7.58980942e-02] [ 3.70466163e-02 -1.45864220e-03 9.99312474e-01 -1.65542716e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.84538475 meters Centerline goodness [0,1] 0.9376733863510265 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.08, Z:-0.17 [[ 9.99301777e-01 -3.40972502e-03 -3.72066034e-02 2.77530348e+00] [ 3.45643478e-03 9.99993317e-01 1.19116447e-03 -7.53986629e-02] [ 3.72022932e-02 -1.31893497e-03 9.99306885e-01 -1.65465767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.87538475 meters Centerline goodness [0,1] 0.9323678892903068 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.08, Z:-0.16 [[ 9.99245546e-01 -5.96390374e-03 -3.83767056e-02 2.77920204e+00] [ 6.01883970e-03 9.99981021e-01 1.31611646e-03 -7.55039710e-02] [ 3.83681280e-02 -1.54610675e-03 9.99262476e-01 -1.64186900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.90538475 meters Centerline goodness [0,1] 0.9301990811638591 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.07, Z:-0.17 [[ 9.99209903e-01 -7.27729926e-03 -3.90718762e-02 2.78208141e+00] [ 7.30171859e-03 9.99973226e-01 4.82318934e-04 -7.44480816e-02] [ 3.90673201e-02 -7.67229700e-04 9.99236286e-01 -1.65404130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.93538475 meters Centerline goodness [0,1] 0.9301990811638591 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.07, Z:-0.17 [[ 9.99209903e-01 -7.27729926e-03 -3.90718762e-02 2.78208141e+00] [ 7.30171859e-03 9.99973226e-01 4.82318934e-04 -7.44480816e-02] [ 3.90673201e-02 -7.67229700e-04 9.99236286e-01 -1.65404130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.96538475 meters Centerline goodness [0,1] 0.9276259345508028 Centerline is valid? [False, False] Translation: X:2.78, Y:-0.07, Z:-0.17 [[ 9.99175519e-01 -8.37332746e-03 -3.97261844e-02 2.78481038e+00] [ 8.37056488e-03 9.99964938e-01 -2.35873856e-04 -7.38591295e-02] [ 3.97267665e-02 -9.68512211e-05 9.99210576e-01 -1.66680803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 55.99538475 meters Centerline goodness [0,1] 0.9239117106069896 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.07, Z:-0.17 [[ 9.99136139e-01 -9.74887080e-03 -4.03972103e-02 2.78796156e+00] [ 9.70468149e-03 9.99952077e-01 -1.28983160e-03 -7.25436467e-02] [ 4.04078487e-02 8.96675310e-04 9.99182867e-01 -1.68377971e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.02538475 meters Centerline goodness [0,1] 0.9218021114657501 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.07, Z:-0.17 [[ 9.99127150e-01 -1.00337692e-02 -4.05494973e-02 2.78827252e+00] [ 9.98946484e-03 9.99949265e-01 -1.29507467e-03 -7.22915820e-02] [ 4.05604345e-02 8.88876490e-04 9.99176692e-01 -1.67973009e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.05538475 meters Centerline goodness [0,1] 0.9214244123686065 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.07, Z:-0.17 [[ 9.99095566e-01 -1.05781166e-02 -4.11843936e-02 2.78978017e+00] [ 1.05274914e-02 9.99943539e-01 -1.44592270e-03 -7.23166806e-02] [ 4.11973634e-02 1.01104661e-03 9.99150517e-01 -1.67808700e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.08538475 meters Centerline goodness [0,1] 0.9202536686988756 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.07, Z:-0.17 [[ 9.99084802e-01 -1.05545552e-02 -4.14506839e-02 2.79004140e+00] [ 1.05181164e-02 9.99944081e-01 -1.09707899e-03 -7.29479667e-02] [ 4.14599452e-02 6.60091829e-04 9.99139949e-01 -1.67135806e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.115384750000004 meters Centerline goodness [0,1] 0.9212063453025086 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.07, Z:-0.17 [[ 9.99082205e-01 -1.01581331e-02 -4.16120062e-02 2.78927257e+00] [ 1.01422164e-02 9.99948390e-01 -5.93600752e-04 -7.31279325e-02] [ 4.16158885e-02 1.71017979e-04 9.99133669e-01 -1.65697214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.14538475 meters Centerline goodness [0,1] 0.9181056957948655 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.07, Z:-0.17 [[ 9.99075884e-01 -1.02381347e-02 -4.17439559e-02 2.78960705e+00] [ 1.02188052e-02 9.99947558e-01 -6.76406900e-04 -7.23187182e-02] [ 4.17486919e-02 2.49208468e-04 9.99128112e-01 -1.65673346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.17538475 meters Centerline goodness [0,1] 0.9171699212163944 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.07, Z:-0.16 [[ 9.99069160e-01 -1.04761809e-02 -4.18457051e-02 2.78946240e+00] [ 1.04765354e-02 9.99945097e-01 -2.10830548e-04 -7.22501865e-02] [ 4.18456164e-02 -2.27763712e-04 9.99124063e-01 -1.64443627e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.20538475 meters Centerline goodness [0,1] 0.9105596166840715 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.07, Z:-0.16 [[ 0.99899861 -0.01521828 -0.0420736 2.79033429] [ 0.01505156 0.99987757 -0.00427669 -0.07215749] [ 0.04213354 0.00363913 0.99910536 -0.16425315] [ 0. 0. 0. 1. ]] SLAMing on 56.23538475 meters Centerline goodness [0,1] 0.9089762519995078 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.07, Z:-0.16 [[ 9.98958582e-01 -1.59488985e-02 -4.27479129e-02 2.79156920e+00] [ 1.58203520e-02 9.99869259e-01 -3.34371629e-03 -7.39976479e-02] [ 4.27956526e-02 2.66394705e-03 9.99080295e-01 -1.62515916e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.26538475 meters Centerline goodness [0,1] 0.9085809394649241 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.08, Z:-0.16 [[ 9.98927835e-01 -1.65660583e-02 -4.32289928e-02 2.79245553e+00] [ 1.64768708e-02 9.99861322e-01 -2.41865504e-03 -7.58798820e-02] [ 4.32630655e-02 1.70378331e-03 9.99062262e-01 -1.60891362e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.295384750000004 meters Centerline goodness [0,1] 0.904495424189958 Centerline is valid? [False, False] Translation: X:2.79, Y:-0.08, Z:-0.16 [[ 0.99882343 -0.02193646 -0.04324983 2.79373125] [ 0.02167312 0.99974366 -0.00654834 -0.07606221] [ 0.04338239 0.00560328 0.99904283 -0.16096991] [ 0. 0. 0. 1. ]] SLAMing on 56.32538475 meters Centerline goodness [0,1] 0.9025206957492327 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.08, Z:-0.16 [[ 0.99872476 -0.02454525 -0.04411781 2.79759424] [ 0.0242837 0.99968427 -0.00645471 -0.07800781] [ 0.04426232 0.00537514 0.99900548 -0.16058382] [ 0. 0. 0. 1. ]] SLAMing on 56.35538475 meters Centerline goodness [0,1] 0.9029873920874479 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.08, Z:-0.16 [[ 0.99866426 -0.02566495 -0.04484414 2.80019786] [ 0.02539458 0.99965579 -0.00658864 -0.07836507] [ 0.0449978 0.00544104 0.99897227 -0.16094874] [ 0. 0. 0. 1. ]] SLAMing on 56.38538475 meters Centerline goodness [0,1] 0.9013029012096148 Centerline is valid? [False, False] Translation: X:2.80, Y:-0.08, Z:-0.16 [[ 0.99862596 -0.0265067 -0.04520602 2.8021405 ] [ 0.02622184 0.99963245 -0.00688279 -0.07819307] [ 0.04537184 0.00568795 0.99895397 -0.16181823] [ 0. 0. 0. 1. ]] SLAMing on 56.41538475 meters Centerline goodness [0,1] 0.8977599258458211 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.08, Z:-0.16 [[ 9.98611356e-01 -2.52510463e-02 -4.62357462e-02 2.80659547e+00] [ 2.51054397e-02 9.99677860e-01 -3.72730520e-03 -7.69523060e-02] [ 4.63149702e-02 2.56136056e-03 9.98923602e-01 -1.62304857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.44538475 meters Centerline goodness [0,1] 0.8989824236817762 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.07, Z:-0.16 [[ 0.99858973 -0.02561032 -0.04650433 2.80727496] [ 0.02541514 0.99966554 -0.00478358 -0.07348691] [ 0.04661129 0.00359492 0.99890663 -0.16287435] [ 0. 0. 0. 1. ]] SLAMing on 56.47538475 meters Centerline goodness [0,1] 0.8979121891311023 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.07, Z:-0.16 [[ 9.98622894e-01 -2.22170415e-02 -4.75259769e-02 2.80904863e+00] [ 2.22114904e-02 9.99753086e-01 -6.44971410e-04 -7.33516741e-02] [ 4.75285714e-02 -4.11539565e-04 9.98869794e-01 -1.61757708e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.50538475 meters Centerline goodness [0,1] 0.8954176915368498 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.07, Z:-0.16 [[ 9.98677100e-01 -1.86407147e-02 -4.79225801e-02 2.80972779e+00] [ 1.87712441e-02 9.99821216e-01 2.27511933e-03 -6.91264972e-02] [ 4.78716025e-02 -3.17167603e-03 9.98848462e-01 -1.61788718e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.53538475 meters Centerline goodness [0,1] 0.8942749939481965 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.07, Z:-0.16 [[ 9.98687260e-01 -1.84391330e-02 -4.77886462e-02 2.80909686e+00] [ 1.85431001e-02 9.99826560e-01 1.73310874e-03 -6.61966140e-02] [ 4.77484007e-02 -2.61698327e-03 9.98855966e-01 -1.61832825e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.56538475 meters Centerline goodness [0,1] 0.8920194852056772 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.06, Z:-0.16 [[ 0.99870041 -0.01551299 -0.04854731 2.81088679] [ 0.01576122 0.99986458 0.00473448 -0.06266913] [ 0.04846729 -0.0054935 0.99880966 -0.16169908] [ 0. 0. 0. 1. ]] SLAMing on 56.59538475 meters Centerline goodness [0,1] 0.8936933704135642 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.06, Z:-0.16 [[ 0.99869856 -0.01567101 -0.04853451 2.81093194] [ 0.01587236 0.99986693 0.00376595 -0.05798326] [ 0.04846903 -0.00453141 0.99881441 -0.16223354] [ 0. 0. 0. 1. ]] SLAMing on 56.62538475 meters Centerline goodness [0,1] 0.8919916641857696 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.06, Z:-0.16 [[ 0.99866561 -0.01632916 -0.04899351 2.81199262] [ 0.01650345 0.99985883 0.00315489 -0.05604844] [ 0.04893508 -0.00395924 0.99879411 -0.16217883] [ 0. 0. 0. 1. ]] SLAMing on 56.65538475 meters Centerline goodness [0,1] 0.8920936041152508 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.05, Z:-0.16 [[ 0.99864718 -0.01671522 -0.04923822 2.81227204] [ 0.01688179 0.99985308 0.00296896 -0.05483896] [ 0.04918136 -0.00379617 0.99878265 -0.16158279] [ 0. 0. 0. 1. ]] SLAMing on 56.68538475 meters Centerline goodness [0,1] 0.8928210913841221 Centerline is valid? [False, False] Translation: X:2.81, Y:-0.05, Z:-0.16 [[ 9.98571301e-01 -1.86606184e-02 -5.00713324e-02 2.81445939e+00] [ 1.88006750e-02 9.99820542e-01 2.32757803e-03 -5.22952045e-02] [ 5.00189127e-02 -3.26562747e-03 9.98742932e-01 -1.60562655e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.71538475 meters Centerline goodness [0,1] 0.8942790131520352 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:-0.16 [[ 9.98537442e-01 -1.93038111e-02 -5.05008924e-02 2.81528143e+00] [ 1.94374845e-02 9.99808747e-01 2.15712849e-03 -5.12208914e-02] [ 5.04495932e-02 -3.13558388e-03 9.98721686e-01 -1.59970771e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.74538475 meters Centerline goodness [0,1] 0.8951146442025332 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:-0.16 [[ 9.98476451e-01 -2.06488674e-02 -5.11703132e-02 2.81654707e+00] [ 2.07475245e-02 9.99783770e-01 1.39753152e-03 -4.79479527e-02] [ 5.11303912e-02 -2.45705964e-03 9.98688964e-01 -1.58973086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.77538475 meters Centerline goodness [0,1] 0.8960567124501551 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.05, Z:-0.16 [[ 9.98440160e-01 -2.11260291e-02 -5.16811229e-02 2.81741922e+00] [ 2.12095556e-02 9.99774481e-01 1.06822918e-03 -4.60269772e-02] [ 5.16469004e-02 -2.16269656e-03 9.98663067e-01 -1.58461048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.80538475 meters Centerline goodness [0,1] 0.8966692122422605 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.04, Z:-0.16 [[ 0.99841431 -0.01918132 -0.052924 2.82057485] [ 0.01939368 0.99980579 0.00350189 -0.04177658] [ 0.05284655 -0.00452273 0.9985924 -0.1583494 ] [ 0. 0. 0. 1. ]] SLAMing on 56.83538475 meters Centerline goodness [0,1] 0.896553743448599 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.04, Z:-0.16 [[ 9.98381338e-01 -1.97636834e-02 -5.33301196e-02 2.82160598e+00] [ 1.99267829e-02 9.99798245e-01 2.52825724e-03 -3.81164378e-02] [ 5.32693923e-02 -3.58686256e-03 9.98573736e-01 -1.58730996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 56.865384750000004 meters Centerline goodness [0,1] 0.8953667392883079 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.03, Z:-0.16 [[ 0.99837414 -0.0172489 -0.05432824 2.82370564] [ 0.01755182 0.99983293 0.0051035 -0.03347661] [ 0.05423114 -0.00604876 0.99851009 -0.15829122] [ 0. 0. 0. 1. ]] SLAMing on 56.89538475 meters Centerline goodness [0,1] 0.8935190547897602 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.03, Z:-0.16 [[ 0.99836095 -0.01756026 -0.05447066 2.82393459] [ 0.01782378 0.99983166 0.00435567 -0.03044899] [ 0.054385 -0.0053194 0.99850587 -0.15836454] [ 0. 0. 0. 1. ]] SLAMing on 56.92538475 meters Centerline goodness [0,1] 0.8935159711563523 Centerline is valid? [False, False] Translation: X:2.82, Y:-0.03, Z:-0.16 [[ 0.99834837 -0.01773774 -0.05464349 2.82402582] [ 0.01796204 0.99983213 0.00361635 -0.0275378 ] [ 0.05457017 -0.00459189 0.99849938 -0.15835823] [ 0. 0. 0. 1. ]] SLAMing on 56.95538475 meters Centerline goodness [0,1] 0.8918405525974961 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-0.16 [[ 0.99833633 -0.01517138 -0.05562738 2.82622545] [ 0.01554223 0.99985974 0.00623999 -0.02356334] [ 0.05552491 -0.00709419 0.9984321 -0.15809184] [ 0. 0. 0. 1. ]] SLAMing on 56.98538475 meters Centerline goodness [0,1] 0.891019375610878 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-0.16 [[ 0.99830875 -0.01562566 -0.05599536 2.82719622] [ 0.01594567 0.99985896 0.00527272 -0.020677 ] [ 0.05590507 -0.00615669 0.99841711 -0.1586047 ] [ 0. 0. 0. 1. ]] SLAMing on 57.01538475 meters Centerline goodness [0,1] 0.8884155755046029 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.02, Z:-0.16 [[ 0.99831341 -0.0122823 -0.05674055 2.82894371] [ 0.01275308 0.99988713 0.00794241 -0.01690386] [ 0.05663659 -0.00865263 0.99835737 -0.1591286 ] [ 0. 0. 0. 1. ]] SLAMing on 57.045384750000004 meters Centerline goodness [0,1] 0.8857354533538496 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.01, Z:-0.16 [[ 0.99832036 -0.0121618 -0.05664407 2.82886597] [ 0.01257332 0.99989705 0.0069142 -0.01356326] [ 0.05655415 -0.00761479 0.99837049 -0.16003181] [ 0. 0. 0. 1. ]] SLAMing on 57.07538475 meters Centerline goodness [0,1] 0.8800203642946035 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.01, Z:-0.16 [[ 0.99834807 -0.00771801 -0.0569348 2.82859302] [ 0.00830837 0.99991408 0.01013967 -0.00986056] [ 0.05685165 -0.01059595 0.99832641 -0.1596506 ] [ 0. 0. 0. 1. ]] SLAMing on 57.10538475 meters Centerline goodness [0,1] 0.8840805020068969 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.01, Z:-0.16 [[ 0.99837298 -0.00713619 -0.05657268 2.82787636] [ 0.0076723 0.99992765 0.00926494 -0.00666111] [ 0.05650247 -0.00968391 0.99835549 -0.16065774] [ 0. 0. 0. 1. ]] SLAMing on 57.13538475 meters Centerline goodness [0,1] 0.8794825747797295 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.00, Z:-0.16 [[ 9.98369884e-01 -2.70798927e-03 -5.70108935e-02 2.82881285e+00] [ 3.40109185e-03 9.99921445e-01 1.20638546e-02 -3.36426449e-03] [ 5.69737463e-02 -1.22380884e-02 9.98300667e-01 -1.61863548e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.16538475 meters Centerline goodness [0,1] 0.882034390352836 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.00, Z:-0.16 [[ 9.98355200e-01 2.28634756e-03 -5.72858382e-02 2.82863083e+00] [-1.37400457e-03 9.99871679e-01 1.59604817e-02 -2.00243132e-03] [ 5.73149785e-02 -1.58555188e-02 9.98230232e-01 -1.61645033e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.19538475 meters Centerline goodness [0,1] 0.8834114496149983 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.00, Z:-0.16 [[ 9.98361986e-01 2.97634582e-03 -5.71356778e-02 2.82780638e+00] [-2.08733004e-03 9.99875929e-01 1.56131092e-02 -4.88027514e-04] [ 5.71750590e-02 -1.54682737e-02 9.98244331e-01 -1.61808374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.22538475 meters Centerline goodness [0,1] 0.8826020337094302 Centerline is valid? [False, False] Translation: X:2.83, Y:0.00, Z:-0.16 [[ 9.98381285e-01 3.85706904e-03 -5.67444451e-02 2.82652001e+00] [-2.98073852e-03 9.99875115e-01 1.55200000e-02 1.19982384e-03] [ 5.67972203e-02 -1.53257372e-02 9.98268099e-01 -1.61869152e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.25538475 meters Centerline goodness [0,1] 0.889025069637883 Centerline is valid? [False, False] Translation: X:2.82, Y:0.00, Z:-0.16 [[ 0.99841084 0.00567456 -0.0560677 2.82403328] [-0.00479071 0.99986233 0.01588588 0.00323629] [ 0.05615013 -0.01559203 0.99830058 -0.16157955] [ 0. 0. 0. 1. ]] SLAMing on 57.28538475 meters Centerline goodness [0,1] 0.8896815002647198 Centerline is valid? [False, False] Translation: X:2.83, Y:0.00, Z:-0.17 [[ 0.99866843 0.00708899 -0.05109899 2.83411928] [-0.00682745 0.99996269 0.00529105 0.00458784] [ 0.0511346 -0.00493513 0.99867958 -0.16645453] [ 0. 0. 0. 1. ]] SLAMing on 57.31538475 meters Centerline goodness [0,1] 0.8926496872207328 Centerline is valid? [False, False] Translation: X:2.83, Y:0.00, Z:-0.17 [[ 0.99865709 0.00709003 -0.05132009 2.83443198] [-0.00681165 0.99996114 0.00559724 0.00321062] [ 0.05135778 -0.00524015 0.99866657 -0.16614794] [ 0. 0. 0. 1. ]] SLAMing on 57.34538475 meters Centerline goodness [0,1] 0.8941126997476871 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.00, Z:-0.17 [[ 9.98660920e-01 6.80172785e-03 -5.12845375e-02 2.83474633e+00] [-6.49494185e-03 9.99960018e-01 6.14632245e-03 -1.47356290e-04] [ 5.13242927e-02 -5.80500194e-03 9.98665169e-01 -1.65908600e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.37538475 meters Centerline goodness [0,1] 0.8949411994748456 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.00, Z:-0.17 [[ 9.98646742e-01 6.47120342e-03 -5.16024005e-02 2.83552324e+00] [-6.13607620e-03 9.99959061e-01 6.65019425e-03 -2.25949371e-03] [ 5.16433227e-02 -6.32455856e-03 9.98645566e-01 -1.65515132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.40538475 meters Centerline goodness [0,1] 0.8932500492389072 Centerline is valid? [False, False] Translation: X:2.83, Y:-0.01, Z:-0.17 [[ 9.98679114e-01 2.76949729e-03 -5.13064957e-02 2.83495078e+00] [-2.56935955e-03 9.99988833e-01 3.96637182e-03 -6.23170289e-03] [ 5.13169077e-02 -3.82930787e-03 9.98675078e-01 -1.65125114e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.43538475 meters Centerline goodness [0,1] 0.8935858001523831 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.01, Z:-0.17 [[ 9.98651959e-01 2.03747963e-03 -5.18663109e-02 2.83696904e+00] [-1.82461958e-03 9.99989720e-01 4.15103301e-03 -8.96709798e-03] [ 5.18742354e-02 -4.05080096e-03 9.98645410e-01 -1.65643663e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.46538475 meters Centerline goodness [0,1] 0.8932668611732714 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.01, Z:-0.17 [[ 9.98637027e-01 1.59530584e-03 -5.21684101e-02 2.83859166e+00] [-1.37065055e-03 9.99989635e-01 4.34184038e-03 -1.16566068e-02] [ 5.21747959e-02 -4.26441791e-03 9.98628863e-01 -1.66540755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.49538475 meters Centerline goodness [0,1] 0.8924731182795699 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.02, Z:-0.17 [[ 9.98663937e-01 -3.24879133e-04 -5.16743245e-02 2.83947854e+00] [ 4.58089684e-04 9.99996603e-01 2.56606389e-03 -1.63600617e-02] [ 5.16733152e-02 -2.58630694e-03 9.98660693e-01 -1.68752515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.52538475 meters Centerline goodness [0,1] 0.891446150340388 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.02, Z:-0.17 [[ 9.98655636e-01 -3.06458101e-04 -5.18346177e-02 2.84076424e+00] [ 4.48057159e-04 9.99996200e-01 2.72014876e-03 -1.82821204e-02] [ 5.18335871e-02 -2.73971676e-03 9.98651978e-01 -1.69940342e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.55538475 meters Centerline goodness [0,1] 0.8947549244159414 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.02, Z:-0.17 [[ 9.98688741e-01 8.65419439e-04 -5.11864138e-02 2.84119781e+00] [-7.08213833e-04 9.99994977e-01 3.08929458e-03 -2.08036439e-02] [ 5.11888302e-02 -3.04899279e-03 9.98684338e-01 -1.72746889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.58538475 meters Centerline goodness [0,1] 0.8935993587908628 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.02, Z:-0.17 [[ 9.98685310e-01 1.13578657e-03 -5.12480488e-02 2.84212157e+00] [-9.78227151e-04 9.99994718e-01 3.09942505e-03 -2.19364913e-02] [ 5.12512984e-02 -3.04521803e-03 9.98681146e-01 -1.74030891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.61538475 meters Centerline goodness [0,1] 0.8976555065317069 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.03, Z:-0.18 [[ 9.98716645e-01 2.89918028e-03 -5.05634108e-02 2.84191648e+00] [-2.71605651e-03 9.99989503e-01 3.69000036e-03 -2.50964217e-02] [ 5.05735781e-02 -3.54793170e-03 9.98714036e-01 -1.76659751e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.64538475 meters Centerline goodness [0,1] 0.8977305537910724 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.03, Z:-0.18 [[ 0.99868215 0.00715862 -0.05082049 2.84417873] [-0.00675894 0.9999449 0.00803212 -0.02925099] [ 0.05087519 -0.00767805 0.9986755 -0.17875024] [ 0. 0. 0. 1. ]] SLAMing on 57.67538475 meters Centerline goodness [0,1] 0.8988021359503536 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.03, Z:-0.18 [[ 0.99867309 0.00781261 -0.05090211 2.84425603] [-0.00738765 0.99993632 0.00853143 -0.0309832 ] [ 0.05096552 -0.00814406 0.99866721 -0.17898192] [ 0. 0. 0. 1. ]] SLAMing on 57.70538475 meters Centerline goodness [0,1] 0.9016738235036368 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.04, Z:-0.18 [[ 0.99877263 0.00762617 -0.0489395 2.83804409] [-0.00731312 0.99995166 0.00657248 -0.03538151] [ 0.04898726 -0.00620651 0.99878012 -0.17868166] [ 0. 0. 0. 1. ]] SLAMing on 57.73538475 meters Centerline goodness [0,1] 0.9033971515293019 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.03, Z:-0.19 [[ 9.99317801e-01 4.21388374e-03 -3.66902781e-02 2.84131189e+00] [-4.12100094e-03 9.99988111e-01 2.60679533e-03 -3.48939049e-02] [ 3.67008266e-02 -2.45381631e-03 9.99323285e-01 -1.86292689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.76538475 meters Centerline goodness [0,1] 0.9024375952185633 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.04, Z:-0.19 [[ 0.99931558 0.00481361 -0.03667692 2.84072105] [-0.004682 0.99998229 0.00367334 -0.03777642] [ 0.03669395 -0.0034991 0.99932042 -0.1854621 ] [ 0. 0. 0. 1. ]] SLAMing on 57.795384750000004 meters Centerline goodness [0,1] 0.9031277663027442 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.04, Z:-0.19 [[ 9.99362875e-01 2.92200428e-03 -3.55711418e-02 2.83781715e+00] [-2.86513217e-03 9.99994535e-01 1.64969641e-03 -4.28290755e-02] [ 3.55757678e-02 -1.54672933e-03 9.99365785e-01 -1.85282515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.82538475 meters Centerline goodness [0,1] 0.9031277663027442 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.04, Z:-0.19 [[ 9.99362875e-01 2.92200428e-03 -3.55711418e-02 2.83781715e+00] [-2.86513217e-03 9.99994535e-01 1.64969641e-03 -4.28290755e-02] [ 3.55757678e-02 -1.54672933e-03 9.99365785e-01 -1.85282515e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.85538475 meters Centerline goodness [0,1] 0.9027736708261872 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.05, Z:-0.18 [[ 9.99347923e-01 2.93437562e-03 -3.59877379e-02 2.83854589e+00] [-2.84205429e-03 9.99992539e-01 2.61624299e-03 -4.62555115e-02] [ 3.59951464e-02 -2.51225790e-03 9.99348807e-01 -1.84577705e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.88538475 meters Centerline goodness [0,1] 0.9027261646401284 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.05, Z:-0.18 [[ 9.99363673e-01 -2.20171046e-04 -3.56679074e-02 2.83773201e+00] [ 2.31762089e-04 9.99999922e-01 3.20836982e-04 -5.15608134e-02] [ 3.56678339e-02 -3.28899294e-04 9.99363646e-01 -1.84113990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.91538475 meters Centerline goodness [0,1] 0.9002093927609931 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.06, Z:-0.19 [[ 9.99344819e-01 -4.49013103e-03 -3.59133813e-02 2.83985061e+00] [ 4.38987202e-03 9.99986246e-01 -2.87005592e-03 -5.64132354e-02] [ 3.59257743e-02 2.71052036e-03 9.99350785e-01 -1.85598429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.94538475 meters Centerline goodness [0,1] 0.898580304349131 Centerline is valid? [False, False] Translation: X:2.84, Y:-0.06, Z:-0.19 [[ 9.99318240e-01 -5.58235334e-03 -3.64951018e-02 2.84243660e+00] [ 5.49395714e-03 9.99981728e-01 -2.52197583e-03 -6.00765767e-02] [ 3.65085135e-02 2.31975393e-03 9.99330650e-01 -1.86135079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 57.97538475 meters Centerline goodness [0,1] 0.8966003964202054 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.06, Z:-0.19 [[ 9.99276774e-01 -7.07084797e-03 -3.73621849e-02 2.84588182e+00] [ 7.00162656e-03 9.99973522e-01 -1.98323369e-03 -6.40845453e-02] [ 3.73752188e-02 1.72020330e-03 9.99299822e-01 -1.86358413e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.00538475 meters Centerline goodness [0,1] 0.8885044096031357 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.07, Z:-0.19 [[ 0.99918999 -0.01527235 -0.03723074 2.84790433] [ 0.01496359 0.99985142 -0.00855792 -0.06993765] [ 0.0373559 0.00799389 0.99927005 -0.18788316] [ 0. 0. 0. 1. ]] SLAMing on 58.03538475 meters Centerline goodness [0,1] 0.8870289031544676 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.07, Z:-0.19 [[ 0.99912774 -0.0171225 -0.03808659 2.85126787] [ 0.01684785 0.99982978 -0.00752049 -0.07473749] [ 0.03820887 0.00687226 0.99924614 -0.18698599] [ 0. 0. 0. 1. ]] SLAMing on 58.06538475 meters Centerline goodness [0,1] 0.8850699844479004 Centerline is valid? [False, False] Translation: X:2.85, Y:-0.08, Z:-0.19 [[ 0.9989477 -0.02568105 -0.03799959 2.85293572] [ 0.02515137 0.99958062 -0.0143522 -0.08029887] [ 0.03835223 0.01338135 0.99917468 -0.18771015] [ 0. 0. 0. 1. ]] SLAMing on 58.09538475 meters Centerline goodness [0,1] 0.8864539961806969 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.08, Z:-0.19 [[ 0.99888324 -0.02662188 -0.03903271 2.85562261] [ 0.02612917 0.99957301 -0.01307928 -0.08435409] [ 0.03936423 0.01204478 0.99915233 -0.18644942] [ 0. 0. 0. 1. ]] SLAMing on 58.12538475 meters Centerline goodness [0,1] 0.8871405146316852 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.09, Z:-0.19 [[ 0.99870938 -0.03176275 -0.03963199 2.85912263] [ 0.03111386 0.99937323 -0.01688394 -0.08755521] [ 0.04014343 0.01562905 0.99907169 -0.18801137] [ 0. 0. 0. 1. ]] SLAMing on 58.15538475 meters Centerline goodness [0,1] 0.8866403162055336 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.09, Z:-0.19 [[ 0.99866351 -0.03231218 -0.04033758 2.8612326 ] [ 0.03168298 0.99936762 -0.01614138 -0.08993154] [ 0.04083364 0.01484179 0.99905572 -0.18766446] [ 0. 0. 0. 1. ]] SLAMing on 58.18538475 meters Centerline goodness [0,1] 0.8852542480748424 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.09, Z:-0.19 [[ 0.99863687 -0.0326393 -0.04073188 2.86218237] [ 0.0320781 0.99938225 -0.01435644 -0.09439667] [ 0.0411753 0.01303027 0.99906697 -0.18572013] [ 0. 0. 0. 1. ]] SLAMing on 58.21538475 meters Centerline goodness [0,1] 0.8870905956713273 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.10, Z:-0.18 [[ 0.99870022 -0.02945715 -0.04159492 2.86381968] [ 0.02914287 0.99954209 -0.00814216 -0.09843887] [ 0.04181572 0.00691938 0.99910138 -0.18228753] [ 0. 0. 0. 1. ]] SLAMing on 58.24538475 meters Centerline goodness [0,1] 0.8868099236884958 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.10, Z:-0.18 [[ 9.98764744e-01 -2.62872073e-02 -4.21659597e-02 2.86495738e+00] [ 2.62165788e-02 9.99653805e-01 -2.22720277e-03 -1.02106187e-01] [ 4.22099090e-02 1.11900440e-03 9.99108138e-01 -1.78963348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.27538475 meters Centerline goodness [0,1] 0.8871976514136193 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.10, Z:-0.18 [[ 9.98778903e-01 -2.58628402e-02 -4.20929550e-02 2.86428316e+00] [ 2.58090716e-02 9.99665233e-01 -1.82039946e-03 -1.01985501e-01] [ 4.21259443e-02 7.31796487e-04 9.99112040e-01 -1.78303366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.30538475 meters Centerline goodness [0,1] 0.8880385216365317 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.10, Z:-0.18 [[ 9.98876703e-01 -2.15179845e-02 -4.22174063e-02 2.86372520e+00] [ 2.16536242e-02 9.99761728e-01 2.75818216e-03 -1.01856900e-01] [ 4.21479966e-02 -3.66924375e-03 9.99104641e-01 -1.76829032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.33538475 meters Centerline goodness [0,1] 0.888037395064869 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.10, Z:-0.18 [[ 9.98884406e-01 -2.11425798e-02 -4.22248194e-02 2.86335230e+00] [ 2.12671940e-02 9.99770692e-01 2.50413975e-03 -9.96425964e-02] [ 4.21621929e-02 -3.39934958e-03 9.99104996e-01 -1.76858214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.36538475 meters Centerline goodness [0,1] 0.8901509159363432 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.10, Z:-0.18 [[ 0.99896283 -0.01664732 -0.04238087 2.86250859] [ 0.01691901 0.9998385 0.00606001 -0.09683067] [ 0.04227315 -0.00677076 0.99908315 -0.17609623] [ 0. 0. 0. 1. ]] SLAMing on 58.39538475 meters Centerline goodness [0,1] 0.8869449883155435 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.09, Z:-0.18 [[ 0.99898443 -0.01613683 -0.04206786 2.86145893] [ 0.01636491 0.99985317 0.00508292 -0.09367984] [ 0.04197966 -0.00576619 0.99910183 -0.17691179] [ 0. 0. 0. 1. ]] SLAMing on 58.42538475 meters Centerline goodness [0,1] 0.8873088443953965 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.09, Z:-0.18 [[ 0.99899505 -0.0157793 -0.04195121 2.86080806] [ 0.01597458 0.99986305 0.00432389 -0.09071096] [ 0.04187723 -0.0049897 0.9991103 -0.17735723] [ 0. 0. 0. 1. ]] SLAMing on 58.45538475 meters Centerline goodness [0,1] 0.8870217978516238 Centerline is valid? [False, False] Translation: X:2.86, Y:-0.09, Z:-0.18 [[ 0.99897471 -0.01624913 -0.04225516 2.86179774] [ 0.01639345 0.9998609 0.00307118 -0.0866012 ] [ 0.04219938 -0.00376074 0.99910213 -0.17822975] [ 0. 0. 0. 1. ]] SLAMing on 58.48538475 meters Centerline goodness [0,1] 0.8872145117328237 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.08, Z:-0.18 [[ 9.98877172e-01 -1.84779012e-02 -4.36229653e-02 2.86601432e+00] [ 1.85932218e-02 9.99824623e-01 2.23928285e-03 -8.48435346e-02] [ 4.35739376e-02 -3.04785999e-03 9.99045556e-01 -1.78193994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.51538475 meters Centerline goodness [0,1] 0.8873243863343495 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.08, Z:-0.18 [[ 9.98820086e-01 -1.96661054e-02 -4.44036043e-02 2.86846992e+00] [ 1.97730735e-02 9.99802551e-01 1.97102505e-03 -8.45396979e-02] [ 4.43560744e-02 -2.84669514e-03 9.99011729e-01 -1.78245329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.545384750000004 meters Centerline goodness [0,1] 0.885879288157936 Centerline is valid? [False, False] Translation: X:2.87, Y:-0.08, Z:-0.18 [[ 9.98681491e-01 -2.33614249e-02 -4.57113032e-02 2.87432652e+00] [ 2.34297550e-02 9.99725025e-01 9.59534700e-04 -8.36496614e-02] [ 4.56763176e-02 -2.02927418e-03 9.98954231e-01 -1.78767518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.57538475 meters Centerline goodness [0,1] 0.8882245578702247 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.08, Z:-0.18 [[ 9.98615913e-01 -2.45702986e-02 -4.65033294e-02 2.87685068e+00] [ 2.46311325e-02 9.99696337e-01 7.35502704e-04 -8.35835256e-02] [ 4.64711366e-02 -1.87991437e-03 9.98917864e-01 -1.78838320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.60538475 meters Centerline goodness [0,1] 0.8883723852000753 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.08, Z:-0.18 [[ 9.98494378e-01 -2.70405438e-02 -4.77261553e-02 2.88105712e+00] [ 2.70819816e-02 9.99633191e-01 2.21708273e-04 -8.28613439e-02] [ 4.77026539e-02 -1.51389333e-03 9.98860433e-01 -1.78606619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.63538475 meters Centerline goodness [0,1] 0.886955153422502 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.08, Z:-0.18 [[ 9.98436846e-01 -2.79479875e-02 -4.84022172e-02 2.88294372e+00] [ 2.79807766e-02 9.99608461e-01 -1.33904060e-07 -8.21074041e-02] [ 4.83832696e-02 -1.35419793e-03 9.98827926e-01 -1.78465369e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.66538475 meters Centerline goodness [0,1] 0.8854763470148086 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.08, Z:-0.18 [[ 9.98374973e-01 -2.92999346e-02 -4.88766501e-02 2.88513471e+00] [ 2.92926703e-02 9.99570503e-01 -8.65063436e-04 -7.89112931e-02] [ 4.88810040e-02 -5.68069913e-04 9.98804448e-01 -1.79007996e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.69538475 meters Centerline goodness [0,1] 0.885323678132218 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.08, Z:-0.18 [[ 9.98377013e-01 -2.92653769e-02 -4.88556834e-02 2.88494334e+00] [ 2.92446315e-02 9.99571635e-01 -1.13953631e-03 -7.68785472e-02] [ 4.88681042e-02 -2.91079594e-04 9.98805198e-01 -1.78974551e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.72538475 meters Centerline goodness [0,1] 0.8853772120459484 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.07, Z:-0.18 [[ 9.98485591e-01 -2.51902951e-02 -4.89078030e-02 2.88419994e+00] [ 2.53436336e-02 9.99675628e-01 2.51757153e-03 -7.35291479e-02] [ 4.88285204e-02 -3.75326034e-03 9.98800124e-01 -1.77890427e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.75538475 meters Centerline goodness [0,1] 0.8827958648356735 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.07, Z:-0.18 [[ 0.99854511 -0.02158311 -0.04941482 2.88505058] [ 0.02191235 0.9997411 0.0061306 -0.07164109] [ 0.04926971 -0.00720447 0.99875953 -0.1773663 ] [ 0. 0. 0. 1. ]] SLAMing on 58.78538475 meters Centerline goodness [0,1] 0.8821359992684934 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.07, Z:-0.18 [[ 0.99867293 -0.01554799 -0.04909826 2.88220042] [ 0.01603489 0.99982593 0.00953848 -0.06518117] [ 0.04894141 -0.0103131 0.99874841 -0.17673757] [ 0. 0. 0. 1. ]] SLAMing on 58.81538475 meters Centerline goodness [0,1] 0.8787566025135086 Centerline is valid? [False, False] Translation: X:2.88, Y:-0.06, Z:-0.18 [[ 0.99871692 -0.0140882 -0.048642 2.88018751] [ 0.01452403 0.99985738 0.00861812 -0.06053204] [ 0.04851364 -0.00931354 0.9987791 -0.17757364] [ 0. 0. 0. 1. ]] SLAMing on 58.84538475 meters Centerline goodness [0,1] 0.8767184832419804 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.05, Z:-0.18 [[ 0.99899756 -0.00640414 -0.04430423 2.8917824 ] [ 0.00655002 0.99997359 0.00314816 -0.05283764] [ 0.0442829 -0.00343519 0.99901313 -0.18264353] [ 0. 0. 0. 1. ]] SLAMing on 58.87538475 meters Centerline goodness [0,1] 0.8795637884672841 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.05, Z:-0.18 [[ 0.99901045 -0.00530443 -0.0441587 2.89089218] [ 0.00543883 0.99998093 0.00292405 -0.0491469 ] [ 0.04414235 -0.00316132 0.99902025 -0.18297317] [ 0. 0. 0. 1. ]] SLAMing on 58.90538475 meters Centerline goodness [0,1] 0.8778077801845643 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.05, Z:-0.18 [[ 9.98995277e-01 -1.67570935e-03 -4.47842473e-02 2.89220899e+00] [ 1.97657139e-03 9.99975771e-01 6.67459561e-03 -4.80200532e-02] [ 4.47719776e-02 -6.75640875e-03 9.98974385e-01 -1.82568226e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.93538475 meters Centerline goodness [0,1] 0.8789343392667688 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.05, Z:-0.18 [[ 9.98967649e-01 1.89722517e-03 -4.53876252e-02 2.89324468e+00] [-1.44163229e-03 9.99948273e-01 1.00684495e-02 -4.54688416e-02] [ 4.54043796e-02 -9.99262307e-03 9.98918710e-01 -1.81964048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.96538475 meters Centerline goodness [0,1] 0.8769630416814264 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.04, Z:-0.18 [[ 9.98958585e-01 1.80752577e-03 -4.55903319e-02 2.89350214e+00] [-1.37292111e-03 9.99953337e-01 9.56233647e-03 -4.37750729e-02] [ 4.56054887e-02 -9.48978618e-03 9.98914452e-01 -1.82053370e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 58.99538475 meters Centerline goodness [0,1] 0.8803265689700743 Centerline is valid? [False, False] Translation: X:2.89, Y:-0.04, Z:-0.18 [[ 9.98935398e-01 1.25721747e-03 -4.61138900e-02 2.89486139e+00] [-8.63552545e-04 9.99963026e-01 8.55572545e-03 -4.06070362e-02] [ 4.61229414e-02 -8.50679524e-03 9.98899549e-01 -1.82619759e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.02538475 meters Centerline goodness [0,1] 0.8784745613778155 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.04, Z:-0.18 [[ 9.98925575e-01 3.61141360e-04 -4.63418384e-02 2.89616799e+00] [-3.93041121e-06 9.99970293e-01 7.70803351e-03 -3.87664820e-02] [ 4.63432454e-02 -7.69956966e-03 9.98895901e-01 -1.83310155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.05538475 meters Centerline goodness [0,1] 0.8781742205078753 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.04, Z:-0.18 [[ 9.98895946e-01 -4.46266604e-04 -4.69754094e-02 2.89793986e+00] [ 7.93420907e-04 9.99972514e-01 7.37174182e-03 -3.84490420e-02] [ 4.69708284e-02 -7.40087429e-03 9.98868844e-01 -1.83451339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.08538475 meters Centerline goodness [0,1] 0.8776530433257324 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.04, Z:-0.18 [[ 9.98861389e-01 -1.55402864e-03 -4.76813411e-02 2.90022674e+00] [ 1.88123581e-03 9.99974986e-01 6.81826573e-03 -3.82942951e-02] [ 4.76695526e-02 -6.90020223e-03 9.98839327e-01 -1.83989509e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.11538475 meters Centerline goodness [0,1] 0.8778876919012534 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.04, Z:-0.18 [[ 9.98841925e-01 -5.96911733e-03 -4.77407398e-02 2.90092737e+00] [ 6.09512648e-03 9.99978314e-01 2.49430549e-03 -3.77096770e-02] [ 4.77248156e-02 -2.78240275e-03 9.98856646e-01 -1.84695145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.14538475 meters Centerline goodness [0,1] 0.8734199541419249 Centerline is valid? [False, False] Translation: X:2.90, Y:-0.04, Z:-0.18 [[ 9.98795448e-01 -7.56695138e-03 -4.84808677e-02 2.90345293e+00] [ 7.68770963e-03 9.99967793e-01 2.30486218e-03 -3.79431310e-02] [ 4.84618655e-02 -2.67479269e-03 9.98821452e-01 -1.84506682e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.17538475 meters Centerline goodness [0,1] 0.8751098868897614 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.04, Z:-0.19 [[ 9.98754251e-01 -8.60118219e-03 -4.91524777e-02 2.90583380e+00] [ 8.70824984e-03 9.99960153e-01 1.96454174e-03 -3.77610663e-02] [ 4.91336217e-02 -2.39012647e-03 9.98789354e-01 -1.85094089e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.20538475 meters Centerline goodness [0,1] 0.8769738392646712 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.04, Z:-0.19 [[ 9.98701458e-01 -1.25745774e-02 -4.93687974e-02 2.90957103e+00] [ 1.25683636e-02 9.99920920e-01 -4.36307288e-04 -3.86921203e-02] [ 4.93703796e-02 -1.84744271e-04 9.98780522e-01 -1.87130521e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.23538475 meters Centerline goodness [0,1] 0.8762804428044281 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.04, Z:-0.19 [[ 9.98660489e-01 -1.33561212e-02 -4.99884194e-02 2.91168994e+00] [ 1.33599617e-02 9.99910719e-01 -2.57316182e-04 -4.03302415e-02] [ 4.99873931e-02 -4.10871865e-04 9.98749764e-01 -1.87434781e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.26538475 meters Centerline goodness [0,1] 0.8784111045481394 Centerline is valid? [False, False] Translation: X:2.91, Y:-0.04, Z:-0.19 [[ 9.98618512e-01 -1.40308086e-02 -5.06379634e-02 2.91372356e+00] [ 1.40413893e-02 9.99901404e-01 -1.46805893e-04 -4.14310743e-02] [ 5.06350305e-02 -5.64424276e-04 9.98717065e-01 -1.87719165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.295384750000004 meters Centerline goodness [0,1] 0.8759499659934352 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.04, Z:-0.19 [[ 9.98568979e-01 -1.50380583e-02 -5.13210644e-02 2.91671729e+00] [ 1.50256600e-02 9.99886912e-01 -6.27417264e-04 -4.13190262e-02] [ 5.13246957e-02 -1.44613446e-04 9.98682009e-01 -1.89189489e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.32538475 meters Centerline goodness [0,1] 0.8775323371330696 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.04, Z:-0.19 [[ 9.98536183e-01 -1.53340519e-02 -5.18686706e-02 2.91818237e+00] [ 1.53127441e-02 9.99882426e-01 -8.08195022e-04 -4.05500700e-02] [ 5.18749651e-02 1.27602913e-05 9.98653588e-01 -1.89531217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.35538475 meters Centerline goodness [0,1] 0.8806833191464382 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.04, Z:-0.19 [[ 0.99852607 -0.01211049 -0.05290581 2.92059443] [ 0.01229073 0.99991971 0.00308278 -0.04038924] [ 0.05286423 -0.00372848 0.99859475 -0.18901543] [ 0. 0. 0. 1. ]] SLAMing on 59.38538475 meters Centerline goodness [0,1] 0.8790222954291429 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.04, Z:-0.19 [[ 0.99853867 -0.01157874 -0.05278688 2.9198989 ] [ 0.01175141 0.99992656 0.00296189 -0.03893163] [ 0.05274871 -0.00357788 0.99860141 -0.188959 ] [ 0. 0. 0. 1. ]] SLAMing on 59.41538475 meters Centerline goodness [0,1] 0.8813994918372711 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.04, Z:-0.19 [[ 0.99858156 -0.00711778 -0.05276552 2.91920725] [ 0.00749078 0.99994831 0.00687463 -0.03664713] [ 0.05271386 -0.00726013 0.99858327 -0.1881244 ] [ 0. 0. 0. 1. ]] SLAMing on 59.44538475 meters Centerline goodness [0,1] 0.8841513173233854 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.03, Z:-0.19 [[ 0.99857802 -0.00695977 -0.0528535 2.91928258] [ 0.00729738 0.99995417 0.00619747 -0.03375104] [ 0.05280794 -0.00657435 0.99858305 -0.18861747] [ 0. 0. 0. 1. ]] SLAMing on 59.47538475 meters Centerline goodness [0,1] 0.8846488430087571 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.03, Z:-0.19 [[ 0.99860379 -0.00603573 -0.05247894 2.91843477] [ 0.00635036 0.99996284 0.00583075 -0.02875467] [ 0.0524418 -0.00615587 0.99860501 -0.18920037] [ 0. 0. 0. 1. ]] SLAMing on 59.50538475 meters Centerline goodness [0,1] 0.8892422446442511 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.03, Z:-0.19 [[ 0.99859088 -0.0061962 -0.05270542 2.91856383] [ 0.00647104 0.99996633 0.00504571 -0.02578535] [ 0.05267238 -0.00537966 0.99859736 -0.18904736] [ 0. 0. 0. 1. ]] SLAMing on 59.53538475 meters Centerline goodness [0,1] 0.8915105250983113 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.02, Z:-0.19 [[ 0.99857422 -0.00653703 -0.0529792 2.91911308] [ 0.00678656 0.9999667 0.00453133 -0.02466827] [ 0.05294782 -0.00488441 0.99858534 -0.18908682] [ 0. 0. 0. 1. ]] SLAMing on 59.56538475 meters Centerline goodness [0,1] 0.8908215068651206 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.02, Z:-0.19 [[ 0.99855593 -0.00705065 -0.05325731 2.92005097] [ 0.0072683 0.999966 0.00389431 -0.02331801] [ 0.05322804 -0.00427577 0.99857323 -0.18948149] [ 0. 0. 0. 1. ]] SLAMing on 59.59538475 meters Centerline goodness [0,1] 0.8935705457994424 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.02, Z:-0.19 [[ 0.99850413 -0.00823704 -0.05405231 2.9223001 ] [ 0.00842112 0.99995949 0.00317884 -0.02213537] [ 0.05402394 -0.00362927 0.99853305 -0.18967182] [ 0. 0. 0. 1. ]] SLAMing on 59.62538475 meters Centerline goodness [0,1] 0.8929054929861451 Centerline is valid? [False, False] Translation: X:2.92, Y:-0.02, Z:-0.19 [[ 0.99847896 -0.00872822 -0.05443882 2.92338583] [ 0.00890761 0.99995566 0.00305349 -0.02234514] [ 0.05440975 -0.00353376 0.99851244 -0.18972671] [ 0. 0. 0. 1. ]] SLAMing on 59.65538475 meters Centerline goodness [0,1] 0.893800461361015 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.02, Z:-0.19 [[ 9.98416542e-01 -1.07350067e-02 -5.52192698e-02 2.92665617e+00] [ 1.08872423e-02 9.99937714e-01 2.45683729e-03 -2.29530772e-02] [ 5.51894562e-02 -3.05413256e-03 9.98471230e-01 -1.90377783e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.68538475 meters Centerline goodness [0,1] 0.895366562167448 Centerline is valid? [False, False] Translation: X:2.93, Y:-0.02, Z:-0.19 [[ 9.98272853e-01 -1.47271312e-02 -5.68719770e-02 2.93381305e+00] [ 1.48183870e-02 9.99889502e-01 1.18317558e-03 -2.31034368e-02] [ 5.68482679e-02 -2.02388303e-03 9.98380778e-01 -1.91990198e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.71538475 meters Centerline goodness [0,1] 0.8986133932947044 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.02, Z:-0.19 [[ 9.98217382e-01 -1.59665330e-02 -5.75076430e-02 2.93619896e+00] [ 1.60620660e-02 9.99870277e-01 1.19934829e-03 -2.45747814e-02] [ 5.74810335e-02 -2.12090186e-03 9.98344346e-01 -1.92215686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.74538475 meters Centerline goodness [0,1] 0.8986133932947044 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.02, Z:-0.19 [[ 9.98217382e-01 -1.59665330e-02 -5.75076430e-02 2.93619896e+00] [ 1.60620660e-02 9.99870277e-01 1.19934829e-03 -2.45747814e-02] [ 5.74810335e-02 -2.12090186e-03 9.98344346e-01 -1.92215686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.77538475 meters Centerline goodness [0,1] 0.902338337182448 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.03, Z:-0.19 [[ 9.98149491e-01 -1.71906344e-02 -5.83273172e-02 2.93851245e+00] [ 1.73082330e-02 9.99849059e-01 1.51154356e-03 -2.62225054e-02] [ 5.82925288e-02 -2.51828923e-03 9.98296368e-01 -1.91698785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.80538475 meters Centerline goodness [0,1] 0.9060400741255501 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.03, Z:-0.19 [[ 9.97990152e-01 -2.30191627e-02 -5.90404508e-02 2.94086141e+00] [ 2.29227902e-02 9.99734572e-01 -2.30916075e-03 -2.76341986e-02] [ 5.90779348e-02 9.51147816e-04 9.98252920e-01 -1.90954384e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.83538475 meters Centerline goodness [0,1] 0.9111729576158173 Centerline is valid? [False, False] Translation: X:2.94, Y:-0.03, Z:-0.19 [[ 9.97930982e-01 -2.37975336e-02 -5.97279845e-02 2.94232090e+00] [ 2.37248894e-02 9.99716671e-01 -1.92520825e-03 -2.86812325e-02] [ 5.97568771e-02 5.04185134e-04 9.98212834e-01 -1.90006788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.86538475 meters Centerline goodness [0,1] 0.914291489791793 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.03, Z:-0.19 [[ 9.97800749e-01 -2.62019061e-02 -6.08861604e-02 2.94626252e+00] [ 2.60760062e-02 9.99655867e-01 -2.86158019e-03 -2.73263410e-02] [ 6.09401864e-02 1.26761896e-03 9.98140615e-01 -1.90306709e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.89538475 meters Centerline goodness [0,1] 0.9125905405015439 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.03, Z:-0.19 [[ 9.97755987e-01 -2.68603934e-02 -6.13311446e-02 2.94744706e+00] [ 2.67210336e-02 9.99638149e-01 -3.09145918e-03 -2.64414595e-02] [ 6.13919897e-02 1.44569034e-03 9.98112686e-01 -1.90167095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.92538475 meters Centerline goodness [0,1] 0.9188209920920202 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.02, Z:-0.19 [[ 9.97669647e-01 -2.81561643e-02 -6.21490669e-02 2.94927773e+00] [ 2.79765630e-02 9.99601514e-01 -3.75833043e-03 -2.39578664e-02] [ 6.22301215e-02 2.01085491e-03 9.98059802e-01 -1.89503288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.95538475 meters Centerline goodness [0,1] 0.9177640035419463 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.02, Z:-0.19 [[ 9.97663280e-01 -2.61823624e-02 -6.31067681e-02 2.95236668e+00] [ 2.61731711e-02 9.99656951e-01 -9.72459637e-04 -2.09842688e-02] [ 6.31105806e-02 -6.81516971e-04 9.98006308e-01 -1.89666810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 59.98538475 meters Centerline goodness [0,1] 0.9208590006844627 Centerline is valid? [False, False] Translation: X:2.95, Y:-0.02, Z:-0.19 [[ 9.97669371e-01 -2.33537477e-02 -6.41126311e-02 2.95487746e+00] [ 2.35592834e-02 9.99719435e-01 2.45162289e-03 -1.96201427e-02] [ 6.40373888e-02 -3.95635671e-03 9.97939658e-01 -1.89490790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.01538475 meters Centerline goodness [0,1] 0.9193484643179766 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.01, Z:-0.19 [[ 0.99767754 -0.02057695 -0.06493168 2.95662567] [ 0.02092502 0.99977007 0.00468497 -0.01284187] [ 0.06482035 -0.00603278 0.99787871 -0.18943242] [ 0. 0. 0. 1. ]] SLAMing on 60.045384750000004 meters Centerline goodness [0,1] 0.924252641042931 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.01, Z:-0.19 [[ 0.99765233 -0.02078469 -0.06525208 2.95682027] [ 0.0210753 0.99977079 0.00376842 -0.00808395] [ 0.06515879 -0.00513478 0.9978617 -0.1891701 ] [ 0. 0. 0. 1. ]] SLAMing on 60.07538475 meters Centerline goodness [0,1] 0.9263572386058981 Centerline is valid? [False, False] Translation: X:2.96, Y:-0.01, Z:-0.19 [[ 0.99764907 -0.01797107 -0.06613154 2.95845113] [ 0.01846462 0.99980598 0.00685946 -0.00530484] [ 0.06599544 -0.00806443 0.99778734 -0.18843071] [ 0. 0. 0. 1. ]] SLAMing on 60.10538475 meters Centerline goodness [0,1] 0.9258319077313614 Centerline is valid? [False, False] Translation: X:2.96, Y:0.00, Z:-0.19 [[ 9.97645297e-01 -1.74270958e-02 -6.63336809e-02 2.95851493e+00] [ 1.79233352e-02 9.99815602e-01 6.89316179e-03 2.89999556e-03] [ 6.62013213e-02 -8.06585124e-03 9.97773685e-01 -1.87532185e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.13538475 meters Centerline goodness [0,1] 0.9248334658296554 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:-0.19 [[ 0.99760575 -0.01706601 -0.06701886 2.95952107] [ 0.01758755 0.99981941 0.00719968 0.01039507] [ 0.06688389 -0.00836114 0.99772573 -0.1863469 ] [ 0. 0. 0. 1. ]] SLAMing on 60.16538475 meters Centerline goodness [0,1] 0.9247704422222828 Centerline is valid? [False, False] Translation: X:2.96, Y:0.01, Z:-0.19 [[ 0.99756706 -0.0176676 -0.06743757 2.96026119] [ 0.01812404 0.99981675 0.0061625 0.01491504] [ 0.06731634 -0.00736975 0.99770446 -0.18627442] [ 0. 0. 0. 1. ]] SLAMing on 60.19538475 meters Centerline goodness [0,1] 0.9170648740584757 Centerline is valid? [False, False] Translation: X:2.96, Y:0.02, Z:-0.19 [[ 0.99750152 -0.01659752 -0.06866764 2.96331825] [ 0.01714287 0.99982596 0.00736015 0.02238033] [ 0.06853353 -0.00851893 0.99761244 -0.18626267] [ 0. 0. 0. 1. ]] SLAMing on 60.22538475 meters Centerline goodness [0,1] 0.9220099801470194 Centerline is valid? [False, False] Translation: X:2.97, Y:0.03, Z:-0.19 [[ 0.99744097 -0.0176126 -0.06929153 2.96500779] [ 0.01807745 0.99981806 0.00608714 0.02619115] [ 0.06917171 -0.00732418 0.99757788 -0.18671871] [ 0. 0. 0. 1. ]] SLAMing on 60.25538475 meters Centerline goodness [0,1] 0.8885374023074061 Centerline is valid? [False, False] Translation: X:2.97, Y:0.03, Z:-0.19 [[ 0.99741707 -0.01788669 -0.06956476 2.96623948] [ 0.01833033 0.99981548 0.00574433 0.03408019] [ 0.06944917 -0.00700464 0.9975609 -0.18670711] [ 0. 0. 0. 1. ]] SLAMing on 60.28538475 meters Centerline goodness [0,1] 0.9184640910168287 Centerline is valid? [False, False] Translation: X:2.97, Y:0.04, Z:-0.19 [[ 0.99740153 -0.01538968 -0.07038001 2.96785292] [ 0.01603759 0.99983397 0.00865003 0.03671823] [ 0.0702352 -0.00975628 0.99748275 -0.18604839] [ 0. 0. 0. 1. ]] SLAMing on 60.31538475 meters Centerline goodness [0,1] 0.9150894207205797 Centerline is valid? [False, False] Translation: X:2.97, Y:0.04, Z:-0.18 [[ 0.99740085 -0.01350617 -0.07077514 2.96751082] [ 0.0142438 0.99984927 0.00992775 0.04496854] [ 0.07063039 -0.01091005 0.99744289 -0.18453809] [ 0. 0. 0. 1. ]] SLAMing on 60.34538475 meters Centerline goodness [0,1] 0.9134008892565402 Centerline is valid? [False, False] Translation: X:2.97, Y:0.05, Z:-0.18 [[ 0.99741384 -0.0127559 -0.0707313 2.96706723] [ 0.01351692 0.99985568 0.01029115 0.05013815] [ 0.07058982 -0.01122061 0.99744232 -0.18392437] [ 0. 0. 0. 1. ]] SLAMing on 60.37538475 meters Centerline goodness [0,1] 0.9247603221270613 Centerline is valid? [False, False] Translation: X:2.97, Y:0.06, Z:-0.18 [[ 0.99739499 -0.01016531 -0.07141356 2.96722895] [ 0.01102628 0.99987108 0.01167228 0.06002133] [ 0.0712857 -0.0124293 0.99737849 -0.18270435] [ 0. 0. 0. 1. ]] SLAMing on 60.40538475 meters Centerline goodness [0,1] 0.9017771252088502 Centerline is valid? [False, False] Translation: X:2.97, Y:0.06, Z:-0.18 [[ 0.99737015 -0.00744613 -0.07209257 2.968817 ] [ 0.00847964 0.99986547 0.01404044 0.06408109] [ 0.07197833 -0.01461483 0.99729912 -0.18282152] [ 0. 0. 0. 1. ]] SLAMing on 60.43538475 meters Centerline goodness [0,1] 0.9253300124533002 Centerline is valid? [False, False] Translation: X:2.97, Y:0.07, Z:-0.18 [[ 0.99734606 -0.00513968 -0.07262521 2.97049803] [ 0.00622007 0.99987322 0.01465787 0.07436773] [ 0.07254067 -0.0150707 0.99725159 -0.18391683] [ 0. 0. 0. 1. ]] SLAMing on 60.46538475 meters Centerline goodness [0,1] 0.9197983841079238 Centerline is valid? [False, False] Translation: X:2.97, Y:0.08, Z:-0.19 [[ 0.99732558 -0.00607877 -0.0728336 2.97175224] [ 0.00702315 0.99989447 0.01271717 0.08051389] [ 0.07274861 -0.01319468 0.99726302 -0.1851198 ] [ 0. 0. 0. 1. ]] SLAMing on 60.49538475 meters Centerline goodness [0,1] 0.9233321946220292 Centerline is valid? [False, False] Translation: X:2.97, Y:0.09, Z:-0.19 [[ 0.99726772 -0.00408958 -0.07375891 2.97400064] [ 0.00511305 0.99989318 0.01369243 0.09047642] [ 0.07369503 -0.01403215 0.9971821 -0.18557626] [ 0. 0. 0. 1. ]] SLAMing on 60.52538475 meters Centerline goodness [0,1] 0.9224219489120151 Centerline is valid? [False, False] Translation: X:2.97, Y:0.10, Z:-0.19 [[ 0.99725603 -0.00445969 -0.07389529 2.97490565] [ 0.00540131 0.99990669 0.01254772 0.09607461] [ 0.07383243 -0.01291242 0.99718706 -0.18639755] [ 0. 0. 0. 1. ]] SLAMing on 60.55538475 meters Centerline goodness [0,1] 0.9179659562294379 Centerline is valid? [False, False] Translation: X:2.98, Y:0.11, Z:-0.19 [[ 9.97232822e-01 -1.60597389e-03 -7.43244219e-02 2.97649393e+00] [ 2.66246935e-03 9.99896795e-01 1.41177510e-02 1.05662887e-01] [ 7.42940785e-02 -1.42765712e-02 9.97134178e-01 -1.87249766e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.58538475 meters Centerline goodness [0,1] 0.9183365196251977 Centerline is valid? [False, False] Translation: X:2.98, Y:0.11, Z:-0.19 [[ 9.97181050e-01 1.50554490e-03 -7.50179091e-02 2.97764812e+00] [-2.57174660e-04 9.99861382e-01 1.66478448e-02 1.09541342e-01] [ 7.50325743e-02 -1.65816227e-02 9.97043210e-01 -1.86962681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 60.61538475 meters Centerline goodness [0,1] 0.9192219999069378 Centerline is valid? [False, False] Translation: X:2.97, Y:0.12, Z:-0.18 [[ 0.9971923 0.00588046 -0.07465217 2.97454793] [-0.00449543 0.99981489 0.01870765 0.11945784] [ 0.07474836 -0.01831953 0.99703414 -0.18449108] [ 0. 0. 0. 1. ]] SLAMing on 60.64538475 meters Centerline goodness [0,1] 0.9160874568469505 Centerline is valid? [False, False] Translation: X:2.97, Y:0.13, Z:-0.18 [[ 0.99718599 0.00614233 -0.07471535 2.97400671] [-0.00482979 0.99983105 0.01773527 0.12544868] [ 0.07481166 -0.0173245 0.99704718 -0.1840493 ] [ 0. 0. 0. 1. ]] SLAMing on 60.67538475 meters Centerline goodness [0,1] 0.9176774252495489 Centerline is valid? [False, False] Translation: X:2.97, Y:0.13, Z:-0.18 [[ 0.99718369 0.00648873 -0.07471666 2.97340878] [-0.00524687 0.99984501 0.01680528 0.1313782 ] [ 0.07481412 -0.01636592 0.99706319 -0.18366196] [ 0. 0. 0. 1. ]] SLAMing on 60.70538475 meters Centerline goodness [0,1] 0.912143720076961 Centerline is valid? [False, False] Translation: X:2.97, Y:0.14, Z:-0.18 [[ 0.99713861 0.0100967 -0.07491761 2.97318627] [-0.00870828 0.99978466 0.01883618 0.14081992] [ 0.07509166 -0.01812988 0.99701181 -0.18294151] [ 0. 0. 0. 1. ]] SLAMing on 60.73538475 meters Centerline goodness [0,1] 0.909322611122097 Centerline is valid? [False, False] Translation: X:2.97, Y:0.15, Z:-0.18 [[ 0.99712201 0.01019102 -0.07512547 2.97228503] [-0.00888855 0.99980469 0.01765132 0.14855713] [ 0.07529068 -0.01693276 0.99701785 -0.18158743] [ 0. 0. 0. 1. ]] SLAMing on 60.76538475 meters Centerline goodness [0,1] 0.908307141609918 Centerline is valid? [False, False] Translation: X:2.97, Y:0.15, Z:-0.18 [[ 0.99709884 0.00926203 -0.07555212 2.97320491] [-0.00807131 0.99983861 0.0160504 0.15235037] [ 0.07568858 -0.01539403 0.99701267 -0.18182675] [ 0. 0. 0. 1. ]] SLAMing on 60.795384750000004 meters Centerline goodness [0,1] 0.9082564835259991 Centerline is valid? [False, False] Translation: X:2.97, Y:0.16, Z:-0.18 [[ 0.99708949 0.00869629 -0.07574252 2.97365475] [-0.00760107 0.99986253 0.01473607 0.15608921] [ 0.07586026 -0.01411746 0.99701851 -0.18206226] [ 0. 0. 0. 1. ]] SLAMing on 60.82538475 meters Centerline goodness [0,1] 0.9102445728028172 Centerline is valid? [False, False] Translation: X:2.97, Y:0.16, Z:-0.18 [[ 0.99702936 0.01138641 -0.07617611 2.97467645] [-0.01015747 0.99981226 0.01650091 0.16196149] [ 0.0763497 -0.01567813 0.99695783 -0.18216144] [ 0. 0. 0. 1. ]] SLAMing on 60.85538475 meters Centerline goodness [0,1] 0.9087063724865025 Centerline is valid? [False, False] Translation: X:2.98, Y:0.17, Z:-0.18 [[ 0.99696371 0.01425945 -0.07655076 2.97560011] [-0.01288791 0.99974799 0.01838099 0.16719582] [ 0.07679358 -0.0173386 0.99689624 -0.1822669 ] [ 0. 0. 0. 1. ]] SLAMing on 60.88538475 meters Centerline goodness [0,1] 0.9110574887816443 Centerline is valid? [False, False] Translation: X:2.98, Y:0.17, Z:-0.18 [[ 0.99694154 0.01336922 -0.0769989 2.97729918] [-0.0121124 0.99978606 0.01676664 0.17087839] [ 0.07720658 -0.01578271 0.99689019 -0.18341029] [ 0. 0. 0. 1. ]] SLAMing on 60.91538475 meters Centerline goodness [0,1] 0.9133251730541955 Centerline is valid? [False, False] Translation: X:2.98, Y:0.17, Z:-0.18 [[ 0.99692526 0.01248655 -0.0773571 2.97894089] [-0.01134562 0.99982054 0.0151709 0.174564 ] [ 0.07753265 -0.01424659 0.99688802 -0.18467043] [ 0. 0. 0. 1. ]] SLAMing on 60.94538475 meters Centerline goodness [0,1] 0.911943617065906 Centerline is valid? [False, False] Translation: X:2.98, Y:0.18, Z:-0.19 [[ 0.9969059 0.01156798 -0.07774842 2.98080882] [-0.01059673 0.99986073 0.01289329 0.18058755] [ 0.07788674 -0.01202952 0.99688964 -0.18628841] [ 0. 0. 0. 1. ]] SLAMing on 60.97538475 meters Centerline goodness [0,1] 0.9108639182168594 Centerline is valid? [False, False] Translation: X:2.98, Y:0.18, Z:-0.19 [[ 0.99689097 0.01089929 -0.0780359 2.98200369] [-0.01002068 0.99988202 0.01164181 0.18328561] [ 0.07815358 -0.01082364 0.99688257 -0.1871094 ] [ 0. 0. 0. 1. ]] SLAMing on 61.00538475 meters Centerline goodness [0,1] 0.9147201364477817 Centerline is valid? [False, False] Translation: X:2.99, Y:0.19, Z:-0.19 [[ 0.99728936 0.01309015 -0.07240571 2.99196414] [-0.01280785 0.99990846 0.00436179 0.18804301] [ 0.07245618 -0.0034226 0.99736572 -0.18934977] [ 0. 0. 0. 1. ]] SLAMing on 61.03538475 meters Centerline goodness [0,1] 0.9151489980272038 Centerline is valid? [False, False] Translation: X:2.99, Y:0.19, Z:-0.19 [[ 9.97272187e-01 1.25663725e-02 -7.27342523e-02 2.99260621e+00] [-1.23501956e-02 9.99917881e-01 3.42113959e-03 1.90854017e-01] [ 7.27712707e-02 -2.51352512e-03 9.97345489e-01 -1.89377329e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.06538475 meters Centerline goodness [0,1] 0.9079715110363588 Centerline is valid? [False, False] Translation: X:2.99, Y:0.20, Z:-0.19 [[ 9.97285170e-01 1.18551557e-02 -7.26756161e-02 2.99233616e+00] [-1.17322309e-02 9.99928932e-01 2.11808820e-03 1.95868146e-01] [ 7.26955614e-02 -1.25969084e-03 9.97353382e-01 -1.89074000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.09538475 meters Centerline goodness [0,1] 0.8887733887733887 Centerline is valid? [False, False] Translation: X:2.99, Y:0.20, Z:-0.19 [[ 9.97300239e-01 1.14187113e-02 -7.25385874e-02 2.99213437e+00] [-1.13425560e-02 9.99934603e-01 1.46171426e-03 1.97569067e-01] [ 7.25505345e-02 -6.34994990e-04 9.97364536e-01 -1.89027969e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.12538475 meters Centerline goodness [0,1] 0.8790887608308113 Centerline is valid? [False, False] Translation: X:2.99, Y:0.20, Z:-0.19 [[ 9.97293693e-01 9.99615937e-03 -7.28379446e-02 2.99333588e+00] [-1.00290708e-02 9.99949704e-01 -8.61158067e-05 2.00728956e-01] [ 7.28334203e-02 8.16379657e-04 9.97343785e-01 -1.89491376e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.15538475 meters Centerline goodness [0,1] 0.8815373488996797 Centerline is valid? [False, False] Translation: X:2.99, Y:0.20, Z:-0.19 [[ 9.97272442e-01 9.25425761e-03 -7.32259134e-02 2.99471828e+00] [-9.35434424e-03 9.99955723e-01 -1.02397997e-03 2.02690543e-01] [ 7.32131950e-02 1.70616740e-03 9.97314854e-01 -1.90174338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.18538475 meters Centerline goodness [0,1] 0.8612592500723469 Centerline is valid? [False, False] Translation: X:3.00, Y:0.21, Z:-0.19 [[ 9.97249615e-01 1.09365919e-02 -7.33048130e-02 2.99637722e+00] [-1.09316853e-02 9.99940138e-01 4.68159044e-04 2.07032832e-01] [ 7.33055449e-02 3.34473719e-04 9.97309473e-01 -1.91348043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.21538475 meters Centerline goodness [0,1] 0.8500300312739474 Centerline is valid? [False, False] Translation: X:3.00, Y:0.21, Z:-0.19 [[ 9.97245541e-01 1.06465385e-02 -7.34028783e-02 2.99696907e+00] [-1.06905590e-02 9.99942833e-01 -2.06836438e-04 2.09477928e-01] [ 7.33964800e-02 9.90984518e-04 9.97302349e-01 -1.91789518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.24538475 meters Centerline goodness [0,1] 0.8000785383597884 Centerline is valid? [False, False] Translation: X:3.00, Y:0.21, Z:-0.19 [[ 9.97237486e-01 9.76263554e-03 -7.36348206e-02 2.99747971e+00] [-9.90433096e-03 9.99949735e-01 -1.55938838e-03 2.12977251e-01] [ 7.36158956e-02 2.28438418e-03 9.97284053e-01 -1.91752462e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.27538475 meters Centerline goodness [0,1] 0.8508587924982866 Centerline is valid? [False, False] Translation: X:3.00, Y:0.22, Z:-0.19 [[ 9.97233628e-01 9.47950803e-03 -7.37240171e-02 2.99697680e+00] [-9.68003189e-03 9.99950355e-01 -2.36308201e-03 2.16627946e-01] [ 7.36979562e-02 3.07019568e-03 9.97275882e-01 -1.90894953e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.30538475 meters Centerline goodness [0,1] 0.8117282676027255 Centerline is valid? [False, False] Translation: X:3.00, Y:0.22, Z:-0.19 [[ 9.97174451e-01 1.14088470e-02 -7.42492615e-02 2.99953713e+00] [-1.14697632e-02 9.99934142e-01 -3.94066971e-04 2.17832436e-01] [ 7.42398758e-02 1.24457497e-03 9.97239636e-01 -1.92304927e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.33538475 meters Centerline goodness [0,1] 0.8118787276341948 Centerline is valid? [False, False] Translation: X:3.00, Y:0.22, Z:-0.19 [[ 9.97171614e-01 1.14108833e-02 -7.42870439e-02 2.99927905e+00] [-1.15089273e-02 9.99933372e-01 -8.91845774e-04 2.20460686e-01] [ 7.42719176e-02 1.74428748e-03 9.97236501e-01 -1.91992727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.36538475 meters Centerline goodness [0,1] 0.8206044580329291 Centerline is valid? [False, False] Translation: X:3.01, Y:0.22, Z:-0.19 [[ 0.99759915 0.01521738 -0.06756006 3.00788498] [-0.01568313 0.99985673 -0.00636873 0.22361549] [ 0.06745346 0.00741299 0.99769488 -0.19369755] [ 0. 0. 0. 1. ]] SLAMing on 61.39538475 meters Centerline goodness [0,1] 0.870224591417178 Centerline is valid? [False, False] Translation: X:3.01, Y:0.22, Z:-0.19 [[ 9.97535211e-01 1.88473303e-02 -6.75890632e-02 3.00811567e+00] [-1.90881691e-02 9.99813543e-01 -2.91917993e-03 2.23833725e-01] [ 6.75214420e-02 4.20213623e-03 9.97708974e-01 -1.93581074e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.42538475 meters Centerline goodness [0,1] 0.8742339516744733 Centerline is valid? [False, False] Translation: X:3.02, Y:0.23, Z:-0.20 [[ 0.99775412 0.02575456 -0.06183377 3.01821867] [-0.0261907 0.99963741 -0.00625314 0.22711328] [ 0.0616503 0.00785857 0.99806687 -0.19652506] [ 0. 0. 0. 1. ]] SLAMing on 61.45538475 meters Centerline goodness [0,1] 0.8959724584180182 Centerline is valid? [False, False] Translation: X:3.02, Y:0.23, Z:-0.20 [[ 9.97651316e-01 2.95746695e-02 -6.17834143e-02 3.01888021e+00] [-2.98103347e-02 9.99551378e-01 -2.89589033e-03 2.28452717e-01] [ 6.16700519e-02 4.73087306e-03 9.98085379e-01 -1.97094274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.48538475 meters Centerline goodness [0,1] 0.9119410727253865 Centerline is valid? [False, False] Translation: X:3.02, Y:0.23, Z:-0.20 [[ 9.97487042e-01 3.43132437e-02 -6.19854972e-02 3.02068288e+00] [-3.43843328e-02 9.99408681e-01 -8.02252741e-05 2.33083722e-01] [ 6.19460912e-02 2.21135363e-03 9.98077047e-01 -1.98839208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.51538475 meters Centerline goodness [0,1] 0.9114739830490913 Centerline is valid? [False, False] Translation: X:3.02, Y:0.24, Z:-0.20 [[ 9.97331319e-01 3.82325223e-02 -6.21973898e-02 3.02203272e+00] [-3.81159356e-02 9.99268637e-01 3.06032499e-03 2.35016510e-01] [ 6.22689049e-02 -6.81446258e-04 9.98059176e-01 -1.99643277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.545384750000004 meters Centerline goodness [0,1] 0.9068554703602936 Centerline is valid? [False, False] Translation: X:3.03, Y:0.24, Z:-0.20 [[ 9.97200328e-01 4.74711798e-02 -5.77753601e-02 3.03153869e+00] [-4.75731732e-02 9.98867679e-01 -3.90422108e-04 2.38541770e-01] [ 5.76914061e-02 3.13788627e-03 9.98329532e-01 -2.02837085e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.57538475 meters Centerline goodness [0,1] 0.9041456640263348 Centerline is valid? [False, False] Translation: X:3.03, Y:0.24, Z:-0.20 [[ 9.97144878e-01 4.83287649e-02 -5.80208837e-02 3.03215987e+00] [-4.84572258e-02 9.98824932e-01 -8.08315529e-04 2.41259196e-01] [ 5.79136403e-02 3.61753875e-03 9.98315042e-01 -2.03236151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.60538475 meters Centerline goodness [0,1] 0.9000988305056827 Centerline is valid? [False, False] Translation: X:3.03, Y:0.24, Z:-0.20 [[ 9.96840562e-01 5.42643350e-02 -5.80023846e-02 3.03254350e+00] [-5.41648009e-02 9.98526596e-01 3.28798765e-03 2.44219836e-01] [ 5.80953442e-02 -1.35911842e-04 9.98311030e-01 -2.03471530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.63538475 meters Centerline goodness [0,1] 0.9000988305056827 Centerline is valid? [False, False] Translation: X:3.03, Y:0.24, Z:-0.20 [[ 9.96840562e-01 5.42643350e-02 -5.80023846e-02 3.03254350e+00] [-5.41648009e-02 9.98526596e-01 3.28798765e-03 2.44219836e-01] [ 5.80953442e-02 -1.35911842e-04 9.98311030e-01 -2.03471530e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.66538475 meters Centerline goodness [0,1] 0.8985612405672112 Centerline is valid? [False, False] Translation: X:3.03, Y:0.25, Z:-0.20 [[ 0.99652952 0.06022627 -0.05746045 3.03165978] [-0.05986388 0.99817442 0.00800892 0.24535875] [ 0.0578379 -0.00454132 0.99831566 -0.20317028] [ 0. 0. 0. 1. ]] SLAMing on 61.69538475 meters Centerline goodness [0,1] 0.8993491688430129 Centerline is valid? [False, False] Translation: X:3.03, Y:0.25, Z:-0.20 [[ 0.99648457 0.0609099 -0.05751944 3.03184387] [-0.06053014 0.99813167 0.00832331 0.24534158] [ 0.05791895 -0.00481239 0.99830969 -0.2033504 ] [ 0. 0. 0. 1. ]] SLAMing on 61.72538475 meters Centerline goodness [0,1] 0.9007324036909836 Centerline is valid? [False, False] Translation: X:3.03, Y:0.24, Z:-0.20 [[ 0.99644332 0.061469 -0.05763912 3.03207241] [-0.06104937 0.99809404 0.00901479 0.24349994] [ 0.05808339 -0.0054639 0.99829678 -0.20338563] [ 0. 0. 0. 1. ]] SLAMing on 61.75538475 meters Centerline goodness [0,1] 0.9007874992249023 Centerline is valid? [False, False] Translation: X:3.03, Y:0.24, Z:-0.20 [[ 0.99658889 0.05926605 -0.05742932 3.03076415] [-0.05892692 0.9982335 0.00758236 0.23713024] [ 0.05777724 -0.00417236 0.99832078 -0.20294176] [ 0. 0. 0. 1. ]] SLAMing on 61.78538475 meters Centerline goodness [0,1] 0.8993576460837132 Centerline is valid? [False, False] Translation: X:3.03, Y:0.23, Z:-0.20 [[ 9.96763603e-01 5.63455838e-02 -5.73366740e-02 3.02965583e+00] [-5.61511246e-02 9.98409770e-01 4.99826919e-03 2.34461095e-01] [ 5.75271259e-02 -1.76257408e-03 9.98342388e-01 -2.02407553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.81538475 meters Centerline goodness [0,1] 0.8987869362363919 Centerline is valid? [False, False] Translation: X:3.03, Y:0.23, Z:-0.20 [[ 9.96894518e-01 5.44081254e-02 -5.69304406e-02 3.02849283e+00] [-5.42777579e-02 9.98518512e-01 3.83487378e-03 2.28924530e-01] [ 5.70547471e-02 -7.32907973e-04 9.98370782e-01 -2.02338382e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.84538475 meters Centerline goodness [0,1] 0.8984831530523436 Centerline is valid? [False, False] Translation: X:3.03, Y:0.22, Z:-0.20 [[ 9.97014268e-01 5.25977333e-02 -5.65334259e-02 3.02689080e+00] [-5.25311753e-02 9.98615732e-01 2.66378114e-03 2.23266199e-01] [ 5.65952773e-02 3.13939499e-04 9.98397153e-01 -2.01844352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.87538475 meters Centerline goodness [0,1] 0.897812642676296 Centerline is valid? [False, False] Translation: X:3.03, Y:0.22, Z:-0.20 [[ 9.97163550e-01 4.97972942e-02 -5.64365429e-02 3.02639030e+00] [-4.98846368e-02 9.98754977e-01 -1.39027030e-04 2.20996897e-01] [ 5.63593550e-02 2.95394914e-03 9.98406179e-01 -2.02081646e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.90538475 meters Centerline goodness [0,1] 0.8983946098818832 Centerline is valid? [False, False] Translation: X:3.03, Y:0.21, Z:-0.20 [[ 9.97214433e-01 4.89962090e-02 -5.62382902e-02 3.02611615e+00] [-4.91060914e-02 9.98793404e-01 -5.72790458e-04 2.13389697e-01] [ 5.61423687e-02 3.33283753e-03 9.98417211e-01 -2.02818884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.93538475 meters Centerline goodness [0,1] 0.8996183839389414 Centerline is valid? [False, False] Translation: X:3.03, Y:0.21, Z:-0.20 [[ 9.97164985e-01 4.98264123e-02 -5.63854744e-02 3.02654983e+00] [-4.98670104e-02 9.98755630e-01 6.87643784e-04 2.09330445e-01] [ 5.63495728e-02 2.12608073e-03 9.98408837e-01 -2.03088835e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.96538475 meters Centerline goodness [0,1] 0.899774962493749 Centerline is valid? [False, False] Translation: X:3.03, Y:0.20, Z:-0.20 [[ 9.97057457e-01 5.21137133e-02 -5.62191154e-02 3.02674355e+00] [-5.20018030e-02 9.98641022e-01 3.45267852e-03 2.00169371e-01] [ 5.63226468e-02 -5.19023503e-04 9.98412485e-01 -2.03945990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 61.99538475 meters Centerline goodness [0,1] 0.9023827985833142 Centerline is valid? [False, False] Translation: X:3.03, Y:0.20, Z:-0.20 [[ 9.97013960e-01 5.26583978e-02 -5.64823605e-02 3.02803543e+00] [-5.24859962e-02 9.98611374e-01 4.53245983e-03 1.95836641e-01] [ 5.66425997e-02 -1.55439276e-03 9.98393309e-01 -2.04969499e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.02538475 meters Centerline goodness [0,1] 0.8979600447229078 Centerline is valid? [False, False] Translation: X:3.03, Y:0.19, Z:-0.21 [[ 0.99693015 0.05422628 -0.05647814 3.03075503] [-0.05390337 0.99852001 0.0072264 0.18570089] [ 0.05678642 -0.00415986 0.99837768 -0.20816147] [ 0. 0. 0. 1. ]] SLAMing on 62.05538475 meters Centerline goodness [0,1] 0.8960017150820023 Centerline is valid? [False, False] Translation: X:3.03, Y:0.17, Z:-0.21 [[ 0.99698827 0.05309928 -0.05652309 3.03328886] [-0.05276461 0.99857957 0.00739807 0.17426816] [ 0.05683564 -0.00439337 0.99837388 -0.21134927] [ 0. 0. 0. 1. ]] SLAMing on 62.08538475 meters Centerline goodness [0,1] 0.8923016769484751 Centerline is valid? [False, False] Translation: X:3.03, Y:0.17, Z:-0.21 [[ 9.97099781e-01 5.09374009e-02 -5.65456221e-02 3.03475871e+00] [-5.06908717e-02 9.98697628e-01 5.78655600e-03 1.68711026e-01] [ 5.67667308e-02 -2.90342685e-03 9.98383247e-01 -2.13425298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.11538475 meters Centerline goodness [0,1] 0.8913464927740571 Centerline is valid? [False, False] Translation: X:3.04, Y:0.16, Z:-0.21 [[ 9.97183525e-01 4.92254965e-02 -5.65850559e-02 3.03545160e+00] [-4.90393513e-02 9.98785909e-01 4.67436246e-03 1.62846439e-01] [ 5.67464544e-02 -1.88630280e-03 9.98386840e-01 -2.14522338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.14538475 meters Centerline goodness [0,1] 0.895189428899444 Centerline is valid? [False, False] Translation: X:3.04, Y:0.15, Z:-0.22 [[ 9.97868214e-01 4.73677385e-02 -4.48923591e-02 3.03860455e+00] [-4.72927907e-02 9.98877337e-01 2.73070667e-03 1.49198857e-01] [ 4.49713075e-02 -6.01800447e-04 9.98988098e-01 -2.17508970e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.17538475 meters Centerline goodness [0,1] 0.8959183673469387 Centerline is valid? [False, False] Translation: X:3.04, Y:0.14, Z:-0.22 [[ 9.98465847e-01 4.48053977e-02 -3.25334934e-02 3.04104712e+00] [-4.48514755e-02 9.98993430e-01 -6.87554263e-04 1.44273041e-01] [ 3.24699400e-02 2.14567463e-03 9.99470409e-01 -2.23212648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.20538475 meters Centerline goodness [0,1] 0.8979341046627559 Centerline is valid? [False, False] Translation: X:3.05, Y:0.13, Z:-0.23 [[ 9.98837325e-01 4.20230566e-02 -2.36233152e-02 3.04635783e+00] [-4.19999958e-02 9.99116527e-01 1.47171855e-03 1.31138313e-01] [ 2.36642908e-02 -4.77828276e-04 9.99719847e-01 -2.25445092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.23538475 meters Centerline goodness [0,1] 0.8978705421078581 Centerline is valid? [False, False] Translation: X:3.05, Y:0.13, Z:-0.23 [[ 9.98967178e-01 3.90233855e-02 -2.32755649e-02 3.04559751e+00] [-3.90562973e-02 9.99236550e-01 -9.60921529e-04 1.26001004e-01] [ 2.32202967e-02 1.86898645e-03 9.99728626e-01 -2.25799032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.26538475 meters Centerline goodness [0,1] 0.8957442232789314 Centerline is valid? [False, False] Translation: X:3.05, Y:0.11, Z:-0.23 [[ 9.99275498e-01 3.41044022e-02 -1.68928366e-02 3.05374951e+00] [-3.41001084e-02 9.99418275e-01 5.42240244e-04 1.12976893e-01] [ 1.69015024e-02 3.42001688e-05 9.99857159e-01 -2.28688664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.295384750000004 meters Centerline goodness [0,1] 0.8947050582153727 Centerline is valid? [False, False] Translation: X:3.05, Y:0.11, Z:-0.23 [[ 9.99390886e-01 3.05940386e-02 -1.67887398e-02 3.05401458e+00] [-3.06397631e-02 9.99527433e-01 -2.47302987e-03 1.08471004e-01] [ 1.67051461e-02 2.98592653e-03 9.99856001e-01 -2.29662296e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.32538475 meters Centerline goodness [0,1] 0.893738792955221 Centerline is valid? [False, False] Translation: X:3.05, Y:0.10, Z:-0.23 [[ 9.99487155e-01 2.73169112e-02 -1.67096778e-02 3.05476343e+00] [-2.73652961e-02 9.99621924e-01 -2.67381293e-03 9.62692150e-02] [ 1.66303200e-02 3.12970696e-03 9.99856808e-01 -2.29480244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.35538475 meters Centerline goodness [0,1] 0.8951714589462754 Centerline is valid? [False, False] Translation: X:3.06, Y:0.09, Z:-0.23 [[ 0.99957879 0.02385717 -0.01652492 3.05520359] [-0.02395255 0.99969742 -0.00559791 0.09244683] [ 0.01638637 0.00599137 0.99984778 -0.23070915] [ 0. 0. 0. 1. ]] SLAMing on 62.38538475 meters Centerline goodness [0,1] 0.892111281445553 Centerline is valid? [False, False] Translation: X:3.06, Y:0.08, Z:-0.23 [[ 0.9996982 0.01791567 -0.01680914 3.05781301] [-0.01807939 0.99979009 -0.00963897 0.08255541] [ 0.01663293 0.00993996 0.99981225 -0.23324157] [ 0. 0. 0. 1. ]] SLAMing on 62.41538475 meters Centerline goodness [0,1] 0.891156635059074 Centerline is valid? [False, False] Translation: X:3.06, Y:0.08, Z:-0.23 [[ 0.99975064 0.01457995 -0.01691426 3.05830963] [-0.01478756 0.99981604 -0.01221531 0.07760374] [ 0.01673305 0.01246238 0.99978232 -0.23382169] [ 0. 0. 0. 1. ]] SLAMing on 62.44538475 meters Centerline goodness [0,1] 0.891042471042471 Centerline is valid? [False, False] Translation: X:3.06, Y:0.07, Z:-0.23 [[ 0.99979038 0.0110868 -0.01721274 3.06003939] [-0.01131082 0.99985188 -0.01297224 0.06687302] [ 0.01706637 0.01316421 0.99976769 -0.23424537] [ 0. 0. 0. 1. ]] SLAMing on 62.47538475 meters Centerline goodness [0,1] 0.8901246702188195 Centerline is valid? [False, False] Translation: X:3.06, Y:0.06, Z:-0.23 [[ 0.99978535 0.01082055 -0.01766839 3.06161441] [-0.01102878 0.99987037 -0.01173094 0.06129221] [ 0.01753917 0.01192328 0.99977508 -0.23461507] [ 0. 0. 0. 1. ]] SLAMing on 62.50538475 meters Centerline goodness [0,1] 0.8913903813392741 Centerline is valid? [False, False] Translation: X:3.06, Y:0.05, Z:-0.23 [[ 0.99981135 0.00755824 -0.01789247 3.06225623] [-0.00778125 0.9998925 -0.01242718 0.05172006] [ 0.01779662 0.01256406 0.99976268 -0.23381246] [ 0. 0. 0. 1. ]] SLAMing on 62.53538475 meters Centerline goodness [0,1] 0.8907695542472667 Centerline is valid? [False, False] Translation: X:3.06, Y:0.05, Z:-0.23 [[ 0.9998025 0.00749988 -0.018404 3.06355304] [-0.00770472 0.99990888 -0.01108466 0.04715559] [ 0.01831919 0.01122427 0.99976918 -0.23362677] [ 0. 0. 0. 1. ]] SLAMing on 62.56538475 meters Centerline goodness [0,1] 0.8915553903740476 Centerline is valid? [False, False] Translation: X:3.07, Y:0.04, Z:-0.24 [[ 0.99981751 0.0049708 -0.0184453 3.06507875] [-0.00520116 0.99990882 -0.01246156 0.0407215 ] [ 0.01838168 0.01255522 0.99975221 -0.23505535] [ 0. 0. 0. 1. ]] SLAMing on 62.59538475 meters Centerline goodness [0,1] 0.8922490268251992 Centerline is valid? [False, False] Translation: X:3.07, Y:0.04, Z:-0.24 [[ 0.99980889 0.00505264 -0.01888537 3.06628234] [-0.00527357 0.99991803 -0.01166716 0.03766474] [ 0.01882487 0.01176452 0.99975358 -0.23529353] [ 0. 0. 0. 1. ]] SLAMing on 62.62538475 meters Centerline goodness [0,1] 0.8917989065208695 Centerline is valid? [False, False] Translation: X:3.07, Y:0.03, Z:-0.24 [[ 0.9998017 0.00565416 -0.01909404 3.0669245 ] [-0.00584925 0.99993111 -0.01017687 0.03307935] [ 0.01903518 0.01028654 0.9997659 -0.23524131] [ 0. 0. 0. 1. ]] SLAMing on 62.65538475 meters Centerline goodness [0,1] 0.8919524889897238 Centerline is valid? [False, False] Translation: X:3.07, Y:0.03, Z:-0.24 [[ 0.9997941 0.00561787 -0.01949889 3.06809832] [-0.00581012 0.99993493 -0.00981725 0.03177409] [ 0.01944247 0.00992852 0.99976168 -0.23560976] [ 0. 0. 0. 1. ]] SLAMing on 62.68538475 meters Centerline goodness [0,1] 0.8899708408014767 Centerline is valid? [False, False] Translation: X:3.07, Y:0.03, Z:-0.24 [[ 0.99978222 0.005176 -0.02021699 3.07052543] [-0.00536042 0.99994442 -0.00907886 0.0281565 ] [ 0.02016887 0.00918525 0.99975439 -0.2362889 ] [ 0. 0. 0. 1. ]] SLAMing on 62.71538475 meters Centerline goodness [0,1] 0.8893423914502833 Centerline is valid? [False, False] Translation: X:3.07, Y:0.03, Z:-0.24 [[ 0.99977709 0.00524519 -0.02045118 3.07105912] [-0.00541689 0.99995047 -0.0083492 0.02559698] [ 0.02040637 0.00845812 0.99975599 -0.23609797] [ 0. 0. 0. 1. ]] SLAMing on 62.74538475 meters Centerline goodness [0,1] 0.8879868378465854 Centerline is valid? [False, False] Translation: X:3.07, Y:0.02, Z:-0.24 [[ 0.99978056 0.00424926 -0.0205126 3.07216496] [-0.0044089 0.9999603 -0.00774354 0.02147593] [ 0.02047888 0.00783228 0.99975961 -0.23612161] [ 0. 0. 0. 1. ]] SLAMing on 62.77538475 meters Centerline goodness [0,1] 0.8865910068846816 Centerline is valid? [False, False] Translation: X:3.07, Y:0.02, Z:-0.24 [[ 0.99977142 0.0037369 -0.02105089 3.07370455] [-0.00389614 0.99996407 -0.00752866 0.02010208] [ 0.021022 0.00760896 0.99975006 -0.23631753] [ 0. 0. 0. 1. ]] SLAMing on 62.80538475 meters Centerline goodness [0,1] 0.8882809552045712 Centerline is valid? [False, False] Translation: X:3.07, Y:0.02, Z:-0.24 [[ 0.99977315 0.00332856 -0.0210372 3.07397601] [-0.00347229 0.99997085 -0.00679958 0.0173937 ] [ 0.02101395 0.00687109 0.99975557 -0.23570311] [ 0. 0. 0. 1. ]] SLAMing on 62.83538475 meters Centerline goodness [0,1] 0.8868597363302355 Centerline is valid? [False, False] Translation: X:3.07, Y:0.02, Z:-0.24 [[ 0.99976613 0.00317236 -0.02139218 3.07461955] [-0.00330765 0.99997474 -0.00629189 0.01584147] [ 0.02137168 0.00636118 0.99975136 -0.23519053] [ 0. 0. 0. 1. ]] SLAMing on 62.86538475 meters Centerline goodness [0,1] 0.888927820602663 Centerline is valid? [False, False] Translation: X:3.08, Y:0.01, Z:-0.23 [[ 9.99758466e-01 2.59216722e-03 -2.18240924e-02 3.07547564e+00] [-2.71245577e-03 9.99981284e-01 -5.48393532e-03 1.28437738e-02] [ 2.18094686e-02 5.54180764e-03 9.99746786e-01 -2.33951207e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.89538475 meters Centerline goodness [0,1] 0.8896824108640372 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:-0.23 [[ 9.99759408e-01 3.00080166e-03 -2.17283560e-02 3.07478806e+00] [-3.10447974e-03 9.99983950e-01 -4.73939849e-03 1.12440712e-02] [ 2.17137853e-02 4.80571347e-03 9.99752678e-01 -2.33041893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 62.92538475 meters Centerline goodness [0,1] 0.8922943863347658 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:-0.23 [[ 0.99976386 0.00349815 -0.02144732 3.07372931] [-0.00358552 0.99998542 -0.00403679 0.01023337] [ 0.02143288 0.00411273 0.99976183 -0.23208409] [ 0. 0. 0. 1. ]] SLAMing on 62.95538475 meters Centerline goodness [0,1] 0.8920256347854304 Centerline is valid? [False, False] Translation: X:3.07, Y:0.01, Z:-0.23 [[ 0.99975914 0.0034929 -0.02166728 3.07439491] [-0.00358069 0.99998553 -0.00401441 0.01054498] [ 0.02165295 0.00409103 0.99975718 -0.23227906] [ 0. 0. 0. 1. ]] SLAMing on 62.98538475 meters Centerline goodness [0,1] 0.889120151371807 Centerline is valid? [False, False] Translation: X:3.08, Y:0.01, Z:-0.23 [[ 0.99975973 0.00341753 -0.021652 3.07524395] [-0.00350673 0.99998551 -0.00408323 0.01071064] [ 0.02163773 0.00415818 0.99975723 -0.23322331] [ 0. 0. 0. 1. ]] SLAMing on 63.01538475 meters Centerline goodness [0,1] 0.8887867398534461 Centerline is valid? [False, False] Translation: X:3.08, Y:0.01, Z:-0.23 [[ 0.99975614 0.00316719 -0.02185483 3.07621967] [-0.00325473 0.99998682 -0.00397098 0.00992832] [ 0.02184197 0.00404115 0.99975327 -0.23367819] [ 0. 0. 0. 1. ]] SLAMing on 63.045384750000004 meters Centerline goodness [0,1] 0.8909549921276942 Centerline is valid? [False, False] Translation: X:3.08, Y:0.01, Z:-0.24 [[ 9.99752997e-01 -5.80418755e-04 -2.22173120e-02 3.07993489e+00] [ 4.36644929e-04 9.99978938e-01 -6.47555626e-03 7.58506726e-03] [ 2.22206026e-02 6.46425570e-03 9.99732193e-01 -2.36158484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.07538475 meters Centerline goodness [0,1] 0.8926282051282052 Centerline is valid? [False, False] Translation: X:3.08, Y:0.01, Z:-0.24 [[ 9.99726997e-01 -2.07109961e-03 -2.32732235e-02 3.08356666e+00] [ 1.91738949e-03 9.99976216e-01 -6.62496635e-03 5.93188151e-03] [ 2.32863910e-02 6.57853388e-03 9.99707191e-01 -2.37204349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.10538475 meters Centerline goodness [0,1] 0.8935359146109023 Centerline is valid? [False, False] Translation: X:3.09, Y:0.00, Z:-0.24 [[ 0.99969035 -0.00695509 -0.02389194 3.08867943] [ 0.0067273 0.99993128 -0.0096011 0.00462538] [ 0.02395708 0.0094374 0.99966844 -0.2399947 ] [ 0. 0. 0. 1. ]] SLAMing on 63.13538475 meters Centerline goodness [0,1] 0.8941907018547267 Centerline is valid? [False, False] Translation: X:3.09, Y:0.00, Z:-0.24 [[ 0.99967097 -0.00777703 -0.02444336 3.09062463] [ 0.00754302 0.99992498 -0.00965119 0.00376276] [ 0.02451659 0.00946364 0.99965463 -0.24049299] [ 0. 0. 0. 1. ]] SLAMing on 63.16538475 meters Centerline goodness [0,1] 0.8913393124880735 Centerline is valid? [False, False] Translation: X:3.09, Y:0.00, Z:-0.24 [[ 0.99965588 -0.00821004 -0.02491404 3.09198445] [ 0.00797428 0.99992262 -0.00954762 0.00316413] [ 0.0249905 0.00934566 0.999644 -0.24065068] [ 0. 0. 0. 1. ]] SLAMing on 63.19538475 meters Centerline goodness [0,1] 0.898964645778418 Centerline is valid? [False, False] Translation: X:3.09, Y:0.00, Z:-0.24 [[ 9.99665858e-01 -5.29910719e-03 -2.53000373e-02 3.09358744e+00] [ 5.16011639e-03 9.99971253e-01 -5.55582875e-03 2.58329508e-03] [ 2.53287509e-02 5.42342118e-03 9.99664464e-01 -2.40409464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.22538475 meters Centerline goodness [0,1] 0.8977315792323101 Centerline is valid? [False, False] Translation: X:3.09, Y:0.00, Z:-0.24 [[ 9.99687836e-01 -9.90387650e-04 -2.49649779e-02 3.09242116e+00] [ 9.52851771e-04 9.99998398e-01 -1.51539241e-03 4.46525414e-03] [ 2.49664387e-02 1.49113143e-03 9.99687178e-01 -2.39389006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.25538475 meters Centerline goodness [0,1] 0.8955159489848195 Centerline is valid? [False, False] Translation: X:3.09, Y:0.01, Z:-0.24 [[ 9.99671470e-01 2.18338120e-03 -2.55379026e-02 3.09389821e+00] [-2.13322017e-03 9.99995742e-01 1.99125835e-03 5.20586158e-03] [ 2.55421415e-02 -1.93612620e-03 9.99671871e-01 -2.39249141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.28538475 meters Centerline goodness [0,1] 0.892834173008897 Centerline is valid? [False, False] Translation: X:3.09, Y:0.01, Z:-0.24 [[ 0.99966114 0.00631861 -0.0252525 3.09302487] [-0.00618313 0.99996609 0.00543928 0.00836205] [ 0.02528601 -0.0052813 0.99966631 -0.23861975] [ 0. 0. 0. 1. ]] SLAMing on 63.31538475 meters Centerline goodness [0,1] 0.8902745139927366 Centerline is valid? [False, False] Translation: X:3.09, Y:0.01, Z:-0.24 [[ 0.99966569 0.0066217 -0.02499324 3.09248248] [-0.00651017 0.9999685 0.00454115 0.01170239] [ 0.02502253 -0.00437692 0.99967731 -0.23920342] [ 0. 0. 0. 1. ]] SLAMing on 63.34538475 meters Centerline goodness [0,1] 0.8902810521575587 Centerline is valid? [False, False] Translation: X:3.09, Y:0.02, Z:-0.24 [[ 0.99963051 0.01117375 -0.02477882 3.09117319] [-0.01097808 0.99990759 0.00801859 0.01527157] [ 0.02486613 -0.0077436 0.9996608 -0.23801338] [ 0. 0. 0. 1. ]] SLAMing on 63.37538475 meters Centerline goodness [0,1] 0.8887625594923321 Centerline is valid? [False, False] Translation: X:3.09, Y:0.02, Z:-0.24 [[ 0.99962885 0.011443 -0.02472276 3.09097492] [-0.0112694 0.99991094 0.0071499 0.01812437] [ 0.02480237 -0.00686864 0.99966878 -0.23854953] [ 0. 0. 0. 1. ]] SLAMing on 63.40538475 meters Centerline goodness [0,1] 0.8896466375269894 Centerline is valid? [False, False] Translation: X:3.09, Y:0.02, Z:-0.24 [[ 0.99963012 0.01166915 -0.02456541 3.09103686] [-0.01152065 0.99991455 0.00617772 0.02127668] [ 0.0246354 -0.00589243 0.99967914 -0.23964715] [ 0. 0. 0. 1. ]] SLAMing on 63.43538475 meters Centerline goodness [0,1] 0.8902608467689082 Centerline is valid? [False, False] Translation: X:3.09, Y:0.02, Z:-0.24 [[ 0.99957615 0.01490341 -0.02500832 3.09251661] [-0.01467488 0.9998491 0.00929675 0.02354267] [ 0.0251431 -0.00892581 0.99964401 -0.23982242] [ 0. 0. 0. 1. ]] SLAMing on 63.46538475 meters Centerline goodness [0,1] 0.8875065479308538 Centerline is valid? [False, False] Translation: X:3.09, Y:0.02, Z:-0.24 [[ 0.99957663 0.01428706 -0.0253464 3.0939513 ] [-0.01407271 0.99986386 0.00861487 0.02422046] [ 0.02546603 -0.00825453 0.99964161 -0.24073679] [ 0. 0. 0. 1. ]] SLAMing on 63.49538475 meters Centerline goodness [0,1] 0.8859603203685285 Centerline is valid? [False, False] Translation: X:3.10, Y:0.02, Z:-0.24 [[ 0.99957747 0.01291645 -0.02603924 3.09702034] [-0.01272359 0.99989048 0.0075588 0.02444754] [ 0.02613402 -0.0072243 0.99963234 -0.24252836] [ 0. 0. 0. 1. ]] SLAMing on 63.52538475 meters Centerline goodness [0,1] 0.8889092575618699 Centerline is valid? [False, False] Translation: X:3.10, Y:0.02, Z:-0.24 [[ 0.99957385 0.01193454 -0.02663995 3.09939027] [-0.01175561 0.99990735 0.00686315 0.02487797] [ 0.02671939 -0.00654705 0.99962153 -0.24378479] [ 0. 0. 0. 1. ]] SLAMing on 63.55538475 meters Centerline goodness [0,1] 0.8836328238048883 Centerline is valid? [False, False] Translation: X:3.10, Y:0.02, Z:-0.25 [[ 9.99611367e-01 7.24553060e-03 -2.69187314e-02 3.10117270e+00] [-7.18626662e-03 9.99971539e-01 2.29767849e-03 2.49502851e-02] [ 2.69346131e-02 -2.10334036e-03 9.99634985e-01 -2.45468372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.58538475 meters Centerline goodness [0,1] 0.8836328238048883 Centerline is valid? [False, False] Translation: X:3.10, Y:0.02, Z:-0.25 [[ 9.99611367e-01 7.24553060e-03 -2.69187314e-02 3.10117270e+00] [-7.18626662e-03 9.99971539e-01 2.29767849e-03 2.49502851e-02] [ 2.69346131e-02 -2.10334036e-03 9.99634985e-01 -2.45468372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.61538475 meters Centerline goodness [0,1] 0.8855499564678257 Centerline is valid? [False, False] Translation: X:3.10, Y:0.02, Z:-0.25 [[ 9.99600846e-01 6.57312930e-03 -2.74762348e-02 3.10278970e+00] [-6.51391422e-03 9.99976266e-01 2.24408952e-03 2.35134152e-02] [ 2.74903334e-02 -2.06421595e-03 9.99619938e-01 -2.45808042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.64538475 meters Centerline goodness [0,1] 0.8863978849966954 Centerline is valid? [False, False] Translation: X:3.11, Y:0.02, Z:-0.25 [[ 9.99592443e-01 5.24915218e-03 -2.80605381e-02 3.10562232e+00] [-5.20532300e-03 9.99985116e-01 1.63476987e-03 2.25340055e-02] [ 2.80687016e-02 -1.48803944e-03 9.99604889e-01 -2.47388155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.67538475 meters Centerline goodness [0,1] 0.8873958471101706 Centerline is valid? [False, False] Translation: X:3.11, Y:0.02, Z:-0.25 [[ 9.99589849e-01 4.81538874e-03 -2.82302461e-02 3.10684778e+00] [-4.77993160e-03 9.99987700e-01 1.32334693e-03 2.25172723e-02] [ 2.82362713e-02 -1.18786551e-03 9.99600571e-01 -2.48389312e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.70538475 meters Centerline goodness [0,1] 0.8848032708543514 Centerline is valid? [False, False] Translation: X:3.11, Y:0.02, Z:-0.25 [[ 9.99584933e-01 4.39610194e-03 -2.84716545e-02 3.10822799e+00] [-4.36520250e-03 9.99989814e-01 1.14733449e-03 2.15166670e-02] [ 2.84764083e-02 -1.02257373e-03 9.99593942e-01 -2.49328346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.73538475 meters Centerline goodness [0,1] 0.8842345570863529 Centerline is valid? [False, False] Translation: X:3.11, Y:0.02, Z:-0.25 [[ 9.99579778e-01 4.19608139e-03 -2.86820689e-02 3.10883378e+00] [-4.16634467e-03 9.99990720e-01 1.09645401e-03 2.11991244e-02] [ 2.86864035e-02 -9.76493875e-04 9.99587983e-01 -2.49423443e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.76538475 meters Centerline goodness [0,1] 0.889039206323943 Centerline is valid? [False, False] Translation: X:3.11, Y:0.02, Z:-0.25 [[ 9.99580093e-01 4.39888279e-03 -2.86406644e-02 3.10884889e+00] [-4.36927750e-03 9.99989854e-01 1.09618065e-03 2.22265264e-02] [ 2.86451957e-02 -9.70581341e-04 9.99589171e-01 -2.49350658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.795384750000004 meters Centerline goodness [0,1] 0.8883887197140209 Centerline is valid? [False, False] Translation: X:3.11, Y:0.02, Z:-0.25 [[ 9.99570926e-01 4.22031653e-03 -2.89853954e-02 3.10973920e+00] [-4.20153165e-03 9.99990922e-01 7.08954748e-04 2.32876185e-02] [ 2.89881242e-02 -5.86867498e-04 9.99579584e-01 -2.49619255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.82538475 meters Centerline goodness [0,1] 0.8903847177140425 Centerline is valid? [False, False] Translation: X:3.11, Y:0.02, Z:-0.25 [[ 9.99568220e-01 4.55371761e-03 -2.90282210e-02 3.10969906e+00] [-4.54166158e-03 9.99989571e-01 4.81239966e-04 2.41172163e-02] [ 2.90301097e-02 -3.49195820e-04 9.99578477e-01 -2.49695051e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.85538475 meters Centerline goodness [0,1] 0.8913705852740905 Centerline is valid? [False, False] Translation: X:3.11, Y:0.03, Z:-0.25 [[ 9.99553205e-01 4.08347968e-03 -2.96093762e-02 3.11124759e+00] [-4.08617441e-03 9.99991651e-01 -3.05017424e-05 2.50798110e-02] [ 2.96090044e-02 1.51477189e-04 9.99561546e-01 -2.50148217e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.88538475 meters Centerline goodness [0,1] 0.8912296468598012 Centerline is valid? [False, False] Translation: X:3.11, Y:0.03, Z:-0.25 [[ 9.99546842e-01 3.95612230e-03 -2.98405841e-02 3.11193643e+00] [-3.96778938e-03 9.99992073e-01 -3.31776424e-04 2.61666024e-02] [ 2.98390350e-02 4.50027230e-04 9.99554616e-01 -2.50419829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.91538475 meters Centerline goodness [0,1] 0.8917138472935076 Centerline is valid? [False, False] Translation: X:3.11, Y:0.03, Z:-0.25 [[ 9.99512511e-01 7.31137665e-03 -3.03526473e-02 3.11369513e+00] [-7.21898988e-03 9.99968974e-01 3.15224927e-03 2.69133362e-02] [ 3.03747528e-02 -2.93159713e-03 9.99534282e-01 -2.50800432e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.94538475 meters Centerline goodness [0,1] 0.8929203773684627 Centerline is valid? [False, False] Translation: X:3.11, Y:0.03, Z:-0.25 [[ 9.99496884e-01 7.24571019e-03 -3.08784591e-02 3.11456087e+00] [-7.16039106e-03 9.99970238e-01 2.87274674e-03 2.77206153e-02] [ 3.08983552e-02 -2.65019958e-03 9.99519018e-01 -2.50700757e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 63.97538475 meters Centerline goodness [0,1] 0.8937616140164587 Centerline is valid? [False, False] Translation: X:3.11, Y:0.03, Z:-0.25 [[ 9.99493572e-01 7.82503203e-03 -3.08442507e-02 3.11411880e+00] [-7.74120505e-03 9.99966014e-01 2.83623029e-03 2.79555595e-02] [ 3.08653960e-02 -2.59602228e-03 9.99520179e-01 -2.50564242e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.00538474999999 meters Centerline goodness [0,1] 0.8926868044515104 Centerline is valid? [False, False] Translation: X:3.12, Y:0.03, Z:-0.25 [[ 9.99478352e-01 7.01835390e-03 -3.15240741e-02 3.11616709e+00] [-6.95037446e-03 9.99973280e-01 2.26549244e-03 2.85277916e-02] [ 3.15391318e-02 -2.04520653e-03 9.99500425e-01 -2.51275146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.03538474999999 meters Centerline goodness [0,1] 0.8911036006067541 Centerline is valid? [False, False] Translation: X:3.12, Y:0.03, Z:-0.25 [[ 9.99488571e-01 3.73467455e-03 -3.17592437e-02 3.11963422e+00] [-3.72842869e-03 9.99993017e-01 2.55881846e-04 2.70311577e-02] [ 3.17599775e-02 -1.37338906e-04 9.99495515e-01 -2.53575459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.06538474999999 meters Centerline goodness [0,1] 0.8919373797820047 Centerline is valid? [False, False] Translation: X:3.12, Y:0.03, Z:-0.25 [[ 9.99470335e-01 2.54914516e-03 -3.24430497e-02 3.12229339e+00] [-2.55012725e-03 9.99996748e-01 1.11067278e-05 2.53787942e-02] [ 3.24429725e-02 7.16330603e-05 9.99473586e-01 -2.54543359e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.09538475 meters Centerline goodness [0,1] 0.8916147734593085 Centerline is valid? [False, False] Translation: X:3.13, Y:0.02, Z:-0.26 [[ 9.99450578e-01 -2.89304575e-03 -3.30177721e-02 3.12536937e+00] [ 2.75851637e-03 9.99987711e-01 -4.11927914e-03 2.32236977e-02] [ 3.30292836e-02 4.02593585e-03 9.99446276e-01 -2.56131239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.12538475 meters Centerline goodness [0,1] 0.8891644204851752 Centerline is valid? [False, False] Translation: X:3.13, Y:0.02, Z:-0.26 [[ 0.99941523 -0.00402555 -0.03395585 3.12805365] [ 0.00389821 0.99998512 -0.00381565 0.02092698] [ 0.03397071 0.00368106 0.99941605 -0.25624001] [ 0. 0. 0. 1. ]] SLAMing on 64.15538475 meters Centerline goodness [0,1] 0.8883924945170986 Centerline is valid? [False, False] Translation: X:3.13, Y:0.02, Z:-0.26 [[ 0.99936419 -0.00917357 -0.03445364 3.13026595] [ 0.00891385 0.99993075 -0.00768419 0.01884024] [ 0.03452174 0.00737219 0.99937676 -0.25683568] [ 0. 0. 0. 1. ]] SLAMing on 64.18538475 meters Centerline goodness [0,1] 0.8896656370237902 Centerline is valid? [False, False] Translation: X:3.13, Y:0.02, Z:-0.26 [[ 0.99934282 -0.00974988 -0.0349122 3.13170177] [ 0.00949637 0.99992738 -0.00741987 0.01788075] [ 0.03498201 0.00708346 0.99936284 -0.25687831] [ 0. 0. 0. 1. ]] SLAMing on 64.21538475 meters Centerline goodness [0,1] 0.8908459304692377 Centerline is valid? [False, False] Translation: X:3.14, Y:0.02, Z:-0.26 [[ 0.99925876 -0.01255069 -0.03639256 3.13704923] [ 0.01226664 0.99989262 -0.00801793 0.01776247] [ 0.03648929 0.00756557 0.99930541 -0.25772129] [ 0. 0. 0. 1. ]] SLAMing on 64.24538475 meters Centerline goodness [0,1] 0.892276808724195 Centerline is valid? [False, False] Translation: X:3.14, Y:0.02, Z:-0.26 [[ 0.9992292 -0.01333166 -0.0369224 3.13845796] [ 0.01305321 0.99988459 -0.00777247 0.01662205] [ 0.03702176 0.00728452 0.99928791 -0.25735995] [ 0. 0. 0. 1. ]] SLAMing on 64.27538474999999 meters Centerline goodness [0,1] 0.8930057944993063 Centerline is valid? [False, False] Translation: X:3.15, Y:0.02, Z:-0.25 [[ 0.99908673 -0.01788077 -0.03880706 3.1452107 ] [ 0.01764579 0.99982389 -0.00638935 0.01552854] [ 0.03891447 0.00569873 0.99922629 -0.25397304] [ 0. 0. 0. 1. ]] SLAMing on 64.30538474999999 meters Centerline goodness [0,1] 0.8906751536913117 Centerline is valid? [False, False] Translation: X:3.15, Y:0.02, Z:-0.25 [[ 0.99900547 -0.019854 -0.03992354 3.14859331] [ 0.01959037 0.9997837 -0.00698378 0.01636777] [ 0.04005356 0.00619472 0.99917833 -0.25411445] [ 0. 0. 0. 1. ]] SLAMing on 64.33538474999999 meters Centerline goodness [0,1] 0.8857189171664775 Centerline is valid? [False, False] Translation: X:3.16, Y:0.02, Z:-0.25 [[ 0.99874638 -0.02615044 -0.0426829 3.15839577] [ 0.02586987 0.99964001 -0.00711275 0.02002493] [ 0.04285354 0.00599963 0.99906335 -0.25145389] [ 0. 0. 0. 1. ]] SLAMing on 64.36538474999999 meters Centerline goodness [0,1] 0.875 Centerline is valid? [False, False] Translation: X:3.16, Y:0.02, Z:-0.25 [[ 9.98753724e-01 -2.44630898e-02 -4.35035255e-02 3.16051876e+00] [ 2.43256697e-02 9.99697294e-01 -3.68548281e-03 1.99089443e-02] [ 4.35805150e-02 2.62263729e-03 9.99046476e-01 -2.50280140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.39538474999999 meters Centerline goodness [0,1] 0.874390341408811 Centerline is valid? [False, False] Translation: X:3.17, Y:0.03, Z:-0.25 [[ 9.98643519e-01 -2.46203637e-02 -4.58798388e-02 3.16596507e+00] [ 2.45891893e-02 9.99696866e-01 -1.24381314e-03 2.51171254e-02] [ 4.58965542e-02 1.13977891e-04 9.98946191e-01 -2.47997392e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.42538474999999 meters Centerline goodness [0,1] 0.8733455833399909 Centerline is valid? [False, False] Translation: X:3.17, Y:0.03, Z:-0.25 [[ 9.98650293e-01 -2.20992611e-02 -4.70022883e-02 3.16817776e+00] [ 2.22090662e-02 9.99751700e-01 1.81515906e-03 2.77312811e-02] [ 4.69505040e-02 -2.85658606e-03 9.98893132e-01 -2.47402938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.45538475 meters Centerline goodness [0,1] 0.8599931921133251 Centerline is valid? [False, False] Translation: X:3.17, Y:0.04, Z:-0.25 [[ 9.98539624e-01 -2.20249440e-02 -4.93307263e-02 3.17406204e+00] [ 2.22064782e-02 9.99748491e-01 3.13483889e-03 3.71831688e-02] [ 4.92492745e-02 -4.22572255e-03 9.98777579e-01 -2.46801794e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.48538475 meters Centerline goodness [0,1] 0.8728510682701589 Centerline is valid? [False, False] Translation: X:3.18, Y:0.04, Z:-0.25 [[ 0.99852645 -0.01959237 -0.05060691 3.17618922] [ 0.01991522 0.99978436 0.0058833 0.04073577] [ 0.05048073 -0.00688248 0.99870132 -0.24584904] [ 0. 0. 0. 1. ]] SLAMing on 64.51538475 meters Centerline goodness [0,1] 0.8680896092499871 Centerline is valid? [False, False] Translation: X:3.18, Y:0.04, Z:-0.25 [[ 0.99850583 -0.01742979 -0.05179104 3.1784802 ] [ 0.01788472 0.99980533 0.00833359 0.04481444] [ 0.0516357 -0.00924741 0.99862317 -0.2452844 ] [ 0. 0. 0. 1. ]] SLAMing on 64.54538475 meters Centerline goodness [0,1] 0.8507896077432502 Centerline is valid? [False, False] Translation: X:3.18, Y:0.06, Z:-0.24 [[ 0.99838834 -0.01748563 -0.05399056 3.18268622] [ 0.01797568 0.9998014 0.00860433 0.05633682] [ 0.05382939 -0.00956097 0.99850437 -0.2441298 ] [ 0. 0. 0. 1. ]] SLAMing on 64.57538475 meters Centerline goodness [0,1] 0.8524385056176964 Centerline is valid? [False, False] Translation: X:3.19, Y:0.07, Z:-0.24 [[ 0.99828333 -0.01709304 -0.05601974 3.1856915 ] [ 0.01761911 0.99980507 0.00891031 0.06764779] [ 0.05585651 -0.00988203 0.9983899 -0.24234742] [ 0. 0. 0. 1. ]] SLAMing on 64.60538475 meters Centerline goodness [0,1] 0.8334857736138235 Centerline is valid? [False, False] Translation: X:3.19, Y:0.07, Z:-0.24 [[ 0.99823898 -0.0152622 -0.05732364 3.18850609] [ 0.01590382 0.9998157 0.01075347 0.07288575] [ 0.05714896 -0.01164619 0.99829773 -0.24215806] [ 0. 0. 0. 1. ]] SLAMing on 64.63538475 meters Centerline goodness [0,1] 0.8366031998841671 Centerline is valid? [False, False] Translation: X:3.19, Y:0.09, Z:-0.24 [[ 0.99819797 -0.01309689 -0.05856017 3.19107669] [ 0.01386196 0.99982355 0.01267756 0.0862325 ] [ 0.0583838 -0.01346647 0.99820338 -0.2413543 ] [ 0. 0. 0. 1. ]] SLAMing on 64.66538474999999 meters Centerline goodness [0,1] 0.8197411545178345 Centerline is valid? [False, False] Translation: X:3.19, Y:0.09, Z:-0.24 [[ 0.99817241 -0.01054047 -0.05950418 3.19310887] [ 0.01142987 0.9998277 0.01462634 0.09215665] [ 0.05933976 -0.01527973 0.9981209 -0.24151907] [ 0. 0. 0. 1. ]] SLAMing on 64.69538474999999 meters Centerline goodness [0,1] 0.8567169741009875 Centerline is valid? [False, False] Translation: X:3.19, Y:0.11, Z:-0.24 [[ 0.99815309 -0.00381299 -0.06062892 3.19343171] [ 0.00498195 0.99980438 0.01914117 0.1054519 ] [ 0.06054408 -0.01940786 0.99797683 -0.23963089] [ 0. 0. 0. 1. ]] SLAMing on 64.72538474999999 meters Centerline goodness [0,1] 0.8672904465592972 Centerline is valid? [False, False] Translation: X:3.19, Y:0.11, Z:-0.24 [[ 9.98136782e-01 -4.12096755e-06 -6.10161035e-02 3.19349954e+00] [ 1.31733863e-03 9.99768362e-01 2.14822653e-02 1.12614601e-01] [ 6.10018813e-02 -2.15226180e-02 9.97905580e-01 -2.38983189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 64.75538474999999 meters Centerline goodness [0,1] 0.8795988096550204 Centerline is valid? [False, False] Translation: X:3.19, Y:0.13, Z:-0.24 [[ 0.99804536 0.01138117 -0.06144854 3.19270803] [-0.0096581 0.99955379 0.02826539 0.12741111] [ 0.06174281 -0.02761667 0.99770995 -0.23759555] [ 0. 0. 0. 1. ]] SLAMing on 64.78538474999999 meters Centerline goodness [0,1] 0.8998071129797793 Centerline is valid? [False, False] Translation: X:3.19, Y:0.13, Z:-0.24 [[ 0.99791359 0.0183826 -0.06189137 3.19312647] [-0.01631877 0.99929916 0.03368796 0.1342355 ] [ 0.06246726 -0.03260768 0.9975142 -0.23696763] [ 0. 0. 0. 1. ]] SLAMing on 64.81538474999999 meters Centerline goodness [0,1] 0.9059325434539273 Centerline is valid? [False, False] Translation: X:3.19, Y:0.15, Z:-0.24 [[ 0.99762798 0.03005269 -0.06192944 3.19322914] [-0.02766468 0.99885369 0.03906362 0.14957944] [ 0.06303242 -0.03725771 0.99731579 -0.23787905] [ 0. 0. 0. 1. ]] SLAMing on 64.84538475 meters Centerline goodness [0,1] 0.9054681427641115 Centerline is valid? [False, False] Translation: X:3.20, Y:0.16, Z:-0.24 [[ 0.99749113 0.03354551 -0.06233887 3.19514837] [-0.03106323 0.9987018 0.04037063 0.15731808] [ 0.0636122 -0.0383329 0.99723822 -0.2395086 ] [ 0. 0. 0. 1. ]] SLAMing on 64.87538475 meters Centerline goodness [0,1] 0.9059679402997519 Centerline is valid? [False, False] Translation: X:3.20, Y:0.17, Z:-0.24 [[ 0.99668425 0.0430868 -0.06902197 3.20473759] [-0.04048562 0.99843222 0.03865245 0.17024952] [ 0.07057917 -0.0357299 0.99686607 -0.24084072] [ 0. 0. 0. 1. ]] SLAMing on 64.90538475 meters Centerline goodness [0,1] 0.904558523271803 Centerline is valid? [False, False] Translation: X:3.21, Y:0.17, Z:-0.24 [[ 0.99652067 0.04627926 -0.06931651 3.20639215] [-0.04353292 0.99822584 0.0406209 0.17472923] [ 0.07107344 -0.03746202 0.99676736 -0.24189378] [ 0. 0. 0. 1. ]] SLAMing on 64.93538475 meters Centerline goodness [0,1] 0.9045849851595094 Centerline is valid? [False, False] Translation: X:3.22, Y:0.18, Z:-0.25 [[ 0.99619623 0.05405654 -0.06834443 3.21637927] [-0.05192905 0.99812074 0.0325326 0.18322878] [ 0.06997459 -0.02885979 0.99713122 -0.24552099] [ 0. 0. 0. 1. ]] SLAMing on 64.96538475 meters Centerline goodness [0,1] 0.9049730625777042 Centerline is valid? [False, False] Translation: X:3.23, Y:0.19, Z:-0.25 [[ 0.99620785 0.05787804 -0.06496201 3.22523775] [-0.05644741 0.99812549 0.02364748 0.18702143] [ 0.0662089 -0.01989087 0.99760751 -0.2482164 ] [ 0. 0. 0. 1. ]] SLAMing on 64.99538475 meters Centerline goodness [0,1] 0.9060194656251938 Centerline is valid? [False, False] Translation: X:3.24, Y:0.19, Z:-0.25 [[ 0.99598401 0.06551105 -0.06102589 3.23510257] [-0.06448091 0.99774368 0.01870164 0.19103707] [ 0.06211336 -0.01469153 0.99796097 -0.25095573] [ 0. 0. 0. 1. ]] SLAMing on 65.02538474999999 meters Centerline goodness [0,1] 0.9063619978869301 Centerline is valid? [False, False] Translation: X:3.24, Y:0.19, Z:-0.25 [[ 0.99565256 0.07166792 -0.05949531 3.24374897] [-0.07109114 0.99740052 0.011758 0.19148405] [ 0.06018332 -0.00747729 0.99815933 -0.25235125] [ 0. 0. 0. 1. ]] SLAMing on 65.05538474999999 meters Centerline goodness [0,1] 0.9090156812445696 Centerline is valid? [False, False] Translation: X:3.24, Y:0.19, Z:-0.25 [[ 0.99561624 0.0719686 -0.05973966 3.24462691] [-0.0713871 0.99737871 0.01181448 0.19110401] [ 0.06043334 -0.00749804 0.99814407 -0.2528664 ] [ 0. 0. 0. 1. ]] SLAMing on 65.08538474999999 meters Centerline goodness [0,1] 0.9109791670976685 Centerline is valid? [False, False] Translation: X:3.24, Y:0.19, Z:-0.25 [[ 0.99555533 0.07286103 -0.05967294 3.24487427] [-0.07222252 0.99730652 0.01279082 0.18833101] [ 0.06044417 -0.00842424 0.99813603 -0.25316196] [ 0. 0. 0. 1. ]] SLAMing on 65.11538474999999 meters Centerline goodness [0,1] 0.9106540586397401 Centerline is valid? [False, False] Translation: X:3.24, Y:0.19, Z:-0.25 [[ 0.99574823 0.06991379 -0.05997931 3.24487461] [-0.06945775 0.99753815 0.00965726 0.18763917] [ 0.06050683 -0.00545017 0.9981529 -0.25324272] [ 0. 0. 0. 1. ]] SLAMing on 65.14538474999999 meters Centerline goodness [0,1] 0.914948400091364 Centerline is valid? [False, False] Translation: X:3.24, Y:0.18, Z:-0.25 [[ 0.99588307 0.06815645 -0.05976288 3.24339669] [-0.06777973 0.9976657 0.00831061 0.1823986 ] [ 0.0601898 -0.00422569 0.99817801 -0.25246035] [ 0. 0. 0. 1. ]] SLAMing on 65.17538474999999 meters Centerline goodness [0,1] 0.9146793190993465 Centerline is valid? [False, False] Translation: X:3.24, Y:0.18, Z:-0.25 [[ 9.96067297e-01 6.54350867e-02 -5.97343240e-02 3.24243330e+00] [-6.52096844e-02 9.97855206e-01 5.71711170e-03 1.79837144e-01] [ 5.99803058e-02 -1.79937158e-03 9.98197939e-01 -2.52056803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.20538475 meters Centerline goodness [0,1] 0.9147181910928814 Centerline is valid? [False, False] Translation: X:3.24, Y:0.18, Z:-0.25 [[ 9.96028176e-01 6.60015073e-02 -5.97634781e-02 3.24247961e+00] [-6.57035496e-02 9.97815058e-01 6.93920845e-03 1.75571163e-01] [ 6.00908966e-02 -2.98497449e-03 9.98188446e-01 -2.51912441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.23538475 meters Centerline goodness [0,1] 0.9178480324509681 Centerline is valid? [False, False] Translation: X:3.24, Y:0.17, Z:-0.25 [[ 0.99593958 0.06764349 -0.05940301 3.24300369] [-0.06720461 0.99769533 0.0093576 0.16825272] [ 0.05989909 -0.00532745 0.99819022 -0.25304983] [ 0. 0. 0. 1. ]] SLAMing on 65.26538475 meters Centerline goodness [0,1] 0.9193422083007048 Centerline is valid? [False, False] Translation: X:3.25, Y:0.16, Z:-0.26 [[ 9.95904435e-01 7.19763933e-02 -5.47152118e-02 3.24980182e+00] [-7.19840804e-02 9.97404097e-01 1.83284755e-03 1.60072852e-01] [ 5.47050982e-02 2.11328320e-03 9.98500319e-01 -2.56274421e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.29538475 meters Centerline goodness [0,1] 0.9172831632653061 Centerline is valid? [False, False] Translation: X:3.25, Y:0.16, Z:-0.26 [[ 9.95836964e-01 7.29325967e-02 -5.46770373e-02 3.24981590e+00] [-7.28640956e-02 9.97336590e-01 3.24793732e-03 1.55274071e-01] [ 5.47682905e-02 7.49576837e-04 9.98498809e-01 -2.56400481e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.32538475 meters Centerline goodness [0,1] 0.9169531985720856 Centerline is valid? [False, False] Translation: X:3.26, Y:0.15, Z:-0.26 [[ 0.99596215 0.07501638 -0.04931479 3.25626439] [-0.07541941 0.99713161 -0.00636067 0.14593875] [ 0.04869618 0.01005427 0.99876303 -0.26018405] [ 0. 0. 0. 1. ]] SLAMing on 65.35538475 meters Centerline goodness [0,1] 0.9176548672566371 Centerline is valid? [False, False] Translation: X:3.26, Y:0.14, Z:-0.26 [[ 0.99593838 0.07523047 -0.04946843 3.25732712] [-0.07559296 0.99712361 -0.00549565 0.14027447] [ 0.0489127 0.00921279 0.99876057 -0.26138554] [ 0. 0. 0. 1. ]] SLAMing on 65.38538475 meters Centerline goodness [0,1] 0.9198194130925508 Centerline is valid? [False, False] Translation: X:3.26, Y:0.13, Z:-0.26 [[ 0.99602904 0.07434639 -0.04897726 3.25747641] [-0.07471264 0.99718889 -0.00568762 0.12847121] [ 0.04841673 0.00932426 0.9987837 -0.26357988] [ 0. 0. 0. 1. ]] SLAMing on 65.41538474999999 meters Centerline goodness [0,1] 0.9180196844100386 Centerline is valid? [False, False] Translation: X:3.26, Y:0.12, Z:-0.27 [[ 0.99614194 0.07277767 -0.0490372 3.25856951] [-0.07319908 0.99729382 -0.00685112 0.12276279] [ 0.04840589 0.01041416 0.99877346 -0.26538662] [ 0. 0. 0. 1. ]] SLAMing on 65.44538474999999 meters Centerline goodness [0,1] 0.9180196844100386 Centerline is valid? [False, False] Translation: X:3.26, Y:0.12, Z:-0.27 [[ 0.99614194 0.07277767 -0.0490372 3.25856951] [-0.07319908 0.99729382 -0.00685112 0.12276279] [ 0.04840589 0.01041416 0.99877346 -0.26538662] [ 0. 0. 0. 1. ]] SLAMing on 65.47538474999999 meters Centerline goodness [0,1] 0.9205889902690594 Centerline is valid? [False, False] Translation: X:3.26, Y:0.11, Z:-0.27 [[ 0.99627902 0.07110071 -0.04871141 3.25938463] [-0.07153273 0.9974124 -0.00718172 0.11098039] [ 0.04807474 0.01063945 0.99878708 -0.2677105 ] [ 0. 0. 0. 1. ]] SLAMing on 65.50538474999999 meters Centerline goodness [0,1] 0.9211776325071721 Centerline is valid? [False, False] Translation: X:3.26, Y:0.11, Z:-0.27 [[ 0.99634494 0.06985 -0.04917051 3.26168941] [-0.07030244 0.99749729 -0.00753088 0.10528451] [ 0.04852142 0.01096016 0.99876201 -0.26969182] [ 0. 0. 0. 1. ]] SLAMing on 65.53538474999999 meters Centerline goodness [0,1] 0.9216583169970232 Centerline is valid? [False, False] Translation: X:3.26, Y:0.09, Z:-0.27 [[ 0.99668879 0.0648123 -0.04910015 3.26246106] [-0.06540181 0.99780382 -0.01049462 0.09159207] [ 0.04831214 0.01367111 0.99873872 -0.2716535 ] [ 0. 0. 0. 1. ]] SLAMing on 65.56538474999999 meters Centerline goodness [0,1] 0.9229936525119323 Centerline is valid? [False, False] Translation: X:3.26, Y:0.08, Z:-0.27 [[ 0.99686437 0.06202562 -0.049135 3.2624645 ] [-0.06268317 0.99796187 -0.01195501 0.08378765] [ 0.04829334 0.01499747 0.9987206 -0.2721075 ] [ 0. 0. 0. 1. ]] SLAMing on 65.59538475 meters Centerline goodness [0,1] 0.9257168661097314 Centerline is valid? [False, False] Translation: X:3.27, Y:0.07, Z:-0.27 [[ 0.99753147 0.05469898 -0.04403384 3.26987629] [-0.05521579 0.99841811 -0.01060633 0.06926434] [ 0.04338403 0.01301151 0.99897374 -0.27388535] [ 0. 0. 0. 1. ]] SLAMing on 65.62538475 meters Centerline goodness [0,1] 0.926616883938742 Centerline is valid? [False, False] Translation: X:3.27, Y:0.06, Z:-0.27 [[ 0.99769925 0.05135801 -0.04425572 3.27076541] [-0.05196285 0.9985692 -0.01262575 0.06298579] [ 0.04354397 0.01489635 0.99894045 -0.27478634] [ 0. 0. 0. 1. ]] SLAMing on 65.65538475 meters Centerline goodness [0,1] 0.9269110704058203 Centerline is valid? [False, False] Translation: X:3.27, Y:0.05, Z:-0.27 [[ 0.99800178 0.04533026 -0.04401837 3.27014707] [-0.04601216 0.99883414 -0.01460305 0.04940884] [ 0.04330509 0.01659925 0.99892399 -0.27304684] [ 0. 0. 0. 1. ]] SLAMing on 65.68538475 meters Centerline goodness [0,1] 0.927631920977385 Centerline is valid? [False, False] Translation: X:3.27, Y:0.04, Z:-0.27 [[ 0.9981375 0.04222149 -0.0440326 3.26991761] [-0.04299596 0.99893412 -0.01679199 0.04393438] [ 0.04327668 0.01865394 0.99888896 -0.27317837] [ 0. 0. 0. 1. ]] SLAMing on 65.71538475 meters Centerline goodness [0,1] 0.9300366011006662 Centerline is valid? [False, False] Translation: X:3.27, Y:0.03, Z:-0.27 [[ 0.99823853 0.03960399 -0.0441742 3.2698375 ] [-0.04035664 0.99905273 -0.01627828 0.03203033] [ 0.04348767 0.01803233 0.99889121 -0.27162349] [ 0. 0. 0. 1. ]] SLAMing on 65.74538475 meters Centerline goodness [0,1] 0.9302995087422745 Centerline is valid? [False, False] Translation: X:3.27, Y:0.03, Z:-0.27 [[ 0.99820975 0.03992758 -0.04453187 3.27027752] [-0.04060616 0.9990709 -0.01443866 0.02620551] [ 0.043914 0.01622108 0.99890362 -0.27075264] [ 0. 0. 0. 1. ]] SLAMing on 65.77538474999999 meters Centerline goodness [0,1] 0.9335269355784089 Centerline is valid? [False, False] Translation: X:3.27, Y:0.02, Z:-0.27 [[ 0.99818048 0.04085975 -0.04434186 3.26961312] [-0.04141393 0.99907413 -0.0116517 0.01655501] [ 0.04382472 0.01346687 0.99894847 -0.26968526] [ 0. 0. 0. 1. ]] SLAMing on 65.80538474999999 meters Centerline goodness [0,1] 0.933272123356107 Centerline is valid? [False, False] Translation: X:3.27, Y:0.01, Z:-0.27 [[ 0.99815136 0.04184819 -0.04407492 3.26931809] [-0.04232296 0.99905499 -0.00989403 0.01021827] [ 0.04361922 0.01174112 0.99897923 -0.26995516] [ 0. 0. 0. 1. ]] SLAMing on 65.83538474999999 meters Centerline goodness [0,1] 0.9334125719225262 Centerline is valid? [False, False] Translation: X:3.27, Y:0.01, Z:-0.27 [[ 0.99812504 0.04218829 -0.04434593 3.2702085 ] [-0.04263196 0.99904934 -0.00910664 0.00794148] [ 0.04391958 0.01098012 0.99897473 -0.27030552] [ 0. 0. 0. 1. ]] SLAMing on 65.86538474999999 meters Centerline goodness [0,1] 0.9349978241949521 Centerline is valid? [False, False] Translation: X:3.27, Y:0.00, Z:-0.27 [[ 9.98073700e-01 4.35614184e-02 -4.41734299e-02 3.26914601e+00] [-4.38892580e-02 9.99015395e-01 -6.47870354e-03 1.57286773e-03] [ 4.38477150e-02 8.40496268e-03 9.99002870e-01 -2.68634149e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.89538474999999 meters Centerline goodness [0,1] 0.9333605553287057 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.00, Z:-0.27 [[ 9.98035336e-01 4.40663972e-02 -4.45378507e-02 3.26939265e+00] [-4.43458116e-02 9.99002157e-01 -5.30472706e-03 -1.78603546e-03] [ 4.42596487e-02 7.26937219e-03 9.98993613e-01 -2.67880133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 65.92538474999999 meters Centerline goodness [0,1] 0.9350339108706993 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.01, Z:-0.27 [[ 0.99800585 0.04439419 -0.04487174 3.27045539] [-0.04463361 0.99899396 -0.0043474 -0.00702168] [ 0.0446336 0.00634152 0.9989833 -0.26834199] [ 0. 0. 0. 1. ]] SLAMing on 65.95538475 meters Centerline goodness [0,1] 0.9343817487125533 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.01, Z:-0.27 [[ 0.99798394 0.04477094 -0.0449846 3.27088864] [-0.04498422 0.9989807 -0.00373946 -0.00933774] [ 0.04477133 0.00575551 0.99898068 -0.26869229] [ 0. 0. 0. 1. ]] SLAMing on 65.98538475 meters Centerline goodness [0,1] 0.9339061283505727 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.01, Z:-0.27 [[ 9.97944614e-01 4.56707544e-02 -4.49525226e-02 3.27142016e+00] [-4.58432016e-02 9.98944689e-01 -2.81226779e-03 -1.32548432e-02] [ 4.47766453e-02 4.86725504e-03 9.98985166e-01 -2.69691160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.01538475 meters Centerline goodness [0,1] 0.93496795764837 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.01, Z:-0.27 [[ 9.97917798e-01 4.62270582e-02 -4.49791910e-02 3.27156674e+00] [-4.63867430e-02 9.98920396e-01 -2.51238755e-03 -1.40979476e-02] [ 4.48144911e-02 4.59359443e-03 9.98984765e-01 -2.70106120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.04538475 meters Centerline goodness [0,1] 0.9356602773360119 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.02, Z:-0.27 [[ 9.97704703e-01 5.05483454e-02 -4.50576420e-02 3.27232564e+00] [-5.04903312e-02 9.98721605e-01 2.42542151e-03 -1.88619594e-02] [ 4.51226416e-02 -1.44879178e-04 9.98981444e-01 -2.69952450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.07538475 meters Centerline goodness [0,1] 0.9356966430897047 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.02, Z:-0.27 [[ 9.97676125e-01 5.10199223e-02 -4.51587936e-02 3.27243178e+00] [-5.09415256e-02 9.98697468e-01 2.88588958e-03 -2.07390507e-02] [ 4.52472107e-02 -5.78725288e-04 9.98975653e-01 -2.70115632e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.10538475 meters Centerline goodness [0,1] 0.9357330101192322 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.02, Z:-0.27 [[ 9.97638602e-01 5.18615072e-02 -4.50289261e-02 3.27297957e+00] [-5.17584648e-02 9.98653666e-01 3.45204521e-03 -2.33482166e-02] [ 4.51473304e-02 -1.11326547e-03 9.98979719e-01 -2.71566044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.13538475 meters Centerline goodness [0,1] 0.9333652924256951 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.02, Z:-0.27 [[ 9.97621377e-01 5.22452397e-02 -4.49669031e-02 3.27314472e+00] [-5.21317473e-02 9.98633385e-01 3.69371543e-03 -2.48085149e-02] [ 4.50984297e-02 -1.34072624e-03 9.98981649e-01 -2.72243864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.16538474999999 meters Centerline goodness [0,1] 0.9319934232906225 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.03, Z:-0.27 [[ 9.97579342e-01 5.29803738e-02 -4.50392852e-02 3.27352715e+00] [-5.28215341e-02 9.98592859e-01 4.71036992e-03 -2.97536031e-02] [ 4.52254657e-02 -2.31992359e-03 9.98974111e-01 -2.72828710e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.19538474999999 meters Centerline goodness [0,1] 0.9295442267777431 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.03, Z:-0.27 [[ 9.97561173e-01 5.31704174e-02 -4.52173849e-02 3.27422393e+00] [-5.29928189e-02 9.98581777e-01 5.11819242e-03 -3.21289557e-02] [ 4.54253930e-02 -2.70951335e-03 9.98964060e-01 -2.73333520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.22538474999999 meters Centerline goodness [0,1] 0.9260847196021266 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.04, Z:-0.27 [[ 0.99753461 0.05369952 -0.04517804 3.27457014] [-0.05348326 0.99855082 0.00598292 -0.03596597] [ 0.04543385 -0.0035519 0.99896103 -0.27400105] [ 0. 0. 0. 1. ]] SLAMing on 66.25538474999999 meters Centerline goodness [0,1] 0.9257601835915089 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.04, Z:-0.27 [[ 0.99752258 0.05372246 -0.04541577 3.27532105] [-0.05348843 0.99854826 0.00635356 -0.03816786] [ 0.04569116 -0.0039086 0.99894797 -0.27437876] [ 0. 0. 0. 1. ]] SLAMing on 66.28538474999999 meters Centerline goodness [0,1] 0.9262146011951156 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.04, Z:-0.28 [[ 9.97681419e-01 5.13934444e-02 -4.46150191e-02 3.27329254e+00] [-5.12836522e-02 9.98677629e-01 3.60274083e-03 -4.17788922e-02] [ 4.47411787e-02 -1.30636647e-03 9.98997758e-01 -2.75036649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.31538474999999 meters Centerline goodness [0,1] 0.9249192990546461 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.04, Z:-0.28 [[ 9.97676688e-01 5.10609425e-02 -4.50999510e-02 3.27488899e+00] [-5.09371158e-02 9.98694281e-01 3.89131891e-03 -4.41729228e-02] [ 4.52397576e-02 -1.58501674e-03 9.98974901e-01 -2.75605119e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.34538475 meters Centerline goodness [0,1] 0.931633096652659 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.05, Z:-0.28 [[ 9.97681272e-01 5.08485582e-02 -4.52383080e-02 3.27593412e+00] [-5.06936746e-02 9.98703815e-01 4.56514310e-03 -4.90490265e-02] [ 4.54118017e-02 -2.26126171e-03 9.98965793e-01 -2.76160698e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.37538475 meters Centerline goodness [0,1] 0.9312070771737865 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.05, Z:-0.28 [[ 9.97670878e-01 5.07845416e-02 -4.55384299e-02 3.27675356e+00] [-5.06099389e-02 9.98706081e-01 4.97971237e-03 -5.13047720e-02] [ 4.57323993e-02 -2.66341686e-03 9.98950176e-01 -2.76317276e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.40538475 meters Centerline goodness [0,1] 0.936599508023896 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.06, Z:-0.28 [[ 9.97831494e-01 4.81508844e-02 -4.48753989e-02 3.27495345e+00] [-4.80969104e-02 9.98840066e-01 2.28233269e-03 -5.52311608e-02] [ 4.49332428e-02 -1.19015399e-04 9.98989985e-01 -2.76538010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.43538475 meters Centerline goodness [0,1] 0.9385993246219351 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.06, Z:-0.28 [[ 9.97817921e-01 4.81608583e-02 -4.51655689e-02 3.27556301e+00] [-4.80772617e-02 9.98839305e-01 2.93597517e-03 -5.80456900e-02] [ 4.52545445e-02 -7.58131767e-04 9.98975201e-01 -2.76280389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.46538475 meters Centerline goodness [0,1] 0.9384469696969697 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.06, Z:-0.28 [[ 9.97941448e-01 4.66126027e-02 -4.40469160e-02 3.27419976e+00] [-4.66062376e-02 9.98912651e-01 1.17198597e-03 -6.27318011e-02] [ 4.40536509e-02 8.83287657e-04 9.99028776e-01 -2.77853496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.49538475 meters Centerline goodness [0,1] 0.9382067491763868 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.07, Z:-0.28 [[ 9.97933896e-01 4.65721452e-02 -4.42603125e-02 3.27507444e+00] [-4.65476627e-02 9.98914814e-01 1.58415903e-03 -6.50975368e-02] [ 4.42860595e-02 4.79328106e-04 9.99018776e-01 -2.78312298e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.52538474999999 meters Centerline goodness [0,1] 0.9452587496260844 Centerline is valid? [False, False] Translation: X:3.27, Y:-0.07, Z:-0.28 [[ 9.98081341e-01 4.44072239e-02 -4.31466784e-02 3.27496802e+00] [-4.44567256e-02 9.99011293e-01 -1.87966567e-04 -6.92340865e-02] [ 4.30956719e-02 2.10576596e-03 9.99068731e-01 -2.80629532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.55538474999999 meters Centerline goodness [0,1] 0.9403781046828654 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.07, Z:-0.28 [[ 9.98082469e-01 4.39568081e-02 -4.35796327e-02 3.27647758e+00] [-4.39830062e-02 9.99032215e-01 3.57963622e-04 -7.21406954e-02] [ 4.35531919e-02 1.55948604e-03 9.99049892e-01 -2.80825856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.58538474999999 meters Centerline goodness [0,1] 0.9425691937424789 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.08, Z:-0.28 [[ 9.98182749e-01 4.14243006e-02 -4.37633117e-02 3.27917479e+00] [-4.14859895e-02 9.99138960e-01 -5.01936195e-04 -7.81057823e-02] [ 4.37048374e-02 2.31658834e-03 9.99041801e-01 -2.82551319e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.61538474999999 meters Centerline goodness [0,1] 0.9409123779679402 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.08, Z:-0.28 [[ 9.98249688e-01 3.91727320e-02 -4.43064099e-02 3.28279951e+00] [-3.92568470e-02 9.99228622e-01 -1.02965271e-03 -8.36956410e-02] [ 4.42318986e-02 2.76718045e-03 9.99017458e-01 -2.84461145e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.64538474999999 meters Centerline goodness [0,1] 0.9411818126778471 Centerline is valid? [False, False] Translation: X:3.28, Y:-0.09, Z:-0.28 [[ 9.98251553e-01 3.87964006e-02 -4.45945695e-02 3.28417015e+00] [-3.88656182e-02 9.99244211e-01 -6.85845597e-04 -8.61231726e-02] [ 4.45342571e-02 2.41784194e-03 9.99004932e-01 -2.84976381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.67538474999999 meters Centerline goodness [0,1] 0.9406984472237327 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.09, Z:-0.29 [[ 9.98251372e-01 3.82915901e-02 -4.50327980e-02 3.28597578e+00] [-3.83498893e-02 9.99264279e-01 -4.31050109e-04 -8.81050162e-02] [ 4.49831609e-02 2.15729918e-03 9.98985416e-01 -2.85522002e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.70538475 meters Centerline goodness [0,1] 0.9401390280180919 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.09, Z:-0.29 [[ 9.98265802e-01 3.81947049e-02 -4.47945668e-02 3.28661337e+00] [-3.82259327e-02 9.99269109e-01 1.59558683e-04 -9.23033640e-02] [ 4.47679212e-02 1.55303212e-03 9.98996207e-01 -2.86460735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.73538475 meters Centerline goodness [0,1] 0.9421865010503242 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.09, Z:-0.29 [[ 9.98264129e-01 3.78853414e-02 -4.50935686e-02 3.28804774e+00] [-3.79099059e-02 9.99281113e-01 3.10619178e-04 -9.44601663e-02] [ 4.50729193e-02 1.39941296e-03 9.98982719e-01 -2.87268833e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.76538475 meters Centerline goodness [0,1] 0.9358703958428856 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.10, Z:-0.29 [[ 9.98281530e-01 3.68545360e-02 -4.55601827e-02 3.29063369e+00] [-3.68733427e-02 9.99319855e-01 4.27841962e-04 -9.89956741e-02] [ 4.55449631e-02 1.25284950e-03 9.98961504e-01 -2.88552726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.79538475 meters Centerline goodness [0,1] 0.9339382606296558 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.10, Z:-0.29 [[ 9.98273997e-01 3.66741518e-02 -4.58697386e-02 3.29158377e+00] [-3.66701987e-02 9.99326991e-01 9.27930570e-04 -1.01390628e-01] [ 4.58728990e-02 7.55723473e-04 9.98946999e-01 -2.88475473e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.82538475 meters Centerline goodness [0,1] 0.9313386798272671 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.11, Z:-0.29 [[ 9.98270739e-01 3.62510050e-02 -4.62752235e-02 3.29331728e+00] [-3.62101867e-02 9.99342715e-01 1.72031406e-03 -1.05751857e-01] [ 4.63071706e-02 -4.17047057e-05 9.98927247e-01 -2.88701857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.85538475 meters Centerline goodness [0,1] 0.9293449591957055 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.11, Z:-0.29 [[ 9.98264469e-01 3.62108583e-02 -4.64416137e-02 3.29446584e+00] [-3.61330008e-02 9.99343825e-01 2.51513155e-03 -1.10680957e-01] [ 4.65022149e-02 -8.32691593e-04 9.98917840e-01 -2.89264463e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.88538475 meters Centerline goodness [0,1] 0.9307902584493042 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.11, Z:-0.29 [[ 9.98256692e-01 3.63916530e-02 -4.64674459e-02 3.29489910e+00] [-3.62944718e-02 9.99336833e-01 2.93366464e-03 -1.12950251e-01] [ 4.65433911e-02 -1.24203896e-03 9.98915497e-01 -2.89734922e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.91538474999999 meters Centerline goodness [0,1] 0.9307824457285647 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.12, Z:-0.29 [[ 9.98238718e-01 3.72535790e-02 -4.61695982e-02 3.29436655e+00] [-3.71061238e-02 9.99303136e-01 4.04701226e-03 -1.16873078e-01] [ 4.62881900e-02 -2.32670951e-03 9.98925418e-01 -2.89828448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.94538474999999 meters Centerline goodness [0,1] 0.9269856160100063 Centerline is valid? [False, False] Translation: X:3.29, Y:-0.12, Z:-0.29 [[ 9.98218756e-01 3.76357864e-02 -4.62910660e-02 3.29432629e+00] [-3.74582286e-02 9.99287153e-01 4.69748264e-03 -1.19165486e-01] [ 4.64348610e-02 -2.95513395e-03 9.98916949e-01 -2.89466635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 66.97538474999999 meters Centerline goodness [0,1] 0.9278949362293218 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.13, Z:-0.29 [[ 9.98403034e-01 3.24224948e-02 -4.62619101e-02 3.29515896e+00] [-3.23453154e-02 9.99473833e-01 2.41611506e-03 -1.25418019e-01] [ 4.63159051e-02 -9.15900531e-04 9.98926423e-01 -2.87955390e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.00538474999999 meters Centerline goodness [0,1] 0.9275758056834418 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.13, Z:-0.29 [[ 9.98524264e-01 2.81140793e-02 -4.64638874e-02 3.29560498e+00] [-2.82041218e-02 9.99601361e-01 -1.28331953e-03 -1.27075868e-01] [ 4.64092857e-02 2.59189883e-03 9.98919146e-01 -2.88022062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.03538474999999 meters Centerline goodness [0,1] 0.9239657814096016 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.13, Z:-0.29 [[ 0.9986405 0.0227125 -0.04691789 3.29894892] [-0.0230017 0.99971955 -0.00563324 -0.12930197] [ 0.04677679 0.00670477 0.99888287 -0.29044509] [ 0. 0. 0. 1. ]] SLAMing on 67.06538474999999 meters Centerline goodness [0,1] 0.9250815373792927 Centerline is valid? [False, False] Translation: X:3.30, Y:-0.13, Z:-0.29 [[ 0.99863259 0.02172516 -0.04754974 3.30224251] [-0.02204949 0.99973699 -0.00630711 -0.12923441] [ 0.04740021 0.00734693 0.99884896 -0.29250156] [ 0. 0. 0. 1. ]] SLAMing on 67.09538475 meters Centerline goodness [0,1] 0.918147532600358 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.13, Z:-0.30 [[ 0.99864305 0.02150438 -0.04743009 3.30700172] [-0.02179667 0.99974644 -0.00565379 -0.12985836] [ 0.04729648 0.00667994 0.99885856 -0.29662564] [ 0. 0. 0. 1. ]] SLAMing on 67.12538475 meters Centerline goodness [0,1] 0.9163040696186332 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.13, Z:-0.30 [[ 0.99862732 0.02076712 -0.04808536 3.30915136] [-0.02107027 0.99976114 -0.00580599 -0.13063432] [ 0.0479533 0.00681119 0.99882636 -0.2970649 ] [ 0. 0. 0. 1. ]] SLAMing on 67.15538475 meters Centerline goodness [0,1] 0.9176553581735394 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.13, Z:-0.30 [[ 0.99859535 0.01950902 -0.0492619 3.31294752] [-0.0198455 0.99978289 -0.00635048 -0.13091638] [ 0.04912731 0.00731919 0.99876571 -0.29791484] [ 0. 0. 0. 1. ]] SLAMing on 67.18538475 meters Centerline goodness [0,1] 0.9180111846757086 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.13, Z:-0.30 [[ 0.9985776 0.01924828 -0.04972205 3.31390011] [-0.01958822 0.99978791 -0.00635867 -0.13116234] [ 0.04958911 0.00732359 0.99874285 -0.29767794] [ 0. 0. 0. 1. ]] SLAMing on 67.21538475 meters Centerline goodness [0,1] 0.9192390639585413 Centerline is valid? [False, False] Translation: X:3.31, Y:-0.13, Z:-0.30 [[ 0.99856942 0.01914184 -0.04992698 3.31451341] [-0.01948614 0.99978952 -0.00641843 -0.13083355] [ 0.04979361 0.00738213 0.99873225 -0.29773956] [ 0. 0. 0. 1. ]] SLAMing on 67.24538475 meters Centerline goodness [0,1] 0.9178984575835476 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.13, Z:-0.30 [[ 0.99855557 0.01793172 -0.05064813 3.31703434] [-0.01829274 0.9998104 -0.00667354 -0.12993734] [ 0.05051886 0.0075904 0.99869426 -0.29769612] [ 0. 0. 0. 1. ]] SLAMing on 67.27538474999999 meters Centerline goodness [0,1] 0.9173031680041251 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.13, Z:-0.30 [[ 0.99852418 0.01624631 -0.05182204 3.32032672] [-0.01659455 0.99984247 -0.00629674 -0.12997292] [ 0.05171158 0.00714741 0.99863648 -0.29608799] [ 0. 0. 0. 1. ]] SLAMing on 67.30538474999999 meters Centerline goodness [0,1] 0.916030534351145 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.13, Z:-0.30 [[ 0.9985035 0.01535406 -0.05248825 3.32260491] [-0.01574039 0.99985192 -0.00695485 -0.12822072] [ 0.05237369 0.00777062 0.99859732 -0.29670809] [ 0. 0. 0. 1. ]] SLAMing on 67.33538474999999 meters Centerline goodness [0,1] 0.9142747062223079 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.13, Z:-0.30 [[ 0.99848323 0.0147453 -0.05304541 3.32458756] [-0.01516579 0.99985661 -0.00753317 -0.12560721] [ 0.05292672 0.00832622 0.99856369 -0.29732469] [ 0. 0. 0. 1. ]] SLAMing on 67.36538474999999 meters Centerline goodness [0,1] 0.9142747062223079 Centerline is valid? [False, False] Translation: X:3.32, Y:-0.13, Z:-0.30 [[ 0.99848323 0.0147453 -0.05304541 3.32458756] [-0.01516579 0.99985661 -0.00753317 -0.12560721] [ 0.05292672 0.00832622 0.99856369 -0.29732469] [ 0. 0. 0. 1. ]] SLAMing on 67.39538474999999 meters Centerline goodness [0,1] 0.9143333654062029 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.13, Z:-0.30 [[ 0.99845901 0.0145276 -0.05355894 3.32549083] [-0.01493897 0.99986184 -0.00728834 -0.12535677] [ 0.05344566 0.00807722 0.99853809 -0.29654029] [ 0. 0. 0. 1. ]] SLAMing on 67.42538474999999 meters Centerline goodness [0,1] 0.912412268051149 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.13, Z:-0.29 [[ 0.99842573 0.01395537 -0.05432597 3.32671276] [-0.01431954 0.9998775 -0.00632007 -0.1261618 ] [ 0.05423111 0.00708805 0.99850325 -0.29412498] [ 0. 0. 0. 1. ]] SLAMing on 67.45538475 meters Centerline goodness [0,1] 0.9121167509441208 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.13, Z:-0.29 [[ 0.99839939 0.01352314 -0.05491619 3.32782396] [-0.01386219 0.99988711 -0.00579783 -0.12625149] [ 0.05483158 0.00654981 0.99847413 -0.29287074] [ 0. 0. 0. 1. ]] SLAMing on 67.48538475 meters Centerline goodness [0,1] 0.912806714075213 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.13, Z:-0.29 [[ 0.99837641 0.01175884 -0.05573399 3.33035127] [-0.01206983 0.99991339 -0.00524661 -0.12667575] [ 0.05566747 0.00591079 0.99843187 -0.29085249] [ 0. 0. 0. 1. ]] SLAMing on 67.51538475 meters Centerline goodness [0,1] 0.9104578313253012 Centerline is valid? [False, False] Translation: X:3.33, Y:-0.13, Z:-0.29 [[ 0.99838031 0.00598103 -0.05657719 3.3331651 ] [-0.00653647 0.9999322 -0.00963739 -0.12554209] [ 0.05651571 0.0099916 0.99835171 -0.29074373] [ 0. 0. 0. 1. ]] SLAMing on 67.54538475 meters Centerline goodness [0,1] 0.9104736791330353 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.13, Z:-0.29 [[ 0.9983466 0.00470918 -0.0572877 3.33556063] [-0.00526685 0.99994017 -0.0095875 -0.12588805] [ 0.05723912 0.00987337 0.99831167 -0.29033662] [ 0. 0. 0. 1. ]] SLAMing on 67.57538475 meters Centerline goodness [0,1] 0.9098087045833868 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.13, Z:-0.29 [[ 9.98290420e-01 3.25934078e-03 -5.83576427e-02 3.33858836e+00] [-3.81834846e-03 9.99947868e-01 -9.47005052e-03 -1.25666844e-01] [ 5.83237343e-02 9.67669052e-03 9.98250822e-01 -2.89497183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.60538475 meters Centerline goodness [0,1] 0.9091461659042196 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.13, Z:-0.29 [[ 9.98217692e-01 7.59711605e-04 -5.96729552e-02 3.34293442e+00] [-1.31952221e-03 9.99955488e-01 -9.34246725e-03 -1.25425940e-01] [ 5.96632014e-02 9.40455589e-03 9.98174262e-01 -2.88019083e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.63538475 meters Centerline goodness [0,1] 0.9106384337772668 Centerline is valid? [False, False] Translation: X:3.34, Y:-0.13, Z:-0.29 [[ 9.98185138e-01 3.22249461e-04 -6.02189924e-02 3.34407141e+00] [-8.73650225e-04 9.99957935e-01 -9.13048762e-03 -1.25030778e-01] [ 6.02135170e-02 9.16652738e-03 9.98143430e-01 -2.87196809e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.66538474999999 meters Centerline goodness [0,1] 0.9118208423463545 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.12, Z:-0.29 [[ 9.98111627e-01 3.03745775e-03 -6.13510746e-02 3.34669800e+00] [-3.37558033e-03 9.99979677e-01 -5.40838056e-03 -1.23182687e-01] [ 6.13334001e-02 5.60526300e-03 9.98101596e-01 -2.85794437e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.69538474999999 meters Centerline goodness [0,1] 0.910241802759843 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.12, Z:-0.29 [[ 9.98039130e-01 5.76753540e-03 -6.23268100e-02 3.34987048e+00] [-5.92598214e-03 9.99979662e-01 -2.35763648e-03 -1.20501598e-01] [ 6.23119446e-02 2.72236102e-03 9.98053010e-01 -2.86168829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.72538474999999 meters Centerline goodness [0,1] 0.91165899489249 Centerline is valid? [False, False] Translation: X:3.35, Y:-0.12, Z:-0.29 [[ 9.97945937e-01 8.60262687e-03 -6.34815048e-02 3.35308551e+00] [-8.53447918e-03 9.99962677e-01 1.34459581e-03 -1.19965858e-01] [ 6.34907026e-02 -8.00052345e-04 9.97982109e-01 -2.85824629e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.75538474999999 meters Centerline goodness [0,1] 0.9114933541829554 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.12, Z:-0.29 [[ 9.97849318e-01 1.10516320e-02 -6.46111441e-02 3.35728604e+00] [-1.08274431e-02 9.99934089e-01 3.81895162e-03 -1.16529977e-01] [ 6.46490912e-02 -3.11116478e-03 9.97903210e-01 -2.87218952e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.78538474999999 meters Centerline goodness [0,1] 0.9105974705625818 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.11, Z:-0.29 [[ 9.97819575e-01 1.05118930e-02 -6.51582407e-02 3.35906357e+00] [-1.03533543e-02 9.99942565e-01 2.77032612e-03 -1.13798991e-01] [ 6.51836197e-02 -2.08967928e-03 9.97871098e-01 -2.88276767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.81538474999999 meters Centerline goodness [0,1] 0.9114604367951785 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.11, Z:-0.29 [[ 9.97796709e-01 1.00685771e-02 -6.55770577e-02 3.36050406e+00] [-9.97315069e-03 9.99948678e-01 1.78238351e-03 -1.11107655e-01] [ 6.55916383e-02 -1.12444652e-03 9.97845916e-01 -2.89259872e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.84538475 meters Centerline goodness [0,1] 0.9151571164510166 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.11, Z:-0.29 [[ 0.99768724 0.01322059 -0.06667374 3.36363442] [-0.01296042 0.99990662 0.0043332 -0.10740387] [ 0.0667248 -0.00345906 0.99776542 -0.29022921] [ 0. 0. 0. 1. ]] SLAMing on 67.87538475 meters Centerline goodness [0,1] 0.9172080421195233 Centerline is valid? [False, False] Translation: X:3.36, Y:-0.10, Z:-0.29 [[ 9.97679380e-01 1.34915619e-02 -6.67370445e-02 3.36403611e+00] [-1.32760129e-02 9.99905126e-01 3.67228591e-03 -1.04184299e-01] [ 6.67802578e-02 -2.77776207e-03 9.97763840e-01 -2.91157612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.90538475 meters Centerline goodness [0,1] 0.9223398736687926 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.10, Z:-0.29 [[ 0.9975634 0.01730964 -0.06758425 3.36634815] [-0.01692479 0.99983715 0.00626292 -0.09927909] [ 0.06768165 -0.00510381 0.99769391 -0.29226275] [ 0. 0. 0. 1. ]] SLAMing on 67.93538475 meters Centerline goodness [0,1] 0.9250912408759124 Centerline is valid? [False, False] Translation: X:3.37, Y:-0.10, Z:-0.29 [[ 0.99745653 0.02226538 -0.06771064 3.36567797] [-0.02166832 0.9997197 0.00953967 -0.09500284] [ 0.06790407 -0.00804823 0.99765939 -0.2920665 ] [ 0. 0. 0. 1. ]] SLAMing on 67.96538475 meters Centerline goodness [0,1] 0.9301797712002905 Centerline is valid? [False, False] Translation: X:3.38, Y:-0.09, Z:-0.30 [[ 9.97708530e-01 2.48183274e-02 -6.29423581e-02 3.37807721e+00] [-2.47770900e-02 9.99691970e-01 1.43573519e-03 -9.18265282e-02] [ 6.29586025e-02 1.27083224e-04 9.98016131e-01 -2.95620624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 67.99538475 meters Centerline goodness [0,1] 0.9361560763469436 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.09, Z:-0.30 [[ 0.99793066 0.02904998 -0.05736277 3.38740307] [-0.02935551 0.99955895 -0.00449078 -0.08892627] [ 0.05720701 0.0061654 0.9983433 -0.29564717] [ 0. 0. 0. 1. ]] SLAMing on 68.02538474999999 meters Centerline goodness [0,1] 0.9394003314750641 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.09, Z:-0.29 [[ 0.99790247 0.02971191 -0.0575141 3.38664698] [-0.03001138 0.99954009 -0.00434994 -0.08717373] [ 0.0573584 0.00606689 0.99833522 -0.29469057] [ 0. 0. 0. 1. ]] SLAMing on 68.05538474999999 meters Centerline goodness [0,1] 0.9419269422880183 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.09, Z:-0.29 [[ 9.97749506e-01 3.37921277e-02 -5.79138627e-02 3.38690550e+00] [-3.38242665e-02 9.99427705e-01 4.25520495e-04 -8.70757249e-02] [ 5.78950981e-02 1.53433106e-03 9.98321493e-01 -2.92336647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.08538474999999 meters Centerline goodness [0,1] 0.944659723904093 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.09, Z:-0.29 [[ 9.97742289e-01 3.38171245e-02 -5.80234949e-02 3.38690159e+00] [-3.38445646e-02 9.99426978e-01 5.10020006e-04 -8.70050967e-02] [ 5.80074936e-02 1.45491140e-03 9.98315087e-01 -2.91948795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.11538474999999 meters Centerline goodness [0,1] 0.9431133189955472 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.09, Z:-0.29 [[ 9.97723478e-01 3.35859692e-02 -5.84794263e-02 3.38741309e+00] [-3.35460262e-02 9.99435787e-01 1.66488556e-03 -8.88179966e-02] [ 5.85023482e-02 3.00656958e-04 9.98287226e-01 -2.89934177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.14538474999999 meters Centerline goodness [0,1] 0.9459213677286368 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.09, Z:-0.29 [[ 9.97719108e-01 3.28130249e-02 -5.89905650e-02 3.38909251e+00] [-3.27691169e-02 9.99461482e-01 1.71180662e-03 -8.97299496e-02] [ 5.90149671e-02 2.25166551e-04 9.98257073e-01 -2.89930834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.17538474999999 meters Centerline goodness [0,1] 0.9424104552810773 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.09, Z:-0.29 [[ 9.97845871e-01 2.79720755e-02 -5.93395446e-02 3.39074353e+00] [-2.81660249e-02 9.99600294e-01 -2.43440917e-03 -9.07708255e-02] [ 5.92477308e-02 4.10052423e-03 9.98234888e-01 -2.90932179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.20538475 meters Centerline goodness [0,1] 0.9420764358495762 Centerline is valid? [False, False] Translation: X:3.39, Y:-0.09, Z:-0.29 [[ 9.97820916e-01 2.69442157e-02 -6.02281352e-02 3.39338791e+00] [-2.71219873e-02 9.99629849e-01 -2.13594481e-03 -9.27134158e-02] [ 6.01482903e-02 3.76479713e-03 9.98182353e-01 -2.90738788e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.23538475 meters Centerline goodness [0,1] 0.9391480730223124 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.09, Z:-0.29 [[ 9.97818375e-01 2.49137010e-02 -6.11375333e-02 3.39760561e+00] [-2.51190672e-02 9.99681104e-01 -2.59269054e-03 -9.48032702e-02] [ 6.10534433e-02 4.12275207e-03 9.98125984e-01 -2.91991684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.26538475 meters Centerline goodness [0,1] 0.9405347264904733 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.10, Z:-0.29 [[ 9.97808695e-01 2.39213886e-02 -6.16893438e-02 3.40033862e+00] [-2.41482754e-02 9.99704080e-01 -2.93485767e-03 -9.55037201e-02] [ 6.16008828e-02 4.41811776e-03 9.98091084e-01 -2.93223767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.29538475 meters Centerline goodness [0,1] 0.9391349950641659 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.10, Z:-0.29 [[ 9.97794912e-01 2.24389202e-02 -6.24644547e-02 3.40397821e+00] [-2.26859123e-02 9.99737367e-01 -3.24761977e-03 -9.73197722e-02] [ 6.23751763e-02 4.65752162e-03 9.98041905e-01 -2.94511202e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.32538475 meters Centerline goodness [0,1] 0.9371416240212097 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.10, Z:-0.29 [[ 9.97775639e-01 2.20170051e-02 -6.29207868e-02 3.40550578e+00] [-2.22569812e-02 9.99747428e-01 -3.11549625e-03 -9.82701221e-02] [ 6.28363009e-02 4.50899304e-03 9.98013661e-01 -2.94693025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.35538475 meters Centerline goodness [0,1] 0.9394830521591085 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.10, Z:-0.29 [[ 9.97757048e-01 2.18041150e-02 -6.32886609e-02 3.40665028e+00] [-2.20235384e-02 9.99753611e-01 -2.77139601e-03 -1.00157259e-01] [ 6.32126394e-02 4.15902015e-03 9.97991415e-01 -2.94748944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.38538475 meters Centerline goodness [0,1] 0.9392598551890587 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.10, Z:-0.29 [[ 9.97744904e-01 2.16801883e-02 -6.35222439e-02 3.40751633e+00] [-2.18938430e-02 9.99756738e-01 -2.66923774e-03 -1.00596260e-01] [ 6.34489217e-02 4.05396439e-03 9.97976853e-01 -2.94922579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.41538474999999 meters Centerline goodness [0,1] 0.9395548104684734 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.10, Z:-0.29 [[ 9.97745348e-01 2.18168826e-02 -6.34684508e-02 3.40750129e+00] [-2.20228110e-02 9.99754225e-01 -2.54672484e-03 -1.00614802e-01] [ 6.33972903e-02 3.93873656e-03 9.97980596e-01 -2.94913523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.44538474999999 meters Centerline goodness [0,1] 0.9418334108887855 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.10, Z:-0.29 [[ 9.97733589e-01 2.27827439e-02 -6.33137516e-02 3.40667625e+00] [-2.29421118e-02 9.99735191e-01 -1.79115516e-03 -1.00878095e-01] [ 6.32561781e-02 3.23964683e-03 9.97992064e-01 -2.94418468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.47538474999999 meters Centerline goodness [0,1] 0.9427772600186394 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.10, Z:-0.29 [[ 9.97728602e-01 2.39034556e-02 -6.29782605e-02 3.40515823e+00] [-2.40296051e-02 9.99710471e-01 -1.24629472e-03 -1.01191230e-01] [ 6.29302357e-02 2.75680661e-03 9.98014121e-01 -2.93986068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.50538474999999 meters Centerline goodness [0,1] 0.9450160072110154 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.10, Z:-0.29 [[ 9.97715221e-01 2.43085713e-02 -6.30351638e-02 3.40493165e+00] [-2.44131696e-02 9.99701558e-01 -8.89570811e-04 -1.01082661e-01] [ 6.29947273e-02 2.42642648e-03 9.98010910e-01 -2.93515179e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.53538474999999 meters Centerline goodness [0,1] 0.9469285026256098 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.10, Z:-0.29 [[ 9.97713868e-01 2.59495276e-02 -6.23992026e-02 3.40192946e+00] [-2.59838485e-02 9.99662329e-01 2.61528163e-04 -1.01518401e-01] [ 6.23849187e-02 1.36044115e-03 9.98051237e-01 -2.91797518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.56538474999999 meters Centerline goodness [0,1] 0.9478778853313478 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.10, Z:-0.29 [[ 9.97712063e-01 2.63368036e-02 -6.22656522e-02 3.40125728e+00] [-2.63512416e-02 9.99652572e-01 5.89439315e-04 -1.01357589e-01] [ 6.22595433e-02 1.05268653e-03 9.98059438e-01 -2.91265752e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.59538475 meters Centerline goodness [0,1] 0.9483586993583584 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.10, Z:-0.29 [[ 9.97708713e-01 2.63226621e-02 -6.23252904e-02 3.40173456e+00] [-2.63220174e-02 9.99653170e-01 8.31548401e-04 -1.01263291e-01] [ 6.23255627e-02 8.10884296e-04 9.98055543e-01 -2.91180717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.62538475 meters Centerline goodness [0,1] 0.94856700232378 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.10, Z:-0.29 [[ 9.97702098e-01 2.60143786e-02 -6.25601800e-02 3.40277943e+00] [-2.60244227e-02 9.99661093e-01 6.54427766e-04 -1.01453263e-01] [ 6.25560025e-02 9.75168612e-04 9.98040979e-01 -2.91681057e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.65538475 meters Centerline goodness [0,1] 0.9467268902363569 Centerline is valid? [False, False] Translation: X:3.40, Y:-0.10, Z:-0.29 [[ 9.97690285e-01 2.54709076e-02 -6.29708548e-02 3.40468862e+00] [-2.55049219e-02 9.99674662e-01 2.63743975e-04 -1.01364656e-01] [ 6.29570858e-02 1.34293193e-03 9.98015331e-01 -2.92659785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.68538475 meters Centerline goodness [0,1] 0.9456881870258554 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.10, Z:-0.29 [[ 9.97676194e-01 2.48411047e-02 -6.34439282e-02 3.40653021e+00] [-2.49050512e-02 9.99689798e-01 -2.17164817e-04 -1.00769599e-01] [ 6.34188531e-02 1.79673445e-03 9.97985381e-01 -2.93446155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.71538475 meters Centerline goodness [0,1] 0.9408917434608582 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.10, Z:-0.30 [[ 9.97656716e-01 2.35889816e-02 -6.42233398e-02 3.41006170e+00] [-2.37153791e-02 9.99718023e-01 -1.20637071e-03 -1.00783225e-01] [ 6.41767732e-02 2.72662469e-03 9.97934821e-01 -2.95510048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.74538475 meters Centerline goodness [0,1] 0.940873397684596 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.10, Z:-0.30 [[ 9.97636289e-01 2.29515510e-02 -6.47692845e-02 3.41209444e+00] [-2.31022720e-02 9.99731860e-01 -1.57896118e-03 -1.00988228e-01] [ 6.47156776e-02 3.07154660e-03 9.97899016e-01 -2.96354954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.77538474999999 meters Centerline goodness [0,1] 0.9394269020387866 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.10, Z:-0.30 [[ 9.97629479e-01 2.22792732e-02 -6.51080313e-02 3.41417912e+00] [-2.24463651e-02 9.99746363e-01 -1.83592102e-03 -1.01744343e-01] [ 6.50506145e-02 3.29300757e-03 9.97876532e-01 -2.97565576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.80538474999999 meters Centerline goodness [0,1] 0.938985687616677 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.10, Z:-0.30 [[ 9.97610478e-01 2.19197011e-02 -6.55199223e-02 3.41562160e+00] [-2.20822315e-02 9.99754613e-01 -1.75737717e-03 -1.02118629e-01] [ 6.54653234e-02 3.20000397e-03 9.97849714e-01 -2.97758666e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.83538474999999 meters Centerline goodness [0,1] 0.9383153186731271 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.11, Z:-0.30 [[ 9.97500885e-01 2.47688287e-02 -6.61701509e-02 3.41796122e+00] [-2.46206091e-02 9.99692200e-01 3.05463187e-03 -1.05093583e-01] [ 6.62254434e-02 -1.41784858e-03 9.97803678e-01 -2.96128924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.86538474999999 meters Centerline goodness [0,1] 0.9411636113800319 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.11, Z:-0.30 [[ 9.97506482e-01 2.63408037e-02 -6.54750317e-02 3.41528123e+00] [-2.61391255e-02 9.99650569e-01 3.93512232e-03 -1.05780961e-01] [ 6.55558070e-02 -2.21384995e-03 9.97846449e-01 -2.95331352e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.89538474999999 meters Centerline goodness [0,1] 0.9424698607033544 Centerline is valid? [False, False] Translation: X:3.41, Y:-0.11, Z:-0.29 [[ 9.97510493e-01 2.69638233e-02 -6.51595626e-02 3.41386724e+00] [-2.67461264e-02 9.99633388e-01 4.21114448e-03 -1.05432827e-01] [ 6.52492229e-02 -2.45789490e-03 9.97865972e-01 -2.94612517e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.92538474999999 meters Centerline goodness [0,1] 0.9472665396983984 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.10, Z:-0.30 [[ 9.97747936e-01 3.03988158e-02 -5.97910395e-02 3.42498305e+00] [-3.06227561e-02 9.99527000e-01 -2.83243988e-03 -1.03771712e-01] [ 5.96766556e-02 4.65702747e-03 9.98206897e-01 -2.97190910e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.95538475 meters Centerline goodness [0,1] 0.9460319440978288 Centerline is valid? [False, False] Translation: X:3.42, Y:-0.10, Z:-0.30 [[ 9.97727944e-01 3.08250625e-02 -5.99063002e-02 3.42486077e+00] [-3.10452601e-02 9.99514202e-01 -2.74822127e-03 -1.02948156e-01] [ 5.97924837e-02 4.60178382e-03 9.98200222e-01 -2.97003555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 68.98538475 meters Centerline goodness [0,1] 0.9455773841028675 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.10, Z:-0.30 [[ 9.97719430e-01 3.12636346e-02 -5.98207588e-02 3.42537400e+00] [-3.15034337e-02 9.99498930e-01 -3.06947892e-03 -1.02037214e-01] [ 5.96948213e-02 4.94703807e-03 9.98204415e-01 -2.98505730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.01538475 meters Centerline goodness [0,1] 0.9463657587548638 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.10, Z:-0.30 [[ 9.97711612e-01 3.10133751e-02 -6.00808644e-02 3.42664909e+00] [-3.12674122e-02 9.99505632e-01 -3.29251577e-03 -1.02174088e-01] [ 5.99490503e-02 5.16355437e-03 9.98188083e-01 -2.99374878e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.04538475 meters Centerline goodness [0,1] 0.943208796701237 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.10, Z:-0.30 [[ 9.97713521e-01 2.99017539e-02 -6.06103584e-02 3.42905065e+00] [-3.01547862e-02 9.99539911e-01 -3.26415290e-03 -1.04114068e-01] [ 6.04848684e-02 5.08438189e-03 9.98156165e-01 -2.99817304e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.07538475 meters Centerline goodness [0,1] 0.9435357523343987 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.11, Z:-0.30 [[ 9.97702694e-01 2.95015750e-02 -6.09835344e-02 3.43009935e+00] [-2.97424764e-02 9.99552953e-01 -3.04610687e-03 -1.05136989e-01] [ 6.08664070e-02 4.85291036e-03 9.98134124e-01 -2.99611080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.10538475 meters Centerline goodness [0,1] 0.942632982896595 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.11, Z:-0.30 [[ 9.97701255e-01 2.88997646e-02 -6.12944526e-02 3.43132736e+00] [-2.91333806e-02 9.99571265e-01 -2.92091928e-03 -1.06209085e-01] [ 6.11837597e-02 4.69991945e-03 9.98115453e-01 -2.99536073e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.13538475 meters Centerline goodness [0,1] 0.9426583944350442 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.11, Z:-0.30 [[ 9.97692755e-01 2.88144083e-02 -6.14727344e-02 3.43189150e+00] [-2.90501831e-02 9.99573616e-01 -2.94496293e-03 -1.05911491e-01] [ 6.13616660e-02 4.72396236e-03 9.98104418e-01 -2.99607364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.16538474999999 meters Centerline goodness [0,1] 0.9428303068252974 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.10, Z:-0.30 [[ 9.97672186e-01 2.95159701e-02 -6.14737154e-02 3.43173883e+00] [-2.97687375e-02 9.99551691e-01 -3.19979925e-03 -1.04277624e-01] [ 6.13517111e-02 5.02234561e-03 9.98103574e-01 -3.00255514e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.19538474999999 meters Centerline goodness [0,1] 0.9429015705178044 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.11, Z:-0.30 [[ 9.97515544e-01 3.26404131e-02 -6.24286981e-02 3.43431981e+00] [-3.26170406e-02 9.99466951e-01 1.39373660e-03 -1.05630850e-01] [ 6.24409126e-02 6.45965460e-04 9.98048453e-01 -2.98868023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.22538474999999 meters Centerline goodness [0,1] 0.9423741477538059 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.10, Z:-0.30 [[ 9.97511669e-01 3.28112598e-02 -6.24010533e-02 3.43404441e+00] [-3.27834256e-02 9.99461398e-01 1.47013581e-03 -1.04959891e-01] [ 6.24156810e-02 5.79242658e-04 9.98050073e-01 -2.98480325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.25538474999999 meters Centerline goodness [0,1] 0.9423741477538059 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.10, Z:-0.30 [[ 9.97511669e-01 3.28112598e-02 -6.24010533e-02 3.43404441e+00] [-3.27834256e-02 9.99461398e-01 1.47013581e-03 -1.04959891e-01] [ 6.24156810e-02 5.79242658e-04 9.98050073e-01 -2.98480325e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.28538474999999 meters Centerline goodness [0,1] 0.9444634898868701 Centerline is valid? [False, False] Translation: X:3.43, Y:-0.10, Z:-0.30 [[ 9.97500141e-01 3.26644088e-02 -6.26618259e-02 3.43470520e+00] [-3.26546355e-02 9.99465998e-01 1.18034276e-03 -1.04098472e-01] [ 6.26669195e-02 8.68807012e-04 9.98034119e-01 -2.98694840e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.31538474999999 meters Centerline goodness [0,1] 0.9439069159692624 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.10, Z:-0.30 [[ 9.97483298e-01 3.22014407e-02 -6.31675325e-02 3.43597620e+00] [-3.22024834e-02 9.99480863e-01 1.00184929e-03 -1.03515957e-01] [ 6.31670009e-02 1.03482348e-03 9.98002434e-01 -2.98605973e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.34538475 meters Centerline goodness [0,1] 0.9459653056775359 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.10, Z:-0.30 [[ 9.97468960e-01 3.19873830e-02 -6.35018273e-02 3.43670501e+00] [-3.19913727e-02 9.99487690e-01 9.54212577e-04 -1.03542309e-01] [ 6.34998174e-02 1.07971320e-03 9.97981266e-01 -2.98503442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.37538475 meters Centerline goodness [0,1] 0.9430556417095713 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.10, Z:-0.30 [[ 9.97458897e-01 3.12398943e-02 -6.40298130e-02 3.43911935e+00] [-3.12750618e-02 9.99510713e-01 4.53231777e-04 -1.02954751e-01] [ 6.40126430e-02 1.55045629e-03 9.97947883e-01 -2.99684861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.40538475 meters Centerline goodness [0,1] 0.9425315982815516 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.10, Z:-0.30 [[ 9.97461710e-01 3.09773537e-02 -6.41135050e-02 3.44006424e+00] [-3.10383014e-02 9.99518195e-01 4.54124553e-05 -1.02928115e-01] [ 6.40840215e-02 1.94467710e-03 9.97942612e-01 -3.00727297e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.43538475 meters Centerline goodness [0,1] 0.9409873923355386 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.10, Z:-0.30 [[ 9.97467630e-01 3.00987415e-02 -6.44390687e-02 3.44209013e+00] [-3.01737218e-02 9.99544651e-01 -1.90484585e-04 -1.03366960e-01] [ 6.44039931e-02 2.13436874e-03 9.97921625e-01 -3.01649870e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.46538475 meters Centerline goodness [0,1] 0.9405813844568646 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.10, Z:-0.30 [[ 9.97466081e-01 2.93604373e-02 -6.48026340e-02 3.44327880e+00] [-2.94227322e-02 9.99567058e-01 -6.96648342e-06 -1.04411151e-01] [ 6.47743736e-02 1.91361938e-03 9.97898100e-01 -3.01190037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.49538475 meters Centerline goodness [0,1] 0.9393000250438267 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.11, Z:-0.30 [[ 9.97465651e-01 2.84791380e-02 -6.52013353e-02 3.44438209e+00] [-2.85118682e-02 9.99593362e-01 4.28644159e-04 -1.06327283e-01] [ 6.51870293e-02 1.43145405e-03 9.97872037e-01 -3.00061608e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.52538474999999 meters Centerline goodness [0,1] 0.9374296435272045 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.11, Z:-0.30 [[ 9.97446218e-01 2.78613294e-02 -6.57631199e-02 3.44635210e+00] [-2.79351211e-02 9.99609718e-01 -2.02625449e-04 -1.05157892e-01] [ 6.57318083e-02 2.03920871e-03 9.97835242e-01 -3.00931555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.55538474999999 meters Centerline goodness [0,1] 0.935719184487811 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.10, Z:-0.30 [[ 9.97445284e-01 2.79504194e-02 -6.57394856e-02 3.44653785e+00] [-2.80570939e-02 9.99606077e-01 -6.99836632e-04 -1.03589174e-01] [ 6.56940286e-02 2.54250767e-03 9.97836575e-01 -3.01616526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.58538474999999 meters Centerline goodness [0,1] 0.9387818424400385 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.10, Z:-0.30 [[ 9.97310969e-01 3.24151038e-02 -6.57274113e-02 3.44631434e+00] [-3.22669649e-02 9.99473790e-01 3.31442646e-03 -1.02059241e-01] [ 6.58002624e-02 -1.18468979e-03 9.97832111e-01 -3.00941943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.61538474999999 meters Centerline goodness [0,1] 0.936607087636836 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.10, Z:-0.30 [[ 9.97321891e-01 3.26761283e-02 -6.54317713e-02 3.44598596e+00] [-3.25758996e-02 9.99465887e-01 2.59839796e-03 -9.98056981e-02] [ 6.54817289e-02 -4.59940354e-04 9.97853662e-01 -3.01972635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.64538474999999 meters Centerline goodness [0,1] 0.9403961251311161 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.10, Z:-0.30 [[ 9.97322079e-01 3.30719896e-02 -6.52297062e-02 3.44547658e+00] [-3.29980378e-02 9.99452971e-01 2.21105836e-03 -9.79312714e-02] [ 6.52671477e-02 -5.26850110e-05 9.97867825e-01 -3.02421118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.67538474999999 meters Centerline goodness [0,1] 0.9397291334722393 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.09, Z:-0.30 [[ 9.97314880e-01 3.40307659e-02 -6.48454843e-02 3.44383946e+00] [-3.39692279e-02 9.99420773e-01 2.05161445e-03 -9.49373712e-02] [ 6.48777421e-02 1.56645418e-04 9.97893208e-01 -3.02076686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.70538475 meters Centerline goodness [0,1] 0.939880188275567 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.09, Z:-0.30 [[ 9.97316382e-01 3.42850906e-02 -6.46882202e-02 3.44332004e+00] [-3.42618481e-02 9.99411811e-01 1.46892461e-03 -9.18610041e-02] [ 6.47005335e-02 7.51355396e-04 9.97904443e-01 -3.02206906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.73538475 meters Centerline goodness [0,1] 0.939946985161939 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.09, Z:-0.30 [[ 9.97312679e-01 3.41026291e-02 -6.48415884e-02 3.44382240e+00] [-3.41060885e-02 9.99417662e-01 1.05388238e-03 -9.05167468e-02] [ 6.48397689e-02 1.16044269e-03 9.97895013e-01 -3.02467235e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.76538475 meters Centerline goodness [0,1] 0.9371282145145053 Centerline is valid? [False, False] Translation: X:3.44, Y:-0.09, Z:-0.30 [[ 9.97321459e-01 3.38084822e-02 -6.48605744e-02 3.44482842e+00] [-3.38726815e-02 9.99426150e-01 1.09914347e-04 -8.83090094e-02] [ 6.48270702e-02 2.08738164e-03 9.97894330e-01 -3.03951120e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.79538475 meters Centerline goodness [0,1] 0.9356612592796261 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.09, Z:-0.31 [[ 9.97324604e-01 3.34295915e-02 -6.50084298e-02 3.44623850e+00] [-3.35499412e-02 9.99436753e-01 -7.60200475e-04 -8.64937741e-02] [ 6.49464008e-02 2.93919564e-03 9.97884425e-01 -3.05567954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.82538475 meters Centerline goodness [0,1] 0.9318675269869423 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.08, Z:-0.31 [[ 9.97336716e-01 3.37380395e-02 -6.46623468e-02 3.44655507e+00] [-3.39104814e-02 9.99423640e-01 -1.57083643e-03 -8.37955624e-02] [ 6.45720810e-02 3.75938415e-03 9.97905964e-01 -3.07559035e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.85538475 meters Centerline goodness [0,1] 0.9324977945426338 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.08, Z:-0.31 [[ 9.97164931e-01 3.66707871e-02 -6.57065680e-02 3.44956827e+00] [-3.65688369e-02 9.99327341e-01 2.75403798e-03 -8.48931687e-02] [ 6.57633627e-02 -3.43417318e-04 9.97835188e-01 -3.06560879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.88538474999999 meters Centerline goodness [0,1] 0.9336612320490634 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.08, Z:-0.31 [[ 9.97146697e-01 3.68618658e-02 -6.58761532e-02 3.44957868e+00] [-3.67451588e-02 9.99320217e-01 2.98277920e-03 -8.46854057e-02] [ 6.59413226e-02 -5.53638719e-04 9.97823349e-01 -3.05916333e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.91538474999999 meters Centerline goodness [0,1] 0.9299512492382693 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.08, Z:-0.31 [[ 9.97138379e-01 3.70133267e-02 -6.59171278e-02 3.44947169e+00] [-3.68819985e-02 9.99314477e-01 3.20852921e-03 -8.49849789e-02] [ 6.59906984e-02 -7.68192200e-04 9.97819942e-01 -3.05571540e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.94538474999999 meters Centerline goodness [0,1] 0.9361799257410677 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.09, Z:-0.30 [[ 9.97114463e-01 3.63338131e-02 -6.66528418e-02 3.45112404e+00] [-3.61679648e-02 9.99338899e-01 3.69364565e-03 -8.56824785e-02] [ 6.67429818e-02 -1.27228986e-03 9.97769390e-01 -3.04346805e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 69.97538474999999 meters Centerline goodness [0,1] 0.936973127605831 Centerline is valid? [False, False] Translation: X:3.45, Y:-0.09, Z:-0.30 [[ 9.97088902e-01 3.58433436e-02 -6.72976657e-02 3.45258791e+00] [-3.56672331e-02 9.99356432e-01 3.81697783e-03 -8.62620797e-02] [ 6.73911683e-02 -1.40554470e-03 9.97725641e-01 -3.03932939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.00538474999999 meters Centerline goodness [0,1] 0.9379264132553606 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.09, Z:-0.31 [[ 9.97094643e-01 3.47989603e-02 -6.77591731e-02 3.45515219e+00] [-3.46604804e-02 9.99393962e-01 3.21862716e-03 -8.62670851e-02] [ 6.78301134e-02 -8.60710414e-04 9.97696514e-01 -3.05262440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.03538474999999 meters Centerline goodness [0,1] 0.9383873232986292 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.09, Z:-0.31 [[ 9.97089035e-01 3.40391652e-02 -6.82260349e-02 3.45715852e+00] [-3.39305279e-02 9.99420408e-01 2.75084255e-03 -8.61712882e-02] [ 6.82801280e-02 -4.27889560e-04 9.97666097e-01 -3.06187877e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.06538474999999 meters Centerline goodness [0,1] 0.9396620096394362 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.09, Z:-0.31 [[ 9.97079095e-01 3.28606091e-02 -6.89453363e-02 3.46015661e+00] [-3.27590068e-02 9.99459887e-01 2.60408993e-03 -8.76163356e-02] [ 6.89936700e-02 -3.37902896e-04 9.97617040e-01 -3.06842725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.09538475 meters Centerline goodness [0,1] 0.940086680502991 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.09, Z:-0.31 [[ 9.97055072e-01 3.24544635e-02 -6.94830324e-02 3.46131058e+00] [-3.23382268e-02 9.99473068e-01 2.79736184e-03 -8.83277758e-02] [ 6.95372065e-02 -5.42165747e-04 9.97579211e-01 -3.06348758e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.12538475 meters Centerline goodness [0,1] 0.9429323699598935 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.09, Z:-0.31 [[ 9.97065029e-01 3.24447773e-02 -6.93445326e-02 3.46103985e+00] [-3.22984468e-02 9.99473048e-01 3.23066139e-03 -8.93914373e-02] [ 6.94128094e-02 -9.81458796e-04 9.97587539e-01 -3.05691244e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.15538475 meters Centerline goodness [0,1] 0.942572319735796 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.09, Z:-0.31 [[ 9.97045728e-01 3.24108498e-02 -6.96372938e-02 3.46151010e+00] [-3.22410357e-02 9.99473778e-01 3.56141881e-03 -8.99042579e-02] [ 6.97160777e-02 -1.30571894e-03 9.97566020e-01 -3.05105669e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.18538475 meters Centerline goodness [0,1] 0.9433494521638 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.09, Z:-0.31 [[ 9.97040050e-01 3.23585870e-02 -6.97428186e-02 3.46200065e+00] [-3.21978057e-02 9.99475636e-01 3.42856020e-03 -9.01232621e-02] [ 6.98171913e-02 -1.17284611e-03 9.97559113e-01 -3.05375491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.21538475 meters Centerline goodness [0,1] 0.9439747595417509 Centerline is valid? [False, False] Translation: X:3.46, Y:-0.09, Z:-0.31 [[ 9.97035226e-01 3.18564386e-02 -7.00423163e-02 3.46357128e+00] [-3.17314607e-02 9.99492233e-01 2.89651795e-03 -8.96712802e-02] [ 7.00990239e-02 -6.65385419e-04 9.97539816e-01 -3.06439467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.24538475 meters Centerline goodness [0,1] 0.9448277977121478 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.09, Z:-0.31 [[ 9.97029022e-01 3.07098115e-02 -7.06401856e-02 3.46673872e+00] [-3.06501374e-02 9.99528313e-01 1.92878259e-03 -8.97223507e-02] [ 7.06660981e-02 2.42079175e-04 9.97499997e-01 -3.08416025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.27538474999999 meters Centerline goodness [0,1] 0.9426264603339654 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.09, Z:-0.31 [[ 9.97011595e-01 3.01020970e-02 -7.11459253e-02 3.46903260e+00] [-3.00697294e-02 9.99546638e-01 1.52617305e-03 -8.97216013e-02] [ 7.11596115e-02 6.17726501e-04 9.97464750e-01 -3.09556302e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.30538474999999 meters Centerline goodness [0,1] 0.9420450010743776 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.09, Z:-0.31 [[ 9.97000780e-01 2.98954436e-02 -7.13842284e-02 3.47006867e+00] [-2.98756080e-02 9.99552718e-01 1.34577878e-03 -9.00312013e-02] [ 7.13925322e-02 7.90904738e-04 9.97447984e-01 -3.10194755e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.33538474999999 meters Centerline goodness [0,1] 0.9417082963008366 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.09, Z:-0.31 [[ 9.96982210e-01 2.97471999e-02 -7.17047964e-02 3.47112008e+00] [-2.97361200e-02 9.99557037e-01 1.22223874e-03 -9.05024834e-02] [ 7.17093920e-02 9.13672154e-04 9.97425149e-01 -3.10688653e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.36538474999999 meters Centerline goodness [0,1] 0.9383023921677288 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.09, Z:-0.31 [[ 9.96965364e-01 2.93914082e-02 -7.20847285e-02 3.47283658e+00] [-2.93900428e-02 9.99567436e-01 1.07983771e-03 -9.15847184e-02] [ 7.20852852e-02 1.04201246e-03 9.97397928e-01 -3.11537056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.39538474999999 meters Centerline goodness [0,1] 0.9381766732283464 Centerline is valid? [False, False] Translation: X:3.47, Y:-0.09, Z:-0.31 [[ 9.96940988e-01 2.88857240e-02 -7.26242514e-02 3.47470446e+00] [-2.89024906e-02 9.99581899e-01 8.20239855e-04 -9.14417692e-02] [ 7.26175803e-02 1.28129101e-03 9.97359035e-01 -3.12147815e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.42538474999999 meters Centerline goodness [0,1] 0.9368313962450289 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.09, Z:-0.31 [[ 9.96926723e-01 2.86150148e-02 -7.29266076e-02 3.47588786e+00] [-2.86266138e-02 9.99589782e-01 8.86373029e-04 -9.24123602e-02] [ 7.29220553e-02 1.20399287e-03 9.97336916e-01 -3.12407058e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.45538475 meters Centerline goodness [0,1] 0.9349976883957467 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.09, Z:-0.31 [[ 9.96901571e-01 2.82468250e-02 -7.34123542e-02 3.47704054e+00] [-2.82441879e-02 9.99600476e-01 1.07426595e-03 -9.24159244e-02] [ 7.34133688e-02 1.00253491e-03 9.97301094e-01 -3.11984542e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.48538475 meters Centerline goodness [0,1] 0.9380058071291777 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.09, Z:-0.31 [[ 9.97016067e-01 2.56735644e-02 -7.27999343e-02 3.47647990e+00] [-2.57675298e-02 9.99667900e-01 -3.51689582e-04 -9.24164269e-02] [ 7.27667284e-02 2.22651464e-03 9.97346502e-01 -3.11095734e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.51538475 meters Centerline goodness [0,1] 0.9397036122259956 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.09, Z:-0.31 [[ 9.97009310e-01 2.52201257e-02 -7.30505359e-02 3.47781751e+00] [-2.53519712e-02 9.99678202e-01 -8.78041407e-04 -9.13049804e-02] [ 7.30048840e-02 2.72739054e-03 9.97327854e-01 -3.12004803e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.54538475 meters Centerline goodness [0,1] 0.9375 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.09, Z:-0.31 [[ 9.96855908e-01 2.83085935e-02 -7.40062265e-02 3.48081544e+00] [-2.81503728e-02 9.99598640e-01 3.18035602e-03 -9.16747186e-02] [ 7.40665548e-02 -1.08705382e-03 9.97252708e-01 -3.11459468e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.57538475 meters Centerline goodness [0,1] 0.9327050826510119 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.09, Z:-0.31 [[ 9.96856470e-01 2.85313842e-02 -7.39130500e-02 3.48063390e+00] [-2.83877279e-02 9.99592505e-01 2.99361995e-03 -9.09221119e-02] [ 7.39683429e-02 -8.85985865e-04 9.97260196e-01 -3.11725063e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.60538475 meters Centerline goodness [0,1] 0.9378585086042065 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.09, Z:-0.31 [[ 9.96846528e-01 2.67341210e-02 -7.47146971e-02 3.48357865e+00] [-2.66569995e-02 9.99642579e-01 2.02942991e-03 -8.80558615e-02] [ 7.47422475e-02 -3.13605233e-05 9.97202886e-01 -3.11911109e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.63538474999999 meters Centerline goodness [0,1] 0.9383261272390364 Centerline is valid? [False, False] Translation: X:3.48, Y:-0.09, Z:-0.31 [[ 9.96839714e-01 2.66902825e-02 -7.48212069e-02 3.48302917e+00] [-2.65883237e-02 9.99643685e-01 2.35862777e-03 -8.81704228e-02] [ 7.48574994e-02 -3.61803363e-04 9.97194176e-01 -3.10566070e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.66538474999999 meters Centerline goodness [0,1] 0.939506704391684 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.09, Z:-0.31 [[ 9.96810355e-01 2.52602821e-02 -7.57035941e-02 3.48527864e+00] [-2.51919493e-02 9.99680907e-01 1.85758282e-03 -8.63774540e-02] [ 7.57263607e-02 5.54633127e-05 9.97128635e-01 -3.09774255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.69538474999999 meters Centerline goodness [0,1] 0.9390847343024864 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.08, Z:-0.31 [[ 9.96784855e-01 2.39491892e-02 -7.64616811e-02 3.48785791e+00] [-2.39750359e-02 9.99712389e-01 5.80009139e-04 -8.31428261e-02] [ 7.64535806e-02 1.25502722e-03 9.97072352e-01 -3.10519372e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.72538474999999 meters Centerline goodness [0,1] 0.9365259193484186 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.08, Z:-0.31 [[ 9.96766438e-01 2.34858937e-02 -7.68445238e-02 3.48903366e+00] [-2.35613491e-02 9.99722390e-01 -7.53240514e-05 -8.09036538e-02] [ 7.68214220e-02 1.88564114e-03 9.97043085e-01 -3.10890320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.75538474999999 meters Centerline goodness [0,1] 0.937612331312639 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.08, Z:-0.31 [[ 9.96759991e-01 2.33518614e-02 -7.69688983e-02 3.48967165e+00] [-2.34761208e-02 9.99724146e-01 -7.09873954e-04 -7.81144821e-02] [ 7.69310892e-02 2.51450511e-03 9.97033242e-01 -3.11476169e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.78538474999999 meters Centerline goodness [0,1] 0.9367702805155421 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.07, Z:-0.31 [[ 9.96599563e-01 2.60866449e-02 -7.81587987e-02 3.49340469e+00] [-2.60080908e-02 9.99659685e-01 2.02299996e-03 -7.45990792e-02] [ 7.81849734e-02 1.66402634e-05 9.96938870e-01 -3.11925564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.81538474999999 meters Centerline goodness [0,1] 0.936255945708486 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.07, Z:-0.31 [[ 9.96580871e-01 2.58894611e-02 -7.84621192e-02 3.49441456e+00] [-2.58737231e-02 9.99664478e-01 1.21736660e-03 -7.18459505e-02] [ 7.84673104e-02 8.16902882e-04 9.96916352e-01 -3.12700204e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.84538475 meters Centerline goodness [0,1] 0.9329999397481472 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.07, Z:-0.31 [[ 9.96420108e-01 2.90497193e-02 -7.93919492e-02 3.49673126e+00] [-2.87904127e-02 9.99575746e-01 4.40911981e-03 -6.86412174e-02] [ 7.94863505e-02 -2.10760865e-03 9.96833726e-01 -3.12047999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.87538475 meters Centerline goodness [0,1] 0.9341488338542919 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.06, Z:-0.31 [[ 9.96397433e-01 2.96920517e-02 -7.94388913e-02 3.49560907e+00] [-2.94633392e-02 9.99557657e-01 4.04993131e-03 -6.45381612e-02] [ 7.95240028e-02 -1.69480617e-03 9.96831511e-01 -3.11112992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.90538475 meters Centerline goodness [0,1] 0.9358040238673503 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.06, Z:-0.31 [[ 9.96382791e-01 3.01248751e-02 -7.94595886e-02 3.49452193e+00] [-2.98865934e-02 9.99544528e-01 4.18661561e-03 -6.27646756e-02] [ 7.95495183e-02 -1.79669533e-03 9.96829296e-01 -3.09868464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.93538475 meters Centerline goodness [0,1] 0.9399784030235767 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.06, Z:-0.31 [[ 9.96389244e-01 3.08180356e-02 -7.91120889e-02 3.49268018e+00] [-3.05834142e-02 9.99523495e-01 4.17591893e-03 -5.91414795e-02] [ 7.92030852e-02 -1.74132292e-03 9.96856980e-01 -3.08713575e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.96538475 meters Centerline goodness [0,1] 0.9402100727174791 Centerline is valid? [False, False] Translation: X:3.49, Y:-0.06, Z:-0.31 [[ 9.96382961e-01 3.05379461e-02 -7.92996201e-02 3.49318303e+00] [-3.03405072e-02 9.99532796e-01 3.69376632e-03 -5.69336566e-02] [ 7.93753710e-02 -1.27441513e-03 9.96843983e-01 -3.08758124e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 70.99538475 meters Centerline goodness [0,1] 0.9412218496869715 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.06, Z:-0.31 [[ 0.99621753 0.03277529 -0.08047617 3.49665589] [-0.03227906 0.99945106 0.00745979 -0.05544605] [ 0.08067649 -0.00483388 0.99672862 -0.30731499] [ 0. 0. 0. 1. ]] SLAMing on 71.02538474999999 meters Centerline goodness [0,1] 0.9412008526764567 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.05, Z:-0.31 [[ 0.99620415 0.03227521 -0.08084313 3.49757315] [-0.03181523 0.99946945 0.00697174 -0.05407049] [ 0.08102525 -0.00437324 0.99670245 -0.30730085] [ 0. 0. 0. 1. ]] SLAMing on 71.05538474999999 meters Centerline goodness [0,1] 0.9416374755091136 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.05, Z:-0.31 [[ 0.99620309 0.03170498 -0.08108139 3.4982931 ] [-0.03130258 0.99949054 0.00622961 -0.05155889] [ 0.0812376 -0.0036679 0.99668802 -0.30739239] [ 0. 0. 0. 1. ]] SLAMing on 71.08538474999999 meters Centerline goodness [0,1] 0.9424637251998815 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.05, Z:-0.31 [[ 9.96201563e-01 3.08950320e-02 -8.14121772e-02 3.49987233e+00] [-3.05725955e-02 9.99518999e-01 5.20442985e-03 -4.89843118e-02] [ 8.15338089e-02 -2.69567959e-03 9.96666931e-01 -3.08350537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.11538474999999 meters Centerline goodness [0,1] 0.9466631324733463 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.04, Z:-0.31 [[ 9.96191642e-01 2.98151239e-02 -8.19345460e-02 3.50197478e+00] [-2.95961259e-02 9.99554384e-01 3.88632808e-03 -4.49154904e-02] [ 8.20139060e-02 -1.44658241e-03 9.96630135e-01 -3.09281719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.14538474999999 meters Centerline goodness [0,1] 0.9454102308098902 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.04, Z:-0.31 [[ 9.96185425e-01 2.92767761e-02 -8.22038225e-02 3.50294374e+00] [-2.91107370e-02 9.99571013e-01 3.21791432e-03 -4.34063545e-02] [ 8.22627682e-02 -8.12625497e-04 9.96610343e-01 -3.09708795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.17538474999999 meters Centerline goodness [0,1] 0.9454102308098902 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.04, Z:-0.31 [[ 9.96185425e-01 2.92767761e-02 -8.22038225e-02 3.50294374e+00] [-2.91107370e-02 9.99571013e-01 3.21791432e-03 -4.34063545e-02] [ 8.22627682e-02 -8.12625497e-04 9.96610343e-01 -3.09708795e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.20538475 meters Centerline goodness [0,1] 0.9452774273055368 Centerline is valid? [False, False] Translation: X:3.50, Y:-0.04, Z:-0.31 [[ 9.96163369e-01 2.83317910e-02 -8.28000708e-02 3.50428705e+00] [-2.82246230e-02 9.99598567e-01 2.46475872e-03 -4.07822260e-02] [ 8.28366631e-02 -1.18301572e-04 9.96563131e-01 -3.09241246e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.23538475 meters Centerline goodness [0,1] 0.9431824834611556 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.04, Z:-0.31 [[ 9.96162249e-01 2.77728144e-02 -8.30026726e-02 3.50535878e+00] [-2.77206468e-02 9.99614122e-01 1.78109502e-03 -3.89659303e-02] [ 8.30201098e-02 5.26628150e-04 9.96547733e-01 -3.09844570e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.26538475 meters Centerline goodness [0,1] 0.9424305797606599 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.03, Z:-0.31 [[ 9.96166846e-01 2.76594910e-02 -8.29853426e-02 3.50813147e+00] [-2.75633046e-02 9.99617403e-01 2.30472414e-03 -3.47933555e-02] [ 8.30173402e-02 -8.53950096e-06 9.96548103e-01 -3.11190611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.29538475 meters Centerline goodness [0,1] 0.9421525964606905 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.03, Z:-0.31 [[ 9.96143845e-01 2.69053846e-02 -8.35077305e-02 3.50998385e+00] [-2.68871126e-02 9.99637573e-01 1.34360893e-03 -3.17409448e-02] [ 8.35136154e-02 9.06853983e-04 9.96506224e-01 -3.11950776e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.32538475 meters Centerline goodness [0,1] 0.9412258363236485 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.03, Z:-0.31 [[ 9.96125283e-01 2.65820599e-02 -8.38320566e-02 3.51080814e+00] [-2.66052294e-02 9.99645665e-01 8.40958385e-04 -3.01064037e-02] [ 8.38247064e-02 1.39267119e-03 9.96479543e-01 -3.12120216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.35538475 meters Centerline goodness [0,1] 0.9424156490537647 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.03, Z:-0.31 [[ 9.96092450e-01 2.69362753e-02 -8.41086659e-02 3.51075443e+00] [-2.69652554e-02 9.99636058e-01 7.91651541e-04 -2.78941190e-02] [ 8.40993794e-02 1.47945354e-03 9.96456274e-01 -3.11508156e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.38538474999999 meters Centerline goodness [0,1] 0.9423920572616024 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.03, Z:-0.31 [[ 9.96066224e-01 2.69133258e-02 -8.44260053e-02 3.51149943e+00] [-2.69659562e-02 9.99636219e-01 5.17104257e-04 -2.66392432e-02] [ 8.44092097e-02 1.76155788e-03 9.96429617e-01 -3.11730767e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.41538474999999 meters Centerline goodness [0,1] 0.9403902776975925 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.02, Z:-0.31 [[ 9.96028787e-01 2.78034261e-02 -8.45791040e-02 3.51112490e+00] [-2.78563640e-02 9.99611782e-01 5.54415110e-04 -2.35848350e-02] [ 8.45616835e-02 1.80385289e-03 9.96416614e-01 -3.11416793e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.44538474999999 meters Centerline goodness [0,1] 0.9378774805867127 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.02, Z:-0.31 [[ 9.96011147e-01 2.81832987e-02 -8.46610708e-02 3.51064108e+00] [-2.82281822e-02 9.99601283e-01 6.67100232e-04 -2.22424629e-02] [ 8.46461161e-02 1.72538887e-03 9.96409583e-01 -3.10736006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.47538474999999 meters Centerline goodness [0,1] 0.9355042137247034 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.02, Z:-0.31 [[ 9.95989891e-01 2.93181622e-02 -8.45256348e-02 3.50892134e+00] [-2.93482790e-02 9.99568853e-01 8.86507241e-04 -1.95862557e-02] [ 8.45151826e-02 1.59772966e-03 9.96420911e-01 -3.09530092e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.50538474999999 meters Centerline goodness [0,1] 0.9411512273273445 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.02, Z:-0.31 [[ 9.95964041e-01 2.96002920e-02 -8.47316411e-02 3.50888726e+00] [-2.96518616e-02 9.99560075e-01 6.50077838e-04 -1.76166564e-02] [ 8.47136080e-02 1.86499674e-03 9.96403596e-01 -3.09282286e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.53538474999999 meters Centerline goodness [0,1] 0.927914371699506 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.01, Z:-0.31 [[ 9.95818070e-01 3.34268241e-02 -8.50236315e-02 3.50988667e+00] [-3.32203093e-02 9.99440665e-01 3.84296604e-03 -1.45852500e-02] [ 8.51045329e-02 -1.00238369e-03 9.96371524e-01 -3.09297323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.56538474999999 meters Centerline goodness [0,1] 0.9227173574322218 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.01, Z:-0.31 [[ 9.95800848e-01 3.32860600e-02 -8.52801826e-02 3.51086972e+00] [-3.31548701e-02 9.99445859e-01 2.95457904e-03 -1.18635196e-02] [ 8.53312716e-02 -1.14718936e-04 9.96352629e-01 -3.10217943e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.59538475 meters Centerline goodness [0,1] 0.9009856123258185 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.01, Z:-0.31 [[ 9.95778660e-01 3.35854312e-02 -8.54217664e-02 3.51101235e+00] [-3.35064786e-02 9.99435718e-01 2.35821842e-03 -8.40369067e-03] [ 8.54527662e-02 5.13919007e-04 9.96342090e-01 -3.10496454e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.62538475 meters Centerline goodness [0,1] 0.90228925549676 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.01, Z:-0.31 [[ 9.95775409e-01 3.31306787e-02 -8.56369867e-02 3.51188017e+00] [-3.30902784e-02 9.99450577e-01 1.89159421e-03 -7.19803014e-03] [ 8.56526056e-02 9.50148729e-04 9.96324610e-01 -3.10757429e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.65538475 meters Centerline goodness [0,1] 0.9298786524481657 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.01, Z:-0.31 [[ 9.95756827e-01 3.22686487e-02 -8.61804892e-02 3.51299701e+00] [-3.22352082e-02 9.99478726e-01 1.77997598e-03 -6.70617568e-03] [ 8.61930029e-02 1.00562278e-03 9.96277951e-01 -3.09927215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.68538475 meters Centerline goodness [0,1] 0.9218829372918665 Centerline is valid? [False, False] Translation: X:3.51, Y:-0.01, Z:-0.31 [[ 9.95750620e-01 3.15837243e-02 -8.65053201e-02 3.51428594e+00] [-3.15744413e-02 9.99500313e-01 1.47589605e-03 -6.29177658e-03] [ 8.65087088e-02 1.26173274e-03 9.96250296e-01 -3.10163460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.71538475 meters Centerline goodness [0,1] 0.9349976050266264 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.01, Z:-0.31 [[ 9.95747296e-01 3.02509301e-02 -8.70184155e-02 3.51655380e+00] [-3.03091222e-02 9.99540360e-01 6.52725726e-04 -5.02065852e-03] [ 8.69981639e-02 1.98750191e-03 9.96206489e-01 -3.10916295e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.74538475 meters Centerline goodness [0,1] 0.9393185352749894 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.00, Z:-0.31 [[ 9.95723501e-01 2.97910756e-02 -8.74482795e-02 3.51761513e+00] [-2.98651947e-02 9.99553829e-01 4.60928907e-04 -4.65599479e-03] [ 8.74229942e-02 2.15270215e-03 9.96168955e-01 -3.10839798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.77538474999999 meters Centerline goodness [0,1] 0.9361388802356206 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.00, Z:-0.31 [[ 9.95709390e-01 2.95372074e-02 -8.76947229e-02 3.51834888e+00] [-2.96169411e-02 9.99561245e-01 3.92057514e-04 -4.94701770e-03] [ 8.76678267e-02 2.20687410e-03 9.96147319e-01 -3.10808230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.80538474999999 meters Centerline goodness [0,1] 0.9353880955747208 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.00, Z:-0.31 [[ 9.95699632e-01 2.94184075e-02 -8.78453158e-02 3.51905131e+00] [-2.95264793e-02 9.99563996e-01 6.91710432e-05 -4.09635803e-03] [ 8.78090498e-02 2.52488931e-03 9.96134125e-01 -3.11293257e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.83538474999999 meters Centerline goodness [0,1] 0.9268464508129738 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.00, Z:-0.31 [[ 9.95701675e-01 2.90834937e-02 -8.79336339e-02 3.52042702e+00] [-2.92517511e-02 9.99571880e-01 -6.25188784e-04 -2.49916526e-03] [ 8.78778051e-02 3.19471429e-03 9.96126139e-01 -3.12802982e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.86538474999999 meters Centerline goodness [0,1] 0.9402753045592018 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.00, Z:-0.31 [[ 9.95711048e-01 2.93808403e-02 -8.77284143e-02 3.51988937e+00] [-2.94826199e-02 9.99565284e-01 1.35618055e-04 -4.66426816e-03] [ 8.76942619e-02 2.45142710e-03 9.96144421e-01 -3.12192030e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.89538474999999 meters Centerline goodness [0,1] 0.9241309025025478 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.01, Z:-0.31 [[ 9.95700338e-01 2.96007515e-02 -8.77760405e-02 3.51973279e+00] [-2.96677478e-02 9.99559669e-01 5.41501590e-04 -5.67288538e-03] [ 8.77534188e-02 2.06494412e-03 9.96140087e-01 -3.11791320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.92538474999999 meters Centerline goodness [0,1] 0.9400419168460405 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.01, Z:-0.31 [[ 9.95699520e-01 2.98619835e-02 -8.76968003e-02 3.51956721e+00] [-2.99064243e-02 9.99552377e-01 8.07375141e-04 -5.91327282e-03] [ 8.76816550e-02 1.81879468e-03 9.96146886e-01 -3.11784214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.95538475 meters Centerline goodness [0,1] 0.9390894641235241 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.01, Z:-0.31 [[ 9.95724854e-01 3.06021563e-02 -8.71523012e-02 3.51813204e+00] [-3.05907378e-02 9.99530917e-01 1.46689707e-03 -6.19257418e-03] [ 8.71563098e-02 1.20542732e-03 9.96193919e-01 -3.11337988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 71.98538475 meters Centerline goodness [0,1] 0.9373810808508222 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.01, Z:-0.31 [[ 9.95711393e-01 3.05481118e-02 -8.73248842e-02 3.51850301e+00] [-3.05052797e-02 9.99532939e-01 1.82524563e-03 -7.54031566e-03] [ 8.73398559e-02 8.46452150e-04 9.96178214e-01 -3.11085029e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.01538475 meters Centerline goodness [0,1] 0.9378680549628744 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.01, Z:-0.31 [[ 9.95678763e-01 2.96398527e-02 -8.80072721e-02 3.52089651e+00] [-2.95878657e-02 9.99560386e-01 1.89544655e-03 -8.76964356e-03] [ 8.80247636e-02 7.16691469e-04 9.96118029e-01 -3.11342137e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.04538475 meters Centerline goodness [0,1] 0.9385352225104769 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.01, Z:-0.31 [[ 9.95683888e-01 2.94003860e-02 -8.80296109e-02 3.52142849e+00] [-2.93575909e-02 9.99567386e-01 1.78106798e-03 -8.69935770e-03] [ 8.80438922e-02 8.10956618e-04 9.96116266e-01 -3.11738446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.07538475 meters Centerline goodness [0,1] 0.942391521125958 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.01, Z:-0.31 [[ 9.95691898e-01 2.89506167e-02 -8.80880585e-02 3.52199104e+00] [-2.88892775e-02 9.99580674e-01 1.97140698e-03 -9.59116525e-03] [ 8.81081943e-02 5.81886410e-04 9.96110741e-01 -3.11612576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.10538475 meters Centerline goodness [0,1] 0.9444887951188915 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.01, Z:-0.31 [[ 9.95681971e-01 2.86465576e-02 -8.82994143e-02 3.52268479e+00] [-2.85929194e-02 9.99589385e-01 1.87249769e-03 -9.92142231e-03] [ 8.83167979e-02 6.60325851e-04 9.96092218e-01 -3.11745865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.13538474999999 meters Centerline goodness [0,1] 0.9439310795826107 Centerline is valid? [False, False] Translation: X:3.52, Y:-0.01, Z:-0.31 [[ 9.95685792e-01 2.77907786e-02 -8.85295197e-02 3.52407361e+00] [-2.77518045e-02 9.99613447e-01 1.67129046e-03 -1.02842578e-02] [ 8.85417449e-02 7.92773755e-04 9.96072151e-01 -3.12050050e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.16538474999999 meters Centerline goodness [0,1] 0.9452975868258355 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.01, Z:-0.31 [[ 9.95679031e-01 2.73775568e-02 -8.87340828e-02 3.52501976e+00] [-2.73494044e-02 9.99624759e-01 1.53329042e-03 -1.05342214e-02] [ 8.87427639e-02 9.00159203e-04 9.96054171e-01 -3.12348163e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.19538474999999 meters Centerline goodness [0,1] 0.9460505349419531 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.01, Z:-0.31 [[ 9.95630060e-01 2.58582669e-02 -8.97336820e-02 3.52862700e+00] [-2.58828012e-02 9.99664588e-01 8.90398717e-04 -1.04901050e-02] [ 8.97266084e-02 1.43605133e-03 9.95965398e-01 -3.13286891e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.22538474999999 meters Centerline goodness [0,1] 0.9441371050530398 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.01, Z:-0.31 [[ 9.95622382e-01 2.53040886e-02 -8.99765318e-02 3.52991650e+00] [-2.53487351e-02 9.99678460e-01 6.46660662e-04 -1.07797329e-02] [ 8.99639639e-02 1.63696144e-03 9.95943676e-01 -3.13923564e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.25538474999999 meters Centerline goodness [0,1] 0.9443606454734326 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.01, Z:-0.31 [[ 9.95596945e-01 2.45005040e-02 -9.04789895e-02 3.53187160e+00] [-2.45156795e-02 9.99699000e-01 9.43796335e-04 -1.21690154e-02] [ 9.04748788e-02 1.27851316e-03 9.95897917e-01 -3.13914151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.28538474999999 meters Centerline goodness [0,1] 0.9453458093684722 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.02, Z:-0.31 [[ 9.95600555e-01 2.45544639e-02 -9.04246296e-02 3.53131637e+00] [-2.44700679e-02 9.99698478e-01 2.04199916e-03 -1.50612181e-02] [ 9.04475047e-02 1.79681329e-04 9.95901208e-01 -3.12435537e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.31538474999999 meters Centerline goodness [0,1] 0.9446941287607706 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.02, Z:-0.31 [[ 9.95593895e-01 2.47135508e-02 -9.04546090e-02 3.53122512e+00] [-2.45959783e-02 9.99694558e-01 2.41443022e-03 -1.61003385e-02] [ 9.04866495e-02 -1.78972387e-04 9.95897652e-01 -3.12154111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.34538475 meters Centerline goodness [0,1] 0.9430670339761249 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.02, Z:-0.31 [[ 9.95601872e-01 2.49230744e-02 -9.03092087e-02 3.53120424e+00] [-2.47856685e-02 9.99689295e-01 2.64283953e-03 -1.66342760e-02] [ 9.03470169e-02 -3.92841873e-04 9.95910268e-01 -3.12404707e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.37538475 meters Centerline goodness [0,1] 0.9419234628063637 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.02, Z:-0.31 [[ 9.95578039e-01 2.49260992e-02 -9.05707370e-02 3.53176783e+00] [-2.47857146e-02 9.99689209e-01 2.67458648e-03 -1.66700674e-02] [ 9.06092554e-02 -4.17899126e-04 9.95886433e-01 -3.12393175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.40538475 meters Centerline goodness [0,1] 0.941834451901566 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.02, Z:-0.31 [[ 9.95561092e-01 2.55551504e-02 -9.05817165e-02 3.53124112e+00] [-2.53873777e-02 9.99673175e-01 3.00406031e-03 -1.74376406e-02] [ 9.06288814e-02 -6.91093315e-04 9.95884495e-01 -3.12032294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.43538475 meters Centerline goodness [0,1] 0.939451440400207 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.02, Z:-0.31 [[ 9.95557340e-01 2.58122010e-02 -9.05500572e-02 3.53124790e+00] [-2.56527586e-02 9.99666636e-01 2.92439410e-03 -1.71749561e-02] [ 9.05953561e-02 -5.88543259e-04 9.95887612e-01 -3.12373507e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.46538475 meters Centerline goodness [0,1] 0.9402120951562052 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.02, Z:-0.31 [[ 9.95549206e-01 2.57570586e-02 -9.06551252e-02 3.53207524e+00] [-2.56382606e-02 9.99668222e-01 2.47490663e-03 -1.59512153e-02] [ 9.06887942e-02 -1.39651606e-04 9.95879271e-01 -3.13323041e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.49538475 meters Centerline goodness [0,1] 0.9372283230382064 Centerline is valid? [False, False] Translation: X:3.53, Y:-0.02, Z:-0.31 [[ 9.95410200e-01 2.90696729e-02 -9.11783261e-02 3.53472350e+00] [-2.86312736e-02 9.99571350e-01 6.11275167e-03 -1.60348414e-02] [ 9.13169382e-02 -3.47414377e-03 9.95815820e-01 -3.14132940e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.52538474999999 meters Centerline goodness [0,1] 0.9298361219344488 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.02, Z:-0.31 [[ 9.95382314e-01 2.90694133e-02 -9.14823375e-02 3.53559849e+00] [-2.86587480e-02 9.99572428e-01 5.79973353e-03 -1.58300249e-02] [ 9.16118171e-02 -3.15118292e-03 9.95789810e-01 -3.14677900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.55538474999999 meters Centerline goodness [0,1] 0.9309790871797814 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.02, Z:-0.32 [[ 9.95374470e-01 2.88300072e-02 -9.16433029e-02 3.53641220e+00] [-2.84477549e-02 9.99580287e-01 5.47489914e-03 -1.56478034e-02] [ 9.17626804e-02 -2.84252861e-03 9.95776848e-01 -3.15283988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.58538474999999 meters Centerline goodness [0,1] 0.924991398096112 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.02, Z:-0.32 [[ 9.95357354e-01 2.88391735e-02 -9.18261372e-02 3.53687315e+00] [-2.84427720e-02 9.99579608e-01 5.62288130e-03 -1.55457352e-02] [ 9.19496935e-02 -2.98498637e-03 9.95759180e-01 -3.15171275e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.61538474999999 meters Centerline goodness [0,1] 0.920803203595402 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.02, Z:-0.31 [[ 9.95349583e-01 2.91543996e-02 -9.18108256e-02 3.53648575e+00] [-2.87293922e-02 9.99569531e-01 5.94767509e-03 -1.60833849e-02] [ 9.19447048e-02 -3.28234670e-03 9.95758704e-01 -3.14781066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.64538474999999 meters Centerline goodness [0,1] 0.9143235006612616 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.02, Z:-0.31 [[ 9.95337066e-01 2.94251355e-02 -9.18601451e-02 3.53657305e+00] [-2.89985276e-02 9.99561592e-01 5.97566983e-03 -1.64012292e-02] [ 9.19957078e-02 -3.28399673e-03 9.95753988e-01 -3.14928915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.67538474999999 meters Centerline goodness [0,1] 0.9167913453792151 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.02, Z:-0.32 [[ 9.95336504e-01 2.93570018e-02 -9.18880330e-02 3.53707837e+00] [-2.89604804e-02 9.99564612e-01 5.64596707e-03 -1.58600464e-02] [ 9.20137747e-02 -2.95851554e-03 9.95753339e-01 -3.15604820e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.70538475 meters Centerline goodness [0,1] 0.9216624394742909 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.02, Z:-0.32 [[ 9.95340940e-01 2.95614315e-02 -9.17743658e-02 3.53716958e+00] [-2.91781860e-02 9.99559011e-01 5.51517931e-03 -1.58017512e-02] [ 9.18969309e-02 -2.81167424e-03 9.95764555e-01 -3.16180381e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.73538475 meters Centerline goodness [0,1] 0.8982992415536658 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.02, Z:-0.32 [[ 9.95308945e-01 2.93466082e-02 -9.21893774e-02 3.53805581e+00] [-2.89564904e-02 9.99565172e-01 5.56673191e-03 -1.61189423e-02] [ 9.23126555e-02 -2.87113724e-03 9.95725931e-01 -3.15984865e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.76538475 meters Centerline goodness [0,1] 0.897088614921572 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.02, Z:-0.32 [[ 9.95290023e-01 2.92639617e-02 -9.24196466e-02 3.53889189e+00] [-2.88669411e-02 9.99567408e-01 5.63001362e-03 -1.71815913e-02] [ 9.25444230e-02 -2.93562389e-03 9.95704229e-01 -3.16331470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.79538475 meters Centerline goodness [0,1] 0.8901881331403763 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.02, Z:-0.32 [[ 9.95274839e-01 2.88039136e-02 -9.27271767e-02 3.54048283e+00] [-2.84473813e-02 9.99581949e-01 5.16471360e-03 -1.69899597e-02] [ 9.28371760e-02 -2.50246415e-03 9.95678159e-01 -3.17385544e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.82538475 meters Centerline goodness [0,1] 0.8782785103608173 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.02, Z:-0.32 [[ 9.95262926e-01 2.80691235e-02 -9.30797051e-02 3.54339139e+00] [-2.77979235e-02 9.99604701e-01 4.20913649e-03 -1.68461363e-02] [ 9.31610575e-02 -1.60177499e-03 9.95649764e-01 -3.20044042e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.85538475 meters Centerline goodness [0,1] 0.8935472639702896 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.02, Z:-0.32 [[ 9.95235116e-01 2.74814751e-02 -9.35512293e-02 3.54544105e+00] [-2.72548897e-02 9.99621672e-01 3.69909399e-03 -1.67803137e-02] [ 9.36174928e-02 -1.13173979e-03 9.95607595e-01 -3.21151921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.88538474999999 meters Centerline goodness [0,1] 0.8863616557734205 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.02, Z:-0.32 [[ 9.95210396e-01 2.76455195e-02 -9.37656323e-02 3.54661880e+00] [-2.74308665e-02 9.99617301e-01 3.57760231e-03 -1.74912773e-02] [ 9.38286529e-02 -9.88394472e-04 9.95587870e-01 -3.22289893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.91538474999999 meters Centerline goodness [0,1] 0.8711943114206937 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.02, Z:-0.32 [[ 9.95188712e-01 2.81585459e-02 -9.38430757e-02 3.54653904e+00] [-2.78919966e-02 9.99602324e-01 4.15105431e-03 -1.86231708e-02] [ 9.39226442e-02 -1.51361165e-03 9.95578347e-01 -3.21910088e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.94538474999999 meters Centerline goodness [0,1] 0.8808303732603505 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.02, Z:-0.32 [[ 9.95191137e-01 2.87303242e-02 -9.36438467e-02 3.54567432e+00] [-2.84167369e-02 9.99585204e-01 4.68073708e-03 -1.94964385e-02] [ 9.37394827e-02 -1.99717550e-03 9.95594757e-01 -3.21438639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 72.97538474999999 meters Centerline goodness [0,1] 0.8718485562243741 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.02, Z:-0.32 [[ 9.95163807e-01 2.87894311e-02 -9.39157340e-02 3.54621003e+00] [-2.84461238e-02 9.99582860e-01 4.99244345e-03 -2.00667356e-02] [ 9.40202876e-02 -2.29676044e-03 9.95567632e-01 -3.21184236e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.00538474999999 meters Centerline goodness [0,1] 0.8679278281400298 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.02, Z:-0.32 [[ 9.95196905e-01 2.97382959e-02 -9.32671137e-02 3.54471136e+00] [-2.93363909e-02 9.99553471e-01 5.67757983e-03 -2.09235765e-02] [ 9.33943088e-02 -2.91418937e-03 9.95624935e-01 -3.20990209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.03538474999999 meters Centerline goodness [0,1] 0.8590778014039789 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.02, Z:-0.32 [[ 9.95190696e-01 3.00809036e-02 -9.32234779e-02 3.54428919e+00] [-2.96363157e-02 9.99541827e-01 6.15012120e-03 -2.17161094e-02] [ 9.33657667e-02 -3.35774297e-03 9.95626215e-01 -3.20480895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.06538474999999 meters Centerline goodness [0,1] 0.8590778014039789 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.02, Z:-0.32 [[ 9.95190696e-01 3.00809036e-02 -9.32234779e-02 3.54428919e+00] [-2.96363157e-02 9.99541827e-01 6.15012120e-03 -2.17161094e-02] [ 9.33657667e-02 -3.35774297e-03 9.95626215e-01 -3.20480895e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.09538475 meters Centerline goodness [0,1] 0.8516552428175587 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.02, Z:-0.32 [[ 0.99516793 0.03055107 -0.09331359 3.54379438] [-0.03001976 0.99952414 0.00709254 -0.02366091] [ 0.09348587 -0.00425702 0.99561151 -0.31914633] [ 0. 0. 0. 1. ]] SLAMing on 73.12538475 meters Centerline goodness [0,1] 0.8691528786950304 Centerline is valid? [False, False] Translation: X:3.54, Y:-0.02, Z:-0.32 [[ 0.99516919 0.03048676 -0.09332121 3.54418708] [-0.02996398 0.99952648 0.00699831 -0.02345089] [ 0.09349037 -0.00416822 0.99561146 -0.31947879] [ 0. 0. 0. 1. ]] SLAMing on 73.15538475 meters Centerline goodness [0,1] 0.8547294350266058 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.02, Z:-0.32 [[ 0.99516126 0.03029259 -0.09346882 3.54548035] [-0.02980918 0.99953405 0.00656406 -0.02241444] [ 0.09362411 -0.00374607 0.99560057 -0.3205216 ] [ 0. 0. 0. 1. ]] SLAMing on 73.18538475 meters Centerline goodness [0,1] 0.85679371544952 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.02, Z:-0.32 [[ 9.95162818e-01 2.97306294e-02 -9.36325513e-02 3.54692417e+00] [-2.92777680e-02 9.99552043e-01 6.20687140e-03 -2.22087776e-02] [ 9.37751421e-02 -3.43549552e-03 9.95587475e-01 -3.21338811e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.21538475 meters Centerline goodness [0,1] 0.858590551409739 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.02, Z:-0.32 [[ 9.95137654e-01 2.90121222e-02 -9.41240989e-02 3.54869556e+00] [-2.85839424e-02 9.99574016e-01 5.89441105e-03 -2.15180628e-02] [ 9.42550129e-02 -3.17531256e-03 9.95543023e-01 -3.21696611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.24538475 meters Centerline goodness [0,1] 0.8687610696553526 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.02, Z:-0.32 [[ 9.95165001e-01 2.76409983e-02 -9.42475300e-02 3.55100393e+00] [-2.72580051e-02 9.99614121e-01 5.34888833e-03 -2.09026848e-02] [ 9.43590105e-02 -2.75402680e-03 9.95534426e-01 -3.22895053e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.27538474999999 meters Centerline goodness [0,1] 0.8783630493586574 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.02, Z:-0.32 [[ 9.95136480e-01 2.68660865e-02 -9.47713027e-02 3.55292194e+00] [-2.64834349e-02 9.99635238e-01 5.29331821e-03 -2.18185204e-02] [ 9.48789445e-02 -2.75770442e-03 9.95484998e-01 -3.23162553e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.30538474999999 meters Centerline goodness [0,1] 0.8829514314034167 Centerline is valid? [False, False] Translation: X:3.55, Y:-0.02, Z:-0.32 [[ 9.95102372e-01 2.59053136e-02 -9.53948885e-02 3.55489959e+00] [-2.55216851e-02 9.99660538e-01 5.23959301e-03 -2.29846343e-02] [ 9.54982388e-02 -2.77929313e-03 9.95425719e-01 -3.23133258e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.33538474999999 meters Centerline goodness [0,1] 0.9020117375689801 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.02, Z:-0.32 [[ 9.95081901e-01 2.37473291e-02 -9.61669071e-02 3.55852040e+00] [-2.34140816e-02 9.99715305e-01 4.59242650e-03 -2.39040420e-02] [ 9.62485867e-02 -2.31818068e-03 9.95354628e-01 -3.23836151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.36538474999999 meters Centerline goodness [0,1] 0.9118632219730288 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.02, Z:-0.32 [[ 9.95054183e-01 2.27414547e-02 -9.66953916e-02 3.56073732e+00] [-2.24039222e-02 9.99738532e-01 4.57510993e-03 -2.43413130e-02] [ 9.67741535e-02 -2.38612624e-03 9.95303506e-01 -3.23811434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.39538474999999 meters Centerline goodness [0,1] 0.9139223521862148 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.02, Z:-0.32 [[ 9.95067769e-01 2.29256991e-02 -9.65119019e-02 3.56057404e+00] [-2.25714347e-02 9.99733896e-01 4.76098125e-03 -2.43737402e-02] [ 9.65953685e-02 -2.55908690e-03 9.95320444e-01 -3.23854533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.42538474999999 meters Centerline goodness [0,1] 0.8996947230702137 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.02, Z:-0.32 [[ 9.95092380e-01 2.40295684e-02 -9.59881984e-02 3.55924536e+00] [-2.36616529e-02 9.99707672e-01 4.96950018e-03 -2.30621651e-02] [ 9.60795534e-02 -2.67387232e-03 9.95370067e-01 -3.23932288e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.45538475 meters Centerline goodness [0,1] 0.8831574381957497 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.02, Z:-0.32 [[ 9.95105574e-01 2.43344377e-02 -9.57743763e-02 3.55926178e+00] [-2.39946726e-02 9.99701048e-01 4.69781709e-03 -2.13622429e-02] [ 9.58600631e-02 -2.37674917e-03 9.95391983e-01 -3.24682272e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 73.48538475 meters Centerline goodness [0,1] 0.8655866273578154 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.02, Z:-0.33 [[ 0.99506653 0.02863633 -0.09498718 3.5590968 ] [-0.02798283 0.99957473 0.00820508 -0.01924746] [ 0.09518175 -0.00550659 0.99544468 -0.32575714] [ 0. 0. 0. 1. ]] SLAMing on 73.51538475 meters Centerline goodness [0,1] 0.8560759385422309 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.02, Z:-0.33 [[ 0.99511134 0.02937881 -0.09428842 3.557641 ] [-0.02873915 0.99955384 0.00813517 -0.01758326] [ 0.09448535 -0.00538563 0.99551168 -0.32614024] [ 0. 0. 0. 1. ]] SLAMing on 73.54538475 meters Centerline goodness [0,1] 0.8573899237333786 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.02, Z:-0.33 [[ 0.99503608 0.03316247 -0.09382668 3.55783228] [-0.03219775 0.99941212 0.0117775 -0.01657554] [ 0.09416209 -0.00869803 0.99551888 -0.32630293] [ 0. 0. 0. 1. ]] SLAMing on 73.57538475 meters Centerline goodness [0,1] 0.8552891396332863 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.01, Z:-0.33 [[ 0.9950638 0.03266088 -0.09370857 3.5589331 ] [-0.03176468 0.9994344 0.01103978 -0.01482152] [ 0.09401613 -0.00800866 0.99553846 -0.3276528 ] [ 0. 0. 0. 1. ]] SLAMing on 73.60538475 meters Centerline goodness [0,1] 0.8614195361911454 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.01, Z:-0.33 [[ 0.99515063 0.03210532 -0.09297568 3.56008375] [-0.03128375 0.99945767 0.01028084 -0.01302059] [ 0.09325533 -0.00732235 0.9956153 -0.33011218] [ 0. 0. 0. 1. ]] SLAMing on 73.63538474999999 meters Centerline goodness [0,1] 0.8633669485097896 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.01, Z:-0.33 [[ 0.99518908 0.03176911 -0.09267909 3.56089586] [-0.03097978 0.99947055 0.00994348 -0.01247623] [ 0.09294591 -0.00702446 0.99564638 -0.33149211] [ 0. 0. 0. 1. ]] SLAMing on 73.66538474999999 meters Centerline goodness [0,1] 0.8646946885319304 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.01, Z:-0.33 [[ 0.99525812 0.03102176 -0.09218966 3.56255553] [-0.03028157 0.99949704 0.00941735 -0.01201533] [ 0.09243543 -0.00658104 0.99569693 -0.33379129] [ 0. 0. 0. 1. ]] SLAMing on 73.69538474999999 meters Centerline goodness [0,1] 0.8613417284225776 Centerline is valid? [False, False] Translation: X:3.56, Y:-0.01, Z:-0.33 [[ 0.99526852 0.03060167 -0.09221773 3.56365552] [-0.02988784 0.99951172 0.00911213 -0.01160509] [ 0.09245155 -0.00631282 0.99569717 -0.33469718] [ 0. 0. 0. 1. ]] SLAMing on 73.72538474999999 meters Centerline goodness [0,1] 0.8587630006638637 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.01, Z:-0.34 [[ 0.99534622 0.0306829 -0.09134802 3.56588615] [-0.0299469 0.99950713 0.00941729 -0.01015781] [ 0.09159194 -0.00663787 0.9957745 -0.33779649] [ 0. 0. 0. 1. ]] SLAMing on 73.75538474999999 meters Centerline goodness [0,1] 0.8662720264317181 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.01, Z:-0.34 [[ 0.99538142 0.03100401 -0.09085469 3.56754977] [-0.03028819 0.99949843 0.00924735 -0.00830645] [ 0.09109582 -0.00645282 0.99582123 -0.3404104 ] [ 0. 0. 0. 1. ]] SLAMing on 73.78538474999999 meters Centerline goodness [0,1] 0.8584216145191755 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.01, Z:-0.34 [[ 0.99539457 0.0307694 -0.09079038 3.56866245] [-0.03011143 0.99950948 0.00860833 -0.00701174] [ 0.09101072 -0.00583486 0.99583282 -0.34191269] [ 0. 0. 0. 1. ]] SLAMing on 73.81538474999999 meters Centerline goodness [0,1] 0.8607588031530425 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.01, Z:-0.34 [[ 0.99543404 0.03090083 -0.0903117 3.56957538] [-0.0302811 0.99950758 0.00822467 -0.00576494] [ 0.09052138 -0.00545238 0.99587959 -0.34408285] [ 0. 0. 0. 1. ]] SLAMing on 73.84538475 meters Centerline goodness [0,1] 0.8545139171206331 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.01, Z:-0.34 [[ 0.99545023 0.03091897 -0.09012684 3.56999129] [-0.03031126 0.99950765 0.00810413 -0.00543835] [ 0.09033304 -0.0053354 0.99589732 -0.34497326] [ 0. 0. 0. 1. ]] SLAMing on 73.87538475 meters Centerline goodness [0,1] 0.8686414265969268 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.01, Z:-0.35 [[ 0.99550112 0.0309464 -0.08955356 3.56976567] [-0.03032981 0.999506 0.00823815 -0.00593563] [ 0.08976426 -0.00548494 0.99594794 -0.34561846] [ 0. 0. 0. 1. ]] SLAMing on 73.90538475 meters Centerline goodness [0,1] 0.8561582745479608 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.01, Z:-0.35 [[ 0.99549127 0.03033441 -0.08987183 3.57136093] [-0.02972832 0.9995254 0.0080752 -0.00622551] [ 0.09007414 -0.00536705 0.9959206 -0.34619688] [ 0. 0. 0. 1. ]] SLAMing on 73.93538475 meters Centerline goodness [0,1] 0.8721506709058576 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.01, Z:-0.35 [[ 0.99547998 0.02927516 -0.09034699 3.57345483] [-0.02863035 0.99955456 0.00842497 -0.00853313] [ 0.09055339 -0.00580022 0.99587471 -0.34590271] [ 0. 0. 0. 1. ]] SLAMing on 73.96538475 meters Centerline goodness [0,1] 0.873998484192291 Centerline is valid? [False, False] Translation: X:3.57, Y:-0.01, Z:-0.35 [[ 0.99545419 0.02866919 -0.09082414 3.57496543] [-0.02802519 0.99957227 0.00835824 -0.00983764] [ 0.09102492 -0.00577488 0.99583187 -0.34616002] [ 0. 0. 0. 1. ]] SLAMing on 73.99538475 meters Centerline goodness [0,1] 0.8776755920892 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.01, Z:-0.35 [[ 0.99543657 0.0271937 -0.09146883 3.57892244] [-0.02661307 0.99961721 0.0075618 -0.011204 ] [ 0.09163945 -0.00509303 0.99577923 -0.34855005] [ 0. 0. 0. 1. ]] SLAMing on 74.02538474999999 meters Centerline goodness [0,1] 0.8786572304021258 Centerline is valid? [False, False] Translation: X:3.58, Y:-0.01, Z:-0.35 [[ 0.99541318 0.02662659 -0.09188921 3.58111024] [-0.02607612 0.99963413 0.00718627 -0.01133978] [ 0.09204694 -0.00475719 0.99574331 -0.34985221] [ 0. 0. 0. 1. ]] SLAMing on 74.05538474999999 meters Centerline goodness [0,1] 0.8754685208322016 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.01, Z:-0.35 [[ 0.99536196 0.02567972 -0.09270985 3.58528972] [-0.02519167 0.99966195 0.00643084 -0.01138377] [ 0.09284365 -0.0040655 0.9956724 -0.35236763] [ 0. 0. 0. 1. ]] SLAMing on 74.08538474999999 meters Centerline goodness [0,1] 0.8786092625288605 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.01, Z:-0.35 [[ 0.99532682 0.02484303 -0.09331321 3.5881562 ] [-0.02439464 0.99968474 0.00594299 -0.0117687 ] [ 0.09343143 -0.00363887 0.99561907 -0.35380636] [ 0. 0. 0. 1. ]] SLAMing on 74.11538474999999 meters Centerline goodness [0,1] 0.8789545330792268 Centerline is valid? [False, False] Translation: X:3.59, Y:-0.01, Z:-0.36 [[ 9.95247582e-01 2.33637149e-02 -9.45324643e-02 3.59351273e+00] [-2.29914348e-02 9.99723031e-01 5.02551182e-03 -1.29303793e-02] [ 9.46236963e-02 -2.82819150e-03 9.95509095e-01 -3.56379512e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.14538474999999 meters Centerline goodness [0,1] 0.8814893791519725 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.01, Z:-0.36 [[ 9.95215885e-01 2.29125680e-02 -9.49755554e-02 3.59589513e+00] [-2.25724212e-02 9.99734376e-01 4.65435285e-03 -1.31507300e-02] [ 9.50569708e-02 -2.48825765e-03 9.95468724e-01 -3.57869963e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 74.17538474999999 meters Centerline goodness [0,1] 0.8824899312309926 Centerline is valid? [False, False] Translation: X:3.60, Y:-0.01, Z:-0.36 [[ 0.99508601 0.02361529 -0.0961569 3.60212225] [-0.02312139 0.99971314 0.00624752 -0.01386597] [ 0.09627685 -0.00399354 0.99534658 -0.36064619] [ 0. 0. 0. 1. ]] SLAMing on 74.20538475 meters Centerline goodness [0,1] 0.8830359826234255 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.02, Z:-0.36 [[ 0.99493 0.02389971 -0.09768881 3.60933952] [-0.02317467 0.99969487 0.00855002 -0.01536701] [ 0.09786335 -0.00624277 0.99518028 -0.36220592] [ 0. 0. 0. 1. ]] SLAMing on 74.23538475 meters Centerline goodness [0,1] 0.8838142346798571 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.02, Z:-0.36 [[ 0.99489915 0.02362496 -0.0980691 3.61066464] [-0.02289255 0.99970105 0.00858695 -0.01630753] [ 0.09824265 -0.00629809 0.99514256 -0.36247879] [ 0. 0. 0. 1. ]] SLAMing on 74.26538475 meters Centerline goodness [0,1] 0.8847129542822478 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.02, Z:-0.36 [[ 0.99483516 0.02372987 -0.09869087 3.61224095] [-0.02288796 0.99969142 0.00965436 -0.01902317] [ 0.09888952 -0.00734566 0.99507131 -0.36173911] [ 0. 0. 0. 1. ]] SLAMing on 74.29538475 meters Centerline goodness [0,1] 0.8845835631549918 Centerline is valid? [False, False] Translation: X:3.61, Y:-0.02, Z:-0.36 [[ 0.99478352 0.02326965 -0.09931902 3.6141453 ] [-0.0224275 0.9997025 0.0095875 -0.01935034] [ 0.09951257 -0.00731001 0.99500945 -0.36193319] [ 0. 0. 0. 1. ]] SLAMing on 74.32538475 meters Centerline goodness [0,1] 0.8809129089301503 Centerline is valid? [False, False] Translation: X:3.62, Y:-0.02, Z:-0.37 [[ 0.99587364 0.02077632 -0.08834048 3.62421647] [-0.02022542 0.99977004 0.00712669 -0.01860208] [ 0.08846823 -0.00531056 0.99606484 -0.36884653] [ 0. 0. 0. 1. ]] SLAMing on 74.35538475 meters Centerline goodness [0,1] 0.8858396755735792 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.02, Z:-0.37 [[ 0.99583949 0.02020916 -0.08885554 3.62621335] [-0.01967956 0.99978299 0.00683233 -0.01880915] [ 0.08897433 -0.00505526 0.99602109 -0.36950734] [ 0. 0. 0. 1. ]] SLAMing on 74.38538474999999 meters Centerline goodness [0,1] 0.892288827578519 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.02, Z:-0.37 [[ 0.99577061 0.0200762 -0.089654 3.62838743] [-0.01948144 0.99978206 0.00750414 -0.02123688] [ 0.08978512 -0.00572581 0.9959447 -0.36924526] [ 0. 0. 0. 1. ]] SLAMing on 74.41538474999999 meters Centerline goodness [0,1] 0.8920397454504857 Centerline is valid? [False, False] Translation: X:3.63, Y:-0.02, Z:-0.37 [[ 0.99571894 0.0192648 -0.09040277 3.63127596] [-0.01868389 0.99979903 0.00726775 -0.02176697] [ 0.09052461 -0.00554756 0.99587877 -0.37011319] [ 0. 0. 0. 1. ]] SLAMing on 74.44538474999999 meters Centerline goodness [0,1] 0.8970428080757309 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.02, Z:-0.37 [[ 0.99561948 0.01742526 -0.09185971 3.63714987] [-0.01685184 0.99983339 0.00701444 -0.0239658 ] [ 0.09196664 -0.00543571 0.99574725 -0.37160138] [ 0. 0. 0. 1. ]] SLAMing on 74.47538474999999 meters Centerline goodness [0,1] 0.8999246083824309 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.03, Z:-0.37 [[ 0.99553699 0.01644107 -0.09292895 3.64062072] [-0.01586259 0.99984996 0.00696025 -0.02548931] [ 0.09302944 -0.00545509 0.99564841 -0.37210728] [ 0. 0. 0. 1. ]] SLAMing on 74.50538474999999 meters Centerline goodness [0,1] 0.903640558181409 Centerline is valid? [False, False] Translation: X:3.64, Y:-0.03, Z:-0.37 [[ 0.99546979 0.01525952 -0.0938458 3.6443656 ] [-0.01468553 0.99986901 0.00680388 -0.02820552] [ 0.09393734 -0.00539489 0.99556349 -0.37319212] [ 0. 0. 0. 1. ]] SLAMing on 74.53538474999999 meters Centerline goodness [0,1] 0.9024198308085776 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.03, Z:-0.37 [[ 0.99539863 0.0142869 -0.09474946 3.6475997 ] [-0.01372343 0.99988407 0.00659598 -0.02888126] [ 0.09483272 -0.00526534 0.9954793 -0.37388525] [ 0. 0. 0. 1. ]] SLAMing on 74.56538474999999 meters Centerline goodness [0,1] 0.9101382488479263 Centerline is valid? [False, False] Translation: X:3.65, Y:-0.03, Z:-0.38 [[ 0.99528593 0.01282115 -0.09613296 3.65287119] [-0.01226791 0.99990462 0.00634382 -0.03020567] [ 0.09620512 -0.00513456 0.99534829 -0.37514429] [ 0. 0. 0. 1. ]] SLAMing on 74.59538475 meters Centerline goodness [0,1] 0.9123582223973432 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.03, Z:-0.38 [[ 0.99518348 0.01201056 -0.09729128 3.65710163] [-0.01145722 0.99991487 0.00624421 -0.03121392] [ 0.097358 -0.00509945 0.99523636 -0.37628824] [ 0. 0. 0. 1. ]] SLAMing on 74.62538475 meters Centerline goodness [0,1] 0.9171523965819705 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.03, Z:-0.38 [[ 0.9951435 0.01173167 -0.09773321 3.65858382] [-0.0111775 0.99991821 0.00621586 -0.03179453] [ 0.09779814 -0.00509326 0.99519324 -0.37656123] [ 0. 0. 0. 1. ]] SLAMing on 74.65538475 meters Centerline goodness [0,1] 0.9185426117720905 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.03, Z:-0.38 [[ 0.99507927 0.01124649 -0.09844164 3.66025472] [-0.01063228 0.99992061 0.00676175 -0.03437332] [ 0.09850987 -0.00568181 0.99511985 -0.37558821] [ 0. 0. 0. 1. ]] SLAMing on 74.68538475 meters Centerline goodness [0,1] 0.9221436081038843 Centerline is valid? [False, False] Translation: X:3.66, Y:-0.04, Z:-0.37 [[ 0.99500339 0.01090443 -0.09924387 3.66211008] [-0.01022881 0.99992094 0.00731397 -0.03538856] [ 0.09931578 -0.00626228 0.99503626 -0.37476543] [ 0. 0. 0. 1. ]] SLAMing on 74.71538475 meters Centerline goodness [0,1] 0.925096194955109 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.04, Z:-0.38 [[ 0.99490632 0.01055073 -0.10025016 3.66521768] [-0.00984059 0.99992288 0.00757554 -0.03628989] [ 0.10032236 -0.00655044 0.99493342 -0.37518528] [ 0. 0. 0. 1. ]] SLAMing on 74.74538475 meters Centerline goodness [0,1] 0.9275606276747503 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.04, Z:-0.38 [[ 0.99482868 0.00979988 -0.10109336 3.66831782] [-0.00910508 0.99993167 0.007332 -0.03609843] [ 0.1011583 -0.00637362 0.99484993 -0.37588951] [ 0. 0. 0. 1. ]] SLAMing on 74.77538474999999 meters Centerline goodness [0,1] 0.930247867651268 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.04, Z:-0.38 [[ 0.99466402 0.01284114 -0.10236498 3.67219879] [-0.01173734 0.99986638 0.01137802 -0.03845953] [ 0.1024974 -0.01011582 0.99468183 -0.37559635] [ 0. 0. 0. 1. ]] SLAMing on 74.80538474999999 meters Centerline goodness [0,1] 0.9310661500932702 Centerline is valid? [False, False] Translation: X:3.67, Y:-0.04, Z:-0.38 [[ 0.99458238 0.0122566 -0.10322628 3.67483759] [-0.0111525 0.99987434 0.01126631 -0.03828179] [ 0.1033514 -0.01005404 0.99459409 -0.37582576] [ 0. 0. 0. 1. ]] SLAMing on 74.83538474999999 meters Centerline goodness [0,1] 0.932642190274357 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.04, Z:-0.37 [[ 0.99441899 0.01512059 -0.10441379 3.67789436] [-0.01357359 0.99978756 0.01551074 -0.04147598] [ 0.10462614 -0.01400691 0.99441298 -0.37429928] [ 0. 0. 0. 1. ]] SLAMing on 74.86538474999999 meters Centerline goodness [0,1] 0.9325491321187778 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.04, Z:-0.37 [[ 0.99434065 0.01462471 -0.1052273 3.68014835] [-0.01306893 0.99979509 0.01545933 -0.04174789] [ 0.10543182 -0.01399663 0.99432803 -0.37433687] [ 0. 0. 0. 1. ]] SLAMing on 74.89538474999999 meters Centerline goodness [0,1] 0.9298250661756243 Centerline is valid? [False, False] Translation: X:3.68, Y:-0.04, Z:-0.37 [[ 0.99422892 0.01416197 -0.10634042 3.68323876] [-0.01259516 0.99980222 0.01539116 -0.04223345] [ 0.10653735 -0.01396296 0.99421066 -0.37465331] [ 0. 0. 0. 1. ]] SLAMing on 74.92538474999999 meters Centerline goodness [0,1] 0.9286104954086185 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.04, Z:-0.38 [[ 0.99415762 0.01367998 -0.10706764 3.68557999] [-0.01211952 0.99981084 0.01521167 -0.04216522] [ 0.10725548 -0.01382519 0.99413537 -0.37501931] [ 0. 0. 0. 1. ]] SLAMing on 74.95538475 meters Centerline goodness [0,1] 0.9233309404163675 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.04, Z:-0.38 [[ 0.99404709 0.01441898 -0.10799294 3.69015899] [-0.01264538 0.99977398 0.01709024 -0.04386768] [ 0.10821495 -0.01562289 0.99400475 -0.37582626] [ 0. 0. 0. 1. ]] SLAMing on 74.98538475 meters Centerline goodness [0,1] 0.9233309404163675 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.04, Z:-0.38 [[ 0.99404709 0.01441898 -0.10799294 3.69015899] [-0.01264538 0.99977398 0.01709024 -0.04386768] [ 0.10821495 -0.01562289 0.99400475 -0.37582626] [ 0. 0. 0. 1. ]] SLAMing on 75.01538475 meters Centerline goodness [0,1] 0.9261723700887199 Centerline is valid? [False, False] Translation: X:3.69, Y:-0.04, Z:-0.38 [[ 0.99397257 0.0136532 -0.10877554 3.69296536] [-0.01188343 0.99978654 0.01690167 -0.04465005] [ 0.10898308 -0.01550717 0.99392264 -0.37639567] [ 0. 0. 0. 1. ]] SLAMing on 75.04538475 meters Centerline goodness [0,1] 0.9247525895149888 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.05, Z:-0.38 [[ 0.99383705 0.01217047 -0.11018077 3.69769158] [-0.01034904 0.99980043 0.01708811 -0.0478067 ] [ 0.11036675 -0.01584253 0.99376466 -0.37639451] [ 0. 0. 0. 1. ]] SLAMing on 75.07538475 meters Centerline goodness [0,1] 0.9317401217998672 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.05, Z:-0.38 [[ 0.9937434 0.01097429 -0.11114682 3.70172011] [-0.00911352 0.99980992 0.01723587 -0.05019911] [ 0.11131484 -0.0161151 0.99365452 -0.37697103] [ 0. 0. 0. 1. ]] SLAMing on 75.10538475 meters Centerline goodness [0,1] 0.9435057620656789 Centerline is valid? [False, False] Translation: X:3.70, Y:-0.05, Z:-0.38 [[ 0.99368376 0.01024074 -0.11174845 3.70450441] [-0.00837365 0.99981761 0.01716454 -0.05107894] [ 0.11190385 -0.01612038 0.99358828 -0.37775496] [ 0. 0. 0. 1. ]] SLAMing on 75.13538474999999 meters Centerline goodness [0,1] 0.9421955253765126 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.05, Z:-0.38 [[ 0.99357791 0.00893 -0.11279716 3.70907496] [-0.00706215 0.99983143 0.01694814 -0.05373571] [ 0.11292949 -0.01604271 0.99347348 -0.37894848] [ 0. 0. 0. 1. ]] SLAMing on 75.16538474999999 meters Centerline goodness [0,1] 0.9259668508287293 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.05, Z:-0.38 [[ 0.99349597 0.0083105 -0.11356361 3.71171415] [-0.00643016 0.99983627 0.0169139 -0.05495355] [ 0.11368558 -0.01607366 0.99338675 -0.37936584] [ 0. 0. 0. 1. ]] SLAMing on 75.19538474999999 meters Centerline goodness [0,1] 0.937514558583741 Centerline is valid? [False, False] Translation: X:3.71, Y:-0.06, Z:-0.38 [[ 0.99340425 0.00789036 -0.11439292 3.71410457] [-0.00596431 0.9998348 0.01716964 -0.05621887] [ 0.1145095 -0.01637412 0.9932872 -0.37918935] [ 0. 0. 0. 1. ]] SLAMing on 75.22538474999999 meters Centerline goodness [0,1] 0.9360388565409485 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.06, Z:-0.38 [[ 0.99330107 0.00712703 -0.11533512 3.7167415 ] [-0.00512927 0.99983179 0.01760889 -0.05983086] [ 0.11544122 -0.01689935 0.99317055 -0.37843484] [ 0. 0. 0. 1. ]] SLAMing on 75.25538474999999 meters Centerline goodness [0,1] 0.9373250116658889 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.06, Z:-0.38 [[ 0.99322269 0.00664006 -0.11603703 3.71890068] [-0.00458804 0.9998285 0.01794234 -0.06150814] [ 0.11613626 -0.01728835 0.99308282 -0.37813811] [ 0. 0. 0. 1. ]] SLAMing on 75.28538474999999 meters Centerline goodness [0,1] 0.947560365871592 Centerline is valid? [False, False] Translation: X:3.72, Y:-0.06, Z:-0.38 [[ 9.93130035e-01 5.51555971e-03 -1.16885890e-01 3.72194983e+00] [-3.42649642e-03 9.99830924e-01 1.80660868e-02 -6.40176917e-02] [ 1.16965772e-01 -1.75414644e-02 9.92981020e-01 -3.77898044e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.31538474999999 meters Centerline goodness [0,1] 0.948405694787622 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.06, Z:-0.38 [[ 9.92979411e-01 3.40739000e-03 -1.18238232e-01 3.72810381e+00] [-1.33238894e-03 9.99843799e-01 1.76239355e-02 -6.48414889e-02] [ 1.18279814e-01 -1.73426658e-02 9.92828846e-01 -3.79084912e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.34538475 meters Centerline goodness [0,1] 0.9481900385850196 Centerline is valid? [False, False] Translation: X:3.73, Y:-0.06, Z:-0.38 [[ 9.92887039e-01 2.17452219e-03 -1.19040322e-01 3.73168901e+00] [-1.70309404e-04 9.99858115e-01 1.68440040e-02 -6.43169370e-02] [ 1.19060060e-01 -1.67039196e-02 9.92746534e-01 -3.80302555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.37538475 meters Centerline goodness [0,1] 0.9411089528518453 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.06, Z:-0.38 [[ 9.92717899e-01 7.13755109e-04 -1.20460212e-01 3.73678521e+00] [ 1.21647740e-03 9.99872058e-01 1.59495210e-02 -6.32193946e-02] [ 1.20456184e-01 -1.59799122e-02 9.92590021e-01 -3.81370670e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.40538475 meters Centerline goodness [0,1] 0.9442450276568201 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.06, Z:-0.38 [[ 9.92648386e-01 1.90825071e-04 -1.21033655e-01 3.73879753e+00] [ 1.70287577e-03 9.99877759e-01 1.55424425e-02 -6.21630704e-02] [ 1.21021826e-01 -1.56342858e-02 9.92526718e-01 -3.81791153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.43538475 meters Centerline goodness [0,1] 0.9477800646868568 Centerline is valid? [False, False] Translation: X:3.74, Y:-0.06, Z:-0.37 [[ 9.92453823e-01 -1.97901564e-03 -1.22602988e-01 3.74290346e+00] [ 4.35686669e-03 9.99807518e-01 1.91296666e-02 -6.49325274e-02] [ 1.22541531e-01 -1.95194756e-02 9.92271416e-01 -3.74257414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.46538475 meters Centerline goodness [0,1] 0.950008847991506 Centerline is valid? [False, True] Translation: X:3.75, Y:-0.06, Z:-0.37 [[ 9.92331942e-01 -3.31970548e-03 -1.23556857e-01 3.74587679e+00] [ 5.68162129e-03 9.99807711e-01 1.87685831e-02 -6.45716649e-02] [ 1.23470792e-01 -1.93266678e-02 9.92159989e-01 -3.73916255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.49538475 meters Centerline goodness [0,1] 0.9485365637987444 Centerline is valid? [True, False] Translation: X:3.75, Y:-0.06, Z:-0.38 [[ 0.99218503 -0.00569647 -0.1246452 3.75207075] [ 0.00791865 0.9998183 0.01733985 -0.06130403] [ 0.12452377 -0.01819136 0.99204985 -0.37615114] [ 0. 0. 0. 1. ]] SLAMing on 75.52538474999999 meters Centerline goodness [0,1] 0.9502507993312018 Centerline is valid? [False, True] Translation: X:3.76, Y:-0.06, Z:-0.38 [[ 9.92033778e-01 -3.39827309e-03 -1.25926304e-01 3.75690196e+00] [ 6.06847597e-03 9.99764678e-01 2.08269412e-02 -6.10667255e-02] [ 1.25825896e-01 -2.14252099e-02 9.91820954e-01 -3.76132999e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.55538474999999 meters Centerline goodness [0,1] 0.9492211563847576 Centerline is valid? [True, False] Translation: X:3.76, Y:-0.06, Z:-0.38 [[ 0.99194484 -0.00388412 -0.12661105 3.75914945] [ 0.00649779 0.9997741 0.02023687 -0.0586223 ] [ 0.12650384 -0.02089655 0.99174599 -0.37653926] [ 0. 0. 0. 1. ]] SLAMing on 75.58538474999999 meters Centerline goodness [0,1] 0.9494258918397757 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.06, Z:-0.38 [[ 9.92572036e-01 -3.56266741e-03 -1.21606172e-01 3.77340345e+00] [ 4.96509139e-03 9.99924599e-01 1.12314372e-02 -5.60614341e-02] [ 1.21556989e-01 -1.17517962e-02 9.92514883e-01 -3.79701290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.61538474999999 meters Centerline goodness [0,1] 0.9462689183661543 Centerline is valid? [False, False] Translation: X:3.77, Y:-0.06, Z:-0.38 [[ 0.99246465 -0.00380251 -0.12247226 3.77495034] [ 0.00519245 0.99992567 0.01103181 -0.05518372] [ 0.12242121 -0.01158461 0.99241062 -0.37892103] [ 0. 0. 0. 1. ]] SLAMing on 75.64538474999999 meters Centerline goodness [0,1] 0.9479919267557844 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.05, Z:-0.38 [[ 0.99238679 -0.0043385 -0.12308383 3.77707497] [ 0.0056863 0.99992764 0.0106011 -0.05375059] [ 0.12302893 -0.01122028 0.99233965 -0.37929642] [ 0. 0. 0. 1. ]] SLAMing on 75.67538474999999 meters Centerline goodness [0,1] 0.9484898150316086 Centerline is valid? [False, False] Translation: X:3.78, Y:-0.05, Z:-0.38 [[ 0.99218244 -0.00876244 -0.12448787 3.78308977] [ 0.01011317 0.99989661 0.0102225 -0.0537412 ] [ 0.12438543 -0.01140155 0.99216847 -0.3767851 ] [ 0. 0. 0. 1. ]] SLAMing on 75.70538475 meters Centerline goodness [0,1] 0.9492431769037462 Centerline is valid? [False, False] Translation: X:3.79, Y:-0.05, Z:-0.38 [[ 0.99192505 -0.01241165 -0.1262167 3.79134033] [ 0.01360178 0.99987075 0.00857184 -0.04960051] [ 0.126094 -0.01021939 0.99196566 -0.37814037] [ 0. 0. 0. 1. ]] SLAMing on 75.73538475 meters Centerline goodness [0,1] 0.9454587742760786 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.05, Z:-0.38 [[ 0.99175567 -0.01078622 -0.1276885 3.79760002] [ 0.01233943 0.99985912 0.01137924 -0.04831205] [ 0.12754777 -0.01286103 0.99174904 -0.37903275] [ 0. 0. 0. 1. ]] SLAMing on 75.76538475 meters Centerline goodness [0,1] 0.944228763472013 Centerline is valid? [False, False] Translation: X:3.80, Y:-0.04, Z:-0.38 [[ 0.99155534 -0.0092886 -0.12935115 3.80481804] [ 0.01112913 0.99984675 0.0135134 -0.04497457] [ 0.12920581 -0.01483885 0.99150677 -0.38076552] [ 0. 0. 0. 1. ]] SLAMing on 75.79538475 meters Centerline goodness [0,1] 0.9459310584756327 Centerline is valid? [False, False] Translation: X:3.81, Y:-0.04, Z:-0.38 [[ 0.99147218 -0.00954397 -0.12996856 3.80660218] [ 0.01133904 0.99985018 0.01307856 -0.04276766] [ 0.12982427 -0.01444074 0.99143186 -0.38100654] [ 0. 0. 0. 1. ]] SLAMing on 75.82538475 meters Centerline goodness [0,1] 0.9463141488194885 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.04, Z:-0.38 [[ 0.99212825 -0.00717028 -0.12502049 3.81949894] [ 0.00797316 0.99995067 0.00592277 -0.03822532] [ 0.12497186 -0.00687296 0.99213648 -0.38203921] [ 0. 0. 0. 1. ]] SLAMing on 75.85538475 meters Centerline goodness [0,1] 0.9490314523857927 Centerline is valid? [False, False] Translation: X:3.82, Y:-0.04, Z:-0.38 [[ 0.99206583 -0.00733033 -0.12550561 3.81978071] [ 0.00816158 0.99994803 0.00611027 -0.03716353] [ 0.1254543 -0.00708611 0.99207409 -0.38051274] [ 0. 0. 0. 1. ]] SLAMing on 75.88538474999999 meters Centerline goodness [0,1] 0.9516669555671116 Centerline is valid? [False, True] Translation: X:3.83, Y:-0.04, Z:-0.37 [[ 0.99183889 -0.00579239 -0.12736588 3.82532708] [ 0.00745048 0.99989354 0.01254575 -0.03718809] [ 0.12727965 -0.0133923 0.99177646 -0.37381208] [ 0. 0. 0. 1. ]] SLAMing on 75.91538474999999 meters Centerline goodness [0,1] 0.9523048769860865 Centerline is valid? [True, True] Translation: X:3.85, Y:-0.02, Z:-0.38 [[ 9.92080709e-01 -6.01346953e-03 -1.25457979e-01 3.85441186e+00] [ 5.49973507e-03 9.99975016e-01 -4.44083521e-03 -2.40213920e-02] [ 1.25481550e-01 3.71568130e-03 9.92088995e-01 -3.80701277e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.94538474999999 meters Centerline goodness [0,1] 0.9531821717710104 Centerline is valid? [True, True] Translation: X:3.88, Y:-0.02, Z:-0.38 [[ 9.92291661e-01 -5.15228352e-03 -1.23817259e-01 3.88279917e+00] [ 4.64132931e-03 9.99979484e-01 -4.41477589e-03 -1.90569848e-02] [ 1.23837465e-01 3.80606863e-03 9.92295216e-01 -3.78907364e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 75.97538474999999 meters Centerline goodness [0,1] 0.9488262506105796 Centerline is valid? [True, False] Translation: X:3.89, Y:-0.02, Z:-0.38 [[ 9.92103866e-01 -2.02508394e-03 -1.25402626e-01 3.88601005e+00] [ 2.00908913e-03 9.99997950e-01 -2.54019376e-04 -1.78986269e-02] [ 1.25402884e-01 6.85509340e-08 9.92105900e-01 -3.76471896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.00538474999999 meters Centerline goodness [0,1] 0.9462750302960355 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.02, Z:-0.38 [[ 9.92062513e-01 -1.99179802e-03 -1.25729882e-01 3.88659931e+00] [ 1.98262718e-03 9.99998015e-01 -1.98075105e-04 -1.70028000e-02] [ 1.25730027e-01 -5.27725950e-05 9.92064493e-01 -3.76047639e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.03538474999999 meters Centerline goodness [0,1] 0.948123397759023 Centerline is valid? [False, False] Translation: X:3.89, Y:-0.02, Z:-0.37 [[ 9.91881986e-01 6.28614171e-04 -1.27160253e-01 3.89047954e+00] [-1.35107434e-04 9.99992426e-01 3.88957060e-03 -1.75241662e-02] [ 1.27161735e-01 -3.84081472e-03 9.91874559e-01 -3.74473899e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.06538474999999 meters Centerline goodness [0,1] 0.9458360768371933 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.02, Z:-0.37 [[ 9.91648144e-01 2.22587416e-03 -1.28953497e-01 3.89649306e+00] [-1.25827450e-03 9.99970446e-01 7.58446123e-03 -1.61022848e-02] [ 1.28966568e-01 -7.35885800e-03 9.91621637e-01 -3.72956672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.09538475 meters Centerline goodness [0,1] 0.946884281553678 Centerline is valid? [False, False] Translation: X:3.90, Y:-0.01, Z:-0.37 [[ 9.91569039e-01 1.78122202e-03 -1.29567236e-01 3.89846846e+00] [-8.08021179e-04 9.99971071e-01 7.56334498e-03 -1.48464364e-02] [ 1.29576960e-01 -7.39488564e-03 9.91541793e-01 -3.72871177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.12538475 meters Centerline goodness [0,1] 0.946295604174453 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.01, Z:-0.37 [[ 9.91288729e-01 2.94375047e-03 -1.31673800e-01 3.90546421e+00] [-1.36033871e-03 9.99925702e-01 1.21135968e-02 -1.48474574e-02] [ 1.31699677e-01 -1.18289510e-02 9.91219083e-01 -3.70231155e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.15538475 meters Centerline goodness [0,1] 0.9462211797013559 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.02, Z:-0.37 [[ 9.91083350e-01 4.56748359e-03 -1.33165057e-01 3.91071123e+00] [-2.46584705e-03 9.99869864e-01 1.59428403e-02 -1.60364737e-02] [ 1.33220546e-01 -1.54723189e-02 9.90965637e-01 -3.68901701e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.18538475 meters Centerline goodness [0,1] 0.9439445769971541 Centerline is valid? [False, False] Translation: X:3.91, Y:-0.02, Z:-0.37 [[ 9.90931250e-01 3.14358131e-03 -1.34333075e-01 3.91469416e+00] [-1.07995857e-03 9.99880335e-01 1.54320924e-02 -1.63318061e-02] [ 1.34365512e-01 -1.51470685e-02 9.90816065e-01 -3.69203649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.21538475 meters Centerline goodness [0,1] 0.9414792661183643 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.02, Z:-0.37 [[ 9.90841394e-01 2.29207994e-03 -1.35011399e-01 3.91729391e+00] [-2.67164598e-04 9.99887243e-01 1.50143156e-02 -1.58256238e-02] [ 1.35030589e-01 -1.48407351e-02 9.90730282e-01 -3.69697498e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.24538475 meters Centerline goodness [0,1] 0.9377984924333966 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.02, Z:-0.37 [[ 9.90744234e-01 1.83047491e-03 -1.35729553e-01 3.91966312e+00] [ 1.80788432e-04 9.99890393e-01 1.48043616e-02 -1.55890703e-02] [ 1.35741775e-01 -1.46918742e-02 9.90635311e-01 -3.70017562e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.27538474999999 meters Centerline goodness [0,1] 0.9357766444809404 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.01, Z:-0.37 [[ 9.90679200e-01 1.32014583e-03 -1.36209322e-01 3.92162612e+00] [ 6.45028303e-04 9.99896359e-01 1.43824601e-02 -1.47392320e-02] [ 1.36214192e-01 -1.43362629e-02 9.90575674e-01 -3.70624222e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.30538474999999 meters Centerline goodness [0,1] 0.9290083195640201 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.01, Z:-0.37 [[ 9.90669863e-01 1.54614060e-03 -1.36274844e-01 3.92235337e+00] [ 4.01168255e-04 9.99898227e-01 1.42609487e-02 -1.38032720e-02] [ 1.36283024e-01 -1.41825612e-02 9.90568419e-01 -3.71304635e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.33538474999999 meters Centerline goodness [0,1] 0.9262941278766448 Centerline is valid? [False, False] Translation: X:3.92, Y:-0.01, Z:-0.37 [[ 9.90635594e-01 1.27586624e-03 -1.36526523e-01 3.92347708e+00] [ 6.38176262e-04 9.99902143e-01 1.39748781e-02 -1.31879524e-02] [ 1.36530993e-01 -1.39311397e-02 9.90537839e-01 -3.71662880e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.36538474999999 meters Centerline goodness [0,1] 0.9089283654400738 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.01, Z:-0.37 [[ 9.91296357e-01 2.59061140e-03 -1.31623789e-01 3.93805642e+00] [-1.63695696e-03 9.99971627e-01 7.35299016e-03 -1.04622948e-02] [ 1.31639103e-01 -7.07352988e-03 9.91272471e-01 -3.72590510e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.39538474999999 meters Centerline goodness [0,1] 0.8975815052895564 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.01, Z:-0.37 [[ 9.91253592e-01 2.85217404e-03 -1.31940066e-01 3.93851467e+00] [-1.87520351e-03 9.99969904e-01 7.52831199e-03 -9.15388007e-03] [ 1.31957567e-01 -7.21505183e-03 9.91229107e-01 -3.72087375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.42538474999999 meters Centerline goodness [0,1] 0.8742340994735782 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.01, Z:-0.37 [[ 9.91195384e-01 2.84996722e-03 -1.32376694e-01 3.93943247e+00] [-1.88116984e-03 9.99970531e-01 7.44297466e-03 -7.54352437e-03] [ 1.32394005e-01 -7.12841908e-03 9.91171536e-01 -3.71838907e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.45538475 meters Centerline goodness [0,1] 0.8710683649597089 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.01, Z:-0.37 [[ 9.91188945e-01 3.23389042e-03 -1.32416078e-01 3.93949440e+00] [-2.26540137e-03 9.99969578e-01 7.46398223e-03 -5.28462431e-03] [ 1.32436187e-01 -7.09824111e-03 9.91166117e-01 -3.71785366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.48538475 meters Centerline goodness [0,1] 0.8617239684237921 Centerline is valid? [False, False] Translation: X:3.94, Y:-0.00, Z:-0.37 [[ 9.91109100e-01 2.25564340e-03 -1.33032569e-01 3.94250084e+00] [-1.35477517e-03 9.99975539e-01 6.86191533e-03 -3.58550530e-03] [ 1.33044793e-01 -6.62067750e-03 9.91087912e-01 -3.72678212e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.51538475 meters Centerline goodness [0,1] 0.8523953388001726 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.00, Z:-0.37 [[ 9.90980437e-01 3.21334584e-03 -1.33968083e-01 3.94683732e+00] [-2.00381494e-03 9.99956017e-01 9.16235477e-03 -4.13039131e-03] [ 1.33991632e-01 -8.81126709e-03 9.90943290e-01 -3.72749681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.54538475 meters Centerline goodness [0,1] 0.8549127110085125 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.00, Z:-0.37 [[ 9.90932631e-01 2.79591512e-03 -1.34330577e-01 3.94782936e+00] [-1.58218597e-03 9.99956966e-01 9.14129245e-03 -4.27918290e-03] [ 1.34350355e-01 -8.84586902e-03 9.90894410e-01 -3.72401692e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.57538475 meters Centerline goodness [0,1] 0.8783414690841469 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.00, Z:-0.37 [[ 9.90984654e-01 -8.32845502e-04 -1.33972840e-01 3.94654482e+00] [ 1.62656081e-03 9.99981769e-01 5.81510766e-03 -4.59467119e-03] [ 1.33965554e-01 -5.98059742e-03 9.90967942e-01 -3.71928440e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.60538475 meters Centerline goodness [0,1] 0.8917597765363129 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.01, Z:-0.37 [[ 9.90927378e-01 -1.51313755e-03 -1.34389889e-01 3.94806627e+00] [ 2.34402947e-03 9.99979104e-01 6.02468723e-03 -5.52458806e-03] [ 1.34377964e-01 -6.28504137e-03 9.90910218e-01 -3.71422209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.63538474999999 meters Centerline goodness [0,1] 0.9037599674058553 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.01, Z:-0.37 [[ 9.90791437e-01 -2.58245070e-03 -1.35372298e-01 3.95046348e+00] [ 3.61480568e-03 9.99966228e-01 7.38079388e-03 -8.08764169e-03] [ 1.35348665e-01 -7.80217193e-03 9.90767311e-01 -3.68767836e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.66538474999999 meters Centerline goodness [0,1] 0.9271786824746462 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.01, Z:-0.37 [[ 0.99068615 -0.00402519 -0.13610569 3.95339897] [ 0.00517636 0.99995376 0.00810506 -0.01049955] [ 0.13606677 -0.0087341 0.99066117 -0.36756856] [ 0. 0. 0. 1. ]] SLAMing on 76.69538474999999 meters Centerline goodness [0,1] 0.9326269083690925 Centerline is valid? [False, False] Translation: X:3.95, Y:-0.01, Z:-0.37 [[ 0.99060443 -0.0047549 -0.13667576 3.95498879] [ 0.0059491 0.99994761 0.00833037 -0.01209552] [ 0.13662898 -0.0090652 0.99058081 -0.36695064] [ 0. 0. 0. 1. ]] SLAMing on 76.72538474999999 meters Centerline goodness [0,1] 0.9425449005303097 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.01, Z:-0.37 [[ 0.99046461 -0.00627025 -0.13762463 3.95840965] [ 0.00756107 0.99993218 0.00885848 -0.01487824] [ 0.13755975 -0.0098146 0.99044484 -0.36603451] [ 0. 0. 0. 1. ]] SLAMing on 76.75538474999999 meters Centerline goodness [0,1] 0.94342659798642 Centerline is valid? [False, False] Translation: X:3.96, Y:-0.02, Z:-0.37 [[ 0.99036453 -0.00712065 -0.13830182 3.96122019] [ 0.00841895 0.9999258 0.00880474 -0.01576852] [ 0.13822886 -0.00988426 0.99035099 -0.36643425] [ 0. 0. 0. 1. ]] SLAMing on 76.78538474999999 meters Centerline goodness [0,1] 0.9479504959185465 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.02, Z:-0.37 [[ 0.99023498 -0.00865055 -0.13913967 3.96520771] [ 0.00994648 0.99991337 0.00862116 -0.01818178] [ 0.13905304 -0.00992093 0.99023524 -0.3669731 ] [ 0. 0. 0. 1. ]] SLAMing on 76.81538474999999 meters Centerline goodness [0,1] 0.9469692515726968 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.02, Z:-0.37 [[ 0.99020572 -0.00876947 -0.13934035 3.96631524] [ 0.01008144 0.99991122 0.00871255 -0.01920336] [ 0.13925158 -0.01003196 0.99020622 -0.36737716] [ 0. 0. 0. 1. ]] SLAMing on 76.84538475 meters Centerline goodness [0,1] 0.947402463763855 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.02, Z:-0.37 [[ 0.99014434 -0.00972368 -0.13971268 3.96907527] [ 0.01100606 0.99990407 0.00840898 -0.01997552] [ 0.13961751 -0.00986379 0.99015638 -0.36846372] [ 0. 0. 0. 1. ]] SLAMing on 76.87538475 meters Centerline goodness [0,1] 0.947402463763855 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.02, Z:-0.37 [[ 0.99014434 -0.00972368 -0.13971268 3.96907527] [ 0.01100606 0.99990407 0.00840898 -0.01997552] [ 0.13961751 -0.00986379 0.99015638 -0.36846372] [ 0. 0. 0. 1. ]] SLAMing on 76.90538475 meters Centerline goodness [0,1] 0.9460333323535464 Centerline is valid? [False, False] Translation: X:3.97, Y:-0.02, Z:-0.37 [[ 0.99008975 -0.01009727 -0.14007259 3.97058016] [ 0.01142261 0.99989725 0.00866109 -0.02073122] [ 0.13997074 -0.01017526 0.99010336 -0.3683226 ] [ 0. 0. 0. 1. ]] SLAMing on 76.93538475 meters Centerline goodness [0,1] 0.9515891701000588 Centerline is valid? [False, True] Translation: X:3.97, Y:-0.02, Z:-0.37 [[ 0.99002071 -0.01068424 -0.14051636 3.9723643 ] [ 0.01202364 0.99988998 0.00868642 -0.02152158] [ 0.14040809 -0.01028925 0.99004025 -0.36828869] [ 0. 0. 0. 1. ]] SLAMing on 76.96538475 meters Centerline goodness [0,1] 0.9505306603773584 Centerline is valid? [True, True] Translation: X:4.00, Y:-0.02, Z:-0.38 [[ 9.90063914e-01 -1.23273238e-02 -1.40076703e-01 4.00053678e+00] [ 1.17328362e-02 9.99918319e-01 -5.06907440e-03 -1.54717837e-02] [ 1.40127750e-01 3.37521063e-03 9.90127679e-01 -3.75049140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 76.99538475 meters Centerline goodness [0,1] 0.9509373988286194 Centerline is valid? [True, True] Translation: X:4.03, Y:-0.01, Z:-0.37 [[ 9.90133490e-01 -1.24066711e-02 -1.39577024e-01 4.02870073e+00] [ 1.18142392e-02 9.99917345e-01 -5.07226535e-03 -1.46016711e-02] [ 1.39628417e-01 3.37322346e-03 9.90198226e-01 -3.71915054e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.02538474999999 meters Centerline goodness [0,1] 0.9432420429311621 Centerline is valid? [True, False] Translation: X:4.03, Y:-0.02, Z:-0.37 [[ 9.90171348e-01 -1.16631924e-02 -1.39372420e-01 4.02780729e+00] [ 1.11826360e-02 9.99928523e-01 -4.23062898e-03 -1.54668300e-02] [ 1.39411801e-01 2.63049656e-03 9.90230998e-01 -3.71134368e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.05538474999999 meters Centerline goodness [0,1] 0.9416602339528531 Centerline is valid? [False, False] Translation: X:4.03, Y:-0.02, Z:-0.37 [[ 9.90073715e-01 -1.18501540e-02 -1.40048611e-01 4.02944510e+00] [ 1.14823880e-02 9.99928179e-01 -3.43375346e-03 -1.66163330e-02] [ 1.40079243e-01 1.79157655e-03 9.90138675e-01 -3.69990351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.08538474999999 meters Centerline goodness [0,1] 0.9506550607527999 Centerline is valid? [False, True] Translation: X:4.03, Y:-0.02, Z:-0.37 [[ 9.90004863e-01 -1.21818487e-02 -1.40506135e-01 4.03114310e+00] [ 1.18765651e-02 9.99924937e-01 -3.01109310e-03 -1.73432731e-02] [ 1.40532269e-01 1.31226655e-03 9.90075229e-01 -3.69650380e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.11538474999999 meters Centerline goodness [0,1] 0.9520739244116948 Centerline is valid? [True, True] Translation: X:4.06, Y:-0.02, Z:-0.37 [[ 9.89982678e-01 -1.32556865e-02 -1.40565228e-01 4.05966221e+00] [ 1.26518226e-02 9.99906500e-01 -5.18877859e-03 -1.71826106e-02] [ 1.40620866e-01 3.35839459e-03 9.90057823e-01 -3.66847474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.14538474999999 meters Centerline goodness [0,1] 0.9507430239137556 Centerline is valid? [True, True] Translation: X:4.09, Y:-0.02, Z:-0.37 [[ 9.90012732e-01 -1.27959743e-02 -1.40396059e-01 4.08708955e+00] [ 1.21838892e-02 9.99912157e-01 -5.21841469e-03 -1.56622205e-02] [ 1.40450501e-01 3.45572696e-03 9.90081671e-01 -3.65905728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.17538474999999 meters Centerline goodness [0,1] 0.950665436031798 Centerline is valid? [True, True] Translation: X:4.11, Y:-0.01, Z:-0.36 [[ 9.89996320e-01 -1.31167256e-02 -1.40482163e-01 4.11487139e+00] [ 1.25043345e-02 9.99908082e-01 -5.24105535e-03 -1.49502282e-02] [ 1.40537995e-01 3.43198955e-03 9.90069338e-01 -3.62813414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.20538475 meters Centerline goodness [0,1] 0.9524421978284928 Centerline is valid? [True, True] Translation: X:4.14, Y:-0.02, Z:-0.36 [[ 9.90417284e-01 -1.58100033e-02 -1.37199298e-01 4.14336082e+00] [ 1.52472903e-02 9.99870483e-01 -5.15145313e-03 -1.75384319e-02] [ 1.37262973e-01 3.01017069e-03 9.90530068e-01 -3.58099603e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.23538475 meters Centerline goodness [0,1] 0.9544241551977451 Centerline is valid? [True, True] Translation: X:4.17, Y:-0.02, Z:-0.35 [[ 9.90657843e-01 -1.78822090e-02 -1.35193432e-01 4.17214251e+00] [ 1.73543914e-02 9.99836487e-01 -5.08176356e-03 -1.94687763e-02] [ 1.35262199e-01 2.68808920e-03 9.90806193e-01 -3.52839121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.26538475 meters Centerline goodness [0,1] 0.9556541689307493 Centerline is valid? [True, True] Translation: X:4.20, Y:-0.02, Z:-0.35 [[ 9.90950337e-01 -2.26451389e-02 -1.32305051e-01 4.20102500e+00] [ 2.21809268e-02 9.99741562e-01 -4.98159080e-03 -2.48938532e-02] [ 1.32383667e-01 2.00186044e-03 9.91196528e-01 -3.46757924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.29538475 meters Centerline goodness [0,1] 0.9560446204540645 Centerline is valid? [True, True] Translation: X:4.23, Y:-0.03, Z:-0.34 [[ 9.91031685e-01 -2.59951021e-02 -1.31074231e-01 4.23000767e+00] [ 2.55677064e-02 9.99660873e-01 -4.94284234e-03 -2.66470605e-02] [ 1.31158270e-01 1.54724590e-03 9.91360234e-01 -3.42112516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.32538475 meters Centerline goodness [0,1] 0.9558814580417453 Centerline is valid? [True, True] Translation: X:4.26, Y:-0.03, Z:-0.34 [[ 9.90951119e-01 -3.16042296e-02 -1.30449423e-01 4.25938327e+00] [ 3.12252545e-02 9.99500115e-01 -4.95004237e-03 -3.24246658e-02] [ 1.30540656e-01 8.31933587e-04 9.91442608e-01 -3.37223375e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.35538475 meters Centerline goodness [0,1] 0.9536157779401022 Centerline is valid? [True, True] Translation: X:4.29, Y:-0.03, Z:-0.33 [[ 9.90747977e-01 -3.27470614e-02 -1.31704500e-01 4.28844925e+00] [ 3.23666507e-02 9.99463412e-01 -5.02865123e-03 -3.36209343e-02] [ 1.31798502e-01 7.19292488e-04 9.91276267e-01 -3.34344864e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.38538474999999 meters Centerline goodness [0,1] 0.9498443128396117 Centerline is valid? [True, False] Translation: X:4.29, Y:-0.03, Z:-0.34 [[ 9.90663682e-01 -3.30773478e-02 -1.32254898e-01 4.29105281e+00] [ 3.27044606e-02 9.99452603e-01 -4.99127114e-03 -3.42568728e-02] [ 1.32347600e-01 6.19345946e-04 9.91203172e-01 -3.35308048e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.41538474999999 meters Centerline goodness [0,1] 0.9509645073522668 Centerline is valid? [False, True] Translation: X:4.29, Y:-0.04, Z:-0.34 [[ 9.90684070e-01 -2.94577247e-02 -1.32956068e-01 4.29339878e+00] [ 2.96163568e-02 9.99561031e-01 -7.84776388e-04 -3.56175299e-02] [ 1.32920823e-01 -3.16020890e-03 9.91121621e-01 -3.35002889e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.44538474999999 meters Centerline goodness [0,1] 0.9495534489590636 Centerline is valid? [True, False] Translation: X:4.30, Y:-0.04, Z:-0.33 [[ 9.90538356e-01 -2.70728809e-02 -1.34539308e-01 4.29750441e+00] [ 2.78741656e-02 9.99603132e-01 4.07534093e-03 -3.78809557e-02] [ 1.34375582e-01 -7.78695245e-03 9.90899877e-01 -3.32288649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.47538474999999 meters Centerline goodness [0,1] 0.9496240141835299 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.04, Z:-0.33 [[ 9.90541989e-01 -2.68742826e-02 -1.34552375e-01 4.29831529e+00] [ 2.76516536e-02 9.99609966e-01 3.91166035e-03 -3.73086089e-02] [ 1.34394772e-01 -7.59525948e-03 9.90898762e-01 -3.33382643e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.50538474999999 meters Centerline goodness [0,1] 0.9489453791758108 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.04, Z:-0.33 [[ 0.99043506 -0.02435256 -0.13581366 4.30221214] [ 0.02562834 0.99964225 0.00765285 -0.03826816] [ 0.1355787 -0.01106033 0.99070484 -0.33265154] [ 0. 0. 0. 1. ]] SLAMing on 77.53538474999999 meters Centerline goodness [0,1] 0.9471265067575795 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.04, Z:-0.33 [[ 0.99033772 -0.02480896 -0.13643944 4.30438964] [ 0.02606699 0.9996325 0.00744128 -0.03728511] [ 0.13620469 -0.01092595 0.99062047 -0.33293544] [ 0. 0. 0. 1. ]] SLAMing on 77.56538474999999 meters Centerline goodness [0,1] 0.948733579200829 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.04, Z:-0.33 [[ 0.99037135 -0.02430319 -0.13628624 4.30384131] [ 0.02555447 0.99964575 0.00743897 -0.03602136] [ 0.13605717 -0.01085007 0.99064157 -0.33299825] [ 0. 0. 0. 1. ]] SLAMing on 77.59538475 meters Centerline goodness [0,1] 0.9489374620522162 Centerline is valid? [False, False] Translation: X:4.30, Y:-0.04, Z:-0.33 [[ 0.99034445 -0.02392143 -0.136549 4.30408459] [ 0.02526755 0.99964764 0.00813322 -0.03573847] [ 0.13630632 -0.01150495 0.99059993 -0.33205278] [ 0. 0. 0. 1. ]] SLAMing on 77.62538475 meters Centerline goodness [0,1] 0.9515370375990047 Centerline is valid? [False, True] Translation: X:4.30, Y:-0.03, Z:-0.33 [[ 0.99033617 -0.02345666 -0.13668966 4.30387122] [ 0.0248465 0.99965539 0.00847039 -0.03456319] [ 0.13644387 -0.01178479 0.9905777 -0.33133152] [ 0. 0. 0. 1. ]] SLAMing on 77.65538475 meters Centerline goodness [0,1] 0.9519014981500576 Centerline is valid? [True, True] Translation: X:4.33, Y:-0.03, Z:-0.34 [[ 9.90373665e-01 -2.41600865e-02 -1.36294877e-01 4.33354735e+00] [ 2.36642284e-02 9.99706139e-01 -5.25741098e-03 -2.62851228e-02] [ 1.36381845e-01 1.98148829e-03 9.90654363e-01 -3.37031102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.68538475 meters Centerline goodness [0,1] 0.9529465095194923 Centerline is valid? [True, True] Translation: X:4.36, Y:-0.02, Z:-0.33 [[ 9.90535314e-01 -2.16202184e-02 -1.35544672e-01 4.36188135e+00] [ 2.11016326e-02 9.99763490e-01 -5.26168027e-03 -2.02095172e-02] [ 1.35626373e-01 2.35166625e-03 9.90757264e-01 -3.33772108e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.71538475 meters Centerline goodness [0,1] 0.9539109506618532 Centerline is valid? [True, True] Translation: X:4.39, Y:-0.02, Z:-0.33 [[ 9.90572205e-01 -1.99573914e-02 -1.35530105e-01 4.38979356e+00] [ 1.94192318e-02 9.99797425e-01 -5.29179311e-03 -1.69863609e-02] [ 1.35608261e-01 2.61001264e-03 9.90759097e-01 -3.29328946e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.74538475 meters Centerline goodness [0,1] 0.9554061388168607 Centerline is valid? [True, True] Translation: X:4.42, Y:-0.02, Z:-0.32 [[ 9.90711639e-01 -2.01516600e-02 -1.34478101e-01 4.41832363e+00] [ 1.96216278e-02 9.99793611e-01 -5.26573350e-03 -1.62287199e-02] [ 1.34556460e-01 2.57814421e-03 9.90902575e-01 -3.23413944e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.77538474999999 meters Centerline goodness [0,1] 0.9569759367168865 Centerline is valid? [True, True] Translation: X:4.45, Y:-0.02, Z:-0.32 [[ 9.90909513e-01 -2.27736678e-02 -1.32588449e-01 4.44673132e+00] [ 2.22772770e-02 9.99738170e-01 -5.22624195e-03 -1.72586898e-02] [ 1.32672754e-01 2.22502326e-03 9.91157399e-01 -3.16989134e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.80538474999999 meters Centerline goodness [0,1] 0.9546108646120638 Centerline is valid? [True, True] Translation: X:4.47, Y:-0.01, Z:-0.32 [[ 9.90749202e-01 -2.31853770e-02 -1.33710345e-01 4.47432951e+00] [ 2.26797864e-02 9.99728714e-01 -5.30330611e-03 -1.27611736e-02] [ 1.33797030e-01 2.22172424e-03 9.91006266e-01 -3.16537330e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.83538474999999 meters Centerline goodness [0,1] 0.9539673471842208 Centerline is valid? [True, True] Translation: X:4.50, Y:-0.01, Z:-0.31 [[ 9.90742374e-01 -2.47477392e-02 -1.33480699e-01 4.50183946e+00] [ 2.42562421e-02 9.99691686e-01 -5.30730059e-03 -1.16157066e-02] [ 1.33570888e-01 2.02042744e-03 9.91037202e-01 -3.14282807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.86538474999999 meters Centerline goodness [0,1] 0.9555328546104618 Centerline is valid? [True, True] Translation: X:4.53, Y:-0.01, Z:-0.31 [[ 9.90810817e-01 -2.61022487e-02 -1.32712458e-01 4.53064303e+00] [ 2.56259175e-02 9.99657573e-01 -5.29621974e-03 -1.18977020e-02] [ 1.32805257e-01 1.84667331e-03 9.91140431e-01 -3.09872826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.89538474999999 meters Centerline goodness [0,1] 0.954109465859361 Centerline is valid? [True, True] Translation: X:4.56, Y:-0.01, Z:-0.31 [[ 9.90838338e-01 -2.57329304e-02 -1.32579046e-01 4.55802403e+00] [ 2.52500372e-02 9.99666998e-01 -5.32253344e-03 -7.84150584e-03] [ 1.32671861e-01 1.92614436e-03 9.91158144e-01 -3.08821534e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.92538474999999 meters Centerline goodness [0,1] 0.9563942178194116 Centerline is valid? [True, True] Translation: X:4.59, Y:-0.01, Z:-0.30 [[ 9.90960116e-01 -2.38774721e-02 -1.32014828e-01 4.58685431e+00] [ 2.33803898e-02 9.99712516e-01 -5.31435753e-03 -6.71686221e-03] [ 1.32103769e-01 2.17975823e-03 9.91233496e-01 -3.03673518e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.95538475 meters Centerline goodness [0,1] 0.9583145763932654 Centerline is valid? [True, True] Translation: X:4.62, Y:-0.01, Z:-0.30 [[ 9.91057085e-01 -2.42194751e-02 -1.31222220e-01 4.61582883e+00] [ 2.37269907e-02 9.99704344e-01 -5.31550355e-03 -5.64567218e-03] [ 1.31312162e-01 2.15445906e-03 9.91338728e-01 -2.99599785e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 77.98538475 meters Centerline goodness [0,1] 0.9576418951418951 Centerline is valid? [True, True] Translation: X:4.64, Y:-0.01, Z:-0.30 [[ 9.91071322e-01 -2.66246596e-02 -1.30647473e-01 4.64470028e+00] [ 2.61529730e-02 9.99643769e-01 -5.32512102e-03 -8.19285839e-03] [ 1.30742712e-01 1.86075491e-03 9.91414586e-01 -2.95337772e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.01538475 meters Centerline goodness [0,1] 0.9565060783430887 Centerline is valid? [True, True] Translation: X:4.67, Y:-0.01, Z:-0.29 [[ 9.91014856e-01 -2.92271783e-02 -1.30519455e-01 4.67362742e+00] [ 2.87745759e-02 9.99571595e-01 -5.35265057e-03 -9.47222113e-03] [ 1.30619983e-01 1.54891426e-03 9.91431299e-01 -2.91668917e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.04538475 meters Centerline goodness [0,1] 0.9541339589160576 Centerline is valid? [True, True] Translation: X:4.70, Y:-0.01, Z:-0.29 [[ 9.90596676e-01 -2.94741461e-02 -1.33602020e-01 4.70167059e+00] [ 2.89977757e-02 9.99564287e-01 -5.51042238e-03 -7.99149284e-03] [ 1.33706223e-01 1.58444467e-03 9.91019745e-01 -2.94262649e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.07538475 meters Centerline goodness [0,1] 0.951594927558059 Centerline is valid? [True, True] Translation: X:4.73, Y:-0.01, Z:-0.29 [[ 9.90326109e-01 -2.93543602e-02 -1.35619022e-01 4.73106736e+00] [ 2.88602210e-02 9.99567722e-01 -5.60865701e-03 -5.72098356e-03] [ 1.35725035e-01 1.64040454e-03 9.90745186e-01 -2.93795628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.10538475 meters Centerline goodness [0,1] 0.9495816025525254 Centerline is valid? [True, False] Translation: X:4.73, Y:-0.01, Z:-0.29 [[ 9.90176465e-01 -3.03207682e-02 -1.36496220e-01 4.73462387e+00] [ 2.98325475e-02 9.99539103e-01 -5.62145258e-03 -6.73075619e-03] [ 1.36603756e-01 1.49420007e-03 9.90624642e-01 -2.94223975e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.13538474999999 meters Centerline goodness [0,1] 0.9495641719266606 Centerline is valid? [False, False] Translation: X:4.74, Y:-0.01, Z:-0.29 [[ 9.90075996e-01 -3.05369354e-02 -1.37175133e-01 4.73599490e+00] [ 3.01663777e-02 9.99533462e-01 -4.77989159e-03 -8.16778606e-03] [ 1.37257099e-01 5.94379055e-04 9.90535277e-01 -2.92839357e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.16538474999999 meters Centerline goodness [0,1] 0.9525565091260728 Centerline is valid? [False, True] Translation: X:4.74, Y:-0.01, Z:-0.29 [[ 9.90026778e-01 -3.01425629e-02 -1.37616874e-01 4.73535174e+00] [ 3.00111960e-02 9.99544971e-01 -3.02985694e-03 -1.04848104e-02] [ 1.37645582e-01 -1.13040747e-03 9.90480901e-01 -2.89475580e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.19538474999999 meters Centerline goodness [0,1] 0.9517610100888056 Centerline is valid? [True, True] Translation: X:4.76, Y:-0.01, Z:-0.29 [[ 9.90194968e-01 -3.00813787e-02 -1.36414937e-01 4.76462568e+00] [ 2.96172021e-02 9.99546557e-01 -5.43147255e-03 -6.99593632e-03] [ 1.36516467e-01 1.33798802e-03 9.90636898e-01 -2.87822599e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.22538474999999 meters Centerline goodness [0,1] 0.9529326135743312 Centerline is valid? [True, True] Translation: X:4.79, Y:-0.01, Z:-0.28 [[ 9.90293191e-01 -3.04196191e-02 -1.35624636e-01 4.79198806e+00] [ 2.99598222e-02 9.99536352e-01 -5.43048181e-03 -5.56750724e-03] [ 1.35726947e-01 1.31447920e-03 9.90745410e-01 -2.84246861e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.25538474999999 meters Centerline goodness [0,1] 0.9546087272287115 Centerline is valid? [True, True] Translation: X:4.82, Y:-0.00, Z:-0.28 [[ 9.90406145e-01 -3.00166487e-02 -1.34887615e-01 4.81997635e+00] [ 2.95555070e-02 9.99548444e-01 -5.42035526e-03 -3.50180012e-03] [ 1.34989407e-01 1.38168130e-03 9.90846078e-01 -2.80853043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.28538474999999 meters Centerline goodness [0,1] 0.9550714156572049 Centerline is valid? [True, True] Translation: X:4.85, Y:0.00, Z:-0.28 [[ 9.90589585e-01 -2.79785071e-02 -1.33975661e-01 4.84775992e+00] [ 2.75005211e-02 9.99607110e-01 -5.41728881e-03 1.56807797e-04] [ 1.34074590e-01 1.68190940e-03 9.90969816e-01 -2.76062436e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.31538474999999 meters Centerline goodness [0,1] 0.9588804841149773 Centerline is valid? [True, True] Translation: X:4.88, Y:-0.00, Z:-0.27 [[ 9.90815531e-01 -3.10026782e-02 -1.31618452e-01 4.87621297e+00] [ 3.05657009e-02 9.99518498e-01 -5.33951838e-03 -1.02197074e-03] [ 1.31720617e-01 1.26746750e-03 9.91286070e-01 -2.69053743e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.34538475 meters Centerline goodness [0,1] 0.9595010872191351 Centerline is valid? [True, True] Translation: X:4.90, Y:0.00, Z:-0.27 [[ 9.90855845e-01 -3.10727563e-02 -1.31298050e-01 4.90453501e+00] [ 3.06344458e-02 9.99516298e-01 -5.35732757e-03 1.09090971e-03] [ 1.31401007e-01 1.28609636e-03 9.91328463e-01 -2.65482230e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.37538475 meters Centerline goodness [0,1] 0.9559561363977768 Centerline is valid? [True, True] Translation: X:4.93, Y:0.01, Z:-0.27 [[ 9.90570695e-01 -2.90183832e-02 -1.33894104e-01 4.93373415e+00] [ 2.85388593e-02 9.99577555e-01 -5.49962062e-03 7.90464078e-03] [ 1.33997131e-01 1.62657803e-03 9.90980385e-01 -2.66837021e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.40538475 meters Centerline goodness [0,1] 0.9548092245707929 Centerline is valid? [True, True] Translation: X:4.96, Y:0.01, Z:-0.26 [[ 9.90545591e-01 -2.95426693e-02 -1.33965152e-01 4.96139645e+00] [ 2.90629290e-02 9.99562256e-01 -5.53562588e-03 8.61703105e-03] [ 1.34070047e-01 1.58987011e-03 9.90970582e-01 -2.63526587e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.43538475 meters Centerline goodness [0,1] 0.9550393180863197 Centerline is valid? [True, True] Translation: X:4.99, Y:0.01, Z:-0.26 [[ 9.90454519e-01 -2.98255392e-02 -1.34574450e-01 4.98889861e+00] [ 2.93390666e-02 9.99553847e-01 -5.59706012e-03 1.05192299e-02] [ 1.34681344e-01 1.59534474e-03 9.90887678e-01 -2.61591848e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.46538475 meters Centerline goodness [0,1] 0.9552802855343271 Centerline is valid? [True, True] Translation: X:5.02, Y:0.01, Z:-0.26 [[ 9.90524663e-01 -2.71037169e-02 -1.34633877e-01 5.01603975e+00] [ 2.65894467e-02 9.99630659e-01 -5.61674174e-03 1.39274016e-02] [ 1.34736386e-01 1.98368093e-03 9.90879494e-01 -2.57416856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.49538475 meters Centerline goodness [0,1] 0.9534813925570228 Centerline is valid? [True, True] Translation: X:5.05, Y:0.01, Z:-0.25 [[ 9.90282343e-01 -2.60897611e-02 -1.36602363e-01 5.04511861e+00] [ 2.55485528e-02 9.99657252e-01 -5.71394316e-03 1.42167410e-02] [ 1.36704618e-01 2.16842434e-03 9.90609482e-01 -2.53055095e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.52538474999999 meters Centerline goodness [0,1] 0.9520584886438545 Centerline is valid? [True, True] Translation: X:5.07, Y:0.02, Z:-0.25 [[ 9.90272425e-01 -2.45582358e-02 -1.36957720e-01 5.07266848e+00] [ 2.39952548e-02 9.99695477e-01 -5.76030378e-03 1.77812645e-02] [ 1.37057476e-01 2.41793461e-03 9.90560146e-01 -2.50471194e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.55538474999999 meters Centerline goodness [0,1] 0.9534069485591166 Centerline is valid? [True, True] Translation: X:5.10, Y:0.02, Z:-0.25 [[ 9.90448894e-01 -2.41695752e-02 -1.35745424e-01 5.10058615e+00] [ 2.36108692e-02 9.99704835e-01 -5.72455295e-03 2.01041766e-02] [ 1.35843717e-01 2.46480969e-03 9.90727212e-01 -2.46647451e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.58538474999999 meters Centerline goodness [0,1] 0.9587798107632153 Centerline is valid? [True, True] Translation: X:5.13, Y:0.02, Z:-0.24 [[ 9.90780685e-01 -2.35762635e-02 -1.33408375e-01 5.12950069e+00] [ 2.30264875e-02 9.99718819e-01 -5.66257708e-03 2.13096216e-02] [ 1.33504365e-01 2.53844572e-03 9.91044974e-01 -2.41359706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.61538474999999 meters Centerline goodness [0,1] 0.959048443422977 Centerline is valid? [True, True] Translation: X:5.16, Y:0.02, Z:-0.24 [[ 9.90769933e-01 -2.49531140e-02 -1.33237691e-01 5.15833713e+00] [ 2.44125621e-02 9.99685779e-01 -5.68938693e-03 2.14030979e-02] [ 1.33337793e-01 2.38420010e-03 9.91067782e-01 -2.36776807e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.64538474999999 meters Centerline goodness [0,1] 0.9581532180595581 Centerline is valid? [True, True] Translation: X:5.19, Y:0.02, Z:-0.23 [[ 9.90711968e-01 -2.66760394e-02 -1.33334859e-01 5.18706024e+00] [ 2.61456393e-02 9.99641736e-01 -5.72756844e-03 2.00721896e-02] [ 1.33439879e-01 2.18824546e-03 9.91054494e-01 -2.32699647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.67538474999999 meters Centerline goodness [0,1] 0.9574276720131915 Centerline is valid? [True, True] Translation: X:5.21, Y:0.02, Z:-0.23 [[ 9.90709326e-01 -2.65456051e-02 -1.33380513e-01 5.21482091e+00] [ 2.60090509e-02 9.99645091e-01 -5.76376942e-03 2.09531785e-02] [ 1.33486178e-01 2.24111955e-03 9.91048141e-01 -2.29884750e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.70538475 meters Centerline goodness [0,1] 0.9569915063477296 Centerline is valid? [True, True] Translation: X:5.24, Y:0.02, Z:-0.23 [[ 9.90597436e-01 -2.69273971e-02 -1.34132900e-01 5.24286219e+00] [ 2.63832638e-02 9.99634884e-01 -5.83281227e-03 2.15407579e-02] [ 1.34240988e-01 2.23910519e-03 9.90946186e-01 -2.28001612e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.73538475 meters Centerline goodness [0,1] 0.9553515167881897 Centerline is valid? [True, True] Translation: X:5.27, Y:0.02, Z:-0.23 [[ 9.90513923e-01 -2.66158655e-02 -1.34810105e-01 5.27196627e+00] [ 2.60605735e-02 9.99643058e-01 -5.88237978e-03 2.28824899e-02] [ 1.34918550e-01 2.31335042e-03 9.90853992e-01 -2.26244189e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.76538475 meters Centerline goodness [0,1] 0.9562129465226158 Centerline is valid? [True, True] Translation: X:5.30, Y:0.02, Z:-0.22 [[ 9.90543948e-01 -2.74748241e-02 -1.34416598e-01 5.30072287e+00] [ 2.69261894e-02 9.99620024e-01 -5.89815834e-03 2.34807411e-02] [ 1.34527574e-01 2.22305826e-03 9.90907357e-01 -2.22910976e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.79538475 meters Centerline goodness [0,1] 0.9562129465226158 Centerline is valid? [True, True] Translation: X:5.33, Y:0.02, Z:-0.22 [[ 9.90536379e-01 -2.77534698e-02 -1.34415127e-01 5.32816182e+00] [ 2.72028638e-02 9.99612336e-01 -5.93150918e-03 2.48802929e-02] [ 1.34527639e-01 2.21889924e-03 9.90907357e-01 -2.19641323e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.82538475 meters Centerline goodness [0,1] 0.956988275009796 Centerline is valid? [True, True] Translation: X:5.36, Y:0.02, Z:-0.22 [[ 9.90498735e-01 -2.73285767e-02 -1.34779096e-01 5.35687146e+00] [ 2.67659791e-02 9.99623811e-01 -5.98481205e-03 2.46713301e-02] [ 1.34891950e-01 2.32045430e-03 9.90857597e-01 -2.15788693e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.85538475 meters Centerline goodness [0,1] 0.9561191869232161 Centerline is valid? [True, True] Translation: X:5.38, Y:0.03, Z:-0.21 [[ 9.90497529e-01 -2.78887694e-02 -1.34673168e-01 5.38460001e+00] [ 2.73276484e-02 9.99608441e-01 -6.01367793e-03 2.53976570e-02] [ 1.34788149e-01 2.27623215e-03 9.90871825e-01 -2.13238628e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.88538474999999 meters Centerline goodness [0,1] 0.9533234770539782 Centerline is valid? [True, True] Translation: X:5.41, Y:0.03, Z:-0.21 [[ 9.90380347e-01 -2.87776708e-02 -1.35346271e-01 5.41181900e+00] [ 2.82142576e-02 9.99583411e-01 -6.07948825e-03 2.65164147e-02] [ 1.35464841e-01 2.20231111e-03 9.90779706e-01 -2.12791028e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.91538474999999 meters Centerline goodness [0,1] 0.9544044571600663 Centerline is valid? [True, True] Translation: X:5.44, Y:0.03, Z:-0.21 [[ 9.90319475e-01 -2.88081125e-02 -1.35784498e-01 5.44027036e+00] [ 2.82387239e-02 9.99582485e-01 -6.11797707e-03 2.70237435e-02] [ 1.35904053e-01 2.22437089e-03 9.90719506e-01 -2.09414602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.94538474999999 meters Centerline goodness [0,1] 0.9548619520465004 Centerline is valid? [True, True] Translation: X:5.47, Y:0.03, Z:-0.21 [[ 9.90215286e-01 -2.88247477e-02 -1.36538718e-01 5.46870218e+00] [ 2.82444196e-02 9.99581905e-01 -6.18608574e-03 2.65634982e-02] [ 1.36659944e-01 2.26909983e-03 9.90615420e-01 -2.05788117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 78.97538474999999 meters Centerline goodness [0,1] 0.9534552722427473 Centerline is valid? [True, True] Translation: X:5.50, Y:0.03, Z:-0.20 [[ 9.90319058e-01 -2.88498602e-02 -1.35778673e-01 5.49683122e+00] [ 2.82719640e-02 9.99581146e-01 -6.18294164e-03 2.94057029e-02] [ 1.35900179e-01 2.28435518e-03 9.90719901e-01 -2.04016841e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.00538474999999 meters Centerline goodness [0,1] 0.9543772371534308 Centerline is valid? [True, True] Translation: X:5.52, Y:0.03, Z:-0.20 [[ 9.90289624e-01 -2.90217754e-02 -1.35956597e-01 5.52442758e+00] [ 2.84418477e-02 9.99576181e-01 -6.20645661e-03 2.77120079e-02] [ 1.36079098e-01 2.27933276e-03 9.90695354e-01 -1.99046406e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.03538474999999 meters Centerline goodness [0,1] 0.9550572054527751 Centerline is valid? [True, True] Translation: X:5.55, Y:0.03, Z:-0.20 [[ 9.90263597e-01 -2.97933215e-02 -1.35979288e-01 5.55202243e+00] [ 2.92152291e-02 9.99553633e-01 -6.24539830e-03 2.75342407e-02] [ 1.36104662e-01 2.21192454e-03 9.90691995e-01 -1.95749989e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.06538474999999 meters Centerline goodness [0,1] 0.9524200663198564 Centerline is valid? [True, True] Translation: X:5.58, Y:0.03, Z:-0.19 [[ 9.90167012e-01 -3.09886780e-02 -1.36414771e-01 5.58058925e+00] [ 3.04128003e-02 9.99517543e-01 -6.30412475e-03 2.72862255e-02] [ 1.36544313e-01 2.09338120e-03 9.90631752e-01 -1.94435868e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.09538475 meters Centerline goodness [0,1] 0.9525934019241858 Centerline is valid? [True, True] Translation: X:5.61, Y:0.03, Z:-0.19 [[ 9.90082632e-01 -3.19804221e-02 -1.36797785e-01 5.60850266e+00] [ 3.14053013e-02 9.99486491e-01 -6.36089599e-03 2.72917713e-02] [ 1.36930962e-01 2.00163700e-03 9.90578571e-01 -1.90707069e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.12538475 meters Centerline goodness [0,1] 0.9512552237440137 Centerline is valid? [True, True] Translation: X:5.64, Y:0.03, Z:-0.19 [[ 9.90056044e-01 -3.23157350e-02 -1.36911372e-01 5.63608595e+00] [ 3.17378847e-02 9.99475723e-01 -6.40201052e-03 2.95122710e-02] [ 1.37046478e-01 1.99307186e-03 9.90562613e-01 -1.90575576e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.15538475 meters Centerline goodness [0,1] 0.9519432693185622 Centerline is valid? [True, True] Translation: X:5.66, Y:0.03, Z:-0.19 [[ 9.90051569e-01 -3.17740931e-02 -1.37070408e-01 5.66491867e+00] [ 3.11871088e-02 9.99492892e-01 -6.42833221e-03 3.03575396e-02] [ 1.37205153e-01 2.08955065e-03 9.90540448e-01 -1.85185703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.18538475 meters Centerline goodness [0,1] 0.9536233655138702 Centerline is valid? [True, True] Translation: X:5.69, Y:0.03, Z:-0.18 [[ 9.90128577e-01 -3.43646808e-02 -1.35884031e-01 5.69357121e+00] [ 3.38076875e-02 9.99407831e-01 -6.40526718e-03 2.78256534e-02] [ 1.36023680e-01 1.74811321e-03 9.90704044e-01 -1.79011026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.21538475 meters Centerline goodness [0,1] 0.9535196624059691 Centerline is valid? [True, True] Translation: X:5.72, Y:0.03, Z:-0.18 [[ 9.90085897e-01 -3.50223991e-02 -1.36027012e-01 5.72043315e+00] [ 3.44661248e-02 9.99385097e-01 -6.44312945e-03 2.89514109e-02] [ 1.36169022e-01 1.69092763e-03 9.90684177e-01 -1.76269320e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.24538475 meters Centerline goodness [0,1] 0.95275663064833 Centerline is valid? [True, True] Translation: X:5.75, Y:0.02, Z:-0.17 [[ 9.89882881e-01 -3.99720671e-02 -1.36140060e-01 5.74883144e+00] [ 3.94588714e-02 9.99200267e-01 -6.46715443e-03 2.47793747e-02] [ 1.36289689e-01 1.02979235e-03 9.90668492e-01 -1.71137447e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.27538474999999 meters Centerline goodness [0,1] 0.9498028186237045 Centerline is valid? [True, False] Translation: X:5.75, Y:0.02, Z:-0.17 [[ 9.89755657e-01 -3.74198806e-02 -1.37780597e-01 5.75319222e+00] [ 3.74789979e-02 9.99295068e-01 -2.16613952e-03 2.39941100e-02] [ 1.37764528e-01 -3.01992987e-03 9.90460406e-01 -1.69434081e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.30538474999999 meters Centerline goodness [0,1] 0.9488259900461055 Centerline is valid? [False, False] Translation: X:5.76, Y:0.02, Z:-0.17 [[ 9.89742016e-01 -3.41117259e-02 -1.38734030e-01 5.75596027e+00] [ 3.46701234e-02 9.99397514e-01 1.60958249e-03 2.38995105e-02] [ 1.38595539e-01 -6.40299735e-03 9.90328369e-01 -1.69202602e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.33538474999999 meters Centerline goodness [0,1] 0.9499403323031731 Centerline is valid? [False, False] Translation: X:5.76, Y:0.02, Z:-0.17 [[ 9.89675858e-01 -3.37552821e-02 -1.39292059e-01 5.75622787e+00] [ 3.44333437e-02 9.99403969e-01 2.46019832e-03 2.34378967e-02] [ 1.39125992e-01 -7.23109022e-03 9.90248287e-01 -1.67522345e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.36538474999999 meters Centerline goodness [0,1] 0.9497633226446786 Centerline is valid? [False, False] Translation: X:5.76, Y:0.02, Z:-0.17 [[ 0.98960871 -0.03092517 -0.1404216 5.75937824] [ 0.0321665 0.99946087 0.00657842 0.02206281] [ 0.14014246 -0.01102693 0.99006995 -0.16616455] [ 0. 0. 0. 1. ]] SLAMing on 79.39538474999999 meters Centerline goodness [0,1] 0.9509157284412676 Centerline is valid? [False, True] Translation: X:5.76, Y:0.02, Z:-0.17 [[ 0.98960294 -0.0304032 -0.14057621 5.75849613] [ 0.03167854 0.99947468 0.00684293 0.02239075] [ 0.14029432 -0.01122504 0.99004621 -0.16512377] [ 0. 0. 0. 1. ]] SLAMing on 79.42538474999999 meters Centerline goodness [0,1] 0.9522746045828617 Centerline is valid? [True, True] Translation: X:5.79, Y:0.03, Z:-0.17 [[ 9.89646815e-01 -3.15521919e-02 -1.40013002e-01 5.78668305e+00] [ 3.10141857e-02 9.99500795e-01 -6.02337450e-03 2.93648832e-02] [ 1.40133157e-01 1.61862415e-03 9.90131344e-01 -1.69652209e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.45538475 meters Centerline goodness [0,1] 0.9536409692974425 Centerline is valid? [True, True] Translation: X:5.82, Y:0.03, Z:-0.17 [[ 9.89882287e-01 -3.13390194e-02 -1.38386866e-01 5.81529230e+00] [ 3.08093418e-02 9.99507459e-01 -5.96849913e-03 3.23258505e-02] [ 1.38505752e-01 1.64450331e-03 9.90360264e-01 -1.65197736e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.48538475 meters Centerline goodness [0,1] 0.953909590714722 Centerline is valid? [True, True] Translation: X:5.84, Y:0.03, Z:-0.16 [[ 9.89954912e-01 -3.22452588e-02 -1.37657239e-01 5.84277823e+00] [ 3.17255139e-02 9.99478798e-01 -5.96862306e-03 3.43812019e-02] [ 1.37777952e-01 1.54142106e-03 9.90461943e-01 -1.62345532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.51538475 meters Centerline goodness [0,1] 0.9509344372070372 Centerline is valid? [True, True] Translation: X:5.87, Y:0.04, Z:-0.16 [[ 9.89792843e-01 -3.08378302e-02 -1.39137183e-01 5.87149960e+00] [ 3.02907827e-02 9.99522831e-01 -6.04809901e-03 3.78283763e-02] [ 1.39257301e-01 1.77179095e-03 9.90254646e-01 -1.60259902e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.54538475 meters Centerline goodness [0,1] 0.951493559879419 Centerline is valid? [True, True] Translation: X:5.90, Y:0.04, Z:-0.16 [[ 9.89740540e-01 -3.15837015e-02 -1.39341786e-01 5.89914160e+00] [ 3.10375458e-02 9.99499658e-01 -6.09136424e-03 3.98754017e-02] [ 1.39464455e-01 1.70404307e-03 9.90225612e-01 -1.56656593e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.57538475 meters Centerline goodness [0,1] 0.9514358880556064 Centerline is valid? [True, True] Translation: X:5.93, Y:0.04, Z:-0.15 [[ 9.89989271e-01 -3.42948153e-02 -1.36912780e-01 5.92775410e+00] [ 3.37883524e-02 9.99410867e-01 -6.02211722e-03 3.97354151e-02] [ 1.37038648e-01 1.33577418e-03 9.90564801e-01 -1.52705165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.60538475 meters Centerline goodness [0,1] 0.952362060546875 Centerline is valid? [True, True] Translation: X:5.96, Y:0.04, Z:-0.15 [[ 9.89895010e-01 -3.45653723e-02 -1.37524922e-01 5.95660147e+00] [ 3.40522937e-02 9.99401543e-01 -6.08246714e-03 4.09823992e-02] [ 1.37652862e-01 1.33796485e-03 9.90479631e-01 -1.48428122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.63538474999999 meters Centerline goodness [0,1] 0.9520326689827513 Centerline is valid? [True, True] Translation: X:5.99, Y:0.04, Z:-0.15 [[ 9.89979808e-01 -3.34239058e-02 -1.37196288e-01 5.98538519e+00] [ 3.28977580e-02 9.99440099e-01 -6.10129933e-03 4.42406742e-02] [ 1.37323401e-01 1.52671285e-03 9.90525089e-01 -1.45299294e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.66538474999999 meters Centerline goodness [0,1] 0.9550698239222829 Centerline is valid? [True, True] Translation: X:6.01, Y:0.05, Z:-0.14 [[ 9.90075514e-01 -3.15073524e-02 -1.36958986e-01 6.01403168e+00] [ 3.09602005e-02 9.99501858e-01 -6.12388270e-03 4.72595252e-02] [ 1.37083708e-01 1.82282864e-03 9.90557789e-01 -1.41128351e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.69538474999999 meters Centerline goodness [0,1] 0.954195205479452 Centerline is valid? [True, True] Translation: X:6.04, Y:0.05, Z:-0.14 [[ 9.90071374e-01 -3.25639843e-02 -1.36741586e-01 6.04184995e+00] [ 3.20242903e-02 9.99468198e-01 -6.14541357e-03 4.78609594e-02] [ 1.36868986e-01 1.70534580e-03 9.90587690e-01 -1.37606121e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.72538474999999 meters Centerline goodness [0,1] 0.9520969018199525 Centerline is valid? [True, True] Translation: X:6.07, Y:0.05, Z:-0.13 [[ 9.90006634e-01 -3.16602832e-02 -1.37420853e-01 6.06960714e+00] [ 3.11047378e-02 9.99496971e-01 -6.18872880e-03 5.09266535e-02] [ 1.37547664e-01 1.85244295e-03 9.90493417e-01 -1.34765482e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.75538474999999 meters Centerline goodness [0,1] 0.952809601745772 Centerline is valid? [True, True] Translation: X:6.10, Y:0.05, Z:-0.13 [[ 9.89964316e-01 -3.17845394e-02 -1.37696755e-01 6.09753171e+00] [ 3.12251835e-02 9.99493015e-01 -6.22097222e-03 5.35779436e-02] [ 1.37824676e-01 1.85893405e-03 9.90454897e-01 -1.32302726e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.78538474999999 meters Centerline goodness [0,1] 0.9530284675953967 Centerline is valid? [True, True] Translation: X:6.13, Y:0.06, Z:-0.13 [[ 9.89862982e-01 -3.01804435e-02 -1.38781906e-01 6.12568740e+00] [ 2.95915778e-02 9.99542188e-01 -6.30499410e-03 5.71410592e-02] [ 1.38908658e-01 2.13430469e-03 9.90302898e-01 -1.29500719e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.81538474999999 meters Centerline goodness [0,1] 0.9522654947719351 Centerline is valid? [True, True] Translation: X:6.15, Y:0.06, Z:-0.13 [[ 9.89856544e-01 -2.96899544e-02 -1.38933540e-01 6.15313421e+00] [ 2.90925290e-02 9.99556684e-01 -6.32937269e-03 5.99408778e-02] [ 1.39059868e-01 2.22324292e-03 9.90281480e-01 -1.27183141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.84538475 meters Centerline goodness [0,1] 0.9539950839073832 Centerline is valid? [True, True] Translation: X:6.18, Y:0.06, Z:-0.12 [[ 9.89916002e-01 -2.95730008e-02 -1.38534278e-01 6.18138226e+00] [ 2.89756946e-02 9.99560093e-01 -6.32686554e-03 5.94735190e-02] [ 1.38660440e-01 2.24893853e-03 9.90337430e-01 -1.21613115e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.87538475 meters Centerline goodness [0,1] 0.9547993443021068 Centerline is valid? [True, True] Translation: X:6.21, Y:0.06, Z:-0.12 [[ 9.90116076e-01 -2.96921366e-02 -1.37071267e-01 6.20865502e+00] [ 2.91034791e-02 9.99556569e-01 -6.29707157e-03 6.12838020e-02] [ 1.37197459e-01 2.24558102e-03 9.90541173e-01 -1.17334616e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.90538475 meters Centerline goodness [0,1] 0.9566062372840181 Centerline is valid? [True, True] Translation: X:6.24, Y:0.06, Z:-0.11 [[ 9.90378052e-01 -3.00079572e-02 -1.35095660e-01 6.23678140e+00] [ 2.94365289e-02 9.99547263e-01 -6.22580541e-03 6.18469779e-02] [ 1.35221321e-01 2.18915373e-03 9.90813001e-01 -1.12795066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.93538475 meters Centerline goodness [0,1] 0.9590732181950864 Centerline is valid? [True, True] Translation: X:6.27, Y:0.06, Z:-0.11 [[ 9.90439901e-01 -3.08419955e-02 -1.34452867e-01 6.26595405e+00] [ 3.02791339e-02 9.99522069e-01 -6.22963858e-03 6.15868926e-02] [ 1.34580742e-01 2.09896626e-03 9.90900408e-01 -1.08672400e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.96538475 meters Centerline goodness [0,1] 0.9601071113410218 Centerline is valid? [True, True] Translation: X:6.29, Y:0.06, Z:-0.10 [[ 9.90581366e-01 -3.11354825e-02 -1.33338438e-01 6.29437291e+00] [ 3.05800490e-02 9.99513017e-01 -6.21196229e-03 6.23858850e-02] [ 1.33466917e-01 2.07595811e-03 9.91051095e-01 -1.04571695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 79.99538475 meters Centerline goodness [0,1] 0.9588807266741853 Centerline is valid? [True, True] Translation: X:6.32, Y:0.06, Z:-0.10 [[ 9.90616896e-01 -3.29238105e-02 -1.32643085e-01 6.32317331e+00] [ 3.23856078e-02 9.99456135e-01 -6.21347239e-03 6.14097869e-02] [ 1.32775516e-01 1.85944380e-03 9.91144391e-01 -1.00874219e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.02538474999999 meters Centerline goodness [0,1] 0.9556971674238497 Centerline is valid? [True, True] Translation: X:6.35, Y:0.06, Z:-0.10 [[ 9.90252641e-01 -3.58951060e-02 -1.34578039e-01 6.35156916e+00] [ 3.53634752e-02 9.99354409e-01 -6.33950151e-03 6.01162086e-02] [ 1.34718713e-01 1.51856098e-03 9.90882719e-01 -9.94407369e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.05538474999999 meters Centerline goodness [0,1] 0.9539626328000977 Centerline is valid? [True, True] Translation: X:6.38, Y:0.06, Z:-0.10 [[ 9.90018074e-01 -3.62255145e-02 -1.36205454e-01 6.37936138e+00] [ 3.56788492e-02 9.99342470e-01 -6.45340933e-03 6.18773338e-02] [ 1.36349673e-01 1.52933800e-03 9.90659592e-01 -9.81770638e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.08538474999999 meters Centerline goodness [0,1] 0.9524724688081511 Centerline is valid? [True, True] Translation: X:6.41, Y:0.06, Z:-0.10 [[ 9.89828793e-01 -3.62111299e-02 -1.37578028e-01 6.40740975e+00] [ 3.56513332e-02 9.99342944e-01 -6.53171917e-03 6.35765398e-02] [ 1.37724153e-01 1.56044357e-03 9.90469395e-01 -9.58429302e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.11538474999999 meters Centerline goodness [0,1] 0.949562406611167 Centerline is valid? [True, False] Translation: X:6.41, Y:0.06, Z:-0.09 [[ 9.89744669e-01 -3.63654006e-02 -1.38141402e-01 6.40829319e+00] [ 3.58778132e-02 9.99338059e-01 -6.01886547e-03 6.36094213e-02] [ 1.38268839e-01 1.00092860e-03 9.90394228e-01 -9.45260787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.14538474999999 meters Centerline goodness [0,1] 0.9532573587665305 Centerline is valid? [False, True] Translation: X:6.41, Y:0.06, Z:-0.09 [[ 9.89595316e-01 -3.30992640e-02 -1.40019814e-01 6.41161274e+00] [ 3.34360058e-02 9.99440859e-01 5.25493553e-05 6.13238351e-02] [ 1.39939784e-01 -4.73370592e-03 9.90148700e-01 -8.98131831e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.17538474999999 meters Centerline goodness [0,1] 0.9543272152668044 Centerline is valid? [True, True] Translation: X:6.44, Y:0.06, Z:-0.09 [[ 9.89714773e-01 -3.42043005e-02 -1.38905485e-01 6.43957455e+00] [ 3.36765115e-02 9.99413870e-01 -6.14886765e-03 6.46963770e-02] [ 1.39034386e-01 1.40777300e-03 9.90286553e-01 -8.90221162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.20538475 meters Centerline goodness [0,1] 0.9563724745556736 Centerline is valid? [True, True] Translation: X:6.47, Y:0.06, Z:-0.08 [[ 9.89840226e-01 -3.57404149e-02 -1.37618856e-01 6.46796177e+00] [ 3.52352107e-02 9.99360393e-01 -6.10618437e-03 6.49623797e-02] [ 1.37749071e-01 1.19511755e-03 9.90466438e-01 -8.48747806e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.23538475 meters Centerline goodness [0,1] 0.9559034016505771 Centerline is valid? [True, True] Translation: X:6.49, Y:0.07, Z:-0.08 [[ 9.89989854e-01 -3.66214048e-02 -1.36304662e-01 6.49498734e+00] [ 3.61298759e-02 9.99328613e-01 -6.07908081e-03 6.62231891e-02] [ 1.36435773e-01 1.09355781e-03 9.90648315e-01 -7.98733468e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.26538475 meters Centerline goodness [0,1] 0.9559262190296464 Centerline is valid? [True, True] Translation: X:6.52, Y:0.07, Z:-0.08 [[ 9.90007275e-01 -3.65729147e-02 -1.36191108e-01 6.52274952e+00] [ 3.60798051e-02 9.99330367e-01 -6.08817095e-03 6.77769094e-02] [ 1.36322572e-01 1.11358490e-03 9.90663877e-01 -7.63442405e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.29538475 meters Centerline goodness [0,1] 0.9542668123330905 Centerline is valid? [True, True] Translation: X:6.55, Y:0.07, Z:-0.07 [[ 9.90018606e-01 -3.80581611e-02 -1.35700910e-01 6.55176374e+00] [ 3.75774445e-02 9.99275081e-01 -6.10314818e-03 6.94787323e-02] [ 1.35834812e-01 9.42936831e-04 9.90731051e-01 -7.17749649e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.32538475 meters Centerline goodness [0,1] 0.9524156127740879 Centerline is valid? [True, True] Translation: X:6.58, Y:0.07, Z:-0.07 [[ 9.89576076e-01 -4.07873334e-02 -1.38114387e-01 6.58044536e+00] [ 4.03110179e-02 9.99167663e-01 -6.24529917e-03 7.26215976e-02] [ 1.38254158e-01 6.12667111e-04 9.90396593e-01 -7.07214780e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.35538475 meters Centerline goodness [0,1] 0.94970226400266 Centerline is valid? [True, False] Translation: X:6.58, Y:0.07, Z:-0.07 [[ 9.89484456e-01 -3.79635793e-02 -1.39568183e-01 6.58395147e+00] [ 3.80427215e-02 9.99273903e-01 -2.10171444e-03 7.25083971e-02] [ 1.39546632e-01 -3.22993977e-03 9.90210233e-01 -6.90408138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.38538474999999 meters Centerline goodness [0,1] 0.9478765640038499 Centerline is valid? [False, False] Translation: X:6.59, Y:0.08, Z:-0.07 [[ 9.89452770e-01 -3.49330041e-02 -1.40580588e-01 6.58736611e+00] [ 3.53978532e-02 9.99372974e-01 8.06681191e-04 7.52599023e-02] [ 1.40464261e-01 -5.77442398e-03 9.90068910e-01 -6.97768046e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.41538474999999 meters Centerline goodness [0,1] 0.9515601069101174 Centerline is valid? [False, True] Translation: X:6.59, Y:0.08, Z:-0.07 [[ 9.89361100e-01 -3.18801577e-02 -1.41944601e-01 6.59060189e+00] [ 3.28781629e-02 9.99448360e-01 4.69059091e-03 7.55931987e-02] [ 1.41716761e-01 -9.30756588e-03 9.89863490e-01 -6.84977178e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.44538474999999 meters Centerline goodness [0,1] 0.9510975354116132 Centerline is valid? [True, True] Translation: X:6.62, Y:0.09, Z:-0.07 [[ 9.89467214e-01 -2.93531214e-02 -1.41749876e-01 6.61895488e+00] [ 2.88212937e-02 9.99567730e-01 -5.80394000e-03 8.58853071e-02] [ 1.41858966e-01 1.65739354e-03 9.89885492e-01 -7.25929390e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.47538474999999 meters Centerline goodness [0,1] 0.951719180543908 Centerline is valid? [True, True] Translation: X:6.65, Y:0.09, Z:-0.07 [[ 9.89447547e-01 -2.74854826e-02 -1.42260679e-01 6.64636655e+00] [ 2.69287459e-02 9.99620310e-01 -5.83762929e-03 9.09585618e-02] [ 1.42367114e-01 1.94512630e-03 9.89812013e-01 -7.08839220e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.50538474999999 meters Centerline goodness [0,1] 0.9520582703961312 Centerline is valid? [True, True] Translation: X:6.67, Y:0.09, Z:-0.07 [[ 9.89579779e-01 -2.67790309e-02 -1.41473478e-01 6.67376390e+00] [ 2.62191764e-02 9.99639275e-01 -5.82020224e-03 9.44104105e-02] [ 1.41578304e-01 2.05023636e-03 9.89924937e-01 -6.65390272e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.53538474999999 meters Centerline goodness [0,1] 0.9571279606733204 Centerline is valid? [True, True] Translation: X:6.70, Y:0.10, Z:-0.06 [[ 9.89847459e-01 -2.38695703e-02 -1.40115138e-01 6.70223948e+00] [ 2.32863849e-02 9.99712008e-01 -5.80042320e-03 9.82324617e-02] [ 1.40213240e-01 2.47875912e-03 9.90118227e-01 -5.95681960e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.56538474999999 meters Centerline goodness [0,1] 0.9573040380047506 Centerline is valid? [True, True] Translation: X:6.73, Y:0.11, Z:-0.06 [[ 9.89969680e-01 -2.10968653e-02 -1.39695934e-01 6.72925212e+00] [ 2.04851534e-02 9.99773244e-01 -5.81549268e-03 1.05777348e-01] [ 1.39786946e-01 2.89546879e-03 9.90177371e-01 -5.71682770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.59538475 meters Centerline goodness [0,1] 0.9570163225405102 Centerline is valid? [True, True] Translation: X:6.76, Y:0.11, Z:-0.05 [[ 9.89825846e-01 -1.98901332e-02 -1.40887109e-01 6.75782861e+00] [ 1.92532602e-02 9.99797335e-01 -5.88221050e-03 1.09522335e-01] [ 1.40975554e-01 3.10982782e-03 9.90008193e-01 -5.30843769e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.62538475 meters Centerline goodness [0,1] 0.9559606961051261 Centerline is valid? [True, True] Translation: X:6.79, Y:0.12, Z:-0.05 [[ 9.89940198e-01 -1.62251575e-02 -1.40553012e-01 6.78575694e+00] [ 1.55500467e-02 9.99861682e-01 -5.90024329e-03 1.16594854e-01] [ 1.40629304e-01 3.65528210e-03 9.90055573e-01 -5.04013378e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.65538475 meters Centerline goodness [0,1] 0.953411277194021 Centerline is valid? [True, True] Translation: X:6.81, Y:0.12, Z:-0.05 [[ 9.89959864e-01 -1.55341399e-02 -1.40492558e-01 6.81445137e+00] [ 1.48508457e-02 9.99872250e-01 -5.91073475e-03 1.20106320e-01] [ 1.40566428e-01 3.76495687e-03 9.90064091e-01 -4.82154728e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.68538475 meters Centerline goodness [0,1] 0.953411277194021 Centerline is valid? [True, True] Translation: X:6.84, Y:0.12, Z:-0.04 [[ 9.89955686e-01 -1.58111383e-02 -1.40491091e-01 6.84186718e+00] [ 1.51257019e-02 9.99867924e-01 -5.94539768e-03 1.21458735e-01] [ 1.40566539e-01 3.76065388e-03 9.90064092e-01 -4.47600703e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.71538475 meters Centerline goodness [0,1] 0.9490717437005892 Centerline is valid? [True, False] Translation: X:6.84, Y:0.12, Z:-0.04 [[ 9.89814123e-01 -1.24561228e-02 -1.41819773e-01 6.84499733e+00] [ 1.23593373e-02 9.99922398e-01 -1.56331919e-03 1.20415410e-01] [ 1.41828240e-01 -2.05403003e-04 9.89891261e-01 -4.32372610e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.74538475 meters Centerline goodness [0,1] 0.9468025236219306 Centerline is valid? [False, False] Translation: X:6.85, Y:0.12, Z:-0.04 [[ 9.89764944e-01 -1.21560345e-02 -1.42188561e-01 6.84539520e+00] [ 1.21849770e-02 9.99925538e-01 -6.67186365e-04 1.19389032e-01] [ 1.42186084e-01 -1.07220667e-03 9.89839365e-01 -4.20595233e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.77538474999999 meters Centerline goodness [0,1] 0.9483723823346465 Centerline is valid? [False, False] Translation: X:6.85, Y:0.12, Z:-0.04 [[ 9.89688011e-01 -1.19082290e-02 -1.42743948e-01 6.84577702e+00] [ 1.21118391e-02 9.99926494e-01 5.57560026e-04 1.17530240e-01] [ 1.42726816e-01 -2.28070220e-03 9.89759493e-01 -4.00652143e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.80538474999999 meters Centerline goodness [0,1] 0.9573510247600995 Centerline is valid? [False, True] Translation: X:6.85, Y:0.12, Z:-0.04 [[ 9.89622472e-01 -1.17394863e-02 -1.43211546e-01 6.84676903e+00] [ 1.20487485e-02 9.99926576e-01 1.29240946e-03 1.16336288e-01] [ 1.43185859e-01 -3.00451736e-03 9.89691256e-01 -3.92929784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.83538474999999 meters Centerline goodness [0,1] 0.9534642306323408 Centerline is valid? [True, True] Translation: X:6.87, Y:0.12, Z:-0.04 [[ 9.89590924e-01 -1.17488453e-02 -1.43428613e-01 6.87464801e+00] [ 1.10478635e-02 9.99922822e-01 -5.68277935e-03 1.21194123e-01] [ 1.43484309e-01 4.03904714e-03 9.89644350e-01 -4.08724059e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.86538474999999 meters Centerline goodness [0,1] 0.9545076365365187 Centerline is valid? [True, True] Translation: X:6.90, Y:0.12, Z:-0.04 [[ 9.89437157e-01 -1.17208510e-02 -1.44487830e-01 6.90299203e+00] [ 1.10071571e-02 9.99922956e-01 -5.73790724e-03 1.21701425e-01] [ 1.44543952e-01 4.08689838e-03 9.89489941e-01 -3.86694098e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.89538474999999 meters Centerline goodness [0,1] 0.9570356696242482 Centerline is valid? [True, True] Translation: X:6.93, Y:0.12, Z:-0.03 [[ 9.89421245e-01 -1.44654113e-02 -1.44348022e-01 6.93212190e+00] [ 1.37799045e-02 9.99888533e-01 -5.74769600e-03 1.18446709e-01] [ 1.44415075e-01 3.69779056e-03 9.89510289e-01 -3.40040505e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.92538474999999 meters Centerline goodness [0,1] 0.9565139691427891 Centerline is valid? [True, True] Translation: X:6.96, Y:0.12, Z:-0.03 [[ 9.89355644e-01 -1.47984664e-02 -1.44763305e-01 6.96022785e+00] [ 1.41073220e-02 9.99883667e-01 -5.79971738e-03 1.18765894e-01] [ 1.44832292e-01 3.69576056e-03 9.89449316e-01 -3.00654423e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.95538475 meters Centerline goodness [0,1] 0.9535759096612296 Centerline is valid? [True, True] Translation: X:6.99, Y:0.12, Z:-0.03 [[ 9.88975090e-01 -1.50047803e-02 -1.47319814e-01 6.98881783e+00] [ 1.42846453e-02 9.99880295e-01 -5.94506427e-03 1.19224637e-01] [ 1.47391383e-01 3.77510919e-03 9.89071043e-01 -2.79476384e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 80.98538475 meters Centerline goodness [0,1] 0.9527861244161485 Centerline is valid? [True, True] Translation: X:7.02, Y:0.12, Z:-0.03 [[ 9.88834804e-01 -1.52258769e-02 -1.48235974e-01 7.01688682e+00] [ 1.44938955e-02 9.99876854e-01 -6.01698407e-03 1.20457559e-01] [ 1.48309333e-01 3.80128654e-03 9.88933715e-01 -2.57315826e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.01538475 meters Centerline goodness [0,1] 0.9524206514619187 Centerline is valid? [True, True] Translation: X:7.05, Y:0.12, Z:-0.02 [[ 9.88846641e-01 -1.63219235e-02 -1.48040247e-01 7.04572563e+00] [ 1.56016384e-02 9.99860131e-01 -6.02547517e-03 1.19934321e-01] [ 1.48117889e-01 3.64860047e-03 9.88962982e-01 -2.21461617e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.04538475 meters Centerline goodness [0,1] 0.9515624534540796 Centerline is valid? [True, True] Translation: X:7.07, Y:0.12, Z:-0.02 [[ 9.88781923e-01 -1.69288230e-02 -1.48403920e-01 7.07350412e+00] [ 1.62066093e-02 9.99850212e-01 -6.07453649e-03 1.21203504e-01] [ 1.48484525e-01 3.60126753e-03 9.88908174e-01 -2.00488407e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.07538475 meters Centerline goodness [0,1] 0.9498526829558644 Centerline is valid? [True, False] Translation: X:7.08, Y:0.12, Z:-0.02 [[ 9.88595495e-01 -1.42965115e-02 -1.49915168e-01 7.07764865e+00] [ 1.42376703e-02 9.99897565e-01 -1.46583117e-03 1.18773554e-01] [ 1.49920768e-01 -6.85328651e-04 9.88697777e-01 -1.81315678e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.10538475 meters Centerline goodness [0,1] 0.9514635603345281 Centerline is valid? [False, True] Translation: X:7.08, Y:0.12, Z:-0.02 [[ 9.88524070e-01 -1.45506977e-02 -1.50361035e-01 7.07899525e+00] [ 1.46123872e-02 9.99892992e-01 -6.94622743e-04 1.16614840e-01] [ 1.50355052e-01 -1.51048236e-03 9.88630910e-01 -1.73649082e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.13538474999999 meters Centerline goodness [0,1] 0.9501761299182041 Centerline is valid? [True, True] Translation: X:7.11, Y:0.12, Z:-0.02 [[ 9.88807756e-01 -1.54089040e-02 -1.48397399e-01 7.10786830e+00] [ 1.47627587e-02 9.99876146e-01 -5.45471338e-03 1.20042378e-01] [ 1.48463071e-01 3.20290790e-03 9.88912766e-01 -1.61337116e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.16538474999999 meters Centerline goodness [0,1] 0.9515354083977439 Centerline is valid? [True, True] Translation: X:7.14, Y:0.12, Z:-0.01 [[ 9.88865046e-01 -1.49601526e-02 -1.48061184e-01 7.13607825e+00] [ 1.43066069e-02 9.99882649e-01 -5.47809696e-03 1.21590291e-01] [ 1.48125762e-01 3.29884546e-03 9.88963031e-01 -1.12233654e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.19538474999999 meters Centerline goodness [0,1] 0.9529316837009145 Centerline is valid? [True, True] Translation: X:7.16, Y:0.12, Z:-0.01 [[ 9.89129095e-01 -1.33024078e-02 -1.46446846e-01 7.16453130e+00] [ 1.26399038e-02 9.99905241e-01 -5.45351909e-03 1.24743095e-01] [ 1.46505514e-01 3.54316036e-03 9.89203508e-01 -5.67165120e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.22538474999999 meters Centerline goodness [0,1] 0.952446259801437 Centerline is valid? [True, True] Translation: X:7.19, Y:0.13, Z:-0.00 [[ 9.89073328e-01 -1.17712686e-02 -1.46953695e-01 7.19309302e+00] [ 1.10820227e-02 9.99923422e-01 -5.50808895e-03 1.28159889e-01] [ 1.47007279e-01 3.81935968e-03 9.89128036e-01 -2.23174179e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.25538474999999 meters Centerline goodness [0,1] 0.9489188062190981 Centerline is valid? [True, False] Translation: X:7.19, Y:0.13, Z:-0.00 [[ 9.89015135e-01 -7.77920079e-03 -1.47609440e-01 7.19402614e+00] [ 7.72465973e-03 9.99969720e-01 -9.42757124e-04 1.26935529e-01] [ 1.47612305e-01 -2.07831635e-04 9.89045279e-01 -4.55512370e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.28538474999999 meters Centerline goodness [0,1] 0.953991559174939 Centerline is valid? [False, True] Translation: X:7.20, Y:0.13, Z:0.00 [[ 9.88920591e-01 -7.98507340e-03 -1.48230572e-01 7.19506420e+00] [ 8.03518198e-03 9.99967683e-01 -2.60799334e-04 1.25971212e-01] [ 1.48227864e-01 -9.33149792e-04 9.88952794e-01 9.74020487e-04] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.31538474999999 meters Centerline goodness [0,1] 0.9530855394123066 Centerline is valid? [True, True] Translation: X:7.22, Y:0.13, Z:0.00 [[ 9.89005488e-01 -9.57005356e-03 -1.47568829e-01 7.22260867e+00] [ 8.92544050e-03 9.99947517e-01 -5.02979972e-03 1.29757436e-01] [ 1.47609219e-01 3.65738273e-03 9.89038999e-01 1.29877962e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.34538475 meters Centerline goodness [0,1] 0.9537611736406023 Centerline is valid? [True, True] Translation: X:7.25, Y:0.12, Z:0.01 [[ 9.88910047e-01 -1.31647247e-02 -1.47931097e-01 7.25117880e+00] [ 1.25549860e-02 9.99908406e-01 -5.05483355e-03 1.24188056e-01] [ 1.47984093e-01 3.14150283e-03 9.88984752e-01 7.59375235e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.37538475 meters Centerline goodness [0,1] 0.9517596005231245 Centerline is valid? [True, True] Translation: X:7.28, Y:0.13, Z:0.01 [[ 9.88663510e-01 -1.43419785e-02 -1.49461605e-01 7.27856417e+00] [ 1.37310561e-02 9.99892623e-01 -5.11866784e-03 1.27793006e-01] [ 1.49518968e-01 3.00837443e-03 9.88754281e-01 7.93340329e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.40538475 meters Centerline goodness [0,1] 0.9500578652185525 Centerline is valid? [True, True] Translation: X:7.31, Y:0.13, Z:0.01 [[ 9.88317178e-01 -1.44990839e-02 -1.51719911e-01 7.30793495e+00] [ 1.38679701e-02 9.99890225e-01 -5.21710789e-03 1.28290290e-01] [ 1.51778899e-01 3.05211015e-03 9.88409758e-01 8.58711499e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.43538475 meters Centerline goodness [0,1] 0.9150966954302044 Centerline is valid? [True, False] Translation: X:7.36, Y:0.13, Z:0.02 [[ 0.9887528 -0.01119941 -0.14913913 7.35663894] [ 0.01303646 0.99985065 0.01134572 0.12557899] [ 0.14898979 -0.01316236 0.98875113 0.02186535] [ 0. 0. 0. 1. ]] SLAMing on 81.46538475 meters Centerline goodness [0,1] 0.9520259995825755 Centerline is valid? [False, True] Translation: X:7.30, Y:0.12, Z:0.02 [[ 0.98895647 -0.01322902 -0.14761469 7.30382468] [ 0.01542862 0.99978621 0.01376588 0.12167976] [ 0.14740102 -0.01589135 0.98894914 0.01707232] [ 0. 0. 0. 1. ]] SLAMing on 81.49538475 meters Centerline goodness [0,1] 0.9485739883529939 Centerline is valid? [True, False] Translation: X:7.30, Y:0.12, Z:0.02 [[ 0.98886521 -0.01311284 -0.14823515 7.30431607] [ 0.01543942 0.99977486 0.01455534 0.1197359 ] [ 0.14801091 -0.01668193 0.98884503 0.01871159] [ 0. 0. 0. 1. ]] SLAMing on 81.52538474999999 meters Centerline goodness [0,1] 0.9530861981270382 Centerline is valid? [False, True] Translation: X:7.31, Y:0.12, Z:0.01 [[ 0.99034098 -0.01789302 -0.13749397 7.31162994] [ 0.01969188 0.99973724 0.01173405 0.11999889] [ 0.13724788 -0.01432822 0.9904331 0.01379307] [ 0. 0. 0. 1. ]] SLAMing on 81.55538474999999 meters Centerline goodness [0,1] 0.9538433854182287 Centerline is valid? [True, True] Translation: X:7.34, Y:0.13, Z:0.01 [[ 9.90414045e-01 -2.12125487e-02 -1.36491932e-01 7.34139026e+00] [ 2.06554259e-02 9.99771543e-01 -5.49687116e-03 1.25937242e-01] [ 1.36577352e-01 2.62487941e-03 9.90625932e-01 6.53774002e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.58538474999999 meters Centerline goodness [0,1] 0.9536348025186033 Centerline is valid? [True, True] Translation: X:7.37, Y:0.12, Z:0.01 [[ 9.90354225e-01 -2.28490474e-02 -1.36661738e-01 7.37017501e+00] [ 2.23013009e-02 9.99735957e-01 -5.53795637e-03 1.22576992e-01] [ 1.36752190e-01 2.43680395e-03 9.90602292e-01 9.94063315e-03] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.61538474999999 meters Centerline goodness [0,1] 0.9519992768252629 Centerline is valid? [True, True] Translation: X:7.40, Y:0.12, Z:0.01 [[ 9.90316024e-01 -2.41343263e-02 -1.36717617e-01 7.39800504e+00] [ 2.35938861e-02 9.99706096e-01 -5.57228566e-03 1.22133725e-01] [ 1.36811918e-01 2.29262390e-03 9.90594389e-01 1.26526246e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.64538474999999 meters Centerline goodness [0,1] 0.9527074382179967 Centerline is valid? [True, True] Translation: X:7.43, Y:0.11, Z:0.02 [[ 9.90313465e-01 -3.12599942e-02 -1.35285083e-01 7.42662856e+00] [ 3.07954487e-02 9.99510434e-01 -5.52568528e-03 1.13360715e-01] [ 1.35391584e-01 1.30599572e-03 9.90791307e-01 1.83746747e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.67538474999999 meters Centerline goodness [0,1] 0.9494811162847318 Centerline is valid? [True, False] Translation: X:7.43, Y:0.11, Z:0.02 [[ 9.90106553e-01 -3.08420540e-02 -1.36886018e-01 7.43364444e+00] [ 3.08780342e-02 9.99521427e-01 -1.86103664e-03 1.11224181e-01] [ 1.36877907e-01 -2.38414658e-03 9.90585057e-01 1.93391185e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.70538475 meters Centerline goodness [0,1] 0.948954433385079 Centerline is valid? [False, False] Translation: X:7.44, Y:0.11, Z:0.02 [[ 9.90033832e-01 -2.79459761e-02 -1.38029107e-01 7.43714538e+00] [ 2.85083457e-02 9.99591352e-01 2.09862059e-03 1.09903676e-01] [ 1.37914054e-01 -6.01268688e-03 9.90425949e-01 1.99477234e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.73538475 meters Centerline goodness [0,1] 0.9482253933406513 Centerline is valid? [False, False] Translation: X:7.44, Y:0.11, Z:0.02 [[ 9.89977359e-01 -2.78273521e-02 -1.38457455e-01 7.43802113e+00] [ 2.84523619e-02 9.99591931e-01 2.53650079e-03 1.09374941e-01] [ 1.38330371e-01 -6.45051998e-03 9.90365134e-01 2.04196706e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.76538475 meters Centerline goodness [0,1] 0.9484110105122441 Centerline is valid? [False, False] Translation: X:7.44, Y:0.11, Z:0.02 [[ 9.89887205e-01 -2.42174509e-02 -1.39774233e-01 7.44065980e+00] [ 2.54141532e-02 9.99653997e-01 6.78289164e-03 1.08758473e-01] [ 1.39561606e-01 -1.02665414e-02 9.90160167e-01 2.19610458e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.79538475 meters Centerline goodness [0,1] 0.9501918041770687 Centerline is valid? [False, True] Translation: X:7.44, Y:0.11, Z:0.02 [[ 9.89867189e-01 -2.36318259e-02 -1.40016015e-01 7.44058038e+00] [ 2.48665330e-02 9.99665743e-01 7.07517853e-03 1.09628141e-01] [ 1.39802015e-01 -1.04851999e-02 9.90123961e-01 2.24567071e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.82538475 meters Centerline goodness [0,1] 0.9509004109257917 Centerline is valid? [True, True] Translation: X:7.47, Y:0.12, Z:0.02 [[ 9.90086658e-01 -2.04971301e-02 -1.38954228e-01 7.46854073e+00] [ 1.99655490e-02 9.99787049e-01 -5.21856386e-03 1.21083832e-01] [ 1.39031604e-01 2.39253300e-03 9.90285054e-01 1.73693918e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.85538475 meters Centerline goodness [0,1] 0.9525434992750121 Centerline is valid? [True, True] Translation: X:7.50, Y:0.13, Z:0.02 [[ 9.90161554e-01 -1.85929446e-02 -1.38688139e-01 7.49598993e+00] [ 1.80423032e-02 9.99823563e-01 -5.22661247e-03 1.25246636e-01] [ 1.38760847e-01 2.67293728e-03 9.90322313e-01 2.00656117e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.88538474999999 meters Centerline goodness [0,1] 0.9514235839402877 Centerline is valid? [True, True] Translation: X:7.52, Y:0.13, Z:0.02 [[ 9.90209690e-01 -1.50650059e-02 -1.38772533e-01 7.52326559e+00] [ 1.44774804e-02 9.99881454e-01 -5.24223785e-03 1.32297050e-01] [ 1.38835057e-01 3.18183808e-03 9.90310407e-01 2.23757680e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.91538474999999 meters Centerline goodness [0,1] 0.9517978270004201 Centerline is valid? [True, True] Translation: X:7.55, Y:0.14, Z:0.03 [[ 9.90188650e-01 -1.34309245e-02 -1.39090071e-01 7.55185888e+00] [ 1.28224963e-02 9.99903903e-01 -5.26955988e-03 1.36086725e-01] [ 1.39147480e-01 3.43437646e-03 9.90265714e-01 2.55096508e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.94538474999999 meters Centerline goodness [0,1] 0.9511103151862464 Centerline is valid? [True, True] Translation: X:7.58, Y:0.14, Z:0.03 [[ 9.90067008e-01 -1.24538901e-02 -1.40043639e-01 7.57991681e+00] [ 1.18227763e-02 9.99915862e-01 -5.33763256e-03 1.41502881e-01] [ 1.40098331e-01 3.62890928e-03 9.90130945e-01 2.76682968e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 81.97538474999999 meters Centerline goodness [0,1] 0.9482339525252829 Centerline is valid? [True, False] Translation: X:7.58, Y:0.14, Z:0.03 [[ 9.90063267e-01 -1.20184494e-02 -1.40108118e-01 7.58006132e+00] [ 1.14158753e-02 9.99921812e-01 -5.10370823e-03 1.41950365e-01] [ 1.40158502e-01 3.45353724e-03 9.90123057e-01 2.75620676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.00538474999999 meters Centerline goodness [0,1] 0.9484711719520579 Centerline is valid? [False, False] Translation: X:7.58, Y:0.14, Z:0.03 [[ 9.89891201e-01 -8.59511551e-03 -1.41568125e-01 7.58309306e+00] [ 8.65679576e-03 9.99962513e-01 -1.80177210e-04 1.39964189e-01] [ 1.41564366e-01 -1.04717051e-03 9.89928499e-01 2.98663840e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.03538474999999 meters Centerline goodness [0,1] 0.9468635127461821 Centerline is valid? [False, False] Translation: X:7.58, Y:0.14, Z:0.03 [[ 9.89788532e-01 -8.87658290e-03 -1.42266893e-01 7.58412609e+00] [ 9.03445798e-03 9.99959081e-01 4.63798863e-04 1.39064544e-01] [ 1.42256954e-01 -1.74436706e-03 9.89828226e-01 3.14756060e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.06538474999999 meters Centerline goodness [0,1] 0.9490217196194579 Centerline is valid? [False, False] Translation: X:7.59, Y:0.14, Z:0.03 [[ 9.89676158e-01 -9.07331123e-03 -1.43034182e-01 7.58531397e+00] [ 9.32910253e-03 9.99955858e-01 1.11777221e-03 1.38604052e-01] [ 1.43017726e-01 -2.44061305e-03 9.89717118e-01 3.30494714e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.09538475 meters Centerline goodness [0,1] 0.9482134848258335 Centerline is valid? [False, False] Translation: X:7.59, Y:0.14, Z:0.03 [[ 9.89619576e-01 -8.99641154e-03 -1.43429979e-01 7.58633613e+00] [ 9.29260216e-03 9.99955849e-01 1.39529173e-03 1.38772390e-01] [ 1.43411094e-01 -2.71364574e-03 9.89659484e-01 3.32786624e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.12538475 meters Centerline goodness [0,1] 0.9450740020929885 Centerline is valid? [False, False] Translation: X:7.59, Y:0.14, Z:0.03 [[ 9.89542275e-01 -9.22612563e-03 -1.43947783e-01 7.58792587e+00] [ 9.55301981e-03 9.99953121e-01 1.57990512e-03 1.39141993e-01] [ 1.43926459e-01 -2.93851893e-03 9.89584024e-01 3.33977140e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.15538475 meters Centerline goodness [0,1] 0.9456661966337644 Centerline is valid? [False, False] Translation: X:7.59, Y:0.14, Z:0.04 [[ 9.89326662e-01 -1.06786318e-02 -1.45322821e-01 7.59105474e+00] [ 1.11315485e-02 9.99935388e-01 2.30380761e-03 1.37668385e-01] [ 1.45288830e-01 -3.89688631e-03 9.89381610e-01 3.58293503e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.18538475 meters Centerline goodness [0,1] 0.9446540880503145 Centerline is valid? [False, False] Translation: X:7.59, Y:0.14, Z:0.04 [[ 9.89247625e-01 -1.10742957e-02 -1.45830370e-01 7.59262121e+00] [ 1.15347342e-02 9.99930800e-01 2.31213188e-03 1.38301658e-01] [ 1.45794674e-01 -3.96938554e-03 9.89306907e-01 3.59490406e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.21538475 meters Centerline goodness [0,1] 0.9447338482725586 Centerline is valid? [False, False] Translation: X:7.59, Y:0.14, Z:0.04 [[ 9.89164002e-01 -1.14092406e-02 -1.46370781e-01 7.59418547e+00] [ 1.18647012e-02 9.99927105e-01 2.23901555e-03 1.39671037e-01] [ 1.46334566e-01 -3.95139917e-03 9.89227265e-01 3.60939835e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.24538475 meters Centerline goodness [0,1] 0.9447637865996048 Centerline is valid? [False, False] Translation: X:7.60, Y:0.14, Z:0.04 [[ 9.89071890e-01 -1.15296390e-02 -1.46982526e-01 7.59509216e+00] [ 1.20323398e-02 9.99924404e-01 2.53146889e-03 1.40261299e-01] [ 1.46942228e-01 -4.27234842e-03 9.89135850e-01 3.71751972e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.27538474999999 meters Centerline goodness [0,1] 0.9460632730732635 Centerline is valid? [False, False] Translation: X:7.60, Y:0.14, Z:0.04 [[ 9.88947439e-01 -7.58080231e-03 -1.48072601e-01 7.59562841e+00] [ 8.79169931e-03 9.99933039e-01 7.52491557e-03 1.39200716e-01] [ 1.48005641e-01 -8.74355576e-03 9.88947865e-01 4.09247787e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.30538474999999 meters Centerline goodness [0,1] 0.950511489992587 Centerline is valid? [False, True] Translation: X:7.60, Y:0.14, Z:0.04 [[ 9.88793824e-01 -4.03077692e-03 -1.49233131e-01 7.59777081e+00] [ 5.82255694e-03 9.99916094e-01 1.15716237e-02 1.39165257e-01] [ 1.49173967e-01 -1.23108684e-02 9.88734327e-01 4.25335646e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.33538474999999 meters Centerline goodness [0,1] 0.9458923764162944 Centerline is valid? [True, False] Translation: X:7.60, Y:0.14, Z:0.04 [[ 9.88706305e-01 -1.67162464e-05 -1.49866081e-01 7.59915369e+00] [ 2.24531036e-03 9.99889408e-01 1.47013794e-02 1.41836348e-01] [ 1.49849262e-01 -1.48718423e-02 9.88596999e-01 4.24660268e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.36538474999999 meters Centerline goodness [0,1] 0.9370695515946913 Centerline is valid? [False, False] Translation: X:7.60, Y:0.14, Z:0.04 [[ 9.88681566e-01 5.99907788e-04 -1.50028003e-01 7.59940318e+00] [ 1.58782523e-03 9.99894160e-01 1.44619524e-02 1.44277441e-01] [ 1.50020799e-01 -1.45364840e-02 9.88575971e-01 4.19473162e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.39538474999999 meters Centerline goodness [0,1] 0.9157099343955014 Centerline is valid? [False, False] Translation: X:7.60, Y:0.15, Z:0.04 [[ 9.88531135e-01 4.62100388e-03 -1.50946485e-01 7.60143935e+00] [-1.94022450e-03 9.99837859e-01 1.79022539e-02 1.46775772e-01] [ 1.51004737e-01 -1.74040653e-02 9.88379820e-01 4.23257219e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.42538474999999 meters Centerline goodness [0,1] 0.8953392573412582 Centerline is valid? [False, False] Translation: X:7.60, Y:0.15, Z:0.04 [[ 9.88516508e-01 5.19940137e-03 -1.51023442e-01 7.60109225e+00] [-2.50998577e-03 9.99834960e-01 1.79931067e-02 1.47716840e-01] [ 1.51092070e-01 -1.74074163e-02 9.88366414e-01 4.25030087e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.45538475 meters Centerline goodness [0,1] 0.8623135096960245 Centerline is valid? [False, False] Translation: X:7.60, Y:0.15, Z:0.04 [[ 9.88411514e-01 5.67903462e-03 -1.51691885e-01 7.60130400e+00] [-2.95838205e-03 9.99830807e-01 1.81550574e-02 1.48513294e-01] [ 1.51769323e-01 -1.74959052e-02 9.88261082e-01 4.36653351e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.48538475 meters Centerline goodness [0,1] 0.8523084147808987 Centerline is valid? [False, False] Translation: X:7.60, Y:0.15, Z:0.04 [[ 9.88326684e-01 5.54200207e-03 -1.52248654e-01 7.60237949e+00] [-2.81636556e-03 9.99831991e-01 1.81123554e-02 1.49229050e-01] [ 1.52323454e-01 -1.74721363e-02 9.88176244e-01 4.40843222e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.51538475 meters Centerline goodness [0,1] 0.8487340656758503 Centerline is valid? [False, False] Translation: X:7.60, Y:0.15, Z:0.04 [[ 9.88284135e-01 5.37564068e-03 -1.52530558e-01 7.60308867e+00] [-2.68780970e-03 9.99837557e-01 1.78223157e-02 1.50390850e-01] [ 1.52601587e-01 -1.72035387e-02 9.88138044e-01 4.40508739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.54538475 meters Centerline goodness [0,1] 0.9308608728741621 Centerline is valid? [False, False] Translation: X:7.60, Y:0.15, Z:0.04 [[ 9.88177741e-01 4.94999220e-03 -1.53232665e-01 7.60486866e+00] [-2.27584547e-03 9.99842130e-01 1.76220318e-02 1.51698425e-01] [ 1.53295703e-01 -1.70649658e-02 9.88033003e-01 4.43406574e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.57538475 meters Centerline goodness [0,1] 0.9344800304744044 Centerline is valid? [False, False] Translation: X:7.61, Y:0.15, Z:0.04 [[ 9.88069967e-01 4.06791572e-03 -1.53951914e-01 7.60718165e+00] [-1.45952877e-03 9.99853537e-01 1.70520996e-02 1.52409228e-01] [ 1.53998733e-01 -1.66239703e-02 9.87931189e-01 4.40747430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.60538475 meters Centerline goodness [0,1] 0.9344800304744044 Centerline is valid? [False, False] Translation: X:7.61, Y:0.15, Z:0.04 [[ 9.88069967e-01 4.06791572e-03 -1.53951914e-01 7.60718165e+00] [-1.45952877e-03 9.99853537e-01 1.70520996e-02 1.52409228e-01] [ 1.53998733e-01 -1.66239703e-02 9.87931189e-01 4.40747430e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.63538474999999 meters Centerline goodness [0,1] 0.9378154712994483 Centerline is valid? [False, False] Translation: X:7.61, Y:0.15, Z:0.04 [[ 9.88000370e-01 3.50428928e-03 -1.54411751e-01 7.60839566e+00] [-9.04910521e-04 9.99856756e-01 1.69011449e-02 1.52562831e-01] [ 1.54448859e-01 -1.65586086e-02 9.87862016e-01 4.43463784e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.66538474999999 meters Centerline goodness [0,1] 0.9461229043718253 Centerline is valid? [False, False] Translation: X:7.61, Y:0.15, Z:0.05 [[ 9.87834871e-01 2.52357822e-03 -1.55486010e-01 7.61035396e+00] [ 1.99370026e-04 9.99846941e-01 1.74944140e-02 1.51035524e-01] [ 1.55506360e-01 -1.73125914e-02 9.87683171e-01 4.64630313e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.69538474999999 meters Centerline goodness [0,1] 0.9539785701738978 Centerline is valid? [False, True] Translation: X:7.61, Y:0.15, Z:0.05 [[ 9.87590945e-01 3.18701918e-04 -1.57047841e-01 7.61441300e+00] [ 2.51496638e-03 9.99837615e-01 1.78442962e-02 1.50160921e-01] [ 1.57028026e-01 -1.80178353e-02 9.87429773e-01 4.88636044e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.72538474999999 meters Centerline goodness [0,1] 0.9505278592375367 Centerline is valid? [True, True] Translation: X:7.64, Y:0.16, Z:0.04 [[ 9.87538723e-01 -4.65087795e-03 -1.57307467e-01 7.64420672e+00] [ 3.99750941e-03 9.99982021e-01 -4.46958430e-03 1.59544457e-01] [ 1.57325427e-01 3.78504949e-03 9.87539560e-01 3.72277380e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.75538474999999 meters Centerline goodness [0,1] 0.9377357938759395 Centerline is valid? [True, False] Translation: X:7.65, Y:0.16, Z:0.04 [[ 9.87177422e-01 -4.03509361e-03 -1.59575863e-01 7.65218111e+00] [ 4.05234629e-03 9.99991766e-01 -2.17298631e-04 1.59036670e-01] [ 1.59575426e-01 -4.32144355e-04 9.87185645e-01 3.95714687e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.78538474999999 meters Centerline goodness [0,1] 0.9496533364537928 Centerline is valid? [False, False] Translation: X:7.66, Y:0.16, Z:0.04 [[ 9.87034060e-01 -9.49008170e-04 -1.60508144e-01 7.65501221e+00] [ 1.61710228e-03 9.99990565e-01 4.03179424e-03 1.57609393e-01] [ 1.60502804e-01 -4.23907633e-03 9.87026281e-01 4.07730284e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.81538474999999 meters Centerline goodness [0,1] 0.9478017165878437 Centerline is valid? [False, False] Translation: X:7.66, Y:0.16, Z:0.04 [[ 9.86827747e-01 2.63340417e-03 -1.61753091e-01 7.65747519e+00] [-1.25618382e-03 9.99962092e-01 8.61601649e-03 1.56477349e-01] [ 1.61769648e-01 -8.29933253e-03 9.86793647e-01 4.29805775e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.84538475 meters Centerline goodness [0,1] 0.9487436003060084 Centerline is valid? [False, False] Translation: X:7.66, Y:0.16, Z:0.04 [[ 9.86837036e-01 3.29770627e-03 -1.61684225e-01 7.65660603e+00] [-1.86010461e-03 9.99957390e-01 9.04198066e-03 1.56460849e-01] [ 1.61707154e-01 -8.62221182e-03 9.86801122e-01 4.35958137e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.87538475 meters Centerline goodness [0,1] 0.9508662894667409 Centerline is valid? [False, True] Translation: X:7.66, Y:0.16, Z:0.05 [[ 9.86630138e-01 7.29231791e-03 -1.62812140e-01 7.65866835e+00] [-5.17294760e-03 9.99896333e-01 1.34374251e-02 1.55950489e-01] [ 1.62893251e-01 -1.24155499e-02 9.86565580e-01 4.53419619e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 82.90538475 meters Centerline goodness [0,1] 0.946606044708694 Centerline is valid? [True, False] Translation: X:7.66, Y:0.16, Z:0.05 [[ 0.98640433 0.01095021 -0.16397131 7.66173655] [-0.00823776 0.99981791 0.01721313 0.15594786] [ 0.16412994 -0.01562835 0.98631492 0.04582937] [ 0. 0. 0. 1. ]] SLAMing on 82.93538475 meters Centerline goodness [0,1] 0.9243758749416706 Centerline is valid? [False, False] Translation: X:7.66, Y:0.16, Z:0.04 [[ 0.9863723 0.01070934 -0.16417978 7.66311931] [-0.00806644 0.99982707 0.01675592 0.15699975] [ 0.16433084 -0.01520323 0.98628811 0.04492806] [ 0. 0. 0. 1. ]] SLAMing on 82.96538475 meters Centerline goodness [0,1] 0.9197601287114231 Centerline is valid? [False, False] Translation: X:7.66, Y:0.16, Z:0.04 [[ 0.98629332 0.01052972 -0.16466515 7.66449085] [-0.00790431 0.99983111 0.0165911 0.15779468] [ 0.16481204 -0.01506213 0.98620998 0.044832 ] [ 0. 0. 0. 1. ]] SLAMing on 82.99538475 meters Centerline goodness [0,1] 0.9135014923626148 Centerline is valid? [False, False] Translation: X:7.66, Y:0.16, Z:0.05 [[ 0.98623179 0.01080999 -0.16501515 7.6647618 ] [-0.00814313 0.99982522 0.01682927 0.15810956] [ 0.16516823 -0.01525383 0.98614744 0.04551153] [ 0. 0. 0. 1. ]] SLAMing on 83.02538474999999 meters Centerline goodness [0,1] 0.9465881456740207 Centerline is valid? [False, False] Translation: X:7.66, Y:0.16, Z:0.05 [[ 0.98621346 0.01094103 -0.16511601 7.66453848] [-0.00821346 0.99981846 0.01719285 0.15775535] [ 0.16527414 -0.01559965 0.98612429 0.04639517] [ 0. 0. 0. 1. ]] SLAMing on 83.05538474999999 meters Centerline goodness [0,1] 0.9429168014586948 Centerline is valid? [False, False] Translation: X:7.66, Y:0.16, Z:0.05 [[ 0.98607837 0.01117889 -0.16590503 7.66459249] [-0.00817542 0.9997903 0.01877545 0.15545885] [ 0.16608013 -0.01715772 0.98596298 0.04972204] [ 0. 0. 0. 1. ]] SLAMing on 83.08538474999999 meters Centerline goodness [0,1] 0.9459823651756158 Centerline is valid? [False, False] Translation: X:7.67, Y:0.15, Z:0.05 [[ 9.85949455e-01 1.06021914e-02 -1.66707123e-01 7.66643267e+00] [-7.52257119e-03 9.99789395e-01 1.90938664e-02 1.54813834e-01] [ 1.66874450e-01 -1.75715210e-02 9.85821566e-01 5.07130931e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.11538474999999 meters Centerline goodness [0,1] 0.9506067890015829 Centerline is valid? [False, True] Translation: X:7.67, Y:0.15, Z:0.05 [[ 9.85852765e-01 9.48194996e-03 -1.67345208e-01 7.66907144e+00] [-6.33789946e-03 9.99793419e-01 1.93119092e-02 1.52957612e-01] [ 1.67493753e-01 -1.79780820e-02 9.85709202e-01 5.09828562e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.14538474999999 meters Centerline goodness [0,1] 0.948297086581863 Centerline is valid? [True, False] Translation: X:7.67, Y:0.15, Z:0.05 [[ 9.85719317e-01 8.63321941e-03 -1.68175191e-01 7.67167047e+00] [-5.44537339e-03 9.99796828e-01 1.94074740e-02 1.51849710e-01] [ 1.68308572e-01 -1.82145453e-02 9.85566058e-01 5.12768436e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.17538474999999 meters Centerline goodness [0,1] 0.9475471256293174 Centerline is valid? [False, False] Translation: X:7.68, Y:0.15, Z:0.05 [[ 9.85533796e-01 7.69311254e-03 -1.69304319e-01 7.67515261e+00] [-4.44233347e-03 9.99798596e-01 1.95712276e-02 1.49435917e-01] [ 1.69420784e-01 -1.85360000e-02 9.85369481e-01 5.15417746e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.20538475 meters Centerline goodness [0,1] 0.9504757402044797 Centerline is valid? [False, True] Translation: X:7.68, Y:0.15, Z:0.05 [[ 9.85495070e-01 7.69365274e-03 -1.69529567e-01 7.67611466e+00] [-4.40844516e-03 9.99795304e-01 1.97462718e-02 1.48289034e-01] [ 1.69646786e-01 -1.87124918e-02 9.85327261e-01 5.13033681e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.23538475 meters Centerline goodness [0,1] 0.9461259615101235 Centerline is valid? [True, False] Translation: X:7.68, Y:0.15, Z:0.05 [[ 9.85377339e-01 8.21258586e-03 -1.70188286e-01 7.67744935e+00] [-4.75788045e-03 9.99774468e-01 2.06972299e-02 1.45457460e-01] [ 1.70319881e-01 -1.95848458e-02 9.85194180e-01 5.19706112e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.26538475 meters Centerline goodness [0,1] 0.9441418506897165 Centerline is valid? [False, False] Translation: X:7.68, Y:0.14, Z:0.05 [[ 9.85315999e-01 7.97832742e-03 -1.70554183e-01 7.67883006e+00] [-4.52489138e-03 9.99776992e-01 2.06274643e-02 1.44372077e-01] [ 1.70680720e-01 -1.95528314e-02 9.85132366e-01 5.16139277e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.29538475 meters Centerline goodness [0,1] 0.9450872196511214 Centerline is valid? [False, False] Translation: X:7.68, Y:0.14, Z:0.05 [[ 9.85235322e-01 8.16381783e-03 -1.71010855e-01 7.68140161e+00] [-4.67657318e-03 9.99773033e-01 2.07848785e-02 1.42681438e-01] [ 1.71141725e-01 -1.96782516e-02 9.85049885e-01 5.02050414e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.32538475 meters Centerline goodness [0,1] 0.9428605546765382 Centerline is valid? [False, False] Translation: X:7.68, Y:0.14, Z:0.05 [[ 9.85218290e-01 8.60404667e-03 -1.71087379e-01 7.68198085e+00] [-5.08725609e-03 9.99766883e-01 2.09833314e-02 1.41560743e-01] [ 1.71228037e-01 -1.98027965e-02 9.85032390e-01 4.95266175e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.35538475 meters Centerline goodness [0,1] 0.9320689449513926 Centerline is valid? [False, False] Translation: X:7.68, Y:0.14, Z:0.05 [[ 0.98501969 0.01188669 -0.17203173 7.68467027] [-0.00774479 0.99966423 0.02472757 0.13699772] [ 0.17226789 -0.02302479 0.98478101 0.05009019] [ 0. 0. 0. 1. ]] SLAMing on 83.38538474999999 meters Centerline goodness [0,1] 0.9374082836692522 Centerline is valid? [False, False] Translation: X:7.69, Y:0.13, Z:0.05 [[ 9.84854556e-01 1.11430535e-02 -1.73024093e-01 7.68683536e+00] [-6.78385362e-03 9.99645006e-01 2.57651320e-02 1.33427898e-01] [ 1.73249773e-01 -2.42011375e-02 9.84580531e-01 5.21272577e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.41538474999999 meters Centerline goodness [0,1] 0.9454709328526363 Centerline is valid? [False, False] Translation: X:7.69, Y:0.13, Z:0.06 [[ 9.84737331e-01 1.09802533e-02 -1.73700382e-01 7.68762845e+00] [-5.64949835e-03 9.99498627e-01 3.11540833e-02 1.25565077e-01] [ 1.73955373e-01 -2.96972688e-02 9.84305644e-01 6.05884512e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.44538474999999 meters Centerline goodness [0,1] 0.9473668353820197 Centerline is valid? [False, False] Translation: X:7.69, Y:0.12, Z:0.06 [[ 9.84659715e-01 1.05651461e-02 -1.74165503e-01 7.68938206e+00] [-5.15034235e-03 9.99490082e-01 3.15126934e-02 1.23922137e-01] [ 1.74409629e-01 -3.01322678e-02 9.84212034e-01 6.07450287e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.47538474999999 meters Centerline goodness [0,1] 0.9497708579926554 Centerline is valid? [False, False] Translation: X:7.69, Y:0.12, Z:0.06 [[ 9.84609590e-01 4.73614725e-03 -1.74704103e-01 7.69191063e+00] [ 2.35008974e-04 9.99595956e-01 2.84230629e-02 1.18757707e-01] [ 1.74768131e-01 -2.80266774e-02 9.84210651e-01 6.16880525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.50538474999999 meters Centerline goodness [0,1] 0.9490778719654848 Centerline is valid? [False, False] Translation: X:7.69, Y:0.12, Z:0.06 [[ 9.84505755e-01 4.11428025e-03 -1.75303998e-01 7.69412693e+00] [ 9.19414331e-04 9.99589849e-01 2.86232005e-02 1.16970157e-01] [ 1.75349860e-01 -2.83408826e-02 9.84098176e-01 6.17340676e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.53538474999999 meters Centerline goodness [0,1] 0.9478723729695004 Centerline is valid? [False, False] Translation: X:7.70, Y:0.11, Z:0.06 [[ 9.84491724e-01 -6.57032283e-04 -1.75429797e-01 7.69620970e+00] [ 5.08474455e-03 9.99679726e-01 2.47909258e-02 1.14872954e-01] [ 1.75357323e-01 -2.52984770e-02 9.84179758e-01 6.03437621e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.56538474999999 meters Centerline goodness [0,1] 0.9467958316780246 Centerline is valid? [False, False] Translation: X:7.70, Y:0.11, Z:0.06 [[ 9.84339300e-01 -1.19516009e-03 -1.76280217e-01 7.69867395e+00] [ 5.73177900e-03 9.99665283e-01 2.52283288e-02 1.12701152e-01] [ 1.76191061e-01 -2.58436347e-02 9.84016675e-01 6.09317474e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.59538475 meters Centerline goodness [0,1] 0.9467038068709378 Centerline is valid? [False, False] Translation: X:7.70, Y:0.11, Z:0.06 [[ 9.84213069e-01 -5.86028798e-03 -1.76890619e-01 7.70035828e+00] [ 9.88668766e-03 9.99711515e-01 2.18892888e-02 1.08329238e-01] [ 1.76711311e-01 -2.32925864e-02 9.83987077e-01 6.12340271e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.62538475 meters Centerline goodness [0,1] 0.9431022734312086 Centerline is valid? [False, False] Translation: X:7.70, Y:0.11, Z:0.06 [[ 9.84105565e-01 -6.50509751e-03 -1.77465266e-01 7.70272200e+00] [ 1.05388306e-02 9.99706879e-01 2.17965530e-02 1.07590144e-01] [ 1.77271459e-01 -2.33203855e-02 9.83885659e-01 6.08986295e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.65538475 meters Centerline goodness [0,1] 0.944461662431042 Centerline is valid? [False, False] Translation: X:7.71, Y:0.11, Z:0.06 [[ 9.83965527e-01 -6.98625127e-03 -1.78221865e-01 7.70524342e+00] [ 1.10958878e-02 9.99694790e-01 2.20727805e-02 1.06053887e-01] [ 1.78013264e-01 -2.36963849e-02 9.83742730e-01 6.10931536e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.68538475 meters Centerline goodness [0,1] 0.9421072226358898 Centerline is valid? [False, False] Translation: X:7.71, Y:0.10, Z:0.06 [[ 0.98374573 -0.00819814 -0.17937984 7.70887441] [ 0.01239141 0.99967523 0.0222685 0.10374405] [ 0.17913902 -0.02412931 0.98352783 0.06184145] [ 0. 0. 0. 1. ]] SLAMing on 83.71538475 meters Centerline goodness [0,1] 0.9401273885350319 Centerline is valid? [False, False] Translation: X:7.71, Y:0.10, Z:0.06 [[ 0.98360287 -0.0093382 -0.18010605 7.7119013 ] [ 0.01348663 0.99967089 0.02182246 0.10382858] [ 0.179843 -0.02389366 0.9834051 0.06140797] [ 0. 0. 0. 1. ]] SLAMing on 83.74538475 meters Centerline goodness [0,1] 0.93790546802595 Centerline is valid? [False, False] Translation: X:7.72, Y:0.10, Z:0.06 [[ 9.83295335e-01 -7.65649201e-03 -1.81856159e-01 7.71872839e+00] [ 1.24170878e-02 9.99608988e-01 2.50536814e-02 1.03260753e-01] [ 1.81593228e-01 -2.68932919e-02 9.83005926e-01 6.15225257e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.77538474999999 meters Centerline goodness [0,1] 0.9383996285404737 Centerline is valid? [False, False] Translation: X:7.72, Y:0.10, Z:0.06 [[ 0.98319154 -0.00797471 -0.18240284 7.72011025] [ 0.01274354 0.99960654 0.02498736 0.10297961] [ 0.18213181 -0.02689182 0.98290632 0.06173522] [ 0. 0. 0. 1. ]] SLAMing on 83.80538474999999 meters Centerline goodness [0,1] 0.940298969391229 Centerline is valid? [False, False] Translation: X:7.72, Y:0.10, Z:0.06 [[ 0.98308914 -0.00828257 -0.18294025 7.7216617 ] [ 0.01302957 0.99960847 0.02476163 0.10367524] [ 0.18266353 -0.02672652 0.98281215 0.0616661 ] [ 0. 0. 0. 1. ]] SLAMing on 83.83538474999999 meters Centerline goodness [0,1] 0.9423818782211524 Centerline is valid? [False, False] Translation: X:7.74, Y:0.11, Z:0.06 [[ 9.83827532e-01 -7.57294936e-03 -1.78958202e-01 7.74027400e+00] [ 1.12308857e-02 9.99748025e-01 1.94358980e-02 1.06105472e-01] [ 1.78765922e-01 -2.11314307e-02 9.83664683e-01 6.20073854e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.86538474999999 meters Centerline goodness [0,1] 0.9424171202375062 Centerline is valid? [False, False] Translation: X:7.74, Y:0.11, Z:0.06 [[ 0.98371236 -0.00794841 -0.17957397 7.74189008] [ 0.01158186 0.99974869 0.01919435 0.10671297] [ 0.17937628 -0.02096152 0.9835572 0.06211687] [ 0. 0. 0. 1. ]] SLAMing on 83.89538474999999 meters Centerline goodness [0,1] 0.9423456790123457 Centerline is valid? [False, False] Translation: X:7.74, Y:0.11, Z:0.06 [[ 9.83586415e-01 -7.71559416e-03 -1.80272664e-01 7.74323015e+00] [ 1.13287238e-02 9.99754889e-01 1.90216074e-02 1.08360375e-01] [ 1.80081714e-01 -2.07516539e-02 9.83432735e-01 6.22124770e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.92538474999999 meters Centerline goodness [0,1] 0.9438063860578255 Centerline is valid? [False, False] Translation: X:7.75, Y:0.11, Z:0.06 [[ 9.83394641e-01 -4.26646259e-03 -1.81429813e-01 7.74613910e+00] [ 8.62115559e-03 9.99693201e-01 2.32202442e-02 1.07839424e-01] [ 1.81275082e-01 -2.43987984e-02 9.83129718e-01 6.36783701e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.95538475 meters Centerline goodness [0,1] 0.9430118776540095 Centerline is valid? [False, False] Translation: X:7.75, Y:0.11, Z:0.06 [[ 9.83341125e-01 -3.71513106e-03 -1.81731753e-01 7.74649595e+00] [ 8.02681933e-03 9.99703337e-01 2.29958308e-02 1.10340608e-01] [ 1.81592407e-01 -2.40714741e-02 9.83079225e-01 6.35375093e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 83.98538475 meters Centerline goodness [0,1] 0.9442789126094302 Centerline is valid? [False, False] Translation: X:7.75, Y:0.11, Z:0.06 [[ 9.83223160e-01 -3.87356764e-03 -1.82365602e-01 7.74780358e+00] [ 8.17437018e-03 9.99705767e-01 2.28376521e-02 1.11393435e-01] [ 1.82223481e-01 -2.39452324e-02 9.82965528e-01 6.38790553e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.01538475 meters Centerline goodness [0,1] 0.9421779141104294 Centerline is valid? [False, False] Translation: X:7.75, Y:0.11, Z:0.06 [[ 9.83123931e-01 -3.82928337e-03 -1.82900717e-01 7.74862012e+00] [ 8.14241410e-03 9.99706050e-01 2.28366760e-02 1.12494304e-01] [ 1.82759505e-01 -2.39405360e-02 9.82866122e-01 6.44590666e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.04538475 meters Centerline goodness [0,1] 0.9439106487148102 Centerline is valid? [False, False] Translation: X:7.75, Y:0.11, Z:0.07 [[ 9.82909550e-01 3.40811451e-04 -1.84088840e-01 7.75044035e+00] [ 4.72546399e-03 9.99622062e-01 2.70814153e-02 1.13144784e-01] [ 1.84028495e-01 -2.74884869e-02 9.82536460e-01 6.65162027e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.07538475 meters Centerline goodness [0,1] 0.9455603986954004 Centerline is valid? [False, False] Translation: X:7.75, Y:0.11, Z:0.07 [[ 9.82783760e-01 6.63746158e-04 -1.84758332e-01 7.75136486e+00] [ 4.35369447e-03 9.99632680e-01 2.67497683e-02 1.14864593e-01] [ 1.84708222e-01 -2.70936192e-02 9.82419874e-01 6.67153368e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.10538475 meters Centerline goodness [0,1] 0.945865720056307 Centerline is valid? [False, False] Translation: X:7.75, Y:0.11, Z:0.07 [[ 9.82650882e-01 1.43096231e-04 -1.85464885e-01 7.75268896e+00] [ 4.90500188e-03 9.99629867e-01 2.67595006e-02 1.14476684e-01] [ 1.85400067e-01 -2.72049524e-02 9.82286468e-01 6.77077956e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.13538474999999 meters Centerline goodness [0,1] 0.946593955642213 Centerline is valid? [False, False] Translation: X:7.76, Y:0.12, Z:0.07 [[ 9.82400777e-01 3.15837771e-03 -1.86758503e-01 7.75723102e+00] [ 2.43781942e-03 9.99555063e-01 2.97276325e-02 1.15983792e-01] [ 1.86769298e-01 -2.96597327e-02 9.81955971e-01 6.71851153e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.16538474999999 meters Centerline goodness [0,1] 0.9458186459219643 Centerline is valid? [False, False] Translation: X:7.76, Y:0.12, Z:0.07 [[ 9.82312945e-01 3.11318271e-03 -1.87220687e-01 7.75898915e+00] [ 2.40687691e-03 9.99569238e-01 2.92496951e-02 1.18048701e-01] [ 1.87231099e-01 -2.91829713e-02 9.81882309e-01 6.63096751e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.19538474999999 meters Centerline goodness [0,1] 0.9455096168408299 Centerline is valid? [False, False] Translation: X:7.76, Y:0.12, Z:0.07 [[ 9.82138775e-01 3.25719439e-03 -1.88129786e-01 7.76061869e+00] [ 2.25917218e-03 9.99573945e-01 2.91002682e-02 1.19409245e-01] [ 1.88144417e-01 -2.90055194e-02 9.81712971e-01 6.66811525e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.22538474999999 meters Centerline goodness [0,1] 0.9467779491366537 Centerline is valid? [False, False] Translation: X:7.77, Y:0.12, Z:0.06 [[ 9.84064200e-01 -2.15231900e-03 -1.77800501e-01 7.76977181e+00] [ 6.74802948e-03 9.99658471e-01 2.52468934e-02 1.22704438e-01] [ 1.77685438e-01 -2.60443670e-02 9.83742637e-01 5.99783283e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.25538474999999 meters Centerline goodness [0,1] 0.9459123689473365 Centerline is valid? [False, False] Translation: X:7.77, Y:0.12, Z:0.06 [[ 9.83926210e-01 -2.17638404e-03 -1.78562247e-01 7.77094165e+00] [ 6.77811147e-03 9.99660333e-01 2.51649876e-02 1.23029720e-01] [ 1.78446827e-01 -2.59708057e-02 9.83606754e-01 6.06663767e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.28538474999999 meters Centerline goodness [0,1] 0.9479950442691808 Centerline is valid? [False, False] Translation: X:7.77, Y:0.12, Z:0.06 [[ 9.83817457e-01 -2.28424074e-03 -1.79159131e-01 7.77258668e+00] [ 6.89026045e-03 9.99661424e-01 2.50910525e-02 1.23628345e-01] [ 1.79041158e-01 -2.59194685e-02 9.83500099e-01 6.06798599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.31538474999999 meters Centerline goodness [0,1] 0.9471130519165454 Centerline is valid? [False, False] Translation: X:7.77, Y:0.12, Z:0.06 [[ 9.83819413e-01 -1.62929447e-03 -1.79155543e-01 7.77225565e+00] [ 6.20581687e-03 9.99668501e-01 2.49874979e-02 1.24942235e-01] [ 1.79055441e-01 -2.56949920e-02 9.83503389e-01 6.04474176e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.34538475 meters Centerline goodness [0,1] 0.9467432371165181 Centerline is valid? [False, False] Translation: X:7.77, Y:0.13, Z:0.06 [[ 9.83728785e-01 -1.70250060e-03 -1.79651828e-01 7.77315271e+00] [ 6.32169231e-03 9.99663888e-01 2.51425347e-02 1.25435131e-01] [ 1.79548640e-01 -2.58691387e-02 9.83408905e-01 6.11561016e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.37538475 meters Centerline goodness [0,1] 0.9490947495473747 Centerline is valid? [False, False] Translation: X:7.77, Y:0.13, Z:0.06 [[ 9.83684361e-01 -1.07738813e-03 -1.79899743e-01 7.77309156e+00] [ 5.71551930e-03 9.99664440e-01 2.52654076e-02 1.25933991e-01] [ 1.79812155e-01 -2.58814068e-02 9.83360433e-01 6.15059506e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.40538475 meters Centerline goodness [0,1] 0.9505907950802333 Centerline is valid? [False, True] Translation: X:7.77, Y:0.13, Z:0.06 [[ 9.83601562e-01 -1.57417822e-03 -1.80348243e-01 7.77442306e+00] [ 6.21834944e-03 9.99663375e-01 2.51886563e-02 1.25836178e-01] [ 1.80247882e-01 -2.58970700e-02 9.83280246e-01 6.17500160e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.43538475 meters Centerline goodness [0,1] 0.950425698931224 Centerline is valid? [True, True] Translation: X:7.81, Y:0.14, Z:0.05 [[ 9.83606020e-01 -1.12250434e-02 -1.79981097e-01 7.80563813e+00] [ 1.06252114e-02 9.99934320e-01 -4.29647516e-03 1.35051352e-01] [ 1.80017504e-01 2.31370163e-03 9.83660686e-01 4.58058807e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.46538475 meters Centerline goodness [0,1] 0.9470659043033404 Centerline is valid? [True, False] Translation: X:7.81, Y:0.14, Z:0.05 [[ 9.83327320e-01 -7.34180714e-03 -1.81696121e-01 7.81400718e+00] [ 7.81082218e-03 9.99967754e-01 1.86588701e-03 1.35136688e-01] [ 1.81676563e-01 -3.25397377e-03 9.83352957e-01 4.61788445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.49538474999999 meters Centerline goodness [0,1] 0.9470659043033404 Centerline is valid? [False, False] Translation: X:7.81, Y:0.14, Z:0.05 [[ 9.83327320e-01 -7.34180714e-03 -1.81696121e-01 7.81400718e+00] [ 7.81082218e-03 9.99967754e-01 1.86588701e-03 1.35136688e-01] [ 1.81676563e-01 -3.25397377e-03 9.83352957e-01 4.61788445e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.52538474999999 meters Centerline goodness [0,1] 0.9464264300275812 Centerline is valid? [False, False] Translation: X:7.82, Y:0.13, Z:0.05 [[ 9.83115345e-01 -3.33859547e-03 -1.82956475e-01 7.81663590e+00] [ 4.61923300e-03 9.99967722e-01 6.57397420e-03 1.34131397e-01] [ 1.82928621e-01 -7.30809350e-03 9.83099034e-01 4.80010021e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.55538474999999 meters Centerline goodness [0,1] 0.9469626518674066 Centerline is valid? [False, False] Translation: X:7.82, Y:0.13, Z:0.05 [[ 9.82910751e-01 1.04443233e-04 -1.84082713e-01 7.81944353e+00] [ 1.95529739e-03 9.99937502e-01 1.10076579e-02 1.32608777e-01] [ 1.84072358e-01 -1.11794818e-02 9.82849117e-01 4.97574571e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.58538474999999 meters Centerline goodness [0,1] 0.9473542035597443 Centerline is valid? [False, False] Translation: X:7.82, Y:0.13, Z:0.05 [[ 9.82624587e-01 4.03698242e-03 -1.85560299e-01 7.82248982e+00] [-1.27218949e-03 9.99886439e-01 1.50163549e-02 1.31929762e-01] [ 1.85599847e-01 -1.45193717e-02 9.82518134e-01 5.11483498e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.61538474999999 meters Centerline goodness [0,1] 0.9446241389637616 Centerline is valid? [False, False] Translation: X:7.83, Y:0.13, Z:0.05 [[ 9.82341930e-01 7.62283149e-03 -1.86939095e-01 7.82551844e+00] [-4.05731518e-03 9.99802631e-01 1.94483458e-02 1.30798175e-01] [ 1.87050450e-01 -1.83464547e-02 9.82178974e-01 5.31712187e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.64538474999999 meters Centerline goodness [0,1] 0.942282963007267 Centerline is valid? [False, False] Translation: X:7.83, Y:0.13, Z:0.05 [[ 9.82240546e-01 8.74777935e-03 -1.87421947e-01 7.82591730e+00] [-5.06750248e-03 9.99785002e-01 2.01064617e-02 1.31458031e-01] [ 1.87557538e-01 -1.87996207e-02 9.82073696e-01 5.36952527e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.67538474999999 meters Centerline goodness [0,1] 0.946785980611484 Centerline is valid? [False, False] Translation: X:7.83, Y:0.13, Z:0.05 [[ 9.82143550e-01 8.51874388e-03 -1.87940092e-01 7.82738920e+00] [-4.75957567e-03 9.99779667e-01 2.04441763e-02 1.31437091e-01] [ 1.88072841e-01 -1.91846008e-02 9.81967697e-01 5.42323798e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.70538475 meters Centerline goodness [0,1] 0.9479275461788667 Centerline is valid? [False, False] Translation: X:7.83, Y:0.13, Z:0.05 [[ 9.82081857e-01 9.13417001e-03 -1.88233348e-01 7.82750646e+00] [-5.26222753e-03 9.99764378e-01 2.10593907e-02 1.30992837e-01] [ 1.88381356e-01 -1.96915188e-02 9.81898523e-01 5.49965433e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.73538475 meters Centerline goodness [0,1] 0.947792957704557 Centerline is valid? [False, False] Translation: X:7.83, Y:0.13, Z:0.06 [[ 9.81967632e-01 9.22661916e-03 -1.88823829e-01 7.82851444e+00] [-5.26839218e-03 9.99755961e-01 2.14537377e-02 1.30670110e-01] [ 1.88975694e-01 -2.00720781e-02 9.81776603e-01 5.58538961e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.76538475 meters Centerline goodness [0,1] 0.9524634219169902 Centerline is valid? [False, True] Translation: X:7.83, Y:0.13, Z:0.06 [[ 9.81644025e-01 8.27273236e-03 -1.90542831e-01 7.83113948e+00] [-3.80881626e-03 9.99709920e-01 2.37816918e-02 1.26356473e-01] [ 1.90684298e-01 -2.26194131e-02 9.81390779e-01 6.12180298e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.79538475 meters Centerline goodness [0,1] 0.9520512897691359 Centerline is valid? [True, True] Translation: X:7.86, Y:0.13, Z:0.05 [[ 9.82123675e-01 -5.85154939e-03 -1.88145809e-01 7.86337737e+00] [ 5.33582372e-03 9.99980491e-01 -3.24746232e-03 1.27387868e-01] [ 1.88161142e-01 2.18549675e-03 9.82135738e-01 5.26094778e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.82538475 meters Centerline goodness [0,1] 0.9503434976497529 Centerline is valid? [True, True] Translation: X:7.89, Y:0.13, Z:0.06 [[ 9.81897079e-01 -9.18488265e-03 -1.89192399e-01 7.89231147e+00] [ 8.72323124e-03 9.99956596e-01 -3.27269338e-03 1.26700924e-01] [ 1.89214246e-01 1.56307903e-03 9.81934583e-01 5.51927130e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.85538475 meters Centerline goodness [0,1] 0.9477096589367028 Centerline is valid? [True, False] Translation: X:7.90, Y:0.13, Z:0.05 [[ 9.81624796e-01 -7.42366556e-03 -1.90676819e-01 7.89862530e+00] [ 7.56836515e-03 9.99971359e-01 3.06380040e-05 1.26290582e-01] [ 1.90671130e-01 -1.47318681e-03 9.81652866e-01 5.49674828e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.88538474999999 meters Centerline goodness [0,1] 0.944344109325146 Centerline is valid? [False, False] Translation: X:7.91, Y:0.13, Z:0.06 [[ 9.81189681e-01 -5.49377184e-03 -1.92967944e-01 7.90690371e+00] [ 6.40632618e-03 9.99971052e-01 4.10538825e-03 1.25706265e-01] [ 1.92939804e-01 -5.26438018e-03 9.81196473e-01 5.55665783e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.91538474999999 meters Centerline goodness [0,1] 0.9432981950325855 Centerline is valid? [False, False] Translation: X:7.91, Y:0.12, Z:0.06 [[ 9.80903423e-01 -2.00853895e-03 -1.94485065e-01 7.91054280e+00] [ 3.90184200e-03 9.99948653e-01 9.35236008e-03 1.23275283e-01] [ 1.94456294e-01 -9.93261201e-03 9.80860894e-01 5.82233161e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.94538474999999 meters Centerline goodness [0,1] 0.9440875780331132 Centerline is valid? [False, False] Translation: X:7.91, Y:0.12, Z:0.06 [[ 9.80535428e-01 -2.24704058e-03 -1.96329379e-01 7.91265137e+00] [ 4.71010406e-03 9.99915946e-01 1.20795584e-02 1.19429073e-01] [ 1.96285733e-01 -1.27691668e-02 9.80463594e-01 6.38633599e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 84.97538474999999 meters Centerline goodness [0,1] 0.9453635897899527 Centerline is valid? [False, False] Translation: X:7.91, Y:0.12, Z:0.07 [[ 9.80368694e-01 -1.54931727e-03 -1.97166995e-01 7.91261091e+00] [ 4.29516688e-03 9.99899650e-01 1.34996496e-02 1.17771916e-01] [ 1.97126295e-01 -1.40814990e-02 9.80276969e-01 6.67980843e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.00538474999999 meters Centerline goodness [0,1] 0.9475666716890161 Centerline is valid? [False, False] Translation: X:7.92, Y:0.12, Z:0.07 [[ 9.80105773e-01 2.12809965e-03 -1.98464468e-01 7.91546862e+00] [ 1.44790830e-03 9.99839243e-01 1.78715156e-02 1.16694046e-01] [ 1.98470595e-01 -1.78033339e-02 9.79945133e-01 6.85633640e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.03538474999999 meters Centerline goodness [0,1] 0.9475816130580893 Centerline is valid? [False, False] Translation: X:7.92, Y:0.12, Z:0.07 [[ 9.79824740e-01 5.97302054e-03 -1.99769372e-01 7.91912546e+00] [-1.66229478e-03 9.99762292e-01 2.17392842e-02 1.17126989e-01] [ 1.99851735e-01 -2.09686129e-02 9.79601757e-01 6.91269911e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.06538474999999 meters Centerline goodness [0,1] 0.9443627524532605 Centerline is valid? [False, False] Translation: X:7.92, Y:0.12, Z:0.07 [[ 9.79741558e-01 5.78216529e-03 -2.00182534e-01 7.92049751e+00] [-1.45205513e-03 9.99761932e-01 2.17708803e-02 1.17131886e-01] [ 2.00260760e-01 -2.10391601e-02 9.79516708e-01 6.91557367e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.09538475 meters Centerline goodness [0,1] 0.9461126246145556 Centerline is valid? [False, False] Translation: X:7.92, Y:0.12, Z:0.07 [[ 9.79577549e-01 5.49371029e-03 -2.00991653e-01 7.92239721e+00] [-1.11363749e-03 9.99759570e-01 2.18988952e-02 1.17146670e-01] [ 2.01063635e-01 -2.12278342e-02 9.79348147e-01 6.97527270e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.12538475 meters Centerline goodness [0,1] 0.9468746265089041 Centerline is valid? [False, False] Translation: X:7.93, Y:0.12, Z:0.07 [[ 9.79249192e-01 8.77120449e-03 -2.02469965e-01 7.92636919e+00] [-3.53600244e-03 9.99650364e-01 2.62039371e-02 1.15670568e-01] [ 2.02629014e-01 -2.49442499e-02 9.78937826e-01 7.14544293e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.15538475 meters Centerline goodness [0,1] 0.9470121660305344 Centerline is valid? [False, False] Translation: X:7.93, Y:0.12, Z:0.07 [[ 9.79113849e-01 8.52940134e-03 -2.03133748e-01 7.92820707e+00] [-3.28187678e-03 9.99652494e-01 2.61557047e-02 1.16282309e-01] [ 2.03286250e-01 -2.49427528e-02 9.78801594e-01 7.15987979e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.18538475 meters Centerline goodness [0,1] 0.9493772719146654 Centerline is valid? [False, False] Translation: X:7.93, Y:0.12, Z:0.07 [[ 9.78971643e-01 9.25374979e-03 -2.03786382e-01 7.92879261e+00] [-3.93599627e-03 9.99641472e-01 2.64846123e-02 1.16733695e-01] [ 2.03958401e-01 -2.51255820e-02 9.78657078e-01 7.24056387e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.21538475 meters Centerline goodness [0,1] 0.9485023178414359 Centerline is valid? [False, False] Translation: X:7.93, Y:0.12, Z:0.07 [[ 9.78662611e-01 1.33734954e-02 -2.05038149e-01 7.93130208e+00] [-7.20643657e-03 9.99499745e-01 3.07949287e-02 1.16809137e-01] [ 2.05347413e-01 -2.86602509e-02 9.78269406e-01 7.42068258e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.24538474999999 meters Centerline goodness [0,1] 0.9487704310165821 Centerline is valid? [False, False] Translation: X:7.93, Y:0.12, Z:0.07 [[ 9.78552543e-01 1.33275240e-02 -2.05565798e-01 7.93253401e+00] [-7.18487543e-03 9.99505909e-01 3.05992578e-02 1.18141535e-01] [ 2.05872043e-01 -2.84660169e-02 9.78164806e-01 7.42731464e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.27538474999999 meters Centerline goodness [0,1] 0.9501068502908703 Centerline is valid? [False, True] Translation: X:7.93, Y:0.12, Z:0.07 [[ 0.97846601 0.01430647 -0.20591161 7.9325529 ] [-0.00824755 0.99950824 0.0302532 0.12059824] [ 0.20624316 -0.02790346 0.97810283 0.07391134] [ 0. 0. 0. 1. ]] SLAMing on 85.30538474999999 meters Centerline goodness [0,1] 0.9513971110584892 Centerline is valid? [True, True] Translation: X:7.96, Y:0.14, Z:0.06 [[ 9.78626979e-01 9.53234816e-03 -2.05422422e-01 7.96493306e+00] [-1.03444349e-02 9.99942348e-01 -2.87964880e-03 1.35952090e-01] [ 2.05383129e-01 4.94308086e-03 9.78669166e-01 5.91632739e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.33538474999999 meters Centerline goodness [0,1] 0.9511166179897926 Centerline is valid? [True, True] Translation: X:7.99, Y:0.14, Z:0.06 [[ 9.78529933e-01 1.10316796e-02 -2.05809311e-01 7.99342364e+00] [-1.18908461e-02 9.99924985e-01 -2.93814082e-03 1.38667723e-01] [ 2.05761459e-01 5.32230558e-03 9.78587704e-01 6.44717129e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.36538474999999 meters Centerline goodness [0,1] 0.9478735971647962 Centerline is valid? [True, False] Translation: X:8.00, Y:0.14, Z:0.07 [[ 9.78113945e-01 1.53932209e-02 -2.07499781e-01 7.99609269e+00] [-1.51016838e-02 9.99881495e-01 2.98905944e-03 1.35623515e-01] [ 2.07521203e-01 2.09955359e-04 9.78230498e-01 6.85072167e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.39538474999999 meters Centerline goodness [0,1] 0.9474870942858838 Centerline is valid? [False, False] Translation: X:8.00, Y:0.13, Z:0.07 [[ 9.77981128e-01 1.61515064e-02 -2.08067396e-01 7.99583777e+00] [-1.55023966e-02 9.99868548e-01 4.75005661e-03 1.32236997e-01] [ 2.08116765e-01 -1.41992244e-03 9.78102958e-01 7.10307138e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.42538474999999 meters Centerline goodness [0,1] 0.9481161393435344 Centerline is valid? [False, False] Translation: X:8.00, Y:0.13, Z:0.08 [[ 9.77609008e-01 1.89360210e-02 -2.09575894e-01 7.99996440e+00] [-1.70013321e-02 9.99794633e-01 1.10293068e-02 1.28905392e-01] [ 2.09741705e-01 -7.21928028e-03 9.77730177e-01 7.60057089e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.45538475 meters Centerline goodness [0,1] 0.9505648038049941 Centerline is valid? [False, True] Translation: X:8.00, Y:0.13, Z:0.08 [[ 0.97739055 0.01805325 -0.21066987 8.00283486] [-0.0158858 0.99980209 0.01197629 0.12665204] [ 0.21084438 -0.00835886 0.9774839 0.07781513] [ 0. 0. 0. 1. ]] SLAMing on 85.48538475 meters Centerline goodness [0,1] 0.952342704149933 Centerline is valid? [True, True] Translation: X:8.03, Y:0.13, Z:0.07 [[ 9.77533854e-01 1.47142810e-02 -2.10264248e-01 8.03339680e+00] [-1.54442567e-02 9.99879056e-01 -1.82999420e-03 1.31458147e-01] [ 2.10211890e-01 5.03625630e-03 9.77642878e-01 7.48428076e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.51538475 meters Centerline goodness [0,1] 0.9509283027878933 Centerline is valid? [True, True] Translation: X:8.06, Y:0.13, Z:0.08 [[ 9.77440989e-01 1.33652216e-02 -2.10785399e-01 8.06111920e+00] [-1.40778726e-02 9.99899133e-01 -1.88066265e-03 1.30356923e-01] [ 2.10739003e-01 4.80564675e-03 9.77530551e-01 7.86779753e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.54538475 meters Centerline goodness [0,1] 0.9526422521770249 Centerline is valid? [True, True] Translation: X:8.09, Y:0.13, Z:0.09 [[ 9.77904324e-01 9.97154049e-03 -2.08814993e-01 8.08865312e+00] [-1.05978862e-02 9.99942072e-01 -1.88087961e-03 1.25048902e-01] [ 2.08784142e-01 4.05231783e-03 9.77953353e-01 8.72831328e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.57538475 meters Centerline goodness [0,1] 0.9512626186981398 Centerline is valid? [True, True] Translation: X:8.12, Y:0.12, Z:0.09 [[ 9.77556326e-01 6.68728036e-03 -2.10568063e-01 8.11612207e+00] [-7.25254472e-03 9.99971871e-01 -1.91234468e-03 1.22851636e-01] [ 2.10549352e-01 3.39657894e-03 9.77577329e-01 9.05910391e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.60538475 meters Centerline goodness [0,1] 0.9488024939300381 Centerline is valid? [True, False] Translation: X:8.12, Y:0.12, Z:0.09 [[ 9.77317787e-01 8.90066512e-03 -2.11590931e-01 8.12053793e+00] [-8.73622043e-03 9.99960373e-01 1.71202424e-03 1.21119819e-01] [ 2.11597784e-01 1.75313274e-04 9.77356817e-01 9.12535338e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.63538474999999 meters Centerline goodness [0,1] 0.9453919808497906 Centerline is valid? [False, False] Translation: X:8.13, Y:0.12, Z:0.09 [[ 9.76936632e-01 1.22447649e-02 -2.13178052e-01 8.12556473e+00] [-1.12098014e-02 9.99918787e-01 6.06302996e-03 1.19971203e-01] [ 2.13234980e-01 -3.53351245e-03 9.76994554e-01 9.22127335e-02] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 85.66538474999999 meters Centerline goodness [0,1] 0.9449827508624569 Centerline is valid? [False, False] Translation: X:8.13, Y:0.12, Z:0.10 [[ 0.97659134 0.01633104 -0.21448229 8.12767179] [-0.01395974 0.99982359 0.01256608 0.11576287] [ 0.21464967 -0.00927781 0.97664704 0.09709899] [ 0. 0. 0. 1. ]] SLAMing on 85.69538474999999 meters Centerline goodness [0,1] 0.9459207599350689 Centerline is valid? [False, False] Translation: X:8.13, Y:0.11, Z:0.10 [[ 0.9763629 0.01630676 -0.21552164 8.12845468] [-0.01356128 0.99980704 0.01421145 0.1127585 ] [ 0.2157118 -0.01095278 0.97639565 0.10050479] [ 0. 0. 0. 1. ]] SLAMing on 85.72538474999999 meters Centerline goodness [0,1] 0.9471214582205378 Centerline is valid? [False, False] Translation: X:8.13, Y:0.11, Z:0.10 [[ 0.97621938 0.01624232 -0.21617565 8.1297591 ] [-0.01333438 0.99980002 0.0149036 0.1117334 ] [ 0.21637448 -0.01166661 0.97624074 0.10171568] [ 0. 0. 0. 1. ]] SLAMing on 85.75538474999999 meters Centerline goodness [0,1] 0.9472270834590549 Centerline is valid? [False, False] Translation: X:8.13, Y:0.11, Z:0.10 [[ 0.9760418 0.01620391 -0.21697887 8.13192596] [-0.01316611 0.99979413 0.01543883 0.11086957] [ 0.21718437 -0.01221218 0.97605421 0.10214797] [ 0. 0. 0. 1. ]] SLAMing on 85.78538474999999 meters Centerline goodness [0,1] 0.9449607724803862 Centerline is valid? [False, False] Translation: X:8.13, Y:0.11, Z:0.10 [[ 0.97591476 0.01602573 -0.21756275 8.13378106] [-0.01288435 0.99979136 0.01584995 0.11052976] [ 0.21777136 -0.01266505 0.97591763 0.10251301] [ 0. 0. 0. 1. ]] SLAMing on 85.81538474999999 meters Centerline goodness [0,1] 0.9463767239293491 Centerline is valid? [False, False] Translation: X:8.14, Y:0.11, Z:0.10 [[ 0.97571421 0.01526585 -0.21851483 8.13691324] [-0.0119251 0.99979111 0.01659923 0.10820513] [ 0.21872258 -0.01359029 0.97569244 0.10339885] [ 0. 0. 0. 1. ]] SLAMing on 85.84538475 meters Centerline goodness [0,1] 0.9444951060854763 Centerline is valid? [False, False] Translation: X:8.14, Y:0.11, Z:0.10 [[ 0.97551876 0.01511916 -0.21939588 8.13880052] [-0.01157667 0.99978118 0.01742326 0.10632241] [ 0.21961129 -0.01445684 0.97548033 0.10468979] [ 0. 0. 0. 1. ]] SLAMing on 85.87538475 meters Centerline goodness [0,1] 0.9442941802157727 Centerline is valid? [False, False] Translation: X:8.14, Y:0.10, Z:0.11 [[ 0.97532241 0.01513283 -0.22026619 8.1399044 ] [-0.01134545 0.99976542 0.01844954 0.10444556] [ 0.22049372 -0.01549523 0.97526531 0.10676722] [ 0. 0. 0. 1. ]] SLAMing on 85.90538475 meters Centerline goodness [0,1] 0.94317626953125 Centerline is valid? [False, False] Translation: X:8.14, Y:0.10, Z:0.11 [[ 0.97519023 0.01523447 -0.22084367 8.1406688 ] [-0.01126 0.9997514 0.01924454 0.10312731] [ 0.22108194 -0.01628039 0.97511934 0.1081804 ] [ 0. 0. 0. 1. ]] SLAMing on 85.93538475 meters Centerline goodness [0,1] 0.9446646341463415 Centerline is valid? [False, False] Translation: X:8.14, Y:0.10, Z:0.11 [[ 0.97500945 0.01486988 -0.22166519 8.14288736] [-0.01074014 0.99974579 0.01982433 0.10201505] [ 0.22190362 -0.0169482 0.9749213 0.10907827] [ 0. 0. 0. 1. ]] SLAMing on 85.96538475 meters Centerline goodness [0,1] 0.9444597363672508 Centerline is valid? [False, False] Translation: X:8.14, Y:0.10, Z:0.11 [[ 0.97496144 0.01487373 -0.221876 8.14370267] [-0.01066729 0.99974016 0.02014487 0.10132549] [ 0.22211798 -0.01727365 0.97486677 0.10924258] [ 0. 0. 0. 1. ]] SLAMing on 85.99538474999999 meters Centerline goodness [0,1] 0.9454150475782517 Centerline is valid? [False, False] Translation: X:8.15, Y:0.10, Z:0.11 [[ 0.9746126 0.01364229 -0.2234819 8.14687601] [-0.00874601 0.99969986 0.02288431 0.09755503] [ 0.22372702 -0.02034876 0.9744394 0.11483261] [ 0. 0. 0. 1. ]] SLAMing on 86.02538474999999 meters Centerline goodness [0,1] 0.9438858653875719 Centerline is valid? [False, False] Translation: X:8.15, Y:0.10, Z:0.12 [[ 0.97448196 0.0131854 -0.22407823 8.14837996] [-0.00819002 0.99969711 0.02320789 0.0965181 ] [ 0.22431637 -0.02078046 0.97429479 0.115591 ] [ 0. 0. 0. 1. ]] SLAMing on 86.05538474999999 meters Centerline goodness [0,1] 0.944075016088009 Centerline is valid? [False, False] Translation: X:8.15, Y:0.10, Z:0.12 [[ 9.74186077e-01 1.16723626e-02 -2.25444546e-01 8.15346991e+00] [-6.72676323e-03 9.99719854e-01 2.26928244e-02 9.66758342e-02] [ 2.25646268e-01 -2.05905215e-02 9.73991680e-01 1.15153414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.08538474999999 meters Centerline goodness [0,1] 0.9409273636726302 Centerline is valid? [False, False] Translation: X:8.16, Y:0.10, Z:0.12 [[ 9.74012567e-01 1.07228174e-02 -2.26240007e-01 8.15619154e+00] [-5.78208826e-03 9.99730351e-01 2.24898302e-02 9.58373393e-02] [ 2.26420156e-01 -2.05972375e-02 9.73811926e-01 1.15247339e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.11538474999999 meters Centerline goodness [0,1] 0.9424941696329937 Centerline is valid? [False, False] Translation: X:8.16, Y:0.10, Z:0.11 [[ 9.73771268e-01 9.73622511e-03 -2.27320752e-01 8.16010042e+00] [-4.80238880e-03 9.99740964e-01 2.22473083e-02 9.56677202e-02] [ 2.27478472e-01 -2.05721069e-02 9.73565783e-01 1.14941104e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.14538474999999 meters Centerline goodness [0,1] 0.9422485861814606 Centerline is valid? [False, False] Translation: X:8.16, Y:0.09, Z:0.12 [[ 9.73653686e-01 9.39480018e-03 -2.27838184e-01 8.16131566e+00] [-4.37836563e-03 9.99736963e-01 2.25129830e-02 9.49553731e-02] [ 2.27989759e-01 -2.09222901e-02 9.73438713e-01 1.15654508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.17538474999999 meters Centerline goodness [0,1] 0.9425336728745436 Centerline is valid? [False, False] Translation: X:8.16, Y:0.09, Z:0.12 [[ 9.73366765e-01 8.56130314e-03 -2.29093531e-01 8.16409824e+00] [-3.30834305e-03 9.99722961e-01 2.33035832e-02 9.32378131e-02] [ 2.29229572e-01 -2.19250134e-02 9.73125427e-01 1.17771624e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.20538475 meters Centerline goodness [0,1] 0.9430959504055763 Centerline is valid? [False, False] Translation: X:8.17, Y:0.09, Z:0.12 [[ 9.73167150e-01 7.99449527e-03 -2.29960402e-01 8.16562130e+00] [-2.54740463e-03 9.99709332e-01 2.39742189e-02 9.09770622e-02] [ 2.30085222e-01 -2.27451201e-02 9.72904646e-01 1.19654554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.23538475 meters Centerline goodness [0,1] 0.9429127774000123 Centerline is valid? [False, False] Translation: X:8.17, Y:0.09, Z:0.12 [[ 9.73029458e-01 7.62244949e-03 -2.30554922e-01 8.16684644e+00] [-2.09005954e-03 9.99704209e-01 2.42306921e-02 9.02812207e-02] [ 2.30671423e-01 -2.30953037e-02 9.72757576e-01 1.20565713e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.26538475 meters Centerline goodness [0,1] 0.942868619453714 Centerline is valid? [False, False] Translation: X:8.17, Y:0.09, Z:0.12 [[ 9.72825662e-01 6.94676143e-03 -2.31434599e-01 8.16886030e+00] [-1.30525185e-03 9.99698476e-01 2.45204664e-02 9.00229579e-02] [ 2.31535154e-01 -2.35520585e-02 9.72541399e-01 1.21832686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.29538475 meters Centerline goodness [0,1] 0.9431712891469516 Centerline is valid? [False, False] Translation: X:8.17, Y:0.09, Z:0.12 [[ 9.72682687e-01 6.47801862e-03 -2.32048324e-01 8.17080535e+00] [-8.06941707e-04 9.99698872e-01 2.45257952e-02 9.09730298e-02] [ 2.32137327e-01 -2.36685669e-02 9.72395013e-01 1.22163139e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.32538475 meters Centerline goodness [0,1] 0.943210640272193 Centerline is valid? [False, False] Translation: X:8.17, Y:0.09, Z:0.12 [[ 9.72613730e-01 6.36422670e-03 -2.32340331e-01 8.17158599e+00] [-6.84727673e-04 9.99699174e-01 2.45172098e-02 9.15980566e-02] [ 2.32426470e-01 -2.36866850e-02 9.72325500e-01 1.22364354e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.35538475 meters Centerline goodness [0,1] 0.9433169616655855 Centerline is valid? [False, False] Translation: X:8.17, Y:0.09, Z:0.12 [[ 9.72386318e-01 6.29942954e-03 -2.33292016e-01 8.17282454e+00] [-5.47987549e-04 9.99694511e-01 2.47100163e-02 9.26147221e-02] [ 2.33376407e-01 -2.38998407e-02 9.72092717e-01 1.23761988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.38538474999999 meters Centerline goodness [0,1] 0.9428006060043904 Centerline is valid? [False, False] Translation: X:8.17, Y:0.09, Z:0.12 [[ 9.72289905e-01 6.10000121e-03 -2.33698802e-01 8.17365737e+00] [-3.37699042e-04 9.99695122e-01 2.46890444e-02 9.33129479e-02] [ 2.33778155e-01 -2.39259887e-02 9.71995536e-01 1.24270143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.41538474999999 meters Centerline goodness [0,1] 0.9428006060043904 Centerline is valid? [False, False] Translation: X:8.17, Y:0.09, Z:0.12 [[ 9.72289905e-01 6.10000121e-03 -2.33698802e-01 8.17365737e+00] [-3.37699042e-04 9.99695122e-01 2.46890444e-02 9.33129479e-02] [ 2.33778155e-01 -2.39259887e-02 9.71995536e-01 1.24270143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.44538474999999 meters Centerline goodness [0,1] 0.9434700859969793 Centerline is valid? [False, False] Translation: X:8.17, Y:0.09, Z:0.12 [[ 9.72199790e-01 6.41391350e-03 -2.34065012e-01 8.17376319e+00] [-6.52774140e-04 9.99695125e-01 2.46825920e-02 9.49430480e-02] [ 2.34151964e-01 -2.38436191e-02 9.71907578e-01 1.24881754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.47538474999999 meters Centerline goodness [0,1] 0.9446175681095924 Centerline is valid? [False, False] Translation: X:8.17, Y:0.10, Z:0.12 [[ 9.72141948e-01 6.36934438e-03 -2.34306346e-01 8.17446413e+00] [-6.55668821e-04 9.99700709e-01 2.44553126e-02 9.65107038e-02] [ 2.34391984e-01 -2.36204078e-02 9.71855171e-01 1.24745954e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.50538474999999 meters Centerline goodness [0,1] 0.9462392032705254 Centerline is valid? [False, False] Translation: X:8.18, Y:0.10, Z:0.13 [[ 9.71910013e-01 5.39729528e-03 -2.35290876e-01 8.17722260e+00] [ 2.69311424e-04 9.99710850e-01 2.40446260e-02 9.78507830e-02] [ 2.35352618e-01 -2.34325793e-02 9.71627531e-01 1.25180790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.53538474999999 meters Centerline goodness [0,1] 0.9442841355599214 Centerline is valid? [False, False] Translation: X:8.18, Y:0.10, Z:0.12 [[ 9.71829994e-01 4.98769474e-03 -2.35630187e-01 8.17860397e+00] [ 5.97189272e-04 9.99720722e-01 2.36245971e-02 9.90629432e-02] [ 2.35682212e-01 -2.30998079e-02 9.71555605e-01 1.24870467e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.56538474999999 meters Centerline goodness [0,1] 0.9419567808784424 Centerline is valid? [False, False] Translation: X:8.18, Y:0.10, Z:0.12 [[ 9.71544270e-01 8.33703631e-03 -2.36711272e-01 8.18235098e+00] [-2.07233591e-03 9.99641288e-01 2.67020645e-02 1.00611416e-01] [ 2.36848977e-01 -2.54516925e-02 9.71213042e-01 1.24609945e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.59538475 meters Centerline goodness [0,1] 0.942271312625862 Centerline is valid? [False, False] Translation: X:8.18, Y:0.10, Z:0.12 [[ 9.71498889e-01 8.30340317e-03 -2.36898632e-01 8.18297047e+00] [-2.10080654e-03 9.99648646e-01 2.64229239e-02 1.01883392e-01] [ 2.37034797e-01 -2.51721630e-02 9.71174993e-01 1.24425535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.62538475 meters Centerline goodness [0,1] 0.9422385969185799 Centerline is valid? [False, False] Translation: X:8.18, Y:0.10, Z:0.13 [[ 9.71369508e-01 8.08923560e-03 -2.37435977e-01 8.18365850e+00] [-1.81251977e-03 9.99643401e-01 2.66418115e-02 1.02000775e-01] [ 2.37566819e-01 -2.54486860e-02 9.71037780e-01 1.25617900e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.65538475 meters Centerline goodness [0,1] 0.9444393759693459 Centerline is valid? [False, False] Translation: X:8.18, Y:0.10, Z:0.13 [[ 9.71305789e-01 8.15690147e-03 -2.37694193e-01 8.18376272e+00] [-1.83344289e-03 9.99638805e-01 2.68122728e-02 1.02282505e-01] [ 2.37827044e-01 -2.56071171e-02 9.70969913e-01 1.26378019e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.68538475 meters Centerline goodness [0,1] 0.9443444298660483 Centerline is valid? [False, False] Translation: X:8.18, Y:0.10, Z:0.13 [[ 9.71289385e-01 3.51999094e-03 -2.37875050e-01 8.18352071e+00] [ 2.01445571e-03 9.99732996e-01 2.30191041e-02 1.03261487e-01] [ 2.37892563e-01 -2.28374002e-02 9.71022956e-01 1.27119588e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.71538475 meters Centerline goodness [0,1] 0.9439029606770754 Centerline is valid? [False, False] Translation: X:8.19, Y:0.10, Z:0.13 [[ 9.71109651e-01 2.45687872e-03 -2.38621058e-01 8.18544532e+00] [ 3.08929333e-03 9.99733770e-01 2.28658243e-02 1.03417346e-01] [ 2.38613708e-01 -2.29423931e-02 9.70843522e-01 1.28081046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.74538474999999 meters Centerline goodness [0,1] 0.9417189116805649 Centerline is valid? [False, False] Translation: X:8.19, Y:0.11, Z:0.13 [[ 9.70921351e-01 1.27311911e-03 -2.39395300e-01 8.18914142e+00] [ 4.06356711e-03 9.99754149e-01 2.17974629e-02 1.06161888e-01] [ 2.39364195e-01 -2.21364210e-02 9.70677475e-01 1.26810994e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.77538474999999 meters Centerline goodness [0,1] 0.9441440894180537 Centerline is valid? [False, False] Translation: X:8.19, Y:0.11, Z:0.13 [[ 9.70787828e-01 8.96253405e-04 -2.39937887e-01 8.19117861e+00] [ 4.35219815e-03 9.99762730e-01 2.13434477e-02 1.08010618e-01] [ 2.39900086e-01 -2.17642165e-02 9.70553588e-01 1.26263746e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.80538474999999 meters Centerline goodness [0,1] 0.9417505244276898 Centerline is valid? [False, False] Translation: X:8.19, Y:0.11, Z:0.13 [[ 9.70642850e-01 7.55182689e-04 -2.40524194e-01 8.19154688e+00] [ 4.68975948e-03 9.99745547e-01 2.20646079e-02 1.07184662e-01] [ 2.40479655e-01 -2.25448545e-02 9.70392325e-01 1.28350227e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.83538474999999 meters Centerline goodness [0,1] 0.9437955536580159 Centerline is valid? [False, False] Translation: X:8.19, Y:0.11, Z:0.13 [[ 9.70560063e-01 7.97293040e-04 -2.40857902e-01 8.19170382e+00] [ 4.77451826e-03 9.99734344e-01 2.25487225e-02 1.06379026e-01] [ 2.40811894e-01 -2.30348700e-02 9.70298421e-01 1.29472476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.86538474999999 meters Centerline goodness [0,1] 0.9444410618606917 Centerline is valid? [False, False] Translation: X:8.19, Y:0.11, Z:0.13 [[ 9.70441867e-01 5.34189871e-04 -2.41334409e-01 8.19302907e+00] [ 5.07417876e-03 9.99731328e-01 2.26169234e-02 1.06667129e-01] [ 2.41281651e-01 -2.31729833e-02 9.70178426e-01 1.29849964e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.89538474999999 meters Centerline goodness [0,1] 0.9448410519250717 Centerline is valid? [False, False] Translation: X:8.19, Y:0.11, Z:0.13 [[ 9.70412045e-01 6.53021156e-04 -2.41454007e-01 8.19309078e+00] [ 4.98727824e-03 9.99728794e-01 2.27478475e-02 1.06711138e-01] [ 2.41403378e-01 -2.32789835e-02 9.70145607e-01 1.30159317e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.92538474999999 meters Centerline goodness [0,1] 0.9446138831279737 Centerline is valid? [False, False] Translation: X:8.19, Y:0.11, Z:0.13 [[ 9.70312644e-01 6.51774320e-04 -2.41853152e-01 8.19395958e+00] [ 4.93693908e-03 9.99734627e-01 2.25011571e-02 1.08484332e-01] [ 2.41803637e-01 -2.30271715e-02 9.70051932e-01 1.30172378e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.95538475 meters Centerline goodness [0,1] 0.9435895876414062 Centerline is valid? [False, False] Translation: X:8.19, Y:0.11, Z:0.13 [[ 9.70242228e-01 5.16164522e-04 -2.42135815e-01 8.19499368e+00] [ 5.00998698e-03 9.99740857e-01 2.22062634e-02 1.09792550e-01] [ 2.42084529e-01 -2.27585518e-02 9.69988211e-01 1.29871037e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 86.98538475 meters Centerline goodness [0,1] 0.940461025174401 Centerline is valid? [False, False] Translation: X:8.20, Y:0.11, Z:0.13 [[ 9.70120880e-01 6.15642056e-04 -2.42621309e-01 8.19617961e+00] [ 4.76139619e-03 9.99755888e-01 2.15752757e-02 1.12261647e-01] [ 2.42575365e-01 -2.20858416e-02 9.69881131e-01 1.29208979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.01538475 meters Centerline goodness [0,1] 0.9436235921036696 Centerline is valid? [False, False] Translation: X:8.20, Y:0.11, Z:0.13 [[ 9.70022154e-01 4.83571059e-04 -2.43016020e-01 8.19701567e+00] [ 4.87207155e-03 9.99758335e-01 2.14367412e-02 1.14118591e-01] [ 2.42967658e-01 -2.19781053e-02 9.69785378e-01 1.29558160e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.04538475 meters Centerline goodness [0,1] 0.9398605198804456 Centerline is valid? [False, False] Translation: X:8.20, Y:0.11, Z:0.13 [[ 9.69914820e-01 -1.04961780e-04 -2.43444513e-01 8.19860105e+00] [ 5.45762092e-03 9.99757960e-01 2.13128280e-02 1.14810099e-01] [ 2.43383353e-01 -2.20002556e-02 9.69680634e-01 1.29836012e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.07538475 meters Centerline goodness [0,1] 0.9378998189499095 Centerline is valid? [False, False] Translation: X:8.20, Y:0.12, Z:0.13 [[ 9.69822936e-01 -5.66471096e-04 -2.43809665e-01 8.20004579e+00] [ 5.86439614e-03 9.99762183e-01 2.10044565e-02 1.15668061e-01] [ 2.43739784e-01 -2.18004001e-02 9.69595617e-01 1.29665151e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.10538475 meters Centerline goodness [0,1] 0.9443804209377085 Centerline is valid? [False, False] Translation: X:8.20, Y:0.11, Z:0.13 [[ 9.69692477e-01 -1.52964194e-03 -2.44323884e-01 8.20040609e+00] [ 7.21579176e-03 9.99723504e-01 2.23796376e-02 1.13730325e-01] [ 2.44222097e-01 -2.34643565e-02 9.69435398e-01 1.33378560e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.13538474999999 meters Centerline goodness [0,1] 0.9436521210278243 Centerline is valid? [False, False] Translation: X:8.20, Y:0.11, Z:0.13 [[ 9.69537563e-01 -3.34764126e-03 -2.44919796e-01 8.20289690e+00] [ 9.00013076e-03 9.99718264e-01 2.19633808e-02 1.14332579e-01] [ 2.44777268e-01 -2.34986329e-02 9.69294539e-01 1.34167934e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.16538474999999 meters Centerline goodness [0,1] 0.9419766206163656 Centerline is valid? [False, False] Translation: X:8.21, Y:0.12, Z:0.13 [[ 9.69362970e-01 -4.14028735e-03 -2.45597823e-01 8.20556972e+00] [ 9.75262647e-03 9.99718261e-01 2.16399072e-02 1.15206834e-01] [ 2.45439033e-01 -2.33721486e-02 9.69130241e-01 1.33976471e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.19538474999999 meters Centerline goodness [0,1] 0.9412533033625953 Centerline is valid? [False, False] Translation: X:8.21, Y:0.12, Z:0.13 [[ 9.69241037e-01 -4.49878735e-03 -2.46072294e-01 8.20700285e+00] [ 1.01209375e-02 9.99715730e-01 2.15876376e-02 1.15376317e-01] [ 2.45905224e-01 -2.34141065e-02 9.69011042e-01 1.34124483e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.22538474999999 meters Centerline goodness [0,1] 0.9406322048295109 Centerline is valid? [False, False] Translation: X:8.21, Y:0.12, Z:0.13 [[ 9.69168795e-01 -4.65784259e-03 -2.46353713e-01 8.20759832e+00] [ 1.03196853e-02 9.99711341e-01 2.16965224e-02 1.15271579e-01] [ 2.46181542e-01 -2.35698853e-02 9.68937103e-01 1.34589915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.25538474999999 meters Centerline goodness [0,1] 0.943693966561667 Centerline is valid? [False, False] Translation: X:8.21, Y:0.12, Z:0.14 [[ 9.69073765e-01 -4.55898232e-03 -2.46729109e-01 8.20801720e+00] [ 1.03743965e-02 9.99698047e-01 2.22752384e-02 1.15237915e-01] [ 2.46553056e-01 -2.41460147e-02 9.68828447e-01 1.35729722e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.28538474999999 meters Centerline goodness [0,1] 0.9458280312670424 Centerline is valid? [False, False] Translation: X:8.21, Y:0.11, Z:0.14 [[ 9.69068896e-01 -4.15589316e-03 -2.46755349e-01 8.20678193e+00] [ 1.02127304e-02 9.99677024e-01 2.32711815e-02 1.14505370e-01] [ 2.46578941e-01 -2.50714240e-02 9.68798353e-01 1.37764210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.31538474999999 meters Centerline goodness [0,1] 0.9460858509414543 Centerline is valid? [False, False] Translation: X:8.21, Y:0.11, Z:0.14 [[ 9.68935655e-01 -4.34604492e-03 -2.47274761e-01 8.20781231e+00] [ 1.04628266e-02 9.99670771e-01 2.34281560e-02 1.14494092e-01] [ 2.47091532e-01 -2.52875687e-02 9.68662126e-01 1.38484884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.34538475 meters Centerline goodness [0,1] 0.944639506023367 Centerline is valid? [False, False] Translation: X:8.21, Y:0.12, Z:0.14 [[ 9.68863304e-01 -4.45754123e-03 -2.47556110e-01 8.20878378e+00] [ 1.05205765e-02 9.99676086e-01 2.31741527e-02 1.15797067e-01] [ 2.47372624e-01 -2.50570191e-02 9.68596371e-01 1.38282747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.37538475 meters Centerline goodness [0,1] 0.9440555201988059 Centerline is valid? [False, False] Translation: X:8.21, Y:0.12, Z:0.14 [[ 9.68830592e-01 -4.52332872e-03 -2.47682907e-01 8.20921756e+00] [ 1.05206493e-02 9.99682505e-01 2.28955415e-02 1.16826036e-01] [ 2.47500705e-01 -2.47876860e-02 9.68570582e-01 1.38030071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.40538475 meters Centerline goodness [0,1] 0.942315827642473 Centerline is valid? [False, False] Translation: X:8.21, Y:0.12, Z:0.14 [[ 9.68739148e-01 -5.07773564e-03 -2.48029596e-01 8.21034750e+00] [ 1.10434550e-02 9.99682072e-01 2.26670767e-02 1.17458936e-01] [ 2.47835643e-01 -2.46975883e-02 9.68487234e-01 1.38369331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.43538475 meters Centerline goodness [0,1] 0.9426797880393641 Centerline is valid? [False, False] Translation: X:8.21, Y:0.12, Z:0.14 [[ 9.68683700e-01 -5.22693293e-03 -2.48242962e-01 8.21139801e+00] [ 1.10950669e-02 9.99690970e-01 2.22455162e-02 1.19248042e-01] [ 2.48049972e-01 -2.43031413e-02 9.68442341e-01 1.37816644e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.46538475 meters Centerline goodness [0,1] 0.9412421198684885 Centerline is valid? [False, False] Translation: X:8.21, Y:0.12, Z:0.14 [[ 9.68474218e-01 -1.96153314e-03 -2.49106084e-01 8.21454932e+00] [ 8.63861464e-03 9.99632020e-01 2.57138009e-02 1.19691631e-01] [ 2.48963979e-01 -2.70550847e-02 9.68134784e-01 1.38282801e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.49538474999999 meters Centerline goodness [0,1] 0.9390512379746072 Centerline is valid? [False, False] Translation: X:8.22, Y:0.12, Z:0.14 [[ 9.68414282e-01 -2.19725318e-03 -2.49337021e-01 8.21551130e+00] [ 8.75814073e-03 9.99643888e-01 2.52069983e-02 1.20963186e-01] [ 2.49192843e-01 -2.65945458e-02 9.68088662e-01 1.37756949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.52538474999999 meters Centerline goodness [0,1] 0.9372371109241677 Centerline is valid? [False, False] Translation: X:8.22, Y:0.12, Z:0.14 [[ 9.68290677e-01 -1.97458893e-03 -2.49818467e-01 8.21653970e+00] [ 8.43744885e-03 9.99656777e-01 2.48019770e-02 1.23349350e-01] [ 2.49683749e-01 -2.61233536e-02 9.67974997e-01 1.37354748e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.55538474999999 meters Centerline goodness [0,1] 0.9395490261010928 Centerline is valid? [False, False] Translation: X:8.22, Y:0.12, Z:0.14 [[ 9.68310356e-01 -1.47879716e-03 -2.49745607e-01 8.21558936e+00] [ 7.96758219e-03 9.99656384e-01 2.49726247e-02 1.24292404e-01] [ 2.49622861e-01 -2.61711198e-02 9.67989411e-01 1.37771979e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.58538474999999 meters Centerline goodness [0,1] 0.9329588802450965 Centerline is valid? [False, False] Translation: X:8.21, Y:0.13, Z:0.14 [[ 9.68302667e-01 -4.34171849e-04 -2.49779417e-01 8.21409712e+00] [ 7.02915511e-03 9.99649807e-01 2.55118292e-02 1.25319719e-01] [ 2.49680870e-01 -2.64589105e-02 9.67966626e-01 1.38809770e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.61538474999999 meters Centerline goodness [0,1] 0.9392246944719695 Centerline is valid? [False, False] Translation: X:8.21, Y:0.13, Z:0.14 [[ 9.68295891e-01 -1.41226428e-04 -2.49806019e-01 8.21350453e+00] [ 6.78765763e-03 9.99645496e-01 2.57451147e-02 1.25588869e-01] [ 2.49713826e-01 -2.66244866e-02 9.67953584e-01 1.39427784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.64538474999999 meters Centerline goodness [0,1] 0.9366135947947588 Centerline is valid? [False, False] Translation: X:8.21, Y:0.13, Z:0.14 [[ 9.68244961e-01 3.60707146e-04 -2.50003130e-01 8.21294670e+00] [ 6.44028401e-03 9.99631108e-01 2.63850562e-02 1.25498344e-01] [ 2.49920423e-01 -2.71572889e-02 9.67885460e-01 1.40703259e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.67538474999999 meters Centerline goodness [0,1] 0.9371464487743557 Centerline is valid? [False, False] Translation: X:8.21, Y:0.13, Z:0.14 [[ 9.68142205e-01 4.10023693e-05 -2.50401018e-01 8.21412376e+00] [ 6.76842337e-03 9.99630315e-01 2.63328943e-02 1.26000918e-01] [ 2.50309529e-01 -2.71888064e-02 9.67784020e-01 1.40996123e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.70538475 meters Centerline goodness [0,1] 0.9429790302229165 Centerline is valid? [False, False] Translation: X:8.21, Y:0.13, Z:0.14 [[ 9.68264226e-01 -4.30200410e-03 -2.49891737e-01 8.21312376e+00] [ 1.02666894e-02 9.99692536e-01 2.25705210e-02 1.26042082e-01] [ 2.49717806e-01 -2.44197889e-02 9.68010688e-01 1.40549980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.73538475 meters Centerline goodness [0,1] 0.9455096468328983 Centerline is valid? [False, False] Translation: X:8.22, Y:0.13, Z:0.14 [[ 9.68094074e-01 -5.26407947e-03 -2.50531740e-01 8.21539104e+00] [ 1.12769452e-02 9.99681641e-01 2.25709535e-02 1.25226138e-01] [ 2.50333166e-01 -2.46760390e-02 9.67845235e-01 1.41008101e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.76538475 meters Centerline goodness [0,1] 0.9413625817338114 Centerline is valid? [False, False] Translation: X:8.22, Y:0.12, Z:0.14 [[ 9.67856934e-01 -8.05264510e-03 -2.51372453e-01 8.22082270e+00] [ 1.38737510e-02 9.99674862e-01 2.13936696e-02 1.24658620e-01] [ 2.51118446e-01 -2.41934903e-02 9.67653968e-01 1.39965554e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 87.79538475 meters Centerline goodness [0,1] 0.9397186669886501 Centerline is valid? [False, False] Translation: X:8.22, Y:0.12, Z:0.14 [[ 0.96766532 -0.0089771 -0.25207783 8.22353721] [ 0.01481527 0.99966395 0.02127177 0.12392042] [ 0.25180216 -0.02431856 0.96747314 0.14006937] [ 0. 0. 0. 1. ]] SLAMing on 87.82538475 meters Centerline goodness [0,1] 0.9402654867256637 Centerline is valid? [False, False] Translation: X:8.23, Y:0.12, Z:0.14 [[ 0.96760586 -0.01176064 -0.25219159 8.22581645] [ 0.01752237 0.99963397 0.02061298 0.12089029] [ 0.25185685 -0.02436423 0.96745776 0.14081491] [ 0. 0. 0. 1. ]] SLAMing on 87.85538475 meters Centerline goodness [0,1] 0.942221140980416 Centerline is valid? [False, False] Translation: X:8.23, Y:0.12, Z:0.14 [[ 0.96747716 -0.01216836 -0.25266554 8.22659532] [ 0.01810434 0.99961171 0.02118174 0.11926888] [ 0.25230968 -0.02506719 0.9673218 0.14227288] [ 0. 0. 0. 1. ]] SLAMing on 87.88538474999999 meters Centerline goodness [0,1] 0.940755624562365 Centerline is valid? [False, False] Translation: X:8.23, Y:0.12, Z:0.14 [[ 0.96743973 -0.0125152 -0.2527919 8.22731047] [ 0.01851424 0.99960027 0.02136624 0.1182085 ] [ 0.25242344 -0.0253508 0.96728473 0.14264422] [ 0. 0. 0. 1. ]] SLAMing on 87.91538474999999 meters Centerline goodness [0,1] 0.9454573170731707 Centerline is valid? [False, False] Translation: X:8.23, Y:0.12, Z:0.14 [[ 0.96748827 -0.01159098 -0.25265015 8.22678469] [ 0.01762056 0.99961106 0.02161571 0.11896497] [ 0.25230134 -0.02536478 0.96731622 0.14224687] [ 0. 0. 0. 1. ]] SLAMing on 87.94538474999999 meters Centerline goodness [0,1] 0.942653970579259 Centerline is valid? [False, False] Translation: X:8.23, Y:0.12, Z:0.14 [[ 0.96747245 -0.01152839 -0.25271357 8.22680676] [ 0.01762067 0.9996058 0.02185742 0.11826613] [ 0.25236197 -0.02559944 0.96729422 0.14262002] [ 0. 0. 0. 1. ]] SLAMing on 87.97538474999999 meters Centerline goodness [0,1] 0.9454867689299028 Centerline is valid? [False, False] Translation: X:8.23, Y:0.12, Z:0.14 [[ 0.96741723 -0.01164938 -0.25291933 8.22693937] [ 0.01800905 0.99957681 0.0228445 0.11605579] [ 0.25254617 -0.026655 0.96721763 0.14441324] [ 0. 0. 0. 1. ]] SLAMing on 88.00538474999999 meters Centerline goodness [0,1] 0.9450090576928981 Centerline is valid? [False, False] Translation: X:8.23, Y:0.12, Z:0.14 [[ 0.96745733 -0.01592103 -0.25253283 8.22612454] [ 0.02141874 0.99958935 0.01903602 0.11613607] [ 0.25212605 -0.02382547 0.96740105 0.14401727] [ 0. 0. 0. 1. ]] SLAMing on 88.03538474999999 meters Centerline goodness [0,1] 0.9458379441780401 Centerline is valid? [False, False] Translation: X:8.23, Y:0.12, Z:0.14 [[ 0.96730938 -0.01690418 -0.25303521 8.22874672] [ 0.0223856 0.99957265 0.01879914 0.11548128] [ 0.25260929 -0.02384893 0.96727441 0.1437598 ] [ 0. 0. 0. 1. ]] SLAMing on 88.06538474999999 meters Centerline goodness [0,1] 0.9446269069032198 Centerline is valid? [False, False] Translation: X:8.23, Y:0.12, Z:0.14 [[ 0.96714732 -0.01759927 -0.25360665 8.23112679] [ 0.02309688 0.99955802 0.01871636 0.1156121 ] [ 0.25316517 -0.023959 0.96712634 0.14374127] [ 0. 0. 0. 1. ]] SLAMing on 88.09538475 meters Centerline goodness [0,1] 0.9454579013750884 Centerline is valid? [False, False] Translation: X:8.23, Y:0.11, Z:0.14 [[ 0.96692958 -0.0187969 -0.25434987 8.23355358] [ 0.02438485 0.99952522 0.0188341 0.1138156 ] [ 0.25387509 -0.02441353 0.96692886 0.1447118 ] [ 0. 0. 0. 1. ]] SLAMing on 88.12538475 meters Centerline goodness [0,1] 0.9423896264279098 Centerline is valid? [False, False] Translation: X:8.24, Y:0.11, Z:0.14 [[ 0.96664955 -0.0207259 -0.25526278 8.23790489] [ 0.02619793 0.99949371 0.01805515 0.11311623] [ 0.25475933 -0.02414036 0.96670312 0.14423224] [ 0. 0. 0. 1. ]] SLAMing on 88.15538475 meters Centerline goodness [0,1] 0.9420960133197669 Centerline is valid? [False, False] Translation: X:8.24, Y:0.11, Z:0.14 [[ 0.96635984 -0.0218896 -0.25626062 8.24138591] [ 0.02737339 0.99946587 0.01785153 0.11299645] [ 0.25573298 -0.02426572 0.96644287 0.14454451] [ 0. 0. 0. 1. ]] SLAMing on 88.18538475 meters Centerline goodness [0,1] 0.9420687528903962 Centerline is valid? [False, False] Translation: X:8.24, Y:0.11, Z:0.15 [[ 0.96628245 -0.02184637 -0.25655598 8.24187547] [ 0.02744895 0.99945611 0.01827654 0.11267903] [ 0.25601717 -0.02470249 0.96635656 0.14528313] [ 0. 0. 0. 1. ]] SLAMing on 88.21538475 meters Centerline goodness [0,1] 0.9415466797654499 Centerline is valid? [False, False] Translation: X:8.24, Y:0.11, Z:0.15 [[ 0.96615462 -0.02176531 -0.2570438 8.24238954] [ 0.02747156 0.99944899 0.01862897 0.11350733] [ 0.2564967 -0.02505986 0.96622018 0.14632385] [ 0. 0. 0. 1. ]] SLAMing on 88.24538474999999 meters Centerline goodness [0,1] 0.9411728490072341 Centerline is valid? [False, False] Translation: X:8.24, Y:0.11, Z:0.15 [[ 0.96613786 -0.02143764 -0.25713432 8.24192954] [ 0.02722115 0.99944974 0.01895331 0.11383305] [ 0.25658651 -0.02531101 0.96618979 0.14701203] [ 0. 0. 0. 1. ]] SLAMing on 88.27538474999999 meters Centerline goodness [0,1] 0.9438869736518098 Centerline is valid? [False, False] Translation: X:8.24, Y:0.11, Z:0.15 [[ 0.96618158 -0.02029791 -0.25706253 8.24009631] [ 0.02626916 0.99945849 0.01981566 0.11454282] [ 0.25652112 -0.02589834 0.96619159 0.148271 ] [ 0. 0. 0. 1. ]] SLAMing on 88.30538474999999 meters Centerline goodness [0,1] 0.9438869736518098 Centerline is valid? [False, False] Translation: X:8.24, Y:0.11, Z:0.15 [[ 0.96618158 -0.02029791 -0.25706253 8.24009631] [ 0.02626916 0.99945849 0.01981566 0.11454282] [ 0.25652112 -0.02589834 0.96619159 0.148271 ] [ 0. 0. 0. 1. ]] SLAMing on 88.33538474999999 meters Centerline goodness [0,1] 0.9454880860876249 Centerline is valid? [False, False] Translation: X:8.24, Y:0.12, Z:0.15 [[ 0.9662938 -0.01894805 -0.25674358 8.23780911] [ 0.02500756 0.99947998 0.02035671 0.11635385] [ 0.25622435 -0.02609109 0.96626515 0.14888511] [ 0. 0. 0. 1. ]] SLAMing on 88.36538474999999 meters Centerline goodness [0,1] 0.9457912457912458 Centerline is valid? [False, False] Translation: X:8.24, Y:0.12, Z:0.15 [[ 0.96622598 -0.01860469 -0.25702377 8.23785211] [ 0.02467616 0.99948699 0.02041679 0.11764367] [ 0.25651206 -0.02606959 0.96618939 0.14925695] [ 0. 0. 0. 1. ]] SLAMing on 88.39538474999999 meters Centerline goodness [0,1] 0.9435535599743425 Centerline is valid? [False, False] Translation: X:8.24, Y:0.12, Z:0.15 [[ 0.96629561 -0.01717412 -0.25686153 8.23574718] [ 0.02327114 0.99951454 0.02071551 0.11946014] [ 0.25638106 -0.02599477 0.96622618 0.14958932] [ 0. 0. 0. 1. ]] SLAMing on 88.42538474999999 meters Centerline goodness [0,1] 0.946408974515303 Centerline is valid? [False, False] Translation: X:8.24, Y:0.12, Z:0.15 [[ 0.96624021 -0.01649477 -0.25711433 8.23526251] [ 0.02267897 0.99952 0.02110531 0.1204564 ] [ 0.25664279 -0.02622389 0.9661505 0.15037436] [ 0. 0. 0. 1. ]] SLAMing on 88.45538475 meters Centerline goodness [0,1] 0.945907191018092 Centerline is valid? [False, False] Translation: X:8.23, Y:0.12, Z:0.15 [[ 0.9662344 -0.016216 -0.25715389 8.23493863] [ 0.02238344 0.99952732 0.02107422 0.12139341] [ 0.2566906 -0.02611862 0.96614065 0.15049856] [ 0. 0. 0. 1. ]] SLAMing on 88.48538475 meters Centerline goodness [0,1] 0.946658156287043 Centerline is valid? [False, False] Translation: X:8.24, Y:0.12, Z:0.15 [[ 0.96609941 -0.01629595 -0.25765552 8.23614171] [ 0.02250809 0.9995223 0.02117901 0.12189923] [ 0.25718731 -0.02626036 0.9660047 0.15088383] [ 0. 0. 0. 1. ]] SLAMing on 88.51538475 meters Centerline goodness [0,1] 0.948363525650784 Centerline is valid? [False, False] Translation: X:8.24, Y:0.12, Z:0.15 [[ 0.96603471 -0.01659397 -0.257879 8.23722382] [ 0.02278361 0.99951916 0.02103222 0.12227025] [ 0.257406 -0.02619327 0.96594827 0.15074735] [ 0. 0. 0. 1. ]] SLAMing on 88.54538475 meters Centerline goodness [0,1] 0.9443902736303248 Centerline is valid? [False, False] Translation: X:8.24, Y:0.12, Z:0.15 [[ 0.96599239 -0.01669352 -0.25803107 8.23827295] [ 0.02288233 0.99951758 0.02100013 0.12230545] [ 0.25755602 -0.02619032 0.96590836 0.15034186] [ 0. 0. 0. 1. ]] SLAMing on 88.57538475 meters Centerline goodness [0,1] 0.946288436288131 Centerline is valid? [False, False] Translation: X:8.24, Y:0.12, Z:0.15 [[ 0.96594533 -0.016714 -0.25820587 8.23880464] [ 0.02292697 0.99951509 0.02106963 0.12231057] [ 0.25772851 -0.02627199 0.96586014 0.15043719] [ 0. 0. 0. 1. ]] SLAMing on 88.60538475 meters Centerline goodness [0,1] 0.94737646303823 Centerline is valid? [False, False] Translation: X:8.24, Y:0.12, Z:0.15 [[ 0.965869 -0.0163608 -0.25851382 8.238931 ] [ 0.02274335 0.99950541 0.02171795 0.12150648] [ 0.25803064 -0.02685616 0.9657634 0.15143248] [ 0. 0. 0. 1. ]] SLAMing on 88.63538474999999 meters Centerline goodness [0,1] 0.9446564302939651 Centerline is valid? [False, False] Translation: X:8.24, Y:0.12, Z:0.15 [[ 0.96581702 -0.01610863 -0.25872378 8.2387766 ] [ 0.02260632 0.99949885 0.02215879 0.12117052] [ 0.25823717 -0.02725012 0.96569715 0.15232352] [ 0. 0. 0. 1. ]] SLAMing on 88.66538474999999 meters Centerline goodness [0,1] 0.9451807413302317 Centerline is valid? [False, False] Translation: X:8.24, Y:0.12, Z:0.15 [[ 0.96575748 -0.01586179 -0.25896117 8.2385807 ] [ 0.02246214 0.99949338 0.02254866 0.12044539] [ 0.25847232 -0.02759336 0.9656245 0.15327696] [ 0. 0. 0. 1. ]] SLAMing on 88.69538474999999 meters Centerline goodness [0,1] 0.9484924623115578 Centerline is valid? [False, False] Translation: X:8.24, Y:0.12, Z:0.15 [[ 0.96567468 -0.01585839 -0.25926998 8.23932611] [ 0.02250291 0.99948949 0.0226798 0.12032261] [ 0.25877796 -0.02773564 0.96553856 0.15353976] [ 0. 0. 0. 1. ]] SLAMing on 88.72538474999999 meters Centerline goodness [0,1] 0.9465787051242712 Centerline is valid? [False, False] Translation: X:8.24, Y:0.12, Z:0.15 [[ 0.96567687 -0.01563083 -0.25927564 8.239555 ] [ 0.02223359 0.99949839 0.0225531 0.12093831] [ 0.25879306 -0.02754364 0.96554 0.15304728] [ 0. 0. 0. 1. ]] SLAMing on 88.75538474999999 meters Centerline goodness [0,1] 0.9485465472832086 Centerline is valid? [False, False] Translation: X:8.24, Y:0.12, Z:0.15 [[ 0.96555431 -0.01535897 -0.25974792 8.23985191] [ 0.02208997 0.99949106 0.02301427 0.12091215] [ 0.25926225 -0.02795935 0.96540218 0.15411092] [ 0. 0. 0. 1. ]] SLAMing on 88.78538474999999 meters Centerline goodness [0,1] 0.9471569649757713 Centerline is valid? [False, False] Translation: X:8.24, Y:0.12, Z:0.15 [[ 0.96553963 -0.01501971 -0.2598223 8.23951345] [ 0.02183344 0.99948871 0.02335835 0.12076404] [ 0.25933862 -0.02822623 0.9653739 0.15463912] [ 0. 0. 0. 1. ]] SLAMing on 88.81538474999999 meters Centerline goodness [0,1] 0.9483821499769974 Centerline is valid? [False, False] Translation: X:8.24, Y:0.12, Z:0.15 [[ 0.96554177 -0.01482983 -0.25982525 8.23949115] [ 0.02166213 0.99949025 0.02345199 0.12115999] [ 0.25934501 -0.02827225 0.96537083 0.15471722] [ 0. 0. 0. 1. ]] SLAMing on 88.84538475 meters Centerline goodness [0,1] 0.9473475246617598 Centerline is valid? [False, False] Translation: X:8.24, Y:0.12, Z:0.16 [[ 0.96537248 -0.01057701 -0.26066089 8.24082415] [ 0.01847293 0.99944111 0.02786057 0.12048735] [ 0.26022052 -0.031711 0.96502834 0.1565661 ] [ 0. 0. 0. 1. ]] SLAMing on 88.87538475 meters Centerline goodness [0,1] 0.9473523109886747 Centerline is valid? [False, False] Translation: X:8.24, Y:0.12, Z:0.16 [[ 0.96539851 -0.01012625 -0.26058239 8.24020981] [ 0.01803526 0.99944583 0.02797799 0.12117641] [ 0.26015467 -0.03170958 0.96504614 0.15665557] [ 0. 0. 0. 1. ]] SLAMing on 88.90538475 meters Centerline goodness [0,1] 0.9484482653496737 Centerline is valid? [False, False] Translation: X:8.24, Y:0.12, Z:0.16 [[ 9.65532423e-01 -8.03020316e-03 -2.60158907e-01 8.23985496e+00] [ 1.63805691e-02 9.99417319e-01 2.99449540e-02 1.22605465e-01] [ 2.59766853e-01 -3.31743749e-02 9.65101364e-01 1.56733579e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.93538475 meters Centerline goodness [0,1] 0.9487319832147418 Centerline is valid? [False, False] Translation: X:8.24, Y:0.12, Z:0.16 [[ 9.65436117e-01 -8.19371537e-03 -2.60510972e-01 8.24056036e+00] [ 1.65745379e-02 9.99412766e-01 2.99901142e-02 1.23111042e-01] [ 2.60112261e-01 -3.32713884e-02 9.65004988e-01 1.57224118e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 88.96538475 meters Centerline goodness [0,1] 0.946693533614215 Centerline is valid? [False, False] Translation: X:8.24, Y:0.12, Z:0.16 [[ 0.96545134 -0.01262263 -0.2602775 8.23926567] [ 0.02015966 0.99945058 0.02630838 0.12200616] [ 0.25980242 -0.03064656 0.96517537 0.15774997] [ 0. 0. 0. 1. ]] SLAMing on 88.99538474999999 meters Centerline goodness [0,1] 0.9480586817946137 Centerline is valid? [False, False] Translation: X:8.24, Y:0.12, Z:0.16 [[ 0.96519187 -0.01358237 -0.26118991 8.24211149] [ 0.02111698 0.99943726 0.02606229 0.12228008] [ 0.26068893 -0.03067065 0.96493554 0.15817813] [ 0. 0. 0. 1. ]] SLAMing on 89.02538474999999 meters Centerline goodness [0,1] 0.946455343756693 Centerline is valid? [False, False] Translation: X:8.24, Y:0.12, Z:0.16 [[ 0.96510983 -0.01454237 -0.26144126 8.24482299] [ 0.0218446 0.9994476 0.02504618 0.12320766] [ 0.26093261 -0.0298834 0.96489437 0.15642739] [ 0. 0. 0. 1. ]] SLAMing on 89.05538474999999 meters Centerline goodness [0,1] 0.9453555256394566 Centerline is valid? [False, False] Translation: X:8.25, Y:0.12, Z:0.16 [[ 0.96495485 -0.01514091 -0.26197878 8.2465023 ] [ 0.02250161 0.99943119 0.02511939 0.12259686] [ 0.26144943 -0.03013402 0.96474667 0.15693341] [ 0. 0. 0. 1. ]] SLAMing on 89.08538474999999 meters Centerline goodness [0,1] 0.9440285967431487 Centerline is valid? [False, False] Translation: X:8.25, Y:0.12, Z:0.16 [[ 0.96471474 -0.01636872 -0.262788 8.24872993] [ 0.02381851 0.99939893 0.02518833 0.12155547] [ 0.26221774 -0.03055878 0.96452476 0.15830962] [ 0. 0. 0. 1. ]] SLAMing on 89.11538474999999 meters Centerline goodness [0,1] 0.9447579903073431 Centerline is valid? [False, False] Translation: X:8.25, Y:0.12, Z:0.16 [[ 0.96460866 -0.01645119 -0.26317198 8.24989167] [ 0.02389172 0.99939948 0.02509707 0.12212672] [ 0.26260107 -0.03049648 0.96442244 0.15823609] [ 0. 0. 0. 1. ]] SLAMing on 89.14538474999999 meters Centerline goodness [0,1] 0.9432986536107711 Centerline is valid? [False, False] Translation: X:8.25, Y:0.12, Z:0.16 [[ 0.96447693 -0.0166389 -0.26364257 8.25146041] [ 0.0240341 0.99940225 0.02484948 0.12290062] [ 0.26307151 -0.03030316 0.96430031 0.1579675 ] [ 0. 0. 0. 1. ]] SLAMing on 89.17538474999999 meters Centerline goodness [0,1] 0.9446162324342529 Centerline is valid? [False, False] Translation: X:8.25, Y:0.12, Z:0.16 [[ 0.96441999 -0.01659674 -0.26385341 8.25196509] [ 0.02403611 0.99939866 0.02499168 0.12318655] [ 0.26327997 -0.03044448 0.96423897 0.15825046] [ 0. 0. 0. 1. ]] SLAMing on 89.20538475 meters Centerline goodness [0,1] 0.9465296258909179 Centerline is valid? [False, False] Translation: X:8.25, Y:0.12, Z:0.16 [[ 0.9644057 -0.01629001 -0.26392476 8.25150142] [ 0.02381984 0.99939468 0.0253551 0.12278488] [ 0.26335197 -0.03073925 0.96420996 0.15898418] [ 0. 0. 0. 1. ]] SLAMing on 89.23538475 meters Centerline goodness [0,1] 0.9430637698035731 Centerline is valid? [False, False] Translation: X:8.25, Y:0.12, Z:0.16 [[ 0.96436011 -0.0159611 -0.2641114 8.2511637 ] [ 0.02360088 0.99938905 0.02577848 0.12225232] [ 0.26353858 -0.031093 0.96414762 0.15984577] [ 0. 0. 0. 1. ]] SLAMing on 89.26538475 meters Centerline goodness [0,1] 0.9473603154068873 Centerline is valid? [False, False] Translation: X:8.25, Y:0.12, Z:0.16 [[ 0.9642402 -0.02082845 -0.26421016 8.2506777 ] [ 0.02785157 0.99935057 0.02286319 0.12017857] [ 0.26356237 -0.02940427 0.9641941 0.16181013] [ 0. 0. 0. 1. ]] SLAMing on 89.29538475 meters Centerline goodness [0,1] 0.9463685427910563 Centerline is valid? [False, False] Translation: X:8.25, Y:0.12, Z:0.16 [[ 0.96409232 -0.02150864 -0.26469486 8.25222778] [ 0.02858232 0.99932907 0.02290105 0.11983788] [ 0.2640247 -0.02964432 0.96406025 0.16237925] [ 0. 0. 0. 1. ]] SLAMing on 89.32538475 meters Centerline goodness [0,1] 0.9430911834447079 Centerline is valid? [False, False] Translation: X:8.26, Y:0.12, Z:0.16 [[ 0.9639803 -0.02245452 -0.26502412 8.25563477] [ 0.02935386 0.99932473 0.02210058 0.12101781] [ 0.2643489 -0.029084 0.96398848 0.16050925] [ 0. 0. 0. 1. ]] SLAMing on 89.35538475 meters Centerline goodness [0,1] 0.9413157085766984 Centerline is valid? [False, False] Translation: X:8.26, Y:0.12, Z:0.16 [[ 0.96396721 -0.02209554 -0.26510187 8.25584871] [ 0.02901928 0.99933166 0.02222866 0.1214451 ] [ 0.26443354 -0.02912076 0.96396415 0.1603747 ] [ 0. 0. 0. 1. ]] SLAMing on 89.38538474999999 meters Centerline goodness [0,1] 0.9456978612931141 Centerline is valid? [False, False] Translation: X:8.25, Y:0.12, Z:0.16 [[ 0.9639511 -0.02169356 -0.26519363 8.25450985] [ 0.02902335 0.9992965 0.02375168 0.11844929] [ 0.26449181 -0.03059227 0.96390259 0.16306864] [ 0. 0. 0. 1. ]] SLAMing on 89.41538474999999 meters Centerline goodness [0,1] 0.9465295153368548 Centerline is valid? [False, False] Translation: X:8.26, Y:0.12, Z:0.16 [[ 0.96388388 -0.02190127 -0.26542078 8.25501885] [ 0.02926514 0.99928781 0.02382074 0.11820756] [ 0.26471005 -0.030728 0.96383836 0.16357509] [ 0. 0. 0. 1. ]] SLAMing on 89.44538474999999 meters Centerline goodness [0,1] 0.9450176067214431 Centerline is valid? [False, False] Translation: X:8.26, Y:0.12, Z:0.16 [[ 0.96381989 -0.02206316 -0.26563969 8.25616347] [ 0.02934453 0.99929372 0.02347265 0.11892054] [ 0.26493419 -0.03041848 0.96378659 0.16294997] [ 0. 0. 0. 1. ]] SLAMing on 89.47538474999999 meters Centerline goodness [0,1] 0.9430799100126352 Centerline is valid? [False, False] Translation: X:8.26, Y:0.12, Z:0.16 [[ 0.96358929 -0.02247794 -0.26644027 8.25886404] [ 0.02971985 0.99928949 0.02317878 0.11900866] [ 0.26572995 -0.03025339 0.96357269 0.16260835] [ 0. 0. 0. 1. ]] SLAMing on 89.50538474999999 meters Centerline goodness [0,1] 0.9427391518737672 Centerline is valid? [False, False] Translation: X:8.26, Y:0.12, Z:0.16 [[ 0.96367788 -0.02203904 -0.2661564 8.25809577] [ 0.02931689 0.99929619 0.0234017 0.11900437] [ 0.26545333 -0.03035457 0.96364575 0.16253031] [ 0. 0. 0. 1. ]] SLAMing on 89.53538474999999 meters Centerline goodness [0,1] 0.9430703756244989 Centerline is valid? [False, False] Translation: X:8.26, Y:0.12, Z:0.16 [[ 0.96367462 -0.02183901 -0.26618469 8.25785335] [ 0.02913574 0.99929933 0.02349371 0.1193919 ] [ 0.2654851 -0.03039578 0.9636357 0.1627645 ] [ 0. 0. 0. 1. ]] SLAMing on 89.56538474999999 meters Centerline goodness [0,1] 0.9435267236854293 Centerline is valid? [False, False] Translation: X:8.26, Y:0.12, Z:0.16 [[ 0.96364619 -0.02150352 -0.2663149 8.25734471] [ 0.02890185 0.99929668 0.02389188 0.11923972] [ 0.26561384 -0.03072031 0.96358993 0.16362647] [ 0. 0. 0. 1. ]] SLAMing on 89.59538475 meters Centerline goodness [0,1] 0.946504352135799 Centerline is valid? [False, False] Translation: X:8.26, Y:0.12, Z:0.17 [[ 0.9636461 -0.02115281 -0.26634329 8.25629882] [ 0.02872302 0.99928567 0.02455903 0.11828088] [ 0.26563354 -0.03131639 0.96356531 0.16504411] [ 0. 0. 0. 1. ]] SLAMing on 89.62538475 meters Centerline goodness [0,1] 0.9455546618820764 Centerline is valid? [False, False] Translation: X:8.26, Y:0.12, Z:0.17 [[ 0.96356827 -0.02136108 -0.26660814 8.25608452] [ 0.02907209 0.99926441 0.0250089 0.11814744] [ 0.26587781 -0.03184864 0.96348049 0.16660045] [ 0. 0. 0. 1. ]] SLAMing on 89.65538475 meters Centerline goodness [0,1] 0.9487790535730866 Centerline is valid? [False, False] Translation: X:8.26, Y:0.12, Z:0.17 [[ 0.96348669 -0.02152991 -0.26688924 8.25700088] [ 0.02922359 0.999263 0.02488859 0.11865699] [ 0.26615669 -0.03177928 0.96340578 0.16657711] [ 0. 0. 0. 1. ]] SLAMing on 89.68538475 meters Centerline goodness [0,1] 0.9454815640382651 Centerline is valid? [False, False] Translation: X:8.26, Y:0.12, Z:0.17 [[ 0.9633549 -0.02203976 -0.26732299 8.25787575] [ 0.02984999 0.99923699 0.0251875 0.11822506] [ 0.26656389 -0.03224409 0.96327774 0.16772078] [ 0. 0. 0. 1. ]] SLAMing on 89.71538475 meters Centerline goodness [0,1] 0.9469382700761563 Centerline is valid? [False, False] Translation: X:8.26, Y:0.12, Z:0.17 [[ 0.9633083 -0.0223388 -0.26746608 8.25911282] [ 0.03003763 0.99924287 0.02472694 0.11946461] [ 0.26671121 -0.03185371 0.96324995 0.16692452] [ 0. 0. 0. 1. ]] SLAMing on 89.74538474999999 meters Centerline goodness [0,1] 0.9460557744206968 Centerline is valid? [False, False] Translation: X:8.26, Y:0.12, Z:0.17 [[ 0.96326131 -0.02234164 -0.26763503 8.2598593 ] [ 0.03003448 0.99924403 0.02468398 0.11972533] [ 0.26688122 -0.0318154 0.96320413 0.16677643] [ 0. 0. 0. 1. ]] SLAMing on 89.77538474999999 meters Centerline goodness [0,1] 0.9459626944289521 Centerline is valid? [False, False] Translation: X:8.26, Y:0.12, Z:0.17 [[ 0.96312114 -0.02267541 -0.26811096 8.26093231] [ 0.03034985 0.99923869 0.02451383 0.11998873] [ 0.26735099 -0.03174691 0.9630761 0.16721037] [ 0. 0. 0. 1. ]] SLAMing on 89.80538474999999 meters Centerline goodness [0,1] 0.9448563484708064 Centerline is valid? [False, False] Translation: X:8.26, Y:0.12, Z:0.17 [[ 0.96310492 -0.02226437 -0.26820368 8.2604811 ] [ 0.02995597 0.99924797 0.02461979 0.12087087] [ 0.26745384 -0.03174574 0.96304758 0.16763967] [ 0. 0. 0. 1. ]] SLAMing on 89.83538474999999 meters Centerline goodness [0,1] 0.9477556572276493 Centerline is valid? [False, False] Translation: X:8.26, Y:0.12, Z:0.17 [[ 0.9631024 -0.02194422 -0.26823912 8.2601491 ] [ 0.02965817 0.9992539 0.02473917 0.12169532] [ 0.2674961 -0.03178184 0.96303466 0.16789479] [ 0. 0. 0. 1. ]] SLAMing on 89.86538474999999 meters Centerline goodness [0,1] 0.948410984264116 Centerline is valid? [False, False] Translation: X:8.26, Y:0.12, Z:0.17 [[ 0.96317552 -0.02130719 -0.26802783 8.25928951] [ 0.02896546 0.99927641 0.02465062 0.12372347] [ 0.26730866 -0.03150642 0.96309575 0.16754833] [ 0. 0. 0. 1. ]] SLAMing on 89.89538474999999 meters Centerline goodness [0,1] 0.9487913779830639 Centerline is valid? [False, False] Translation: X:8.26, Y:0.12, Z:0.17 [[ 0.96320304 -0.02084025 -0.26796564 8.25860488] [ 0.02851793 0.99928581 0.02479122 0.12460287] [ 0.26725761 -0.0315208 0.96310945 0.16776674] [ 0. 0. 0. 1. ]] SLAMing on 89.92538474999999 meters Centerline goodness [0,1] 0.9529289023903771 Centerline is valid? [False, True] Translation: X:8.26, Y:0.13, Z:0.17 [[ 0.96307645 -0.02082553 -0.26842141 8.2589604 ] [ 0.02850424 0.99928744 0.02474124 0.12593586] [ 0.2677149 -0.03147885 0.96298381 0.1685087 ] [ 0. 0. 0. 1. ]] SLAMing on 89.95538475 meters Centerline goodness [0,1] 0.9536523774328652 Centerline is valid? [True, True] Translation: X:8.29, Y:0.14, Z:0.15 [[ 9.63248468e-01 -3.02564388e-02 -2.66902485e-01 8.29210347e+00] [ 2.86962918e-02 9.99540676e-01 -9.74469085e-03 1.38687630e-01] [ 2.67074730e-01 1.72744695e-03 9.63674273e-01 1.54675196e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 89.98538475 meters Centerline goodness [0,1] 0.9532066654368813 Centerline is valid? [True, True] Translation: X:8.32, Y:0.14, Z:0.16 [[ 9.63182645e-01 -3.08327443e-02 -2.67074022e-01 8.31962984e+00] [ 2.92730665e-02 9.99523211e-01 -9.82025111e-03 1.41364213e-01] [ 2.67249470e-01 1.64061983e-03 9.63625980e-01 1.60370158e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.01538475 meters Centerline goodness [0,1] 0.9523357328840557 Centerline is valid? [True, True] Translation: X:8.35, Y:0.14, Z:0.17 [[ 9.63077899e-01 -3.01078699e-02 -2.67534068e-01 8.34682775e+00] [ 2.84941791e-02 9.99544804e-01 -9.91294612e-03 1.43685330e-01] [ 2.67710745e-01 1.92377569e-03 9.63497409e-01 1.65477535e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.04538475 meters Centerline goodness [0,1] 0.9531341175025337 Centerline is valid? [True, True] Translation: X:8.38, Y:0.14, Z:0.17 [[ 9.63523339e-01 -3.01250625e-02 -2.65923401e-01 8.37509118e+00] [ 2.85220060e-02 9.99544248e-01 -9.88899198e-03 1.44437877e-01] [ 2.66100112e-01 1.94360573e-03 9.63943439e-01 1.73623860e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.07538475 meters Centerline goodness [0,1] 0.9535062145158816 Centerline is valid? [True, True] Translation: X:8.40, Y:0.14, Z:0.18 [[ 9.63668258e-01 -3.09422507e-02 -2.65303723e-01 8.40298739e+00] [ 2.93667579e-02 9.99519637e-01 -9.90402521e-03 1.44501925e-01] [ 2.65482734e-01 1.75308453e-03 9.64114021e-01 1.81522735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.10538475 meters Centerline goodness [0,1] 0.9521562095132334 Centerline is valid? [True, True] Translation: X:8.43, Y:0.14, Z:0.19 [[ 9.63510882e-01 -3.21804868e-02 -2.65727674e-01 8.42965941e+00] [ 3.06281577e-02 9.99480976e-01 -9.98473775e-03 1.42817039e-01] [ 2.65911068e-01 1.48165439e-03 9.63996425e-01 1.88497141e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.13538474999999 meters Centerline goodness [0,1] 0.9536804975401467 Centerline is valid? [True, True] Translation: X:8.46, Y:0.14, Z:0.20 [[ 9.63392062e-01 -3.35304134e-02 -2.65991439e-01 8.45739970e+00] [ 3.20155358e-02 9.99437039e-01 -1.00304884e-02 1.42550558e-01] [ 2.66178022e-01 1.14743443e-03 9.63923204e-01 1.95352744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.16538474999999 meters Centerline goodness [0,1] 0.9504662185186332 Centerline is valid? [True, True] Translation: X:8.49, Y:0.14, Z:0.20 [[ 9.63003960e-01 -3.43439667e-02 -2.67289851e-01 8.48546414e+00] [ 3.28237494e-02 9.99409566e-01 -1.01548493e-02 1.41834921e-01] [ 2.67480792e-01 1.00570500e-03 9.63562668e-01 2.01455023e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.19538474999999 meters Centerline goodness [0,1] 0.9494616025423467 Centerline is valid? [True, False] Translation: X:8.49, Y:0.14, Z:0.20 [[ 9.62707257e-01 -3.07662074e-02 -2.68790212e-01 8.48892454e+00] [ 3.04856320e-02 9.99521581e-01 -5.21875060e-03 1.39523163e-01] [ 2.68822179e-01 -3.17011042e-03 9.63184607e-01 2.04075695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.22538474999999 meters Centerline goodness [0,1] 0.9494616025423467 Centerline is valid? [False, False] Translation: X:8.49, Y:0.14, Z:0.20 [[ 9.62707257e-01 -3.07662074e-02 -2.68790212e-01 8.48892454e+00] [ 3.04856320e-02 9.99521581e-01 -5.21875060e-03 1.39523163e-01] [ 2.68822179e-01 -3.17011042e-03 9.63184607e-01 2.04075695e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.25538474999999 meters Centerline goodness [0,1] 0.9489184177997527 Centerline is valid? [False, False] Translation: X:8.49, Y:0.14, Z:0.21 [[ 9.62548621e-01 -2.68488128e-02 -2.69776377e-01 8.49099761e+00] [ 2.77308984e-02 9.99615278e-01 -5.41728251e-04 1.37362736e-01] [ 2.69687133e-01 -6.95970153e-03 9.62922849e-01 2.06123691e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.28538474999999 meters Centerline goodness [0,1] 0.9493984869155401 Centerline is valid? [False, False] Translation: X:8.49, Y:0.14, Z:0.21 [[ 9.62497762e-01 -2.63229216e-02 -2.70009560e-01 8.49077343e+00] [ 2.73746741e-02 9.99625235e-01 1.29646738e-04 1.37115904e-01] [ 2.69904957e-01 -7.51620839e-03 9.62857633e-01 2.07084434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.31538474999999 meters Centerline goodness [0,1] 0.9482491957436279 Centerline is valid? [False, False] Translation: X:8.49, Y:0.13, Z:0.21 [[ 9.62326162e-01 -2.13125625e-02 -2.71061124e-01 8.49107709e+00] [ 2.37411636e-02 9.99701984e-01 5.68333759e-03 1.34946897e-01] [ 2.70859217e-01 -1.19045309e-02 9.62545358e-01 2.10606626e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.34538475 meters Centerline goodness [0,1] 0.949591490673655 Centerline is valid? [False, False] Translation: X:8.49, Y:0.13, Z:0.21 [[ 0.96217071 -0.01696216 -0.27191874 8.49197527] [ 0.02066907 0.99972832 0.0107739 0.13293988] [ 0.27166212 -0.01598664 0.9622599 0.21347639] [ 0. 0. 0. 1. ]] SLAMing on 90.37538475 meters Centerline goodness [0,1] 0.947676398650113 Centerline is valid? [False, False] Translation: X:8.49, Y:0.13, Z:0.22 [[ 0.96211666 -0.01717267 -0.27209673 8.49147376] [ 0.0211279 0.99970933 0.01161289 0.13142957] [ 0.27181822 -0.01692179 0.96219983 0.21549446] [ 0. 0. 0. 1. ]] SLAMing on 90.40538475 meters Centerline goodness [0,1] 0.9497184231697506 Centerline is valid? [False, False] Translation: X:8.49, Y:0.13, Z:0.22 [[ 0.96191803 -0.01328543 -0.27301501 8.49369482] [ 0.01841335 0.99969874 0.01622883 0.13015357] [ 0.27271715 -0.02063793 0.96187288 0.2174383 ] [ 0. 0. 0. 1. ]] SLAMing on 90.43538475 meters Centerline goodness [0,1] 0.9500495172072295 Centerline is valid? [False, True] Translation: X:8.49, Y:0.13, Z:0.22 [[ 0.96197371 -0.01249172 -0.27285627 8.49299083] [ 0.01770616 0.99970448 0.01665651 0.13093436] [ 0.27256756 -0.02085436 0.96191061 0.21750326] [ 0. 0. 0. 1. ]] SLAMing on 90.46538475 meters Centerline goodness [0,1] 0.9503230393520665 Centerline is valid? [True, True] Translation: X:8.52, Y:0.14, Z:0.21 [[ 9.62331698e-01 -1.82479536e-02 -2.71265026e-01 8.52417175e+00] [ 1.72017543e-02 9.99832604e-01 -6.23414516e-03 1.40573493e-01] [ 2.71333378e-01 1.33308117e-03 9.62484504e-01 2.09483492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.49538474999999 meters Centerline goodness [0,1] 0.9540148239654107 Centerline is valid? [True, True] Translation: X:8.55, Y:0.14, Z:0.22 [[ 9.62567540e-01 -1.81571831e-02 -2.70433072e-01 8.55191121e+00] [ 1.71066922e-02 9.99834191e-01 -6.24119597e-03 1.40623089e-01] [ 2.70501555e-01 1.38135731e-03 9.62718547e-01 2.19851036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.52538474999999 meters Centerline goodness [0,1] 0.9530076930206692 Centerline is valid? [True, True] Translation: X:8.58, Y:0.14, Z:0.23 [[ 9.62591277e-01 -1.82077808e-02 -2.70345170e-01 8.57891632e+00] [ 1.71419216e-02 9.99833197e-01 -6.30334721e-03 1.40284846e-01] [ 2.70414845e-01 1.43331133e-03 9.62742830e-01 2.28592470e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.55538474999999 meters Centerline goodness [0,1] 0.9530514978955187 Centerline is valid? [True, True] Translation: X:8.61, Y:0.14, Z:0.23 [[ 9.62793946e-01 -1.86158161e-02 -2.69594637e-01 8.60637176e+00] [ 1.75502773e-02 9.99825739e-01 -6.36240910e-03 1.40672020e-01] [ 2.69666098e-01 1.39422834e-03 9.62952881e-01 2.34952672e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.58538474999999 meters Centerline goodness [0,1] 0.9524413639457887 Centerline is valid? [True, True] Translation: X:8.63, Y:0.14, Z:0.24 [[ 9.62788913e-01 -1.93063497e-02 -2.69564044e-01 8.63368673e+00] [ 1.82599721e-02 9.99812860e-01 -6.38897514e-03 1.39707540e-01] [ 2.69636946e-01 1.22900249e-03 9.62961270e-01 2.41641968e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.61538474999999 meters Centerline goodness [0,1] 0.9508303383318875 Centerline is valid? [True, True] Translation: X:8.66, Y:0.14, Z:0.25 [[ 9.62594223e-01 -2.05195149e-02 -2.70169043e-01 8.66144207e+00] [ 1.94929421e-02 9.99788978e-01 -6.48257628e-03 1.39335597e-01] [ 2.70245051e-01 9.73700958e-04 9.62791080e-01 2.47723414e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.64538474999999 meters Centerline goodness [0,1] 0.9495832171299309 Centerline is valid? [True, False] Translation: X:8.66, Y:0.14, Z:0.25 [[ 9.62390447e-01 -1.70392290e-02 -2.71135191e-01 8.66425563e+00] [ 1.71232353e-02 9.99851273e-01 -2.05601026e-03 1.36815022e-01] [ 2.71129898e-01 -2.66402703e-03 9.62539080e-01 2.49378315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.67538474999999 meters Centerline goodness [0,1] 0.9485639605439213 Centerline is valid? [False, False] Translation: X:8.67, Y:0.13, Z:0.25 [[ 9.62086816e-01 -1.74227550e-02 -2.72186344e-01 8.66555828e+00] [ 1.80413119e-02 9.99837216e-01 -2.30028147e-04 1.33093844e-01] [ 2.72146044e-01 -4.68929169e-03 9.62244533e-01 2.53036686e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.70538475 meters Centerline goodness [0,1] 0.9466525568800772 Centerline is valid? [False, False] Translation: X:8.67, Y:0.13, Z:0.25 [[ 9.61818914e-01 -1.83883324e-02 -2.73068206e-01 8.66847221e+00] [ 1.90880381e-02 9.99817802e-01 -9.42841554e-05 1.32568781e-01] [ 2.73020187e-01 -5.12165203e-03 9.61994670e-01 2.53780846e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.73538475 meters Centerline goodness [0,1] 0.9455216412309232 Centerline is valid? [False, False] Translation: X:8.67, Y:0.13, Z:0.26 [[ 9.61531029e-01 -1.91193860e-02 -2.74030163e-01 8.67061764e+00] [ 2.00730622e-02 9.99798287e-01 6.76359125e-04 1.30889701e-01] [ 2.73961956e-01 -6.15096480e-03 9.61720860e-01 2.55722183e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.76538475 meters Centerline goodness [0,1] 0.9436610930870976 Centerline is valid? [False, False] Translation: X:8.67, Y:0.13, Z:0.26 [[ 9.61259331e-01 -1.58441689e-02 -2.75189863e-01 8.67417064e+00] [ 1.78831565e-02 9.99828068e-01 4.90172953e-03 1.30030485e-01] [ 2.75064885e-01 -9.63309665e-03 9.61377404e-01 2.57266741e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.79538475 meters Centerline goodness [0,1] 0.944193719069999 Centerline is valid? [False, False] Translation: X:8.68, Y:0.13, Z:0.26 [[ 0.9611032 -0.01149296 -0.27595026 8.67620616] [ 0.01463997 0.99984914 0.00934697 0.12941903] [ 0.2758012 -0.0130233 0.96112647 0.2583445 ] [ 0. 0. 0. 1. ]] SLAMing on 90.82538475 meters Centerline goodness [0,1] 0.9452648524813473 Centerline is valid? [False, False] Translation: X:8.67, Y:0.13, Z:0.26 [[ 9.60935733e-01 -5.67728296e-03 -2.76713364e-01 8.67494933e+00] [ 1.04917388e-02 9.99818201e-01 1.59212978e-02 1.27726825e-01] [ 2.76572668e-01 -1.82025484e-02 9.60820601e-01 2.63229893e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.85538475 meters Centerline goodness [0,1] 0.9474239275411769 Centerline is valid? [False, False] Translation: X:8.67, Y:0.13, Z:0.27 [[ 9.60972190e-01 -3.48044966e-03 -2.76623096e-01 8.67109842e+00] [ 8.66238585e-03 9.99809109e-01 1.75130952e-02 1.27798581e-01] [ 2.76509338e-01 -1.92258134e-02 9.60818898e-01 2.65821754e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.88538474999999 meters Centerline goodness [0,1] 0.9480411225340373 Centerline is valid? [False, False] Translation: X:8.67, Y:0.13, Z:0.27 [[ 9.60670781e-01 1.02242909e-03 -2.77687962e-01 8.67237435e+00] [ 5.43557818e-03 9.99732392e-01 2.24855142e-02 1.26724172e-01] [ 2.77636640e-01 -2.31105712e-02 9.60408141e-01 2.68728373e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.91538474999999 meters Centerline goodness [0,1] 0.9487858991741649 Centerline is valid? [False, False] Translation: X:8.67, Y:0.13, Z:0.27 [[ 9.60645483e-01 1.59124816e-03 -2.77772793e-01 8.67216056e+00] [ 4.90766186e-03 9.99730284e-01 2.26996391e-02 1.27856611e-01] [ 2.77733994e-01 -2.31695207e-02 9.60378572e-01 2.68885789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.94538474999999 meters Centerline goodness [0,1] 0.9477984706462753 Centerline is valid? [False, False] Translation: X:8.67, Y:0.13, Z:0.27 [[ 9.60648348e-01 2.14133719e-03 -2.77759188e-01 8.67204832e+00] [ 4.34825104e-03 9.99731821e-01 2.27459734e-02 1.29010842e-01] [ 2.77733406e-01 -2.30586484e-02 9.60381411e-01 2.68629778e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 90.97538474999999 meters Centerline goodness [0,1] 0.9465159959355852 Centerline is valid? [False, False] Translation: X:8.67, Y:0.13, Z:0.27 [[ 9.60562003e-01 1.96951199e-03 -2.78058913e-01 8.67365962e+00] [ 4.46287606e-03 9.99736919e-01 2.24983366e-02 1.29800242e-01] [ 2.78030072e-01 -2.28519898e-02 9.60300508e-01 2.67991852e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.00538474999999 meters Centerline goodness [0,1] 0.9458893779433039 Centerline is valid? [False, False] Translation: X:8.67, Y:0.13, Z:0.27 [[ 9.60432879e-01 1.81050519e-03 -2.78505670e-01 8.67492595e+00] [ 4.67653735e-03 9.99733057e-01 2.26261898e-02 1.29943905e-01] [ 2.78472289e-01 -2.30333787e-02 9.60168031e-01 2.68338584e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.03538474999999 meters Centerline goodness [0,1] 0.9470141419131723 Centerline is valid? [False, False] Translation: X:8.67, Y:0.13, Z:0.27 [[ 9.60380824e-01 2.41378406e-03 -2.78680545e-01 8.67462851e+00] [ 4.21136619e-03 9.99722619e-01 2.31721589e-02 1.29353779e-01] [ 2.78659177e-01 -2.34277229e-02 9.60104268e-01 2.69015800e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.06538474999999 meters Centerline goodness [0,1] 0.9486815290557649 Centerline is valid? [False, False] Translation: X:8.67, Y:0.13, Z:0.27 [[ 9.60346178e-01 2.74871420e-03 -2.78796813e-01 8.67460796e+00] [ 3.93920800e-03 9.99717826e-01 2.34254541e-02 1.29543913e-01] [ 2.78782533e-01 -2.35947839e-02 9.60064365e-01 2.69291043e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.09538475 meters Centerline goodness [0,1] 0.9475151815590531 Centerline is valid? [False, False] Translation: X:8.67, Y:0.13, Z:0.27 [[ 9.60268163e-01 2.83375208e-03 -2.79064555e-01 8.67375100e+00] [ 4.25541147e-03 9.99683519e-01 2.47942323e-02 1.26742087e-01] [ 2.79046497e-01 -2.49966464e-02 9.59952197e-01 2.72068445e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.12538475 meters Centerline goodness [0,1] 0.9475801460576804 Centerline is valid? [False, False] Translation: X:8.68, Y:0.13, Z:0.27 [[ 9.59965984e-01 1.46580792e-03 -2.80112764e-01 8.67677983e+00] [ 5.82661292e-03 9.99665465e-01 2.51993792e-02 1.25536134e-01] [ 2.80055994e-01 -2.58226556e-02 9.59636301e-01 2.73834617e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.15538475 meters Centerline goodness [0,1] 0.9445253664734868 Centerline is valid? [False, False] Translation: X:8.68, Y:0.13, Z:0.27 [[ 9.59818484e-01 7.48189654e-04 -2.80620593e-01 8.67935133e+00] [ 6.47723489e-03 9.99670960e-01 2.48196798e-02 1.25854065e-01] [ 2.80546827e-01 -2.56400329e-02 9.59497820e-01 2.73258260e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.18538475 meters Centerline goodness [0,1] 0.9432569106195514 Centerline is valid? [False, False] Translation: X:8.68, Y:0.13, Z:0.27 [[ 9.59663316e-01 6.27901189e-05 -2.81151767e-01 8.68215562e+00] [ 7.11688707e-03 9.99674116e-01 2.45155318e-02 1.26311103e-01] [ 2.81061684e-01 -2.55275819e-02 9.59350130e-01 2.72585208e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.21538475 meters Centerline goodness [0,1] 0.9419826971378957 Centerline is valid? [False, False] Translation: X:8.68, Y:0.13, Z:0.27 [[ 9.59451407e-01 -5.31884597e-04 -2.81873579e-01 8.68462758e+00] [ 7.84935855e-03 9.99660832e-01 2.48316069e-02 1.25271680e-01] [ 2.81764769e-01 -2.60372469e-02 9.59130167e-01 2.73269214e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.24538474999999 meters Centerline goodness [0,1] 0.9412276071905368 Centerline is valid? [False, False] Translation: X:8.69, Y:0.12, Z:0.27 [[ 9.59354282e-01 -4.83920980e-04 -2.82204051e-01 8.68542878e+00] [ 7.86459017e-03 9.99655977e-01 2.50215180e-02 1.24778741e-01] [ 2.82094858e-01 -2.62239197e-02 9.59028048e-01 2.73591215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.27538474999999 meters Centerline goodness [0,1] 0.9429052264156823 Centerline is valid? [False, False] Translation: X:8.68, Y:0.12, Z:0.28 [[ 9.59384446e-01 6.07680056e-04 -2.82101249e-01 8.68364247e+00] [ 7.05567736e-03 9.99633166e-01 2.61486409e-02 1.23054498e-01] [ 2.82013655e-01 -2.70770148e-02 9.59028224e-01 2.75128485e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.30538474999999 meters Centerline goodness [0,1] 0.9454149151486844 Centerline is valid? [False, False] Translation: X:8.68, Y:0.12, Z:0.28 [[ 9.59328114e-01 1.16592276e-03 -2.82291003e-01 8.68338462e+00] [ 6.70879122e-03 9.99614875e-01 2.69275524e-02 1.22595610e-01] [ 2.82213681e-01 -2.77261894e-02 9.58950831e-01 2.76218810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.33538474999999 meters Centerline goodness [0,1] 0.9461598379809939 Centerline is valid? [False, False] Translation: X:8.68, Y:0.12, Z:0.28 [[ 9.59375298e-01 2.13982758e-03 -2.82124899e-01 8.68173302e+00] [ 5.93195715e-03 9.99597198e-01 2.77534484e-02 1.22676977e-01] [ 2.82070646e-01 -2.82995256e-02 9.58976166e-01 2.77241985e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.36538474999999 meters Centerline goodness [0,1] 0.9459190650836079 Centerline is valid? [False, False] Translation: X:8.68, Y:0.12, Z:0.28 [[ 9.59309924e-01 2.27583738e-03 -2.82346046e-01 8.68238908e+00] [ 5.87622679e-03 9.99590022e-01 2.80224466e-02 1.23291774e-01] [ 2.82294065e-01 -2.85413405e-02 9.58903255e-01 2.77536951e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.39538474999999 meters Centerline goodness [0,1] 0.9462882096069869 Centerline is valid? [False, False] Translation: X:8.68, Y:0.12, Z:0.28 [[ 9.59259380e-01 2.44440620e-03 -2.82516312e-01 8.68280627e+00] [ 5.79268651e-03 9.99582203e-01 2.83172103e-02 1.23193478e-01] [ 2.82467496e-01 -2.88000780e-02 9.58844445e-01 2.77830661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.42538474999999 meters Centerline goodness [0,1] 0.9456758607807733 Centerline is valid? [False, False] Translation: X:8.68, Y:0.12, Z:0.28 [[ 9.59169300e-01 2.86789816e-03 -2.82818013e-01 8.68316333e+00] [ 5.54405410e-03 9.99565818e-01 2.89385367e-02 1.22869007e-01] [ 2.82778212e-01 -2.93249144e-02 9.58736946e-01 2.78680174e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.45538475 meters Centerline goodness [0,1] 0.9469597754911132 Centerline is valid? [False, False] Translation: X:8.68, Y:0.12, Z:0.28 [[ 9.59127512e-01 3.19723975e-03 -2.82956167e-01 8.68293468e+00] [ 5.30857358e-03 9.99556897e-01 2.92887131e-02 1.22277646e-01] [ 2.82924432e-01 -2.95937042e-02 9.58685547e-01 2.79249066e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.48538475 meters Centerline goodness [0,1] 0.9449875466998755 Centerline is valid? [False, False] Translation: X:8.68, Y:0.12, Z:0.28 [[ 9.59028710e-01 3.22843645e-03 -2.83290507e-01 8.68366133e+00] [ 5.40420272e-03 9.99544665e-01 2.96859647e-02 1.21462556e-01] [ 2.83257354e-01 -3.00006517e-02 9.58574583e-01 2.79897252e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.51538475 meters Centerline goodness [0,1] 0.9455879609477023 Centerline is valid? [False, False] Translation: X:8.69, Y:0.12, Z:0.28 [[ 9.58931557e-01 2.77893331e-03 -2.83623952e-01 8.68561958e+00] [ 5.92770207e-03 9.99537262e-01 2.98349555e-02 1.20891134e-01] [ 2.83575618e-01 -3.02909186e-02 9.58471350e-01 2.79887546e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.54538475 meters Centerline goodness [0,1] 0.9442994718856788 Centerline is valid? [False, False] Translation: X:8.69, Y:0.12, Z:0.28 [[ 9.58796056e-01 2.36195141e-03 -2.84085453e-01 8.68739456e+00] [ 6.43307455e-03 9.99528533e-01 3.00221086e-02 1.20287416e-01] [ 2.84022427e-01 -3.06126222e-02 9.58328820e-01 2.80187062e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.57538475 meters Centerline goodness [0,1] 0.9435433755903555 Centerline is valid? [False, False] Translation: X:8.69, Y:0.12, Z:0.28 [[ 9.58685209e-01 1.99005950e-03 -2.84462142e-01 8.68879293e+00] [ 6.89924135e-03 9.99518732e-01 3.02441033e-02 1.19082960e-01] [ 2.84385427e-01 -3.09571474e-02 9.58210094e-01 2.80510011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.60538475 meters Centerline goodness [0,1] 0.944184450268314 Centerline is valid? [False, False] Translation: X:8.69, Y:0.12, Z:0.28 [[ 9.58489739e-01 9.74438553e-04 -2.85125361e-01 8.69094178e+00] [ 8.22823597e-03 9.99483149e-01 3.10762067e-02 1.15867984e-01] [ 2.85008276e-01 -3.21323040e-02 9.57986324e-01 2.82326869e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.63538474999999 meters Centerline goodness [0,1] 0.9464436718970215 Centerline is valid? [False, False] Translation: X:8.69, Y:0.11, Z:0.28 [[ 9.58349172e-01 7.86488717e-04 -2.85598049e-01 8.69165519e+00] [ 8.61765949e-03 9.99461239e-01 3.16696555e-02 1.14179943e-01] [ 2.85469088e-01 -3.28117749e-02 9.57826074e-01 2.83626177e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.66538474999999 meters Centerline goodness [0,1] 0.9454996389665024 Centerline is valid? [False, False] Translation: X:8.69, Y:0.11, Z:0.29 [[ 9.58206675e-01 2.84925998e-04 -2.86076715e-01 8.69264966e+00] [ 9.40418521e-03 9.99427671e-01 3.24944866e-02 1.11295482e-01] [ 2.85922244e-01 -3.38267523e-02 9.57655586e-01 2.85393684e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.69538474999999 meters Centerline goodness [0,1] 0.945374449339207 Centerline is valid? [False, False] Translation: X:8.69, Y:0.11, Z:0.29 [[ 9.58076123e-01 -7.23620053e-05 -2.86513766e-01 8.69422087e+00] [ 9.81733081e-03 9.99421049e-01 3.25758523e-02 1.10398737e-01] [ 2.86345531e-01 -3.40229467e-02 9.57522154e-01 2.85550853e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.72538474999999 meters Centerline goodness [0,1] 0.9453841065860342 Centerline is valid? [False, False] Translation: X:8.70, Y:0.11, Z:0.29 [[ 9.57948567e-01 -3.84784812e-04 -2.86939707e-01 8.69643513e+00] [ 1.01728129e-02 9.99415998e-01 3.26217362e-02 1.10044503e-01] [ 2.86759581e-01 -3.41689294e-02 9.57393037e-01 2.85206314e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.75538474999999 meters Centerline goodness [0,1] 0.9452987143937485 Centerline is valid? [False, False] Translation: X:8.70, Y:0.11, Z:0.29 [[ 9.57805711e-01 -4.39802875e-05 -2.87416452e-01 8.69728757e+00] [ 9.97883756e-03 9.99402188e-01 3.31012144e-02 1.09953330e-01] [ 2.87243175e-01 -3.45726143e-02 9.57233562e-01 2.85895165e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.78538474999999 meters Centerline goodness [0,1] 0.944288728624067 Centerline is valid? [False, False] Translation: X:8.70, Y:0.11, Z:0.29 [[ 9.57752933e-01 3.11971514e-04 -2.87592110e-01 8.69762629e+00] [ 9.65848358e-03 9.99400420e-01 3.32492621e-02 1.10296879e-01] [ 2.87430049e-01 -3.46222819e-02 9.57175671e-01 2.85934399e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.81538474999999 meters Centerline goodness [0,1] 0.9458107938105422 Centerline is valid? [False, False] Translation: X:8.70, Y:0.11, Z:0.29 [[ 9.57708032e-01 1.44096733e-03 -2.87738161e-01 8.69700103e+00] [ 8.53126539e-03 9.99405638e-01 3.34004089e-02 1.11343575e-01] [ 2.87615270e-01 -3.44426105e-02 9.57126514e-01 2.85896845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.84538475 meters Centerline goodness [0,1] 0.9453842283989435 Centerline is valid? [False, False] Translation: X:8.70, Y:0.11, Z:0.29 [[ 9.57590995e-01 1.51427231e-03 -2.88127044e-01 8.69788287e+00] [ 8.43038138e-03 9.99410815e-01 3.32708699e-02 1.12257512e-01] [ 2.88007665e-01 -3.42889063e-02 9.57014031e-01 2.85903549e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.87538475 meters Centerline goodness [0,1] 0.94800464692769 Centerline is valid? [False, False] Translation: X:8.70, Y:0.11, Z:0.29 [[ 9.57350267e-01 1.53785612e-03 -2.88925771e-01 8.69822261e+00] [ 8.77000832e-03 9.99370402e-01 3.43785799e-02 1.10807785e-01] [ 2.88796733e-01 -3.54462241e-02 9.56734034e-01 2.88778178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.90538475 meters Centerline goodness [0,1] 0.948495697506438 Centerline is valid? [False, False] Translation: X:8.70, Y:0.11, Z:0.29 [[ 9.57147574e-01 1.39469282e-03 -2.89597266e-01 8.69899512e+00] [ 9.22261228e-03 9.99334402e-01 3.52944129e-02 1.09612675e-01] [ 2.89453736e-01 -3.64528050e-02 9.56497636e-01 2.90916140e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.93538475 meters Centerline goodness [0,1] 0.948772040302267 Centerline is valid? [False, False] Translation: X:8.70, Y:0.11, Z:0.29 [[ 9.57048953e-01 6.39411036e-04 -2.89925669e-01 8.70075349e+00] [ 9.95680119e-03 9.99335205e-01 3.50715138e-02 1.10606851e-01] [ 2.89755353e-01 -3.64518878e-02 9.56406344e-01 2.90986516e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.96538475 meters Centerline goodness [0,1] 0.9484178313405054 Centerline is valid? [False, False] Translation: X:8.70, Y:0.11, Z:0.29 [[ 9.56943430e-01 2.46563948e-04 -2.90274373e-01 8.70194978e+00] [ 1.03412861e-02 9.99335878e-01 3.49408248e-02 1.11139969e-01] [ 2.90090210e-01 -3.64382031e-02 9.56305353e-01 2.91125491e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 91.99538474999999 meters Centerline goodness [0,1] 0.9474690487384423 Centerline is valid? [False, False] Translation: X:8.71, Y:0.11, Z:0.29 [[ 9.56539978e-01 3.79511951e-03 -2.91576522e-01 8.70528682e+00] [ 7.86143908e-03 9.99216237e-01 3.87957361e-02 1.11591445e-01] [ 2.91495230e-01 -3.94018836e-02 9.55760442e-01 2.92928749e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.02538474999999 meters Centerline goodness [0,1] 0.9484413222103745 Centerline is valid? [False, False] Translation: X:8.71, Y:0.11, Z:0.29 [[ 9.56404046e-01 3.56948905e-03 -2.92024929e-01 8.70659824e+00] [ 8.03273962e-03 9.99225481e-01 3.85216054e-02 1.12856698e-01] [ 2.91936253e-01 -3.91879795e-02 9.55634620e-01 2.92936192e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.05538474999999 meters Centerline goodness [0,1] 0.9483659108678655 Centerline is valid? [False, False] Translation: X:8.71, Y:0.11, Z:0.29 [[ 9.56339327e-01 4.30915578e-03 -2.92226835e-01 8.70622528e+00] [ 7.24871321e-03 9.99233975e-01 3.84567159e-02 1.14565536e-01] [ 2.92168698e-01 -3.88959383e-02 9.55575511e-01 2.93043849e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.08538474999999 meters Centerline goodness [0,1] 0.9483588621444201 Centerline is valid? [False, False] Translation: X:8.71, Y:0.12, Z:0.29 [[ 9.56236997e-01 4.40552629e-03 -2.92560074e-01 8.70683531e+00] [ 7.15645942e-03 9.99235360e-01 3.84380163e-02 1.15826889e-01] [ 2.92505711e-01 -3.88495476e-02 9.55474292e-01 2.93339201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.11538474999999 meters Centerline goodness [0,1] 0.9483588621444201 Centerline is valid? [False, False] Translation: X:8.71, Y:0.12, Z:0.29 [[ 9.56236997e-01 4.40552629e-03 -2.92560074e-01 8.70683531e+00] [ 7.15645942e-03 9.99235360e-01 3.84380163e-02 1.15826889e-01] [ 2.92505711e-01 -3.88495476e-02 9.55474292e-01 2.93339201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.14538474999999 meters Centerline goodness [0,1] 0.9474092460440583 Centerline is valid? [False, False] Translation: X:8.71, Y:0.12, Z:0.30 [[ 9.55901625e-01 8.72578147e-03 -2.93557394e-01 8.70895545e+00] [ 3.96671505e-03 9.99083748e-01 4.26137309e-02 1.16436730e-01] [ 2.93660260e-01 -4.18989932e-02 9.54991165e-01 2.95102402e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.17538474999999 meters Centerline goodness [0,1] 0.9458773260674366 Centerline is valid? [False, False] Translation: X:8.71, Y:0.12, Z:0.29 [[ 9.55809090e-01 8.19043391e-03 -2.93873954e-01 8.71067582e+00] [ 4.32152999e-03 9.99112406e-01 4.19013717e-02 1.18199091e-01] [ 2.93956303e-01 -4.13196970e-02 9.54925324e-01 2.94389346e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.20538475 meters Centerline goodness [0,1] 0.9460864720992851 Centerline is valid? [False, False] Translation: X:8.71, Y:0.12, Z:0.29 [[ 9.55617511e-01 7.77554862e-03 -2.94507579e-01 8.71269684e+00] [ 4.56309909e-03 9.99141097e-01 4.11855193e-02 1.20131454e-01] [ 2.94574865e-01 -4.07014707e-02 9.54761247e-01 2.94032071e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.23538475 meters Centerline goodness [0,1] 0.9467927326659251 Centerline is valid? [False, False] Translation: X:8.71, Y:0.12, Z:0.29 [[ 9.55419632e-01 7.16608256e-03 -2.95164316e-01 8.71498800e+00] [ 5.05847910e-03 9.99161385e-01 4.06317518e-02 1.21323336e-01] [ 2.95207957e-01 -4.03134559e-02 9.54582153e-01 2.93760233e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.26538475 meters Centerline goodness [0,1] 0.9452506393073913 Centerline is valid? [False, False] Translation: X:8.72, Y:0.12, Z:0.29 [[ 9.55229903e-01 6.73537487e-03 -2.95787874e-01 8.71785412e+00] [ 5.27117056e-03 9.99194735e-01 3.97755686e-02 1.23413891e-01] [ 2.95817590e-01 -3.95539609e-02 9.54425187e-01 2.92551938e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.29538475 meters Centerline goodness [0,1] 0.945808558489171 Centerline is valid? [False, False] Translation: X:8.72, Y:0.12, Z:0.29 [[ 9.55046752e-01 6.32953652e-03 -2.96387648e-01 8.71969479e+00] [ 5.60921592e-03 9.99207254e-01 3.94131885e-02 1.24338731e-01] [ 2.96402155e-01 -3.93039400e-02 9.54254139e-01 2.92481935e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.32538475 meters Centerline goodness [0,1] 0.945182367557287 Centerline is valid? [False, False] Translation: X:8.72, Y:0.13, Z:0.29 [[ 9.54804156e-01 6.60632105e-03 -2.97162213e-01 8.72106837e+00] [ 5.37816107e-03 9.99205329e-01 3.94941255e-02 1.25158820e-01] [ 2.97186977e-01 -3.93073414e-02 9.54009871e-01 2.93121301e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.35538475 meters Centerline goodness [0,1] 0.9451146514412009 Centerline is valid? [False, False] Translation: X:8.72, Y:0.13, Z:0.29 [[ 9.54716248e-01 6.37904204e-03 -2.97449482e-01 8.72176938e+00] [ 5.56091300e-03 9.99212862e-01 3.92776440e-02 1.25791465e-01] [ 2.97465901e-01 -3.91530956e-02 9.53929281e-01 2.93307374e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.38538474999999 meters Centerline goodness [0,1] 0.9452218744245995 Centerline is valid? [False, False] Translation: X:8.72, Y:0.13, Z:0.29 [[ 9.54524719e-01 6.33373352e-03 -2.98064497e-01 8.72309790e+00] [ 5.60817615e-03 9.99215938e-01 3.91925585e-02 1.26167645e-01] [ 2.98079031e-01 -3.90818641e-02 9.53740792e-01 2.93793200e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.41538474999999 meters Centerline goodness [0,1] 0.9452412395196708 Centerline is valid? [False, False] Translation: X:8.72, Y:0.12, Z:0.30 [[ 9.54213917e-01 6.46819019e-03 -2.99055118e-01 8.72396937e+00] [ 5.83120820e-03 9.99173958e-01 4.02168915e-02 1.24304274e-01] [ 2.99068216e-01 -4.01193702e-02 9.53387979e-01 2.96505689e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.44538474999999 meters Centerline goodness [0,1] 0.945469643845728 Centerline is valid? [False, False] Translation: X:8.73, Y:0.12, Z:0.30 [[ 9.54059240e-01 6.00421641e-03 -2.99557868e-01 8.72516019e+00] [ 6.36068386e-03 9.99167984e-01 4.02850043e-02 1.23718486e-01] [ 2.99550511e-01 -4.03396735e-02 9.53227256e-01 2.97279008e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.47538474999999 meters Centerline goodness [0,1] 0.9456769581561595 Centerline is valid? [False, False] Translation: X:8.73, Y:0.12, Z:0.30 [[ 9.53941468e-01 5.38393017e-03 -2.99944478e-01 8.72686873e+00] [ 7.02684011e-03 9.99163608e-01 4.02828595e-02 1.23237351e-01] [ 2.99910486e-01 -4.05351520e-02 9.53105766e-01 2.97560830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.50538474999999 meters Centerline goodness [0,1] 0.9428509745867258 Centerline is valid? [False, False] Translation: X:8.73, Y:0.12, Z:0.30 [[ 9.53644505e-01 4.26891766e-03 -3.00905192e-01 8.73041792e+00] [ 8.27888758e-03 9.99148773e-01 4.04127274e-02 1.22082681e-01] [ 3.00821572e-01 -4.10305357e-02 9.52797396e-01 2.98364956e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.53538474999999 meters Centerline goodness [0,1] 0.9422946158125735 Centerline is valid? [False, False] Translation: X:8.73, Y:0.12, Z:0.30 [[ 9.53460820e-01 3.53031056e-03 -3.01496273e-01 8.73277935e+00] [ 9.04139493e-03 9.99147037e-01 4.02920907e-02 1.21374791e-01] [ 3.01381351e-01 -4.11428767e-02 9.52615633e-01 2.98524056e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.56538474999999 meters Centerline goodness [0,1] 0.942317825372718 Centerline is valid? [False, False] Translation: X:8.74, Y:0.12, Z:0.30 [[ 9.53212001e-01 -1.73850615e-03 -3.02297632e-01 8.73553197e+00] [ 1.33247660e-02 9.99253216e-01 3.62692850e-02 1.20821067e-01] [ 3.02008827e-01 -3.86003629e-02 9.52523323e-01 2.98492480e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.59538475 meters Centerline goodness [0,1] 0.940191610082783 Centerline is valid? [False, False] Translation: X:8.74, Y:0.12, Z:0.30 [[ 9.52721066e-01 -3.54245207e-03 -3.03825642e-01 8.74026105e+00] [ 1.55033707e-02 9.99196310e-01 3.69645654e-02 1.18154103e-01] [ 3.03450515e-01 -3.99272417e-02 9.52010294e-01 3.01216706e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.62538475 meters Centerline goodness [0,1] 0.9377020641631435 Centerline is valid? [False, False] Translation: X:8.74, Y:0.12, Z:0.30 [[ 9.52503063e-01 -4.22666048e-03 -3.04499671e-01 8.74230198e+00] [ 1.62909590e-02 9.99179119e-01 3.70903437e-02 1.16829703e-01] [ 3.04092945e-01 -4.02892576e-02 9.51790028e-01 3.02019664e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.65538475 meters Centerline goodness [0,1] 0.9367780399950316 Centerline is valid? [False, False] Translation: X:8.75, Y:0.12, Z:0.30 [[ 9.52065551e-01 -5.17709671e-03 -3.05850263e-01 8.74579326e+00] [ 1.74308493e-02 9.99150320e-01 3.73470768e-02 1.16018621e-01] [ 3.05397039e-01 -4.08880951e-02 9.51346841e-01 3.03778619e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.68538475 meters Centerline goodness [0,1] 0.9371208114246601 Centerline is valid? [False, False] Translation: X:8.75, Y:0.12, Z:0.30 [[ 9.51925474e-01 -5.30792549e-03 -3.06283720e-01 8.74723213e+00] [ 1.75746934e-02 9.99149314e-01 3.73065477e-02 1.16330795e-01] [ 3.05825148e-01 -4.08958956e-02 9.51208970e-01 3.03846949e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.71538475 meters Centerline goodness [0,1] 0.9381299426267639 Centerline is valid? [False, False] Translation: X:8.75, Y:0.12, Z:0.30 [[ 9.51672298e-01 -5.53698861e-03 -3.07065432e-01 8.74929343e+00] [ 1.78188746e-02 9.99148644e-01 3.72085344e-02 1.17244820e-01] [ 3.06597987e-01 -4.08818919e-02 9.50960748e-01 3.04197455e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.74538474999999 meters Centerline goodness [0,1] 0.9360281846838494 Centerline is valid? [False, False] Translation: X:8.75, Y:0.12, Z:0.31 [[ 9.51391680e-01 -9.03675818e-04 -3.07982230e-01 8.75098973e+00] [ 1.42085008e-02 9.99059747e-01 4.09602313e-02 1.18364457e-01] [ 3.07655634e-01 -4.33451890e-02 9.50509971e-01 3.05252545e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.77538474999999 meters Centerline goodness [0,1] 0.9364658758280696 Centerline is valid? [False, False] Translation: X:8.75, Y:0.12, Z:0.31 [[ 9.51262729e-01 -2.63742969e-04 -3.08381503e-01 8.75129133e+00] [ 1.34980740e-02 9.99076849e-01 4.07829752e-02 1.20392196e-01] [ 3.08086064e-01 -4.29578806e-02 9.50388130e-01 3.05232798e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.80538474999999 meters Centerline goodness [0,1] 0.9394069749577508 Centerline is valid? [False, False] Translation: X:8.75, Y:0.12, Z:0.31 [[ 9.50980752e-01 5.50820973e-03 -3.09201019e-01 8.75121009e+00] [ 8.92208886e-03 9.98936475e-01 4.52362235e-02 1.21451068e-01] [ 3.09121346e-01 -4.57774968e-02 9.49920215e-01 3.07261661e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.83538474999999 meters Centerline goodness [0,1] 0.9400067408156387 Centerline is valid? [False, False] Translation: X:8.75, Y:0.12, Z:0.31 [[ 9.50733860e-01 6.53963596e-03 -3.09939286e-01 8.75163854e+00] [ 7.84240301e-03 9.98950157e-01 4.51340281e-02 1.23794696e-01] [ 3.09909059e-01 -4.53411175e-02 9.49684452e-01 3.07700476e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.86538474999999 meters Centerline goodness [0,1] 0.9418099492137306 Centerline is valid? [False, False] Translation: X:8.75, Y:0.12, Z:0.31 [[ 9.50581273e-01 6.24528931e-03 -3.10413013e-01 8.75297547e+00] [ 8.08813332e-03 9.98960238e-01 4.48667522e-02 1.24722005e-01] [ 3.10370464e-01 -4.51601563e-02 9.49542382e-01 3.07892255e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.89538474999999 meters Centerline goodness [0,1] 0.9408719095615943 Centerline is valid? [False, False] Translation: X:8.76, Y:0.12, Z:0.31 [[ 9.50310421e-01 5.72433335e-03 -3.11251241e-01 8.75566942e+00] [ 8.64434125e-03 9.98960141e-01 4.47650855e-02 1.24377833e-01] [ 3.11183834e-01 -4.52312892e-02 9.49272749e-01 3.08293080e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.92538474999999 meters Centerline goodness [0,1] 0.9403003371130861 Centerline is valid? [False, False] Translation: X:8.76, Y:0.12, Z:0.31 [[ 9.50048929e-01 4.78236706e-03 -3.12064356e-01 8.75861200e+00] [ 9.59461238e-03 9.98962468e-01 4.45188826e-02 1.24070549e-01] [ 3.11953485e-01 -4.52892532e-02 9.49017338e-01 3.08600988e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.95538475 meters Centerline goodness [0,1] 0.9393920767126656 Centerline is valid? [False, False] Translation: X:8.76, Y:0.12, Z:0.31 [[ 9.49728719e-01 3.30239073e-03 -3.13056632e-01 8.76227998e+00] [ 1.11039751e-02 9.98959914e-01 4.42243307e-02 1.22484908e-01] [ 3.12877072e-01 -4.54772900e-02 9.48704250e-01 3.09241980e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 92.98538475 meters Centerline goodness [0,1] 0.9355415190263442 Centerline is valid? [False, False] Translation: X:8.77, Y:0.12, Z:0.31 [[ 9.49277687e-01 1.60836030e-03 -3.14434868e-01 8.76714081e+00] [ 1.28526298e-02 9.98952735e-01 4.39117667e-02 1.20838890e-01] [ 3.14176198e-01 -4.57257753e-02 9.48262870e-01 3.10033730e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.01538475 meters Centerline goodness [0,1] 0.9346252195076866 Centerline is valid? [False, False] Translation: X:8.77, Y:0.12, Z:0.31 [[ 9.48964402e-01 5.06344548e-04 -3.15382795e-01 8.77049469e+00] [ 1.39267022e-02 9.98955994e-01 4.35082723e-02 1.20676282e-01] [ 3.15075564e-01 -4.56800438e-02 9.47966625e-01 3.10303256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.04538475 meters Centerline goodness [0,1] 0.9341518200560017 Centerline is valid? [False, False] Translation: X:8.78, Y:0.12, Z:0.31 [[ 9.48517592e-01 -1.16143536e-03 -3.16722321e-01 8.77536851e+00] [ 1.55981234e-02 9.98951151e-01 4.30499409e-02 1.20003822e-01] [ 3.16340128e-01 -4.57739001e-02 9.47540856e-01 3.10850774e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.07538475 meters Centerline goodness [0,1] 0.9330731647358879 Centerline is valid? [False, False] Translation: X:8.78, Y:0.12, Z:0.31 [[ 9.48206212e-01 -2.10955046e-03 -3.17648437e-01 8.77844576e+00] [ 1.65457443e-02 9.98948519e-01 4.27562162e-02 1.19776303e-01] [ 3.17224240e-01 -4.57974396e-02 9.47244095e-01 3.11257842e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.10538475 meters Centerline goodness [0,1] 0.9319308836664921 Centerline is valid? [False, False] Translation: X:8.78, Y:0.12, Z:0.31 [[ 9.47820439e-01 -3.34278480e-03 -3.18787140e-01 8.78195293e+00] [ 1.78222761e-02 9.98936875e-01 4.25145337e-02 1.18968543e-01] [ 3.18306112e-01 -4.59776564e-02 9.46872364e-01 3.12256685e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.13538474999999 meters Centerline goodness [0,1] 0.9302110614697273 Centerline is valid? [False, False] Translation: X:8.78, Y:0.12, Z:0.31 [[ 9.47558884e-01 -4.11387694e-03 -3.19554748e-01 8.78413131e+00] [ 1.86214574e-02 9.98928979e-01 4.23572379e-02 1.18986725e-01] [ 3.19038246e-01 -4.60865522e-02 9.46620635e-01 3.12973006e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.16538474999999 meters Centerline goodness [0,1] 0.9305961650918716 Centerline is valid? [False, False] Translation: X:8.79, Y:0.12, Z:0.31 [[ 9.47266779e-01 -4.74230362e-03 -3.20410923e-01 8.78649364e+00] [ 1.93296088e-02 9.98915340e-01 4.23616534e-02 1.18730412e-01] [ 3.19862494e-01 -4.63212048e-02 9.46330984e-01 3.13836122e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.19538474999999 meters Centerline goodness [0,1] 0.9296894256840029 Centerline is valid? [False, False] Translation: X:8.79, Y:0.12, Z:0.32 [[ 9.46898453e-01 -5.04776679e-03 -3.21493140e-01 8.78838566e+00] [ 1.98194196e-02 9.98891728e-01 4.26908185e-02 1.18656735e-01] [ 3.20921345e-01 -4.67956775e-02 9.45949076e-01 3.15627117e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.22538474999999 meters Centerline goodness [0,1] 0.9295600974136071 Centerline is valid? [False, False] Translation: X:8.79, Y:0.12, Z:0.32 [[ 9.46679240e-01 -4.63048224e-03 -3.22144339e-01 8.78885378e+00] [ 1.94999535e-02 9.98887069e-01 4.29461910e-02 1.19472058e-01] [ 3.21586953e-01 -4.69380671e-02 9.45715945e-01 3.16760161e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.25538474999999 meters Centerline goodness [0,1] 0.9330973995999384 Centerline is valid? [False, False] Translation: X:8.79, Y:0.12, Z:0.32 [[ 9.46514764e-01 -4.20510738e-03 -3.22633102e-01 8.78910537e+00] [ 1.91573747e-02 9.98883480e-01 4.31831873e-02 1.20758067e-01] [ 3.22091286e-01 -4.70543276e-02 9.45538521e-01 3.17623936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.28538474999999 meters Centerline goodness [0,1] 0.931674553503282 Centerline is valid? [False, False] Translation: X:8.79, Y:0.12, Z:0.32 [[ 9.46243886e-01 1.53415047e-03 -3.23450389e-01 8.78906575e+00] [ 1.47767077e-02 9.98739667e-01 4.79658916e-02 1.21791466e-01] [ 3.23116320e-01 -5.01669635e-02 9.45028634e-01 3.19947175e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.31538474999999 meters Centerline goodness [0,1] 0.934936307673554 Centerline is valid? [False, False] Translation: X:8.79, Y:0.12, Z:0.32 [[ 9.46216193e-01 2.20410977e-03 -3.23527523e-01 8.78886086e+00] [ 1.40473062e-02 9.98753920e-01 4.78882034e-02 1.23855010e-01] [ 3.23229933e-01 -4.98572837e-02 9.45006170e-01 3.19726845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.34538475 meters Centerline goodness [0,1] 0.9377916489909702 Centerline is valid? [False, False] Translation: X:8.79, Y:0.13, Z:0.32 [[ 9.45874118e-01 7.44123507e-03 -3.24448427e-01 8.79034377e+00] [ 9.83969918e-03 9.98619908e-01 5.15893463e-02 1.26105570e-01] [ 3.24384547e-01 -5.19895023e-02 9.44495504e-01 3.20493727e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.37538475 meters Centerline goodness [0,1] 0.9377730582524272 Centerline is valid? [False, False] Translation: X:8.79, Y:0.13, Z:0.32 [[ 9.45766651e-01 7.52767451e-03 -3.24759565e-01 8.79149558e+00] [ 9.54593302e-03 9.98655696e-01 5.09477839e-02 1.28317062e-01] [ 3.24706508e-01 -5.12848480e-02 9.44423395e-01 3.19676930e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.40538475 meters Centerline goodness [0,1] 0.9415928132845346 Centerline is valid? [False, False] Translation: X:8.79, Y:0.13, Z:0.32 [[ 9.45538038e-01 9.09449018e-03 -3.25384557e-01 8.79107136e+00] [ 7.94948995e-03 9.98666340e-01 5.10131966e-02 1.29867060e-01] [ 3.25414543e-01 -5.08215591e-02 9.44204715e-01 3.20093239e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.43538475 meters Centerline goodness [0,1] 0.9442869208494209 Centerline is valid? [False, False] Translation: X:8.79, Y:0.13, Z:0.32 [[ 9.45305597e-01 9.30476138e-03 -3.26053291e-01 8.79215160e+00] [ 7.74536389e-03 9.98670902e-01 5.09552602e-02 1.30749214e-01] [ 3.26094061e-01 -5.06936940e-02 9.43977125e-01 3.20548180e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.46538475 meters Centerline goodness [0,1] 0.94750656167979 Centerline is valid? [False, False] Translation: X:8.79, Y:0.13, Z:0.32 [[ 9.45160366e-01 1.08624738e-02 -3.26425932e-01 8.79281695e+00] [ 6.17205267e-03 9.98674268e-01 5.11039443e-02 1.32751219e-01] [ 3.26548294e-01 -5.03161407e-02 9.43840293e-01 3.19649448e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.49538474999999 meters Centerline goodness [0,1] 0.948173860549351 Centerline is valid? [False, False] Translation: X:8.79, Y:0.13, Z:0.32 [[ 9.45066389e-01 1.12197720e-02 -3.26685837e-01 8.79388601e+00] [ 5.74006979e-03 9.98687028e-01 5.09045264e-02 1.33734904e-01] [ 3.26828045e-01 -4.99833565e-02 9.43761142e-01 3.19021428e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.52538474999999 meters Centerline goodness [0,1] 0.9507737700969471 Centerline is valid? [False, True] Translation: X:8.79, Y:0.13, Z:0.32 [[ 9.44713985e-01 1.67707654e-02 -3.27466378e-01 8.79496495e+00] [ 1.52245732e-03 9.98456037e-01 5.55267958e-02 1.32717102e-01] [ 3.27892009e-01 -5.29554941e-02 9.43229848e-01 3.20402607e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.55538474999999 meters Centerline goodness [0,1] 0.9519485205677171 Centerline is valid? [True, True] Translation: X:8.83, Y:0.16, Z:0.29 [[ 9.44953266e-01 1.33478615e-03 -3.27202604e-01 8.83366766e+00] [-2.59106920e-03 9.99990851e-01 -3.40359567e-03 1.56494860e-01] [ 3.27195067e-01 4.06404344e-03 9.44948079e-01 2.93374026e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.58538474999999 meters Centerline goodness [0,1] 0.9541251242507305 Centerline is valid? [True, True] Translation: X:8.86, Y:0.16, Z:0.30 [[ 9.45368719e-01 6.19845414e-03 -3.25944113e-01 8.85992404e+00] [-7.75357300e-03 9.99963912e-01 -3.47223612e-03 1.60777298e-01] [ 3.25910828e-01 5.80977488e-03 9.45382663e-01 3.01458589e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.61538474999999 meters Centerline goodness [0,1] 0.9553008595988539 Centerline is valid? [True, True] Translation: X:8.89, Y:0.16, Z:0.31 [[ 9.45722468e-01 6.89180491e-03 -3.24902319e-01 8.88646143e+00] [-8.49438578e-03 9.99957747e-01 -3.51434174e-03 1.59429031e-01] [ 3.24864370e-01 6.08343758e-03 9.45741050e-01 3.11712523e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.64538474999999 meters Centerline goodness [0,1] 0.955724033358605 Centerline is valid? [True, True] Translation: X:8.91, Y:0.16, Z:0.32 [[ 9.46079187e-01 5.91659903e-03 -3.23881408e-01 8.91322120e+00] [-7.48463477e-03 9.99965524e-01 -3.59595241e-03 1.56540822e-01] [ 3.23848966e-01 5.82618979e-03 9.46090853e-01 3.21388292e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.67538474999999 meters Centerline goodness [0,1] 0.9565798263193053 Centerline is valid? [True, True] Translation: X:8.94, Y:0.15, Z:0.33 [[ 9.46235038e-01 4.78929357e-03 -3.23444454e-01 8.94063472e+00] [-6.31642051e-03 9.99973310e-01 -3.67189065e-03 1.53990628e-01] [ 3.23418236e-01 5.51748278e-03 9.46240034e-01 3.30101992e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.70538475 meters Centerline goodness [0,1] 0.953125 Centerline is valid? [True, True] Translation: X:8.97, Y:0.15, Z:0.34 [[ 9.45999998e-01 5.41481895e-04 -3.24166178e-01 8.96825328e+00] [-1.86129617e-03 9.99991194e-01 -3.76137033e-03 1.46249554e-01] [ 3.24161287e-01 4.16162559e-03 9.45992675e-01 3.37600613e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.73538475 meters Centerline goodness [0,1] 0.9499110484019385 Centerline is valid? [True, False] Translation: X:8.97, Y:0.14, Z:0.34 [[ 9.45646074e-01 -3.31903088e-04 -3.25197467e-01 8.97185017e+00] [-7.10973257e-04 9.99994979e-01 -3.08806370e-03 1.43123459e-01] [ 3.25196859e-01 3.15142201e-03 9.45641090e-01 3.38624153e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.76538475 meters Centerline goodness [0,1] 0.946257197696737 Centerline is valid? [False, False] Translation: X:8.98, Y:0.14, Z:0.34 [[ 9.44855715e-01 -5.41547827e-03 -3.27442133e-01 8.98331174e+00] [ 5.25835073e-03 9.99985243e-01 -1.36517439e-03 1.37993629e-01] [ 3.27444694e-01 -4.31912754e-04 9.44870248e-01 3.43545784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.79538475 meters Centerline goodness [0,1] 0.9430295114594023 Centerline is valid? [False, False] Translation: X:8.99, Y:0.13, Z:0.35 [[ 9.44467205e-01 -6.65677793e-03 -3.28538256e-01 8.98731155e+00] [ 6.84635316e-03 9.99976395e-01 -5.79733901e-04 1.34390031e-01] [ 3.28534360e-01 -1.70174927e-03 9.44490486e-01 3.45040274e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.82538475 meters Centerline goodness [0,1] 0.9426495108063044 Centerline is valid? [False, False] Translation: X:9.00, Y:0.13, Z:0.35 [[ 9.43729668e-01 -1.33486394e-02 -3.30448374e-01 8.99959257e+00] [ 1.39747835e-02 9.99902232e-01 -4.80911827e-04 1.29235424e-01] [ 3.30422487e-01 -4.16409372e-03 9.43823946e-01 3.48910280e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.85538475 meters Centerline goodness [0,1] 0.9412414751199798 Centerline is valid? [False, False] Translation: X:9.00, Y:0.13, Z:0.35 [[ 9.43272448e-01 -1.45177919e-02 -3.31702159e-01 9.00379964e+00] [ 1.54463659e-02 9.99880684e-01 1.63012796e-04 1.26418997e-01] [ 3.31660215e-01 -5.27735840e-03 9.43384148e-01 3.50427211e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.88538474999999 meters Centerline goodness [0,1] 0.9398733179970378 Centerline is valid? [False, False] Translation: X:9.01, Y:0.12, Z:0.36 [[ 9.42729383e-01 -1.48465443e-02 -3.33227985e-01 9.01245145e+00] [ 1.80998530e-02 9.99813999e-01 6.66054634e-03 1.23498186e-01] [ 3.33067118e-01 -1.23104703e-02 9.42822755e-01 3.58812025e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 93.91538474999999 meters Centerline goodness [0,1] 0.9422043860203502 Centerline is valid? [False, False] Translation: X:9.02, Y:0.12, Z:0.36 [[ 0.94239274 -0.01292578 -0.33425865 9.01621827] [ 0.01812748 0.9997582 0.01244711 0.12057338] [ 0.33401694 -0.01778933 0.94239919 0.36473354] [ 0. 0. 0. 1. ]] SLAMing on 93.94538474999999 meters Centerline goodness [0,1] 0.9426100132584128 Centerline is valid? [False, False] Translation: X:9.02, Y:0.12, Z:0.37 [[ 0.9418414 -0.01026157 -0.33590099 9.02098894] [ 0.01752327 0.99967354 0.01859455 0.11808332] [ 0.33560052 -0.0233992 0.94171374 0.37073308] [ 0. 0. 0. 1. ]] SLAMing on 93.97538474999999 meters Centerline goodness [0,1] 0.940416798231765 Centerline is valid? [False, False] Translation: X:9.03, Y:0.12, Z:0.38 [[ 9.40973189e-01 -7.88004401e-03 -3.38389366e-01 9.02775046e+00] [ 1.73087209e-02 9.99541217e-01 2.48548399e-02 1.17465177e-01] [ 3.38038262e-01 -2.92448251e-02 9.40677880e-01 3.77806606e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.00538474999999 meters Centerline goodness [0,1] 0.940993496088227 Centerline is valid? [False, False] Translation: X:9.03, Y:0.12, Z:0.39 [[ 9.40363908e-01 -3.74333152e-03 -3.40149538e-01 9.03056777e+00] [ 1.56546393e-02 9.99356249e-01 3.22803203e-02 1.15508209e-01] [ 3.39809730e-01 -3.56801665e-02 9.39817149e-01 3.85816496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.03538474999999 meters Centerline goodness [0,1] 0.940993496088227 Centerline is valid? [False, False] Translation: X:9.03, Y:0.12, Z:0.39 [[ 9.40363908e-01 -3.74333152e-03 -3.40149538e-01 9.03056777e+00] [ 1.56546393e-02 9.99356249e-01 3.22803203e-02 1.15508209e-01] [ 3.39809730e-01 -3.56801665e-02 9.39817149e-01 3.85816496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.06538474999999 meters Centerline goodness [0,1] 0.9419085836102576 Centerline is valid? [False, False] Translation: X:9.03, Y:0.11, Z:0.39 [[ 9.39856660e-01 5.44670532e-04 -3.41568679e-01 9.03259109e+00] [ 1.33779111e-02 9.99172747e-01 3.84038105e-02 1.13329952e-01] [ 3.41307033e-01 -4.06635525e-02 9.39071874e-01 3.91254315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.09538475 meters Centerline goodness [0,1] 0.942929752455056 Centerline is valid? [False, False] Translation: X:9.03, Y:0.11, Z:0.39 [[ 9.39647764e-01 8.88844098e-04 -3.42142208e-01 9.03221866e+00] [ 1.34005642e-02 9.99133717e-01 3.93984840e-02 1.13767537e-01] [ 3.41880835e-01 -4.16055960e-02 9.38821852e-01 3.93881508e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.12538475 meters Centerline goodness [0,1] 0.9428024598393574 Centerline is valid? [False, False] Translation: X:9.03, Y:0.11, Z:0.40 [[ 9.39423022e-01 9.11835846e-04 -3.42758740e-01 9.03294962e+00] [ 1.36147522e-02 9.99108008e-01 3.99728222e-02 1.14118119e-01] [ 3.42489450e-01 -4.22179648e-02 9.38572650e-01 3.95487086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.15538475 meters Centerline goodness [0,1] 0.9431352298688699 Centerline is valid? [False, False] Translation: X:9.03, Y:0.12, Z:0.40 [[ 9.39174119e-01 3.65752172e-04 -3.43441175e-01 9.03473248e+00] [ 1.42533407e-02 9.99096365e-01 4.00411812e-02 1.15146146e-01] [ 3.43145475e-01 -4.25008251e-02 9.38320235e-01 3.96537046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.18538475 meters Centerline goodness [0,1] 0.941106744026452 Centerline is valid? [False, False] Translation: X:9.04, Y:0.12, Z:0.40 [[ 9.38647105e-01 3.22336398e-03 -3.44864062e-01 9.03946492e+00] [ 1.25897960e-02 9.98969568e-01 4.36039001e-02 1.15845141e-01] [ 3.44649254e-01 -4.52704429e-02 9.37639311e-01 3.98384060e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.21538475 meters Centerline goodness [0,1] 0.937744641192917 Centerline is valid? [False, False] Translation: X:9.05, Y:0.12, Z:0.40 [[ 9.37904094e-01 5.42913329e-03 -3.46852180e-01 9.04641917e+00] [ 1.15033446e-02 9.98840850e-01 4.67400092e-02 1.16700668e-01] [ 3.46703884e-01 -4.78276062e-02 9.36754470e-01 4.00149720e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.24538474999999 meters Centerline goodness [0,1] 0.936177495643515 Centerline is valid? [False, False] Translation: X:9.05, Y:0.12, Z:0.40 [[ 9.37575828e-01 4.31948962e-03 -3.47754093e-01 9.04978454e+00] [ 1.24889977e-02 9.98859754e-01 4.60783842e-02 1.18085495e-01] [ 3.47556603e-01 -4.75450793e-02 9.36452814e-01 4.00254316e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.27538474999999 meters Centerline goodness [0,1] 0.9348873348873349 Centerline is valid? [False, False] Translation: X:9.05, Y:0.12, Z:0.40 [[ 9.37033796e-01 2.72384069e-03 -3.49228071e-01 9.05492487e+00] [ 1.39638202e-02 9.98877734e-01 4.52579750e-02 1.19552614e-01] [ 3.48959420e-01 -4.72848101e-02 9.35944160e-01 4.00700143e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.30538474999999 meters Centerline goodness [0,1] 0.9332420829963293 Centerline is valid? [False, False] Translation: X:9.06, Y:0.12, Z:0.40 [[ 9.36717797e-01 1.59306577e-03 -3.50081749e-01 9.05842612e+00] [ 1.50504690e-02 9.98881872e-01 4.48161800e-02 1.20313975e-01] [ 3.49761708e-01 -4.72490080e-02 9.35646450e-01 4.00919068e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.33538474999999 meters Centerline goodness [0,1] 0.9300168109084117 Centerline is valid? [False, False] Translation: X:9.06, Y:0.12, Z:0.40 [[ 9.36317231e-01 1.05142897e-04 -3.51155282e-01 9.06296325e+00] [ 1.64957373e-02 9.98882822e-01 4.42831683e-02 1.21028902e-01] [ 3.50767635e-01 -4.72556588e-02 9.35269463e-01 4.01187389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.36538474999999 meters Centerline goodness [0,1] 0.9339316878583894 Centerline is valid? [False, False] Translation: X:9.07, Y:0.12, Z:0.40 [[ 9.36111418e-01 -4.63122159e-04 -3.51703282e-01 9.06517436e+00] [ 1.71084724e-02 9.98875248e-01 4.42214670e-02 1.21605889e-01] [ 3.51287224e-01 -4.74133261e-02 9.35066448e-01 4.01532040e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.39538474999999 meters Centerline goodness [0,1] 0.9323887646035297 Centerline is valid? [False, False] Translation: X:9.07, Y:0.12, Z:0.41 [[ 9.35422668e-01 3.13807976e-03 -3.53517445e-01 9.06911519e+00] [ 1.53774075e-02 9.98653058e-01 4.95540707e-02 1.20446080e-01] [ 3.53196782e-01 -5.17901828e-02 9.34114452e-01 4.06270873e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.42538474999999 meters Centerline goodness [0,1] 0.9313430053745069 Centerline is valid? [False, False] Translation: X:9.07, Y:0.12, Z:0.41 [[ 9.35212975e-01 3.11533532e-03 -3.54072007e-01 9.07038602e+00] [ 1.54546936e-02 9.98649222e-01 4.96073026e-02 1.21384067e-01] [ 3.53748278e-01 -5.18654675e-02 9.33901563e-01 4.06839237e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.45538475 meters Centerline goodness [0,1] 0.9367405620999907 Centerline is valid? [False, False] Translation: X:9.09, Y:0.12, Z:0.41 [[ 9.36650578e-01 6.51337300e-03 -3.50204612e-01 9.08554046e+00] [ 1.06260535e-02 9.98838491e-01 4.69974017e-02 1.21758386e-01] [ 3.50103958e-01 -4.77414364e-02 9.35493439e-01 4.11816827e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.48538475 meters Centerline goodness [0,1] 0.9359355638166047 Centerline is valid? [False, False] Translation: X:9.08, Y:0.12, Z:0.41 [[ 9.36525086e-01 7.64923630e-03 -3.50517120e-01 9.08468230e+00] [ 9.78975989e-03 9.98801606e-01 4.79532218e-02 1.21924999e-01] [ 3.50463869e-01 -4.83408737e-02 9.35327877e-01 4.13248574e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.51538475 meters Centerline goodness [0,1] 0.9390698677843868 Centerline is valid? [False, False] Translation: X:9.10, Y:0.12, Z:0.42 [[ 9.38099222e-01 1.18774496e-02 -3.46162933e-01 9.09992878e+00] [ 4.11263268e-03 9.98959457e-01 4.54212357e-02 1.22559664e-01] [ 3.46342224e-01 -4.40332668e-02 9.37074242e-01 4.16571079e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.54538475 meters Centerline goodness [0,1] 0.9405287023042044 Centerline is valid? [False, False] Translation: X:9.10, Y:0.12, Z:0.42 [[ 9.38061802e-01 1.25727253e-02 -3.46239774e-01 9.10018332e+00] [ 3.50892731e-03 9.98945357e-01 4.57805757e-02 1.23513265e-01] [ 3.46450202e-01 -4.41599396e-02 9.37028365e-01 4.16638111e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.57538475 meters Centerline goodness [0,1] 0.941992356059672 Centerline is valid? [False, False] Translation: X:9.10, Y:0.12, Z:0.42 [[ 9.37685252e-01 1.81531363e-02 -3.47011284e-01 9.10099800e+00] [-6.82922568e-04 9.98728832e-01 5.04009380e-02 1.22602901e-01] [ 3.47485109e-01 -4.70232344e-02 9.36505694e-01 4.18332331e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.60538475 meters Centerline goodness [0,1] 0.9427550297316449 Centerline is valid? [False, False] Translation: X:9.10, Y:0.12, Z:0.42 [[ 9.37493933e-01 1.82462462e-02 -3.47522948e-01 9.10216942e+00] [-7.07000879e-04 9.98722324e-01 5.05293951e-02 1.22951173e-01] [ 3.48000898e-01 -4.71253023e-02 9.36309020e-01 4.18831634e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.63538474999999 meters Centerline goodness [0,1] 0.9422168719325863 Centerline is valid? [False, False] Translation: X:9.11, Y:0.12, Z:0.42 [[ 9.37113081e-01 1.76836390e-02 -3.48577629e-01 9.10603537e+00] [-2.54943519e-05 9.98719134e-01 5.05973308e-02 1.21586573e-01] [ 3.49025892e-01 -4.74065338e-02 9.35913215e-01 4.19220223e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.66538474999999 meters Centerline goodness [0,1] 0.9421111317598959 Centerline is valid? [False, False] Translation: X:9.11, Y:0.12, Z:0.42 [[ 9.36869192e-01 1.66277014e-02 -3.49284463e-01 9.10925989e+00] [ 1.05032783e-03 9.98730485e-01 5.03618508e-02 1.20590678e-01] [ 3.49678443e-01 -4.75493297e-02 9.35662358e-01 4.19392942e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.69538474999999 meters Centerline goodness [0,1] 0.938051447744501 Centerline is valid? [False, False] Translation: X:9.11, Y:0.12, Z:0.42 [[ 9.36458392e-01 1.49123176e-02 -3.50461556e-01 9.11415061e+00] [ 2.88664142e-03 9.98734512e-01 5.02099746e-02 1.17787181e-01] [ 3.50766798e-01 -4.80312089e-02 9.35230269e-01 4.20217434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.72538474999999 meters Centerline goodness [0,1] 0.9385180801694335 Centerline is valid? [False, False] Translation: X:9.12, Y:0.12, Z:0.42 [[ 9.36155617e-01 1.41655416e-02 -3.51300438e-01 9.11704097e+00] [ 3.74055708e-03 9.98730174e-01 5.02398955e-02 1.16676587e-01] [ 3.51566024e-01 -4.83464197e-02 9.34913876e-01 4.20919990e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.75538474999999 meters Centerline goodness [0,1] 0.9363130575327138 Centerline is valid? [False, False] Translation: X:9.12, Y:0.11, Z:0.42 [[ 9.35811170e-01 1.36814185e-02 -3.52236103e-01 9.12048184e+00] [ 4.36833246e-03 9.98719683e-01 5.03975491e-02 1.14698826e-01] [ 3.52474639e-01 -4.87012738e-02 9.34553270e-01 4.21415107e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.78538474999999 meters Centerline goodness [0,1] 0.9369563183986531 Centerline is valid? [False, False] Translation: X:9.12, Y:0.11, Z:0.42 [[ 9.35689794e-01 1.38579668e-02 -3.52551508e-01 9.12182794e+00] [ 4.41535897e-03 9.98690182e-01 5.09747409e-02 1.13151686e-01] [ 3.52796136e-01 -4.92531863e-02 9.34403023e-01 4.21952592e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.81538474999999 meters Centerline goodness [0,1] 0.9384107609914062 Centerline is valid? [False, False] Translation: X:9.12, Y:0.11, Z:0.42 [[ 9.35509047e-01 1.37533930e-02 -3.53034937e-01 9.12330112e+00] [ 4.72978147e-03 9.98664935e-01 5.14390583e-02 1.12311028e-01] [ 3.53271074e-01 -4.97914826e-02 9.34195031e-01 4.22802442e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.84538475 meters Centerline goodness [0,1] 0.9387296934925634 Centerline is valid? [False, False] Translation: X:9.12, Y:0.11, Z:0.42 [[ 9.35311254e-01 1.41882872e-02 -3.53541441e-01 9.12458941e+00] [ 4.59036650e-03 9.98625015e-01 5.22207522e-02 1.10650565e-01] [ 3.53796250e-01 -5.04655420e-02 9.33960086e-01 4.23736446e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.87538475 meters Centerline goodness [0,1] 0.9402691479064539 Centerline is valid? [False, False] Translation: X:9.13, Y:0.11, Z:0.42 [[ 9.35247914e-01 1.45801434e-02 -3.53693029e-01 9.12506355e+00] [ 4.28597651e-03 9.98611805e-01 5.24985012e-02 1.10331097e-01] [ 3.53967470e-01 -5.06150338e-02 9.33887118e-01 4.23796703e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.90538475 meters Centerline goodness [0,1] 0.9411691270559596 Centerline is valid? [False, False] Translation: X:9.12, Y:0.11, Z:0.43 [[ 9.35076375e-01 1.66273399e-02 -3.54056076e-01 9.12334824e+00] [ 2.55115966e-03 9.98557487e-01 5.36324193e-02 1.09786191e-01] [ 3.54437110e-01 -5.10536618e-02 9.33685096e-01 4.25297218e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.93538475 meters Centerline goodness [0,1] 0.9449527010206622 Centerline is valid? [False, False] Translation: X:9.12, Y:0.11, Z:0.43 [[ 9.34898319e-01 1.70182886e-02 -3.54507421e-01 9.12346579e+00] [ 2.23917977e-03 9.98547021e-01 5.38408102e-02 1.10395436e-01] [ 3.54908607e-01 -5.11294888e-02 9.33501824e-01 4.26201046e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.96538475 meters Centerline goodness [0,1] 0.9439531697596214 Centerline is valid? [False, False] Translation: X:9.12, Y:0.11, Z:0.43 [[ 9.34781096e-01 1.71280525e-02 -3.54811122e-01 9.12390060e+00] [ 2.18948031e-03 9.98540069e-01 5.39716215e-02 1.10555060e-01] [ 3.55217551e-01 -5.12285035e-02 9.33378879e-01 4.26743102e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 94.99538474999999 meters Centerline goodness [0,1] 0.9479423034985514 Centerline is valid? [False, False] Translation: X:9.13, Y:0.11, Z:0.43 [[ 9.34414067e-01 1.57688344e-02 -3.55839423e-01 9.12576462e+00] [ 4.73885124e-03 9.98380772e-01 5.66866656e-02 1.08524866e-01] [ 3.56157120e-01 -5.46550879e-02 9.32826311e-01 4.33525660e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.02538474999999 meters Centerline goodness [0,1] 0.9434719069680669 Centerline is valid? [False, False] Translation: X:9.13, Y:0.11, Z:0.43 [[ 9.33921922e-01 1.29821802e-02 -3.57241244e-01 9.13402777e+00] [ 7.28671278e-03 9.98441377e-01 5.53328234e-02 1.11136161e-01] [ 3.57402781e-01 -5.42796511e-02 9.32371692e-01 4.32487098e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.05538474999999 meters Centerline goodness [0,1] 0.9420626801822747 Centerline is valid? [False, False] Translation: X:9.14, Y:0.11, Z:0.43 [[ 9.33631296e-01 1.17394754e-02 -3.58042996e-01 9.13864514e+00] [ 8.31733940e-03 9.98483143e-01 5.44264149e-02 1.12874360e-01] [ 3.58138834e-01 -5.37921694e-02 9.32117470e-01 4.31409543e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.08538474999999 meters Centerline goodness [0,1] 0.9397848128740194 Centerline is valid? [False, False] Translation: X:9.14, Y:0.11, Z:0.43 [[ 9.33383400e-01 1.13744412e-02 -3.58700504e-01 9.14156569e+00] [ 8.51094510e-03 9.98514944e-01 5.38095826e-02 1.13874401e-01] [ 3.58779867e-01 -5.32778515e-02 9.31900465e-01 4.30610210e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.11538474999999 meters Centerline goodness [0,1] 0.940664581462327 Centerline is valid? [False, False] Translation: X:9.14, Y:0.11, Z:0.43 [[ 9.33210286e-01 1.16493511e-02 -3.59141830e-01 9.14216932e+00] [ 8.40378736e-03 9.98493403e-01 5.42245413e-02 1.13636530e-01] [ 3.59232428e-01 -5.36210513e-02 9.31706416e-01 4.31556441e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.14538474999999 meters Centerline goodness [0,1] 0.9431447478795787 Centerline is valid? [False, False] Translation: X:9.16, Y:0.11, Z:0.43 [[ 9.34957743e-01 8.76696274e-03 -3.54650756e-01 9.15597309e+00] [ 7.64095988e-03 9.98965045e-01 4.48380940e-02 1.14091610e-01] [ 3.54676802e-01 -4.46315953e-02 9.33923116e-01 4.33236532e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.17538474999999 meters Centerline goodness [0,1] 0.944342010687834 Centerline is valid? [False, False] Translation: X:9.16, Y:0.11, Z:0.43 [[ 9.34723727e-01 8.74067163e-03 -3.55267724e-01 9.15723176e+00] [ 7.82461402e-03 9.98948939e-01 4.51640719e-02 1.12819704e-01] [ 3.55289080e-01 -4.49957624e-02 9.33672882e-01 4.34192450e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.20538475 meters Centerline goodness [0,1] 0.9437213222211818 Centerline is valid? [False, False] Translation: X:9.16, Y:0.11, Z:0.43 [[ 9.34496584e-01 8.22993109e-03 -3.55876948e-01 9.15975390e+00] [ 8.41353037e-03 9.98942780e-01 4.51944014e-02 1.12839612e-01] [ 3.55872655e-01 -4.52281952e-02 9.33439373e-01 4.34449855e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.23538475 meters Centerline goodness [0,1] 0.9431031255848774 Centerline is valid? [False, False] Translation: X:9.16, Y:0.11, Z:0.43 [[ 9.34397178e-01 8.01798748e-03 -3.56142704e-01 9.16161226e+00] [ 8.68479959e-03 9.98936790e-01 4.52754323e-02 1.12567729e-01] [ 3.56127068e-01 -4.53982642e-02 9.33334082e-01 4.34257201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.26538475 meters Centerline goodness [0,1] 0.9424863174354965 Centerline is valid? [False, False] Translation: X:9.16, Y:0.11, Z:0.44 [[ 9.34071914e-01 7.55905327e-03 -3.57004931e-01 9.16406233e+00] [ 9.35266523e-03 9.98915038e-01 4.56209774e-02 1.10540137e-01] [ 3.56962446e-01 -4.59522213e-02 9.32987784e-01 4.35394760e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.29538475 meters Centerline goodness [0,1] 0.942366184817033 Centerline is valid? [False, False] Translation: X:9.17, Y:0.11, Z:0.44 [[ 9.33879645e-01 7.37096279e-03 -3.57511507e-01 9.16510372e+00] [ 9.58227354e-03 9.98912656e-01 4.56254915e-02 1.09539259e-01] [ 3.57459073e-01 -4.60344908e-02 9.32793566e-01 4.35994558e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.32538475 meters Centerline goodness [0,1] 0.9442723489470884 Centerline is valid? [False, False] Translation: X:9.17, Y:0.11, Z:0.44 [[ 9.33542321e-01 7.75345444e-03 -3.58383340e-01 9.16590199e+00] [ 9.74825666e-03 9.98847202e-01 4.70025376e-02 1.06711993e-01] [ 3.58334629e-01 -4.73724708e-02 9.32390553e-01 4.38781863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.35538475 meters Centerline goodness [0,1] 0.9442857591261496 Centerline is valid? [False, False] Translation: X:9.17, Y:0.11, Z:0.44 [[ 9.33427842e-01 7.62922222e-03 -3.58684066e-01 9.16704149e+00] [ 9.96307097e-03 9.98837052e-01 4.71728724e-02 1.06094683e-01] [ 3.58626827e-01 -4.76060673e-02 9.32266304e-01 4.39068228e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.38538474999999 meters Centerline goodness [0,1] 0.9408981229043276 Centerline is valid? [False, False] Translation: X:9.17, Y:0.11, Z:0.44 [[ 9.33194174e-01 7.02648924e-03 -3.59303858e-01 9.17017371e+00] [ 1.05767228e-02 9.98838737e-01 4.70032965e-02 1.06650183e-01] [ 3.59216880e-01 -4.76634597e-02 9.32036173e-01 4.38859464e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.41538474999999 meters Centerline goodness [0,1] 0.9424460431654677 Centerline is valid? [False, False] Translation: X:9.17, Y:0.11, Z:0.44 [[ 9.32943046e-01 6.46982968e-03 -3.59965852e-01 9.17269940e+00] [ 1.11122669e-02 9.98844672e-01 4.67529543e-02 1.07477269e-01] [ 3.59852457e-01 -4.76178802e-02 9.31793296e-01 4.38942790e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.44538474999999 meters Centerline goodness [0,1] 0.94059375097349 Centerline is valid? [False, False] Translation: X:9.17, Y:0.11, Z:0.44 [[ 9.32472715e-01 1.18798806e-02 -3.61045018e-01 9.17310580e+00] [ 6.92732558e-03 9.98687252e-01 5.07521956e-02 1.09476574e-01] [ 3.61173987e-01 -4.98261140e-02 9.31166317e-01 4.41190611e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.47538474999999 meters Centerline goodness [0,1] 0.9438101147998759 Centerline is valid? [False, False] Translation: X:9.17, Y:0.11, Z:0.44 [[ 9.32156330e-01 1.69601294e-02 -3.61658584e-01 9.17420085e+00] [ 2.84323619e-03 9.98528509e-01 5.41547035e-02 1.12661093e-01] [ 3.62044877e-01 -5.15089304e-02 9.30736449e-01 4.41610829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.50538474999999 meters Centerline goodness [0,1] 0.9449734141214294 Centerline is valid? [False, False] Translation: X:9.18, Y:0.11, Z:0.44 [[ 9.32013155e-01 1.66449732e-02 -3.62042018e-01 9.17573414e+00] [ 3.05320627e-03 9.98548762e-01 5.37684710e-02 1.14801798e-01] [ 3.62411584e-01 -5.12183112e-02 9.30609762e-01 4.41462164e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.53538474999999 meters Centerline goodness [0,1] 0.9429119247897081 Centerline is valid? [False, False] Translation: X:9.18, Y:0.12, Z:0.44 [[ 9.31915652e-01 1.65321271e-02 -3.62298090e-01 9.17688532e+00] [ 3.06304783e-03 9.98566111e-01 5.34447314e-02 1.16343048e-01] [ 3.62662150e-01 -5.09157181e-02 9.30528750e-01 4.41101520e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.56538474999999 meters Centerline goodness [0,1] 0.9462275819418676 Centerline is valid? [False, False] Translation: X:9.18, Y:0.12, Z:0.44 [[ 9.31716686e-01 1.64409068e-02 -3.62813606e-01 9.17853401e+00] [ 3.06708242e-03 9.98583044e-01 5.31271770e-02 1.18143524e-01] [ 3.63172974e-01 -5.06122565e-02 9.30346059e-01 4.41039478e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.59538475 meters Centerline goodness [0,1] 0.9436367564897984 Centerline is valid? [False, False] Translation: X:9.18, Y:0.12, Z:0.44 [[ 9.31430828e-01 1.64632862e-02 -3.63545833e-01 9.17991770e+00] [ 3.14188741e-03 9.98575174e-01 5.32705315e-02 1.17392585e-01] [ 3.63904851e-01 -5.07600354e-02 9.30051976e-01 4.41914201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.62538475 meters Centerline goodness [0,1] 0.9429915508650305 Centerline is valid? [False, False] Translation: X:9.18, Y:0.12, Z:0.44 [[ 9.31323451e-01 1.65037561e-02 -3.63818988e-01 9.18070327e+00] [ 3.15041873e-03 9.98570248e-01 5.33623018e-02 1.17284285e-01] [ 3.64179495e-01 -5.08437452e-02 9.29939895e-01 4.42078890e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.65538475 meters Centerline goodness [0,1] 0.9418601057088987 Centerline is valid? [False, False] Translation: X:9.18, Y:0.12, Z:0.44 [[ 9.31089228e-01 1.59224681e-02 -3.64443856e-01 9.18282949e+00] [ 3.76740258e-03 9.98573972e-01 5.32525102e-02 1.17553612e-01] [ 3.64772060e-01 -5.09558454e-02 9.29701482e-01 4.42564905e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.68538475 meters Centerline goodness [0,1] 0.9423403401549526 Centerline is valid? [False, False] Translation: X:9.19, Y:0.12, Z:0.44 [[ 9.30895874e-01 1.54664417e-02 -3.64957068e-01 9.18500209e+00] [ 4.31867840e-03 9.98567405e-01 5.33337374e-02 1.16972664e-01] [ 3.65259116e-01 -5.12242883e-02 9.29495482e-01 4.42976327e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.71538475 meters Centerline goodness [0,1] 0.9424856833307538 Centerline is valid? [False, False] Translation: X:9.19, Y:0.12, Z:0.44 [[ 9.30804610e-01 1.52740343e-02 -3.65197867e-01 9.18611232e+00] [ 4.55314444e-03 9.98564486e-01 5.33688659e-02 1.16323565e-01] [ 3.65488779e-01 -5.13387850e-02 9.29398882e-01 4.43049133e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.74538474999999 meters Centerline goodness [0,1] 0.9438167370250807 Centerline is valid? [False, False] Translation: X:9.19, Y:0.11, Z:0.44 [[ 9.30571964e-01 1.55222357e-02 -3.65779824e-01 9.18679418e+00] [ 4.62641145e-03 9.98522461e-01 5.41432536e-02 1.13986911e-01] [ 3.66079795e-01 -5.20764418e-02 9.29125195e-01 4.44648896e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.77538474999999 meters Centerline goodness [0,1] 0.9435245876176571 Centerline is valid? [False, False] Translation: X:9.19, Y:0.11, Z:0.45 [[ 9.30228082e-01 1.51358289e-02 -3.66669635e-01 9.18931478e+00] [ 5.19160190e-03 9.98506356e-01 5.43884558e-02 1.11935468e-01] [ 3.66945176e-01 -5.24972717e-02 9.28760074e-01 4.45616474e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.80538474999999 meters Centerline goodness [0,1] 0.9429497770988559 Centerline is valid? [False, False] Translation: X:9.19, Y:0.11, Z:0.45 [[ 9.29971806e-01 1.44040908e-02 -3.67348557e-01 9.19193648e+00] [ 5.96663278e-03 9.98509150e-01 5.42575064e-02 1.10830826e-01] [ 3.67582426e-01 -5.26497852e-02 9.28499413e-01 4.45927216e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.83538474999999 meters Centerline goodness [0,1] 0.9414780542703514 Centerline is valid? [False, False] Translation: X:9.20, Y:0.11, Z:0.45 [[ 9.29648045e-01 1.31793867e-02 -3.68213003e-01 9.19525001e+00] [ 7.30591894e-03 9.98504188e-01 5.41849578e-02 1.08374417e-01] [ 3.68376350e-01 -5.30630745e-02 9.28161179e-01 4.46796524e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.86538474999999 meters Centerline goodness [0,1] 0.9428499890457263 Centerline is valid? [False, False] Translation: X:9.20, Y:0.11, Z:0.45 [[ 9.29431752e-01 1.25999101e-02 -3.68778878e-01 9.19748837e+00] [ 7.96245072e-03 9.98499273e-01 5.41830261e-02 1.06832798e-01] [ 3.68908143e-01 -5.32958085e-02 9.27936603e-01 4.47129264e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 95.89538474999999 meters Centerline goodness [0,1] 0.941660386837478 Centerline is valid? [False, False] Translation: X:9.20, Y:0.10, Z:0.45 [[ 0.92905481 0.01109461 -0.3697757 9.2023145 ] [ 0.00954138 0.99849907 0.05393114 0.10445513] [ 0.36981904 -0.05363316 0.92755451 0.44738972] [ 0. 0. 0. 1. ]] SLAMing on 95.92538474999999 meters Centerline goodness [0,1] 0.941660386837478 Centerline is valid? [False, False] Translation: X:9.20, Y:0.10, Z:0.45 [[ 0.92905481 0.01109461 -0.3697757 9.2023145 ] [ 0.00954138 0.99849907 0.05393114 0.10445513] [ 0.36981904 -0.05363316 0.92755451 0.44738972] [ 0. 0. 0. 1. ]] SLAMing on 95.95538475 meters Centerline goodness [0,1] 0.9397131895087741 Centerline is valid? [False, False] Translation: X:9.20, Y:0.10, Z:0.45 [[ 0.9288488 0.0104231 -0.37031239 9.20456012] [ 0.01028355 0.99849347 0.05389843 0.10355971] [ 0.37031629 -0.05387161 0.92734227 0.44772227] [ 0. 0. 0. 1. ]] SLAMing on 95.98538475 meters Centerline goodness [0,1] 0.9403727889431307 Centerline is valid? [False, False] Translation: X:9.20, Y:0.10, Z:0.45 [[ 9.28620749e-01 3.54196643e-04 -3.71030160e-01 9.20369006e+00] [ 1.89938709e-02 9.98642982e-01 4.84915259e-02 9.96915490e-02] [ 3.70543841e-01 -5.20775361e-02 9.27353866e-01 4.52954168e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.01538475 meters Centerline goodness [0,1] 0.9408068048370204 Centerline is valid? [False, False] Translation: X:9.21, Y:0.10, Z:0.45 [[ 9.28292574e-01 -1.04113207e-03 -3.71849181e-01 9.20755413e+00] [ 2.02627211e-02 9.98651946e-01 4.77882052e-02 1.00605269e-01] [ 3.71298155e-01 -5.18961123e-02 9.27062282e-01 4.52817884e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.04538475 meters Centerline goodness [0,1] 0.9353649312996344 Centerline is valid? [False, False] Translation: X:9.22, Y:0.10, Z:0.45 [[ 9.27491671e-01 2.94328686e-03 -3.73832232e-01 9.22120065e+00] [ 1.81220292e-02 9.98439474e-01 5.28224248e-02 1.03491523e-01] [ 3.73404328e-01 -5.57669577e-02 9.25990958e-01 4.52081787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.07538475 meters Centerline goodness [0,1] 0.9353579858379228 Centerline is valid? [False, False] Translation: X:9.22, Y:0.10, Z:0.45 [[ 9.27210235e-01 2.03959524e-03 -3.74535738e-01 9.22395790e+00] [ 1.90819614e-02 9.98429278e-01 5.26768996e-02 1.03218674e-01] [ 3.74054886e-01 -5.59894370e-02 9.25714926e-01 4.52643146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.10538475 meters Centerline goodness [0,1] 0.9364514809102641 Centerline is valid? [False, False] Translation: X:9.22, Y:0.10, Z:0.45 [[ 9.26889617e-01 2.24166235e-03 -3.75327340e-01 9.22485845e+00] [ 1.91557375e-02 9.98396449e-01 5.32690263e-02 1.02571469e-01] [ 3.74844895e-01 -5.65641794e-02 9.25360361e-01 4.54455256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.13538474999999 meters Centerline goodness [0,1] 0.9371930487344163 Centerline is valid? [False, False] Translation: X:9.23, Y:0.10, Z:0.46 [[ 9.26692222e-01 2.13215398e-03 -3.75815087e-01 9.22563113e+00] [ 1.93538357e-02 9.98386309e-01 5.33873255e-02 1.02651842e-01] [ 3.75322467e-01 -5.67470828e-02 9.25155562e-01 4.55317526e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.16538474999999 meters Centerline goodness [0,1] 0.9378463850706078 Centerline is valid? [False, False] Translation: X:9.23, Y:0.10, Z:0.46 [[ 9.26146389e-01 7.51395334e-03 -3.77089388e-01 9.22620254e+00] [ 1.60719391e-02 9.98107144e-01 5.93617842e-02 1.00701190e-01] [ 3.76821654e-01 -6.10382598e-02 9.24272564e-01 4.60455906e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.19538474999999 meters Centerline goodness [0,1] 0.9373846105704541 Centerline is valid? [False, False] Translation: X:9.23, Y:0.10, Z:0.46 [[ 9.26081242e-01 7.55989405e-03 -3.77248434e-01 9.22685542e+00] [ 1.59502581e-02 9.98121248e-01 5.91571062e-02 1.01833358e-01] [ 3.76986899e-01 -6.08014963e-02 9.24220783e-01 4.60215883e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.22538474999999 meters Centerline goodness [0,1] 0.939309144047508 Centerline is valid? [False, False] Translation: X:9.23, Y:0.10, Z:0.46 [[ 0.92570463 0.01160542 -0.37806911 9.22948573] [ 0.01306789 0.99795123 0.06263047 0.10334903] [ 0.37802138 -0.06291788 0.92365642 0.46116861] [ 0. 0. 0. 1. ]] SLAMing on 96.25538474999999 meters Centerline goodness [0,1] 0.9380583126550869 Centerline is valid? [False, False] Translation: X:9.23, Y:0.11, Z:0.46 [[ 0.92559669 0.01146492 -0.37833758 9.23048206] [ 0.01304437 0.99798126 0.06215506 0.1054515 ] [ 0.37828642 -0.0624657 0.9235786 0.46074407] [ 0. 0. 0. 1. ]] SLAMing on 96.28538474999999 meters Centerline goodness [0,1] 0.9386095132059132 Centerline is valid? [False, False] Translation: X:9.23, Y:0.11, Z:0.46 [[ 0.92540771 0.01239775 -0.37877021 9.23073981] [ 0.01196901 0.99801003 0.06190902 0.10889476] [ 0.378784 -0.06182459 0.92341778 0.46051323] [ 0. 0. 0. 1. ]] SLAMing on 96.31538474999999 meters Centerline goodness [0,1] 0.9378428351309708 Centerline is valid? [False, False] Translation: X:9.23, Y:0.11, Z:0.46 [[ 0.92519854 0.01239693 -0.37928087 9.23174112] [ 0.01183282 0.99803783 0.06148561 0.11089585] [ 0.37929888 -0.06137436 0.92323645 0.46055489] [ 0. 0. 0. 1. ]] SLAMing on 96.34538475 meters Centerline goodness [0,1] 0.9370156230778693 Centerline is valid? [False, False] Translation: X:9.23, Y:0.12, Z:0.46 [[ 0.92505639 0.01350414 -0.37958966 9.2319101 ] [ 0.01043426 0.99808715 0.06093577 0.11556339] [ 0.37968645 -0.06032976 0.92314599 0.4597044 ] [ 0. 0. 0. 1. ]] SLAMing on 96.37538475 meters Centerline goodness [0,1] 0.9386551797879815 Centerline is valid? [False, False] Translation: X:9.23, Y:0.12, Z:0.46 [[ 9.24920423e-01 1.47980578e-02 -3.79872648e-01 9.23137492e+00] [ 8.99269329e-03 9.98110842e-01 6.07772835e-02 1.19594280e-01] [ 3.80054394e-01 -5.96302290e-02 9.23040028e-01 4.59519283e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.40538475 meters Centerline goodness [0,1] 0.9395158831778551 Centerline is valid? [False, False] Translation: X:9.23, Y:0.12, Z:0.46 [[ 9.24783169e-01 1.46588094e-02 -3.80212059e-01 9.23266971e+00] [ 8.95387385e-03 9.98142493e-01 6.02610353e-02 1.21412957e-01] [ 3.80389168e-01 -5.91327620e-02 9.22934124e-01 4.59112747e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.43538475 meters Centerline goodness [0,1] 0.9411997202882247 Centerline is valid? [False, False] Translation: X:9.23, Y:0.12, Z:0.46 [[ 9.24673198e-01 1.43143517e-02 -3.80492545e-01 9.23394749e+00] [ 9.13742734e-03 9.98171098e-01 5.97575605e-02 1.22851213e-01] [ 3.80652052e-01 -5.87329375e-02 9.22851265e-01 4.58801737e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.46538475 meters Centerline goodness [0,1] 0.9398430160317605 Centerline is valid? [False, False] Translation: X:9.24, Y:0.12, Z:0.46 [[ 9.24432020e-01 1.40606015e-02 -3.81087576e-01 9.23599109e+00] [ 9.21487959e-03 9.98204620e-01 5.91829505e-02 1.24353580e-01] [ 3.81235527e-01 -5.82222906e-02 9.22642747e-01 4.58547784e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.49538474999999 meters Centerline goodness [0,1] 0.9407024479245857 Centerline is valid? [False, False] Translation: X:9.24, Y:0.12, Z:0.46 [[ 0.92424036 0.01361151 -0.38156846 9.23703956] [ 0.00978311 0.99819198 0.05930482 0.12348957] [ 0.38168581 -0.05854483 0.92243615 0.45956625] [ 0. 0. 0. 1. ]] SLAMing on 96.52538474999999 meters Centerline goodness [0,1] 0.9410977242302544 Centerline is valid? [False, False] Translation: X:9.24, Y:0.12, Z:0.46 [[ 0.92396808 0.0129648 -0.3822498 9.23949778] [ 0.01046354 0.99819438 0.05914815 0.12280652] [ 0.38232644 -0.05865069 0.92216408 0.45999042] [ 0. 0. 0. 1. ]] SLAMing on 96.55538474999999 meters Centerline goodness [0,1] 0.9409950218367285 Centerline is valid? [False, False] Translation: X:9.24, Y:0.12, Z:0.46 [[ 0.92371752 0.0121657 -0.38288109 9.24174206] [ 0.01132595 0.99819131 0.05904097 0.12172392] [ 0.38290685 -0.05887367 0.92190902 0.46051407] [ 0. 0. 0. 1. ]] SLAMing on 96.58538474999999 meters Centerline goodness [0,1] 0.9391201168309602 Centerline is valid? [False, False] Translation: X:9.25, Y:0.12, Z:0.46 [[ 0.92324519 0.01078624 -0.38405986 9.24636413] [ 0.01289134 0.99817337 0.05902312 0.12015266] [ 0.38399496 -0.05944386 0.92141972 0.4615742 ] [ 0. 0. 0. 1. ]] SLAMing on 96.61538474999999 meters Centerline goodness [0,1] 0.9403057954649495 Centerline is valid? [False, False] Translation: X:9.25, Y:0.12, Z:0.46 [[ 0.92308208 0.01034978 -0.38446373 9.24824379] [ 0.01337473 0.99816939 0.05898297 0.11914477] [ 0.38437039 -0.05958822 0.92125385 0.46164083] [ 0. 0. 0. 1. ]] SLAMing on 96.64538474999999 meters Centerline goodness [0,1] 0.9400306278713629 Centerline is valid? [False, False] Translation: X:9.25, Y:0.12, Z:0.46 [[ 0.92270821 0.00987687 -0.38537255 9.25100525] [ 0.0139909 0.99815515 0.05908092 0.11685014] [ 0.38524513 -0.05990616 0.92086776 0.46243635] [ 0. 0. 0. 1. ]] SLAMing on 96.67538474999999 meters Centerline goodness [0,1] 0.9392377094457742 Centerline is valid? [False, False] Translation: X:9.25, Y:0.12, Z:0.46 [[ 9.22343817e-01 9.17007769e-03 -3.86261301e-01 9.25407743e+00] [ 1.46909333e-02 9.98163027e-01 5.87771126e-02 1.15536351e-01] [ 3.86090740e-01 -5.98872454e-02 9.20514779e-01 4.62767469e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.70538475 meters Centerline goodness [0,1] 0.938996753843327 Centerline is valid? [False, False] Translation: X:9.26, Y:0.12, Z:0.46 [[ 9.22135480e-01 8.71083565e-03 -3.86769024e-01 9.25612244e+00] [ 1.51918550e-02 9.98160003e-01 5.87010718e-02 1.15239644e-01] [ 3.86568706e-01 -6.00060800e-02 9.20306420e-01 4.63039249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.73538475 meters Centerline goodness [0,1] 0.93926964400502 Centerline is valid? [False, False] Translation: X:9.26, Y:0.11, Z:0.46 [[ 9.21901340e-01 8.40462146e-03 -3.87333554e-01 9.25783368e+00] [ 1.55558867e-02 9.98155426e-01 5.86835586e-02 1.14915326e-01] [ 3.87112301e-01 -6.01257682e-02 9.20070083e-01 4.63502725e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.76538475 meters Centerline goodness [0,1] 0.9388092107275007 Centerline is valid? [False, False] Translation: X:9.26, Y:0.12, Z:0.46 [[ 9.21488204e-01 8.02771165e-03 -3.88323377e-01 9.26062213e+00] [ 1.60455171e-02 9.98146102e-01 5.87103047e-02 1.15186012e-01] [ 3.88074775e-01 -6.03317026e-02 9.19651051e-01 4.64459844e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.79538475 meters Centerline goodness [0,1] 0.9383184432749969 Centerline is valid? [False, False] Translation: X:9.26, Y:0.12, Z:0.46 [[ 9.21211281e-01 7.96564441e-03 -3.88981137e-01 9.26244074e+00] [ 1.61581552e-02 9.98144476e-01 5.87070598e-02 1.15400078e-01] [ 3.88727012e-01 -6.03668233e-02 9.19373241e-01 4.64963338e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.82538475 meters Centerline goodness [0,1] 0.9382233487036981 Centerline is valid? [False, False] Translation: X:9.26, Y:0.12, Z:0.47 [[ 9.21012943e-01 7.64144284e-03 -3.89457016e-01 9.26390466e+00] [ 1.64467303e-02 9.98153162e-01 5.84788073e-02 1.16053725e-01] [ 3.89184615e-01 -6.02650329e-02 9.19186304e-01 4.65200247e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.85538475 meters Centerline goodness [0,1] 0.940403794697154 Centerline is valid? [False, False] Translation: X:9.27, Y:0.12, Z:0.47 [[ 9.20735997e-01 7.26228795e-03 -3.90118551e-01 9.26626468e+00] [ 1.67197363e-02 9.98174087e-01 5.80425890e-02 1.17439048e-01] [ 3.89827750e-01 -5.99645803e-02 9.18933389e-01 4.65228728e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.88538474999999 meters Centerline goodness [0,1] 0.9376391303021987 Centerline is valid? [False, False] Translation: X:9.27, Y:0.12, Z:0.47 [[ 9.20477763e-01 6.47559752e-03 -3.90741287e-01 9.26852355e+00] [ 1.74757207e-02 9.98180400e-01 5.77103765e-02 1.17481794e-01] [ 3.90404004e-01 -5.99496039e-02 9.18689697e-01 4.65545003e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.91538474999999 meters Centerline goodness [0,1] 0.935315057656616 Centerline is valid? [False, False] Translation: X:9.27, Y:0.12, Z:0.47 [[ 9.20252313e-01 5.80697948e-03 -3.91282454e-01 9.27101909e+00] [ 1.80247279e-02 9.98199653e-01 5.72063026e-02 1.18198621e-01] [ 3.90910206e-01 -5.96969920e-02 9.18490871e-01 4.65295850e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.94538474999999 meters Centerline goodness [0,1] 0.9369520214320507 Centerline is valid? [False, False] Translation: X:9.27, Y:0.12, Z:0.47 [[ 9.19834047e-01 4.91863386e-03 -3.92276857e-01 9.27402687e+00] [ 1.89457511e-02 9.98197755e-01 5.69412030e-02 1.17808053e-01] [ 3.91849951e-01 -5.98084369e-02 9.18083094e-01 4.66198256e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 96.97538474999999 meters Centerline goodness [0,1] 0.9337459601195195 Centerline is valid? [False, False] Translation: X:9.28, Y:0.12, Z:0.47 [[ 9.19289277e-01 3.06099508e-03 -3.93570648e-01 9.27882111e+00] [ 2.07305240e-02 9.98205123e-01 5.61852098e-02 1.18224341e-01] [ 3.93036220e-01 -5.98093867e-02 9.17575810e-01 4.67043863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.00538474999999 meters Centerline goodness [0,1] 0.9318942945868599 Centerline is valid? [False, False] Translation: X:9.28, Y:0.12, Z:0.47 [[ 9.18953136e-01 2.07866563e-03 -3.94361272e-01 9.28175126e+00] [ 2.16667289e-02 9.98209641e-01 5.57500295e-02 1.18828759e-01] [ 3.93771110e-01 -5.97761833e-02 9.17262842e-01 4.67472826e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.03538474999999 meters Centerline goodness [0,1] 0.9324669791222837 Centerline is valid? [False, False] Translation: X:9.28, Y:0.12, Z:0.47 [[ 9.18487098e-01 1.60247497e-03 -3.95447698e-01 9.28495794e+00] [ 2.20264230e-02 9.98232068e-01 5.52048408e-02 1.20196191e-01] [ 3.94837038e-01 -5.94152323e-02 9.16827979e-01 4.67792717e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.06538474999999 meters Centerline goodness [0,1] 0.9337362203528804 Centerline is valid? [False, False] Translation: X:9.29, Y:0.12, Z:0.47 [[ 9.18205934e-01 1.18347221e-03 -3.96101582e-01 9.28707013e+00] [ 2.24098166e-02 9.98238647e-01 5.49308948e-02 1.21134761e-01] [ 3.95468916e-01 -5.93144373e-02 9.16562128e-01 4.68089658e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.09538475 meters Centerline goodness [0,1] 0.9330588594083562 Centerline is valid? [False, False] Translation: X:9.29, Y:0.12, Z:0.47 [[ 9.17897214e-01 9.60450339e-04 -3.96817065e-01 9.28917842e+00] [ 2.25568020e-02 9.98253850e-01 5.45934156e-02 1.21444850e-01] [ 3.96176597e-01 -5.90620680e-02 9.16272763e-01 4.68329812e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.12538475 meters Centerline goodness [0,1] 0.9340441736481341 Centerline is valid? [False, False] Translation: X:9.29, Y:0.12, Z:0.47 [[ 9.17597809e-01 4.82815948e-04 -3.97509783e-01 9.29138500e+00] [ 2.30491660e-02 9.98252161e-01 5.44183746e-02 1.21883829e-01] [ 3.96841274e-01 -5.90964503e-02 9.15982867e-01 4.68846078e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.15538475 meters Centerline goodness [0,1] 0.9360309341127755 Centerline is valid? [False, False] Translation: X:9.29, Y:0.12, Z:0.47 [[ 9.17150474e-01 5.27550706e-04 -3.98540751e-01 9.29362512e+00] [ 2.30822918e-02 9.98250216e-01 5.44400100e-02 1.22374084e-01] [ 3.97872110e-01 -5.91289149e-02 9.15533481e-01 4.69826308e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.18538475 meters Centerline goodness [0,1] 0.9372444932576728 Centerline is valid? [False, False] Translation: X:9.30, Y:0.12, Z:0.47 [[ 9.16920988e-01 2.27981226e-04 -3.99068728e-01 9.29538666e+00] [ 2.33660524e-02 9.98253559e-01 5.42573382e-02 1.22633800e-01] [ 3.98384148e-01 -5.90743530e-02 9.15314313e-01 4.70110187e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.21538475 meters Centerline goodness [0,1] 0.9367635865428527 Centerline is valid? [False, False] Translation: X:9.30, Y:0.12, Z:0.47 [[ 9.16204833e-01 4.98807937e-03 -4.00679201e-01 9.29782200e+00] [ 2.05240568e-02 9.98025902e-01 5.93553954e-02 1.20679108e-01] [ 4.00184291e-01 -6.26052629e-02 9.14293779e-01 4.74191960e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.24538474999999 meters Centerline goodness [0,1] 0.9376085830107592 Centerline is valid? [False, False] Translation: X:9.30, Y:0.12, Z:0.47 [[ 9.15929041e-01 5.30102496e-03 -4.01305234e-01 9.29905737e+00] [ 2.02137357e-02 9.98034409e-01 5.93188199e-02 1.21725938e-01] [ 4.00830882e-01 -6.24437078e-02 9.14021546e-01 4.74712939e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.27538474999999 meters Centerline goodness [0,1] 0.9388488113718686 Centerline is valid? [False, False] Translation: X:9.30, Y:0.12, Z:0.48 [[ 9.15620910e-01 5.18850529e-03 -4.02009239e-01 9.30082573e+00] [ 2.03282986e-02 9.98040258e-01 5.91811086e-02 1.22579887e-01] [ 4.01528466e-01 -6.23596244e-02 9.13721056e-01 4.75193426e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.30538474999999 meters Centerline goodness [0,1] 0.9376139540537255 Centerline is valid? [False, False] Translation: X:9.31, Y:0.12, Z:0.48 [[ 9.14899909e-01 9.03105343e-03 -4.03579728e-01 9.30522023e+00] [ 1.78781492e-02 9.97862298e-01 6.28586203e-02 1.22775826e-01] [ 4.03284674e-01 -6.47246046e-02 9.12782667e-01 4.77317479e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.33538474999999 meters Centerline goodness [0,1] 0.9386852856881517 Centerline is valid? [False, False] Translation: X:9.31, Y:0.12, Z:0.48 [[ 9.14743942e-01 8.68777193e-03 -4.03940642e-01 9.30713031e+00] [ 1.80546915e-02 9.97891157e-01 6.23479488e-02 1.24257486e-01] [ 4.03630460e-01 -6.43254322e-02 9.12658036e-01 4.76820787e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.36538474999999 meters Centerline goodness [0,1] 0.9386034335809084 Centerline is valid? [False, False] Translation: X:9.31, Y:0.13, Z:0.48 [[ 9.14469429e-01 8.00834283e-03 -4.04575741e-01 9.30972829e+00] [ 1.85592045e-02 9.97921990e-01 6.17029742e-02 1.26034594e-01] [ 4.04229168e-01 -6.39340875e-02 9.12420524e-01 4.76640347e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.39538474999999 meters Centerline goodness [0,1] 0.93828063120697 Centerline is valid? [False, False] Translation: X:9.31, Y:0.12, Z:0.48 [[ 0.91383938 0.01295197 -0.40586924 9.31173544] [ 0.01534089 0.99767658 0.06637848 0.12490399] [ 0.40578597 -0.06688566 0.91151745 0.47971705] [ 0. 0. 0. 1. ]] SLAMing on 97.42538474999999 meters Centerline goodness [0,1] 0.9409838054224541 Centerline is valid? [False, False] Translation: X:9.31, Y:0.12, Z:0.48 [[ 0.91337962 0.0185289 -0.40668704 9.31216664] [ 0.01152579 0.99738637 0.07132732 0.12366234] [ 0.40694573 -0.06983631 0.91077882 0.48249433] [ 0. 0. 0. 1. ]] SLAMing on 97.45538475 meters Centerline goodness [0,1] 0.9390902779873834 Centerline is valid? [False, False] Translation: X:9.31, Y:0.12, Z:0.48 [[ 9.12807352e-01 2.30822279e-02 -4.07737599e-01 9.31439896e+00] [ 8.58204671e-03 9.97096827e-01 7.56588835e-02 1.22790501e-01] [ 4.08300242e-01 -7.25612082e-02 9.09959221e-01 4.84813858e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.48538475 meters Centerline goodness [0,1] 0.9351732025160261 Centerline is valid? [False, False] Translation: X:9.32, Y:0.12, Z:0.48 [[ 9.12472072e-01 2.38962645e-02 -4.08440555e-01 9.31547073e+00] [ 7.56745085e-03 9.97136396e-01 7.52445423e-02 1.24732305e-01] [ 4.09069007e-01 -7.17493972e-02 9.09678279e-01 4.84525875e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.51538475 meters Centerline goodness [0,1] 0.9327905299843768 Centerline is valid? [False, False] Translation: X:9.32, Y:0.13, Z:0.48 [[ 9.12323286e-01 2.38937564e-02 -4.08772933e-01 9.31679695e+00] [ 7.49802816e-03 9.97153797e-01 7.50205631e-02 1.25454156e-01] [ 4.09402006e-01 -7.15079976e-02 9.09547472e-01 4.84305829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.54538475 meters Centerline goodness [0,1] 0.928462298912555 Centerline is valid? [False, False] Translation: X:9.32, Y:0.13, Z:0.48 [[ 9.12135734e-01 2.40981706e-02 -4.09179278e-01 9.31847597e+00] [ 7.21444024e-03 9.97171734e-01 7.48096614e-02 1.26145024e-01] [ 4.09824786e-01 -7.11885648e-02 9.09382116e-01 4.83977349e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.57538475 meters Centerline goodness [0,1] 0.9285992859928599 Centerline is valid? [False, False] Translation: X:9.32, Y:0.13, Z:0.48 [[ 9.11960630e-01 2.39526532e-02 -4.09577930e-01 9.31977542e+00] [ 7.44301113e-03 9.97164176e-01 7.48879725e-02 1.25934109e-01] [ 4.10210204e-01 -7.13433757e-02 9.09196190e-01 4.84378391e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.60538475 meters Centerline goodness [0,1] 0.9280127549485591 Centerline is valid? [False, False] Translation: X:9.32, Y:0.13, Z:0.48 [[ 9.11795556e-01 2.38171764e-02 -4.09953177e-01 9.32101684e+00] [ 7.63860924e-03 9.97160163e-01 7.49217013e-02 1.25307033e-01] [ 4.10573400e-01 -7.14447464e-02 9.09024274e-01 4.84651857e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.63538474999999 meters Centerline goodness [0,1] 0.9360260233125508 Centerline is valid? [False, False] Translation: X:9.32, Y:0.12, Z:0.49 [[ 0.9115663 0.01819264 -0.41075043 9.32349062] [ 0.01210605 0.99739981 0.07104268 0.12398844] [ 0.41097485 -0.06973268 0.90897581 0.48536392] [ 0. 0. 0. 1. ]] SLAMing on 97.66538474999999 meters Centerline goodness [0,1] 0.9290553765545485 Centerline is valid? [False, False] Translation: X:9.33, Y:0.12, Z:0.49 [[ 0.91113792 0.01714559 -0.41174472 9.32758052] [ 0.01314992 0.99741571 0.07063276 0.12312968] [ 0.4118917 -0.06977059 0.90855781 0.48572506] [ 0. 0. 0. 1. ]] SLAMing on 97.69538474999999 meters Centerline goodness [0,1] 0.932095042817513 Centerline is valid? [False, False] Translation: X:9.33, Y:0.12, Z:0.49 [[ 0.9108839 0.01628044 -0.41234144 9.33099435] [ 0.01382119 0.99745725 0.06991426 0.12361068] [ 0.41243119 -0.06938282 0.90834274 0.48504543] [ 0. 0. 0. 1. ]] SLAMing on 97.72538474999999 meters Centerline goodness [0,1] 0.9307986623685717 Centerline is valid? [False, False] Translation: X:9.34, Y:0.12, Z:0.48 [[ 0.91041045 0.01486903 -0.4134389 9.33647405] [ 0.01512246 0.99748996 0.06917431 0.12252723] [ 0.41342971 -0.06922923 0.90790043 0.48480571] [ 0. 0. 0. 1. ]] SLAMing on 97.75538474999999 meters Centerline goodness [0,1] 0.9306021329949545 Centerline is valid? [False, False] Translation: X:9.34, Y:0.12, Z:0.49 [[ 0.91014355 0.01458906 -0.41403607 9.33820355] [ 0.01554353 0.9974737 0.06931533 0.12149624] [ 0.41400134 -0.06952248 0.90761749 0.48557315] [ 0. 0. 0. 1. ]] SLAMing on 97.78538474999999 meters Centerline goodness [0,1] 0.9250354888398925 Centerline is valid? [False, False] Translation: X:9.36, Y:0.12, Z:0.49 [[ 0.91202423 0.01102845 -0.40998803 9.35542975] [ 0.01542422 0.99800896 0.06115729 0.12166285] [ 0.40984619 -0.06210067 0.91003824 0.48875494] [ 0. 0. 0. 1. ]] SLAMing on 97.81538474999999 meters Centerline goodness [0,1] 0.9326698425220742 Centerline is valid? [False, False] Translation: X:9.35, Y:0.12, Z:0.49 [[ 9.12041539e-01 6.88589797e-03 -4.10040016e-01 9.35465375e+00] [ 1.84702362e-02 9.98154694e-01 5.78451202e-02 1.21589071e-01] [ 4.09681682e-01 -6.03306884e-02 9.10231359e-01 4.89074084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.84538475 meters Centerline goodness [0,1] 0.9326698425220742 Centerline is valid? [False, False] Translation: X:9.35, Y:0.12, Z:0.49 [[ 9.12041539e-01 6.88589797e-03 -4.10040016e-01 9.35465375e+00] [ 1.84702362e-02 9.98154694e-01 5.78451202e-02 1.21589071e-01] [ 4.09681682e-01 -6.03306884e-02 9.10231359e-01 4.89074084e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.87538475 meters Centerline goodness [0,1] 0.9340408709402749 Centerline is valid? [False, False] Translation: X:9.36, Y:0.12, Z:0.49 [[ 9.11571951e-01 6.88389175e-03 -4.11082948e-01 9.35611327e+00] [ 1.91398264e-02 9.98065263e-01 5.91557062e-02 1.19882951e-01] [ 4.10694832e-01 -6.17927387e-02 9.09676543e-01 4.92363810e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.90538475 meters Centerline goodness [0,1] 0.9339031512349434 Centerline is valid? [False, False] Translation: X:9.36, Y:0.12, Z:0.49 [[ 9.11389591e-01 6.56370471e-03 -4.11492323e-01 9.35782518e+00] [ 1.95309358e-02 9.98056372e-01 5.91778694e-02 1.20174720e-01] [ 4.11080961e-01 -6.19709243e-02 9.09489993e-01 4.92712225e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.93538475 meters Centerline goodness [0,1] 0.931813345493236 Centerline is valid? [False, False] Translation: X:9.36, Y:0.12, Z:0.49 [[ 9.11004552e-01 6.46745637e-03 -4.12345581e-01 9.35996577e+00] [ 2.00651156e-02 9.97997683e-01 5.99834685e-02 1.18303529e-01] [ 4.11907875e-01 -6.29189746e-02 9.09050662e-01 4.94613496e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.96538475 meters Centerline goodness [0,1] 0.9340093793775504 Centerline is valid? [False, False] Translation: X:9.36, Y:0.12, Z:0.49 [[ 9.10805802e-01 6.19158994e-03 -4.12788632e-01 9.36142114e+00] [ 2.03548024e-02 9.97997931e-01 5.98816541e-02 1.18052097e-01] [ 4.12332963e-01 -6.29427891e-02 9.08856277e-01 4.94953817e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 97.99538474999999 meters Centerline goodness [0,1] 0.934688131235845 Centerline is valid? [False, False] Translation: X:9.36, Y:0.12, Z:0.49 [[ 9.10697404e-01 1.07461907e-03 -4.13072733e-01 9.36376900e+00] [ 2.41610672e-02 9.98145989e-01 5.58643697e-02 1.17223832e-01] [ 4.12366925e-01 -6.08558146e-02 9.08982997e-01 4.94183086e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.02538474999999 meters Centerline goodness [0,1] 0.9346417273257778 Centerline is valid? [False, False] Translation: X:9.37, Y:0.12, Z:0.49 [[ 9.10405663e-01 6.50347161e-04 -4.13716214e-01 9.36570710e+00] [ 2.46942626e-02 9.98130378e-01 5.59101313e-02 1.15852921e-01] [ 4.12979082e-01 -6.11173170e-02 9.08687489e-01 4.94910769e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.05538474999999 meters Centerline goodness [0,1] 0.9334948181762434 Centerline is valid? [False, False] Translation: X:9.37, Y:0.11, Z:0.49 [[ 9.09967081e-01 -2.84556888e-04 -4.14680396e-01 9.37015043e+00] [ 2.55584654e-02 9.98137062e-01 5.54000998e-02 1.14957296e-01] [ 4.13892108e-01 -6.10108616e-02 9.08279141e-01 4.94793249e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.08538474999999 meters Centerline goodness [0,1] 0.9335239676536605 Centerline is valid? [False, False] Translation: X:9.37, Y:0.11, Z:0.49 [[ 9.09789701e-01 -7.35757528e-04 -4.15068861e-01 9.37194401e+00] [ 2.59193560e-02 9.98147494e-01 5.50433211e-02 1.14827775e-01] [ 4.14259445e-01 -6.08361642e-02 9.08123380e-01 4.94664495e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.11538474999999 meters Centerline goodness [0,1] 0.9312281347818081 Centerline is valid? [False, False] Translation: X:9.38, Y:0.11, Z:0.50 [[ 9.09276605e-01 -2.49649839e-03 -4.16184843e-01 9.37688736e+00] [ 2.76969306e-02 9.98128218e-01 5.45246804e-02 1.13938939e-01] [ 4.15269714e-01 -6.11050590e-02 9.07643783e-01 4.95424100e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.14538474999999 meters Centerline goodness [0,1] 0.9301240329117033 Centerline is valid? [False, False] Translation: X:9.38, Y:0.11, Z:0.50 [[ 9.09020088e-01 -3.26355131e-03 -4.16739522e-01 9.37903935e+00] [ 2.83456418e-02 9.98137835e-01 5.40128368e-02 1.14450859e-01] [ 4.15787210e-01 -6.09115029e-02 9.07419850e-01 4.95532609e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.17538474999999 meters Centerline goodness [0,1] 0.9291062020519456 Centerline is valid? [False, False] Translation: X:9.38, Y:0.11, Z:0.50 [[ 0.90865602 -0.00970676 -0.41743264 9.38299092] [ 0.03344413 0.99820964 0.04958842 0.11446846] [ 0.41620394 -0.05901949 0.90735383 0.49547559] [ 0. 0. 0. 1. ]] SLAMing on 98.20538475 meters Centerline goodness [0,1] 0.9304492205516096 Centerline is valid? [False, False] Translation: X:9.39, Y:0.11, Z:0.50 [[ 0.90829535 -0.01073679 -0.41819167 9.38622232] [ 0.03455294 0.99818023 0.04941996 0.11462058] [ 0.41690005 -0.05933767 0.90701345 0.49610602] [ 0. 0. 0. 1. ]] SLAMing on 98.23538475 meters Centerline goodness [0,1] 0.9277115833435696 Centerline is valid? [False, False] Translation: X:9.39, Y:0.12, Z:0.50 [[ 0.90783466 -0.01202961 -0.41915573 9.39144353] [ 0.03574089 0.99817071 0.04876282 0.11515981] [ 0.41780237 -0.05924958 0.90660392 0.49577831] [ 0. 0. 0. 1. ]] SLAMing on 98.26538475 meters Centerline goodness [0,1] 0.9278914071617222 Centerline is valid? [False, False] Translation: X:9.39, Y:0.12, Z:0.50 [[ 0.90758531 -0.01202121 -0.41969561 9.39287144] [ 0.03580321 0.99816501 0.04883375 0.11526714] [ 0.41833843 -0.05934724 0.9063503 0.49620483] [ 0. 0. 0. 1. ]] SLAMing on 98.29538475 meters Centerline goodness [0,1] 0.9315309748184768 Centerline is valid? [False, False] Translation: X:9.39, Y:0.11, Z:0.50 [[ 0.90712527 -0.01166906 -0.42069892 9.39349809] [ 0.03606823 0.99809336 0.0500871 0.11304181] [ 0.41931233 -0.06060914 0.9058166 0.49936263] [ 0. 0. 0. 1. ]] SLAMing on 98.32538475 meters Centerline goodness [0,1] 0.9300352919323881 Centerline is valid? [False, False] Translation: X:9.39, Y:0.11, Z:0.50 [[ 0.9069353 -0.01161305 -0.42110985 9.39429628] [ 0.03617865 0.99807397 0.05039306 0.11258306] [ 0.41971356 -0.06093843 0.90560866 0.50013935] [ 0. 0. 0. 1. ]] SLAMing on 98.35538475 meters Centerline goodness [0,1] 0.9324207135777998 Centerline is valid? [False, False] Translation: X:9.40, Y:0.11, Z:0.50 [[ 0.90647839 -0.01199806 -0.42208172 9.39666362] [ 0.03677318 0.9980415 0.05060522 0.11242581] [ 0.42064792 -0.06139383 0.90514426 0.50164282] [ 0. 0. 0. 1. ]] SLAMing on 98.38538474999999 meters Centerline goodness [0,1] 0.9310334167980463 Centerline is valid? [False, False] Translation: X:9.40, Y:0.11, Z:0.50 [[ 0.90617794 -0.01243388 -0.42271377 9.39855118] [ 0.03723814 0.99803104 0.05047147 0.11300871] [ 0.42125391 -0.06147721 0.90485673 0.50226625] [ 0. 0. 0. 1. ]] SLAMing on 98.41538474999999 meters Centerline goodness [0,1] 0.9323890637536258 Centerline is valid? [False, False] Translation: X:9.40, Y:0.12, Z:0.50 [[ 0.90598639 -0.01118572 -0.42315899 9.40103718] [ 0.03655848 0.99798335 0.05189143 0.11520016] [ 0.42172519 -0.06248298 0.90456826 0.50288516] [ 0. 0. 0. 1. ]] SLAMing on 98.44538474999999 meters Centerline goodness [0,1] 0.932919331037875 Centerline is valid? [False, False] Translation: X:9.40, Y:0.12, Z:0.50 [[ 0.90580057 -0.01125491 -0.42355479 9.40225297] [ 0.03657362 0.99799293 0.05169599 0.11682987] [ 0.42212285 -0.06231719 0.9043942 0.50294589] [ 0. 0. 0. 1. ]] SLAMing on 98.47538474999999 meters Centerline goodness [0,1] 0.9325412622102459 Centerline is valid? [False, False] Translation: X:9.40, Y:0.12, Z:0.51 [[ 0.90530875 -0.012019 -0.42458406 9.40371629] [ 0.03771925 0.99792526 0.05217696 0.11722552] [ 0.42307604 -0.06325124 0.90388381 0.50596145] [ 0. 0. 0. 1. ]] SLAMing on 98.50538474999999 meters Centerline goodness [0,1] 0.9347354925364022 Centerline is valid? [False, False] Translation: X:9.40, Y:0.12, Z:0.51 [[ 0.90504213 -0.01244925 -0.42513969 9.40497996] [ 0.03818678 0.99791302 0.05207082 0.11825722] [ 0.42360419 -0.063361 0.90362872 0.50682872] [ 0. 0. 0. 1. ]] SLAMing on 98.53538474999999 meters Centerline goodness [0,1] 0.9344487109160724 Centerline is valid? [False, False] Translation: X:9.41, Y:0.12, Z:0.51 [[ 9.04538817e-01 -8.36502120e-03 -4.26309225e-01 9.40786154e+00] [ 3.53612349e-02 9.97835116e-01 5.54496508e-02 1.20196471e-01] [ 4.24922478e-01 -6.52311822e-02 9.02876393e-01 5.08250596e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.56538474999999 meters Centerline goodness [0,1] 0.933345507669832 Centerline is valid? [False, False] Translation: X:9.41, Y:0.12, Z:0.51 [[ 9.04301183e-01 -8.82544588e-03 -4.26803797e-01 9.41003969e+00] [ 3.55642241e-02 9.97868254e-01 5.47186736e-02 1.22587851e-01] [ 4.25411044e-01 -6.46611072e-02 9.02687313e-01 5.07755337e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.59538475 meters Centerline goodness [0,1] 0.9344540875159313 Centerline is valid? [False, False] Translation: X:9.41, Y:0.13, Z:0.51 [[ 9.04088367e-01 -8.06120737e-03 -4.27269518e-01 9.41148546e+00] [ 3.45042478e-02 9.97934750e-01 5.41820305e-02 1.25276033e-01] [ 4.25950327e-01 -6.37279568e-02 9.02499344e-01 5.06683393e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.62538475 meters Centerline goodness [0,1] 0.9369674261195383 Centerline is valid? [False, False] Translation: X:9.41, Y:0.13, Z:0.51 [[ 9.03811955e-01 -8.31658772e-03 -4.27849021e-01 9.41341268e+00] [ 3.46159987e-02 9.97955516e-01 5.37263561e-02 1.26438580e-01] [ 4.26527470e-01 -6.33689440e-02 9.02252013e-01 5.06619929e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.65538475 meters Centerline goodness [0,1] 0.936968149769025 Centerline is valid? [False, False] Translation: X:9.41, Y:0.13, Z:0.51 [[ 9.03548253e-01 -8.21663885e-03 -4.28407565e-01 9.41390302e+00] [ 3.45843959e-02 9.97952578e-01 5.38012315e-02 1.26266005e-01] [ 4.27088369e-01 -6.34282256e-02 9.01982475e-01 5.07695821e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.68538475 meters Centerline goodness [0,1] 0.9372078907435508 Centerline is valid? [False, False] Translation: X:9.42, Y:0.13, Z:0.51 [[ 9.03322831e-01 -8.58165206e-03 -4.28875528e-01 9.41551179e+00] [ 3.48845148e-02 9.97957950e-01 5.35070185e-02 1.26795934e-01] [ 4.27540564e-01 -6.32952262e-02 9.01777567e-01 5.07830991e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.71538475 meters Centerline goodness [0,1] 0.9368034255519451 Centerline is valid? [False, False] Translation: X:9.42, Y:0.13, Z:0.51 [[ 9.02992623e-01 -9.41649067e-03 -4.29552851e-01 9.41843424e+00] [ 3.57373917e-02 9.97941544e-01 5.32495449e-02 1.26767956e-01] [ 4.28167212e-01 -6.34350448e-02 9.01470373e-01 5.08334597e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 98.74538474999999 meters Centerline goodness [0,1] 0.9366319180621828 Centerline is valid? [False, False] Translation: X:9.42, Y:0.13, Z:0.51 [[ 0.90285564 -0.00976168 -0.42983299 9.41983996] [ 0.03609216 0.99793422 0.05314738 0.126537 ] [ 0.42842624 -0.06349801 0.90134286 0.50844166] [ 0. 0. 0. 1. ]] SLAMing on 98.77538474999999 meters Centerline goodness [0,1] 0.9360260150741551 Centerline is valid? [False, False] Translation: X:9.42, Y:0.13, Z:0.51 [[ 0.90240221 -0.01011162 -0.43077604 9.42220003] [ 0.03667836 0.99789876 0.05341118 0.12563709] [ 0.42933081 -0.06399853 0.90087693 0.50988438] [ 0. 0. 0. 1. ]] SLAMing on 98.80538474999999 meters Centerline goodness [0,1] 0.9364673664993154 Centerline is valid? [False, False] Translation: X:9.42, Y:0.12, Z:0.51 [[ 0.90216942 -0.01032687 -0.43125826 9.42320477] [ 0.03703713 0.99787621 0.05358465 0.12492396] [ 0.429789 -0.064315 0.90063588 0.51080728] [ 0. 0. 0. 1. ]] SLAMing on 98.83538474999999 meters Centerline goodness [0,1] 0.9356174813461245 Centerline is valid? [False, False] Translation: X:9.43, Y:0.12, Z:0.51 [[ 0.90161266 -0.01169317 -0.43238627 9.42614111] [ 0.03886822 0.99778067 0.05406476 0.12244593] [ 0.43079447 -0.06555156 0.90006617 0.51380069] [ 0. 0. 0. 1. ]] SLAMing on 98.86538474999999 meters Centerline goodness [0,1] 0.9395096033466671 Centerline is valid? [False, False] Translation: X:9.43, Y:0.12, Z:0.51 [[ 0.90142652 -0.0118743 -0.43276926 9.4276663 ] [ 0.03912539 0.9977677 0.0541186 0.12209179] [ 0.43116057 -0.0657162 0.89987885 0.51402282] [ 0. 0. 0. 1. ]] SLAMing on 98.89538474999999 meters Centerline goodness [0,1] 0.938132974329162 Centerline is valid? [False, False] Translation: X:9.43, Y:0.12, Z:0.51 [[ 0.90127674 -0.01224428 -0.43307079 9.43009798] [ 0.03955091 0.99775188 0.054101 0.12171738] [ 0.43143477 -0.06588831 0.89973483 0.51389647] [ 0. 0. 0. 1. ]] SLAMing on 98.92538474999999 meters Centerline goodness [0,1] 0.9376587605202754 Centerline is valid? [False, False] Translation: X:9.43, Y:0.12, Z:0.51 [[ 0.90101895 -0.01270702 -0.43359357 9.43185717] [ 0.04017919 0.99771847 0.05425398 0.12044893] [ 0.43191491 -0.0663053 0.8994738 0.51470881] [ 0. 0. 0. 1. ]] SLAMing on 98.95538475 meters Centerline goodness [0,1] 0.9380732533087104 Centerline is valid? [False, False] Translation: X:9.43, Y:0.12, Z:0.51 [[ 0.90088451 -0.01722841 -0.43371681 9.43281004] [ 0.04345727 0.99777145 0.05063203 0.11985916] [ 0.43187794 -0.06446177 0.89962555 0.51440502] [ 0. 0. 0. 1. ]] SLAMing on 98.98538475 meters Centerline goodness [0,1] 0.9383918389989829 Centerline is valid? [False, False] Translation: X:9.43, Y:0.12, Z:0.51 [[ 0.90067612 -0.01723665 -0.43414909 9.43365534] [ 0.04354494 0.99776295 0.05072404 0.11882899] [ 0.43230357 -0.06459093 0.89941183 0.51498273] [ 0. 0. 0. 1. ]] SLAMing on 99.01538475 meters Centerline goodness [0,1] 0.9396899750377515 Centerline is valid? [False, False] Translation: X:9.44, Y:0.12, Z:0.52 [[ 0.90022757 -0.0176726 -0.43506093 9.43640357] [ 0.04403029 0.99774907 0.05057788 0.11878173] [ 0.43318779 -0.06468746 0.89897935 0.51578913] [ 0. 0. 0. 1. ]] SLAMing on 99.04538475 meters Centerline goodness [0,1] 0.9370853775185906 Centerline is valid? [False, False] Translation: X:9.44, Y:0.12, Z:0.52 [[ 0.89986551 -0.01863759 -0.4357691 9.43925559] [ 0.04501834 0.99771947 0.05029124 0.11888481] [ 0.43383801 -0.06487296 0.89865237 0.51641629] [ 0. 0. 0. 1. ]] SLAMing on 99.07538475 meters Centerline goodness [0,1] 0.9364233486181683 Centerline is valid? [False, False] Translation: X:9.44, Y:0.12, Z:0.52 [[ 0.8993614 -0.02515085 -0.43648197 9.44294493] [ 0.05006382 0.99770147 0.0456661 0.11942429] [ 0.43433017 -0.06292228 0.89855333 0.51655972] [ 0. 0. 0. 1. ]] SLAMing on 99.10538475 meters Centerline goodness [0,1] 0.9352726823543944 Centerline is valid? [False, False] Translation: X:9.45, Y:0.12, Z:0.52 [[ 0.89900926 -0.02616784 -0.43714711 9.44674699] [ 0.05093071 0.99768701 0.04501887 0.120819 ] [ 0.43495795 -0.06273659 0.8982626 0.51619193] [ 0. 0. 0. 1. ]] SLAMing on 99.13538474999999 meters Centerline goodness [0,1] 0.9310952425113604 Centerline is valid? [False, False] Translation: X:9.45, Y:0.12, Z:0.52 [[ 0.8983431 -0.02386947 -0.43864555 9.45343805] [ 0.04998751 0.99759146 0.04808884 0.1203749 ] [ 0.4364412 -0.06512708 0.89737258 0.51773537] [ 0. 0. 0. 1. ]] SLAMing on 99.16538474999999 meters Centerline goodness [0,1] 0.9318914229053049 Centerline is valid? [False, False] Translation: X:9.46, Y:0.12, Z:0.52 [[ 0.8979836 -0.02433826 -0.43935533 9.45514072] [ 0.05067323 0.99754618 0.04830986 0.11935653] [ 0.43710145 -0.06564502 0.89701341 0.51911735] [ 0. 0. 0. 1. ]] SLAMing on 99.19538474999999 meters Centerline goodness [0,1] 0.9333686374680705 Centerline is valid? [False, False] Translation: X:9.46, Y:0.12, Z:0.52 [[ 0.89752903 -0.02455772 -0.440271 9.45645054] [ 0.05149347 0.9974539 0.04933709 0.1172273 ] [ 0.43793842 -0.06695256 0.89650839 0.52205352] [ 0. 0. 0. 1. ]] SLAMing on 99.22538474999999 meters Centerline goodness [0,1] 0.934920090968566 Centerline is valid? [False, False] Translation: X:9.46, Y:0.12, Z:0.52 [[ 0.89715527 -0.02457953 -0.44103092 9.45756297] [ 0.0519086 0.99739903 0.05000665 0.11596454] [ 0.43865467 -0.06775702 0.89609769 0.52397017] [ 0. 0. 0. 1. ]] SLAMing on 99.25538474999999 meters Centerline goodness [0,1] 0.9346094994222902 Centerline is valid? [False, False] Translation: X:9.46, Y:0.11, Z:0.53 [[ 0.89671017 -0.02474519 -0.44192595 9.45905972] [ 0.05255891 0.99732473 0.0508029 0.11376212] [ 0.43948656 -0.06878262 0.89561181 0.52638815] [ 0. 0. 0. 1. ]] SLAMing on 99.28538474999999 meters Centerline goodness [0,1] 0.9350133041164501 Centerline is valid? [False, False] Translation: X:9.46, Y:0.11, Z:0.53 [[ 0.89648911 -0.02486576 -0.44236747 9.46021924] [ 0.05281704 0.99730214 0.0509785 0.11319087] [ 0.4399064 -0.06906621 0.89538384 0.52704768] [ 0. 0. 0. 1. ]] SLAMing on 99.31538474999999 meters Centerline goodness [0,1] 0.9332851486393061 Centerline is valid? [False, False] Translation: X:9.46, Y:0.11, Z:0.53 [[ 0.89616248 -0.02555514 -0.44298956 9.46290883] [ 0.05358401 0.99726679 0.05086955 0.11268037] [ 0.44047879 -0.06932454 0.89508242 0.52758225] [ 0. 0. 0. 1. ]] SLAMing on 99.34538475 meters Centerline goodness [0,1] 0.9338120022574778 Centerline is valid? [False, False] Translation: X:9.46, Y:0.11, Z:0.53 [[ 0.89580777 -0.02592518 -0.44368494 9.46457079] [ 0.05410567 0.99723347 0.05097044 0.11267179] [ 0.44113605 -0.06966559 0.89473219 0.52869472] [ 0. 0. 0. 1. ]] SLAMing on 99.37538475 meters Centerline goodness [0,1] 0.9334776742288744 Centerline is valid? [False, False] Translation: X:9.47, Y:0.11, Z:0.53 [[ 0.89542117 -0.02624985 -0.44444558 9.46643543] [ 0.05461232 0.99719765 0.05113054 0.11207076] [ 0.44185793 -0.07005558 0.89434545 0.53000092] [ 0. 0. 0. 1. ]] SLAMing on 99.40538475 meters Centerline goodness [0,1] 0.9352998338610075 Centerline is valid? [False, False] Translation: X:9.47, Y:0.11, Z:0.53 [[ 0.89509167 -0.02672442 -0.44508057 9.46827919] [ 0.05518461 0.99716737 0.05110662 0.11209994] [ 0.44245403 -0.0703067 0.89403098 0.53089752] [ 0. 0. 0. 1. ]] SLAMing on 99.43538475 meters Centerline goodness [0,1] 0.9342907422537867 Centerline is valid? [False, False] Translation: X:9.47, Y:0.11, Z:0.53 [[ 0.89486902 -0.0269355 -0.44551534 9.46972706] [ 0.05542928 0.99715676 0.05104883 0.11262027] [ 0.44287361 -0.07037661 0.89381771 0.53131055] [ 0. 0. 0. 1. ]] SLAMing on 99.46538475 meters Centerline goodness [0,1] 0.9359764683793848 Centerline is valid? [False, False] Translation: X:9.47, Y:0.11, Z:0.53 [[ 0.89450197 -0.02749944 -0.44621744 9.47221031] [ 0.05600262 0.99713676 0.05081323 0.11329214] [ 0.44354248 -0.07044188 0.89348084 0.5318263 ] [ 0. 0. 0. 1. ]] SLAMing on 99.49538474999999 meters Centerline goodness [0,1] 0.9344961726690928 Centerline is valid? [False, False] Translation: X:9.48, Y:0.11, Z:0.53 [[ 0.89400374 -0.0282777 -0.44716628 9.47512924] [ 0.0567332 0.99711798 0.05036937 0.11407789] [ 0.44445321 -0.07039958 0.89303149 0.53257454] [ 0. 0. 0. 1. ]] SLAMing on 99.52538474999999 meters Centerline goodness [0,1] 0.9338203022133049 Centerline is valid? [False, False] Translation: X:9.48, Y:0.11, Z:0.53 [[ 0.89378229 -0.02860284 -0.44758809 9.47648102] [ 0.05706752 0.99710554 0.0502379 0.11425892] [ 0.44485562 -0.07044449 0.89282756 0.53297728] [ 0. 0. 0. 1. ]] SLAMing on 99.55538474999999 meters Centerline goodness [0,1] 0.9342565962235838 Centerline is valid? [False, False] Translation: X:9.48, Y:0.12, Z:0.53 [[ 0.89328512 -0.02932591 -0.44853282 9.47984546] [ 0.05757946 0.99711398 0.04948045 0.11553248] [ 0.44578728 -0.07002643 0.89239565 0.5330176 ] [ 0. 0. 0. 1. ]] SLAMing on 99.58538474999999 meters Centerline goodness [0,1] 0.9324463922366567 Centerline is valid? [False, False] Translation: X:9.48, Y:0.12, Z:0.53 [[ 0.89304518 -0.02958636 -0.44899326 9.4810779 ] [ 0.05782017 0.99710901 0.04929963 0.11583256] [ 0.44623663 -0.06998766 0.89217409 0.53345625] [ 0. 0. 0. 1. ]] SLAMing on 99.61538474999999 meters Centerline goodness [0,1] 0.9324569073195104 Centerline is valid? [False, False] Translation: X:9.48, Y:0.12, Z:0.53 [[ 0.89271774 -0.03017429 -0.44960488 9.48389927] [ 0.05831575 0.99710124 0.04887109 0.11676941] [ 0.44682693 -0.06984714 0.89188961 0.53346669] [ 0. 0. 0. 1. ]] SLAMing on 99.64538474999999 meters Centerline goodness [0,1] 0.9350568447282355 Centerline is valid? [False, False] Translation: X:9.49, Y:0.12, Z:0.53 [[ 0.89246057 -0.0306441 -0.45008341 9.48584962] [ 0.05876408 0.99708647 0.04863501 0.11736128] [ 0.4472817 -0.06985356 0.89166112 0.53370157] [ 0. 0. 0. 1. ]] SLAMing on 99.67538474999999 meters Centerline goodness [0,1] 0.9355484012127653 Centerline is valid? [False, False] Translation: X:9.49, Y:0.12, Z:0.54 [[ 0.89198151 -0.03139409 -0.45098048 9.4883453 ] [ 0.0597463 0.99702175 0.04876487 0.11634593] [ 0.44810642 -0.07044177 0.89120065 0.53535566] [ 0. 0. 0. 1. ]] SLAMing on 99.70538475 meters Centerline goodness [0,1] 0.9346423650256795 Centerline is valid? [False, False] Translation: X:9.49, Y:0.11, Z:0.54 [[ 0.89136338 -0.03166511 -0.45218209 9.49027153] [ 0.06057559 0.99693065 0.04959716 0.11443777] [ 0.44922369 -0.07160029 0.89054561 0.53834821] [ 0. 0. 0. 1. ]] SLAMing on 99.73538475 meters Centerline goodness [0,1] 0.9346423650256795 Centerline is valid? [False, False] Translation: X:9.49, Y:0.11, Z:0.54 [[ 0.89136338 -0.03166511 -0.45218209 9.49027153] [ 0.06057559 0.99693065 0.04959716 0.11443777] [ 0.44922369 -0.07160029 0.89054561 0.53834821] [ 0. 0. 0. 1. ]] SLAMing on 99.76538475 meters Centerline goodness [0,1] 0.9380395345927687 Centerline is valid? [False, False] Translation: X:9.49, Y:0.11, Z:0.54 [[ 0.89098866 -0.03208159 -0.4528907 9.49218286] [ 0.06113307 0.99689389 0.04965199 0.11444002] [ 0.44989105 -0.07192596 0.89018239 0.53945267] [ 0. 0. 0. 1. ]] SLAMing on 99.79538475 meters Centerline goodness [0,1] 0.9361948955916474 Centerline is valid? [False, False] Translation: X:9.49, Y:0.11, Z:0.54 [[ 0.89069906 -0.03238174 -0.45343864 9.49354623] [ 0.06162489 0.99685312 0.04986208 0.11363883] [ 0.4503971 -0.07235521 0.88989166 0.54051764] [ 0. 0. 0. 1. ]] SLAMing on 99.82538475 meters Centerline goodness [0,1] 0.9366435141730806 Centerline is valid? [False, False] Translation: X:9.50, Y:0.11, Z:0.54 [[ 0.89018566 -0.03335187 -0.45437556 9.49699702] [ 0.06263626 0.99680584 0.04954616 0.11407734] [ 0.45127175 -0.07256567 0.88943129 0.5414214 ] [ 0. 0. 0. 1. ]] SLAMing on 99.85538475 meters Centerline goodness [0,1] 0.9346078032602234 Centerline is valid? [False, False] Translation: X:9.50, Y:0.11, Z:0.54 [[ 0.88993991 -0.03387044 -0.45481837 9.49868147] [ 0.06310416 0.99679129 0.04924417 0.11478159] [ 0.45169107 -0.07252528 0.88922172 0.54173374] [ 0. 0. 0. 1. ]] SLAMing on 99.88538474999999 meters Centerline goodness [0,1] 0.9359927527177309 Centerline is valid? [False, False] Translation: X:9.50, Y:0.12, Z:0.54 [[ 0.88958651 -0.03413653 -0.45548934 9.50047668] [ 0.06319904 0.99681083 0.0487242 0.11659357] [ 0.45237343 -0.07213088 0.88890687 0.54190273] [ 0. 0. 0. 1. ]] SLAMing on 99.91538474999999 meters Centerline goodness [0,1] 0.936559945078949 Centerline is valid? [False, False] Translation: X:9.50, Y:0.12, Z:0.54 [[ 0.88929307 -0.03457226 -0.45602916 9.50209479] [ 0.06349996 0.99681429 0.04825997 0.11829126] [ 0.45290793 -0.07187509 0.88865538 0.54213578] [ 0. 0. 0. 1. ]] SLAMing on 99.94538474999999 meters Centerline goodness [0,1] 0.9365197445911598 Centerline is valid? [False, False] Translation: X:9.50, Y:0.12, Z:0.54 [[ 0.88887509 -0.02964525 -0.45718949 9.50288621] [ 0.06026612 0.99679888 0.05253554 0.11863256] [ 0.45416854 -0.07425057 0.8878163 0.54496979] [ 0. 0. 0. 1. ]] SLAMing on 99.97538474999999 meters Centerline goodness [0,1] 0.9393215924593824 Centerline is valid? [False, False] Translation: X:9.50, Y:0.12, Z:0.55 [[ 0.88851166 -0.0296417 -0.45789562 9.50220414] [ 0.06061422 0.99674823 0.05309317 0.11958549] [ 0.45483288 -0.07492889 0.88741913 0.54773117] [ 0. 0. 0. 1. ]] SLAMing on 100.00538474999999 meters Centerline goodness [0,1] 0.9388644937844023 Centerline is valid? [False, False] Translation: X:9.50, Y:0.12, Z:0.55 [[ 0.88835014 -0.03008889 -0.45817976 9.50313102] [ 0.06096995 0.99674444 0.05275599 0.1211961 ] [ 0.45510075 -0.07480099 0.88729258 0.54796733] [ 0. 0. 0. 1. ]] SLAMing on 100.03538474999999 meters Centerline goodness [0,1] 0.9364418540105468 Centerline is valid? [False, False] Translation: X:9.51, Y:0.12, Z:0.55 [[ 0.88797523 -0.03096328 -0.45884776 9.50518507] [ 0.06163943 0.99674164 0.05202574 0.12359616] [ 0.45574179 -0.07448068 0.88699045 0.5484258 ] [ 0. 0. 0. 1. ]] SLAMing on 100.06538474999999 meters Centerline goodness [0,1] 0.9372920004930358 Centerline is valid? [False, False] Translation: X:9.51, Y:0.13, Z:0.55 [[ 0.88785353 -0.03114413 -0.45907097 9.50646088] [ 0.06160247 0.9967703 0.05151803 0.12601699] [ 0.45598383 -0.07402037 0.88690458 0.5478401 ] [ 0. 0. 0. 1. ]] SLAMing on 100.09538475 meters Centerline goodness [0,1] 0.9382788042477441 Centerline is valid? [False, False] Translation: X:9.51, Y:0.13, Z:0.55 [[ 0.88769808 -0.03119065 -0.45936832 9.50795174] [ 0.06147958 0.9967982 0.05112352 0.12853895] [ 0.45630294 -0.07362403 0.88677344 0.54736681] [ 0. 0. 0. 1. ]] SLAMing on 100.12538475 meters Centerline goodness [0,1] 0.9372047364869011 Centerline is valid? [False, False] Translation: X:9.51, Y:0.13, Z:0.55 [[ 0.88741871 -0.03132345 -0.45989876 9.50943948] [ 0.06133614 0.99684086 0.05045968 0.13143558] [ 0.45686531 -0.07298728 0.88653649 0.54717725] [ 0. 0. 0. 1. ]] SLAMing on 100.15538475 meters Centerline goodness [0,1] 0.9379411945245841 Centerline is valid? [False, False] Translation: X:9.51, Y:0.13, Z:0.55 [[ 0.8869908 -0.03151594 -0.46071039 9.510361 ] [ 0.06146412 0.99684895 0.05014316 0.13285195] [ 0.45767836 -0.07279368 0.88613295 0.54827522] [ 0. 0. 0. 1. ]] SLAMing on 100.18538475 meters Centerline goodness [0,1] 0.9382939552009819 Centerline is valid? [False, False] Translation: X:9.51, Y:0.13, Z:0.55 [[ 0.88653362 -0.03223574 -0.46153981 9.51180391] [ 0.06230066 0.99680182 0.05004765 0.13295365] [ 0.4584504 -0.07312316 0.88570663 0.54995087] [ 0. 0. 0. 1. ]] SLAMing on 100.21538475 meters Centerline goodness [0,1] 0.9355905222555563 Centerline is valid? [False, False] Translation: X:9.52, Y:0.14, Z:0.55 [[ 0.8860048 -0.03328159 -0.46248008 9.51522122] [ 0.06317391 0.99678437 0.04929471 0.13542957] [ 0.45935231 -0.07289202 0.88525827 0.55043609] [ 0. 0. 0. 1. ]] SLAMing on 100.24538474999999 meters Centerline goodness [0,1] 0.9332089666350653 Centerline is valid? [False, False] Translation: X:9.52, Y:0.14, Z:0.55 [[ 0.88577152 -0.03377933 -0.46289068 9.51722914] [ 0.06352759 0.99678506 0.04882406 0.13704619] [ 0.45975327 -0.07265329 0.88506973 0.55030356] [ 0. 0. 0. 1. ]] SLAMing on 100.27538474999999 meters Centerline goodness [0,1] 0.9342333831103526 Centerline is valid? [False, False] Translation: X:9.52, Y:0.14, Z:0.55 [[ 0.88543793 -0.03335677 -0.46355905 9.51786388] [ 0.0632372 0.99679187 0.0490614 0.13816715] [ 0.46043536 -0.07275501 0.88470672 0.55142099] [ 0. 0. 0. 1. ]] SLAMing on 100.30538474999999 meters Centerline goodness [0,1] 0.9364639200390054 Centerline is valid? [False, False] Translation: X:9.52, Y:0.14, Z:0.55 [[ 0.88520965 -0.03319606 -0.46400636 9.51773954] [ 0.06320664 0.99678349 0.04927055 0.13849878] [ 0.46087829 -0.07294305 0.88446058 0.5526386 ] [ 0. 0. 0. 1. ]] SLAMing on 100.33538474999999 meters Centerline goodness [0,1] 0.9353850818677987 Centerline is valid? [False, False] Translation: X:9.52, Y:0.14, Z:0.55 [[ 0.88500584 -0.03298122 -0.46441027 9.51785743] [ 0.06302714 0.9967925 0.04931836 0.13953183] [ 0.4612941 -0.07291749 0.88424589 0.55332449] [ 0. 0. 0. 1. ]] SLAMing on 100.36538474999999 meters Centerline goodness [0,1] 0.9373920421830965 Centerline is valid? [False, False] Translation: X:9.52, Y:0.14, Z:0.55 [[ 0.88477552 -0.03242192 -0.46488827 9.51794532] [ 0.06248907 0.99682186 0.04940956 0.14141633] [ 0.46180884 -0.0727668 0.88398959 0.55398226] [ 0. 0. 0. 1. ]] SLAMing on 100.39538474999999 meters Centerline goodness [0,1] 0.9367902875090601 Centerline is valid? [False, False] Translation: X:9.52, Y:0.14, Z:0.55 [[ 0.88451266 -0.03205656 -0.46541351 9.51855972] [ 0.06210361 0.99684807 0.04936666 0.14391225] [ 0.46236404 -0.0725693 0.88371556 0.55449058] [ 0. 0. 0. 1. ]] SLAMing on 100.42538474999999 meters Centerline goodness [0,1] 0.9364622470003636 Centerline is valid? [False, False] Translation: X:9.52, Y:0.14, Z:0.55 [[ 0.88442471 -0.03187487 -0.46559309 9.51898723] [ 0.06190969 0.99686068 0.04935565 0.14481901] [ 0.46255824 -0.07247608 0.88362158 0.5544929 ] [ 0. 0. 0. 1. ]] SLAMing on 100.45538475 meters Centerline goodness [0,1] 0.937026256746104 Centerline is valid? [False, False] Translation: X:9.52, Y:0.14, Z:0.56 [[ 0.88383014 -0.03334114 -0.46661831 9.52154823] [ 0.06358007 0.9967629 0.04920676 0.14429736] [ 0.4634672 -0.07315804 0.88308893 0.55687027] [ 0. 0. 0. 1. ]] SLAMing on 100.48538475 meters Centerline goodness [0,1] 0.9368440211126615 Centerline is valid? [False, False] Translation: X:9.52, Y:0.14, Z:0.56 [[ 0.88332693 -0.03438842 -0.46749436 9.5243394 ] [ 0.06460077 0.99671996 0.04874491 0.14441097] [ 0.4642847 -0.07325819 0.8826511 0.55786456] [ 0. 0. 0. 1. ]] SLAMing on 100.51538475 meters Centerline goodness [0,1] 0.9347891839574134 Centerline is valid? [False, False] Translation: X:9.53, Y:0.15, Z:0.56 [[ 0.88276873 -0.03625241 -0.46840701 9.52932655] [ 0.06625992 0.99665977 0.04773811 0.14591704] [ 0.4651118 -0.07317833 0.88222216 0.55814944] [ 0. 0. 0. 1. ]] SLAMing on 100.54538475 meters Centerline goodness [0,1] 0.9329244342387527 Centerline is valid? [False, False] Translation: X:9.53, Y:0.15, Z:0.56 [[ 0.88249618 -0.03667828 -0.46888719 9.53133915] [ 0.06666022 0.99664445 0.04750009 0.14718137] [ 0.46557159 -0.07317477 0.8819799 0.55840173] [ 0. 0. 0. 1. ]] SLAMing on 100.57538475 meters Centerline goodness [0,1] 0.9342276201697937 Centerline is valid? [False, False] Translation: X:9.53, Y:0.15, Z:0.56 [[ 0.88240098 -0.0352017 -0.46917944 9.53347051] [ 0.06568717 0.99664805 0.04876326 0.14890951] [ 0.46589022 -0.07384782 0.88175552 0.55853538] [ 0. 0. 0. 1. ]] SLAMing on 100.60538474999998 meters Centerline goodness [0,1] 0.9329321762269057 Centerline is valid? [False, False] Translation: X:9.53, Y:0.15, Z:0.56 [[ 0.88215146 -0.03526571 -0.46964361 9.53481992] [ 0.06577413 0.99664502 0.0487079 0.14979051] [ 0.46635025 -0.07385814 0.88151144 0.55891347] [ 0. 0. 0. 1. ]] SLAMing on 100.63538474999999 meters Centerline goodness [0,1] 0.9324336591122273 Centerline is valid? [False, False] Translation: X:9.54, Y:0.15, Z:0.56 [[ 0.8817442 -0.03520251 -0.47041253 9.53586459] [ 0.06598987 0.99661092 0.04911216 0.14968712] [ 0.46708939 -0.07434682 0.88107891 0.56058803] [ 0. 0. 0. 1. ]] SLAMing on 100.66538474999999 meters Centerline goodness [0,1] 0.9306386467855082 Centerline is valid? [False, False] Translation: X:9.54, Y:0.15, Z:0.56 [[ 0.88162042 -0.03508953 -0.4706529 9.53617758] [ 0.06600167 0.99659929 0.04933193 0.14888401] [ 0.46732131 -0.07455591 0.88093825 0.56116647] [ 0. 0. 0. 1. ]] SLAMing on 100.69538474999999 meters Centerline goodness [0,1] 0.9330042957682113 Centerline is valid? [False, False] Translation: X:9.54, Y:0.15, Z:0.56 [[ 0.88123624 -0.03465929 -0.47140367 9.53646259] [ 0.06618346 0.99653105 0.05045401 0.1465801 ] [ 0.4680197 -0.07566103 0.88047315 0.56372275] [ 0. 0. 0. 1. ]] SLAMing on 100.72538474999999 meters Centerline goodness [0,1] 0.9319234519746465 Centerline is valid? [False, False] Translation: X:9.54, Y:0.15, Z:0.56 [[ 0.88099976 -0.03478537 -0.4718362 9.53748734] [ 0.06650261 0.99649698 0.05070672 0.14563626] [ 0.4684195 -0.07605094 0.88022692 0.56465557] [ 0. 0. 0. 1. ]] SLAMing on 100.75538474999999 meters Centerline goodness [0,1] 0.9338413048134888 Centerline is valid? [False, False] Translation: X:9.54, Y:0.14, Z:0.57 [[ 0.88069101 -0.03488971 -0.47240454 9.53852972] [ 0.06703159 0.99642738 0.05137347 0.14287224] [ 0.46892441 -0.07691018 0.87988336 0.56633648] [ 0. 0. 0. 1. ]] SLAMing on 100.78538474999999 meters Centerline goodness [0,1] 0.9325322625141771 Centerline is valid? [False, False] Translation: X:9.54, Y:0.14, Z:0.57 [[ 0.88043099 -0.03499912 -0.47288088 9.53974051] [ 0.06743192 0.99637812 0.05180331 0.14143558] [ 0.46935509 -0.07749651 0.87960223 0.56756536] [ 0. 0. 0. 1. ]] SLAMing on 100.81538474999999 meters Centerline goodness [0,1] 0.9366229618939417 Centerline is valid? [False, False] Translation: X:9.54, Y:0.14, Z:0.57 [[ 0.88030008 -0.03488678 -0.47313283 9.54003638] [ 0.06744684 0.9963657 0.05202233 0.14116966] [ 0.46959843 -0.07770658 0.87945381 0.56815227] [ 0. 0. 0. 1. ]] SLAMing on 100.84538475 meters Centerline goodness [0,1] 0.9338454447687817 Centerline is valid? [False, False] Translation: X:9.54, Y:0.14, Z:0.57 [[ 0.88008555 -0.03515182 -0.47351217 9.54107135] [ 0.06778337 0.996343 0.05201956 0.14087779] [ 0.46995196 -0.07787792 0.87924979 0.5687723 ] [ 0. 0. 0. 1. ]] SLAMing on 100.87538475 meters Centerline goodness [0,1] 0.9370124865114845 Centerline is valid? [False, False] Translation: X:9.54, Y:0.14, Z:0.57 [[ 0.87973469 -0.04021117 -0.47376149 9.54154362] [ 0.07175171 0.99623388 0.04868007 0.13945776] [ 0.47001976 -0.07681874 0.87930672 0.57003345] [ 0. 0. 0. 1. ]] SLAMing on 100.90538475 meters Centerline goodness [0,1] 0.9390655478837043 Centerline is valid? [False, False] Translation: X:9.55, Y:0.14, Z:0.57 [[ 0.87900055 -0.04225639 -0.47494466 9.54584064] [ 0.07389064 0.99610435 0.04812799 0.13891999] [ 0.47106073 -0.07739849 0.87869862 0.57202888] [ 0. 0. 0. 1. ]] SLAMing on 100.93538475 meters Centerline goodness [0,1] 0.9383186251741755 Centerline is valid? [False, False] Translation: X:9.55, Y:0.14, Z:0.57 [[ 0.87877931 -0.04275767 -0.47530906 9.54792146] [ 0.07432241 0.99608773 0.04780596 0.13991409] [ 0.47140546 -0.077337 0.87851914 0.5719635 ] [ 0. 0. 0. 1. ]] SLAMing on 100.96538475 meters Centerline goodness [0,1] 0.9354010761333416 Centerline is valid? [False, False] Translation: X:9.55, Y:0.14, Z:0.57 [[ 0.87854341 -0.04329179 -0.47569664 9.54886173] [ 0.07505349 0.99602514 0.04796761 0.13932782] [ 0.47172921 -0.07784432 0.87830053 0.57319064] [ 0. 0. 0. 1. ]] SLAMing on 100.99538474999999 meters Centerline goodness [0,1] 0.9356748589225693 Centerline is valid? [False, False] Translation: X:9.55, Y:0.14, Z:0.58 [[ 0.87790433 -0.0402534 -0.47714113 9.55347149] [ 0.07351666 0.99597674 0.0512409 0.14031731] [ 0.47315885 -0.08006243 0.87733159 0.57532988] [ 0. 0. 0. 1. ]] SLAMing on 101.02538474999999 meters Centerline goodness [0,1] 0.932720678632899 Centerline is valid? [False, False] Translation: X:9.56, Y:0.14, Z:0.58 [[ 0.87759176 -0.0405155 -0.47769362 9.55587571] [ 0.07370474 0.99597866 0.05093242 0.14234956] [ 0.4737091 -0.07990616 0.87704886 0.57533028] [ 0. 0. 0. 1. ]] SLAMing on 101.05538474999999 meters Centerline goodness [0,1] 0.9327176781002638 Centerline is valid? [False, False] Translation: X:9.56, Y:0.14, Z:0.58 [[ 0.87736492 -0.04060686 -0.47810237 9.55675721] [ 0.07379156 0.99597783 0.05082299 0.1435494 ] [ 0.47411559 -0.07987023 0.87683245 0.57578842] [ 0. 0. 0. 1. ]] SLAMing on 101.08538474999999 meters Centerline goodness [0,1] 0.9339561756661238 Centerline is valid? [False, False] Translation: X:9.56, Y:0.14, Z:0.58 [[ 0.87731176 -0.03986389 -0.47826242 9.55562061] [ 0.07319152 0.99600061 0.05124243 0.14402677] [ 0.47430693 -0.07996034 0.87672075 0.57653984] [ 0. 0. 0. 1. ]] SLAMing on 101.11538474999999 meters Centerline goodness [0,1] 0.9350541980525445 Centerline is valid? [False, False] Translation: X:9.56, Y:0.14, Z:0.58 [[ 0.87703889 -0.03994072 -0.47875623 9.55623064] [ 0.07339107 0.99598011 0.05135528 0.14426967] [ 0.47478052 -0.08017701 0.87644458 0.5775862 ] [ 0. 0. 0. 1. ]] SLAMing on 101.14538474999999 meters Centerline goodness [0,1] 0.9331897877576131 Centerline is valid? [False, False] Translation: X:9.56, Y:0.14, Z:0.58 [[ 0.87695109 -0.03933876 -0.47896685 9.55564722] [ 0.07292502 0.99599566 0.0517164 0.14376024] [ 0.47501444 -0.08028142 0.87630826 0.57826514] [ 0. 0. 0. 1. ]] SLAMing on 101.17538474999999 meters Centerline goodness [0,1] 0.9383469250107302 Centerline is valid? [False, False] Translation: X:9.56, Y:0.15, Z:0.58 [[ 0.87688799 -0.03923669 -0.47909074 9.55614801] [ 0.07277668 0.99601084 0.05163287 0.14548549] [ 0.47515367 -0.08014288 0.87624546 0.57820806] [ 0. 0. 0. 1. ]] SLAMing on 101.20538475 meters Centerline goodness [0,1] 0.9339115563156609 Centerline is valid? [False, False] Translation: X:9.56, Y:0.15, Z:0.58 [[ 0.87688977 -0.03877155 -0.47912534 9.55544686] [ 0.07242504 0.99601988 0.05195206 0.14615516] [ 0.4752041 -0.0802569 0.87620768 0.57861975] [ 0. 0. 0. 1. ]] SLAMing on 101.23538475 meters Centerline goodness [0,1] 0.9340213110249442 Centerline is valid? [False, False] Translation: X:9.55, Y:0.15, Z:0.58 [[ 0.87683124 -0.03822442 -0.47927641 9.55493009] [ 0.0718549 0.99605774 0.05201778 0.14760207] [ 0.47539862 -0.08004917 0.87612115 0.57884266] [ 0. 0. 0. 1. ]] SLAMing on 101.26538475 meters Centerline goodness [0,1] 0.933176413046801 Centerline is valid? [False, False] Translation: X:9.56, Y:0.15, Z:0.58 [[ 0.87684056 -0.03795957 -0.47928041 9.55502359] [ 0.07155394 0.99607946 0.05201684 0.14916805] [ 0.47542683 -0.07990487 0.87611902 0.57859891] [ 0. 0. 0. 1. ]] SLAMing on 101.29538475 meters Centerline goodness [0,1] 0.932504873294347 Centerline is valid? [False, False] Translation: X:9.56, Y:0.15, Z:0.58 [[ 0.87675832 -0.0378006 -0.47944339 9.55547131] [ 0.07133153 0.99610105 0.05190872 0.15095551] [ 0.47561188 -0.07971083 0.87603626 0.57847106] [ 0. 0. 0. 1. ]] SLAMing on 101.32538475 meters Centerline goodness [0,1] 0.9384147269131294 Centerline is valid? [False, False] Translation: X:9.55, Y:0.15, Z:0.58 [[ 0.87673393 -0.03724428 -0.47953152 9.55496586] [ 0.0706577 0.99615395 0.05181509 0.15291006] [ 0.4757574 -0.07931064 0.87599356 0.57829447] [ 0. 0. 0. 1. ]] SLAMing on 101.35538474999998 meters Centerline goodness [0,1] 0.9395129375951293 Centerline is valid? [False, False] Translation: X:9.55, Y:0.15, Z:0.58 [[ 0.87667752 -0.03696647 -0.47965613 9.55489503] [ 0.0703416 0.99617758 0.05179072 0.1534077 ] [ 0.47590817 -0.07914354 0.87592678 0.57835539] [ 0. 0. 0. 1. ]] SLAMing on 101.38538474999999 meters Centerline goodness [0,1] 0.9398259076157836 Centerline is valid? [False, False] Translation: X:9.55, Y:0.16, Z:0.58 [[ 0.87673156 -0.03608228 -0.47962469 9.55420345] [ 0.06934788 0.99624589 0.05181688 0.15570337] [ 0.47595446 -0.07869045 0.87594245 0.57787723] [ 0. 0. 0. 1. ]] SLAMing on 101.41538474999999 meters Centerline goodness [0,1] 0.9436440677966101 Centerline is valid? [False, False] Translation: X:9.55, Y:0.16, Z:0.58 [[ 0.87664473 -0.03579631 -0.47980479 9.55425308] [ 0.06893456 0.99628477 0.05162058 0.15690284] [ 0.47617437 -0.07832804 0.8758554 0.57790668] [ 0. 0. 0. 1. ]] SLAMing on 101.44538474999999 meters Centerline goodness [0,1] 0.9427593103239296 Centerline is valid? [False, False] Translation: X:9.55, Y:0.16, Z:0.58 [[ 0.87641889 -0.03611024 -0.48019368 9.55488021] [ 0.06936417 0.99625179 0.05168158 0.15630522] [ 0.47652758 -0.07860295 0.87563865 0.57885022] [ 0. 0. 0. 1. ]] SLAMing on 101.47538474999999 meters Centerline goodness [0,1] 0.945841040725354 Centerline is valid? [False, False] Translation: X:9.55, Y:0.15, Z:0.58 [[ 0.87612914 -0.0413594 -0.480299 9.55446151] [ 0.07370097 0.9960923 0.04866507 0.154907 ] [ 0.47640938 -0.07803539 0.87575372 0.580777 ] [ 0. 0. 0. 1. ]] SLAMing on 101.50538474999999 meters Centerline goodness [0,1] 0.9432548829309717 Centerline is valid? [False, False] Translation: X:9.56, Y:0.16, Z:0.58 [[ 0.87590726 -0.04223907 -0.48062702 9.5567592 ] [ 0.0745222 0.99605018 0.04827506 0.15531966] [ 0.47668954 -0.07810186 0.87559533 0.58083063] [ 0. 0. 0. 1. ]] SLAMing on 101.53538474999999 meters Centerline goodness [0,1] 0.941988531205437 Centerline is valid? [False, False] Translation: X:9.56, Y:0.16, Z:0.58 [[ 0.87559131 -0.04324195 -0.48111328 9.56074153] [ 0.07534516 0.99602069 0.04760146 0.1560088 ] [ 0.4771404 -0.07792899 0.87536513 0.58013707] [ 0. 0. 0. 1. ]] SLAMing on 101.56538474999999 meters Centerline goodness [0,1] 0.9415751414480651 Centerline is valid? [False, False] Translation: X:9.56, Y:0.16, Z:0.58 [[ 0.87550848 -0.04342997 -0.48124706 9.56174105] [ 0.07557688 0.99600276 0.04760928 0.15579664] [ 0.47725573 -0.07805348 0.87529117 0.58021933] [ 0. 0. 0. 1. ]] SLAMing on 101.59538475 meters Centerline goodness [0,1] 0.9420109733547546 Centerline is valid? [False, False] Translation: X:9.56, Y:0.16, Z:0.58 [[ 0.87547393 -0.04779902 -0.48089567 9.5602714 ] [ 0.07870019 0.99591423 0.04428453 0.15597855] [ 0.47681409 -0.07661653 0.87565874 0.58037027] [ 0. 0. 0. 1. ]] SLAMing on 101.62538475 meters Centerline goodness [0,1] 0.9438521460210784 Centerline is valid? [False, False] Translation: X:9.56, Y:0.15, Z:0.58 [[ 0.87546557 -0.05185261 -0.48049073 9.55670875] [ 0.08177161 0.9957855 0.0415287 0.15432616] [ 0.47631234 -0.07564745 0.87601599 0.58187079] [ 0. 0. 0. 1. ]] SLAMing on 101.65538475 meters Centerline goodness [0,1] 0.9438521460210784 Centerline is valid? [False, False] Translation: X:9.56, Y:0.15, Z:0.58 [[ 0.87546557 -0.05185261 -0.48049073 9.55670875] [ 0.08177161 0.9957855 0.0415287 0.15432616] [ 0.47631234 -0.07564745 0.87601599 0.58187079] [ 0. 0. 0. 1. ]] SLAMing on 101.68538475 meters Centerline goodness [0,1] 0.9427177062681105 Centerline is valid? [False, False] Translation: X:9.56, Y:0.16, Z:0.58 [[ 0.87502763 -0.052899 -0.48117392 9.55925881] [ 0.08272822 0.9957294 0.0409756 0.15536912] [ 0.47695145 -0.07566145 0.87566698 0.58249542] [ 0. 0. 0. 1. ]] SLAMing on 101.71538475 meters Centerline goodness [0,1] 0.9398107293917172 Centerline is valid? [False, False] Translation: X:9.56, Y:0.16, Z:0.58 [[ 0.87460522 -0.0489153 -0.4823619 9.56343652] [ 0.08016664 0.99579325 0.04437466 0.15612336] [ 0.47816213 -0.07747964 0.87484735 0.5833355 ] [ 0. 0. 0. 1. ]] SLAMing on 101.74538474999999 meters Centerline goodness [0,1] 0.9367712867971628 Centerline is valid? [False, False] Translation: X:9.57, Y:0.16, Z:0.58 [[ 0.87428276 -0.05037248 -0.4827963 9.56777962] [ 0.0812599 0.99575371 0.04325953 0.15845243] [ 0.47856711 -0.07705304 0.87466356 0.58233864] [ 0. 0. 0. 1. ]] SLAMing on 101.77538474999999 meters Centerline goodness [0,1] 0.9388738970922652 Centerline is valid? [False, False] Translation: X:9.57, Y:0.16, Z:0.58 [[ 0.87426277 -0.05010636 -0.48286019 9.56798819] [ 0.08099651 0.99577252 0.0433204 0.15935829] [ 0.47864828 -0.0769834 0.87462528 0.58227915] [ 0. 0. 0. 1. ]] SLAMing on 101.80538474999999 meters Centerline goodness [0,1] 0.9393016955343825 Centerline is valid? [False, False] Translation: X:9.57, Y:0.16, Z:0.58 [[ 0.87432419 -0.04912345 -0.48284998 9.5660045 ] [ 0.08019373 0.99581207 0.04390098 0.15973999] [ 0.47867127 -0.07710522 0.87460197 0.58303041] [ 0. 0. 0. 1. ]] SLAMing on 101.83538474999999 meters Centerline goodness [0,1] 0.9421517718866721 Centerline is valid? [False, False] Translation: X:9.57, Y:0.16, Z:0.58 [[ 0.87421475 -0.04838892 -0.48312222 9.56528676] [ 0.07962884 0.99583762 0.04434737 0.16047078] [ 0.47896536 -0.07723959 0.87442909 0.58390426] [ 0. 0. 0. 1. ]] SLAMing on 101.86538474999999 meters Centerline goodness [0,1] 0.9400744529523924 Centerline is valid? [False, False] Translation: X:9.57, Y:0.16, Z:0.58 [[ 0.87417863 -0.04831976 -0.4831945 9.56559208] [ 0.07947163 0.99585713 0.04419095 0.16141523] [ 0.47905739 -0.07703104 0.87439707 0.5837201 ] [ 0. 0. 0. 1. ]] SLAMing on 101.89538474999999 meters Centerline goodness [0,1] 0.9407281964436918 Centerline is valid? [False, False] Translation: X:9.57, Y:0.16, Z:0.58 [[ 0.8741724 -0.04802901 -0.48323476 9.5660975 ] [ 0.07901246 0.99590432 0.04395008 0.1637393 ] [ 0.47914471 -0.07660151 0.87438696 0.58301307] [ 0. 0. 0. 1. ]] SLAMing on 101.92538474999999 meters Centerline goodness [0,1] 0.9444797242130092 Centerline is valid? [False, False] Translation: X:9.57, Y:0.16, Z:0.58 [[ 0.8742477 -0.04752577 -0.48314828 9.56541771] [ 0.07853105 0.99593429 0.04413355 0.16455515] [ 0.47908646 -0.0765258 0.87442551 0.58294358] [ 0. 0. 0. 1. ]] SLAMing on 101.95538475 meters Centerline goodness [0,1] 0.9464527994693521 Centerline is valid? [False, False] Translation: X:9.56, Y:0.17, Z:0.58 [[ 0.87435309 -0.04684197 -0.48302432 9.56461635] [ 0.07795275 0.99596241 0.04452237 0.16507928] [ 0.47898856 -0.07658135 0.87447428 0.5829544 ] [ 0. 0. 0. 1. ]] SLAMing on 101.98538475 meters Centerline goodness [0,1] 0.9475060096153847 Centerline is valid? [False, False] Translation: X:9.56, Y:0.17, Z:0.58 [[ 0.87453712 -0.04582407 -0.48278876 9.5625257 ] [ 0.07704226 0.9960109 0.04501976 0.1662623 ] [ 0.47879988 -0.07656659 0.87457889 0.58316042] [ 0. 0. 0. 1. ]] SLAMing on 102.01538475 meters Centerline goodness [0,1] 0.9502980311879101 Centerline is valid? [False, True] Translation: X:9.56, Y:0.17, Z:0.58 [[ 0.87453147 -0.04538185 -0.48284076 9.562083 ] [ 0.07666484 0.99603 0.04524086 0.1669111 ] [ 0.47887076 -0.07658147 0.87453878 0.58335291] [ 0. 0. 0. 1. ]] SLAMing on 102.04538475 meters Centerline goodness [0,1] 0.9512392969806219 Centerline is valid? [True, True] Translation: X:9.61, Y:0.21, Z:0.54 [[ 0.87584911 -0.09093333 -0.47394036 9.61178404] [ 0.07506148 0.99580399 -0.05234677 0.20531756] [ 0.47671177 0.01027321 0.87899963 0.5398407 ] [ 0. 0. 0. 1. ]] SLAMing on 102.07538475 meters Centerline goodness [0,1] 0.9454299458809381 Centerline is valid? [True, False] Translation: X:9.61, Y:0.20, Z:0.54 [[ 8.75259048e-01 -8.65305232e-02 -4.75850888e-01 9.61482734e+00] [ 7.26913274e-02 9.96225009e-01 -4.74521111e-02 2.04065857e-01] [ 4.78160611e-01 6.94265694e-03 8.78244971e-01 5.43638845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.10538474999998 meters Centerline goodness [0,1] 0.9484632288750414 Centerline is valid? [False, False] Translation: X:9.62, Y:0.20, Z:0.55 [[ 0.87443448 -0.08231443 -0.47810948 9.61670959] [ 0.07834441 0.99652514 -0.02828086 0.2014729 ] [ 0.47877604 -0.01272745 0.87784481 0.55191173] [ 0. 0. 0. 1. ]] SLAMing on 102.13538474999999 meters Centerline goodness [0,1] 0.9480809238098109 Centerline is valid? [False, False] Translation: X:9.62, Y:0.20, Z:0.55 [[ 0.87406029 -0.07800485 -0.47951419 9.61949387] [ 0.07588116 0.99683176 -0.02384289 0.19980174] [ 0.47985484 -0.01554597 0.87721016 0.55451863] [ 0. 0. 0. 1. ]] SLAMing on 102.16538474999999 meters Centerline goodness [0,1] 0.9453671722480853 Centerline is valid? [False, False] Translation: X:9.62, Y:0.20, Z:0.56 [[ 0.87367606 -0.07357507 -0.48091253 9.62256126] [ 0.07331413 0.99712097 -0.01935995 0.19811398] [ 0.48095238 -0.01834336 0.87655481 0.55702957] [ 0. 0. 0. 1. ]] SLAMing on 102.19538474999999 meters Centerline goodness [0,1] 0.9461557045358459 Centerline is valid? [False, False] Translation: X:9.62, Y:0.20, Z:0.56 [[ 0.87358773 -0.07249172 -0.4812374 9.62189811] [ 0.07275724 0.99718477 -0.01813619 0.19588356] [ 0.48119733 -0.01916995 0.87640267 0.55838716] [ 0. 0. 0. 1. ]] SLAMing on 102.22538474999999 meters Centerline goodness [0,1] 0.9474287783679382 Centerline is valid? [False, False] Translation: X:9.62, Y:0.19, Z:0.57 [[ 0.87321264 -0.0670147 -0.48270977 9.62250328] [ 0.07074683 0.99743909 -0.01049504 0.1915291 ] [ 0.48217692 -0.02498578 0.87571749 0.56561098] [ 0. 0. 0. 1. ]] SLAMing on 102.25538474999999 meters Centerline goodness [0,1] 0.948051162650056 Centerline is valid? [False, False] Translation: X:9.62, Y:0.19, Z:0.57 [[ 0.87287336 -0.0672296 -0.48329315 9.62361652] [ 0.07145027 0.997397 -0.00969921 0.18965005] [ 0.48268722 -0.02606524 0.87540485 0.56745094] [ 0. 0. 0. 1. ]] SLAMing on 102.28538474999999 meters Centerline goodness [0,1] 0.9470131932567799 Centerline is valid? [False, False] Translation: X:9.62, Y:0.19, Z:0.56 [[ 8.75950874e-01 -7.16225822e-02 -4.77053742e-01 9.61988758e+00] [ 7.83483778e-02 9.96909109e-01 -5.81040332e-03 1.87834208e-01] [ 4.75995377e-01 -3.22867590e-02 8.78854918e-01 5.62599190e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.31538474999999 meters Centerline goodness [0,1] 0.9449125279573516 Centerline is valid? [False, False] Translation: X:9.62, Y:0.19, Z:0.56 [[ 8.75691046e-01 -7.19459652e-02 -4.77481905e-01 9.62130409e+00] [ 7.89675964e-02 9.96862664e-01 -5.38037007e-03 1.86889250e-01] [ 4.76370979e-01 -3.29940565e-02 8.78625109e-01 5.63677201e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.34538475 meters Centerline goodness [0,1] 0.9456778026150595 Centerline is valid? [False, False] Translation: X:9.62, Y:0.18, Z:0.57 [[ 8.75406502e-01 -6.76401971e-02 -4.78631654e-01 9.62285632e+00] [ 7.76080748e-02 9.96983392e-01 1.04978465e-03 1.82902938e-01] [ 4.77116802e-01 -3.80646695e-02 8.78015170e-01 5.69467011e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.37538475 meters Centerline goodness [0,1] 0.9463233488828873 Centerline is valid? [False, False] Translation: X:9.62, Y:0.18, Z:0.58 [[ 8.75037650e-01 -6.26014828e-02 -4.79989755e-01 9.62343335e+00] [ 7.57800449e-02 9.97091606e-01 8.10638009e-03 1.78269668e-01] [ 4.78086285e-01 -4.34670330e-02 8.77236639e-01 5.76284387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.40538475 meters Centerline goodness [0,1] 0.9459060732726826 Centerline is valid? [False, False] Translation: X:9.62, Y:0.18, Z:0.58 [[ 8.74769991e-01 -6.25537654e-02 -4.80483600e-01 9.62392110e+00] [ 7.61574530e-02 9.97056559e-01 8.84652960e-03 1.76753046e-01] [ 4.78515941e-01 -4.43310858e-02 8.76959092e-01 5.77966735e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.43538475 meters Centerline goodness [0,1] 0.9447969934076766 Centerline is valid? [False, False] Translation: X:9.62, Y:0.18, Z:0.58 [[ 8.74643209e-01 -6.23909064e-02 -4.80735511e-01 9.62462087e+00] [ 7.62539213e-02 9.97044717e-01 9.33663266e-03 1.76121934e-01] [ 4.78732280e-01 -4.48241902e-02 8.76815942e-01 5.78657762e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 102.46538475 meters Centerline goodness [0,1] 0.9458370497954665 Centerline is valid? [False, False] Translation: X:9.63, Y:0.18, Z:0.58 [[ 0.87419 -0.0585866 -0.48203677 9.62918446] [ 0.07419522 0.99715422 0.01336172 0.17501868] [ 0.47988218 -0.04744551 0.87604909 0.58061817] [ 0. 0. 0. 1. ]] SLAMing on 102.49538474999999 meters Centerline goodness [0,1] 0.9443571494592846 Centerline is valid? [False, False] Translation: X:9.63, Y:0.17, Z:0.58 [[ 0.87398223 -0.05863057 -0.48240804 9.63056911] [ 0.07446636 0.9971291 0.01372287 0.17433628] [ 0.48021851 -0.04791671 0.87583912 0.58128544] [ 0. 0. 0. 1. ]] SLAMing on 102.52538474999999 meters Centerline goodness [0,1] 0.9434305444232074 Centerline is valid? [False, False] Translation: X:9.63, Y:0.17, Z:0.58 [[ 0.87377383 -0.05899314 -0.48274123 9.6326781 ] [ 0.07499276 0.99708733 0.01389025 0.1737818 ] [ 0.48051574 -0.04833904 0.87565288 0.58174581] [ 0. 0. 0. 1. ]] SLAMing on 102.55538474999999 meters Centerline goodness [0,1] 0.9428474492628462 Centerline is valid? [False, False] Translation: X:9.63, Y:0.17, Z:0.58 [[ 0.87349997 -0.05895906 -0.48324076 9.63396518] [ 0.07522704 0.99706346 0.0143301 0.17287742] [ 0.48097682 -0.04887012 0.87537021 0.58272109] [ 0. 0. 0. 1. ]] SLAMing on 102.58538474999999 meters Centerline goodness [0,1] 0.9425895010202189 Centerline is valid? [False, False] Translation: X:9.64, Y:0.17, Z:0.58 [[ 0.87334758 -0.05922452 -0.48348367 9.63570658] [ 0.07567847 0.99702579 0.01457182 0.17135976] [ 0.48118268 -0.04931557 0.87523208 0.58311673] [ 0. 0. 0. 1. ]] SLAMing on 102.61538474999999 meters Centerline goodness [0,1] 0.9425159334199616 Centerline is valid? [False, False] Translation: X:9.64, Y:0.17, Z:0.58 [[ 0.87324704 -0.05907962 -0.48368296 9.6365274 ] [ 0.07569367 0.99702013 0.0148769 0.1712835 ] [ 0.48136272 -0.04960295 0.87511684 0.58344209] [ 0. 0. 0. 1. ]] SLAMing on 102.64538474999999 meters Centerline goodness [0,1] 0.9427282837019647 Centerline is valid? [False, False] Translation: X:9.64, Y:0.17, Z:0.58 [[ 0.87323323 -0.05878694 -0.48374355 9.63702968] [ 0.07544544 0.99703671 0.01502599 0.17204765] [ 0.48142675 -0.04961743 0.87508079 0.5833289 ] [ 0. 0. 0. 1. ]] SLAMing on 102.67538474999999 meters Centerline goodness [0,1] 0.941332510795805 Centerline is valid? [False, False] Translation: X:9.64, Y:0.17, Z:0.58 [[ 0.87315493 -0.0586246 -0.48390457 9.63743805] [ 0.07537341 0.99703932 0.01521299 0.17262899] [ 0.48158003 -0.04975683 0.87498853 0.5836177 ] [ 0. 0. 0. 1. ]] SLAMing on 102.70538475 meters Centerline goodness [0,1] 0.9436185306273518 Centerline is valid? [False, False] Translation: X:9.64, Y:0.17, Z:0.59 [[ 0.87317178 -0.05258829 -0.48456735 9.63608774] [ 0.07153691 0.99722351 0.0206818 0.17085667] [ 0.48213433 -0.05272322 0.87450943 0.58649565] [ 0. 0. 0. 1. ]] SLAMing on 102.73538475 meters Centerline goodness [0,1] 0.9450783273714074 Centerline is valid? [False, False] Translation: X:9.64, Y:0.17, Z:0.59 [[ 0.87310055 -0.04737316 -0.48523315 9.63619311] [ 0.06816521 0.99735368 0.02528122 0.16966471] [ 0.48275141 -0.05514907 0.87401925 0.58849205] [ 0. 0. 0. 1. ]] SLAMing on 102.76538475 meters Centerline goodness [0,1] 0.9474007430834894 Centerline is valid? [False, False] Translation: X:9.63, Y:0.17, Z:0.59 [[ 0.87295652 -0.04133947 -0.48604316 9.63480703] [ 0.06442241 0.99744514 0.03086991 0.16883228] [ 0.48352524 -0.05826016 0.87338943 0.59200259] [ 0. 0. 0. 1. ]] SLAMing on 102.79538475 meters Centerline goodness [0,1] 0.9491353314050095 Centerline is valid? [False, False] Translation: X:9.63, Y:0.17, Z:0.59 [[ 0.87299453 -0.04030747 -0.48606158 9.63331875] [ 0.06388081 0.99744375 0.03201891 0.16783798] [ 0.48352848 -0.05900234 0.87333781 0.59321797] [ 0. 0. 0. 1. ]] SLAMing on 102.82538475 meters Centerline goodness [0,1] 0.9496661846598775 Centerline is valid? [False, False] Translation: X:9.63, Y:0.17, Z:0.59 [[ 0.87292828 -0.04040041 -0.48617283 9.63401597] [ 0.06404417 0.99743045 0.03210663 0.16792553] [ 0.48362647 -0.05916332 0.87327266 0.59345264] [ 0. 0. 0. 1. ]] SLAMing on 102.85538474999998 meters Centerline goodness [0,1] 0.9490561397036217 Centerline is valid? [False, False] Translation: X:9.64, Y:0.17, Z:0.59 [[ 0.87276624 -0.04041732 -0.48646226 9.63504223] [ 0.06424948 0.9974077 0.03240176 0.16769349] [ 0.48389161 -0.05953411 0.87310057 0.59402371] [ 0. 0. 0. 1. ]] SLAMing on 102.88538474999999 meters Centerline goodness [0,1] 0.9469878776690666 Centerline is valid? [False, False] Translation: X:9.64, Y:0.17, Z:0.59 [[ 0.87244228 -0.04166468 -0.4869379 9.63761567] [ 0.06553466 0.99733445 0.03208127 0.16662465] [ 0.48430329 -0.05990037 0.87284722 0.5948143 ] [ 0. 0. 0. 1. ]] SLAMing on 102.91538474999999 meters Centerline goodness [0,1] 0.9481310567604984 Centerline is valid? [False, False] Translation: X:9.64, Y:0.17, Z:0.60 [[ 0.87225968 -0.04190132 -0.48724463 9.63884657] [ 0.06586004 0.99731123 0.03213664 0.1662339 ] [ 0.48458797 -0.06012145 0.872674 0.59524349] [ 0. 0. 0. 1. ]] SLAMing on 102.94538474999999 meters Centerline goodness [0,1] 0.9462663587374904 Centerline is valid? [False, False] Translation: X:9.64, Y:0.17, Z:0.59 [[ 0.87209313 -0.04255434 -0.48748611 9.64146689] [ 0.06640986 0.99728722 0.03174794 0.16604445] [ 0.48481265 -0.06006104 0.87255336 0.59479249] [ 0. 0. 0. 1. ]] SLAMing on 102.97538474999999 meters Centerline goodness [0,1] 0.9456360489553715 Centerline is valid? [False, False] Translation: X:9.64, Y:0.16, Z:0.60 [[ 0.87198344 -0.04246117 -0.4876904 9.64213743] [ 0.06652789 0.99726734 0.03212301 0.16454935] [ 0.48499372 -0.06045575 0.87242546 0.59534954] [ 0. 0. 0. 1. ]] SLAMing on 103.00538474999999 meters Centerline goodness [0,1] 0.945899156026834 Centerline is valid? [False, False] Translation: X:9.64, Y:0.16, Z:0.60 [[ 0.87192946 -0.04214292 -0.4878145 9.64234406] [ 0.06646079 0.99725506 0.0326392 0.16390338] [ 0.48509997 -0.06087961 0.87233692 0.59593981] [ 0. 0. 0. 1. ]] SLAMing on 103.03538474999999 meters Centerline goodness [0,1] 0.9442744552619379 Centerline is valid? [False, False] Translation: X:9.64, Y:0.16, Z:0.60 [[ 0.8717953 -0.0421468 -0.48805389 9.64294607] [ 0.06663276 0.99723481 0.03290594 0.1633608 ] [ 0.48531745 -0.06120762 0.87219298 0.59657333] [ 0. 0. 0. 1. ]] SLAMing on 103.06538474999999 meters Centerline goodness [0,1] 0.9465068873926741 Centerline is valid? [False, False] Translation: X:9.64, Y:0.16, Z:0.60 [[ 0.87143395 -0.04196773 -0.48871421 9.64286656] [ 0.06706458 0.99717076 0.03395311 0.16133142] [ 0.48590659 -0.06236331 0.871783 0.59919239] [ 0. 0. 0. 1. ]] SLAMing on 103.09538475 meters Centerline goodness [0,1] 0.9469739205847736 Centerline is valid? [False, False] Translation: X:9.64, Y:0.16, Z:0.60 [[ 0.87129583 -0.04188632 -0.4889674 9.64292488] [ 0.06710278 0.99716142 0.03415146 0.16126473] [ 0.48614895 -0.0625671 0.87163327 0.59990933] [ 0. 0. 0. 1. ]] SLAMing on 103.12538475 meters Centerline goodness [0,1] 0.9458390008655867 Centerline is valid? [False, False] Translation: X:9.64, Y:0.16, Z:0.60 [[ 0.87120912 -0.04201634 -0.48911072 9.64424876] [ 0.0670286 0.99718073 0.03373068 0.16345009] [ 0.48631455 -0.06217088 0.87156924 0.59924491] [ 0. 0. 0. 1. ]] SLAMing on 103.15538475 meters Centerline goodness [0,1] 0.94725790513834 Centerline is valid? [False, False] Translation: X:9.64, Y:0.16, Z:0.60 [[ 0.87129131 -0.04103263 -0.48904782 9.64279081] [ 0.06636077 0.99719697 0.03456093 0.16411754] [ 0.48625888 -0.06256622 0.87157201 0.59990427] [ 0. 0. 0. 1. ]] SLAMing on 103.18538475 meters Centerline goodness [0,1] 0.9476444636411316 Centerline is valid? [False, False] Translation: X:9.64, Y:0.16, Z:0.60 [[ 0.87133094 -0.04042691 -0.48902766 9.64184472] [ 0.06596135 0.99720497 0.03509055 0.16403572] [ 0.48624221 -0.06283241 0.87156216 0.60038906] [ 0. 0. 0. 1. ]] SLAMing on 103.21538475 meters Centerline goodness [0,1] 0.949275586172809 Centerline is valid? [False, False] Translation: X:9.64, Y:0.16, Z:0.60 [[ 0.87139698 -0.03955782 -0.48898107 9.64065118] [ 0.06528651 0.9972288 0.03567065 0.16425495] [ 0.48621495 -0.06300716 0.87156475 0.60077927] [ 0. 0. 0. 1. ]] SLAMing on 103.24538474999999 meters Centerline goodness [0,1] 0.9490756458134009 Centerline is valid? [False, False] Translation: X:9.64, Y:0.16, Z:0.60 [[ 0.8714329 -0.03906225 -0.4889569 9.64009548] [ 0.06488459 0.99724426 0.03597038 0.16453082] [ 0.48620438 -0.06307154 0.87156599 0.60089194] [ 0. 0. 0. 1. ]] SLAMing on 103.27538474999999 meters Centerline goodness [0,1] 0.9501573005983591 Centerline is valid? [False, True] Translation: X:9.64, Y:0.17, Z:0.60 [[ 0.87154719 -0.03819361 -0.48882178 9.63923736] [ 0.06403504 0.99728907 0.03624939 0.16550615] [ 0.48611213 -0.06289478 0.87163022 0.60056438] [ 0. 0. 0. 1. ]] SLAMing on 103.30538474999999 meters Centerline goodness [0,1] 0.9494592601695957 Centerline is valid? [True, False] Translation: X:9.64, Y:0.17, Z:0.60 [[ 0.87144401 -0.03802359 -0.48901896 9.63977697] [ 0.06388591 0.99729674 0.03630164 0.16662941] [ 0.48631669 -0.06287626 0.87151744 0.60067871] [ 0. 0. 0. 1. ]] SLAMing on 103.33538474999999 meters Centerline goodness [0,1] 0.9487651480288388 Centerline is valid? [False, False] Translation: X:9.64, Y:0.17, Z:0.60 [[ 0.87145934 -0.0378861 -0.48900231 9.64024614] [ 0.06367318 0.99731386 0.03620484 0.16787493] [ 0.48631712 -0.06268737 0.87153081 0.60025997] [ 0. 0. 0. 1. ]] SLAMing on 103.36538474999999 meters Centerline goodness [0,1] 0.9500706258060554 Centerline is valid? [False, True] Translation: X:9.64, Y:0.17, Z:0.60 [[ 0.87139079 -0.03778186 -0.48913252 9.64116636] [ 0.06341996 0.99733937 0.03594575 0.16976169] [ 0.48647302 -0.06234356 0.87146846 0.59978703] [ 0. 0. 0. 1. ]] SLAMing on 103.39538474999999 meters Centerline goodness [0,1] 0.9487438725490196 Centerline is valid? [True, False] Translation: X:9.64, Y:0.17, Z:0.60 [[ 0.87122935 -0.03699774 -0.48947992 9.64133567] [ 0.0627047 0.99737463 0.03622123 0.17088923] [ 0.48685475 -0.06224969 0.87126198 0.6000292 ] [ 0. 0. 0. 1. ]] SLAMing on 103.42538474999999 meters Centerline goodness [0,1] 0.9482573972644656 Centerline is valid? [False, False] Translation: X:9.64, Y:0.17, Z:0.60 [[ 0.87112161 -0.03705083 -0.48966762 9.64160664] [ 0.0627274 0.99737666 0.03612565 0.17169478] [ 0.48704457 -0.06218541 0.87116047 0.60027809] [ 0. 0. 0. 1. ]] SLAMing on 103.45538475 meters Centerline goodness [0,1] 0.9465714111253587 Centerline is valid? [False, False] Translation: X:9.64, Y:0.17, Z:0.60 [[ 0.87099385 -0.0368113 -0.48991289 9.64237956] [ 0.06249158 0.99739027 0.03615857 0.17274828] [ 0.48730331 -0.06210933 0.87102119 0.60030828] [ 0. 0. 0. 1. ]] SLAMing on 103.48538475 meters Centerline goodness [0,1] 0.9469808091920303 Centerline is valid? [False, False] Translation: X:9.64, Y:0.17, Z:0.60 [[ 0.87088734 -0.03690949 -0.49009483 9.64307929] [ 0.06269962 0.99737198 0.03630279 0.17235991] [ 0.48746693 -0.0623444 0.87091284 0.60069609] [ 0. 0. 0. 1. ]] SLAMing on 103.51538475 meters Centerline goodness [0,1] 0.9453408880950914 Centerline is valid? [False, False] Translation: X:9.64, Y:0.17, Z:0.60 [[ 0.87056669 -0.04272503 -0.49019202 9.64339114] [ 0.06744738 0.99718122 0.03287047 0.16982768] [ 0.48740588 -0.0616781 0.87099444 0.60217807] [ 0. 0. 0. 1. ]] SLAMing on 103.54538475 meters Centerline goodness [0,1] 0.9453408880950914 Centerline is valid? [False, False] Translation: X:9.64, Y:0.17, Z:0.60 [[ 0.87056669 -0.04272503 -0.49019202 9.64339114] [ 0.06744738 0.99718122 0.03287047 0.16982768] [ 0.48740588 -0.0616781 0.87099444 0.60217807] [ 0. 0. 0. 1. ]] SLAMing on 103.57538475 meters Centerline goodness [0,1] 0.9446279206148338 Centerline is valid? [False, False] Translation: X:9.65, Y:0.17, Z:0.60 [[ 0.87015954 -0.0439137 -0.4908095 9.64553837] [ 0.06888625 0.99708128 0.03291806 0.16791104] [ 0.48793142 -0.06245399 0.87064484 0.60375613] [ 0. 0. 0. 1. ]] SLAMing on 103.60538474999998 meters Centerline goodness [0,1] 0.9427312775330396 Centerline is valid? [False, False] Translation: X:9.65, Y:0.17, Z:0.60 [[ 0.86960798 -0.04528373 -0.49166181 9.65014378] [ 0.07035802 0.9969884 0.03261702 0.16726754] [ 0.48870411 -0.06295638 0.87017515 0.60448297] [ 0. 0. 0. 1. ]] SLAMing on 103.63538474999999 meters Centerline goodness [0,1] 0.9408143793665938 Centerline is valid? [False, False] Translation: X:9.65, Y:0.17, Z:0.60 [[ 0.86945055 -0.0456507 -0.49190624 9.65227665] [ 0.07069115 0.9969711 0.03242496 0.16769363] [ 0.48893609 -0.06296532 0.87004418 0.60419239] [ 0. 0. 0. 1. ]] SLAMing on 103.66538474999999 meters Centerline goodness [0,1] 0.942120396994713 Centerline is valid? [False, False] Translation: X:9.65, Y:0.17, Z:0.61 [[ 0.86936525 -0.04535733 -0.49208412 9.6527242 ] [ 0.07077358 0.99694162 0.03314369 0.16541844] [ 0.48907583 -0.06364053 0.8699165 0.60502525] [ 0. 0. 0. 1. ]] SLAMing on 103.69538474999999 meters Centerline goodness [0,1] 0.9414759054729438 Centerline is valid? [False, False] Translation: X:9.65, Y:0.16, Z:0.61 [[ 0.86915501 -0.04460586 -0.49252399 9.65210751] [ 0.07061443 0.99691287 0.03432672 0.16386415] [ 0.48947233 -0.06461455 0.86962164 0.60694328] [ 0. 0. 0. 1. ]] SLAMing on 103.72538474999999 meters Centerline goodness [0,1] 0.9415220954324768 Centerline is valid? [False, False] Translation: X:9.65, Y:0.16, Z:0.61 [[ 0.86901512 -0.04372395 -0.49284981 9.6512023 ] [ 0.07031654 0.99689125 0.03554452 0.1616382 ] [ 0.48976352 -0.06554421 0.86938809 0.60875667] [ 0. 0. 0. 1. ]] SLAMing on 103.75538474999999 meters Centerline goodness [0,1] 0.9422760951111386 Centerline is valid? [False, False] Translation: X:9.65, Y:0.16, Z:0.61 [[ 0.86884783 -0.0437226 -0.49314479 9.65189202] [ 0.07039687 0.99688201 0.03564449 0.16151354] [ 0.4900487 -0.06568548 0.86921671 0.60921054] [ 0. 0. 0. 1. ]] SLAMing on 103.78538474999999 meters Centerline goodness [0,1] 0.9402615874586439 Centerline is valid? [False, False] Translation: X:9.65, Y:0.16, Z:0.61 [[ 0.86868604 -0.04338336 -0.49345967 9.65259691] [ 0.07019069 0.99688664 0.03592063 0.16194471] [ 0.490365 -0.06584002 0.86902662 0.60962043] [ 0. 0. 0. 1. ]] SLAMing on 103.81538474999999 meters Centerline goodness [0,1] 0.9406336130810442 Centerline is valid? [False, False] Translation: X:9.65, Y:0.16, Z:0.61 [[ 0.86862749 -0.04310548 -0.49358707 9.65267364] [ 0.07000741 0.99689155 0.03614129 0.16240363] [ 0.49049489 -0.06594807 0.86894511 0.60988379] [ 0. 0. 0. 1. ]] SLAMing on 103.84538475 meters Centerline goodness [0,1] 0.9411113502875242 Centerline is valid? [False, False] Translation: X:9.65, Y:0.16, Z:0.61 [[ 0.86817612 -0.03794996 -0.49480301 9.65377494] [ 0.06691523 0.99691806 0.04094802 0.16175246] [ 0.49172408 -0.06865995 0.86803988 0.61312536] [ 0. 0. 0. 1. ]] SLAMing on 103.87538475 meters Centerline goodness [0,1] 0.9407480557955807 Centerline is valid? [False, False] Translation: X:9.65, Y:0.16, Z:0.61 [[ 0.86822765 -0.03746025 -0.49474991 9.65312849] [ 0.06641815 0.99694621 0.0410717 0.16278768] [ 0.49170049 -0.06851996 0.86806431 0.61301929] [ 0. 0. 0. 1. ]] SLAMing on 103.90538475 meters Centerline goodness [0,1] 0.9412723303508287 Centerline is valid? [False, False] Translation: X:9.65, Y:0.16, Z:0.61 [[ 0.86813104 -0.03172731 -0.49531998 9.65208046] [ 0.06245076 0.99700611 0.045593 0.16294696] [ 0.4923905 -0.0705138 0.86751334 0.61494853] [ 0. 0. 0. 1. ]] SLAMing on 103.93538475 meters Centerline goodness [0,1] 0.9439547953198415 Centerline is valid? [False, False] Translation: X:9.65, Y:0.16, Z:0.61 [[ 0.86816899 -0.03109487 -0.49529356 9.65109825] [ 0.06181201 0.99703865 0.04575161 0.16443021] [ 0.49240418 -0.07033522 0.86752007 0.61493852] [ 0. 0. 0. 1. ]] SLAMing on 103.96538475 meters Centerline goodness [0,1] 0.9448353589813884 Centerline is valid? [False, False] Translation: X:9.65, Y:0.17, Z:0.62 [[ 0.8681679 -0.02546487 -0.49561683 9.65022566] [ 0.05752612 0.99711429 0.04953614 0.16685033] [ 0.4929252 -0.0715166 0.86712751 0.61548121] [ 0. 0. 0. 1. ]] SLAMing on 103.99538474999999 meters Centerline goodness [0,1] 0.9422200766376007 Centerline is valid? [False, False] Translation: X:9.65, Y:0.17, Z:0.62 [[ 0.86813923 -0.0197409 -0.49592799 9.64942743] [ 0.05310405 0.99716727 0.05326727 0.16993057] [ 0.49347162 -0.07257919 0.86672834 0.6158018 ] [ 0. 0. 0. 1. ]] SLAMing on 104.02538474999999 meters Centerline goodness [0,1] 0.9486398455877918 Centerline is valid? [False, False] Translation: X:9.65, Y:0.17, Z:0.62 [[ 0.86825662 -0.0192478 -0.49574183 9.64890154] [ 0.05243009 0.99721134 0.0531096 0.17181323] [ 0.49333713 -0.07210456 0.86684451 0.61508467] [ 0. 0. 0. 1. ]] SLAMing on 104.05538474999999 meters Centerline goodness [0,1] 0.950596098265896 Centerline is valid? [False, True] Translation: X:9.65, Y:0.17, Z:0.61 [[ 0.86819866 -0.01857899 -0.49586884 9.64874737] [ 0.05161356 0.99725958 0.05300343 0.17380437] [ 0.4935252 -0.07161106 0.86677836 0.61470258] [ 0. 0. 0. 1. ]] SLAMing on 104.08538474999999 meters Centerline goodness [0,1] 0.950521933264949 Centerline is valid? [True, True] Translation: X:9.70, Y:0.21, Z:0.57 [[ 0.86963172 -0.06359049 -0.48958852 9.70003176] [ 0.04944744 0.9979024 -0.0417821 0.21276144] [ 0.49121851 0.01212614 0.87095197 0.57342852] [ 0. 0. 0. 1. ]] SLAMing on 104.11538474999999 meters Centerline goodness [0,1] 0.9514216575922565 Centerline is valid? [True, True] Translation: X:9.72, Y:0.21, Z:0.59 [[ 8.69528550e-01 -7.00690110e-02 -4.88886935e-01 9.72485937e+00] [ 5.68931766e-02 9.97505833e-01 -4.17765426e-02 2.06145459e-01] [ 4.90594810e-01 8.51156581e-03 8.71346249e-01 5.90062856e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.14538474999999 meters Centerline goodness [0,1] 0.9508057160231074 Centerline is valid? [True, True] Translation: X:9.75, Y:0.21, Z:0.60 [[ 8.69309691e-01 -7.26786475e-02 -4.88895158e-01 9.75023526e+00] [ 5.98126164e-02 9.97329498e-01 -4.19085188e-02 2.07060235e-01] [ 4.90635416e-01 7.18938306e-03 8.71335298e-01 6.01924997e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.17538474999999 meters Centerline goodness [0,1] 0.9493601629228852 Centerline is valid? [True, False] Translation: X:9.75, Y:0.20, Z:0.61 [[ 0.86712397 -0.06705777 -0.49355777 9.75137015] [ 0.06428236 0.9976755 -0.0226136 0.20287194] [ 0.49392691 -0.01211826 0.86941898 0.61098761] [ 0. 0. 0. 1. ]] SLAMing on 104.20538475 meters Centerline goodness [0,1] 0.9480796153143831 Centerline is valid? [False, False] Translation: X:9.75, Y:0.20, Z:0.61 [[ 0.86663793 -0.06270902 -0.49498109 9.75466921] [ 0.06183731 0.99792105 -0.01815845 0.20133513] [ 0.49509074 -0.01487149 0.86871399 0.61354171] [ 0. 0. 0. 1. ]] SLAMing on 104.23538475 meters Centerline goodness [0,1] 0.9473137656149782 Centerline is valid? [False, False] Translation: X:9.75, Y:0.20, Z:0.62 [[ 0.86616883 -0.06204707 -0.49588478 9.75489091] [ 0.06222754 0.99793097 -0.01617138 0.19760912] [ 0.49586217 -0.01685054 0.86823774 0.61699689] [ 0. 0. 0. 1. ]] SLAMing on 104.26538475 meters Centerline goodness [0,1] 0.9473361910593999 Centerline is valid? [False, False] Translation: X:9.76, Y:0.19, Z:0.62 [[ 0.86566766 -0.06184182 -0.49678476 9.75527087] [ 0.06290708 0.9979125 -0.01460614 0.19447609] [ 0.49665099 -0.01860722 0.86775086 0.62030414] [ 0. 0. 0. 1. ]] SLAMing on 104.29538475 meters Centerline goodness [0,1] 0.9449718868098442 Centerline is valid? [False, False] Translation: X:9.76, Y:0.19, Z:0.62 [[ 8.64917946e-01 -5.83791840e-02 -4.98506587e-01 9.75959492e+00] [ 6.17810563e-02 9.98042709e-01 -9.68768471e-03 1.91800333e-01] [ 4.98096424e-01 -2.24192112e-02 8.66831778e-01 6.24884307e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.32538475 meters Centerline goodness [0,1] 0.9437225447731392 Centerline is valid? [False, False] Translation: X:9.76, Y:0.19, Z:0.63 [[ 8.64496864e-01 -5.36168781e-02 -4.99770350e-01 9.76229292e+00] [ 5.90657145e-02 9.98241956e-01 -4.92324600e-03 1.89857890e-01] [ 4.99155701e-01 -2.52631621e-02 8.66143960e-01 6.27495789e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.35538474999998 meters Centerline goodness [0,1] 0.9441192779249584 Centerline is valid? [False, False] Translation: X:9.76, Y:0.19, Z:0.63 [[ 8.64244357e-01 -5.34536558e-02 -5.00224347e-01 9.76329461e+00] [ 5.92297461e-02 9.98234949e-01 -4.33872022e-03 1.89052629e-01] [ 4.99573346e-01 -2.58784466e-02 8.65884968e-01 6.28601533e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.38538474999999 meters Centerline goodness [0,1] 0.9430289944478717 Centerline is valid? [False, False] Translation: X:9.76, Y:0.19, Z:0.63 [[ 8.64009970e-01 -5.32758383e-02 -5.00648037e-01 9.76404409e+00] [ 5.93482089e-02 9.98230096e-01 -3.80327268e-03 1.88914336e-01] [ 4.99964560e-01 -2.64264987e-02 8.65642581e-01 6.29659531e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.41538474999999 meters Centerline goodness [0,1] 0.9425946479220619 Centerline is valid? [False, False] Translation: X:9.77, Y:0.19, Z:0.63 [[ 8.63551663e-01 -4.83115911e-02 -5.01940749e-01 9.76599884e+00] [ 5.67285909e-02 9.98388506e-01 1.50283028e-03 1.86410502e-01] [ 5.01059270e-01 -2.97721630e-02 8.64900703e-01 6.33298423e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.44538474999999 meters Centerline goodness [0,1] 0.9446158593026843 Centerline is valid? [False, False] Translation: X:9.77, Y:0.18, Z:0.64 [[ 8.63079271e-01 -4.26041412e-02 -5.03268377e-01 9.76644972e+00] [ 5.36905759e-02 9.98529107e-01 7.54616852e-03 1.83099268e-01] [ 5.02206625e-01 -3.35337106e-02 8.64097214e-01 6.37799178e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.47538474999999 meters Centerline goodness [0,1] 0.9452054794520548 Centerline is valid? [False, False] Translation: X:9.77, Y:0.18, Z:0.64 [[ 0.8625883 -0.03704351 -0.50454851 9.7672488 ] [ 0.05074197 0.99862147 0.01343178 0.17993598] [ 0.50335542 -0.03718788 0.86327886 0.64219133] [ 0. 0. 0. 1. ]] SLAMing on 104.50538474999999 meters Centerline goodness [0,1] 0.9470909259087966 Centerline is valid? [False, False] Translation: X:9.77, Y:0.18, Z:0.65 [[ 0.86223449 -0.03185895 -0.50550636 9.76805551] [ 0.04772635 0.99868976 0.01846484 0.17793011] [ 0.50425576 -0.040047 0.86262527 0.64513277] [ 0. 0. 0. 1. ]] SLAMing on 104.53538474999999 meters Centerline goodness [0,1] 0.9464439522579058 Centerline is valid? [False, False] Translation: X:9.77, Y:0.18, Z:0.65 [[ 0.86190262 -0.02638688 -0.50638682 9.76848906] [ 0.04444675 0.99873275 0.02360909 0.17584949] [ 0.50512213 -0.04285598 0.86198318 0.64806751] [ 0. 0. 0. 1. ]] SLAMing on 104.56538474999999 meters Centerline goodness [0,1] 0.945310824473789 Centerline is valid? [False, False] Translation: X:9.77, Y:0.17, Z:0.65 [[ 0.86154962 -0.02112313 -0.50723374 9.76899689] [ 0.04114585 0.99875241 0.02829546 0.17479339] [ 0.50600324 -0.04524851 0.86134389 0.65058017] [ 0. 0. 0. 1. ]] SLAMing on 104.59538475 meters Centerline goodness [0,1] 0.9476995795095301 Centerline is valid? [False, False] Translation: X:9.77, Y:0.18, Z:0.65 [[ 0.86147424 -0.02063908 -0.50738168 9.76886474] [ 0.04074251 0.99876174 0.02854872 0.17621974] [ 0.50616419 -0.04526599 0.8612484 0.6508837 ] [ 0. 0. 0. 1. ]] SLAMing on 104.62538475 meters Centerline goodness [0,1] 0.9467668989121134 Centerline is valid? [False, False] Translation: X:9.77, Y:0.18, Z:0.65 [[ 0.86105728 -0.01509782 -0.5082838 9.76917702] [ 0.03736473 0.99873559 0.03363169 0.17507896] [ 0.50713336 -0.0479507 0.86053268 0.65383678] [ 0. 0. 0. 1. ]] SLAMing on 104.65538475 meters Centerline goodness [0,1] 0.9508646719736481 Centerline is valid? [False, True] Translation: X:9.77, Y:0.17, Z:0.66 [[ 0.86078868 -0.01330197 -0.50878867 9.76563093] [ 0.03676278 0.99867223 0.03608704 0.1734537 ] [ 0.50763309 -0.0497678 0.86013477 0.65798984] [ 0. 0. 0. 1. ]] SLAMing on 104.68538475 meters Centerline goodness [0,1] 0.948983024927359 Centerline is valid? [True, False] Translation: X:9.77, Y:0.17, Z:0.66 [[ 0.86068213 -0.01307533 -0.50897475 9.76530635] [ 0.03677163 0.99865594 0.03652622 0.17371896] [ 0.50781307 -0.0501533 0.86000613 0.65892498] [ 0. 0. 0. 1. ]] SLAMing on 104.71538475 meters Centerline goodness [0,1] 0.9483467926253237 Centerline is valid? [False, False] Translation: X:9.77, Y:0.17, Z:0.66 [[ 8.60197847e-01 -9.62248583e-03 -5.09869661e-01 9.76928405e+00] [ 3.47804282e-02 9.98600896e-01 3.98318002e-02 1.74546801e-01] [ 5.08773020e-01 -5.19967139e-02 8.59329015e-01 6.60276578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.74538474999999 meters Centerline goodness [0,1] 0.9497018013631937 Centerline is valid? [False, False] Translation: X:9.77, Y:0.17, Z:0.66 [[ 8.59898960e-01 -9.67283102e-03 -5.10372624e-01 9.77042690e+00] [ 3.50891776e-02 9.98575568e-01 4.01943476e-02 1.74275120e-01] [ 5.09256839e-01 -5.24716333e-02 8.59013504e-01 6.61390648e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.77538474999999 meters Centerline goodness [0,1] 0.949128835102016 Centerline is valid? [False, False] Translation: X:9.77, Y:0.17, Z:0.66 [[ 8.59807996e-01 -9.16709125e-03 -5.10535185e-01 9.77083306e+00] [ 3.46950499e-02 9.98576961e-01 4.05007056e-02 1.74955168e-01] [ 5.09437400e-01 -5.25358742e-02 8.58902508e-01 6.61586460e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.80538474999999 meters Centerline goodness [0,1] 0.9509172640019439 Centerline is valid? [False, True] Translation: X:9.77, Y:0.17, Z:0.66 [[ 8.59742727e-01 -8.76340531e-03 -5.10652176e-01 9.77084598e+00] [ 3.44996032e-02 9.98565509e-01 4.09475366e-02 1.74715732e-01] [ 5.09560811e-01 -5.28216443e-02 8.58811769e-01 6.62079845e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.83538474999999 meters Centerline goodness [0,1] 0.9476807888970051 Centerline is valid? [True, False] Translation: X:9.77, Y:0.17, Z:0.66 [[ 8.59669124e-01 -8.03143185e-03 -5.10788111e-01 9.77044477e+00] [ 3.40450093e-02 9.98554238e-01 4.15977243e-02 1.73693006e-01] [ 5.09715543e-01 -5.31500652e-02 8.58699677e-01 6.62702926e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.86538474999999 meters Centerline goodness [0,1] 0.9515490900237386 Centerline is valid? [False, True] Translation: X:9.77, Y:0.17, Z:0.66 [[ 8.59546169e-01 -7.85315172e-03 -5.10997761e-01 9.77107476e+00] [ 3.40636570e-02 9.98538762e-01 4.19524529e-02 1.73285021e-01] [ 5.09921613e-01 -5.34665226e-02 8.58557674e-01 6.63204924e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.89538474999999 meters Centerline goodness [0,1] 0.9512127978466338 Centerline is valid? [True, True] Translation: X:9.82, Y:0.20, Z:0.64 [[ 8.59620530e-01 -4.09390616e-02 -5.09290229e-01 9.81566954e+00] [ 3.28149152e-02 9.99150511e-01 -2.49286337e-02 1.97011369e-01] [ 5.09878148e-01 4.71684969e-03 8.60233704e-01 6.40290132e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.92538474999999 meters Centerline goodness [0,1] 0.9509800923519158 Centerline is valid? [True, True] Translation: X:9.84, Y:0.20, Z:0.65 [[ 8.59721363e-01 -4.08442964e-02 -5.09127608e-01 9.83953925e+00] [ 3.26785519e-02 9.99153831e-01 -2.49746545e-02 1.98848254e-01] [ 5.09716872e-01 4.83369106e-03 8.60328626e-01 6.52353791e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.95538475 meters Centerline goodness [0,1] 0.9514414854629856 Centerline is valid? [True, True] Translation: X:9.87, Y:0.20, Z:0.67 [[ 8.59061418e-01 -4.09331893e-02 -5.10233235e-01 9.86576491e+00] [ 3.26968748e-02 9.99149947e-01 -2.51057153e-02 2.00092403e-01] [ 5.10827167e-01 4.88431917e-03 8.59669558e-01 6.65252986e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 104.98538475 meters Centerline goodness [0,1] 0.951231436778097 Centerline is valid? [True, True] Translation: X:9.89, Y:0.20, Z:0.68 [[ 8.59296529e-01 -4.07579564e-02 -5.09851218e-01 9.88976544e+00] [ 3.24196286e-02 9.99155756e-01 -2.52337778e-02 2.01263508e-01] [ 5.10449257e-01 5.15411057e-03 8.59892430e-01 6.79092834e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.01538475 meters Centerline goodness [0,1] 0.9512105984467794 Centerline is valid? [True, True] Translation: X:9.92, Y:0.20, Z:0.69 [[ 8.59099277e-01 -4.01064012e-02 -5.10235151e-01 9.91514945e+00] [ 3.15483718e-02 9.99178919e-01 -2.54202149e-02 2.03792086e-01] [ 5.10835720e-01 5.74140001e-03 8.59659179e-01 6.93053036e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.04538475 meters Centerline goodness [0,1] 0.9518760443566763 Centerline is valid? [True, True] Translation: X:9.94, Y:0.21, Z:0.71 [[ 8.59363156e-01 -3.96825111e-02 -5.09823758e-01 9.93871422e+00] [ 3.09844904e-02 9.99193376e-01 -2.55452448e-02 2.06029160e-01] [ 5.10426221e-01 6.15601285e-03 8.59899515e-01 7.06616681e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.07538475 meters Centerline goodness [0,1] 0.9512431776834445 Centerline is valid? [True, True] Translation: X:9.96, Y:0.21, Z:0.72 [[ 8.59426928e-01 -3.93497445e-02 -5.09742045e-01 9.96327454e+00] [ 3.05341986e-02 9.99204471e-01 -2.56532265e-02 2.08405341e-01] [ 5.10345979e-01 6.48250877e-03 8.59944742e-01 7.20161459e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.10538474999998 meters Centerline goodness [0,1] 0.95274581031167 Centerline is valid? [True, True] Translation: X:9.99, Y:0.21, Z:0.73 [[ 8.59857214e-01 -3.96013817e-02 -5.08996368e-01 9.98806298e+00] [ 3.08233117e-02 9.99195167e-01 -2.56698537e-02 2.09522775e-01] [ 5.09603272e-01 6.38345516e-03 8.60385818e-01 7.34967936e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.13538474999999 meters Centerline goodness [0,1] 0.9529175295407479 Centerline is valid? [True, True] Translation: X:10.01, Y:0.21, Z:0.75 [[ 8.60185947e-01 -4.05644572e-02 -5.08364693e-01 1.00122407e+01] [ 3.18812452e-02 9.99159089e-01 -2.57817807e-02 2.10463961e-01] [ 5.08983028e-01 5.96982598e-03 8.60755853e-01 7.48536829e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.16538474999999 meters Centerline goodness [0,1] 0.9515986467127923 Centerline is valid? [True, True] Translation: X:10.04, Y:0.21, Z:0.76 [[ 8.60476987e-01 -4.19168766e-02 -5.07762081e-01 1.00366170e+01] [ 3.34296252e-02 9.99107311e-01 -2.58271251e-02 2.10306001e-01] [ 5.08391400e-01 5.24935074e-03 8.61110114e-01 7.61954279e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.19538474999999 meters Centerline goodness [0,1] 0.952026696056821 Centerline is valid? [True, True] Translation: X:10.06, Y:0.21, Z:0.78 [[ 8.60639583e-01 -4.38585994e-02 -5.07322316e-01 1.00609391e+01] [ 3.56685697e-02 9.99029093e-01 -2.58577899e-02 2.09284594e-01] [ 5.07963839e-01 4.15877614e-03 8.61368355e-01 7.77389983e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.22538474999999 meters Centerline goodness [0,1] 0.9530775600331217 Centerline is valid? [True, True] Translation: X:10.09, Y:0.21, Z:0.79 [[ 8.60809968e-01 -4.53368790e-02 -5.06903114e-01 1.00852787e+01] [ 3.73164388e-02 9.98965815e-01 -2.59766204e-02 2.09161530e-01] [ 5.07556581e-01 3.44511471e-03 8.61611541e-01 7.93090094e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.25538474999999 meters Centerline goodness [0,1] 0.9516538661607662 Centerline is valid? [True, True] Translation: X:10.11, Y:0.21, Z:0.81 [[ 8.61067915e-01 -4.42848214e-02 -5.06557895e-01 1.01104037e+01] [ 3.60235560e-02 9.99010000e-01 -2.61021521e-02 2.11607465e-01] [ 5.07212332e-01 4.22770891e-03 8.61810754e-01 8.05810764e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.28538474999999 meters Centerline goodness [0,1] 0.9515221909768921 Centerline is valid? [True, True] Translation: X:10.14, Y:0.21, Z:0.82 [[ 8.60668268e-01 -4.47327265e-02 -5.07197314e-01 1.01361680e+01] [ 3.64883959e-02 9.98990848e-01 -2.61893734e-02 2.12585137e-01] [ 5.07856997e-01 4.03354628e-03 8.61431948e-01 8.19830000e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.31538474999999 meters Centerline goodness [0,1] 0.9511034715614353 Centerline is valid? [True, True] Translation: X:10.16, Y:0.21, Z:0.83 [[ 8.60597631e-01 -4.58057558e-02 -5.07221402e-01 1.01596341e+01] [ 3.76497251e-02 9.98944006e-01 -2.63319349e-02 2.11510349e-01] [ 5.07891934e-01 3.56445444e-03 8.61413419e-01 8.34204814e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.34538475 meters Centerline goodness [0,1] 0.9519003650418725 Centerline is valid? [True, True] Translation: X:10.18, Y:0.21, Z:0.85 [[ 8.61060115e-01 -4.68412234e-02 -5.06341168e-01 1.01841139e+01] [ 3.88507505e-02 9.98897818e-01 -2.63394822e-02 2.11007672e-01] [ 5.07016862e-01 3.00814313e-03 8.61930886e-01 8.49496290e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.37538475 meters Centerline goodness [0,1] 0.948989650073928 Centerline is valid? [True, False] Translation: X:10.19, Y:0.21, Z:0.85 [[ 8.60758445e-01 -4.29740071e-02 -5.07196347e-01 1.01875744e+01] [ 3.66719923e-02 9.99075950e-01 -2.24145342e-02 2.08943000e-01] [ 5.07690914e-01 6.93599109e-04 8.61539004e-01 8.50957555e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.40538475 meters Centerline goodness [0,1] 0.9494693978282329 Centerline is valid? [False, False] Translation: X:10.19, Y:0.21, Z:0.85 [[ 8.60187741e-01 -3.86057217e-02 -5.08514158e-01 1.01905201e+01] [ 3.43382094e-02 9.99252164e-01 -1.77763864e-02 2.06955854e-01] [ 5.08820143e-01 -2.17043602e-03 8.60870113e-01 8.53960586e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.43538475 meters Centerline goodness [0,1] 0.9488316246420985 Centerline is valid? [False, False] Translation: X:10.19, Y:0.20, Z:0.86 [[ 8.59650475e-01 -3.37448783e-02 -5.09766951e-01 1.01931374e+01] [ 3.17863133e-02 9.99415832e-01 -1.25548474e-02 2.04326203e-01] [ 5.09892823e-01 -5.41083148e-03 8.60220920e-01 8.57315492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.46538475 meters Centerline goodness [0,1] 0.9488316246420985 Centerline is valid? [False, False] Translation: X:10.19, Y:0.20, Z:0.86 [[ 8.59650475e-01 -3.37448783e-02 -5.09766951e-01 1.01931374e+01] [ 3.17863133e-02 9.99415832e-01 -1.25548474e-02 2.04326203e-01] [ 5.09892823e-01 -5.41083148e-03 8.60220920e-01 8.57315492e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.49538474999999 meters Centerline goodness [0,1] 0.948583582503622 Centerline is valid? [False, False] Translation: X:10.19, Y:0.20, Z:0.86 [[ 8.59010990e-01 -2.84706091e-02 -5.11164888e-01 1.01943236e+01] [ 2.91512485e-02 9.99552664e-01 -6.68400827e-03 2.01486395e-01] [ 5.11126524e-01 -9.15945811e-03 8.59456678e-01 8.62008610e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.52538474999999 meters Centerline goodness [0,1] 0.9489246484723547 Centerline is valid? [False, False] Translation: X:10.19, Y:0.20, Z:0.87 [[ 8.58375551e-01 -2.24007474e-02 -5.12532554e-01 1.01944953e+01] [ 2.62865273e-02 9.99654394e-01 3.33065335e-04 1.97791552e-01] [ 5.12347959e-01 -1.37585961e-02 8.58667730e-01 8.68049908e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.55538474999999 meters Centerline goodness [0,1] 0.9480222496909765 Centerline is valid? [False, False] Translation: X:10.20, Y:0.20, Z:0.87 [[ 8.58133988e-01 -2.25161052e-02 -5.12931850e-01 1.01951352e+01] [ 2.67650599e-02 9.99641349e-01 8.96762106e-04 1.96639221e-01] [ 5.12727696e-01 -1.44981938e-02 8.58428863e-01 8.69401343e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.58538474999999 meters Centerline goodness [0,1] 0.9493240107663274 Centerline is valid? [False, False] Translation: X:10.20, Y:0.19, Z:0.88 [[ 8.57300338e-01 -2.47431049e-02 -5.14221653e-01 1.01992145e+01] [ 3.12181140e-02 9.99504781e-01 3.95247465e-03 1.93251176e-01] [ 5.13869205e-01 -1.94414880e-02 8.57648220e-01 8.78026388e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.61538474999999 meters Centerline goodness [0,1] 0.9492668440264802 Centerline is valid? [False, False] Translation: X:10.20, Y:0.19, Z:0.88 [[ 8.56839239e-01 -2.58125017e-02 -5.14937116e-01 1.02027292e+01] [ 3.23440397e-02 9.99469877e-01 3.71855984e-03 1.93275583e-01] [ 5.14568151e-01 -1.98413545e-02 8.57219889e-01 8.78841892e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.64538474999999 meters Centerline goodness [0,1] 0.9460863113639174 Centerline is valid? [False, False] Translation: X:10.21, Y:0.19, Z:0.88 [[ 8.56597522e-01 -2.37417448e-02 -5.15438662e-01 1.02077856e+01] [ 3.14081843e-02 9.99487665e-01 6.15900993e-03 1.92699447e-01] [ 5.15028359e-01 -2.14647852e-02 8.56904343e-01 8.79280863e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.67538474999999 meters Centerline goodness [0,1] 0.9474804169493616 Centerline is valid? [False, False] Translation: X:10.21, Y:0.19, Z:0.88 [[ 0.85620197 -0.01809634 -0.51632424 10.20846912] [ 0.02790557 0.99954734 0.01124226 0.19062142] [ 0.51588707 -0.02403397 0.85631939 0.88180364] [ 0. 0. 0. 1. ]] SLAMing on 105.70538475 meters Centerline goodness [0,1] 0.9456558615797428 Centerline is valid? [False, False] Translation: X:10.21, Y:0.19, Z:0.88 [[ 0.85623841 -0.01652224 -0.51631657 10.20630944] [ 0.02693987 0.99955651 0.01268996 0.1886523 ] [ 0.51587792 -0.02477513 0.85630378 0.88307927] [ 0. 0. 0. 1. ]] SLAMing on 105.73538475 meters Centerline goodness [0,1] 0.9496689970921239 Centerline is valid? [False, False] Translation: X:10.20, Y:0.19, Z:0.89 [[ 0.85591607 -0.01020763 -0.51701401 10.20470715] [ 0.02330535 0.99955072 0.01884742 0.1850746 ] [ 0.51658933 -0.028181 0.85576941 0.88717524] [ 0. 0. 0. 1. ]] SLAMing on 105.76538475 meters Centerline goodness [0,1] 0.9479131267570824 Centerline is valid? [False, False] Translation: X:10.21, Y:0.19, Z:0.89 [[ 8.55824343e-01 -1.00976662e-02 -5.17167991e-01 1.02054079e+01] [ 2.32419765e-02 9.99550341e-01 1.89453403e-02 1.85720643e-01] [ 5.16744138e-01 -2.82338897e-02 8.55674204e-01 8.87349130e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.79538475 meters Centerline goodness [0,1] 0.9473489519112207 Centerline is valid? [False, False] Translation: X:10.21, Y:0.18, Z:0.89 [[ 8.55422181e-01 -5.59705779e-03 -5.17901115e-01 1.02072313e+01] [ 2.05160127e-02 9.99522987e-01 2.30844539e-02 1.84554058e-01] [ 5.17524864e-01 -3.03722198e-02 8.55128963e-01 8.89238238e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.82538475 meters Centerline goodness [0,1] 0.9458926480557096 Centerline is valid? [False, False] Translation: X:10.21, Y:0.18, Z:0.89 [[ 8.55075688e-01 -1.11019754e-03 -5.18502011e-01 1.02093538e+01] [ 1.75754532e-02 9.99485116e-01 2.68440941e-02 1.84685239e-01] [ 5.18205240e-01 -3.20666401e-02 8.54654936e-01 8.90370453e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.85538474999998 meters Centerline goodness [0,1] 0.9455849312117202 Centerline is valid? [False, False] Translation: X:10.21, Y:0.19, Z:0.89 [[ 8.54919872e-01 -9.41332916e-04 -5.18759218e-01 1.02097443e+01] [ 1.75524053e-02 9.99478266e-01 2.71128837e-02 1.85331492e-01] [ 5.18463042e-01 -3.22848151e-02 8.54490354e-01 8.91018366e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.88538474999999 meters Centerline goodness [0,1] 0.9456780210617337 Centerline is valid? [False, False] Translation: X:10.21, Y:0.18, Z:0.89 [[ 8.54622696e-01 -8.86930504e-04 -5.19248747e-01 1.02095924e+01] [ 1.79774418e-02 9.99449562e-01 2.78816032e-02 1.83728539e-01] [ 5.18938204e-01 -3.31630150e-02 8.54168224e-01 8.93067367e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.91538474999999 meters Centerline goodness [0,1] 0.9470613656006914 Centerline is valid? [False, False] Translation: X:10.21, Y:0.18, Z:0.89 [[ 8.54436571e-01 -4.79512259e-04 -5.19555498e-01 1.02098516e+01] [ 1.78315691e-02 9.99437507e-01 2.84025524e-02 1.83865568e-01] [ 5.19249633e-01 -3.35326693e-02 8.53964507e-01 8.93929278e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.94538474999999 meters Centerline goodness [0,1] 0.9446963387927578 Centerline is valid? [False, False] Translation: X:10.21, Y:0.18, Z:0.89 [[ 8.54187748e-01 -9.06449050e-04 -5.19963912e-01 1.02123634e+01] [ 1.83409114e-02 9.99428708e-01 2.83878366e-02 1.83850285e-01] [ 5.19641129e-01 -3.37851542e-02 8.53716382e-01 8.94182763e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 105.97538474999999 meters Centerline goodness [0,1] 0.9450044699281729 Centerline is valid? [False, False] Translation: X:10.21, Y:0.18, Z:0.89 [[ 8.54024335e-01 -8.08916290e-04 -5.20232430e-01 1.02134767e+01] [ 1.83985801e-02 9.99420182e-01 2.86494785e-02 1.84011386e-01] [ 5.19907615e-01 -3.40388899e-02 8.53544039e-01 8.94575348e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.00538474999999 meters Centerline goodness [0,1] 0.9451221404848372 Centerline is valid? [False, False] Translation: X:10.21, Y:0.18, Z:0.89 [[ 8.53891811e-01 -6.37097187e-03 -5.20411554e-01 1.02147808e+01] [ 2.26897554e-02 9.99430071e-01 2.49941711e-02 1.82517963e-01] [ 5.19955719e-01 -3.31503289e-02 8.53549709e-01 8.94946921e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.03538474999999 meters Centerline goodness [0,1] 0.9461838923677848 Centerline is valid? [False, False] Translation: X:10.21, Y:0.18, Z:0.90 [[ 8.53766712e-01 -5.74357594e-03 -5.20624061e-01 1.02143699e+01] [ 2.24929157e-02 9.99412484e-01 2.58603130e-02 1.81527930e-01] [ 5.20169656e-01 -3.37890275e-02 8.53394300e-01 8.96070389e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.06538474999999 meters Centerline goodness [0,1] 0.9480563941365037 Centerline is valid? [False, False] Translation: X:10.21, Y:0.18, Z:0.90 [[ 8.53687754e-01 -4.53204606e-03 -5.20765475e-01 1.02132599e+01] [ 2.18399938e-02 9.99393989e-01 2.71047838e-02 1.79903873e-01] [ 5.20327045e-01 -3.45125367e-02 8.53269389e-01 8.97239948e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.09538475 meters Centerline goodness [0,1] 0.9457344933341678 Centerline is valid? [False, False] Translation: X:10.21, Y:0.18, Z:0.90 [[ 8.53444404e-01 -4.55917731e-03 -5.21163951e-01 1.02129383e+01] [ 2.24164027e-02 9.99357496e-01 2.79660659e-02 1.77259020e-01] [ 5.20701599e-01 -3.55501034e-02 8.52998262e-01 8.99342647e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.12538475 meters Centerline goodness [0,1] 0.9460440660991487 Centerline is valid? [False, False] Translation: X:10.21, Y:0.18, Z:0.90 [[ 8.53151624e-01 -5.51447137e-03 -5.21633873e-01 1.02148776e+01] [ 2.34503089e-02 9.99338700e-01 2.77893081e-02 1.77137703e-01] [ 5.21135673e-01 -3.59409688e-02 8.52716751e-01 9.00297995e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.15538475 meters Centerline goodness [0,1] 0.9435918189459266 Centerline is valid? [False, False] Translation: X:10.22, Y:0.18, Z:0.90 [[ 8.52496590e-01 -2.62012621e-03 -5.22726218e-01 1.02205453e+01] [ 2.18407880e-02 9.99292738e-01 3.06105254e-02 1.77487167e-01] [ 5.22276310e-01 -3.75121210e-02 8.51950877e-01 9.01329879e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.18538475 meters Centerline goodness [0,1] 0.9426102095380215 Centerline is valid? [False, False] Translation: X:10.22, Y:0.18, Z:0.90 [[ 8.52363328e-01 -2.43797235e-03 -5.22944370e-01 1.02211708e+01] [ 2.17506122e-02 9.99289089e-01 3.07933041e-02 1.77825929e-01] [ 5.22497529e-01 -3.76214434e-02 8.51810401e-01 9.01668923e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.21538475 meters Centerline goodness [0,1] 0.9418943195192963 Centerline is valid? [False, False] Translation: X:10.22, Y:0.18, Z:0.90 [[ 8.52192121e-01 -1.94334265e-03 -5.23225393e-01 1.02209347e+01] [ 2.13101224e-02 9.99292286e-01 3.09968730e-02 1.78928178e-01] [ 5.22794862e-01 -3.75652882e-02 8.51630425e-01 9.02241731e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.24538474999999 meters Centerline goodness [0,1] 0.9437320396749375 Centerline is valid? [False, False] Translation: X:10.22, Y:0.18, Z:0.90 [[ 8.52094513e-01 -1.31241464e-03 -5.23386299e-01 1.02202026e+01] [ 2.08904630e-02 9.99285263e-01 3.15047839e-02 1.79472762e-01] [ 5.22970868e-01 -3.77788356e-02 8.51512907e-01 9.03014830e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.27538474999999 meters Centerline goodness [0,1] 0.945349773839767 Centerline is valid? [False, False] Translation: X:10.22, Y:0.18, Z:0.90 [[ 8.52091406e-01 -3.06039226e-04 -5.23392914e-01 1.02187745e+01] [ 2.01483153e-02 9.99277780e-01 3.22174558e-02 1.79601829e-01] [ 5.23005049e-01 -3.79977027e-02 8.51482174e-01 9.03614154e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.30538474999999 meters Centerline goodness [0,1] 0.9445215835107532 Centerline is valid? [False, False] Translation: X:10.22, Y:0.18, Z:0.91 [[ 8.51626475e-01 4.88522700e-03 -5.24126399e-01 1.02190662e+01] [ 1.68268868e-02 9.99186329e-01 3.66542772e-02 1.79106434e-01] [ 5.23878997e-01 -4.00351685e-02 8.50851328e-01 9.06006505e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.33538474999999 meters Centerline goodness [0,1] 0.9457595813452363 Centerline is valid? [False, False] Translation: X:10.22, Y:0.18, Z:0.91 [[ 8.51218151e-01 9.80720113e-03 -5.24720381e-01 1.02203376e+01] [ 1.34923014e-02 9.99085968e-01 4.05608962e-02 1.80293787e-01] [ 5.24638559e-01 -4.16058566e-02 8.50307789e-01 9.07354243e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.36538474999999 meters Centerline goodness [0,1] 0.9436179023896438 Centerline is valid? [False, False] Translation: X:10.22, Y:0.18, Z:0.91 [[ 8.51147563e-01 1.01265820e-02 -5.24828809e-01 1.02204540e+01] [ 1.31163069e-02 9.99091457e-01 4.05490206e-02 1.82208476e-01] [ 5.24762603e-01 -4.13970157e-02 8.50241435e-01 9.07302213e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.39538474999999 meters Centerline goodness [0,1] 0.9443033326192735 Centerline is valid? [False, False] Translation: X:10.22, Y:0.18, Z:0.91 [[ 0.85106299 0.01054468 -0.52495772 10.22020373] [ 0.01270931 0.99909168 0.04067285 0.18348661] [ 0.52490977 -0.04128701 0.85015594 0.90751019] [ 0. 0. 0. 1. ]] SLAMing on 106.42538474999999 meters Centerline goodness [0,1] 0.9435152851804203 Centerline is valid? [False, False] Translation: X:10.22, Y:0.19, Z:0.91 [[ 0.85098388 0.01144305 -0.52506713 10.21938101] [ 0.0116909 0.99910214 0.04072155 0.18601049] [ 0.52506167 -0.04079189 0.85008603 0.90736677] [ 0. 0. 0. 1. ]] SLAMing on 106.45538475 meters Centerline goodness [0,1] 0.9447266753870958 Centerline is valid? [False, False] Translation: X:10.22, Y:0.19, Z:0.91 [[ 8.50618562e-01 1.65499538e-02 -5.25522751e-01 1.02201813e+01] [ 8.11914047e-03 9.98971854e-01 4.46017411e-02 1.87060709e-01] [ 5.25720593e-01 -4.22058619e-02 8.49609630e-01 9.08475915e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.48538475 meters Centerline goodness [0,1] 0.9458958060886226 Centerline is valid? [False, False] Translation: X:10.22, Y:0.19, Z:0.91 [[ 8.50526490e-01 1.71603358e-02 -5.25652179e-01 1.02199601e+01] [ 7.57027570e-03 9.98964554e-01 4.48610091e-02 1.87917207e-01] [ 5.25877724e-01 -4.21348085e-02 8.49515907e-01 9.08689744e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.51538475 meters Centerline goodness [0,1] 0.9473636225497645 Centerline is valid? [False, False] Translation: X:10.22, Y:0.19, Z:0.91 [[ 8.50547783e-01 1.87179818e-02 -5.25564560e-01 1.02181096e+01] [ 6.10587258e-03 9.98947547e-01 4.54589602e-02 1.89654117e-01] [ 5.25862327e-01 -4.18740481e-02 8.49538331e-01 9.08718434e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.54538475 meters Centerline goodness [0,1] 0.9477650334412735 Centerline is valid? [False, False] Translation: X:10.22, Y:0.19, Z:0.91 [[ 8.50506125e-01 1.93267249e-02 -5.25609940e-01 1.02175735e+01] [ 5.51242786e-03 9.98942239e-01 4.56510306e-02 1.91053181e-01] [ 5.25936255e-01 -4.17238681e-02 8.49499955e-01 9.08820484e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.57538475 meters Centerline goodness [0,1] 0.950096723491718 Centerline is valid? [False, True] Translation: X:10.22, Y:0.19, Z:0.91 [[ 8.50548792e-01 2.01680569e-02 -5.25509279e-01 1.02167167e+01] [ 4.66710803e-03 9.98935547e-01 4.58910870e-02 1.92515149e-01] [ 5.25875433e-01 -4.14852172e-02 8.49549296e-01 9.08627387e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.60538474999998 meters Centerline goodness [0,1] 0.948855099465112 Centerline is valid? [True, False] Translation: X:10.22, Y:0.19, Z:0.91 [[ 8.50237497e-01 2.59547344e-02 -5.25759023e-01 1.02162305e+01] [ 4.66303577e-04 9.98746183e-01 5.00584100e-02 1.93521438e-01] [ 5.26399070e-01 -4.28067006e-02 8.49159352e-01 9.09681676e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.63538474999999 meters Centerline goodness [0,1] 0.9510562957628136 Centerline is valid? [False, True] Translation: X:10.22, Y:0.19, Z:0.91 [[ 8.50162487e-01 2.61936707e-02 -5.25868460e-01 1.02162541e+01] [ 2.41550572e-04 9.98742262e-01 5.01381717e-02 1.94529343e-01] [ 5.26520358e-01 -4.27526166e-02 8.49086878e-01 9.09890933e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.66538474999999 meters Centerline goodness [0,1] 0.9515017085306636 Centerline is valid? [True, True] Translation: X:10.26, Y:0.22, Z:0.89 [[ 8.51541301e-01 -6.03165408e-03 -5.24252832e-01 1.02612489e+01] [-9.13174442e-04 9.99915242e-01 -1.29875285e-02 2.20720618e-01] [ 5.24286733e-01 1.15381512e-02 8.51463618e-01 8.90011622e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.69538474999999 meters Centerline goodness [0,1] 0.9504891255571843 Centerline is valid? [True, True] Translation: X:10.29, Y:0.22, Z:0.90 [[ 8.51314082e-01 -7.36973207e-03 -5.24604634e-01 1.02863735e+01] [ 5.57512778e-04 9.99913482e-01 -1.31422323e-02 2.21572602e-01] [ 5.24656101e-01 1.08956937e-02 8.51244536e-01 9.03101146e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.72538474999999 meters Centerline goodness [0,1] 0.9503100008985533 Centerline is valid? [True, True] Translation: X:10.31, Y:0.22, Z:0.92 [[ 8.51377753e-01 -7.90482017e-03 -5.24493504e-01 1.03100363e+01] [ 1.15522988e-03 9.99912277e-01 -1.31948054e-02 2.22019478e-01] [ 5.24551797e-01 1.06278532e-02 8.51312199e-01 9.18272032e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.75538474999999 meters Centerline goodness [0,1] 0.9501033274431699 Centerline is valid? [True, True] Translation: X:10.33, Y:0.22, Z:0.93 [[ 8.51856955e-01 -9.15189297e-03 -5.23694540e-01 1.03347953e+01] [ 2.54150287e-03 9.99907789e-01 -1.33399370e-02 2.21258923e-01] [ 5.23768336e-01 1.00327469e-02 8.51801664e-01 9.34036010e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.78538474999999 meters Centerline goodness [0,1] 0.9507881699444528 Centerline is valid? [True, True] Translation: X:10.36, Y:0.22, Z:0.95 [[ 8.51926733e-01 -1.01763614e-02 -5.23562110e-01 1.03592057e+01] [ 3.66057005e-03 9.99902460e-01 -1.34784988e-02 2.21180873e-01] [ 5.23648204e-01 9.56615768e-03 8.51880888e-01 9.48031503e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.81538474999999 meters Centerline goodness [0,1] 0.9509439616421936 Centerline is valid? [True, True] Translation: X:10.38, Y:0.22, Z:0.96 [[ 8.51867625e-01 -1.16988533e-02 -5.23626477e-01 1.03846666e+01] [ 5.41291202e-03 9.99893766e-01 -1.35335516e-02 2.20353547e-01] [ 5.23729177e-01 8.69445044e-03 8.51840452e-01 9.61773578e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.84538475 meters Centerline goodness [0,1] 0.9512518054886856 Centerline is valid? [True, True] Translation: X:10.41, Y:0.22, Z:0.98 [[ 8.51974385e-01 -1.27626451e-02 -5.23427896e-01 1.04101766e+01] [ 6.57967143e-03 9.99884908e-01 -1.36703924e-02 2.20001804e-01] [ 5.23542123e-01 8.20284058e-03 8.51960303e-01 9.76440539e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.87538475 meters Centerline goodness [0,1] 0.9485825708714565 Centerline is valid? [True, False] Translation: X:10.41, Y:0.22, Z:0.98 [[ 8.51105086e-01 -7.41113211e-03 -5.24943052e-01 1.04117584e+01] [ 4.95101424e-03 9.99969197e-01 -6.09031860e-03 2.15478871e-01] [ 5.24972018e-01 2.58450062e-03 8.51115562e-01 9.84082315e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.90538475 meters Centerline goodness [0,1] 0.9500374868795921 Centerline is valid? [False, True] Translation: X:10.41, Y:0.21, Z:0.99 [[ 8.50606998e-01 -1.98551986e-03 -5.25798243e-01 1.04123004e+01] [ 2.01394755e-03 9.99997838e-01 -5.18141119e-04 2.12141526e-01] [ 5.25798135e-01 -6.18195623e-04 8.50609158e-01 9.87564966e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.93538475 meters Centerline goodness [0,1] 0.950689800590397 Centerline is valid? [True, True] Translation: X:10.44, Y:0.21, Z:1.00 [[ 8.50916889e-01 -8.18911526e-03 -5.25236506e-01 1.04392778e+01] [ 3.24075571e-03 9.99941288e-01 -1.03401432e-02 2.13362353e-01] [ 5.25290344e-01 7.09643929e-03 8.50893468e-01 9.97278215e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.96538475 meters Centerline goodness [0,1] 0.9491796356617204 Centerline is valid? [True, False] Translation: X:10.44, Y:0.21, Z:1.00 [[ 8.50580303e-01 -7.88222065e-03 -5.25786096e-01 1.04393615e+01] [ 3.53947471e-03 9.99950818e-01 -9.26465260e-03 2.11047257e-01] [ 5.25833262e-01 6.01932443e-03 8.50566369e-01 9.99272332e-01] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 106.99538474999999 meters Centerline goodness [0,1] 0.9486621972579574 Centerline is valid? [False, False] Translation: X:10.44, Y:0.21, Z:1.00 [[ 8.49904178e-01 -3.30398449e-03 -5.26926914e-01 1.04415726e+01] [ 1.25311437e-03 9.99990188e-01 -4.24902367e-03 2.08178895e-01] [ 5.26935782e-01 2.95096328e-03 8.49899978e-01 1.00281370e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.02538474999999 meters Centerline goodness [0,1] 0.9477785496390709 Centerline is valid? [False, False] Translation: X:10.44, Y:0.20, Z:1.01 [[ 8.49361265e-01 1.38973018e-03 -5.27810108e-01 1.04433910e+01] [-9.80403590e-04 9.99998963e-01 1.05532633e-03 2.04918438e-01] [ 5.27811027e-01 -3.78886379e-04 8.49361746e-01 1.00640172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.05538474999999 meters Centerline goodness [0,1] 0.9465846747452824 Centerline is valid? [False, False] Translation: X:10.44, Y:0.20, Z:1.01 [[ 8.48842400e-01 6.61016610e-03 -5.28604658e-01 1.04446232e+01] [-3.79257529e-03 9.99972236e-01 6.41440404e-03 2.02084943e-01] [ 5.28632382e-01 -3.44004515e-03 8.48843902e-01 1.00959418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.08538474999999 meters Centerline goodness [0,1] 0.9481830824112704 Centerline is valid? [False, False] Translation: X:10.44, Y:0.20, Z:1.01 [[ 8.48639125e-01 7.33941584e-03 -5.28921325e-01 1.04443952e+01] [-4.10785185e-03 9.99965028e-01 7.28477976e-03 2.01036342e-01] [ 5.28956294e-01 -4.00941868e-03 8.48639596e-01 1.01072197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.11538474999999 meters Centerline goodness [0,1] 0.9481250567476771 Centerline is valid? [False, False] Translation: X:10.45, Y:0.20, Z:1.01 [[ 8.48317257e-01 1.22414269e-02 -5.29346748e-01 1.04452013e+01] [-7.02366320e-03 9.99904912e-01 1.18673973e-02 1.98465245e-01] [ 5.29441687e-01 -6.34936468e-03 8.48322572e-01 1.01269202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.14538474999999 meters Centerline goodness [0,1] 0.9476167432857489 Centerline is valid? [False, False] Translation: X:10.45, Y:0.20, Z:1.01 [[ 8.47998269e-01 1.30130971e-02 -5.29839216e-01 1.04453014e+01] [-7.18810700e-03 9.99888965e-01 1.30532993e-02 1.96513563e-01] [ 5.29950249e-01 -7.26063426e-03 8.47997652e-01 1.01435700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.17538474999999 meters Centerline goodness [0,1] 0.9485160508782556 Centerline is valid? [False, False] Translation: X:10.45, Y:0.19, Z:1.02 [[ 8.47697944e-01 1.70598741e-02 -5.30204825e-01 1.04464394e+01] [-9.33581935e-03 9.99807732e-01 1.72435986e-02 1.93712283e-01] [ 5.30397057e-01 -9.66746659e-03 8.47694227e-01 1.01650409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.20538475 meters Centerline goodness [0,1] 0.9483600837404047 Centerline is valid? [False, False] Translation: X:10.45, Y:0.19, Z:1.02 [[ 8.47486149e-01 1.74806679e-02 -5.30529597e-01 1.04474410e+01] [-9.52946386e-03 9.99797573e-01 1.77201060e-02 1.92626488e-01] [ 5.30731963e-01 -9.96188180e-03 8.47481176e-01 1.01696382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.23538475 meters Centerline goodness [0,1] 0.9487272948180548 Centerline is valid? [False, False] Translation: X:10.45, Y:0.19, Z:1.02 [[ 8.47284875e-01 1.82884272e-02 -5.30823769e-01 1.04473056e+01] [-9.92178833e-03 9.99777618e-01 1.86083961e-02 1.91265896e-01] [ 5.31046041e-01 -1.04998915e-02 8.47277909e-01 1.01799283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.26538475 meters Centerline goodness [0,1] 0.9496801964291127 Centerline is valid? [False, False] Translation: X:10.45, Y:0.19, Z:1.02 [[ 8.47170064e-01 1.89080723e-02 -5.30985280e-01 1.04473466e+01] [-1.02468600e-02 9.99762145e-01 1.92524017e-02 1.90629745e-01] [ 5.31223008e-01 -1.08691265e-02 8.47162309e-01 1.01856381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.29538475 meters Centerline goodness [0,1] 0.9477237478332269 Centerline is valid? [False, False] Translation: X:10.45, Y:0.19, Z:1.02 [[ 8.47024448e-01 1.93578657e-02 -5.31201334e-01 1.04473206e+01] [-1.03518494e-02 9.99747865e-01 1.99259954e-02 1.89813323e-01] [ 5.31453125e-01 -1.13788890e-02 8.47011273e-01 1.01944000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.32538475 meters Centerline goodness [0,1] 0.9476524390243902 Centerline is valid? [False, False] Translation: X:10.45, Y:0.19, Z:1.02 [[ 8.46734533e-01 1.93423802e-02 -5.31663901e-01 1.04489611e+01] [-1.02230024e-02 9.99745902e-01 2.00903168e-02 1.89697888e-01] [ 5.31917401e-01 -1.15759637e-02 8.46717117e-01 1.01997970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.35538474999998 meters Centerline goodness [0,1] 0.9476524390243902 Centerline is valid? [False, False] Translation: X:10.45, Y:0.19, Z:1.02 [[ 8.46734533e-01 1.93423802e-02 -5.31663901e-01 1.04489611e+01] [-1.02230024e-02 9.99745902e-01 2.00903168e-02 1.89697888e-01] [ 5.31917401e-01 -1.15759637e-02 8.46717117e-01 1.01997970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.38538474999999 meters Centerline goodness [0,1] 0.9484085771885882 Centerline is valid? [False, False] Translation: X:10.45, Y:0.19, Z:1.02 [[ 8.46511848e-01 1.95138756e-02 -5.32012124e-01 1.04497945e+01] [-1.02088614e-02 9.99739245e-01 2.04259726e-02 1.89401673e-01] [ 5.32271989e-01 -1.18595898e-02 8.46490330e-01 1.02062158e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.41538474999999 meters Centerline goodness [0,1] 0.9450958837180896 Centerline is valid? [False, False] Translation: X:10.45, Y:0.19, Z:1.02 [[ 8.46068619e-01 1.96767228e-02 -5.32710726e-01 1.04500890e+01] [-9.52548073e-03 9.99717020e-01 2.17978422e-02 1.86388994e-01] [ 5.32988890e-01 -1.33681445e-02 8.46016629e-01 1.02350742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.44538474999999 meters Centerline goodness [0,1] 0.9450495804729214 Centerline is valid? [False, False] Translation: X:10.45, Y:0.19, Z:1.02 [[ 8.45816394e-01 1.99094767e-02 -5.33102467e-01 1.04505529e+01] [-9.41099046e-03 9.99704703e-01 2.24039996e-02 1.85658784e-01] [ 5.33391096e-01 -1.39326479e-02 8.45753995e-01 1.02469331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.47538474999999 meters Centerline goodness [0,1] 0.9451314463680498 Centerline is valid? [False, False] Translation: X:10.45, Y:0.18, Z:1.03 [[ 8.45590374e-01 1.99358532e-02 -5.33459916e-01 1.04512230e+01] [-9.00519715e-03 9.99692943e-01 2.30851904e-02 1.84219255e-01] [ 5.33756336e-01 -1.47167031e-02 8.45510256e-01 1.02602356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.50538474999999 meters Centerline goodness [0,1] 0.9462984507990937 Centerline is valid? [False, False] Translation: X:10.45, Y:0.18, Z:1.03 [[ 8.45356052e-01 2.11123973e-02 -5.33785924e-01 1.04500912e+01] [-9.30844571e-03 9.99649181e-01 2.47965321e-02 1.81312033e-01] [ 5.34122176e-01 -1.59931812e-02 8.45256008e-01 1.02815491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.53538474999999 meters Centerline goodness [0,1] 0.9449426166794185 Centerline is valid? [False, False] Translation: X:10.45, Y:0.18, Z:1.03 [[ 8.45255766e-01 2.21050117e-02 -5.33904540e-01 1.04491211e+01] [-9.74667509e-03 9.99615568e-01 2.59561016e-02 1.79637685e-01] [ 5.34273050e-01 -1.67357505e-02 8.45146273e-01 1.02929183e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.56538474999999 meters Centerline goodness [0,1] 0.9482642502908223 Centerline is valid? [False, False] Translation: X:10.45, Y:0.18, Z:1.03 [[ 0.84508883 0.02354956 -0.534107 10.44727498] [-0.01046051 0.99956649 0.02752125 0.17785682] [ 0.53452357 -0.01767087 0.84496881 1.03109339] [ 0. 0. 0. 1. ]] SLAMing on 107.59538475 meters Centerline goodness [0,1] 0.9485862754088339 Centerline is valid? [False, False] Translation: X:10.45, Y:0.18, Z:1.03 [[ 0.84471872 0.02906286 -0.53442083 10.4471737 ] [-0.01373613 0.9993729 0.03263622 0.17520603] [ 0.5350342 -0.02022755 0.84458821 1.03351728] [ 0. 0. 0. 1. ]] SLAMing on 107.62538475 meters Centerline goodness [0,1] 0.9492729220878616 Centerline is valid? [False, False] Translation: X:10.45, Y:0.17, Z:1.04 [[ 0.84415312 0.03416443 -0.53501244 10.44814019] [-0.01687869 0.99916631 0.0371725 0.17389104] [ 0.53583638 -0.02234897 0.84402601 1.03575785] [ 0. 0. 0. 1. ]] SLAMing on 107.65538475 meters Centerline goodness [0,1] 0.9510647385441454 Centerline is valid? [False, True] Translation: X:10.45, Y:0.17, Z:1.04 [[ 0.84367556 0.03946029 -0.53540119 10.44873289] [-0.02038176 0.99893034 0.04150625 0.17354492] [ 0.53646634 -0.02410539 0.84357738 1.03735427] [ 0. 0. 0. 1. ]] SLAMing on 107.68538475 meters Centerline goodness [0,1] 0.9510151663405088 Centerline is valid? [True, True] Translation: X:10.48, Y:0.19, Z:1.03 [[ 8.43852466e-01 2.36419419e-02 -5.36054171e-01 1.04846708e+01] [-2.22257793e-02 9.99711531e-01 9.10326511e-03 1.87276427e-01] [ 5.36114755e-01 4.23240901e-03 8.44134502e-01 1.03381854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.71538475 meters Centerline goodness [0,1] 0.9488348069152007 Centerline is valid? [True, False] Translation: X:10.49, Y:0.19, Z:1.04 [[ 8.43297171e-01 2.91709759e-02 -5.36655322e-01 1.04851602e+01] [-2.58043427e-02 9.99571964e-01 1.37849382e-02 1.86707661e-01] [ 5.36827734e-01 2.22323849e-03 8.43688948e-01 1.03603707e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.74538474999999 meters Centerline goodness [0,1] 0.9469861132305815 Centerline is valid? [False, False] Translation: X:10.49, Y:0.19, Z:1.04 [[ 8.42708179e-01 2.90334507e-02 -5.37587187e-01 1.04867507e+01] [-2.53058448e-02 9.99577254e-01 1.43153235e-02 1.85977936e-01] [ 5.37775547e-01 1.54045770e-03 8.43086643e-01 1.03807878e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.77538474999999 meters Centerline goodness [0,1] 0.9469382776286899 Centerline is valid? [False, False] Translation: X:10.49, Y:0.18, Z:1.04 [[ 8.42078065e-01 3.34404333e-02 -5.38318001e-01 1.04893503e+01] [-2.78936885e-02 9.99440576e-01 1.84520350e-02 1.84473227e-01] [ 5.38633897e-01 -5.22379272e-04 8.42539763e-01 1.03999344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.80538474999999 meters Centerline goodness [0,1] 0.945347704299111 Centerline is valid? [False, False] Translation: X:10.49, Y:0.18, Z:1.04 [[ 8.41393380e-01 3.84692307e-02 -5.39052222e-01 1.04911018e+01] [-3.08907200e-02 9.99255918e-01 2.30949036e-02 1.82632125e-01] [ 5.39539566e-01 -2.78018775e-03 8.41955656e-01 1.04230622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.83538474999999 meters Centerline goodness [0,1] 0.9446073938282921 Centerline is valid? [False, False] Translation: X:10.49, Y:0.18, Z:1.04 [[ 8.41067178e-01 3.89084168e-02 -5.39529552e-01 1.04909731e+01] [-3.07803195e-02 9.99236138e-01 2.40772346e-02 1.80964859e-01] [ 5.40054232e-01 -3.64367978e-03 8.41622332e-01 1.04412630e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.86538474999999 meters Centerline goodness [0,1] 0.9456002937216987 Centerline is valid? [False, False] Translation: X:10.49, Y:0.18, Z:1.05 [[ 8.40724478e-01 3.98251176e-02 -5.39996585e-01 1.04902749e+01] [-3.09669242e-02 9.99195618e-01 2.54787386e-02 1.78731895e-01] [ 5.40576915e-01 -4.69856589e-03 8.41281476e-01 1.04622533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.89538474999999 meters Centerline goodness [0,1] 0.9437532639080883 Centerline is valid? [False, False] Translation: X:10.49, Y:0.18, Z:1.05 [[ 8.40281183e-01 4.07083803e-02 -5.40620349e-01 1.04889570e+01] [-3.07706346e-02 9.99150599e-01 2.74089153e-02 1.75975419e-01] [ 5.41276918e-01 -6.39596456e-03 8.40820070e-01 1.04964380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.92538474999999 meters Centerline goodness [0,1] 0.9438157450854111 Centerline is valid? [False, False] Translation: X:10.49, Y:0.17, Z:1.05 [[ 8.39946946e-01 4.13892137e-02 -5.41087850e-01 1.04886510e+01] [-3.08690740e-02 9.99116863e-01 2.85060493e-02 1.74393983e-01] [ 5.41789838e-01 -7.24068814e-03 8.40482804e-01 1.05146830e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.95538475 meters Centerline goodness [0,1] 0.9467715664279788 Centerline is valid? [False, False] Translation: X:10.49, Y:0.17, Z:1.05 [[ 8.39688621e-01 4.17774833e-02 -5.41458827e-01 1.04893865e+01] [-3.07655303e-02 9.99094840e-01 2.93765685e-02 1.72825328e-01] [ 5.42196000e-01 -8.00890237e-03 8.40213875e-01 1.05270055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 107.98538475 meters Centerline goodness [0,1] 0.9463124309731256 Centerline is valid? [False, False] Translation: X:10.49, Y:0.17, Z:1.06 [[ 0.83923322 0.04682842 -0.54175151 10.48978709] [-0.03347349 0.99884449 0.0344849 0.16970993] [ 0.54274039 -0.01080656 0.83983099 1.0554688 ] [ 0. 0. 0. 1. ]] SLAMing on 108.01538475 meters Centerline goodness [0,1] 0.9461400912566285 Centerline is valid? [False, False] Translation: X:10.49, Y:0.17, Z:1.06 [[ 0.83902638 0.04729418 -0.54203135 10.4896565 ] [-0.03347828 0.99881486 0.03532815 0.16812633] [ 0.54305979 -0.01149498 0.83961535 1.056712 ] [ 0. 0. 0. 1. ]] SLAMing on 108.04538475 meters Centerline goodness [0,1] 0.945509056067256 Centerline is valid? [False, False] Translation: X:10.49, Y:0.16, Z:1.06 [[ 0.83871723 0.04811723 -0.54243722 10.48934341] [-0.03352998 0.99876176 0.03675168 0.1643013 ] [ 0.54353394 -0.01263635 0.83929207 1.05857721] [ 0. 0. 0. 1. ]] SLAMing on 108.07538475 meters Centerline goodness [0,1] 0.9452705429484991 Centerline is valid? [False, False] Translation: X:10.49, Y:0.16, Z:1.06 [[ 0.83832049 0.04817853 -0.54304473 10.4905091 ] [-0.03299961 0.9987454 0.03766512 0.16086746] [ 0.54417808 -0.01365518 0.8388586 1.06034612] [ 0. 0. 0. 1. ]] SLAMing on 108.10538474999998 meters Centerline goodness [0,1] 0.9442339936657765 Centerline is valid? [False, False] Translation: X:10.49, Y:0.16, Z:1.06 [[ 0.83800348 0.04810417 -0.54354039 10.49205685] [-0.03266857 0.9987427 0.0380235 0.15979384] [ 0.54468608 -0.01410714 0.83852135 1.06126229] [ 0. 0. 0. 1. ]] SLAMing on 108.13538474999999 meters Centerline goodness [0,1] 0.9427157881635447 Centerline is valid? [False, False] Translation: X:10.49, Y:0.16, Z:1.06 [[ 0.83769954 0.04792426 -0.54402458 10.49420674] [-0.03229711 0.99874613 0.03824992 0.15891103] [ 0.54517555 -0.01447152 0.83819699 1.06190434] [ 0. 0. 0. 1. ]] SLAMing on 108.16538474999999 meters Centerline goodness [0,1] 0.9432800547297717 Centerline is valid? [False, False] Translation: X:10.49, Y:0.16, Z:1.06 [[ 0.83750291 0.0482428 -0.5442991 10.49469751] [-0.0324232 0.99872738 0.03863112 0.15887754] [ 0.54547008 -0.01470576 0.83800127 1.06250649] [ 0. 0. 0. 1. ]] SLAMing on 108.19538474999999 meters Centerline goodness [0,1] 0.9414764599788544 Centerline is valid? [False, False] Translation: X:10.50, Y:0.16, Z:1.06 [[ 0.83668386 0.05309605 -0.54510635 10.496456 ] [-0.03542567 0.998452 0.04287929 0.15801668] [ 0.54653924 -0.01656566 0.83726963 1.06490855] [ 0. 0. 0. 1. ]] SLAMing on 108.22538474999999 meters Centerline goodness [0,1] 0.940863890615289 Centerline is valid? [False, False] Translation: X:10.50, Y:0.16, Z:1.07 [[ 0.83645627 0.05352744 -0.54541335 10.49638159] [-0.03577298 0.99842904 0.04312475 0.15896811] [ 0.54686489 -0.01656091 0.83705706 1.06559579] [ 0. 0. 0. 1. ]] SLAMing on 108.25538474999999 meters Centerline goodness [0,1] 0.9420357131804536 Centerline is valid? [False, False] Translation: X:10.50, Y:0.16, Z:1.07 [[ 0.83579679 0.05949852 -0.54580551 10.49567804] [-0.03992866 0.99806541 0.04765647 0.16014236] [ 0.54758509 -0.01803785 0.83655556 1.06761948] [ 0. 0. 0. 1. ]] SLAMing on 108.28538474999999 meters Centerline goodness [0,1] 0.9417247978270263 Centerline is valid? [False, False] Translation: X:10.49, Y:0.16, Z:1.07 [[ 0.83567199 0.06034507 -0.54590365 10.49484685] [-0.04075796 0.99801878 0.04793012 0.16219172] [ 0.54771444 -0.01780394 0.83647589 1.06785846] [ 0. 0. 0. 1. ]] SLAMing on 108.31538474999999 meters Centerline goodness [0,1] 0.9455632183908046 Centerline is valid? [False, False] Translation: X:10.49, Y:0.17, Z:1.07 [[ 0.8352518 0.06745068 -0.54571497 10.49152101] [-0.04599127 0.99753996 0.05290391 0.16512449] [ 0.5479409 -0.01908996 0.8362992 1.06947703] [ 0. 0. 0. 1. ]] SLAMing on 108.34538475 meters Centerline goodness [0,1] 0.9463903661593007 Centerline is valid? [False, False] Translation: X:10.49, Y:0.17, Z:1.07 [[ 0.83521992 0.06834641 -0.54565231 10.49040302] [-0.04688299 0.99748386 0.05317823 0.16753717] [ 0.54791392 -0.01883371 0.83632268 1.06956436] [ 0. 0. 0. 1. ]] SLAMing on 108.37538475 meters Centerline goodness [0,1] 0.9464470875266849 Centerline is valid? [False, False] Translation: X:10.49, Y:0.17, Z:1.07 [[ 0.83492989 0.06843163 -0.54608533 10.48898291] [-0.04661684 0.99746723 0.05372148 0.16836835] [ 0.54837847 -0.0193969 0.83600527 1.07181234] [ 0. 0. 0. 1. ]] SLAMing on 108.40538475 meters Centerline goodness [0,1] 0.9476252935972913 Centerline is valid? [False, False] Translation: X:10.49, Y:0.17, Z:1.07 [[ 0.83476082 0.06875395 -0.54630327 10.48836902] [-0.04671453 0.99743948 0.05415022 0.16861204] [ 0.54862749 -0.01968218 0.8358352 1.07286158] [ 0. 0. 0. 1. ]] SLAMing on 108.43538475 meters Centerline goodness [0,1] 0.949064512209938 Centerline is valid? [False, False] Translation: X:10.49, Y:0.17, Z:1.07 [[ 0.83468428 0.0695412 -0.54632058 10.48763935] [-0.04742019 0.99738671 0.05450752 0.17055438] [ 0.54868341 -0.01958994 0.83580067 1.07317225] [ 0. 0. 0. 1. ]] SLAMing on 108.46538475 meters Centerline goodness [0,1] 0.9495059707825665 Centerline is valid? [False, False] Translation: X:10.49, Y:0.17, Z:1.07 [[ 0.83460736 0.07014124 -0.54636138 10.48714473] [-0.04795152 0.99734591 0.05478861 0.17169527] [ 0.54875423 -0.01952812 0.83575562 1.07337889] [ 0. 0. 0. 1. ]] SLAMing on 108.49538474999999 meters Centerline goodness [0,1] 0.950665339006065 Centerline is valid? [False, True] Translation: X:10.49, Y:0.17, Z:1.07 [[ 0.83408641 0.07625038 -0.54633849 10.48611689] [-0.05216709 0.99686509 0.05948599 0.17108207] [ 0.5491616 -0.02111557 0.83544938 1.07480856] [ 0. 0. 0. 1. ]] SLAMing on 108.52538474999999 meters Centerline goodness [0,1] 0.9491197874203581 Centerline is valid? [True, False] Translation: X:10.49, Y:0.17, Z:1.08 [[ 0.83397439 0.07718551 -0.54637817 10.48509188] [-0.05294808 0.99679333 0.05999628 0.17075362] [ 0.54925696 -0.02110569 0.83538694 1.07511216] [ 0. 0. 0. 1. ]] SLAMing on 108.55538474999999 meters Centerline goodness [0,1] 0.9501980587221432 Centerline is valid? [False, True] Translation: X:10.48, Y:0.17, Z:1.08 [[ 0.83381455 0.07742268 -0.54658853 10.48477134] [-0.05294476 0.99676775 0.06042264 0.16990868] [ 0.5494999 -0.02144227 0.83521859 1.07599699] [ 0. 0. 0. 1. ]] SLAMing on 108.58538474999999 meters Centerline goodness [0,1] 0.9507613447911956 Centerline is valid? [True, True] Translation: X:10.52, Y:0.18, Z:1.07 [[ 0.83382487 0.05823994 -0.54894827 10.52266655] [-0.05522705 0.99823101 0.02201888 0.1836385 ] [ 0.54925956 0.0119569 0.83556626 1.07008327] [ 0. 0. 0. 1. ]] SLAMing on 108.61538474999999 meters Centerline goodness [0,1] 0.9490226833976834 Centerline is valid? [True, False] Translation: X:10.52, Y:0.18, Z:1.07 [[ 8.33169018e-01 6.29959154e-02 -5.49418695e-01 1.05245547e+01] [-5.82205735e-02 9.97961544e-01 2.61365750e-02 1.82842786e-01] [ 5.49945227e-01 1.02112870e-02 8.35138298e-01 1.07166402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.64538474999999 meters Centerline goodness [0,1] 0.9460363373406852 Centerline is valid? [False, False] Translation: X:10.52, Y:0.18, Z:1.07 [[ 8.32980590e-01 6.34376558e-02 -5.49653528e-01 1.05245851e+01] [-5.84198042e-02 9.97936521e-01 2.66425846e-02 1.82462618e-01] [ 5.50209472e-01 9.91789562e-03 8.34967767e-01 1.07241305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.67538474999999 meters Centerline goodness [0,1] 0.946569026308652 Centerline is valid? [False, False] Translation: X:10.52, Y:0.18, Z:1.07 [[ 8.32573361e-01 6.35648672e-02 -5.50255492e-01 1.05246649e+01] [-5.80555525e-02 9.97936212e-01 2.74384837e-02 1.80665960e-01] [ 5.50864004e-01 9.10083601e-03 8.34545399e-01 1.07442267e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.70538475 meters Centerline goodness [0,1] 0.9456770770529362 Centerline is valid? [False, False] Translation: X:10.53, Y:0.18, Z:1.08 [[ 8.32155609e-01 6.26984315e-02 -5.50986342e-01 1.05265054e+01] [-5.69928450e-02 9.97996087e-01 2.74886554e-02 1.79810979e-01] [ 5.51605709e-01 8.52744040e-03 8.34061404e-01 1.07607410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.73538475 meters Centerline goodness [0,1] 0.9471939236843692 Centerline is valid? [False, False] Translation: X:10.53, Y:0.18, Z:1.08 [[ 8.31942208e-01 6.25534954e-02 -5.51324969e-01 1.05268355e+01] [-5.65192709e-02 9.98010270e-01 2.79476980e-02 1.78868082e-01] [ 5.51976208e-01 7.90961573e-03 8.33822346e-01 1.07733139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.76538475 meters Centerline goodness [0,1] 0.9461999578275145 Centerline is valid? [False, False] Translation: X:10.53, Y:0.18, Z:1.08 [[ 8.31628474e-01 6.17307076e-02 -5.51890751e-01 1.05298080e+01] [-5.57015091e-02 9.98063110e-01 2.77014625e-02 1.79514619e-01] [ 5.52531830e-01 7.70382264e-03 8.33456195e-01 1.07791975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.79538475 meters Centerline goodness [0,1] 0.9461135528930098 Centerline is valid? [False, False] Translation: X:10.53, Y:0.18, Z:1.08 [[ 8.31414929e-01 6.17810568e-02 -5.52206770e-01 1.05310680e+01] [-5.56605838e-02 9.98060993e-01 2.78595328e-02 1.79787302e-01] [ 5.52857229e-01 7.57331969e-03 8.33241579e-01 1.07830391e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.82538475 meters Centerline goodness [0,1] 0.9484895312547345 Centerline is valid? [False, False] Translation: X:10.53, Y:0.18, Z:1.08 [[ 8.31398226e-01 6.25056924e-02 -5.52150368e-01 1.05289303e+01] [-5.54700209e-02 9.98025736e-01 2.94568540e-02 1.76942007e-01] [ 5.52901498e-01 6.13741633e-03 8.33224019e-01 1.08045650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.85538474999998 meters Centerline goodness [0,1] 0.9493957021007263 Centerline is valid? [False, False] Translation: X:10.53, Y:0.17, Z:1.08 [[ 8.30641207e-01 6.85958349e-02 -5.52566555e-01 1.05279426e+01] [-5.87471319e-02 9.97640188e-01 3.55363040e-02 1.73851563e-01] [ 5.53700244e-01 2.94378184e-03 8.32710859e-01 1.08454083e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.88538474999999 meters Centerline goodness [0,1] 0.9510310056456239 Centerline is valid? [False, True] Translation: X:10.53, Y:0.17, Z:1.08 [[ 8.30575125e-01 6.92036208e-02 -5.52590102e-01 1.05273246e+01] [-5.91436881e-02 9.97598765e-01 3.60378705e-02 1.73740021e-01] [ 5.53757155e-01 2.75005779e-03 8.32673676e-01 1.08498994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.91538474999999 meters Centerline goodness [0,1] 0.951810139195024 Centerline is valid? [True, True] Translation: X:10.55, Y:0.17, Z:1.10 [[ 8.30385349e-01 6.66456198e-02 -5.53189419e-01 1.05523935e+01] [-5.99812089e-02 9.97743576e-01 3.01663795e-02 1.72978373e-01] [ 5.53951646e-01 8.13125054e-03 8.32509133e-01 1.09945578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.94538474999999 meters Centerline goodness [0,1] 0.9511115154823644 Centerline is valid? [True, True] Translation: X:10.58, Y:0.17, Z:1.12 [[ 8.30678311e-01 6.33775799e-02 -5.53133642e-01 1.05755990e+01] [-5.61673214e-02 9.97970666e-01 2.99963494e-02 1.67556734e-01] [ 5.53912245e-01 6.15071813e-03 8.32552337e-01 1.11546052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 108.97538474999999 meters Centerline goodness [0,1] 0.9497939643679554 Centerline is valid? [True, False] Translation: X:10.58, Y:0.17, Z:1.12 [[ 8.30386083e-01 6.26686324e-02 -5.53652956e-01 1.05781014e+01] [-5.54041587e-02 9.98017120e-01 2.98698408e-02 1.67625988e-01] [ 5.54427031e-01 5.87117610e-03 8.32211630e-01 1.11614192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.00538474999999 meters Centerline goodness [0,1] 0.9482935668982181 Centerline is valid? [False, False] Translation: X:10.58, Y:0.17, Z:1.12 [[ 8.30169153e-01 6.24806389e-02 -5.53999411e-01 1.05798052e+01] [-5.50376914e-02 9.98030937e-01 3.00849003e-02 1.67225166e-01] [ 5.54788276e-01 5.51529246e-03 8.31973287e-01 1.11672770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.03538474999999 meters Centerline goodness [0,1] 0.9470790169213477 Centerline is valid? [False, False] Translation: X:10.58, Y:0.17, Z:1.12 [[ 8.29838462e-01 6.17841156e-02 -5.54572673e-01 1.05824542e+01] [-5.42195236e-02 9.98076396e-01 3.00624646e-02 1.65899052e-01] [ 5.55363278e-01 5.12167669e-03 8.31592087e-01 1.11745005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.06538474999999 meters Centerline goodness [0,1] 0.9448070676098242 Centerline is valid? [False, False] Translation: X:10.58, Y:0.17, Z:1.12 [[ 8.29605740e-01 6.19438315e-02 -5.54902945e-01 1.05833979e+01] [-5.41430525e-02 9.98068250e-01 3.04680026e-02 1.65255850e-01] [ 5.55718316e-01 4.76770944e-03 8.31356976e-01 1.11815052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.09538475 meters Centerline goodness [0,1] 0.9470687279963264 Centerline is valid? [False, False] Translation: X:10.58, Y:0.16, Z:1.12 [[ 8.29765483e-01 5.70609569e-02 -5.55187617e-01 1.05815612e+01] [-4.99515874e-02 9.98360383e-01 2.79532456e-02 1.61261417e-01] [ 5.55872361e-01 4.53786446e-03 8.31255271e-01 1.12009576e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.12538475 meters Centerline goodness [0,1] 0.9460462548309919 Centerline is valid? [False, False] Translation: X:10.58, Y:0.16, Z:1.12 [[ 8.29439888e-01 5.70425190e-02 -5.55675826e-01 1.05816285e+01] [-4.93475821e-02 9.98365576e-01 2.88269412e-02 1.58776927e-01] [ 5.56411977e-01 3.51104358e-03 8.30899142e-01 1.12210755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.15538475 meters Centerline goodness [0,1] 0.9447632491484335 Centerline is valid? [False, False] Translation: X:10.58, Y:0.16, Z:1.12 [[ 8.29288940e-01 5.62573721e-02 -5.55981081e-01 1.05842553e+01] [-4.85050587e-02 9.98411213e-01 2.86759441e-02 1.58106435e-01] [ 5.56710978e-01 3.18725170e-03 8.30700143e-01 1.12236803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.18538475 meters Centerline goodness [0,1] 0.9434164902267637 Centerline is valid? [False, False] Translation: X:10.59, Y:0.16, Z:1.12 [[ 8.29143767e-01 5.60356720e-02 -5.56219936e-01 1.05855615e+01] [-4.81853887e-02 9.98424384e-01 2.87561908e-02 1.58355038e-01] [ 5.56954919e-01 2.95865747e-03 8.30537455e-01 1.12278032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.21538475 meters Centerline goodness [0,1] 0.94263703885581 Centerline is valid? [False, False] Translation: X:10.59, Y:0.16, Z:1.12 [[ 8.28914792e-01 5.61368679e-02 -5.56550913e-01 1.05867625e+01] [-4.80680733e-02 9.98419648e-01 2.91147036e-02 1.57978340e-01] [ 5.57305775e-01 2.61872158e-03 8.30303207e-01 1.12344844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.24538474999999 meters Centerline goodness [0,1] 0.9414676135140951 Centerline is valid? [False, False] Translation: X:10.59, Y:0.16, Z:1.12 [[ 8.28601135e-01 5.69274631e-02 -5.56937540e-01 1.05862185e+01] [-4.84034719e-02 9.98376170e-01 3.00354162e-02 1.56498655e-01] [ 5.57743008e-01 2.07033057e-03 8.30011115e-01 1.12483943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.27538474999999 meters Centerline goodness [0,1] 0.9414676135140951 Centerline is valid? [False, False] Translation: X:10.59, Y:0.16, Z:1.12 [[ 8.28601135e-01 5.69274631e-02 -5.56937540e-01 1.05862185e+01] [-4.84034719e-02 9.98376170e-01 3.00354162e-02 1.56498655e-01] [ 5.57743008e-01 2.07033057e-03 8.30011115e-01 1.12483943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.30538474999999 meters Centerline goodness [0,1] 0.9400354892002692 Centerline is valid? [False, False] Translation: X:10.59, Y:0.16, Z:1.13 [[ 8.28367162e-01 5.74908753e-02 -5.57227641e-01 1.05858940e+01] [-4.86465695e-02 9.98344603e-01 3.06849178e-02 1.56317462e-01] [ 5.58069312e-01 1.68883491e-03 8.29792620e-01 1.12592894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.33538474999999 meters Centerline goodness [0,1] 0.9411493829434519 Centerline is valid? [False, False] Translation: X:10.59, Y:0.16, Z:1.13 [[ 8.28215534e-01 5.78573860e-02 -5.57415062e-01 1.05857315e+01] [-4.88431743e-02 9.98323717e-01 3.10499770e-02 1.56676635e-01] [ 5.58277147e-01 1.50984775e-03 8.29653149e-01 1.12660720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.36538474999999 meters Centerline goodness [0,1] 0.9410016847909327 Centerline is valid? [False, False] Translation: X:10.59, Y:0.16, Z:1.13 [[ 8.28026256e-01 5.84289026e-02 -5.57636605e-01 1.05864653e+01] [-4.92248618e-02 9.98290645e-01 3.15071657e-02 1.58255001e-01] [ 5.58524335e-01 1.36082430e-03 8.29487020e-01 1.12708902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.39538474999999 meters Centerline goodness [0,1] 0.9397177234179347 Centerline is valid? [False, False] Translation: X:10.59, Y:0.16, Z:1.13 [[ 8.27860215e-01 5.86506856e-02 -5.57859805e-01 1.05867011e+01] [-4.93503014e-02 9.98277756e-01 3.17185852e-02 1.59004517e-01] [ 5.58759351e-01 1.27199477e-03 8.29328867e-01 1.12764823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.42538474999999 meters Centerline goodness [0,1] 0.9440478369638172 Centerline is valid? [False, False] Translation: X:10.58, Y:0.16, Z:1.13 [[ 8.27243459e-01 6.49993056e-02 -5.58071097e-01 1.05847418e+01] [-5.32023505e-02 9.97884568e-01 3.73617405e-02 1.57794947e-01] [ 5.59319022e-01 -1.21656139e-03 8.28951598e-01 1.13096733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.45538475 meters Centerline goodness [0,1] 0.9456089959053964 Centerline is valid? [False, False] Translation: X:10.58, Y:0.16, Z:1.13 [[ 8.27121373e-01 6.58307338e-02 -5.58154593e-01 1.05832622e+01] [-5.38072903e-02 9.97829881e-01 3.79513378e-02 1.58534118e-01] [ 5.59441695e-01 -1.35757640e-03 8.28868594e-01 1.13180575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.48538475 meters Centerline goodness [0,1] 0.9453096483757149 Centerline is valid? [False, False] Translation: X:10.58, Y:0.16, Z:1.13 [[ 8.26619173e-01 7.22218456e-02 -5.58108187e-01 1.05809231e+01] [-5.80860570e-02 9.97383604e-01 4.30343735e-02 1.58441340e-01] [ 5.59755977e-01 -3.15473425e-03 8.28651491e-01 1.13401997e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.51538475 meters Centerline goodness [0,1] 0.9452591310684033 Centerline is valid? [False, False] Translation: X:10.58, Y:0.16, Z:1.13 [[ 8.26551001e-01 7.26239841e-02 -5.58156967e-01 1.05806946e+01] [-5.85970353e-02 9.97355371e-01 4.29959381e-02 1.60651741e-01] [ 5.59803386e-01 -2.83199215e-03 8.28620630e-01 1.13397487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.54538475 meters Centerline goodness [0,1] 0.9508458731642592 Centerline is valid? [False, True] Translation: X:10.58, Y:0.16, Z:1.13 [[ 8.26046114e-01 7.85871804e-02 -5.58096652e-01 1.05800892e+01] [-6.29200134e-02 9.96899565e-01 4.72475390e-02 1.62319977e-01] [ 5.60079360e-01 -3.91319715e-03 8.28429718e-01 1.13492349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.57538475 meters Centerline goodness [0,1] 0.9471974981958143 Centerline is valid? [True, False] Translation: X:10.58, Y:0.16, Z:1.13 [[ 8.25955220e-01 7.91335080e-02 -5.58153978e-01 1.05800178e+01] [-6.35616520e-02 9.96857640e-01 4.72732702e-02 1.64126880e-01] [ 5.60140957e-01 -3.56841539e-03 8.28389627e-01 1.13479326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.60538474999998 meters Centerline goodness [0,1] 0.9484972103905454 Centerline is valid? [False, False] Translation: X:10.58, Y:0.16, Z:1.14 [[ 8.25419066e-01 8.52896043e-02 -5.58040365e-01 1.05789492e+01] [-6.79230517e-02 9.96344339e-01 5.18113641e-02 1.64905228e-01] [ 5.60419329e-01 -4.86228320e-03 8.28194744e-01 1.13597133e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.63538474999999 meters Centerline goodness [0,1] 0.9503331132585079 Centerline is valid? [False, True] Translation: X:10.58, Y:0.17, Z:1.14 [[ 8.25398313e-01 8.62817789e-02 -5.57918525e-01 1.05776185e+01] [-6.88171366e-02 9.96259489e-01 5.22612016e-02 1.65784860e-01] [ 5.60340813e-01 -4.74195234e-03 8.28248566e-01 1.13599815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.66538474999999 meters Centerline goodness [0,1] 0.954260953298026 Centerline is valid? [True, True] Translation: X:10.60, Y:0.17, Z:1.15 [[ 8.27677998e-01 7.38619175e-02 -5.56321444e-01 1.06034399e+01] [-6.58448249e-02 9.97235370e-01 3.44394486e-02 1.65273000e-01] [ 5.57327185e-01 8.12611419e-03 8.30253199e-01 1.14892304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.69538474999999 meters Centerline goodness [0,1] 0.9535428811827634 Centerline is valid? [True, True] Translation: X:10.63, Y:0.17, Z:1.16 [[ 8.27688606e-01 7.31224521e-02 -5.56403342e-01 1.06275607e+01] [-6.49829116e-02 9.97293351e-01 3.43975645e-02 1.65421071e-01] [ 5.57412588e-01 7.68623699e-03 8.30200053e-01 1.16387722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.72538474999999 meters Centerline goodness [0,1] 0.9493039373842385 Centerline is valid? [True, False] Translation: X:10.64, Y:0.17, Z:1.17 [[ 8.26726907e-01 7.59611618e-02 -5.57451813e-01 1.06353165e+01] [-6.65764176e-02 9.97090143e-01 3.71325547e-02 1.68186990e-01] [ 5.58650340e-01 6.41466258e-03 8.29378472e-01 1.16501590e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.75538474999999 meters Centerline goodness [0,1] 0.9505840877177258 Centerline is valid? [False, True] Translation: X:10.64, Y:0.17, Z:1.17 [[ 8.25975217e-01 8.03860312e-02 -5.57945362e-01 1.06384421e+01] [-6.93403653e-02 9.96751963e-01 4.09565392e-02 1.67886120e-01] [ 5.59425469e-01 4.85904890e-03 8.28866416e-01 1.16629052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.78538474999999 meters Centerline goodness [0,1] 0.9450736126840317 Centerline is valid? [True, False] Translation: X:10.64, Y:0.17, Z:1.17 [[ 8.25645511e-01 8.00076732e-02 -5.58487478e-01 1.06407527e+01] [-6.91019290e-02 9.96781511e-01 4.06391777e-02 1.68858505e-01] [ 5.59941438e-01 5.03900747e-03 8.28516864e-01 1.16650817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.81538474999999 meters Centerline goodness [0,1] 0.9454426072942159 Centerline is valid? [False, False] Translation: X:10.64, Y:0.17, Z:1.17 [[ 8.25490521e-01 8.05304426e-02 -5.58641430e-01 1.06406415e+01] [-6.95189594e-02 9.96739478e-01 4.09576305e-02 1.68690177e-01] [ 5.60118304e-01 5.02603515e-03 8.28397383e-01 1.16684924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.84538475 meters Centerline goodness [0,1] 0.9389310695283075 Centerline is valid? [False, False] Translation: X:10.64, Y:0.17, Z:1.17 [[ 8.25100138e-01 8.18903956e-02 -5.59020327e-01 1.06382425e+01] [-7.01702030e-02 9.96632404e-01 4.24263243e-02 1.66390663e-01] [ 5.60612081e-01 4.22060380e-03 8.28067800e-01 1.16901896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.87538475 meters Centerline goodness [0,1] 0.9445857395051016 Centerline is valid? [False, False] Translation: X:10.64, Y:0.17, Z:1.17 [[ 8.24851897e-01 8.23675114e-02 -5.59316495e-01 1.06376855e+01] [-7.02532877e-02 9.96595172e-01 4.31571513e-02 1.65479249e-01] [ 5.60966865e-01 3.69556456e-03 8.27830006e-01 1.17030827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.90538475 meters Centerline goodness [0,1] 0.9421455480475991 Centerline is valid? [False, False] Translation: X:10.64, Y:0.17, Z:1.17 [[ 8.24706170e-01 8.24691776e-02 -5.59516370e-01 1.06382408e+01] [-7.02492053e-02 9.96587265e-01 4.33459688e-02 1.66044350e-01] [ 5.61181595e-01 3.55789248e-03 8.27685060e-01 1.17074278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.93538475 meters Centerline goodness [0,1] 0.9449511206485456 Centerline is valid? [False, False] Translation: X:10.64, Y:0.17, Z:1.17 [[ 8.24523013e-01 8.24447946e-02 -5.59789833e-01 1.06395677e+01] [-6.99312142e-02 9.96590952e-01 4.37732867e-02 1.65956954e-01] [ 5.61490362e-01 3.05470049e-03 8.27477639e-01 1.17147518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.96538475 meters Centerline goodness [0,1] 0.9436901913875598 Centerline is valid? [False, False] Translation: X:10.64, Y:0.16, Z:1.17 [[ 8.24397774e-01 8.30711941e-02 -5.59881673e-01 1.06390153e+01] [-7.00972134e-02 9.96540625e-01 4.46448496e-02 1.64326649e-01] [ 5.61653533e-01 2.44103047e-03 8.27368932e-01 1.17234723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 109.99538474999999 meters Centerline goodness [0,1] 0.9447469187507479 Centerline is valid? [False, False] Translation: X:10.64, Y:0.16, Z:1.17 [[ 8.24173457e-01 8.44913574e-02 -5.59999396e-01 1.06368196e+01] [-7.06109038e-02 9.96423382e-01 4.64170705e-02 1.61859755e-01] [ 5.61918334e-01 1.28634606e-03 8.27191714e-01 1.17433081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.02538474999999 meters Centerline goodness [0,1] 0.9490369301962198 Centerline is valid? [False, False] Translation: X:10.63, Y:0.16, Z:1.18 [[ 8.23982716e-01 8.70192844e-02 -5.59892960e-01 1.06320304e+01] [-7.13349583e-02 9.96205981e-01 4.98494548e-02 1.57800313e-01] [ 5.62106580e-01 -1.13514819e-03 8.27064027e-01 1.17830336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.05538474999999 meters Centerline goodness [0,1] 0.9502890521498254 Centerline is valid? [False, True] Translation: X:10.63, Y:0.16, Z:1.18 [[ 8.23882610e-01 8.77234857e-02 -5.59930384e-01 1.06303232e+01] [-7.15123949e-02 9.96143156e-01 5.08408403e-02 1.56121346e-01] [ 5.62230755e-01 -1.84492154e-03 8.26978340e-01 1.17963876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.08538474999999 meters Centerline goodness [0,1] 0.9493267612406828 Centerline is valid? [True, False] Translation: X:10.63, Y:0.16, Z:1.18 [[ 8.23734384e-01 8.83473203e-02 -5.60050369e-01 1.06308124e+01] [-7.18994339e-02 9.96087607e-01 5.13804412e-02 1.55802803e-01] [ 5.62398556e-01 -2.05653159e-03 8.26863734e-01 1.17987977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.11538474999999 meters Centerline goodness [0,1] 0.9492318771003361 Centerline is valid? [False, False] Translation: X:10.63, Y:0.16, Z:1.18 [[ 8.23556237e-01 8.80750708e-02 -5.60355160e-01 1.06328788e+01] [-7.16235216e-02 9.96111596e-01 5.13006812e-02 1.56052288e-01] [ 5.62694584e-01 -2.11438606e-03 8.26662165e-01 1.17997438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.14538474999999 meters Centerline goodness [0,1] 0.9504082431984574 Centerline is valid? [False, True] Translation: X:10.63, Y:0.15, Z:1.18 [[ 8.23378844e-01 8.78222651e-02 -5.60655446e-01 1.06345224e+01] [-7.12745045e-02 9.96133434e-01 5.13626964e-02 1.54029561e-01] [ 5.62998423e-01 -2.33051856e-03 8.26454684e-01 1.18016493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.17538474999999 meters Centerline goodness [0,1] 0.9455471046331929 Centerline is valid? [True, False] Translation: X:10.63, Y:0.15, Z:1.18 [[ 8.23243139e-01 8.79304805e-02 -5.60837734e-01 1.06347785e+01] [-7.11476659e-02 9.96122975e-01 5.17399995e-02 1.52391657e-01] [ 5.63212876e-01 -2.69230385e-03 8.26307454e-01 1.18076340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.20538475 meters Centerline goodness [0,1] 0.9486128816851818 Centerline is valid? [False, False] Translation: X:10.64, Y:0.15, Z:1.18 [[ 8.22847348e-01 8.79603282e-02 -5.61413592e-01 1.06358875e+01] [-7.07751307e-02 9.96118413e-01 5.23353448e-02 1.49648981e-01] [ 5.63837851e-01 -3.32987930e-03 8.25878799e-01 1.18205912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.23538475 meters Centerline goodness [0,1] 0.9466573349968049 Centerline is valid? [False, False] Translation: X:10.64, Y:0.15, Z:1.18 [[ 8.22744563e-01 8.81086412e-02 -5.61540962e-01 1.06362673e+01] [-7.06853926e-02 9.96104038e-01 5.27287461e-02 1.48206615e-01] [ 5.63999078e-01 -3.68954582e-03 8.25767175e-01 1.18248289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.26538475 meters Centerline goodness [0,1] 0.9458908692742868 Centerline is valid? [False, False] Translation: X:10.64, Y:0.15, Z:1.18 [[ 8.22532745e-01 8.82337967e-02 -5.61831541e-01 1.06367821e+01] [-7.04652356e-02 9.96090824e-01 5.32702588e-02 1.46676618e-01] [ 5.64335480e-01 -4.22694032e-03 8.25534735e-01 1.18341359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.29538475 meters Centerline goodness [0,1] 0.9452348171944317 Centerline is valid? [False, False] Translation: X:10.64, Y:0.15, Z:1.18 [[ 8.22407999e-01 8.82601265e-02 -5.62009994e-01 1.06375885e+01] [-7.02021401e-02 9.96086329e-01 5.36999416e-02 1.45114918e-01] [ 5.64550036e-01 -4.70895715e-03 8.25385415e-01 1.18397214e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.32538475 meters Centerline goodness [0,1] 0.9482684908080377 Centerline is valid? [False, False] Translation: X:10.64, Y:0.15, Z:1.18 [[ 8.22298701e-01 8.82957113e-02 -5.62164313e-01 1.06382731e+01] [-7.01723813e-02 9.96082764e-01 5.38048707e-02 1.45258287e-01] [ 5.64712922e-01 -4.79526674e-03 8.25273483e-01 1.18417226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.35538474999998 meters Centerline goodness [0,1] 0.9473828864594149 Centerline is valid? [False, False] Translation: X:10.64, Y:0.14, Z:1.19 [[ 8.22055020e-01 8.87868230e-02 -5.62443281e-01 1.06380327e+01] [-7.04057831e-02 9.96037783e-01 5.43301057e-02 1.44999315e-01] [ 5.65038556e-01 -5.06307648e-03 8.25048965e-01 1.18505662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.38538474999999 meters Centerline goodness [0,1] 0.9462017586712261 Centerline is valid? [False, False] Translation: X:10.64, Y:0.14, Z:1.19 [[ 8.21952495e-01 8.93618908e-02 -5.62502042e-01 1.06373840e+01] [-7.07707155e-02 9.95985408e-01 5.48139754e-02 1.44628116e-01] [ 5.65142107e-01 -5.24581183e-03 8.24976897e-01 1.18552616e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.41538474999999 meters Centerline goodness [0,1] 0.9469278010327232 Centerline is valid? [False, False] Translation: X:10.64, Y:0.15, Z:1.19 [[ 8.21885879e-01 8.97566622e-02 -5.62536526e-01 1.06362920e+01] [-7.09906914e-02 9.95948947e-01 5.51907387e-02 1.45563564e-01] [ 5.65211397e-01 -5.42563184e-03 8.24928263e-01 1.18630527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.44538474999999 meters Centerline goodness [0,1] 0.9516964122555888 Centerline is valid? [False, True] Translation: X:10.63, Y:0.14, Z:1.19 [[ 8.21770227e-01 9.18006592e-02 -5.62375615e-01 1.06305829e+01] [-7.17170839e-02 9.95751927e-01 5.77473811e-02 1.44610172e-01] [ 5.65287850e-01 -7.12313933e-03 8.24862963e-01 1.18992118e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.47538474999999 meters Centerline goodness [0,1] 0.9483941142701755 Centerline is valid? [True, False] Translation: X:10.63, Y:0.15, Z:1.19 [[ 8.21403102e-01 9.06481773e-02 -5.63098439e-01 1.06329163e+01] [-7.09981978e-02 9.95860882e-01 5.67482196e-02 1.49836383e-01] [ 5.65911831e-01 -6.63418927e-03 8.24439074e-01 1.19067439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.50538474999999 meters Centerline goodness [0,1] 0.9466602450257368 Centerline is valid? [False, False] Translation: X:10.64, Y:0.15, Z:1.19 [[ 8.20576797e-01 9.40039570e-02 -5.63752584e-01 1.06386251e+01] [-7.32825052e-02 9.95544492e-01 5.93366649e-02 1.52612862e-01] [ 5.66818661e-01 -7.37708874e-03 8.23809556e-01 1.19106674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.53538474999999 meters Centerline goodness [0,1] 0.9407631122540518 Centerline is valid? [False, False] Translation: X:10.65, Y:0.16, Z:1.19 [[ 8.18991502e-01 1.00866307e-01 -5.64870700e-01 1.06473305e+01] [-7.75277828e-02 9.94853300e-01 6.52407407e-02 1.55798261e-01] [ 5.68544073e-01 -9.63843922e-03 8.22596340e-01 1.19325044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.56538474999999 meters Centerline goodness [0,1] 0.9379072327511826 Centerline is valid? [False, False] Translation: X:10.65, Y:0.16, Z:1.19 [[ 8.18819667e-01 1.01493796e-01 -5.65007400e-01 1.06462861e+01] [-7.82363181e-02 9.94792910e-01 6.53157329e-02 1.57973863e-01] [ 5.68694498e-01 -9.27770798e-03 8.22496500e-01 1.19357013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.59538475 meters Centerline goodness [0,1] 0.9386043191147599 Centerline is valid? [False, False] Translation: X:10.64, Y:0.16, Z:1.19 [[ 8.18673425e-01 1.02217264e-01 -5.65088891e-01 1.06444980e+01] [-7.87063793e-02 9.94716935e-01 6.59054229e-02 1.58137732e-01] [ 5.68840162e-01 -9.47891773e-03 8.22393471e-01 1.19453753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.62538475 meters Centerline goodness [0,1] 0.9450340378727072 Centerline is valid? [False, False] Translation: X:10.64, Y:0.16, Z:1.20 [[ 8.18615397e-01 1.04236724e-01 -5.64803981e-01 1.06399351e+01] [-8.02172286e-02 9.94504577e-01 6.72743858e-02 1.58581763e-01] [ 5.68712606e-01 -9.76483796e-03 8.22478340e-01 1.19575692e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.65538475 meters Centerline goodness [0,1] 0.9415863602668644 Centerline is valid? [False, False] Translation: X:10.64, Y:0.16, Z:1.20 [[ 8.18608972e-01 1.05128771e-01 -5.64647936e-01 1.06380483e+01] [-8.09680982e-02 9.94410823e-01 6.77589941e-02 1.59287884e-01] [ 5.68615439e-01 -9.74965096e-03 8.22545699e-01 1.19606144e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.68538475 meters Centerline goodness [0,1] 0.9460371993839592 Centerline is valid? [False, False] Translation: X:10.64, Y:0.16, Z:1.20 [[ 8.18618388e-01 1.07015832e-01 -5.64279671e-01 1.06351152e+01] [-8.26410394e-02 9.94211203e-01 6.86625211e-02 1.60818743e-01] [ 5.68361148e-01 -9.57574383e-03 8.22723472e-01 1.19603057e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.71538475 meters Centerline goodness [0,1] 0.9462877064437025 Centerline is valid? [False, False] Translation: X:10.63, Y:0.16, Z:1.20 [[ 8.18642331e-01 1.07750079e-01 -5.64105180e-01 1.06342603e+01] [-8.34334977e-02 9.94134837e-01 6.88097113e-02 1.61957690e-01] [ 5.68210864e-01 -9.26527417e-03 8.22830827e-01 1.19563384e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.74538474999999 meters Centerline goodness [0,1] 0.948605601278939 Centerline is valid? [False, False] Translation: X:10.63, Y:0.16, Z:1.20 [[ 8.18504399e-01 1.08301769e-01 -5.64199677e-01 1.06336756e+01] [-8.37844741e-02 9.94073373e-01 6.92697033e-02 1.61127440e-01] [ 5.68357907e-01 -9.42638365e-03 8.22727435e-01 1.19612233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.77538474999999 meters Centerline goodness [0,1] 0.9463692453725676 Centerline is valid? [False, False] Translation: X:10.63, Y:0.16, Z:1.20 [[ 8.18354130e-01 1.08482174e-01 -5.64382969e-01 1.06338084e+01] [-8.37929631e-02 9.94051631e-01 6.95707818e-02 1.60259124e-01] [ 5.68573000e-01 -9.64221540e-03 8.22576301e-01 1.19662173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.80538474999999 meters Centerline goodness [0,1] 0.9421291489929701 Centerline is valid? [False, False] Translation: X:10.63, Y:0.16, Z:1.20 [[ 8.18167308e-01 1.08000351e-01 -5.64746120e-01 1.06349846e+01] [-8.29811366e-02 9.94097302e-01 6.98905270e-02 1.57899686e-01] [ 5.68960796e-01 -1.03188694e-02 8.22299905e-01 1.19766029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.83538474999999 meters Centerline goodness [0,1] 0.9413733854722124 Centerline is valid? [False, False] Translation: X:10.64, Y:0.16, Z:1.20 [[ 0.81806805 0.10804919 -0.56488055 10.63533489] [-0.08281571 0.99408842 0.0702123 0.15661596] [ 0.56912759 -0.01065745 0.82218015 1.19810683] [ 0. 0. 0. 1. ]] SLAMing on 110.86538474999999 meters Centerline goodness [0,1] 0.9476579925650558 Centerline is valid? [False, False] Translation: X:10.64, Y:0.16, Z:1.20 [[ 0.81795501 0.10796917 -0.56505952 10.63608805] [-0.08252523 0.99409312 0.07048723 0.1553383 ] [ 0.56933223 -0.01102371 0.82203363 1.19858508] [ 0. 0. 0. 1. ]] SLAMing on 110.89538474999999 meters Centerline goodness [0,1] 0.9517646353885794 Centerline is valid? [False, True] Translation: X:10.64, Y:0.15, Z:1.20 [[ 8.18961502e-01 9.69133865e-02 -5.65605740e-01 1.06351963e+01] [-7.45297454e-02 9.95250980e-01 6.26163211e-02 1.54936693e-01] [ 5.68988027e-01 -9.12590462e-03 8.22295168e-01 1.19843067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.92538474999999 meters Centerline goodness [0,1] 0.9486169573060733 Centerline is valid? [True, False] Translation: X:10.64, Y:0.16, Z:1.20 [[ 8.19395162e-01 9.39606698e-02 -5.65475871e-01 1.06391365e+01] [-7.20448536e-02 9.95532814e-01 6.10242227e-02 1.55385138e-01] [ 5.68683662e-01 -9.26332653e-03 8.22504154e-01 1.19772635e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.95538475 meters Centerline goodness [0,1] 0.9444644464446444 Centerline is valid? [False, False] Translation: X:10.64, Y:0.16, Z:1.20 [[ 8.19156872e-01 9.31019532e-02 -5.65962937e-01 1.06421689e+01] [-7.13254433e-02 9.95613805e-01 6.05461253e-02 1.55959163e-01] [ 5.69117475e-01 -9.22921727e-03 8.22204428e-01 1.19783960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 110.98538475 meters Centerline goodness [0,1] 0.9437271034772686 Centerline is valid? [False, False] Translation: X:10.64, Y:0.16, Z:1.20 [[ 8.18907435e-01 9.27869089e-02 -5.66375495e-01 1.06443353e+01] [-7.11296416e-02 9.95644699e-01 6.02677939e-02 1.56324197e-01] [ 5.69500822e-01 -9.06765857e-03 8.21940747e-01 1.19779162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.01538475 meters Centerline goodness [0,1] 0.9422368618056596 Centerline is valid? [False, False] Translation: X:10.64, Y:0.16, Z:1.20 [[ 8.18877998e-01 9.37070444e-02 -5.66266558e-01 1.06431293e+01] [-7.18318099e-02 9.95557582e-01 6.08711029e-02 1.56286735e-01] [ 5.69455017e-01 -9.17005510e-03 8.21971346e-01 1.19800358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.04538475 meters Centerline goodness [0,1] 0.9432875232551161 Centerline is valid? [False, False] Translation: X:10.64, Y:0.16, Z:1.20 [[ 8.18928055e-01 9.49476203e-02 -5.65987447e-01 1.06413035e+01] [-7.29393983e-02 9.95441184e-01 6.14548117e-02 1.56477070e-01] [ 5.69242203e-01 -9.04428557e-03 8.22120135e-01 1.19781233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.07538475 meters Centerline goodness [0,1] 0.9418117632980315 Centerline is valid? [False, False] Translation: X:10.64, Y:0.16, Z:1.20 [[ 8.18819994e-01 9.57212070e-02 -5.66013487e-01 1.06399631e+01] [-7.33760733e-02 9.95363952e-01 6.21816330e-02 1.55421774e-01] [ 5.69341522e-01 -9.38371726e-03 8.22047551e-01 1.19857760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.10538474999998 meters Centerline goodness [0,1] 0.9397514219507057 Centerline is valid? [False, False] Translation: X:10.64, Y:0.15, Z:1.20 [[ 8.18671706e-01 9.68248112e-02 -5.66040276e-01 1.06381455e+01] [-7.41820782e-02 9.95255633e-01 6.29543017e-02 1.54221296e-01] [ 5.69450311e-01 -9.54886157e-03 8.21970293e-01 1.19919152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.13538474999999 meters Centerline goodness [0,1] 0.9358385149139408 Centerline is valid? [False, False] Translation: X:10.64, Y:0.15, Z:1.20 [[ 8.18573359e-01 9.72794087e-02 -5.66104560e-01 1.06377471e+01] [-7.44588340e-02 9.95209781e-01 6.33511965e-02 1.54057469e-01] [ 5.69555562e-01 -9.70611625e-03 8.21895524e-01 1.19959965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.16538474999999 meters Centerline goodness [0,1] 0.9358385149139408 Centerline is valid? [False, False] Translation: X:10.64, Y:0.15, Z:1.20 [[ 8.18573359e-01 9.72794087e-02 -5.66104560e-01 1.06377471e+01] [-7.44588340e-02 9.95209781e-01 6.33511965e-02 1.54057469e-01] [ 5.69555562e-01 -9.70611625e-03 8.21895524e-01 1.19959965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.19538474999999 meters Centerline goodness [0,1] 0.9410863886136385 Centerline is valid? [False, False] Translation: X:10.64, Y:0.15, Z:1.20 [[ 8.18588670e-01 9.78493305e-02 -5.65984185e-01 1.06368816e+01] [-7.48747330e-02 9.95152890e-01 6.37534349e-02 1.54091589e-01] [ 5.69479029e-01 -9.80992471e-03 8.21947323e-01 1.19973512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.22538474999999 meters Centerline goodness [0,1] 0.9453947566898965 Centerline is valid? [False, False] Translation: X:10.63, Y:0.15, Z:1.20 [[ 8.19717956e-01 9.39967034e-02 -5.65001851e-01 1.06316758e+01] [-7.17134966e-02 9.95522712e-01 6.15768110e-02 1.52065432e-01] [ 5.68260192e-01 -9.95735940e-03 8.22788676e-01 1.20012447e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.25538474999999 meters Centerline goodness [0,1] 0.9460037987277277 Centerline is valid? [False, False] Translation: X:10.63, Y:0.15, Z:1.20 [[ 8.19623662e-01 9.41044321e-02 -5.65120703e-01 1.06315630e+01] [-7.14947763e-02 9.95507178e-01 6.20802372e-02 1.50732078e-01] [ 5.68423741e-01 -1.04792531e-02 8.22669214e-01 1.20094351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.28538474999999 meters Centerline goodness [0,1] 0.943243978361389 Centerline is valid? [False, False] Translation: X:10.63, Y:0.15, Z:1.20 [[ 8.19463956e-01 9.38418253e-02 -5.65395911e-01 1.06331235e+01] [-7.12031632e-02 9.95530933e-01 6.20344319e-02 1.50385433e-01] [ 5.68690544e-01 -1.05770036e-02 8.22483552e-01 1.20107220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.31538474999999 meters Centerline goodness [0,1] 0.9432838528282492 Centerline is valid? [False, False] Translation: X:10.63, Y:0.15, Z:1.20 [[ 8.19422632e-01 9.47160796e-02 -5.65310016e-01 1.06323374e+01] [-7.18958847e-02 9.95447590e-01 6.25705844e-02 1.50023697e-01] [ 5.68662934e-01 -1.06282891e-02 8.22501980e-01 1.20109139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.34538475 meters Centerline goodness [0,1] 0.9433596118859915 Centerline is valid? [False, False] Translation: X:10.63, Y:0.15, Z:1.20 [[ 0.81938542 0.0954738 -0.56523649 10.6309561 ] [-0.07232741 0.99537151 0.0632795 0.14918992] [ 0.56866184 -0.01096821 0.82249828 1.20169509] [ 0. 0. 0. 1. ]] SLAMing on 111.37538475 meters Centerline goodness [0,1] 0.9442995755003032 Centerline is valid? [False, False] Translation: X:10.63, Y:0.15, Z:1.20 [[ 0.8193726 0.09705507 -0.56498571 10.62771345] [-0.07322678 0.99521032 0.06476304 0.14703368] [ 0.56856519 -0.01169298 0.8225551 1.20284131] [ 0. 0. 0. 1. ]] SLAMing on 111.40538475 meters Centerline goodness [0,1] 0.9447522174794902 Centerline is valid? [False, False] Translation: X:10.63, Y:0.15, Z:1.20 [[ 0.81934851 0.09735141 -0.56496967 10.62723669] [-0.07329888 0.9951778 0.06517983 0.14633721] [ 0.56859062 -0.01199335 0.8225332 1.20329902] [ 0. 0. 0. 1. ]] SLAMing on 111.43538475 meters Centerline goodness [0,1] 0.9474690458849235 Centerline is valid? [False, False] Translation: X:10.63, Y:0.15, Z:1.20 [[ 0.81982801 0.09136217 -0.56527427 10.62800586] [-0.06909849 0.99575999 0.06072436 0.14718523] [ 0.5684254 -0.01072393 0.82266491 1.20273671] [ 0. 0. 0. 1. ]] SLAMing on 111.46538475 meters Centerline goodness [0,1] 0.9424335596212975 Centerline is valid? [False, False] Translation: X:10.63, Y:0.15, Z:1.20 [[ 8.19638269e-01 9.02390381e-02 -5.65729638e-01 1.06317221e+01] [-6.83694964e-02 9.95866544e-01 5.97949640e-02 1.48641284e-01] [ 5.68787060e-01 -1.03315903e-02 8.22419928e-01 1.20222918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 111.49538474999999 meters Centerline goodness [0,1] 0.9358873410054512 Centerline is valid? [False, False] Translation: X:10.64, Y:0.15, Z:1.20 [[ 0.81870284 0.09325583 -0.56659423 10.63787015] [-0.07012706 0.99557621 0.06253163 0.14869388] [ 0.56991917 -0.01146123 0.82162082 1.20314709] [ 0. 0. 0. 1. ]] SLAMing on 111.52538474999999 meters Centerline goodness [0,1] 0.9324283284742468 Centerline is valid? [False, False] Translation: X:10.64, Y:0.15, Z:1.20 [[ 0.81854822 0.09334825 -0.56680236 10.63842323] [-0.0702482 0.99556878 0.06251398 0.14874309] [ 0.57012631 -0.01135386 0.8214786 1.20327331] [ 0. 0. 0. 1. ]] SLAMing on 111.55538474999999 meters Centerline goodness [0,1] 0.9411675419689748 Centerline is valid? [False, False] Translation: X:10.64, Y:0.15, Z:1.20 [[ 0.81844674 0.09381357 -0.56687207 10.63776851] [-0.07054762 0.99552353 0.06289628 0.14858239] [ 0.57023501 -0.01148578 0.82140131 1.2037486 ] [ 0. 0. 0. 1. ]] SLAMing on 111.58538474999999 meters Centerline goodness [0,1] 0.9325309992706055 Centerline is valid? [False, False] Translation: X:10.64, Y:0.15, Z:1.20 [[ 0.8184741 0.09463674 -0.56669571 10.63608864] [-0.07118006 0.99544452 0.0634319 0.14850942] [ 0.57011713 -0.01157993 0.82148181 1.2040155 ] [ 0. 0. 0. 1. ]] SLAMing on 111.61538474999999 meters Centerline goodness [0,1] 0.9427687078958549 Centerline is valid? [False, False] Translation: X:10.63, Y:0.15, Z:1.20 [[ 0.81845461 0.09578448 -0.56653101 10.63399308] [-0.07207331 0.99533356 0.06416026 0.14911722] [ 0.57003289 -0.01168049 0.82153885 1.20447566] [ 0. 0. 0. 1. ]] SLAMing on 111.64538474999999 meters Centerline goodness [0,1] 0.9448578342407743 Centerline is valid? [False, False] Translation: X:10.63, Y:0.15, Z:1.21 [[ 0.818231 0.09540686 -0.5669176 10.63400329] [-0.07135041 0.99536174 0.06453007 0.14896819] [ 0.5704447 -0.0123507 0.82124315 1.20616359] [ 0. 0. 0. 1. ]] SLAMing on 111.67538474999999 meters Centerline goodness [0,1] 0.9450948361920319 Centerline is valid? [False, False] Translation: X:10.63, Y:0.15, Z:1.21 [[ 0.81819647 0.09533565 -0.56697941 10.63383925] [-0.07117606 0.99536613 0.06465468 0.14900561] [ 0.570516 -0.01254487 0.82119067 1.20668325] [ 0. 0. 0. 1. ]] SLAMing on 111.70538475 meters Centerline goodness [0,1] 0.9456262635406294 Centerline is valid? [False, False] Translation: X:10.63, Y:0.15, Z:1.21 [[ 0.81808088 0.09511661 -0.56718296 10.63374598] [-0.0707568 0.99538208 0.06486898 0.14955032] [ 0.57073387 -0.01293602 0.82103319 1.20774276] [ 0. 0. 0. 1. ]] SLAMing on 111.73538475 meters Centerline goodness [0,1] 0.9447373204871842 Centerline is valid? [False, False] Translation: X:10.63, Y:0.15, Z:1.21 [[ 0.81796638 0.09480755 -0.5673998 10.63412265] [-0.07031198 0.99540755 0.0649618 0.14916843] [ 0.57095292 -0.01324156 0.82087601 1.20843499] [ 0. 0. 0. 1. ]] SLAMing on 111.76538475 meters Centerline goodness [0,1] 0.9464269444528806 Centerline is valid? [False, False] Translation: X:10.63, Y:0.15, Z:1.21 [[ 0.81845816 0.08931703 -0.56758145 10.6342049 ] [-0.06639019 0.9959281 0.06098815 0.14934171] [ 0.5707176 -0.01223441 0.82105526 1.20805517] [ 0. 0. 0. 1. ]] SLAMing on 111.79538475 meters Centerline goodness [0,1] 0.9472806139472806 Centerline is valid? [False, False] Translation: X:10.63, Y:0.15, Z:1.21 [[ 0.81828639 0.08933949 -0.56782554 10.63394672] [-0.06603713 0.99591833 0.06152867 0.14783804] [ 0.5710048 -0.0128505 0.82084614 1.20929189] [ 0. 0. 0. 1. ]] SLAMing on 111.82538475 meters Centerline goodness [0,1] 0.9471505114466634 Centerline is valid? [False, False] Translation: X:10.63, Y:0.15, Z:1.21 [[ 0.81874422 0.08418868 -0.56795262 10.63335776] [-0.06230261 0.99637751 0.05788126 0.14716513] [ 0.57076816 -0.01200502 0.8210235 1.20912936] [ 0. 0. 0. 1. ]] SLAMing on 111.85538474999998 meters Centerline goodness [0,1] 0.9463970274715234 Centerline is valid? [False, False] Translation: X:10.63, Y:0.15, Z:1.21 [[ 0.8185136 0.08391646 -0.56832518 10.63434329] [-0.06175595 0.99639408 0.05818111 0.14592158] [ 0.5711582 -0.01252457 0.82074445 1.21014434] [ 0. 0. 0. 1. ]] SLAMing on 111.88538474999999 meters Centerline goodness [0,1] 0.9467830882352941 Centerline is valid? [False, False] Translation: X:10.64, Y:0.14, Z:1.21 [[ 0.81823089 0.08303833 -0.568861 10.63657299] [-0.06073467 0.99646172 0.05809774 0.14461788] [ 0.57167255 -0.01298778 0.82037907 1.21108606] [ 0. 0. 0. 1. ]] SLAMing on 111.91538474999999 meters Centerline goodness [0,1] 0.9436061341774487 Centerline is valid? [False, False] Translation: X:10.64, Y:0.14, Z:1.21 [[ 0.81803518 0.08294663 -0.56915578 10.63710043] [-0.06033115 0.99646222 0.05850804 0.14290277] [ 0.57199528 -0.01352381 0.82014542 1.21207605] [ 0. 0. 0. 1. ]] SLAMing on 111.94538474999999 meters Centerline goodness [0,1] 0.9446719418701315 Centerline is valid? [False, False] Translation: X:10.64, Y:0.14, Z:1.21 [[ 0.81836899 0.07779581 -0.5694032 10.63646764] [-0.05662945 0.99688955 0.05481185 0.14294066] [ 0.57189623 -0.01261133 0.82022903 1.21222245] [ 0. 0. 0. 1. ]] SLAMing on 111.97538474999999 meters Centerline goodness [0,1] 0.9439399070282917 Centerline is valid? [False, False] Translation: X:10.64, Y:0.14, Z:1.21 [[ 0.81822908 0.0778039 -0.56960312 10.63626985] [-0.05622235 0.99687985 0.05540417 0.14187084] [ 0.57213654 -0.01330888 0.8200504 1.21356091] [ 0. 0. 0. 1. ]] SLAMing on 112.00538474999999 meters Centerline goodness [0,1] 0.9459601259181531 Centerline is valid? [False, False] Translation: X:10.64, Y:0.14, Z:1.21 [[ 0.81817918 0.07797463 -0.56965146 10.63640292] [-0.0563422 0.99686613 0.05552912 0.1421256 ] [ 0.57219611 -0.01333735 0.82000837 1.21367802] [ 0. 0. 0. 1. ]] SLAMing on 112.03538474999999 meters Centerline goodness [0,1] 0.946138430707569 Centerline is valid? [False, False] Translation: X:10.64, Y:0.14, Z:1.21 [[ 0.81822774 0.07865111 -0.5694887 10.63555608] [-0.05676518 0.99680967 0.05610882 0.14215424] [ 0.57208486 -0.01358267 0.82008196 1.2139208 ] [ 0. 0. 0. 1. ]] SLAMing on 112.06538474999999 meters Centerline goodness [0,1] 0.9496314117393048 Centerline is valid? [False, False] Translation: X:10.63, Y:0.14, Z:1.21 [[ 0.8183151 0.07980027 -0.56920323 10.63405025] [-0.05775959 0.99671918 0.05669841 0.14255722] [ 0.57186033 -0.01352022 0.82023958 1.21371971] [ 0. 0. 0. 1. ]] SLAMing on 112.09538475 meters Centerline goodness [0,1] 0.9499490536326304 Centerline is valid? [False, False] Translation: X:10.63, Y:0.14, Z:1.21 [[ 0.81817751 0.08018304 -0.56934721 10.63353399] [-0.05786981 0.99668385 0.05720476 0.14182759] [ 0.57204602 -0.01385564 0.82010449 1.21452651] [ 0. 0. 0. 1. ]] SLAMing on 112.12538475 meters Centerline goodness [0,1] 0.9496447327772629 Centerline is valid? [False, False] Translation: X:10.63, Y:0.14, Z:1.21 [[ 0.81808381 0.08037911 -0.56945419 10.6335323 ] [-0.05797777 0.99666697 0.05738921 0.14143619] [ 0.57216908 -0.0139335 0.82001732 1.2148393 ] [ 0. 0. 0. 1. ]] SLAMing on 112.15538475 meters Centerline goodness [0,1] 0.9482646117515459 Centerline is valid? [False, False] Translation: X:10.63, Y:0.14, Z:1.21 [[ 0.81847035 0.07540047 -0.56957972 10.63318239] [-0.05465445 0.99707346 0.05345478 0.14160558] [ 0.57194334 -0.01262109 0.82019603 1.21419364] [ 0. 0. 0. 1. ]] SLAMing on 112.18538475 meters Centerline goodness [0,1] 0.9475335487077535 Centerline is valid? [False, False] Translation: X:10.63, Y:0.14, Z:1.22 [[ 0.81816592 0.07494399 -0.57007712 10.63365607] [-0.05376423 0.99709683 0.05391964 0.13986009] [ 0.57246304 -0.01346545 0.81981995 1.21606613] [ 0. 0. 0. 1. ]] SLAMing on 112.21538475 meters Centerline goodness [0,1] 0.9415340715238361 Centerline is valid? [False, False] Translation: X:10.64, Y:0.14, Z:1.22 [[ 0.81772934 0.07282755 -0.57097712 10.63957522] [-0.05207898 0.99725603 0.05261367 0.14187919] [ 0.5732421 -0.01328784 0.8192783 1.21619955] [ 0. 0. 0. 1. ]] SLAMing on 112.24538474999999 meters Centerline goodness [0,1] 0.9405759891112693 Centerline is valid? [False, False] Translation: X:10.64, Y:0.14, Z:1.22 [[ 0.81694192 0.07624373 -0.57165793 10.6443553 ] [-0.05404696 0.99698181 0.0557333 0.14246603] [ 0.57418187 -0.01463449 0.81859698 1.21743609] [ 0. 0. 0. 1. ]] SLAMing on 112.27538474999999 meters Centerline goodness [0,1] 0.9440269660141634 Centerline is valid? [False, False] Translation: X:10.64, Y:0.14, Z:1.22 [[ 0.81682333 0.07642569 -0.57180308 10.64438059] [-0.05412955 0.99696645 0.05592759 0.14314669] [ 0.57434279 -0.01473152 0.81848234 1.21794385] [ 0. 0. 0. 1. ]] SLAMing on 112.30538474999999 meters Centerline goodness [0,1] 0.9439972862121072 Centerline is valid? [False, False] Translation: X:10.64, Y:0.14, Z:1.22 [[ 0.81669609 0.07763656 -0.57182171 10.64103063] [-0.05483331 0.99686552 0.05703012 0.14356537] [ 0.57445697 -0.0152214 0.81839324 1.21968063] [ 0. 0. 0. 1. ]] SLAMing on 112.33538474999999 meters Centerline goodness [0,1] 0.9435829454018559 Centerline is valid? [False, False] Translation: X:10.64, Y:0.14, Z:1.22 [[ 0.81650213 0.07833698 -0.57200314 10.63922332] [-0.05519854 0.99680556 0.05772173 0.14371903] [ 0.57469765 -0.01555618 0.81821795 1.22102513] [ 0. 0. 0. 1. ]] SLAMing on 112.36538474999999 meters Centerline goodness [0,1] 0.9462722329739195 Centerline is valid? [False, False] Translation: X:10.63, Y:0.14, Z:1.22 [[ 0.81636592 0.07987604 -0.57198471 10.63476201] [-0.0560147 0.99667123 0.05923524 0.14434805] [ 0.57481218 -0.01631808 0.81812266 1.22337957] [ 0. 0. 0. 1. ]] SLAMing on 112.39538474999999 meters Centerline goodness [0,1] 0.9452889408578989 Centerline is valid? [False, False] Translation: X:10.63, Y:0.14, Z:1.22 [[ 0.8162386 0.08012859 -0.57213107 10.63370851] [-0.05601092 0.99664525 0.05967427 0.14467947] [ 0.57499333 -0.01666286 0.8179884 1.22449644] [ 0. 0. 0. 1. ]] SLAMing on 112.42538474999999 meters Centerline goodness [0,1] 0.9460395281139881 Centerline is valid? [False, False] Translation: X:10.63, Y:0.15, Z:1.23 [[ 0.81616748 0.07947942 -0.57232304 10.63359739] [-0.05515658 0.99668806 0.05975504 0.14559914] [ 0.57517684 -0.01720274 0.81784819 1.22587288] [ 0. 0. 0. 1. ]] SLAMing on 112.45538475 meters Centerline goodness [0,1] 0.9430660507235292 Centerline is valid? [False, False] Translation: X:10.63, Y:0.15, Z:1.23 [[ 0.8159416 0.07882416 -0.57273559 10.63463546] [-0.05434221 0.99673251 0.05975975 0.1459515 ] [ 0.5755747 -0.01763675 0.817559 1.22707811] [ 0. 0. 0. 1. ]] SLAMing on 112.48538475 meters Centerline goodness [0,1] 0.9424237781522905 Centerline is valid? [False, False] Translation: X:10.64, Y:0.15, Z:1.23 [[ 0.81560082 0.07760072 -0.57338769 10.63683279] [-0.05311294 0.99682277 0.05935812 0.14616277] [ 0.57617213 -0.01795823 0.81713106 1.22824922] [ 0. 0. 0. 1. ]] SLAMing on 112.51538475 meters Centerline goodness [0,1] 0.9365118274298321 Centerline is valid? [False, False] Translation: X:10.64, Y:0.15, Z:1.23 [[ 0.81702109 0.0712805 -0.57218496 10.64035097] [-0.04783036 0.99728774 0.05594127 0.14776029] [ 0.57462057 -0.01833738 0.81821449 1.22674295] [ 0. 0. 0. 1. ]] SLAMing on 112.54538475 meters Centerline goodness [0,1] 0.9292551233280157 Centerline is valid? [False, False] Translation: X:10.64, Y:0.15, Z:1.23 [[ 0.81569452 0.06790841 -0.57448316 10.63844112] [-0.03731203 0.99719411 0.06489771 0.14845442] [ 0.57727833 -0.03150157 0.81593957 1.22992758] [ 0. 0. 0. 1. ]] SLAMing on 112.57538475 meters Centerline goodness [0,1] 0.9173403830192739 Centerline is valid? [False, False] Translation: X:10.64, Y:0.15, Z:1.23 [[ 0.8152287 0.06607229 -0.57535782 10.64155898] [-0.03538819 0.99729749 0.06438474 0.14829854] [ 0.57805695 -0.03212742 0.81536372 1.23172836] [ 0. 0. 0. 1. ]] SLAMing on 112.60538474999998 meters Centerline goodness [0,1] 0.86878078817734 Centerline is valid? [False, False] Translation: X:10.64, Y:0.15, Z:1.23 [[ 0.81504715 0.05869004 -0.57641445 10.64455412] [-0.02983238 0.99778773 0.05941109 0.15148756] [ 0.57862611 -0.03122703 0.81499491 1.23289156] [ 0. 0. 0. 1. ]] SLAMing on 112.63538474999999 meters Centerline goodness [0,1] 0.8441498665193777 Centerline is valid? [False, False] Translation: X:10.65, Y:0.15, Z:1.23 [[ 0.81458837 0.05812149 -0.57712017 10.64560657] [-0.02898514 0.99780283 0.05957655 0.15224088] [ 0.57931482 -0.03180245 0.81448324 1.23483735] [ 0. 0. 0. 1. ]] SLAMing on 112.66538474999999 meters Centerline goodness [0,1] 0.8266866017758521 Centerline is valid? [False, False] Translation: X:10.65, Y:0.16, Z:1.24 [[ 0.81387332 0.05645452 -0.57829327 10.64803232] [-0.02767442 0.9979055 0.05847 0.15718651] [ 0.58038293 -0.03158324 0.81373101 1.23669207] [ 0. 0. 0. 1. ]] SLAMing on 112.69538474999999 meters Centerline goodness [0,1] 0.8923889293517844 Centerline is valid? [False, False] Translation: X:10.65, Y:0.16, Z:1.24 [[ 0.81290774 0.06153896 -0.57913208 10.64855172] [-0.03059996 0.99754132 0.0630473 0.15815604] [ 0.58158804 -0.03353022 0.81279215 1.24007895] [ 0. 0. 0. 1. ]] SLAMing on 112.72538474999999 meters Centerline goodness [0,1] 0.9047676743199855 Centerline is valid? [False, False] Translation: X:10.65, Y:0.16, Z:1.24 [[ 0.8122834 0.0666937 -0.57943734 10.64816543] [-0.03402684 0.99716759 0.0670743 0.15964462] [ 0.58226957 -0.03476692 0.81225206 1.24193781] [ 0. 0. 0. 1. ]] SLAMing on 112.75538474999999 meters Centerline goodness [0,1] 0.9158460429926745 Centerline is valid? [False, False] Translation: X:10.65, Y:0.17, Z:1.24 [[ 0.81088763 0.07626719 -0.5802108 10.64668848] [-0.04088023 0.99643148 0.07384515 0.16537464] [ 0.58377227 -0.03616097 0.81111178 1.24498362] [ 0. 0. 0. 1. ]] SLAMing on 112.78538474999999 meters Centerline goodness [0,1] 0.9298990498812352 Centerline is valid? [False, False] Translation: X:10.65, Y:0.17, Z:1.25 [[ 0.80931948 0.08667056 -0.58093906 10.64504366] [-0.04854131 0.99553944 0.08090096 0.1712884 ] [ 0.58535948 -0.03727518 0.80991656 1.24779683] [ 0. 0. 0. 1. ]] SLAMing on 112.81538474999999 meters Centerline goodness [0,1] 0.9300032474242022 Centerline is valid? [False, False] Translation: X:10.64, Y:0.17, Z:1.25 [[ 0.80855967 0.09235974 -0.58112041 10.64421323] [-0.05267013 0.99500024 0.08485508 0.17445481] [ 0.58605214 -0.03800271 0.80938167 1.24919297] [ 0. 0. 0. 1. ]] SLAMing on 112.84538475 meters Centerline goodness [0,1] 0.9319110436609853 Centerline is valid? [False, False] Translation: X:10.64, Y:0.18, Z:1.25 [[ 0.8071917 0.1030823 -0.58121906 10.64390655] [-0.06070435 0.99390975 0.09196955 0.18072384] [ 0.58715972 -0.03895454 0.80853324 1.25063 ] [ 0. 0. 0. 1. ]] SLAMing on 112.87538475 meters Centerline goodness [0,1] 0.9316876486627603 Centerline is valid? [False, False] Translation: X:10.64, Y:0.18, Z:1.25 [[ 0.80641568 0.10836171 -0.58133596 10.64412748] [-0.06452517 0.99332163 0.09564852 0.1833471 ] [ 0.58781822 -0.03962166 0.80802219 1.25169933] [ 0. 0. 0. 1. ]] SLAMing on 112.90538475 meters Centerline goodness [0,1] 0.9315592660231324 Centerline is valid? [False, False] Translation: X:10.64, Y:0.19, Z:1.25 [[ 0.80622701 0.10969774 -0.58134708 10.64273952] [-0.0659694 0.99320013 0.09592462 0.18729493] [ 0.58791671 -0.0389859 0.80798146 1.25165953] [ 0. 0. 0. 1. ]] SLAMing on 112.93538475 meters Centerline goodness [0,1] 0.9345256922678782 Centerline is valid? [False, False] Translation: X:10.64, Y:0.19, Z:1.25 [[ 0.80533715 0.11592013 -0.58137302 10.6409929 ] [-0.07076611 0.99248145 0.09986359 0.19067805] [ 0.58857814 -0.03928235 0.8074854 1.25278602] [ 0. 0. 0. 1. ]] SLAMing on 112.96538475 meters Centerline goodness [0,1] 0.9326141696234406 Centerline is valid? [False, False] Translation: X:10.64, Y:0.19, Z:1.25 [[ 0.80443409 0.12161508 -0.58145986 10.64041468] [-0.07498234 0.99177828 0.10369907 0.19326414] [ 0.58929063 -0.03981985 0.80693924 1.25399623] [ 0. 0. 0. 1. ]] SLAMing on 112.99538474999999 meters Centerline goodness [0,1] 0.9281288369835242 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.25 [[ 0.80429986 0.12233327 -0.58149488 10.64015633] [-0.07586759 0.99171122 0.10369651 0.19549252] [ 0.58936053 -0.03928647 0.80691433 1.25372258] [ 0. 0. 0. 1. ]] SLAMing on 113.02538474999999 meters Centerline goodness [0,1] 0.9247403613600796 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.25 [[ 0.80344165 0.12846954 -0.58135798 10.63977421] [-0.0806653 0.99092761 0.10749684 0.19800696] [ 0.58989374 -0.03947202 0.80651555 1.25400131] [ 0. 0. 0. 1. ]] SLAMing on 113.05538474999999 meters Centerline goodness [0,1] 0.9191965304724948 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.25 [[ 0.80340505 0.12963477 -0.58114985 10.6387555 ] [-0.08204074 0.99080369 0.10759819 0.20004704] [ 0.58975388 -0.03876696 0.80665202 1.25326443] [ 0. 0. 0. 1. ]] SLAMing on 113.08538474999999 meters Centerline goodness [0,1] 0.9191965304724948 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.25 [[ 0.80340505 0.12963477 -0.58114985 10.6387555 ] [-0.08204074 0.99080369 0.10759819 0.20004704] [ 0.58975388 -0.03876696 0.80665202 1.25326443] [ 0. 0. 0. 1. ]] SLAMing on 113.11538474999999 meters Centerline goodness [0,1] 0.9282467625282296 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.25 [[ 0.80344862 0.13103541 -0.58077537 10.63704614] [-0.08348962 0.99063793 0.1080091 0.20139546] [ 0.58949113 -0.03829105 0.80686678 1.25263315] [ 0. 0. 0. 1. ]] SLAMing on 113.14538474999999 meters Centerline goodness [0,1] 0.9192008942646679 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.25 [[ 0.80330902 0.13372133 -0.58035612 10.63329923] [-0.08590865 0.99029341 0.10926422 0.20112223] [ 0.5893338 -0.03791532 0.80699945 1.25247586] [ 0. 0. 0. 1. ]] SLAMing on 113.17538474999999 meters Centerline goodness [0,1] 0.9139390114461114 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.25 [[ 0.80322807 0.13454998 -0.58027663 10.63254677] [-0.08663863 0.99018498 0.10966975 0.20049632] [ 0.58933727 -0.03781546 0.8070016 1.25245096] [ 0. 0. 0. 1. ]] SLAMing on 113.20538475 meters Centerline goodness [0,1] 0.8991913436357881 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.25 [[ 0.80334181 0.13737805 -0.57945596 10.62887034] [-0.08895929 0.98979378 0.11133067 0.1980075 ] [ 0.5888363 -0.03788859 0.80736378 1.25186993] [ 0. 0. 0. 1. ]] SLAMing on 113.23538475 meters Centerline goodness [0,1] 0.8915003312307382 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.25 [[ 0.80336004 0.13870495 -0.57911448 10.62725675] [-0.08999009 0.98960401 0.11218599 0.19630577] [ 0.58865476 -0.03801117 0.80749039 1.25175459] [ 0. 0. 0. 1. ]] SLAMing on 113.26538475 meters Centerline goodness [0,1] 0.8768672951414068 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.25 [[ 0.80402957 0.13652538 -0.5787031 10.62369549] [-0.08902037 0.98995217 0.10986392 0.19337463] [ 0.5878876 -0.03681747 0.80810435 1.25023522] [ 0. 0. 0. 1. ]] SLAMing on 113.29538475 meters Centerline goodness [0,1] 0.876591662305948 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.25 [[ 0.80483868 0.13368693 -0.57824087 10.61992045] [-0.0875144 0.99038238 0.10716331 0.19202043] [ 0.5870059 -0.03564477 0.80879758 1.24888006] [ 0. 0. 0. 1. ]] SLAMing on 113.32538475 meters Centerline goodness [0,1] 0.8711118951020168 Centerline is valid? [False, False] Translation: X:10.61, Y:0.19, Z:1.25 [[ 0.80568778 0.13207983 -0.57742715 10.61331598] [-0.08647562 0.9906063 0.10592984 0.18601194] [ 0.58599417 -0.035413 0.80954107 1.24838764] [ 0. 0. 0. 1. ]] SLAMing on 113.35538474999998 meters Centerline goodness [0,1] 0.8852821510702282 Centerline is valid? [False, False] Translation: X:10.61, Y:0.18, Z:1.25 [[ 0.80657915 0.12831071 -0.57703244 10.61224653] [-0.08383913 0.99112117 0.10319796 0.18023905] [ 0.58515048 -0.03485943 0.81017513 1.24687652] [ 0. 0. 0. 1. ]] SLAMing on 113.38538474999999 meters Centerline goodness [0,1] 0.8967072085434589 Centerline is valid? [False, False] Translation: X:10.61, Y:0.18, Z:1.25 [[ 0.80638922 0.12825773 -0.5773096 10.61395682] [-0.08340049 0.99110636 0.10369445 0.17655741] [ 0.58547483 -0.03547019 0.80991425 1.24741307] [ 0. 0. 0. 1. ]] SLAMing on 113.41538474999999 meters Centerline goodness [0,1] 0.8743143475553711 Centerline is valid? [False, False] Translation: X:10.62, Y:0.17, Z:1.25 [[ 0.80618229 0.12810805 -0.57763176 10.61567259] [-0.08287777 0.99110364 0.1041386 0.17289022] [ 0.58583393 -0.03608186 0.80962751 1.24808073] [ 0. 0. 0. 1. ]] SLAMing on 113.44538474999999 meters Centerline goodness [0,1] 0.908289188538406 Centerline is valid? [False, False] Translation: X:10.61, Y:0.17, Z:1.25 [[ 0.80783144 0.12088505 -0.57688402 10.60888506] [-0.07823795 0.99207381 0.09832794 0.16619276] [ 0.5841979 -0.03429818 0.81088621 1.24591779] [ 0. 0. 0. 1. ]] SLAMing on 113.47538474999999 meters Centerline goodness [0,1] 0.8972047160992672 Centerline is valid? [False, False] Translation: X:10.61, Y:0.16, Z:1.25 [[ 0.80848611 0.11675411 -0.57681772 10.6065783 ] [-0.07531143 0.99259063 0.09535212 0.16328623] [ 0.58367662 -0.0336499 0.81128866 1.2455999 ] [ 0. 0. 0. 1. ]] SLAMing on 113.50538474999999 meters Centerline goodness [0,1] 0.9252101095300221 Centerline is valid? [False, False] Translation: X:10.61, Y:0.16, Z:1.25 [[ 0.80891619 0.1090063 -0.57773023 10.61060678] [-0.06917139 0.9934823 0.09059933 0.15865168] [ 0.58384066 -0.03332486 0.81118404 1.24600553] [ 0. 0. 0. 1. ]] SLAMing on 113.53538474999999 meters Centerline goodness [0,1] 0.9350475262003413 Centerline is valid? [False, False] Translation: X:10.61, Y:0.16, Z:1.25 [[ 0.80866408 0.1078586 -0.5782983 10.61475864] [-0.06791623 0.9935921 0.09034445 0.15662892] [ 0.58433705 -0.03378248 0.8108076 1.24648276] [ 0. 0. 0. 1. ]] SLAMing on 113.56538474999999 meters Centerline goodness [0,1] 0.9334929992630803 Centerline is valid? [False, False] Translation: X:10.62, Y:0.15, Z:1.25 [[ 0.80916899 0.09953132 -0.57908467 10.62219277] [-0.06133392 0.99447227 0.08522351 0.15327048] [ 0.58436606 -0.03344269 0.81080078 1.24592815] [ 0. 0. 0. 1. ]] SLAMing on 113.59538475 meters Centerline goodness [0,1] 0.9293809670465045 Centerline is valid? [False, False] Translation: X:10.63, Y:0.15, Z:1.25 [[ 0.80890948 0.09818354 -0.57967702 10.6263765 ] [-0.05995303 0.99459276 0.08479906 0.1518991 ] [ 0.58486844 -0.03384137 0.81042191 1.24644047] [ 0. 0. 0. 1. ]] SLAMing on 113.62538475 meters Centerline goodness [0,1] 0.9248758214296733 Centerline is valid? [False, False] Translation: X:10.63, Y:0.15, Z:1.25 [[ 0.80866929 0.09675281 -0.58025242 10.63046153] [-0.05856504 0.99472266 0.08424345 0.14916527] [ 0.58534103 -0.03414259 0.810068 1.24675286] [ 0. 0. 0. 1. ]] SLAMing on 113.65538475 meters Centerline goodness [0,1] 0.9289482615000154 Centerline is valid? [False, False] Translation: X:10.63, Y:0.15, Z:1.25 [[ 0.80851353 0.09697355 -0.58043261 10.63024494] [-0.05860195 0.99469405 0.08455512 0.14817524] [ 0.58555247 -0.03434947 0.80990643 1.24739594] [ 0. 0. 0. 1. ]] SLAMing on 113.68538475 meters Centerline goodness [0,1] 0.9280190546894334 Centerline is valid? [False, False] Translation: X:10.63, Y:0.15, Z:1.25 [[ 0.80832149 0.09716308 -0.58066833 10.63010969] [-0.05857002 0.99466615 0.08490461 0.14716563] [ 0.58582073 -0.03462047 0.80970087 1.24823204] [ 0. 0. 0. 1. ]] SLAMing on 113.71538475 meters Centerline goodness [0,1] 0.9230221175887492 Centerline is valid? [False, False] Translation: X:10.63, Y:0.15, Z:1.25 [[ 0.80818476 0.09735007 -0.58082731 10.62966239] [-0.05847023 0.99463401 0.08534884 0.14579364] [ 0.58601931 -0.03501652 0.80954012 1.24915839] [ 0. 0. 0. 1. ]] SLAMing on 113.74538474999999 meters Centerline goodness [0,1] 0.9290940658522974 Centerline is valid? [False, False] Translation: X:10.63, Y:0.14, Z:1.25 [[ 0.80812155 0.09768 -0.58085986 10.62865459] [-0.05833147 0.9945775 0.08609893 0.14452558] [ 0.58612029 -0.035696 0.80943733 1.2504047 ] [ 0. 0. 0. 1. ]] SLAMing on 113.77538474999999 meters Centerline goodness [0,1] 0.9310408979566525 Centerline is valid? [False, False] Translation: X:10.63, Y:0.14, Z:1.25 [[ 0.8080271 0.09809561 -0.58092122 10.62746643] [-0.05846994 0.99452505 0.08660942 0.14429312] [ 0.58623671 -0.03601632 0.80933883 1.25130282] [ 0. 0. 0. 1. ]] SLAMing on 113.80538474999999 meters Centerline goodness [0,1] 0.9319522951736132 Centerline is valid? [False, False] Translation: X:10.63, Y:0.15, Z:1.25 [[ 0.80813383 0.09852856 -0.58069943 10.62621265] [-0.05876163 0.99447733 0.08695921 0.1451996 ] [ 0.58606039 -0.03615184 0.80946048 1.25151297] [ 0. 0. 0. 1. ]] SLAMing on 113.83538474999999 meters Centerline goodness [0,1] 0.9333022822543083 Centerline is valid? [False, False] Translation: X:10.63, Y:0.14, Z:1.25 [[ 0.80805411 0.09846301 -0.58082148 10.62633782] [-0.0584915 0.99447116 0.08721152 0.14495043] [ 0.58619732 -0.03649851 0.80934576 1.25222797] [ 0. 0. 0. 1. ]] SLAMing on 113.86538474999999 meters Centerline goodness [0,1] 0.9335239456754825 Centerline is valid? [False, False] Translation: X:10.63, Y:0.15, Z:1.25 [[ 0.80811069 0.09822192 -0.58078359 10.62653543] [-0.05816535 0.99448647 0.0872551 0.14526485] [ 0.58615178 -0.0367303 0.80936825 1.25256622] [ 0. 0. 0. 1. ]] SLAMing on 113.89538474999999 meters Centerline goodness [0,1] 0.935352846335111 Centerline is valid? [False, False] Translation: X:10.63, Y:0.15, Z:1.25 [[ 0.80815623 0.09880438 -0.5806214 10.6259729 ] [-0.05854332 0.99442202 0.0877355 0.14520685] [ 0.58605136 -0.03691249 0.80943269 1.25267809] [ 0. 0. 0. 1. ]] SLAMing on 113.92538474999999 meters Centerline goodness [0,1] 0.9348575688857134 Centerline is valid? [False, False] Translation: X:10.62, Y:0.14, Z:1.25 [[ 0.80856705 0.09988372 -0.57986427 10.62260556] [-0.05949844 0.99431455 0.08830921 0.14408605] [ 0.58538813 -0.0369029 0.80991291 1.25215776] [ 0. 0. 0. 1. ]] SLAMing on 113.95538475 meters Centerline goodness [0,1] 0.9346797784278335 Centerline is valid? [False, False] Translation: X:10.62, Y:0.14, Z:1.25 [[ 0.80855362 0.10065705 -0.57974925 10.62123817] [-0.0600675 0.99423246 0.08884654 0.14307072] [ 0.58534856 -0.0370131 0.80993648 1.25238441] [ 0. 0. 0. 1. ]] SLAMing on 113.98538475 meters Centerline goodness [0,1] 0.9371416173325481 Centerline is valid? [False, False] Translation: X:10.62, Y:0.14, Z:1.25 [[ 0.80870736 0.10218958 -0.57926651 10.618354 ] [-0.0613116 0.99407355 0.0897701 0.14216183] [ 0.58500709 -0.03708198 0.81018 1.25231143] [ 0. 0. 0. 1. ]] SLAMing on 114.01538475 meters Centerline goodness [0,1] 0.9377411325451152 Centerline is valid? [False, False] Translation: X:10.60, Y:0.15, Z:1.24 [[ 0.81343899 0.10009821 -0.57297239 10.60491885] [-0.05821197 0.9941449 0.09103448 0.14581154] [ 0.57872997 -0.04069715 0.81450314 1.23786579] [ 0. 0. 0. 1. ]] SLAMing on 114.04538475 meters Centerline goodness [0,1] 0.9365750528541226 Centerline is valid? [False, False] Translation: X:10.61, Y:0.15, Z:1.24 [[ 0.81341381 0.1000403 -0.57301825 10.6059079 ] [-0.05825288 0.99415725 0.09087336 0.14615218] [ 0.57876125 -0.04053768 0.81448887 1.23755885] [ 0. 0. 0. 1. ]] SLAMing on 114.07538475 meters Centerline goodness [0,1] 0.9362329638943219 Centerline is valid? [False, False] Translation: X:10.61, Y:0.15, Z:1.24 [[ 0.81337716 0.09980839 -0.57311071 10.60735984] [-0.05822016 0.99419207 0.09051263 0.1472227 ] [ 0.57881604 -0.04025431 0.81446398 1.23709928] [ 0. 0. 0. 1. ]] SLAMing on 114.10538474999998 meters Centerline goodness [0,1] 0.9353272299888655 Centerline is valid? [False, False] Translation: X:10.61, Y:0.15, Z:1.24 [[ 0.81344397 0.09973101 -0.57302935 10.6117084 ] [-0.0582757 0.9942074 0.09030827 0.14972478] [ 0.57871656 -0.04006703 0.81454391 1.23586983] [ 0. 0. 0. 1. ]] SLAMing on 114.13538474999999 meters Centerline goodness [0,1] 0.9319101609564707 Centerline is valid? [False, False] Translation: X:10.61, Y:0.15, Z:1.24 [[ 0.81319198 0.09839154 -0.57361826 10.61473339] [-0.05712017 0.99434029 0.0895805 0.14960629] [ 0.57918571 -0.04008097 0.8142097 1.23631449] [ 0. 0. 0. 1. ]] SLAMing on 114.16538474999999 meters Centerline goodness [0,1] 0.9315399634301299 Centerline is valid? [False, False] Translation: X:10.62, Y:0.15, Z:1.24 [[ 0.81300186 0.09811343 -0.57393531 10.61542623] [-0.05680096 0.99436364 0.08952428 0.14971254] [ 0.57948394 -0.04018333 0.81399242 1.23691787] [ 0. 0. 0. 1. ]] SLAMing on 114.19538474999999 meters Centerline goodness [0,1] 0.9306171843485276 Centerline is valid? [False, False] Translation: X:10.62, Y:0.15, Z:1.24 [[ 0.81347208 0.09331733 -0.57406885 10.61503528] [-0.05368801 0.99487822 0.08564423 0.15142812] [ 0.57912068 -0.03884857 0.81431568 1.23610812] [ 0. 0. 0. 1. ]] SLAMing on 114.22538474999999 meters Centerline goodness [0,1] 0.9303249433599206 Centerline is valid? [False, False] Translation: X:10.62, Y:0.15, Z:1.24 [[ 0.81327916 0.09222572 -0.57451843 10.61576835] [-0.0526461 0.99497246 0.08519497 0.15273274] [ 0.57948719 -0.03904114 0.81404569 1.23727031] [ 0. 0. 0. 1. ]] SLAMing on 114.25538474999999 meters Centerline goodness [0,1] 0.9302044983448319 Centerline is valid? [False, False] Translation: X:10.62, Y:0.15, Z:1.24 [[ 0.81321761 0.09209738 -0.57462614 10.61653576] [-0.05246835 0.99498012 0.08521519 0.15396173] [ 0.57958968 -0.03914881 0.81396755 1.23752608] [ 0. 0. 0. 1. ]] SLAMing on 114.28538474999999 meters Centerline goodness [0,1] 0.9303709642603842 Centerline is valid? [False, False] Translation: X:10.62, Y:0.16, Z:1.24 [[ 0.81322042 0.09222804 -0.57460119 10.6169639 ] [-0.05265397 0.99497324 0.08518107 0.156985 ] [ 0.57956889 -0.03901596 0.81398873 1.23743932] [ 0. 0. 0. 1. ]] SLAMing on 114.31538474999999 meters Centerline goodness [0,1] 0.9303267372296364 Centerline is valid? [False, False] Translation: X:10.62, Y:0.16, Z:1.24 [[ 0.81331242 0.09262196 -0.5744076 10.61663272] [-0.05308379 0.99494277 0.08527019 0.15859632] [ 0.57940058 -0.03885957 0.81411603 1.23709993] [ 0. 0. 0. 1. ]] SLAMing on 114.34538475 meters Centerline goodness [0,1] 0.9358060352774875 Centerline is valid? [False, False] Translation: X:10.61, Y:0.16, Z:1.24 [[ 0.81351735 0.09435055 -0.57383578 10.61248191] [-0.05473913 0.99479353 0.08596202 0.16058957] [ 0.57895868 -0.03852032 0.81444646 1.23695283] [ 0. 0. 0. 1. ]] SLAMing on 114.37538475 meters Centerline goodness [0,1] 0.9381427522037218 Centerline is valid? [False, False] Translation: X:10.61, Y:0.16, Z:1.24 [[ 0.81361221 0.09574103 -0.57347086 10.60955968] [-0.05594427 0.99466346 0.08668821 0.16124068] [ 0.57871012 -0.03844818 0.8146265 1.23711805] [ 0. 0. 0. 1. ]] SLAMing on 114.40538475 meters Centerline goodness [0,1] 0.9399908522640646 Centerline is valid? [False, False] Translation: X:10.61, Y:0.16, Z:1.24 [[ 0.81373142 0.09686749 -0.57311244 10.60729009] [-0.05713584 0.9945704 0.08697824 0.16275842] [ 0.57842603 -0.03803166 0.81484779 1.2366738 ] [ 0. 0. 0. 1. ]] SLAMing on 114.43538475 meters Centerline goodness [0,1] 0.9427277975268131 Centerline is valid? [False, False] Translation: X:10.61, Y:0.16, Z:1.24 [[ 0.81319175 0.10239624 -0.57291727 10.60673572] [-0.06116434 0.9939857 0.09083697 0.16488115] [ 0.57877293 -0.03882576 0.81456396 1.23733262] [ 0. 0. 0. 1. ]] SLAMing on 114.46538475 meters Centerline goodness [0,1] 0.941721974724975 Centerline is valid? [False, False] Translation: X:10.61, Y:0.17, Z:1.24 [[ 0.81321966 0.1027958 -0.57280609 10.60782234] [-0.06200889 0.99397824 0.0903446 0.16792087] [ 0.57864383 -0.03795093 0.8146969 1.23591227] [ 0. 0. 0. 1. ]] SLAMing on 114.49538474999999 meters Centerline goodness [0,1] 0.9413417951042611 Centerline is valid? [False, False] Translation: X:10.61, Y:0.17, Z:1.24 [[ 0.81315422 0.1025103 -0.57295013 10.60928947] [-0.06189866 0.99401665 0.089997 0.16877266] [ 0.57874759 -0.03771659 0.81463408 1.23558618] [ 0. 0. 0. 1. ]] SLAMing on 114.52538474999999 meters Centerline goodness [0,1] 0.9425203769354301 Centerline is valid? [False, False] Translation: X:10.61, Y:0.17, Z:1.24 [[ 0.81298014 0.10151204 -0.57337474 10.61191907] [-0.06119529 0.99412883 0.08923569 0.1684289 ] [ 0.57906685 -0.03745902 0.81441906 1.23533707] [ 0. 0. 0. 1. ]] SLAMing on 114.55538474999999 meters Centerline goodness [0,1] 0.9432510225723375 Centerline is valid? [False, False] Translation: X:10.61, Y:0.17, Z:1.23 [[ 0.81353164 0.09635816 -0.5734818 10.61235622] [-0.05777376 0.9946897 0.08517391 0.1685697 ] [ 0.57864364 -0.03615947 0.81477852 1.23421842] [ 0. 0. 0. 1. ]] SLAMing on 114.58538474999999 meters Centerline goodness [0,1] 0.9432472797098357 Centerline is valid? [False, False] Translation: X:10.61, Y:0.17, Z:1.23 [[ 0.81452358 0.08503865 -0.57386389 10.61344318] [-0.04970123 0.99579015 0.07701797 0.16632094] [ 0.57799751 -0.03421121 0.81532108 1.23304436] [ 0. 0. 0. 1. ]] SLAMing on 114.61538474999999 meters Centerline goodness [0,1] 0.942413803615523 Centerline is valid? [False, False] Translation: X:10.62, Y:0.17, Z:1.23 [[ 0.81432264 0.08391699 -0.57431401 10.61670306] [-0.04855735 0.99587387 0.07666431 0.16530376] [ 0.57837775 -0.03454231 0.81503743 1.23344664] [ 0. 0. 0. 1. ]] SLAMing on 114.64538474999999 meters Centerline goodness [0,1] 0.9362021899825169 Centerline is valid? [False, False] Translation: X:10.62, Y:0.16, Z:1.23 [[ 0.81626985 0.07959945 -0.57216034 10.62192476] [-0.0447088 0.99619521 0.07480795 0.16458981] [ 0.57593806 -0.03548287 0.81672291 1.22966605] [ 0. 0. 0. 1. ]] SLAMing on 114.67538474999999 meters Centerline goodness [0,1] 0.9343959628284817 Centerline is valid? [False, False] Translation: X:10.62, Y:0.16, Z:1.23 [[ 0.81651915 0.07396191 -0.57256102 10.62243619] [-0.04060709 0.99666102 0.07083698 0.16319489] [ 0.57588849 -0.03458972 0.81679618 1.22969594] [ 0. 0. 0. 1. ]] SLAMing on 114.70538475 meters Centerline goodness [0,1] 0.9361426855188985 Centerline is valid? [False, False] Translation: X:10.62, Y:0.16, Z:1.23 [[ 0.81711636 0.07064934 -0.57212719 10.62205243] [-0.03829224 0.99692174 0.06841599 0.16384991] [ 0.57519958 -0.0339958 0.81730638 1.22890416] [ 0. 0. 0. 1. ]] SLAMing on 114.73538475 meters Centerline goodness [0,1] 0.9352500231360089 Centerline is valid? [False, False] Translation: X:10.62, Y:0.16, Z:1.23 [[ 0.81700591 0.07128475 -0.5722061 10.62065999] [-0.0384349 0.99685457 0.06930892 0.16178043] [ 0.57534694 -0.03463311 0.8171759 1.23009296] [ 0. 0. 0. 1. ]] SLAMing on 114.76538475 meters Centerline goodness [0,1] 0.9379789864029666 Centerline is valid? [False, False] Translation: X:10.62, Y:0.16, Z:1.23 [[ 0.81687584 0.07178922 -0.57232872 10.61952554] [-0.03861408 0.996805 0.06991951 0.16095785] [ 0.5755196 -0.03501561 0.817038 1.23105913] [ 0. 0. 0. 1. ]] SLAMing on 114.79538475 meters Centerline goodness [0,1] 0.938468211674309 Centerline is valid? [False, False] Translation: X:10.61, Y:0.16, Z:1.23 [[ 0.81753458 0.06854722 -0.57178535 10.61458545] [-0.03643431 0.9970581 0.06743658 0.16107042] [ 0.5747258 -0.03429914 0.81762695 1.23105597] [ 0. 0. 0. 1. ]] SLAMing on 114.82538475 meters Centerline goodness [0,1] 0.938213898777279 Centerline is valid? [False, False] Translation: X:10.61, Y:0.16, Z:1.23 [[ 0.81748891 0.06862318 -0.57184153 10.61415556] [-0.03628852 0.9970407 0.06777164 0.1613296 ] [ 0.57479998 -0.03465128 0.81755995 1.23178979] [ 0. 0. 0. 1. ]] SLAMing on 114.85538474999998 meters Centerline goodness [0,1] 0.936035758323058 Centerline is valid? [False, False] Translation: X:10.62, Y:0.16, Z:1.23 [[ 0.81739875 0.06749515 -0.57210461 10.61661775] [-0.03545587 0.99712416 0.06697981 0.1636291 ] [ 0.57498014 -0.03446474 0.81744114 1.2316804 ] [ 0. 0. 0. 1. ]] SLAMing on 114.88538474999999 meters Centerline goodness [0,1] 0.9323305957983452 Centerline is valid? [False, False] Translation: X:10.62, Y:0.17, Z:1.23 [[ 0.81717787 0.0660679 -0.57258656 10.61957372] [-0.03431455 0.99722333 0.06609194 0.1653306 ] [ 0.57536323 -0.03436082 0.81717592 1.23195704] [ 0. 0. 0. 1. ]] SLAMing on 114.91538474999999 meters Centerline goodness [0,1] 0.9313873098786296 Centerline is valid? [False, False] Translation: X:10.62, Y:0.17, Z:1.23 [[ 0.81696125 0.0649442 -0.57302406 10.62195427] [-0.03344562 0.99730196 0.06534665 0.16703521] [ 0.5757219 -0.03422054 0.81692916 1.23222627] [ 0. 0. 0. 1. ]] SLAMing on 114.94538474999999 meters Centerline goodness [0,1] 0.9306873125650285 Centerline is valid? [False, False] Translation: X:10.62, Y:0.17, Z:1.23 [[ 0.81677137 0.06412471 -0.57338692 10.62480373] [-0.03323976 0.99738374 0.0641934 0.17102092] [ 0.57600317 -0.03337209 0.81676597 1.23143473] [ 0. 0. 0. 1. ]] SLAMing on 114.97538474999999 meters Centerline goodness [0,1] 0.9306873125650285 Centerline is valid? [False, False] Translation: X:10.62, Y:0.17, Z:1.23 [[ 0.81677137 0.06412471 -0.57338692 10.62480373] [-0.03323976 0.99738374 0.0641934 0.17102092] [ 0.57600317 -0.03337209 0.81676597 1.23143473] [ 0. 0. 0. 1. ]] SLAMing on 115.00538474999999 meters Centerline goodness [0,1] 0.931836211631171 Centerline is valid? [False, False] Translation: X:10.63, Y:0.17, Z:1.23 [[ 0.81665581 0.06356132 -0.5736142 10.6270963 ] [-0.03305722 0.99743669 0.06346081 0.17393991] [ 0.5761775 -0.03286354 0.81666362 1.23090603] [ 0. 0. 0. 1. ]] SLAMing on 115.03538474999999 meters Centerline goodness [0,1] 0.932571254381954 Centerline is valid? [False, False] Translation: X:10.62, Y:0.18, Z:1.23 [[ 0.81690267 0.05866397 -0.57378443 10.62394029] [-0.0298527 0.99778111 0.05951198 0.17726179] [ 0.57600247 -0.03148649 0.81684133 1.23144324] [ 0. 0. 0. 1. ]] SLAMing on 115.06538474999999 meters Centerline goodness [0,1] 0.9335033703771178 Centerline is valid? [False, False] Translation: X:10.62, Y:0.18, Z:1.23 [[ 0.81677434 0.058359 -0.57399818 10.62482896] [-0.0297925 0.99781006 0.05905498 0.17997218] [ 0.57618755 -0.03113375 0.81672431 1.2314797 ] [ 0. 0. 0. 1. ]] SLAMing on 115.09538475 meters Centerline goodness [0,1] 0.9320364888539842 Centerline is valid? [False, False] Translation: X:10.63, Y:0.18, Z:1.23 [[ 0.81571572 0.06651766 -0.57461576 10.63090188] [-0.0354254 0.99724633 0.06515213 0.18311231] [ 0.57736722 -0.03278962 0.81582592 1.23222338] [ 0. 0. 0. 1. ]] SLAMing on 115.12538475 meters Centerline goodness [0,1] 0.9320262618961571 Centerline is valid? [False, False] Translation: X:10.63, Y:0.18, Z:1.23 [[ 0.81514568 0.07152219 -0.57482354 10.63256386] [-0.03886111 0.99686457 0.06892631 0.18440627] [ 0.57795098 -0.03384671 0.81536928 1.2330005 ] [ 0. 0. 0. 1. ]] SLAMing on 115.15538475 meters Centerline goodness [0,1] 0.9337967560410461 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.23 [[ 0.81531856 0.07350355 -0.5743282 10.62804292] [-0.04057688 0.99672423 0.06995944 0.18606276] [ 0.5775891 -0.03373479 0.81563031 1.2332332 ] [ 0. 0. 0. 1. ]] SLAMing on 115.18538475 meters Centerline goodness [0,1] 0.936827594473913 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.23 [[ 0.81534502 0.07493822 -0.57410518 10.6252004 ] [-0.04177161 0.99661801 0.07076493 0.18683103] [ 0.57746656 -0.03371654 0.81571782 1.23360658] [ 0. 0. 0. 1. ]] SLAMing on 115.21538474999998 meters Centerline goodness [0,1] 0.9380738073807381 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.23 [[ 0.81531735 0.07593103 -0.57401401 10.62304498] [-0.04256742 0.9965418 0.07136148 0.18716244] [ 0.57744751 -0.03374796 0.81573001 1.23411768] [ 0. 0. 0. 1. ]] SLAMing on 115.24538474999999 meters Centerline goodness [0,1] 0.9401033929526412 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.23 [[ 0.81502686 0.079739 -0.5739102 10.62063991] [-0.04541178 0.9962293 0.07392534 0.18912843] [ 0.57764088 -0.03418885 0.81557472 1.23485241] [ 0. 0. 0. 1. ]] SLAMing on 115.27538474999999 meters Centerline goodness [0,1] 0.9425709713743851 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.23 [[ 0.81509658 0.08091007 -0.57364722 10.6195168 ] [-0.04661518 0.99614837 0.07426613 0.19204137] [ 0.57744661 -0.0337934 0.81572876 1.23422412] [ 0. 0. 0. 1. ]] SLAMing on 115.30538474999999 meters Centerline goodness [0,1] 0.9424148974024433 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.23 [[ 0.81526802 0.0815951 -0.57330646 10.61825395] [-0.0472683 0.99609635 0.07455043 0.19274611] [ 0.57715143 -0.03367936 0.81594236 1.23385631] [ 0. 0. 0. 1. ]] SLAMing on 115.33538474999999 meters Centerline goodness [0,1] 0.9430771508958982 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.23 [[ 0.8152024 0.08209132 -0.57332894 10.6173122 ] [-0.04765787 0.99605493 0.0748552 0.19320576] [ 0.57721208 -0.03369851 0.81589866 1.23421806] [ 0. 0. 0. 1. ]] SLAMing on 115.36538474999999 meters Centerline goodness [0,1] 0.938679944281438 Centerline is valid? [False, False] Translation: X:10.61, Y:0.19, Z:1.23 [[ 0.81531258 0.08336124 -0.57298891 10.61481567] [-0.04875655 0.99595159 0.07551968 0.19285611] [ 0.57696464 -0.03363518 0.81607627 1.23415874] [ 0. 0. 0. 1. ]] SLAMing on 115.39538474999999 meters Centerline goodness [0,1] 0.9221056375600214 Centerline is valid? [False, False] Translation: X:10.61, Y:0.19, Z:1.23 [[ 0.81546906 0.08410521 -0.57265742 10.61442293] [-0.04972002 0.99590806 0.07546558 0.19361557] [ 0.57666119 -0.03306731 0.81631393 1.23299636] [ 0. 0. 0. 1. ]] SLAMing on 115.42538474999999 meters Centerline goodness [0,1] 0.9279228653396824 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.23 [[ 0.81549411 0.08414148 -0.57261643 10.61509538] [-0.0498825 0.99591238 0.07530113 0.19390281] [ 0.57661174 -0.03284409 0.81635787 1.23256636] [ 0. 0. 0. 1. ]] SLAMing on 115.45538475 meters Centerline goodness [0,1] 0.8877972038350797 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.23 [[ 0.81558436 0.0841519 -0.57248634 10.61600608] [-0.0501637 0.99592626 0.07492993 0.19342184] [ 0.57645967 -0.03239365 0.81648325 1.23152947] [ 0. 0. 0. 1. ]] SLAMing on 115.48538475 meters Centerline goodness [0,1] 0.910942681193747 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.23 [[ 0.81554966 0.08437993 -0.57250221 10.6158779 ] [-0.05032759 0.99590585 0.07509108 0.1928005 ] [ 0.57649448 -0.03242785 0.81645731 1.23165092] [ 0. 0. 0. 1. ]] SLAMing on 115.51538475 meters Centerline goodness [0,1] 0.9180962592327853 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.23 [[ 0.81563527 0.0846364 -0.57234237 10.61562291] [-0.05056046 0.99588464 0.07521581 0.19169184] [ 0.57635297 -0.03241077 0.81655789 1.23132807] [ 0. 0. 0. 1. ]] SLAMing on 115.54538475 meters Centerline goodness [0,1] 0.9294871794871795 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.23 [[ 0.81612096 0.07961362 -0.57237073 10.61539241] [-0.04719646 0.99633844 0.07128961 0.1925571 ] [ 0.57595058 -0.03116707 0.81689017 1.23048335] [ 0. 0. 0. 1. ]] SLAMing on 115.57538475 meters Centerline goodness [0,1] 0.943717238280665 Centerline is valid? [False, False] Translation: X:10.61, Y:0.19, Z:1.23 [[ 0.81702804 0.06878975 -0.57247982 10.61424128] [-0.03945439 0.99720059 0.06351636 0.19195111] [ 0.57524649 -0.02930781 0.81745491 1.22994506] [ 0. 0. 0. 1. ]] SLAMing on 115.60538474999998 meters Centerline goodness [0,1] 0.9455686743386639 Centerline is valid? [False, False] Translation: X:10.61, Y:0.19, Z:1.23 [[ 0.81739204 0.0634837 -0.5725732 10.61303691] [-0.03562162 0.99757739 0.05975318 0.19259952] [ 0.57497944 -0.02844579 0.81767321 1.23017363] [ 0. 0. 0. 1. ]] SLAMing on 115.63538474999999 meters Centerline goodness [0,1] 0.9426511502677476 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.23 [[ 0.816848 0.06046259 -0.57367553 10.61823984] [-0.03287978 0.99775508 0.05834146 0.19398912] [ 0.57591515 -0.02879378 0.81700224 1.23169497] [ 0. 0. 0. 1. ]] SLAMing on 115.66538474999999 meters Centerline goodness [0,1] 0.9404011118749439 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.23 [[ 0.81604902 0.06329812 -0.57450617 10.62394408] [-0.03431976 0.99753789 0.06115803 0.19401058] [ 0.57696287 -0.03019104 0.8162122 1.23304866] [ 0. 0. 0. 1. ]] SLAMing on 115.69538474999999 meters Centerline goodness [0,1] 0.938433450061357 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.23 [[ 0.81595702 0.0624431 -0.57473038 10.6273695 ] [-0.03379041 0.9976013 0.06041405 0.19599221] [ 0.57712421 -0.0298749 0.81610976 1.23236406] [ 0. 0. 0. 1. ]] SLAMing on 115.72538474999999 meters Centerline goodness [0,1] 0.937098461078739 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.23 [[ 0.81547808 0.06729512 -0.57486248 10.62954101] [-0.03691896 0.99724305 0.06436842 0.19496686] [ 0.57760929 -0.03126771 0.81571431 1.23303784] [ 0. 0. 0. 1. ]] SLAMing on 115.75538474999999 meters Centerline goodness [0,1] 0.936734693877551 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.23 [[ 0.81597302 0.06338606 -0.57460441 10.6269696 ] [-0.03446844 0.99753672 0.06109352 0.19502678] [ 0.57706148 -0.03004495 0.81614787 1.23230547] [ 0. 0. 0. 1. ]] SLAMing on 115.78538474999999 meters Centerline goodness [0,1] 0.9380432494210352 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.23 [[ 0.81604387 0.0659118 -0.5742195 10.62127246] [-0.03602143 0.99734496 0.06328893 0.19188222] [ 0.57686641 -0.03096233 0.81625148 1.2339396 ] [ 0. 0. 0. 1. ]] SLAMing on 115.81538474999999 meters Centerline goodness [0,1] 0.9364616817376152 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.23 [[ 0.81621324 0.06707292 -0.5738442 10.61897736] [-0.03679291 0.99725663 0.06423006 0.19082524] [ 0.57657803 -0.03131203 0.81644187 1.23415996] [ 0. 0. 0. 1. ]] SLAMing on 115.84538475 meters Centerline goodness [0,1] 0.9405280389271018 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.23 [[ 0.81627905 0.06737738 -0.57371492 10.61852133] [-0.03697491 0.99723198 0.0645077 0.19012852] [ 0.57647322 -0.03144323 0.81651084 1.23415923] [ 0. 0. 0. 1. ]] SLAMing on 115.87538475 meters Centerline goodness [0,1] 0.9397930103494825 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.23 [[ 0.81647578 0.06749656 -0.57342089 10.61834655] [-0.03690259 0.99721335 0.06483615 0.1884661 ] [ 0.57619919 -0.03177643 0.81669134 1.23399482] [ 0. 0. 0. 1. ]] SLAMing on 115.90538475 meters Centerline goodness [0,1] 0.9415758012676099 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.23 [[ 0.81630261 0.06743351 -0.57367479 10.61902189] [-0.03668522 0.99720954 0.06501785 0.18715156] [ 0.57645836 -0.03202886 0.81649857 1.23456629] [ 0. 0. 0. 1. ]] SLAMing on 115.93538475 meters Centerline goodness [0,1] 0.9389831531912324 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.23 [[ 0.81669057 0.06303895 -0.57362236 10.61866668] [-0.03395556 0.99754273 0.06128223 0.18633169] [ 0.57607598 -0.03057095 0.81682426 1.23330141] [ 0. 0. 0. 1. ]] SLAMing on 115.96538474999998 meters Centerline goodness [0,1] 0.938459219056234 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.23 [[ 0.8166431 0.06312005 -0.57368101 10.61907632] [-0.03392857 0.99753289 0.06145715 0.18531281] [ 0.57614486 -0.03072438 0.81676993 1.23345636] [ 0. 0. 0. 1. ]] SLAMing on 115.99538474999999 meters Centerline goodness [0,1] 0.9359534645408241 Centerline is valid? [False, False] Translation: X:10.62, Y:0.18, Z:1.23 [[ 0.81662594 0.06298195 -0.57372062 10.6200227 ] [-0.0337682 0.99753922 0.06144276 0.18463875] [ 0.57617861 -0.03080224 0.81674319 1.23336439] [ 0. 0. 0. 1. ]] SLAMing on 116.02538474999999 meters Centerline goodness [0,1] 0.9390048639013927 Centerline is valid? [False, False] Translation: X:10.62, Y:0.18, Z:1.23 [[ 0.81665186 0.06280674 -0.57370293 10.62084254] [-0.03353404 0.99754529 0.06147246 0.18281968] [ 0.57615554 -0.03096302 0.81675338 1.23324897] [ 0. 0. 0. 1. ]] SLAMing on 116.05538474999999 meters Centerline goodness [0,1] 0.9411853735319046 Centerline is valid? [False, False] Translation: X:10.62, Y:0.18, Z:1.23 [[ 0.81676206 0.06316256 -0.57350695 10.61998392] [-0.03366771 0.9975136 0.06191206 0.18111688] [ 0.57599151 -0.03125876 0.8168578 1.23339875] [ 0. 0. 0. 1. ]] SLAMing on 116.08538474999999 meters Centerline goodness [0,1] 0.9411693499576322 Centerline is valid? [False, False] Translation: X:10.62, Y:0.18, Z:1.23 [[ 0.81674233 0.06339295 -0.57350963 10.61965718] [-0.03374668 0.99749309 0.06219893 0.18056279] [ 0.57601487 -0.03144645 0.81683413 1.23374746] [ 0. 0. 0. 1. ]] SLAMing on 116.11538474999999 meters Centerline goodness [0,1] 0.9417036271948478 Centerline is valid? [False, False] Translation: X:10.62, Y:0.18, Z:1.23 [[ 0.81676772 0.06426171 -0.57337677 10.61758752] [-0.0343051 0.99742878 0.06292055 0.17898493] [ 0.57594587 -0.03172172 0.81687214 1.23431125] [ 0. 0. 0. 1. ]] SLAMing on 116.14538474999999 meters Centerline goodness [0,1] 0.9440126305562303 Centerline is valid? [False, False] Translation: X:10.62, Y:0.18, Z:1.23 [[ 0.81678602 0.06453119 -0.57332044 10.61714294] [-0.03456071 0.99741313 0.06302854 0.17903517] [ 0.57590464 -0.03166647 0.81690335 1.23429772] [ 0. 0. 0. 1. ]] SLAMing on 116.17538474999999 meters Centerline goodness [0,1] 0.9460842188114915 Centerline is valid? [False, False] Translation: X:10.62, Y:0.18, Z:1.23 [[ 0.81699428 0.06558341 -0.57290415 10.61621593] [-0.03575022 0.9973609 0.06319138 0.18116987] [ 0.57553651 -0.03114554 0.81718277 1.23317233] [ 0. 0. 0. 1. ]] SLAMing on 116.20538475 meters Centerline goodness [0,1] 0.9446646295343841 Centerline is valid? [False, False] Translation: X:10.62, Y:0.18, Z:1.23 [[ 0.81704726 0.06563207 -0.57282302 10.6169209 ] [-0.03592566 0.99736469 0.06303194 0.1823816 ] [ 0.57545037 -0.03092103 0.81725196 1.23267987] [ 0. 0. 0. 1. ]] SLAMing on 116.23538475 meters Centerline goodness [0,1] 0.941064235743057 Centerline is valid? [False, False] Translation: X:10.62, Y:0.18, Z:1.23 [[ 0.81741116 0.0592416 -0.57300037 10.61876915] [-0.0313745 0.9977999 0.0584038 0.18274676] [ 0.57519964 -0.02976231 0.81747145 1.23193663] [ 0. 0. 0. 1. ]] SLAMing on 116.26538475 meters Centerline goodness [0,1] 0.9411514765243255 Centerline is valid? [False, False] Translation: X:10.62, Y:0.18, Z:1.23 [[ 0.81710535 0.05804608 -0.57355862 10.62159811] [-0.03021365 0.99786253 0.05794399 0.18286721] [ 0.57569608 -0.03001705 0.8171126 1.23268642] [ 0. 0. 0. 1. ]] SLAMing on 116.29538475 meters Centerline goodness [0,1] 0.9381077887848769 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.23 [[ 0.81680379 0.05600983 -0.57419028 10.62669217] [-0.0286593 0.99798661 0.05658061 0.18517703] [ 0.57620328 -0.02975937 0.81676445 1.23247654] [ 0. 0. 0. 1. ]] SLAMing on 116.32538475 meters Centerline goodness [0,1] 0.9367080933616247 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.23 [[ 0.81673637 0.05602729 -0.57428447 10.62711866] [-0.02861449 0.99798292 0.05666841 0.18547889] [ 0.57630106 -0.02985029 0.81669213 1.23270907] [ 0. 0. 0. 1. ]] SLAMing on 116.35538474999998 meters Centerline goodness [0,1] 0.9361605245583147 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.23 [[ 0.81705575 0.05016234 -0.57437239 10.62722228] [-0.02459069 0.99833343 0.0522079 0.18777304] [ 0.57603403 -0.02853255 0.81692759 1.23221812] [ 0. 0. 0. 1. ]] SLAMing on 116.38538474999999 meters Centerline goodness [0,1] 0.9367234727664875 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.23 [[ 0.81690526 0.05025531 -0.57457828 10.62623822] [-0.02442507 0.99831737 0.05259125 0.18746898] [ 0.57625446 -0.02892795 0.81675821 1.23343406] [ 0. 0. 0. 1. ]] SLAMing on 116.41538474999999 meters Centerline goodness [0,1] 0.9381633455293157 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.23 [[ 0.81696606 0.05081164 -0.57444289 10.62411458] [-0.0249036 0.99829004 0.05288491 0.18900589] [ 0.57614778 -0.02889948 0.81683447 1.23390078] [ 0. 0. 0. 1. ]] SLAMing on 116.44538474999999 meters Centerline goodness [0,1] 0.9397187678781127 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.23 [[ 0.8169924 0.05122944 -0.57436832 10.62374292] [-0.02545393 0.9982789 0.052833 0.19134902] [ 0.57608638 -0.02854423 0.81689027 1.2335941 ] [ 0. 0. 0. 1. ]] SLAMing on 116.47538474999999 meters Centerline goodness [0,1] 0.9420085713429436 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.23 [[ 0.81715086 0.052003 -0.57407331 10.62266729] [-0.02636007 0.99825152 0.052906 0.19382578] [ 0.57582082 -0.02809958 0.81709289 1.23294657] [ 0. 0. 0. 1. ]] SLAMing on 116.50538474999999 meters Centerline goodness [0,1] 0.9470556617295748 Centerline is valid? [False, False] Translation: X:10.62, Y:0.20, Z:1.23 [[ 0.81721785 0.05699873 -0.57350338 10.61773149] [-0.03043441 0.997977 0.05581811 0.19600055] [ 0.57552474 -0.02816132 0.81729934 1.23280565] [ 0. 0. 0. 1. ]] SLAMing on 116.53538474999999 meters Centerline goodness [0,1] 0.94949011633123 Centerline is valid? [False, False] Translation: X:10.62, Y:0.20, Z:1.23 [[ 0.81751616 0.05819398 -0.57295793 10.61579608] [-0.03165592 0.99791821 0.05618844 0.19715646] [ 0.57503498 -0.02779745 0.81765645 1.23193327] [ 0. 0. 0. 1. ]] SLAMing on 116.56538474999999 meters Centerline goodness [0,1] 0.946825681492109 Centerline is valid? [False, False] Translation: X:10.61, Y:0.20, Z:1.23 [[ 0.81771087 0.06021909 -0.57247061 10.61291217] [-0.03370897 0.99781565 0.05681228 0.1985058 ] [ 0.57464132 -0.02715863 0.81795462 1.23096743] [ 0. 0. 0. 1. ]] SLAMing on 116.59538475 meters Centerline goodness [0,1] 0.9417662244101579 Centerline is valid? [False, False] Translation: X:10.61, Y:0.20, Z:1.23 [[ 0.8179824 0.0615347 -0.57194255 10.61174763] [-0.03520185 0.99775327 0.05700216 0.19955187] [ 0.57416516 -0.02649333 0.81831075 1.22945858] [ 0. 0. 0. 1. ]] SLAMing on 116.62538475 meters Centerline goodness [0,1] 0.9288609951653104 Centerline is valid? [False, False] Translation: X:10.61, Y:0.20, Z:1.23 [[ 0.81797219 0.06175179 -0.57193375 10.61157291] [-0.03539668 0.99774064 0.05710237 0.19924891] [ 0.57416772 -0.02646359 0.81830991 1.22947063] [ 0. 0. 0. 1. ]] SLAMing on 116.65538475 meters Centerline goodness [0,1] 0.940362825458052 Centerline is valid? [False, False] Translation: X:10.61, Y:0.20, Z:1.23 [[ 0.8183692 0.05660495 -0.57189836 10.61176946] [-0.03185696 0.99807557 0.05320047 0.19875042] [ 0.5738092 -0.02531869 0.81859756 1.22865034] [ 0. 0. 0. 1. ]] SLAMing on 116.68538475 meters Centerline goodness [0,1] 0.9420498515252407 Centerline is valid? [False, False] Translation: X:10.61, Y:0.20, Z:1.23 [[ 0.81804829 0.05555465 -0.5724602 10.6142555 ] [-0.03070527 0.99812311 0.05298532 0.19765615] [ 0.57432933 -0.02576701 0.81821872 1.22960735] [ 0. 0. 0. 1. ]] SLAMing on 116.71538474999998 meters Centerline goodness [0,1] 0.9454802005463989 Centerline is valid? [False, False] Translation: X:10.62, Y:0.20, Z:1.23 [[ 0.81776512 0.05317317 -0.57309059 10.61901062] [-0.02837357 0.99823703 0.05213228 0.19613936] [ 0.57485228 -0.02637133 0.81783214 1.23037298] [ 0. 0. 0. 1. ]] SLAMing on 116.74538474999999 meters Centerline goodness [0,1] 0.9426370638876302 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.23 [[ 0.81751553 0.05245929 -0.57351232 10.62114421] [-0.0275466 0.99826474 0.05204505 0.19491479] [ 0.57524738 -0.02674932 0.817542 1.23102583] [ 0. 0. 0. 1. ]] SLAMing on 116.77538474999999 meters Centerline goodness [0,1] 0.9413432250671009 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.23 [[ 0.81737783 0.05133744 -0.57381003 10.62345318] [-0.02617349 0.99830235 0.0520323 0.19162116] [ 0.57550711 -0.02751143 0.81733389 1.23183851] [ 0. 0. 0. 1. ]] SLAMing on 116.80538474999999 meters Centerline goodness [0,1] 0.9431012543173969 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.23 [[ 0.81735245 0.05170088 -0.57381355 10.62261965] [-0.02613991 0.99826767 0.05271015 0.18932159] [ 0.57554468 -0.02808333 0.81728798 1.23263665] [ 0. 0. 0. 1. ]] SLAMing on 116.83538474999999 meters Centerline goodness [0,1] 0.9457326548645602 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.23 [[ 0.8181397 0.04886623 -0.57293937 10.61753875] [-0.02419769 0.99842569 0.05060257 0.18627889] [ 0.57451014 -0.02753617 0.81803414 1.23202597] [ 0. 0. 0. 1. ]] SLAMing on 116.86538474999999 meters Centerline goodness [0,1] 0.9458567587386947 Centerline is valid? [False, False] Translation: X:10.62, Y:0.18, Z:1.23 [[ 0.81813057 0.04976221 -0.57287529 10.61561088] [-0.02451378 0.99836107 0.05171315 0.18376357] [ 0.57450975 -0.02826478 0.81800957 1.23312582] [ 0. 0. 0. 1. ]] SLAMing on 116.89538474999999 meters Centerline goodness [0,1] 0.9458567587386947 Centerline is valid? [False, False] Translation: X:10.62, Y:0.18, Z:1.23 [[ 0.81813057 0.04976221 -0.57287529 10.61561088] [-0.02451378 0.99836107 0.05171315 0.18376357] [ 0.57450975 -0.02826478 0.81800957 1.23312582] [ 0. 0. 0. 1. ]] SLAMing on 116.92538474999999 meters Centerline goodness [0,1] 0.9472346420040424 Centerline is valid? [False, False] Translation: X:10.61, Y:0.18, Z:1.23 [[ 0.81814799 0.05010467 -0.57282055 10.61464012] [-0.0243917 0.99832376 0.05248531 0.1812248 ] [ 0.57449013 -0.02896869 0.81799872 1.23402926] [ 0. 0. 0. 1. ]] SLAMing on 116.95538475 meters Centerline goodness [0,1] 0.9462028236596844 Centerline is valid? [False, False] Translation: X:10.61, Y:0.18, Z:1.23 [[ 0.81815918 0.05001977 -0.57281199 10.61471893] [-0.02383844 0.99830323 0.05312609 0.17866222] [ 0.57449741 -0.02981065 0.81796335 1.23487905] [ 0. 0. 0. 1. ]] SLAMing on 116.98538475 meters Centerline goodness [0,1] 0.9412509652509653 Centerline is valid? [False, False] Translation: X:10.62, Y:0.18, Z:1.23 [[ 0.81841143 0.04365599 -0.57297198 10.61716847] [-0.01935006 0.99863818 0.04844955 0.17872911] [ 0.57430681 -0.02856462 0.81814165 1.23385687] [ 0. 0. 0. 1. ]] SLAMing on 117.01538475 meters Centerline goodness [0,1] 0.9435349867684165 Centerline is valid? [False, False] Translation: X:10.62, Y:0.18, Z:1.23 [[ 0.81831686 0.04327595 -0.57313586 10.61834425] [-0.01890209 0.99864834 0.04841708 0.1776302 ] [ 0.57445646 -0.02878705 0.81802878 1.23414841] [ 0. 0. 0. 1. ]] SLAMing on 117.04538475 meters Centerline goodness [0,1] 0.9398166723249283 Centerline is valid? [False, False] Translation: X:10.62, Y:0.18, Z:1.23 [[ 0.81820562 0.04204539 -0.57338621 10.62201179] [-0.01813 0.9987132 0.04736286 0.17788516] [ 0.57463977 -0.02835707 0.81791504 1.23319912] [ 0. 0. 0. 1. ]] SLAMing on 117.07538475 meters Centerline goodness [0,1] 0.9395354591284446 Centerline is valid? [False, False] Translation: X:10.62, Y:0.18, Z:1.23 [[ 0.8179103 0.04133373 -0.57385909 10.62346029] [-0.01725042 0.99872942 0.04734944 0.1762928 ] [ 0.57508709 -0.02882828 0.81758411 1.2342985 ] [ 0. 0. 0. 1. ]] SLAMing on 117.10538474999998 meters Centerline goodness [0,1] 0.9366245196479485 Centerline is valid? [False, False] Translation: X:10.63, Y:0.18, Z:1.23 [[ 0.81765263 0.03971507 -0.5743404 10.6274645 ] [-0.01596758 0.99879838 0.04633386 0.17593702] [ 0.57549041 -0.02871418 0.81730428 1.23417808] [ 0. 0. 0. 1. ]] SLAMing on 117.13538474999999 meters Centerline goodness [0,1] 0.9388426673289457 Centerline is valid? [False, False] Translation: X:10.63, Y:0.18, Z:1.23 [[ 0.81757516 0.03952909 -0.57446349 10.62835104] [-0.01578106 0.99880437 0.04626862 0.17571507] [ 0.5756056 -0.02876244 0.81722146 1.23424251] [ 0. 0. 0. 1. ]] SLAMing on 117.16538474999999 meters Centerline goodness [0,1] 0.9370668489915157 Centerline is valid? [False, False] Translation: X:10.63, Y:0.18, Z:1.23 [[ 0.81758374 0.03956804 -0.5744486 10.62844974] [-0.01580848 0.99880257 0.04629814 0.1755391 ] [ 0.57559266 -0.02877145 0.81723025 1.23423369] [ 0. 0. 0. 1. ]] SLAMing on 117.19538474999999 meters Centerline goodness [0,1] 0.93733494889241 Centerline is valid? [False, False] Translation: X:10.63, Y:0.18, Z:1.23 [[ 0.81751399 0.03983866 -0.57452916 10.62822795] [-0.01594271 0.9987877 0.04657201 0.17555144] [ 0.57568803 -0.02891372 0.81715806 1.23461164] [ 0. 0. 0. 1. ]] SLAMing on 117.22538474999999 meters Centerline goodness [0,1] 0.937608641668736 Centerline is valid? [False, False] Translation: X:10.63, Y:0.18, Z:1.23 [[ 0.81750226 0.03975625 -0.57455156 10.62866119] [-0.01588553 0.99879156 0.04650889 0.17598707] [ 0.57570626 -0.02889407 0.81714591 1.23459299] [ 0. 0. 0. 1. ]] SLAMing on 117.25538474999999 meters Centerline goodness [0,1] 0.938098930066677 Centerline is valid? [False, False] Translation: X:10.63, Y:0.18, Z:1.23 [[ 0.81751538 0.04027296 -0.57449691 10.62776088] [-0.01629893 0.99877029 0.04682151 0.17665238] [ 0.57567609 -0.02891362 0.81716647 1.23479055] [ 0. 0. 0. 1. ]] SLAMing on 117.28538474999999 meters Centerline goodness [0,1] 0.939410800952116 Centerline is valid? [False, False] Translation: X:10.63, Y:0.18, Z:1.24 [[ 0.81746091 0.04118598 -0.57450969 10.62619232] [-0.01694671 0.99872821 0.04748454 0.1767403 ] [ 0.57573473 -0.02908071 0.81711923 1.23540606] [ 0. 0. 0. 1. ]] SLAMing on 117.31538474999999 meters Centerline goodness [0,1] 0.9378847403099576 Centerline is valid? [False, False] Translation: X:10.63, Y:0.18, Z:1.24 [[ 0.81738811 0.04126033 -0.57460793 10.62630574] [-0.01698056 0.99872407 0.04755935 0.17759097] [ 0.57583708 -0.02911729 0.8170458 1.23567844] [ 0. 0. 0. 1. ]] SLAMing on 117.34538475 meters Centerline goodness [0,1] 0.9381226409256853 Centerline is valid? [False, False] Translation: X:10.63, Y:0.18, Z:1.24 [[ 0.81741764 0.04131009 -0.57456233 10.6263093 ] [-0.01700062 0.99872084 0.04761997 0.1782939 ] [ 0.57579456 -0.02915749 0.81707433 1.23572928] [ 0. 0. 0. 1. ]] SLAMing on 117.37538475 meters Centerline goodness [0,1] 0.9373729283469904 Centerline is valid? [False, False] Translation: X:10.62, Y:0.18, Z:1.24 [[ 0.81747697 0.04196899 -0.57443015 10.62482515] [-0.01738901 0.99868539 0.04821944 0.17821589] [ 0.57569872 -0.02942951 0.81713211 1.23620488] [ 0. 0. 0. 1. ]] SLAMing on 117.40538475 meters Centerline goodness [0,1] 0.9384800592665761 Centerline is valid? [False, False] Translation: X:10.62, Y:0.18, Z:1.24 [[ 0.81752749 0.04207895 -0.57435021 10.62431149] [-0.01737462 0.99867518 0.04843557 0.17784472] [ 0.57562742 -0.02961829 0.81717552 1.23643379] [ 0. 0. 0. 1. ]] SLAMing on 117.43538475 meters Centerline goodness [0,1] 0.9369216533004319 Centerline is valid? [False, False] Translation: X:10.62, Y:0.18, Z:1.23 [[ 0.81955915 0.03534496 -0.57190342 10.62258364] [-0.01220031 0.99894583 0.04425366 0.18042716] [ 0.57286468 -0.0292911 0.81912642 1.2334573 ] [ 0. 0. 0. 1. ]] SLAMing on 117.46538474999998 meters Centerline goodness [0,1] 0.9344049859615563 Centerline is valid? [False, False] Translation: X:10.62, Y:0.18, Z:1.23 [[ 0.81948656 0.03506438 -0.5720247 10.62269245] [-0.01189774 0.99895231 0.0441897 0.18085993] [ 0.57297488 -0.02940706 0.81904518 1.23390275] [ 0. 0. 0. 1. ]] SLAMing on 117.49538474999999 meters Centerline goodness [0,1] 0.9351316634553629 Centerline is valid? [False, False] Translation: X:10.63, Y:0.18, Z:1.24 [[ 0.81889748 0.03854991 -0.57264371 10.62572937] [-0.01401701 0.99878745 0.04719281 0.1827591 ] [ 0.57376862 -0.03061932 0.81844488 1.2353226 ] [ 0. 0. 0. 1. ]] SLAMing on 117.52538474999999 meters Centerline goodness [0,1] 0.93426628860636 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.23 [[ 0.81894773 0.03857131 -0.5725704 10.62629407] [-0.01431842 0.99880143 0.0468048 0.18555648] [ 0.57368946 -0.03013238 0.81851845 1.23465232] [ 0. 0. 0. 1. ]] SLAMing on 117.55538474999999 meters Centerline goodness [0,1] 0.9367734102291698 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.23 [[ 0.81871016 0.04422915 -0.57250105 10.62564609] [-0.01856446 0.99854667 0.05059547 0.18804663] [ 0.57390681 -0.03079485 0.8183414 1.23492832] [ 0. 0. 0. 1. ]] SLAMing on 117.58538474999999 meters Centerline goodness [0,1] 0.9387298612580479 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.23 [[ 0.81871283 0.04459063 -0.57246919 10.62559417] [-0.01920379 0.99854878 0.05031454 0.1901646 ] [ 0.57388197 -0.03019958 0.81838101 1.23432191] [ 0. 0. 0. 1. ]] SLAMing on 117.61538474999999 meters Centerline goodness [0,1] 0.9424048908931327 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.23 [[ 0.8186982 0.04511084 -0.57244937 10.62524696] [-0.01995461 0.99854234 0.0501499 0.19214829] [ 0.57387723 -0.02963463 0.81840498 1.23381806] [ 0. 0. 0. 1. ]] SLAMing on 117.64538474999999 meters Centerline goodness [0,1] 0.9428312980551786 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.23 [[ 0.81831462 0.05121991 -0.57248381 10.62438089] [-0.02437916 0.99821817 0.05446237 0.19249813] [ 0.57425329 -0.03061068 0.81810521 1.23454732] [ 0. 0. 0. 1. ]] SLAMing on 117.67538474999999 meters Centerline goodness [0,1] 0.9423111755116826 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.23 [[ 0.81823431 0.05109335 -0.57260989 10.62513192] [-0.0243601 0.99822958 0.05426141 0.19281216] [ 0.57436852 -0.03044971 0.81803033 1.23442831] [ 0. 0. 0. 1. ]] SLAMing on 117.70538475 meters Centerline goodness [0,1] 0.9424393185587215 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.23 [[ 0.8181595 0.05098737 -0.57272621 10.62606418] [-0.02428747 0.99823614 0.05417321 0.19284899] [ 0.57447815 -0.03041226 0.81795474 1.23437562] [ 0. 0. 0. 1. ]] SLAMing on 117.73538475 meters Centerline goodness [0,1] 0.9423298033282905 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.23 [[ 0.81804123 0.0508258 -0.57290948 10.62726427] [-0.02411275 0.99824275 0.05412942 0.192632 ] [ 0.57465391 -0.03046568 0.81782928 1.23446077] [ 0. 0. 0. 1. ]] SLAMing on 117.76538475 meters Centerline goodness [0,1] 0.9405599685886012 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.23 [[ 0.81798149 0.05044818 -0.57302815 10.62873816] [-0.02378924 0.9982615 0.05392636 0.19274765] [ 0.57475242 -0.03047886 0.81775956 1.23435941] [ 0. 0. 0. 1. ]] SLAMing on 117.79538475 meters Centerline goodness [0,1] 0.9411657944886416 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.23 [[ 0.81794096 0.05069976 -0.5730638 10.62832775] [-0.02387777 0.99824267 0.05423491 0.19217485] [ 0.57480644 -0.03067747 0.81771416 1.23474259] [ 0. 0. 0. 1. ]] SLAMing on 117.82538475 meters Centerline goodness [0,1] 0.9418618727679923 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.24 [[ 0.81793535 0.0513171 -0.57301685 10.62722143] [-0.02416414 0.99819929 0.05490239 0.19142588] [ 0.57480245 -0.03106015 0.81770252 1.23537474] [ 0. 0. 0. 1. ]] SLAMing on 117.85538474999998 meters Centerline goodness [0,1] 0.9422797236698582 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.24 [[ 0.81791007 0.05160812 -0.57302681 10.62636496] [-0.02418552 0.99817258 0.05537653 0.19082711] [ 0.57483753 -0.03143407 0.81766357 1.23605346] [ 0. 0. 0. 1. ]] SLAMing on 117.88538474999999 meters Centerline goodness [0,1] 0.9435569755058573 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.24 [[ 0.81831052 0.04671966 -0.57287448 10.62375477] [-0.02060948 0.99843512 0.05198624 0.19084437] [ 0.57440678 -0.03073425 0.81799282 1.23647354] [ 0. 0. 0. 1. ]] SLAMing on 117.91538474999999 meters Centerline goodness [0,1] 0.9436859032708296 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.24 [[ 0.8182449 0.04683593 -0.57295871 10.62364176] [-0.02058278 0.99842343 0.05222074 0.19086838] [ 0.57450121 -0.03093627 0.81791889 1.23693784] [ 0. 0. 0. 1. ]] SLAMing on 117.94538474999999 meters Centerline goodness [0,1] 0.943996116740489 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.24 [[ 0.81828771 0.04688133 -0.57289385 10.62400372] [-0.02072536 0.99842674 0.05210086 0.19185638] [ 0.5744351 -0.03076006 0.81797197 1.23659611] [ 0. 0. 0. 1. ]] SLAMing on 117.97538474999999 meters Centerline goodness [0,1] 0.945657096277511 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.24 [[ 0.81797507 0.05247632 -0.57285514 10.62369031] [-0.02470165 0.99811611 0.05616101 0.19288933] [ 0.57472307 -0.03178784 0.81773035 1.2371964 ] [ 0. 0. 0. 1. ]] SLAMing on 118.00538474999999 meters Centerline goodness [0,1] 0.9465881642512077 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.24 [[ 0.81824568 0.05364968 -0.57235978 10.6216828 ] [-0.02607128 0.99807445 0.05628219 0.19460757] [ 0.57427719 -0.03113051 0.81806882 1.23607432] [ 0. 0. 0. 1. ]] SLAMing on 118.03538474999999 meters Centerline goodness [0,1] 0.9467394912338936 Centerline is valid? [False, False] Translation: X:10.62, Y:0.20, Z:1.24 [[ 0.81825714 0.05428004 -0.57228396 10.62068221] [-0.02665661 0.99804392 0.05654868 0.19508587] [ 0.57423399 -0.03101621 0.81810349 1.23610231] [ 0. 0. 0. 1. ]] SLAMing on 118.06538474999999 meters Centerline goodness [0,1] 0.9487704918032787 Centerline is valid? [False, False] Translation: X:10.62, Y:0.20, Z:1.24 [[ 0.8182655 0.05471044 -0.57223101 10.62007027] [-0.02710645 0.99802554 0.05665918 0.19558199] [ 0.57420102 -0.0308511 0.81813288 1.23604682] [ 0. 0. 0. 1. ]] SLAMing on 118.09538475 meters Centerline goodness [0,1] 0.9451831750339214 Centerline is valid? [False, False] Translation: X:10.62, Y:0.20, Z:1.24 [[ 0.81840741 0.05520851 -0.57198018 10.61958405] [-0.02781264 0.99801317 0.05653473 0.19682754] [ 0.57396495 -0.03036016 0.81831687 1.23520066] [ 0. 0. 0. 1. ]] SLAMing on 118.12538475 meters Centerline goodness [0,1] 0.9468297101449276 Centerline is valid? [False, False] Translation: X:10.62, Y:0.20, Z:1.23 [[ 0.81845861 0.05530614 -0.57189748 10.61999179] [-0.02804464 0.99801548 0.056379 0.19770689] [ 0.57388065 -0.03010522 0.81838541 1.23472193] [ 0. 0. 0. 1. ]] SLAMing on 118.15538475 meters Centerline goodness [0,1] 0.9456770770529362 Centerline is valid? [False, False] Translation: X:10.62, Y:0.20, Z:1.24 [[ 0.81828074 0.05487804 -0.57219317 10.62057513] [-0.02738192 0.99802362 0.05656041 0.19626131] [ 0.57416623 -0.03061454 0.81816618 1.23572979] [ 0. 0. 0. 1. ]] SLAMing on 118.18538475 meters Centerline goodness [0,1] 0.9466727162734422 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.24 [[ 0.81806246 0.05400682 -0.57258805 10.6217386 ] [-0.02624028 0.99804939 0.05664682 0.19472069] [ 0.57453047 -0.03131576 0.81788389 1.23710257] [ 0. 0. 0. 1. ]] SLAMing on 118.21538474999998 meters Centerline goodness [0,1] 0.9443506571807548 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.24 [[ 0.81794888 0.05375479 -0.572774 10.62292327] [-0.02595114 0.99805914 0.05660828 0.19452879] [ 0.57470529 -0.03143854 0.81775635 1.2373114 ] [ 0. 0. 0. 1. ]] SLAMing on 118.24538474999999 meters Centerline goodness [0,1] 0.9455924745865574 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.24 [[ 0.81775045 0.05322375 -0.57310683 10.62500375] [-0.02531649 0.99807778 0.0565669 0.19289154] [ 0.57501589 -0.03174856 0.81752599 1.23769086] [ 0. 0. 0. 1. ]] SLAMing on 118.27538474999999 meters Centerline goodness [0,1] 0.9435368561954306 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.24 [[ 0.8175524 0.0529176 -0.57341765 10.62617982] [-0.0248899 0.99808544 0.05662102 0.1919219 ] [ 0.57531606 -0.03201834 0.81730426 1.23826513] [ 0. 0. 0. 1. ]] SLAMing on 118.30538474999999 meters Centerline goodness [0,1] 0.9434790561551125 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.24 [[ 0.81773779 0.04773457 -0.57360815 10.62638439] [-0.02109027 0.99837092 0.05301615 0.19090956] [ 0.5752044 -0.03125576 0.81741237 1.23830157] [ 0. 0. 0. 1. ]] SLAMing on 118.33538474999999 meters Centerline goodness [0,1] 0.9422818791946309 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.24 [[ 0.81803338 0.04299384 -0.57356162 10.62520891] [-0.01784812 0.99861957 0.04940033 0.19071376] [ 0.57489377 -0.03017412 0.8176715 1.23794743] [ 0. 0. 0. 1. ]] SLAMing on 118.36538474999999 meters Centerline goodness [0,1] 0.9415307094355855 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.24 [[ 0.81787322 0.04244178 -0.57383106 10.62697106] [-0.01721271 0.9986343 0.04932811 0.18963043] [ 0.57514095 -0.03046695 0.81748679 1.23832326] [ 0. 0. 0. 1. ]] SLAMing on 118.39538474999999 meters Centerline goodness [0,1] 0.9410015937231826 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.24 [[ 0.8177709 0.04244921 -0.57397632 10.62765222] [-0.01710831 0.99862858 0.04947995 0.18942651] [ 0.57528954 -0.0306435 0.81737563 1.23861625] [ 0. 0. 0. 1. ]] SLAMing on 118.42538474999999 meters Centerline goodness [0,1] 0.9410134843913552 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.24 [[ 0.81808489 0.03762599 -0.57386531 10.62594734] [-0.01359 0.99884362 0.04611658 0.18904596] [ 0.57493688 -0.02992845 0.81765021 1.23879033] [ 0. 0. 0. 1. ]] SLAMing on 118.45538475 meters Centerline goodness [0,1] 0.9424095050480177 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.24 [[ 0.81810171 0.03809852 -0.57381015 10.62499636] [-0.01387284 0.99882017 0.04653835 0.18920431] [ 0.57490619 -0.03011273 0.81766502 1.23918599] [ 0. 0. 0. 1. ]] SLAMing on 118.48538475 meters Centerline goodness [0,1] 0.9411332087151043 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.24 [[ 0.81815408 0.03864779 -0.57369875 10.62411417] [-0.01442886 0.99880435 0.0467084 0.19115296] [ 0.57481798 -0.02993685 0.8177335 1.2391104 ] [ 0. 0. 0. 1. ]] SLAMing on 118.51538475 meters Centerline goodness [0,1] 0.9417091288599668 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.24 [[ 0.81813832 0.03884468 -0.57370793 10.62389483] [-0.01465223 0.9988 0.04673198 0.19220811] [ 0.57483476 -0.02982712 0.81772571 1.23913666] [ 0. 0. 0. 1. ]] SLAMing on 118.54538475 meters Centerline goodness [0,1] 0.9436206316690616 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.24 [[ 0.8181851 0.03946713 -0.57359871 10.62330232] [-0.01539236 0.99878723 0.04676696 0.19487412] [ 0.57474882 -0.02943499 0.81780032 1.23875902] [ 0. 0. 0. 1. ]] SLAMing on 118.57538475 meters Centerline goodness [0,1] 0.9421626408525972 Centerline is valid? [False, False] Translation: X:10.62, Y:0.20, Z:1.24 [[ 0.81823876 0.03998311 -0.57348643 10.6223759 ] [-0.01587702 0.99876962 0.04698058 0.19560632] [ 0.57465925 -0.02933608 0.81786682 1.23873605] [ 0. 0. 0. 1. ]] SLAMing on 118.60538474999998 meters Centerline goodness [0,1] 0.9421583259724041 Centerline is valid? [False, False] Translation: X:10.62, Y:0.20, Z:1.24 [[ 0.81822344 0.04120412 -0.57342186 10.61997666] [-0.01680466 0.99871625 0.0477855 0.19511902] [ 0.57465469 -0.02946306 0.81786547 1.23931659] [ 0. 0. 0. 1. ]] SLAMing on 118.63538474999999 meters Centerline goodness [0,1] 0.9426269382791121 Centerline is valid? [False, False] Translation: X:10.62, Y:0.20, Z:1.24 [[ 0.81821769 0.04156313 -0.57340415 10.61958073] [-0.01706333 0.99869955 0.04804213 0.19522715] [ 0.57465525 -0.02952473 0.81786285 1.23948671] [ 0. 0. 0. 1. ]] SLAMing on 118.66538474999999 meters Centerline goodness [0,1] 0.9410960568685826 Centerline is valid? [False, False] Translation: X:10.62, Y:0.20, Z:1.24 [[ 0.8181762 0.04181793 -0.57344482 10.61961447] [-0.01728815 0.9986899 0.04816225 0.19522485] [ 0.5747076 -0.0294914 0.81782727 1.23951497] [ 0. 0. 0. 1. ]] SLAMing on 118.69538474999999 meters Centerline goodness [0,1] 0.9406839012210346 Centerline is valid? [False, False] Translation: X:10.62, Y:0.20, Z:1.24 [[ 0.81809977 0.04162823 -0.57356766 10.62091458] [-0.01717464 0.99870031 0.0479866 0.19514049] [ 0.5748198 -0.02940701 0.81775145 1.23935315] [ 0. 0. 0. 1. ]] SLAMing on 118.72538474999999 meters Centerline goodness [0,1] 0.9376463789275177 Centerline is valid? [False, False] Translation: X:10.62, Y:0.20, Z:1.24 [[ 0.8180304 0.04121376 -0.57369651 10.6228249 ] [-0.01700412 0.99872643 0.0475014 0.19587996] [ 0.57492358 -0.02910239 0.81768938 1.23880952] [ 0. 0. 0. 1. ]] SLAMing on 118.75538474999999 meters Centerline goodness [0,1] 0.9364876385336743 Centerline is valid? [False, False] Translation: X:10.62, Y:0.20, Z:1.24 [[ 0.81785258 0.04109542 -0.57395847 10.62388664] [-0.01689397 0.99873139 0.04743638 0.19631015] [ 0.57517976 -0.02909952 0.8175093 1.23907478] [ 0. 0. 0. 1. ]] SLAMing on 118.78538474999999 meters Centerline goodness [0,1] 0.9364876385336743 Centerline is valid? [False, False] Translation: X:10.62, Y:0.20, Z:1.24 [[ 0.81785258 0.04109542 -0.57395847 10.62388664] [-0.01689397 0.99873139 0.04743638 0.19631015] [ 0.57517976 -0.02909952 0.8175093 1.23907478] [ 0. 0. 0. 1. ]] SLAMing on 118.81538474999999 meters Centerline goodness [0,1] 0.9369031273836765 Centerline is valid? [False, False] Translation: X:10.62, Y:0.20, Z:1.24 [[ 0.81774011 0.04108015 -0.57411979 10.62441755] [-0.0167753 0.9987271 0.04756852 0.19581777] [ 0.57534312 -0.02926765 0.81738834 1.23941929] [ 0. 0. 0. 1. ]] SLAMing on 118.84538475 meters Centerline goodness [0,1] 0.9348422915014337 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.24 [[ 0.81758208 0.04053895 -0.57438327 10.62630747] [-0.01624059 0.99874525 0.04737266 0.19541222] [ 0.575583 -0.02940272 0.8172146 1.23963905] [ 0. 0. 0. 1. ]] SLAMing on 118.87538475 meters Centerline goodness [0,1] 0.9360658235563004 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.24 [[ 0.81748964 0.04064523 -0.57450731 10.62649467] [-0.01612676 0.998731 0.04771077 0.19497326] [ 0.57571748 -0.02973812 0.81710772 1.24021966] [ 0. 0. 0. 1. ]] SLAMing on 118.90538475 meters Centerline goodness [0,1] 0.935546875 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.24 [[ 0.81731975 0.040622 -0.57475063 10.62672941] [-0.01595243 0.99872462 0.04790245 0.19449489] [ 0.5759635 -0.02998295 0.81692538 1.24094482] [ 0. 0. 0. 1. ]] SLAMing on 118.93538475 meters Centerline goodness [0,1] 0.9345238095238095 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.24 [[ 0.81724619 0.04084686 -0.57483929 10.62645636] [-0.01609128 0.99871341 0.04808955 0.194105 ] [ 0.57606401 -0.0300511 0.816852 1.24126337] [ 0. 0. 0. 1. ]] SLAMing on 118.96538474999998 meters Centerline goodness [0,1] 0.9343175010697475 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.24 [[ 0.81720753 0.04116387 -0.57487163 10.62588007] [-0.01621139 0.99869324 0.04846649 0.19367004] [ 0.57611548 -0.03028771 0.81680696 1.24175986] [ 0. 0. 0. 1. ]] SLAMing on 118.99538474999999 meters Centerline goodness [0,1] 0.9360273470882676 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.24 [[ 0.81707564 0.04147322 -0.57503685 10.62472633] [-0.01604355 0.99865863 0.04922953 0.19285886] [ 0.57630722 -0.03099861 0.81664501 1.24325602] [ 0. 0. 0. 1. ]] SLAMing on 119.02538474999999 meters Centerline goodness [0,1] 0.9387655376721742 Centerline is valid? [False, False] Translation: X:10.62, Y:0.19, Z:1.24 [[ 0.81732057 0.03572419 -0.57507466 10.62345924] [-0.0118984 0.99890969 0.04514271 0.19458774] [ 0.57606034 -0.03005359 0.8168545 1.24364326] [ 0. 0. 0. 1. ]] SLAMing on 119.05538474999999 meters Centerline goodness [0,1] 0.9373499103261695 Centerline is valid? [False, False] Translation: X:10.62, Y:0.20, Z:1.24 [[ 0.81712384 0.03517619 -0.57538793 10.6247757 ] [-0.01144617 0.99892976 0.04481431 0.19642934] [ 0.57634852 -0.03003285 0.81665195 1.24407204] [ 0. 0. 0. 1. ]] SLAMing on 119.08538474999999 meters Centerline goodness [0,1] 0.9346129316366507 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.25 [[ 0.8164587 0.03854922 -0.57611557 10.62886214] [-0.01365261 0.99877877 0.0474824 0.19916423] [ 0.5772424 -0.03090194 0.81598791 1.24502335] [ 0. 0. 0. 1. ]] SLAMing on 119.11538474999999 meters Centerline goodness [0,1] 0.9351949579325111 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.24 [[ 0.81636829 0.03831371 -0.57625938 10.63007805] [-0.0136559 0.99879866 0.04706117 0.20154455] [ 0.57737018 -0.03054991 0.81591076 1.24477072] [ 0. 0. 0. 1. ]] SLAMing on 119.14538474999999 meters Centerline goodness [0,1] 0.9361657282225768 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.25 [[ 0.81589598 0.04395292 -0.57652571 10.62962263] [-0.01760032 0.99853241 0.0512178 0.20198178] [ 0.57793077 -0.03164136 0.81547216 1.24606428] [ 0. 0. 0. 1. ]] SLAMing on 119.17538474999999 meters Centerline goodness [0,1] 0.9362681671832215 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.25 [[ 0.81592239 0.04464089 -0.57643547 10.62838384] [-0.01832096 0.99851034 0.05139501 0.20314145] [ 0.5778711 -0.03137349 0.8155248 1.24599937] [ 0. 0. 0. 1. ]] SLAMing on 119.20538475 meters Centerline goodness [0,1] 0.9346393427823418 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.25 [[ 0.81581883 0.04487648 -0.57656373 10.62735705] [-0.01853261 0.9985013 0.0514947 0.20435153] [ 0.57801054 -0.03132511 0.81542784 1.2466162 ] [ 0. 0. 0. 1. ]] SLAMing on 119.23538475 meters Centerline goodness [0,1] 0.9365661545861769 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.25 [[ 0.81575794 0.04429397 -0.57669492 10.62904145] [-0.0182011 0.99853544 0.05094792 0.20571607] [ 0.578107 -0.03106469 0.81536941 1.24627952] [ 0. 0. 0. 1. ]] SLAMing on 119.26538475 meters Centerline goodness [0,1] 0.9346905684172597 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.25 [[ 0.81565298 0.04413393 -0.57685562 10.6299572 ] [-0.01805952 0.99854246 0.05086074 0.20624463] [ 0.57825952 -0.03106698 0.81526117 1.24643821] [ 0. 0. 0. 1. ]] SLAMing on 119.29538475 meters Centerline goodness [0,1] 0.935641180012041 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.25 [[ 0.81559995 0.04422966 -0.57692326 10.63017539] [-0.01810293 0.99853659 0.05096031 0.20655082] [ 0.57833295 -0.03111923 0.81520709 1.24660798] [ 0. 0. 0. 1. ]] SLAMing on 119.32538475 meters Centerline goodness [0,1] 0.9352099150736728 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.25 [[ 0.81562217 0.04510793 -0.57682385 10.62837124] [-0.01860792 0.99848562 0.05177072 0.20610563] [ 0.57828559 -0.03149186 0.81522637 1.24731869] [ 0. 0. 0. 1. ]] SLAMing on 119.35538474999998 meters Centerline goodness [0,1] 0.9353162085023283 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.25 [[ 0.81561003 0.04561078 -0.57680147 10.62755055] [-0.01893453 0.9984582 0.0521796 0.20590069] [ 0.57829211 -0.03163674 0.81521614 1.24765884] [ 0. 0. 0. 1. ]] SLAMing on 119.38538474999999 meters Centerline goodness [0,1] 0.9351968740607154 Centerline is valid? [False, False] Translation: X:10.62, Y:0.21, Z:1.25 [[ 0.81568918 0.04672669 -0.57660019 10.62484666] [-0.01984498 0.99840603 0.05283535 0.2065123 ] [ 0.57814993 -0.0316546 0.81531629 1.24804091] [ 0. 0. 0. 1. ]] SLAMing on 119.41538474999999 meters Centerline goodness [0,1] 0.9345620459866723 Centerline is valid? [False, False] Translation: X:10.62, Y:0.21, Z:1.25 [[ 0.8158202 0.04804341 -0.57630654 10.62204827] [-0.02095245 0.99834447 0.05356601 0.2071467 ] [ 0.57792594 -0.0316252 0.81547622 1.24812631] [ 0. 0. 0. 1. ]] SLAMing on 119.44538474999999 meters Centerline goodness [0,1] 0.9333573270949553 Centerline is valid? [False, False] Translation: X:10.62, Y:0.21, Z:1.25 [[ 0.8155686 0.04763761 -0.57669621 10.62255708] [-0.02029309 0.99834717 0.05376915 0.20655416] [ 0.57830446 -0.03214948 0.81518732 1.24943986] [ 0. 0. 0. 1. ]] SLAMing on 119.47538474999999 meters Centerline goodness [0,1] 0.9362155350874561 Centerline is valid? [False, False] Translation: X:10.62, Y:0.21, Z:1.25 [[ 0.81540092 0.04673934 -0.57700673 10.62355281] [-0.01925394 0.99837349 0.05366252 0.2062281 ] [ 0.57857637 -0.03264681 0.81497458 1.25051624] [ 0. 0. 0. 1. ]] SLAMing on 119.50538474999999 meters Centerline goodness [0,1] 0.9355661594790072 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.25 [[ 0.81580677 0.03956237 -0.57696979 10.62519704] [-0.01395265 0.99871342 0.04875264 0.20841893] [ 0.57815624 -0.03172248 0.81530917 1.25021337] [ 0. 0. 0. 1. ]] SLAMing on 119.53538474999999 meters Centerline goodness [0,1] 0.9352736228749925 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.25 [[ 0.81550309 0.03830989 -0.57748339 10.62777457] [-0.01286938 0.99876041 0.04808344 0.20928149] [ 0.57860962 -0.03178034 0.81498523 1.25078188] [ 0. 0. 0. 1. ]] SLAMing on 119.56538474999999 meters Centerline goodness [0,1] 0.9330338424678047 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.25 [[ 0.81533606 0.0374962 -0.57777258 10.62999543] [-0.01235969 0.99880054 0.04737838 0.21109935] [ 0.57885607 -0.03148821 0.81482154 1.25064222] [ 0. 0. 0. 1. ]] SLAMing on 119.59538475 meters Centerline goodness [0,1] 0.9325136857219779 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.25 [[ 0.81539867 0.03781331 -0.57766354 10.62990503] [-0.01273011 0.99879434 0.047411 0.21230071] [ 0.57875984 -0.03130514 0.81489695 1.25034689] [ 0. 0. 0. 1. ]] SLAMing on 119.62538475 meters Centerline goodness [0,1] 0.9327936915678485 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.25 [[ 0.81539106 0.04111834 -0.57744844 10.62802369] [-0.01530319 0.99865677 0.0495023 0.2132847 ] [ 0.57870824 -0.03152693 0.81492504 1.25034323] [ 0. 0. 0. 1. ]] SLAMing on 119.65538475 meters Centerline goodness [0,1] 0.9318873441136106 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.25 [[ 0.81556129 0.04230263 -0.57712241 10.62614374] [-0.01631142 0.99860865 0.05014675 0.21336921] [ 0.57844077 -0.03148406 0.81511657 1.25014849] [ 0. 0. 0. 1. ]] SLAMing on 119.68538475 meters Centerline goodness [0,1] 0.9332439278796006 Centerline is valid? [False, False] Translation: X:10.62, Y:0.21, Z:1.25 [[ 0.81573292 0.04451843 -0.57671302 10.62342809] [-0.01835518 0.99852398 0.05111691 0.21403528] [ 0.57813743 -0.03111208 0.81534603 1.24946037] [ 0. 0. 0. 1. ]] SLAMing on 119.71538474999998 meters Centerline goodness [0,1] 0.9341295909226635 Centerline is valid? [False, False] Translation: X:10.62, Y:0.21, Z:1.25 [[ 0.81569499 0.04502287 -0.57672752 10.62248954] [-0.01852561 0.99848841 0.05174639 0.21252567] [ 0.57818551 -0.03152504 0.81529607 1.25016271] [ 0. 0. 0. 1. ]] SLAMing on 119.74538474999999 meters Centerline goodness [0,1] 0.9353543826014019 Centerline is valid? [False, False] Translation: X:10.62, Y:0.21, Z:1.25 [[ 0.81569277 0.04583965 -0.57666631 10.62121628] [-0.01894055 0.99843733 0.0525752 0.21035984] [ 0.5781752 -0.03196283 0.81528634 1.25075197] [ 0. 0. 0. 1. ]] SLAMing on 119.77538474999999 meters Centerline goodness [0,1] 0.9346247702828909 Centerline is valid? [False, False] Translation: X:10.62, Y:0.21, Z:1.25 [[ 0.81544054 0.04534368 -0.5770621 10.62268884] [-0.01805512 0.99843445 0.05294026 0.20708834] [ 0.57855919 -0.03275071 0.81498261 1.25198527] [ 0. 0. 0. 1. ]] SLAMing on 119.80538474999999 meters Centerline goodness [0,1] 0.935305826999638 Centerline is valid? [False, False] Translation: X:10.62, Y:0.21, Z:1.25 [[ 0.81527533 0.04485724 -0.5773335 10.62433382] [-0.01738864 0.99844199 0.05302105 0.20557437] [ 0.57881238 -0.03318771 0.81478512 1.25253803] [ 0. 0. 0. 1. ]] SLAMing on 119.83538474999999 meters Centerline goodness [0,1] 0.9375811173825118 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.25 [[ 0.81511307 0.04437854 -0.57759954 10.62572517] [-0.01661333 0.99844204 0.05326814 0.20362656] [ 0.57906362 -0.0338237 0.81458043 1.25341182] [ 0. 0. 0. 1. ]] SLAMing on 119.86538474999999 meters Centerline goodness [0,1] 0.9384904972979538 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.25 [[ 0.81509634 0.04396608 -0.57765469 10.62649585] [-0.01563241 0.99842217 0.05393325 0.19980247] [ 0.57911448 -0.03493066 0.81449756 1.25456358] [ 0. 0. 0. 1. ]] SLAMing on 119.89538474999999 meters Centerline goodness [0,1] 0.9377666707302207 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.26 [[ 0.81497321 0.04405549 -0.57782159 10.62681728] [-0.01533974 0.99839668 0.05448634 0.19773521] [ 0.57929558 -0.03554128 0.81434234 1.25543405] [ 0. 0. 0. 1. ]] SLAMing on 119.92538474999999 meters Centerline goodness [0,1] 0.9387530562347188 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.26 [[ 0.81517992 0.03921893 -0.57787851 10.62613753] [-0.01162236 0.99861165 0.05137787 0.1952189 ] [ 0.5790912 -0.03516589 0.81450398 1.25589462] [ 0. 0. 0. 1. ]] SLAMing on 119.95538475 meters Centerline goodness [0,1] 0.9396961792235692 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.26 [[ 0.81496873 0.03917892 -0.57817902 10.6266878 ] [-0.01129515 0.99859637 0.0517465 0.1936897 ] [ 0.57939485 -0.03564116 0.81426735 1.25685368] [ 0. 0. 0. 1. ]] SLAMing on 119.98538475 meters Centerline goodness [0,1] 0.9351336388521514 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.26 [[ 8.14868029e-01 3.85847016e-02 -5.78360888e-01 1.06277344e+01] [-1.04398963e-02 9.98597132e-01 5.19112465e-02 1.91460156e-01] [ 5.79552504e-01 -3.62627874e-02 8.14127696e-01 1.25772349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.01538475 meters Centerline goodness [0,1] 0.933565249515131 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.26 [[ 8.15173905e-01 3.27109124e-02 -5.78291882e-01 1.06291256e+01] [-6.33029113e-03 9.98847553e-01 4.75761938e-02 1.91887222e-01] [ 5.79181692e-01 -3.51221157e-02 8.14441530e-01 1.25677871e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.04538475 meters Centerline goodness [0,1] 0.9319706950686449 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.26 [[ 8.15088199e-01 3.24315707e-02 -5.78428406e-01 1.06304515e+01] [-6.07357724e-03 9.98855353e-01 4.74457108e-02 1.91932363e-01] [ 5.79305049e-01 -3.51593094e-02 8.14352186e-01 1.25678906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.07538475 meters Centerline goodness [0,1] 0.935923884595252 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.26 [[ 8.14886705e-01 3.20458788e-02 -5.78733721e-01 1.06321416e+01] [-5.62991529e-03 9.98860970e-01 4.73821267e-02 1.91391386e-01] [ 5.79592928e-01 -3.53528433e-02 8.14138941e-01 1.25716647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.10538474999998 meters Centerline goodness [0,1] 0.9356047700170358 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.26 [[ 8.15137844e-01 2.70346154e-02 -5.78635831e-01 1.06317792e+01] [-2.12742704e-03 9.99043324e-01 4.36796417e-02 1.90298912e-01] [ 5.79263126e-01 -3.43739234e-02 8.14415535e-01 1.25668769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.13538474999999 meters Centerline goodness [0,1] 0.93550688671051 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.26 [[ 8.15052804e-01 2.72648817e-02 -5.78744808e-01 1.06314658e+01] [-2.08865400e-03 9.99023927e-01 4.41229113e-02 1.89062547e-01] [ 5.79382917e-01 -3.47537049e-02 8.14314200e-01 1.25740209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.16538474999999 meters Centerline goodness [0,1] 0.9351805883083033 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.26 [[ 8.15022479e-01 2.72982592e-02 -5.78785940e-01 1.06318613e+01] [-1.88795416e-03 9.99009407e-01 4.44594295e-02 1.87070430e-01] [ 5.79426263e-01 -3.51427131e-02 8.14266661e-01 1.25777695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.19538474999999 meters Centerline goodness [0,1] 0.9352636828325646 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.26 [[ 8.15016073e-01 2.66748864e-02 -5.78824024e-01 1.06339586e+01] [-1.33457278e-03 9.99023559e-01 4.41604712e-02 1.86859246e-01] [ 5.79436812e-01 -3.52190111e-02 8.14255858e-01 1.25745179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.22538474999999 meters Centerline goodness [0,1] 0.9343638970267406 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.26 [[ 8.14924160e-01 2.67129823e-02 -5.78951665e-01 1.06343753e+01] [-1.24436439e-03 9.99015577e-01 4.43432922e-02 1.86252227e-01] [ 5.79566273e-01 -3.54159933e-02 8.14155171e-01 1.25778034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.25538474999999 meters Centerline goodness [0,1] 0.9352832723977376 Centerline is valid? [False, False] Translation: X:10.63, Y:0.18, Z:1.26 [[ 8.15063793e-01 2.73854893e-02 -5.78723637e-01 1.06328418e+01] [-1.59904437e-03 9.98984788e-01 4.50203904e-02 1.84979244e-01] [ 5.79369015e-01 -3.57690854e-02 8.14280122e-01 1.25821404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.28538474999999 meters Centerline goodness [0,1] 0.9355172089818672 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.26 [[ 8.15042678e-01 2.79048627e-02 -5.78728565e-01 1.06320271e+01] [-1.86925154e-03 9.98960999e-01 4.55349041e-02 1.85119376e-01] [ 5.79397911e-01 -3.60311009e-02 8.14248009e-01 1.25875720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.31538474999999 meters Centerline goodness [0,1] 0.9358043321072652 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.26 [[ 8.15150167e-01 2.82609321e-02 -5.78559872e-01 1.06314803e+01] [-2.11707746e-03 9.98947798e-01 4.58128210e-02 1.85084905e-01] [ 5.79245823e-01 -3.61194726e-02 8.14352295e-01 1.25868875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.34538475 meters Centerline goodness [0,1] 0.9361762391817466 Centerline is valid? [False, False] Translation: X:10.63, Y:0.18, Z:1.26 [[ 8.15028879e-01 2.83998944e-02 -5.78723917e-01 1.06312481e+01] [-1.98467321e-03 9.98929050e-01 4.62256920e-02 1.84213298e-01] [ 5.79416938e-01 -3.65266961e-02 8.14212388e-01 1.25955220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.37538475 meters Centerline goodness [0,1] 0.9350600245769921 Centerline is valid? [False, False] Translation: X:10.63, Y:0.18, Z:1.26 [[ 8.14912675e-01 2.81792722e-02 -5.78898316e-01 1.06316446e+01] [-1.60243462e-03 9.98923083e-01 4.63692506e-02 1.83701315e-01] [ 5.79581542e-01 -3.68592434e-02 8.14080237e-01 1.26022038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.40538475 meters Centerline goodness [0,1] 0.9345414434289316 Centerline is valid? [False, False] Translation: X:10.63, Y:0.18, Z:1.26 [[ 8.14978252e-01 2.83120547e-02 -5.78799513e-01 1.06314335e+01] [-1.59661040e-03 9.98911710e-01 4.66137922e-02 1.83528735e-01] [ 5.79489344e-01 -3.70651095e-02 8.14136523e-01 1.26037027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.43538475 meters Centerline goodness [0,1] 0.9352656699434206 Centerline is valid? [False, False] Translation: X:10.63, Y:0.18, Z:1.26 [[ 8.14855224e-01 2.82901146e-02 -5.78973776e-01 1.06307505e+01] [-1.07910988e-03 9.98880663e-01 4.72890678e-02 1.82099853e-01] [ 5.79663522e-01 -3.79089677e-02 8.13973655e-01 1.26200899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.46538474999998 meters Centerline goodness [0,1] 0.9327396741189845 Centerline is valid? [False, False] Translation: X:10.63, Y:0.18, Z:1.26 [[ 8.14735354e-01 2.82227146e-02 -5.79145734e-01 1.06304375e+01] [-6.77996740e-04 9.98860412e-01 4.77222965e-02 1.81614659e-01] [ 5.79832599e-01 -3.84883832e-02 8.13826027e-01 1.26320117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.49538474999999 meters Centerline goodness [0,1] 0.9337027010010703 Centerline is valid? [False, False] Translation: X:10.63, Y:0.18, Z:1.26 [[ 8.14201660e-01 3.17143576e-02 -5.79715323e-01 1.06341652e+01] [-2.80463317e-03 9.98710135e-01 5.06971478e-02 1.83114338e-01] [ 5.80575396e-01 -3.96518131e-02 8.13240397e-01 1.26419980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.52538474999999 meters Centerline goodness [0,1] 0.9321713962121689 Centerline is valid? [False, False] Translation: X:10.63, Y:0.18, Z:1.26 [[ 8.14232340e-01 3.18736000e-02 -5.79663498e-01 1.06339659e+01] [-3.01074519e-03 9.98710082e-01 5.06863718e-02 1.83942845e-01] [ 5.80531336e-01 -3.95252640e-02 8.13278010e-01 1.26405887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.55538474999999 meters Centerline goodness [0,1] 0.9306244733639173 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.26 [[ 8.14224339e-01 3.20924695e-02 -5.79662660e-01 1.06339694e+01] [-3.37009972e-03 9.98715384e-01 5.05591060e-02 1.86012707e-01] [ 5.80540583e-01 -3.92129337e-02 8.13286529e-01 1.26381497e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.58538474999999 meters Centerline goodness [0,1] 0.930369442705072 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.26 [[ 8.14249982e-01 3.20818011e-02 -5.79627230e-01 1.06341911e+01] [-3.48825969e-03 9.98724123e-01 5.03781599e-02 1.87307789e-01] [ 5.80503918e-01 -3.89985255e-02 8.13323008e-01 1.26353731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.61538474999999 meters Centerline goodness [0,1] 0.9336126833234311 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.26 [[ 8.14409961e-01 3.31608773e-02 -5.79341671e-01 1.06322472e+01] [-4.48001898e-03 9.98695417e-01 5.08664327e-02 1.87971053e-01] [ 5.80272647e-01 -3.88306678e-02 8.13496057e-01 1.26325847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.64538474999999 meters Centerline goodness [0,1] 0.9345736046947184 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.26 [[ 8.14282767e-01 3.35981200e-02 -5.79495247e-01 1.06313772e+01] [-4.70349899e-03 9.98672616e-01 5.12921277e-02 1.87720543e-01] [ 5.80449353e-01 -3.90406404e-02 8.13359931e-01 1.26404082e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.67538474999999 meters Centerline goodness [0,1] 0.9371012417914164 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.26 [[ 8.14391941e-01 3.42462057e-02 -5.79303862e-01 1.06300329e+01] [-5.23458682e-03 9.98650107e-01 5.16774937e-02 1.88122617e-01] [ 5.80291621e-01 -3.90533180e-02 8.13471863e-01 1.26408041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.70538475 meters Centerline goodness [0,1] 0.9371012417914164 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.26 [[ 8.14391941e-01 3.42462057e-02 -5.79303862e-01 1.06300329e+01] [-5.23458682e-03 9.98650107e-01 5.16774937e-02 1.88122617e-01] [ 5.80291621e-01 -3.90533180e-02 8.13471863e-01 1.26408041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.73538475 meters Centerline goodness [0,1] 0.9342011246077853 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.26 [[ 8.14248316e-01 3.40038870e-02 -5.79519987e-01 1.06304684e+01] [-4.82117457e-03 9.98644675e-01 5.18224876e-02 1.87799354e-01] [ 5.80496715e-01 -3.94024063e-02 8.13308683e-01 1.26485696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.76538475 meters Centerline goodness [0,1] 0.9352265673494724 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.26 [[ 8.14295881e-01 3.39580093e-02 -5.79455841e-01 1.06305248e+01] [-4.71601205e-03 9.98641341e-01 5.18963493e-02 1.88168585e-01] [ 5.80430855e-01 -3.95262628e-02 8.13349677e-01 1.26496730e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.79538475 meters Centerline goodness [0,1] 0.9376688717040902 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.26 [[ 8.14318869e-01 3.39807960e-02 -5.79422199e-01 1.06307573e+01] [-4.75194301e-03 9.98641606e-01 5.18879669e-02 1.88477688e-01] [ 5.80398310e-01 -3.94999692e-02 8.13374179e-01 1.26481917e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.82538475 meters Centerline goodness [0,1] 0.9361139622406768 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.27 [[ 8.14294175e-01 3.44819577e-02 -5.79427296e-01 1.06297757e+01] [-5.04380438e-03 9.98616595e-01 5.23398101e-02 1.88159484e-01] [ 5.80430492e-01 -3.96974846e-02 8.13341597e-01 1.26530444e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.85538474999998 meters Centerline goodness [0,1] 0.9388721078690873 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.27 [[ 8.14255762e-01 3.47281990e-02 -5.79466570e-01 1.06293782e+01] [-5.17097992e-03 9.98603251e-01 5.25814494e-02 1.88042456e-01] [ 5.80483260e-01 -3.98183382e-02 8.13298030e-01 1.26566417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.88538474999999 meters Centerline goodness [0,1] 0.9375349791679621 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.27 [[ 8.14274176e-01 3.52614773e-02 -5.79408487e-01 1.06280624e+01] [-5.60270051e-03 9.98584215e-01 5.28977759e-02 1.88480665e-01] [ 5.80453423e-01 -3.98270406e-02 8.13318898e-01 1.26597572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.91538474999999 meters Centerline goodness [0,1] 0.9369083208769308 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.27 [[ 8.14238078e-01 3.53368194e-02 -5.79454625e-01 1.06280456e+01] [-5.69485973e-03 9.98583882e-01 5.28942307e-02 1.89289494e-01] [ 5.80503162e-01 -3.97685840e-02 8.13286259e-01 1.26605775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.94538474999999 meters Centerline goodness [0,1] 0.9391047559838359 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.27 [[ 8.14158338e-01 3.54973345e-02 -5.79556848e-01 1.06280523e+01] [-5.94808380e-03 9.98587037e-01 5.28067197e-02 1.90938070e-01] [ 5.80612454e-01 -3.95457784e-02 8.13219103e-01 1.26604079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 120.97538474999999 meters Centerline goodness [0,1] 0.9364276628090968 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.27 [[ 8.14200876e-01 3.54686759e-02 -5.79498841e-01 1.06281938e+01] [-6.08908078e-03 9.98598950e-01 5.25648119e-02 1.92317241e-01] [ 5.80551339e-01 -3.92697006e-02 8.13276112e-01 1.26569924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.00538474999999 meters Centerline goodness [0,1] 0.9399314031455674 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.27 [[ 8.13666487e-01 4.03722109e-02 -5.79928386e-01 1.06291270e+01] [-9.36028673e-03 9.98366115e-01 5.63691941e-02 1.93545536e-01] [ 5.81256598e-01 -4.04374282e-02 8.12714945e-01 1.26709190e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.03538474999999 meters Centerline goodness [0,1] 0.9389131174414649 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.27 [[ 8.13713365e-01 4.07413884e-02 -5.79836786e-01 1.06285968e+01] [-9.82677990e-03 9.98362260e-01 5.63580706e-02 1.94753414e-01] [ 5.81183270e-01 -4.01613868e-02 8.12781071e-01 1.26680008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.06538474999999 meters Centerline goodness [0,1] 0.939523706830155 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.27 [[ 8.13743678e-01 4.09337768e-02 -5.79780693e-01 1.06279584e+01] [-1.01900617e-02 9.98368382e-01 5.61848482e-02 1.97106912e-01] [ 5.81134570e-01 -3.98120640e-02 8.12833077e-01 1.26666231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.09538475 meters Centerline goodness [0,1] 0.9388180480627759 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.27 [[ 8.13774359e-01 4.10887250e-02 -5.79726668e-01 1.06277033e+01] [-1.04438178e-02 9.98370512e-01 5.61003349e-02 1.98965182e-01] [ 5.81087102e-01 -3.95984543e-02 8.12877446e-01 1.26652168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.12538475 meters Centerline goodness [0,1] 0.9399175698366662 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.27 [[ 0.8133555 0.04611543 -0.57993637 10.62843803] [-0.01403338 0.99811851 0.05968679 0.20100861] [ 0.5815977 -0.04040811 0.81247233 1.26715319] [ 0. 0. 0. 1. ]] SLAMing on 121.15538475 meters Centerline goodness [0,1] 0.942230893515837 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.27 [[ 0.81344064 0.04632994 -0.57979985 10.6281043 ] [-0.01445353 0.99812491 0.05947911 0.20242052] [ 0.58146833 -0.04000257 0.81258499 1.26660149] [ 0. 0. 0. 1. ]] SLAMing on 121.18538475 meters Centerline goodness [0,1] 0.9427153124619321 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.27 [[ 0.8134908 0.04749619 -0.57963508 10.62626136] [-0.01574871 0.99809316 0.0596827 0.20475246] [ 0.58136451 -0.03942282 0.81268761 1.26610858] [ 0. 0. 0. 1. ]] SLAMing on 121.21538474999998 meters Centerline goodness [0,1] 0.9426124977227182 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.27 [[ 0.81352217 0.04787845 -0.57955961 10.6256683 ] [-0.01625222 0.9980876 0.05964071 0.20615994] [ 0.58130676 -0.03909991 0.81274452 1.2658239 ] [ 0. 0. 0. 1. ]] SLAMing on 121.24538474999999 meters Centerline goodness [0,1] 0.941697237971076 Centerline is valid? [False, False] Translation: X:10.62, Y:0.21, Z:1.27 [[ 0.81349235 0.04813761 -0.57957999 10.62496781] [-0.0165016 0.99807787 0.0597349 0.20637646] [ 0.58134146 -0.03902989 0.81272306 1.2660394 ] [ 0. 0. 0. 1. ]] SLAMing on 121.27538474999999 meters Centerline goodness [0,1] 0.9434236415922507 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.27 [[ 0.81341732 0.04845111 -0.57965917 10.62501095] [-0.01701761 0.99808057 0.05954481 0.20772543] [ 0.58143156 -0.03857036 0.81268054 1.26564303] [ 0. 0. 0. 1. ]] SLAMing on 121.30538474999999 meters Centerline goodness [0,1] 0.9431500182503955 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.27 [[ 0.81331577 0.04809327 -0.57983144 10.62637818] [-0.01680373 0.99810375 0.05921606 0.2082517 ] [ 0.58157982 -0.03841803 0.81258167 1.26548568] [ 0. 0. 0. 1. ]] SLAMing on 121.33538474999999 meters Centerline goodness [0,1] 0.9402294652910922 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.27 [[ 0.81323524 0.04793494 -0.57995748 10.62724725] [-0.0167524 0.99811704 0.05900612 0.20844843] [ 0.5816939 -0.03827018 0.81250698 1.2653209 ] [ 0. 0. 0. 1. ]] SLAMing on 121.36538474999999 meters Centerline goodness [0,1] 0.9407982937233395 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.27 [[ 0.8132392 0.04814038 -0.57993491 10.62713933] [-0.01682711 0.998101 0.05925578 0.20793596] [ 0.58168621 -0.03843049 0.81250492 1.26547123] [ 0. 0. 0. 1. ]] SLAMing on 121.39538474999999 meters Centerline goodness [0,1] 0.9408453275720415 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.27 [[ 0.81319486 0.0483843 -0.57997678 10.62705556] [-0.01690248 0.9980813 0.05956525 0.20719779] [ 0.58174601 -0.03863511 0.8124524 1.26576524] [ 0. 0. 0. 1. ]] SLAMing on 121.42538474999999 meters Centerline goodness [0,1] 0.9395388504766836 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.27 [[ 0.81312684 0.0484324 -0.58006814 10.62723266] [-0.01674003 0.99806598 0.05986704 0.20567488] [ 0.58184579 -0.03896914 0.812365 1.26624156] [ 0. 0. 0. 1. ]] SLAMing on 121.45538475 meters Centerline goodness [0,1] 0.9419252672290405 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.27 [[ 0.81291727 0.04831043 -0.58037196 10.62782365] [-0.01646142 0.99806132 0.06002185 0.20477094] [ 0.58214649 -0.03923905 0.81213654 1.2669516 ] [ 0. 0. 0. 1. ]] SLAMing on 121.48538475 meters Centerline goodness [0,1] 0.939749132314437 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.27 [[ 0.81282936 0.04830578 -0.58049546 10.62827662] [-0.01625026 0.99804813 0.06029815 0.20312056] [ 0.58227516 -0.03957891 0.8120278 1.26742114] [ 0. 0. 0. 1. ]] SLAMing on 121.51538475 meters Centerline goodness [0,1] 0.9394428375704065 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.27 [[ 0.81280176 0.04818802 -0.5805439 10.62900662] [-0.01613538 0.99805274 0.06025266 0.20288113] [ 0.58231689 -0.03960617 0.81199655 1.26736576] [ 0. 0. 0. 1. ]] SLAMing on 121.54538475 meters Centerline goodness [0,1] 0.9419510555742263 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.27 [[ 0.8128753 0.04849843 -0.58041507 10.6286766 ] [-0.01636924 0.99803586 0.06046883 0.20211883] [ 0.58220769 -0.03965266 0.81207258 1.26720558] [ 0. 0. 0. 1. ]] SLAMing on 121.57538475 meters Centerline goodness [0,1] 0.9391766106143375 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.27 [[ 0.81288936 0.04896101 -0.58035654 10.62806706] [-0.01673139 0.99801212 0.06076078 0.20174038] [ 0.58217777 -0.03968162 0.81209261 1.26725419] [ 0. 0. 0. 1. ]] SLAMing on 121.60538474999998 meters Centerline goodness [0,1] 0.9385881704966188 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.27 [[ 0.81285143 0.04888162 -0.58041635 10.62865814] [-0.01669331 0.9980181 0.06067292 0.20126765] [ 0.58223181 -0.039629 0.81205644 1.26712746] [ 0. 0. 0. 1. ]] SLAMing on 121.63538474999999 meters Centerline goodness [0,1] 0.9374923696740325 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.27 [[ 0.81281268 0.04871191 -0.58048489 10.62960717] [-0.0165832 0.99802861 0.06053016 0.20124628] [ 0.58228906 -0.03957339 0.8120181 1.26695489] [ 0. 0. 0. 1. ]] SLAMing on 121.66538474999999 meters Centerline goodness [0,1] 0.9386713137057079 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.27 [[ 0.81278966 0.0486368 -0.58052342 10.63046814] [-0.01649579 0.99803066 0.06052022 0.20026042] [ 0.58232368 -0.03961402 0.8119913 1.26679045] [ 0. 0. 0. 1. ]] SLAMing on 121.69538474999999 meters Centerline goodness [0,1] 0.9389848150869459 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.27 [[ 0.81262843 0.04869834 -0.58074392 10.63079683] [-0.01631658 0.99801313 0.06085688 0.19886383] [ 0.58255369 -0.03997828 0.81180844 1.26752371] [ 0. 0. 0. 1. ]] SLAMing on 121.72538474999999 meters Centerline goodness [0,1] 0.9388307692307692 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.27 [[ 0.81319503 0.04425108 -0.58030654 10.62932078] [-0.01345521 0.99826819 0.05726755 0.1975539 ] [ 0.58183571 -0.03876154 0.81238215 1.26615191] [ 0. 0. 0. 1. ]] SLAMing on 121.75538474999999 meters Centerline goodness [0,1] 0.9380837508504979 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.27 [[ 8.13558993e-01 3.93967823e-02 -5.80146239e-01 1.06291564e+01] [-1.00781361e-02 9.98507647e-01 5.36741050e-02 1.95807169e-01] [ 5.81395043e-01 -3.78202580e-02 8.12741922e-01 1.26529532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.78538474999999 meters Centerline goodness [0,1] 0.937546468401487 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.27 [[ 8.13805938e-01 3.40870520e-02 -5.80136163e-01 1.06290956e+01] [-6.18697636e-03 9.98729886e-01 5.00033635e-02 1.94826222e-01] [ 5.81103791e-01 -3.71037455e-02 8.12983208e-01 1.26518985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.81538474999999 meters Centerline goodness [0,1] 0.9377979993144068 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.27 [[ 8.13883824e-01 2.74479546e-02 -5.80378954e-01 1.06311539e+01] [-1.12549694e-03 9.98956154e-01 4.56654729e-02 1.93646799e-01] [ 5.81026552e-01 -3.65131750e-02 8.13065148e-01 1.26533203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.84538475 meters Centerline goodness [0,1] 0.93650149775337 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.27 [[ 8.13705827e-01 2.67080602e-02 -5.80662989e-01 1.06338344e+01] [-5.13933393e-04 9.98976534e-01 4.52285324e-02 1.93298419e-01] [ 5.81276667e-01 -3.65042983e-02 8.12886753e-01 1.26517220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.87538475 meters Centerline goodness [0,1] 0.9331159261233577 Centerline is valid? [False, False] Translation: X:10.64, Y:0.19, Z:1.27 [[ 8.13323356e-01 2.49334330e-02 -5.81277423e-01 1.06383834e+01] [ 1.21032415e-03 9.99006642e-01 4.45450814e-02 1.91648816e-01] [ 5.81810668e-01 -3.69330892e-02 8.12485257e-01 1.26579044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.90538475 meters Centerline goodness [0,1] 0.9347539128795022 Centerline is valid? [False, False] Translation: X:10.64, Y:0.19, Z:1.27 [[ 8.13103021e-01 2.50744310e-02 -5.81579530e-01 1.06388181e+01] [ 1.41754458e-03 9.98983619e-01 4.50524035e-02 1.90103053e-01] [ 5.82118087e-01 -3.74566603e-02 8.12241055e-01 1.26679085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.93538475 meters Centerline goodness [0,1] 0.9329927789865355 Centerline is valid? [False, False] Translation: X:10.64, Y:0.19, Z:1.27 [[ 8.12854269e-01 2.50726537e-02 -5.81927228e-01 1.06392928e+01] [ 1.81405910e-03 9.98959289e-01 4.55746436e-02 1.88464253e-01] [ 5.82464287e-01 -3.81011940e-02 8.11962840e-01 1.26801629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.96538474999998 meters Centerline goodness [0,1] 0.9310235521602688 Centerline is valid? [False, False] Translation: X:10.64, Y:0.19, Z:1.27 [[ 8.13081748e-01 1.95219710e-02 -5.81822107e-01 1.06396003e+01] [ 5.71358003e-03 9.99121823e-01 4.15082799e-02 1.88341345e-01] [ 5.82121487e-01 -3.70739120e-02 8.12256178e-01 1.26738152e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 121.99538474999999 meters Centerline goodness [0,1] 0.9292240340079945 Centerline is valid? [False, False] Translation: X:10.64, Y:0.19, Z:1.27 [[ 8.12818032e-01 1.98161639e-02 -5.82180528e-01 1.06381609e+01] [ 6.35687930e-03 9.99059960e-01 4.28810666e-02 1.86090049e-01] [ 5.82482993e-01 -3.85553555e-02 8.11927982e-01 1.27028998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.02538474999999 meters Centerline goodness [0,1] 0.9268594255278676 Centerline is valid? [False, False] Translation: X:10.64, Y:0.19, Z:1.27 [[ 8.12882502e-01 1.99602690e-02 -5.82085583e-01 1.06380158e+01] [ 6.27913249e-03 9.99054164e-01 4.30273271e-02 1.86545289e-01] [ 5.82393862e-01 -3.86311538e-02 8.11988315e-01 1.27029291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.05538474999999 meters Centerline goodness [0,1] 0.9252155718995688 Centerline is valid? [False, False] Translation: X:10.64, Y:0.19, Z:1.27 [[ 8.12982776e-01 2.03422074e-02 -5.81932299e-01 1.06362455e+01] [ 6.12883043e-03 9.99035289e-01 4.34848120e-02 1.87355973e-01] [ 5.82255480e-01 -3.89189675e-02 8.12073808e-01 1.27091919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.08538474999999 meters Centerline goodness [0,1] 0.9280409569257023 Centerline is valid? [False, False] Translation: X:10.64, Y:0.19, Z:1.27 [[ 8.13078487e-01 2.09362241e-02 -5.81777491e-01 1.06352289e+01] [ 5.52357658e-03 9.99030680e-01 4.36713897e-02 1.88333393e-01] [ 5.82127876e-01 -3.87217600e-02 8.12174711e-01 1.27070907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.11538474999999 meters Centerline goodness [0,1] 0.9270514800920526 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.27 [[ 8.13208993e-01 2.16142244e-02 -5.81570253e-01 1.06338405e+01] [ 4.69197755e-03 9.99034111e-01 4.36901744e-02 1.90355340e-01] [ 5.81952849e-01 -3.82579573e-02 8.12322110e-01 1.27018471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.14538474999999 meters Centerline goodness [0,1] 0.9270659399514823 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.27 [[ 8.13331893e-01 2.18120331e-02 -5.81390975e-01 1.06335826e+01] [ 4.33395756e-03 9.99042110e-01 4.35439946e-02 1.91660406e-01] [ 5.81783850e-01 -3.79354434e-02 8.12458278e-01 1.26962445e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.17538474999999 meters Centerline goodness [0,1] 0.925260408471536 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.27 [[ 8.13514331e-01 2.24911909e-02 -5.81109783e-01 1.06325415e+01] [ 3.46938868e-03 9.99046364e-01 4.35238585e-02 1.93486440e-01] [ 5.81534519e-01 -3.74233783e-02 8.12660503e-01 1.26880189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.20538475 meters Centerline goodness [0,1] 0.9234729110427522 Centerline is valid? [False, False] Translation: X:10.63, Y:0.19, Z:1.27 [[ 8.13501775e-01 2.28160233e-02 -5.81114696e-01 1.06318028e+01] [ 3.14699778e-03 9.99042784e-01 4.36304088e-02 1.94405991e-01] [ 5.81553916e-01 -3.73221817e-02 8.12651276e-01 1.26896965e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.23538475 meters Centerline goodness [0,1] 0.9277901400946501 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.27 [[ 8.13501512e-01 2.30878165e-02 -5.81104330e-01 1.06316144e+01] [ 2.77079856e-03 9.99046449e-01 4.35719519e-02 1.95404380e-01] [ 5.81556198e-01 -3.70559718e-02 8.12661826e-01 1.26876003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.26538475 meters Centerline goodness [0,1] 0.9316605212174239 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.27 [[ 8.13517591e-01 2.30580702e-02 -5.81083001e-01 1.06320898e+01] [ 2.70128499e-03 9.99053019e-01 4.34254270e-02 1.95985565e-01] [ 5.81534033e-01 -3.68970196e-02 8.12684919e-01 1.26845432e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.29538475 meters Centerline goodness [0,1] 0.9297084711904613 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.27 [[ 8.13361942e-01 2.22431572e-02 -5.81332601e-01 1.06346225e+01] [ 3.17635410e-03 9.99084109e-01 4.26714593e-02 1.97014871e-01] [ 5.81749312e-01 -3.65538592e-02 8.12546340e-01 1.26795629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.32538475 meters Centerline goodness [0,1] 0.9302643856920685 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.27 [[ 8.13153647e-01 2.17521082e-02 -5.81642495e-01 1.06362762e+01] [ 3.55749399e-03 9.99097035e-01 4.23374430e-02 1.97689032e-01] [ 5.82038221e-01 -3.64960359e-02 8.12342015e-01 1.26813245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.35538474999998 meters Centerline goodness [0,1] 0.9288865250445828 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.27 [[ 8.12907457e-01 2.05549998e-02 -5.82030033e-01 1.06392858e+01] [ 4.36902958e-03 9.99133615e-01 4.13875688e-02 1.98611964e-01] [ 5.82376492e-01 -3.61871697e-02 8.12113360e-01 1.26787760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.38538474999999 meters Centerline goodness [0,1] 0.9251411988641682 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.27 [[ 8.12740782e-01 2.02020099e-02 -5.82275106e-01 1.06404582e+01] [ 4.67438073e-03 9.99140412e-01 4.11896439e-02 1.98910177e-01] [ 5.82606704e-01 -3.61982790e-02 8.11947728e-01 1.26814262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.41538474999999 meters Centerline goodness [0,1] 0.9278405357198736 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.27 [[ 8.12589382e-01 2.00152921e-02 -5.82492819e-01 1.06411113e+01] [ 4.77460694e-03 9.99148032e-01 4.09928394e-02 1.99745126e-01] [ 5.82817038e-01 -3.60915203e-02 8.11801517e-01 1.26836147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.44538474999999 meters Centerline goodness [0,1] 0.9288588092193494 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.27 [[ 8.12576927e-01 2.03576251e-02 -5.82498330e-01 1.06405620e+01] [ 4.48653982e-03 9.99141775e-01 4.11774784e-02 2.00533870e-01] [ 5.82836691e-01 -3.60732708e-02 8.11788218e-01 1.26854842e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.47538474999999 meters Centerline goodness [0,1] 0.927691634362886 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.27 [[ 8.12584828e-01 2.09086182e-02 -5.82467790e-01 1.06394332e+01] [ 4.03947637e-03 9.99130307e-01 4.15007521e-02 2.01404722e-01] [ 5.82828945e-01 -3.60757464e-02 8.11793669e-01 1.26881784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.50538474999999 meters Centerline goodness [0,1] 0.9285581222056631 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.27 [[ 8.12693960e-01 2.27714440e-02 -5.82245643e-01 1.06355149e+01] [ 2.45236650e-03 9.99093575e-01 4.24972297e-02 2.03288779e-01] [ 5.82685604e-01 -3.59651216e-02 8.11901470e-01 1.26924473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.53538474999999 meters Centerline goodness [0,1] 0.931392545892824 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.27 [[ 8.12880321e-01 2.36481550e-02 -5.81950469e-01 1.06331941e+01] [ 1.57749071e-03 9.99082320e-01 4.28022075e-02 2.06303960e-01] [ 5.82428618e-01 -3.57110936e-02 8.12097052e-01 1.26909751e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.56538474999999 meters Centerline goodness [0,1] 0.9297585643365915 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.27 [[ 8.13019404e-01 2.40173809e-02 -5.81741020e-01 1.06326128e+01] [ 1.17521081e-03 9.99079120e-01 4.28897604e-02 2.07644062e-01] [ 5.82235406e-01 -3.55538758e-02 8.12242485e-01 1.26870548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.59538475 meters Centerline goodness [0,1] 0.9297585643365915 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.27 [[ 8.13019404e-01 2.40173809e-02 -5.81741020e-01 1.06326128e+01] [ 1.17521081e-03 9.99079120e-01 4.28897604e-02 2.07644062e-01] [ 5.82235406e-01 -3.55538758e-02 8.12242485e-01 1.26870548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.62538475 meters Centerline goodness [0,1] 0.9306185407990128 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.27 [[ 8.13172031e-01 2.50103508e-02 -5.81485796e-01 1.06301846e+01] [ 3.69254079e-04 9.99053933e-01 4.34867999e-02 2.08527075e-01] [ 5.82023292e-01 -3.55769654e-02 8.12393481e-01 1.26888679e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.65538475 meters Centerline goodness [0,1] 0.9305256023168402 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.27 [[ 8.13275385e-01 2.55749431e-02 -5.81316669e-01 1.06291669e+01] [-7.36241937e-05 9.99038144e-01 4.38495372e-02 2.08603166e-01] [ 5.81878975e-01 -3.56189503e-02 8.12495014e-01 1.26888299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.68538475 meters Centerline goodness [0,1] 0.9297488830688646 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.27 [[ 8.13232255e-01 2.58061571e-02 -5.81366787e-01 1.06288525e+01] [-1.86449161e-04 9.99027775e-01 4.40848047e-02 2.08725888e-01] [ 5.81939227e-01 -3.57427898e-02 8.12446422e-01 1.26923473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.71538474999998 meters Centerline goodness [0,1] 0.9300393797686438 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.27 [[ 8.13272475e-01 2.62678355e-02 -5.81289843e-01 1.06282453e+01] [-4.49644549e-04 9.99008615e-01 4.45149881e-02 2.07675252e-01] [ 5.81882874e-01 -3.59414408e-02 8.12478021e-01 1.26943373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.74538474999999 meters Centerline goodness [0,1] 0.9287462436878466 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.27 [[ 8.12984746e-01 2.56400688e-02 -5.81720199e-01 1.06302561e+01] [ 9.71957923e-05 9.99024064e-01 4.41691117e-02 2.06992316e-01] [ 5.82284976e-01 -3.59653549e-02 8.12188833e-01 1.26980137e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.77538474999999 meters Centerline goodness [0,1] 0.9297621624965206 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.27 [[ 8.12809584e-01 2.50567666e-02 -5.81990325e-01 1.06321566e+01] [ 6.15562013e-04 9.99036979e-01 4.38718137e-02 2.06501984e-01] [ 5.82529142e-01 -3.60176817e-02 8.12011407e-01 1.26990483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.80538474999999 meters Centerline goodness [0,1] 0.9278072378825937 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.27 [[ 8.12534050e-01 2.38527926e-02 -5.82425498e-01 1.06350477e+01] [ 1.81501143e-03 9.99054059e-01 4.34475961e-02 2.05368473e-01] [ 5.82910904e-01 -3.63597602e-02 8.11722148e-01 1.27047823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.83538474999999 meters Centerline goodness [0,1] 0.9277974967308051 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.27 [[ 8.12269337e-01 2.33990192e-02 -5.82813015e-01 1.06362805e+01] [ 2.49478261e-03 9.99046515e-01 4.35871255e-02 2.03889918e-01] [ 5.83277207e-01 -3.68584773e-02 8.11436475e-01 1.27150510e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.86538474999999 meters Centerline goodness [0,1] 0.926362527750852 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.27 [[ 8.12610991e-01 1.94165847e-02 -5.82482938e-01 1.06381964e+01] [ 5.61126260e-03 9.99137899e-01 4.11335985e-02 2.03429485e-01] [ 5.82779453e-01 -3.66940790e-02 8.11801487e-01 1.27103488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.89538474999999 meters Centerline goodness [0,1] 0.924361339545355 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.27 [[ 8.12355464e-01 1.91016863e-02 -5.82849659e-01 1.06393362e+01] [ 6.21953816e-03 9.99122766e-01 4.14127470e-02 2.02126705e-01] [ 5.83129417e-01 -3.72669270e-02 8.11524035e-01 1.27208141e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.92538474999999 meters Centerline goodness [0,1] 0.9221571880184043 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.27 [[ 8.12010561e-01 1.82129459e-02 -5.83358498e-01 1.06417581e+01] [ 7.40247965e-03 9.99111205e-01 4.14970383e-02 2.00591367e-01] [ 5.83595795e-01 -3.80143328e-02 8.11154029e-01 1.27334808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.95538475 meters Centerline goodness [0,1] 0.9214602117432691 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.27 [[ 8.11781670e-01 1.80455292e-02 -5.83682173e-01 1.06425025e+01] [ 7.94805305e-03 9.99088407e-01 4.19426255e-02 1.98871693e-01] [ 5.83906969e-01 -3.86873914e-02 8.10898229e-01 1.27451852e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 122.98538475 meters Centerline goodness [0,1] 0.9216362428422284 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.28 [[ 0.81178785 0.01300363 -0.58380766 10.64119256] [ 0.01202334 0.99916789 0.03897382 0.19626612] [ 0.58382868 -0.03865779 0.81095601 1.27585237] [ 0. 0. 0. 1. ]] SLAMing on 123.01538475 meters Centerline goodness [0,1] 0.9202689416764454 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.28 [[ 0.81168036 0.01323878 -0.58395181 10.64080512] [ 0.01215344 0.99914389 0.03954463 0.19515832] [ 0.58397541 -0.03919462 0.81082458 1.27684339] [ 0. 0. 0. 1. ]] SLAMing on 123.04538475 meters Centerline goodness [0,1] 0.9190710990933673 Centerline is valid? [False, False] Translation: X:10.64, Y:0.19, Z:1.28 [[ 8.11969585e-01 8.51541433e-03 -5.83637628e-01 1.06392832e+01] [ 1.55243840e-02 9.99224816e-01 3.61767986e-02 1.94849825e-01] [ 5.83493262e-01 -3.84350748e-02 8.11207963e-01 1.27660818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.07538475 meters Centerline goodness [0,1] 0.9164011724225819 Centerline is valid? [False, False] Translation: X:10.64, Y:0.19, Z:1.28 [[ 8.11762798e-01 8.74287732e-03 -5.83921845e-01 1.06379817e+01] [ 1.61756396e-02 9.99167672e-01 3.74474479e-02 1.92093590e-01] [ 5.83763229e-01 -3.98437544e-02 8.10945724e-01 1.27921816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.10538474999998 meters Centerline goodness [0,1] 0.918134978690923 Centerline is valid? [False, False] Translation: X:10.64, Y:0.19, Z:1.28 [[ 0.81115961 0.01246823 -0.5846919 10.64194405] [ 0.0140311 0.99907002 0.04077036 0.19301758] [ 0.58465649 -0.04127514 0.81023031 1.28068323] [ 0. 0. 0. 1. ]] SLAMing on 123.13538474999999 meters Centerline goodness [0,1] 0.9144502417918046 Centerline is valid? [False, False] Translation: X:10.64, Y:0.19, Z:1.28 [[ 0.81111453 0.01236271 -0.58475669 10.64259582] [ 0.01409071 0.99907339 0.04066722 0.19363558] [ 0.5847176 -0.04122541 0.81018874 1.28063732] [ 0. 0. 0. 1. ]] SLAMing on 123.16538474999999 meters Centerline goodness [0,1] 0.9205457718546723 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.28 [[ 0.81110326 0.01313772 -0.58475541 10.64126897] [ 0.01322669 0.99908008 0.04079286 0.19575624] [ 0.58475341 -0.0408216 0.81018334 1.28054932] [ 0. 0. 0. 1. ]] SLAMing on 123.19538474999999 meters Centerline goodness [0,1] 0.9190969253665179 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.28 [[ 0.81118291 0.01329096 -0.58464147 10.64110872] [ 0.01286121 0.99909442 0.0405577 0.19766799] [ 0.58465108 -0.04041891 0.81027738 1.28003612] [ 0. 0. 0. 1. ]] SLAMing on 123.22538474999999 meters Centerline goodness [0,1] 0.9227674221230314 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.28 [[ 8.10735307e-01 1.88657225e-02 -5.85108833e-01 1.06409163e+01] [ 9.01883289e-03 9.98959468e-01 4.47061758e-02 1.98805629e-01] [ 5.85343423e-01 -4.15218740e-02 8.09721564e-01 1.28154400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.25538474999999 meters Centerline goodness [0,1] 0.9227653762833192 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.28 [[ 8.10704142e-01 1.90153769e-02 -5.85147169e-01 1.06409116e+01] [ 8.68174843e-03 9.98972032e-01 4.44916433e-02 2.00545343e-01] [ 5.85391682e-01 -4.11496600e-02 8.09705677e-01 1.28129668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.28538474999999 meters Centerline goodness [0,1] 0.9258359041475803 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.28 [[ 8.10231334e-01 2.39081458e-02 -5.85622391e-01 1.06421446e+01] [ 5.21151361e-03 9.98834320e-01 4.79879331e-02 2.02739689e-01] [ 5.86087045e-01 -4.19333061e-02 8.09162266e-01 1.28219898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.31538474999999 meters Centerline goodness [0,1] 0.9249758739843725 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.28 [[ 8.10193727e-01 2.39131915e-02 -5.85674213e-01 1.06424578e+01] [ 4.99301323e-03 9.98849690e-01 4.76903221e-02 2.05002283e-01] [ 5.86140934e-01 -4.15626789e-02 8.09142354e-01 1.28193067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.34538475 meters Centerline goodness [0,1] 0.9212408284573232 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.28 [[ 8.09741264e-01 2.92970690e-02 -5.86055259e-01 1.06427252e+01] [ 1.29930751e-03 9.98660854e-01 5.17185681e-02 2.06364198e-01] [ 5.86785648e-01 -4.26401247e-02 8.08618837e-01 1.28321836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.37538475 meters Centerline goodness [0,1] 0.9245125348189415 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.28 [[ 8.09822015e-01 2.97819864e-02 -5.85919225e-01 1.06418282e+01] [ 7.21287807e-04 9.98659381e-01 5.17582861e-02 2.08042751e-01] [ 5.86675195e-01 -4.23376159e-02 8.08714871e-01 1.28291717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.40538475 meters Centerline goodness [0,1] 0.9258390918065154 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.28 [[ 8.09874909e-01 3.14167245e-02 -5.85760720e-01 1.06392356e+01] [-9.54723890e-04 9.98634061e-01 5.22407925e-02 2.11023795e-01] [ 5.86601841e-01 -4.17492674e-02 8.08798664e-01 1.28256449e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.43538475 meters Centerline goodness [0,1] 0.9267392507842775 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.28 [[ 8.09914706e-01 3.19979322e-02 -5.85674228e-01 1.06380020e+01] [-1.54172966e-03 9.98623562e-01 5.24271311e-02 2.12378581e-01] [ 5.86545644e-01 -4.15585531e-02 8.08849241e-01 1.28255942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.46538474999998 meters Centerline goodness [0,1] 0.9263338228095938 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.28 [[ 8.10038027e-01 3.34265336e-02 -5.85423830e-01 1.06356566e+01] [-2.96767807e-03 9.98594798e-01 5.29114616e-02 2.14730346e-01] [ 5.86369838e-01 -4.11229465e-02 8.08998959e-01 1.28216045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.49538474999999 meters Centerline goodness [0,1] 0.926219029646314 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.28 [[ 8.10200324e-01 3.46150166e-02 -5.85130101e-01 1.06338424e+01] [-4.16624830e-03 9.98569619e-01 5.33043987e-02 2.17008356e-01] [ 5.86138275e-01 -4.07494438e-02 8.09185644e-01 1.28163866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.52538474999999 meters Centerline goodness [0,1] 0.9272925896704497 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.28 [[ 8.10236576e-01 3.49476674e-02 -5.85060127e-01 1.06335886e+01] [-4.56551210e-03 9.98566764e-01 5.33251761e-02 2.18165831e-01] [ 5.86085188e-01 -4.05349090e-02 8.09234869e-01 1.28138352e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.55538474999999 meters Centerline goodness [0,1] 0.9263295288975231 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.28 [[ 8.10261275e-01 3.51530675e-02 -5.85013614e-01 1.06336870e+01] [-4.88145184e-03 9.98569686e-01 5.32424124e-02 2.19315890e-01] [ 5.86048495e-01 -4.02845492e-02 8.09273944e-01 1.28105104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.58538474999999 meters Centerline goodness [0,1] 0.9274980306610919 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.28 [[ 8.10234062e-01 3.56832324e-02 -5.85019206e-01 1.06339688e+01] [-5.65446252e-03 9.98574426e-01 5.30767621e-02 2.21765807e-01] [ 5.86079169e-01 -3.96966313e-02 8.09280783e-01 1.28033073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.61538474999999 meters Centerline goodness [0,1] 0.9268005079518655 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.28 [[ 8.10257047e-01 3.60126036e-02 -5.84967187e-01 1.06338129e+01] [-6.04883117e-03 9.98571036e-01 5.30970548e-02 2.22753748e-01] [ 5.86043454e-01 -3.94838951e-02 8.09317053e-01 1.28005977e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.64538474999999 meters Centerline goodness [0,1] 0.9261372257457591 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.28 [[ 8.10569490e-01 3.18090537e-02 -5.84777980e-01 1.06311355e+01] [-3.35846348e-03 9.98759917e-01 4.96724239e-02 2.23415428e-01] [ 5.85632840e-01 -3.82989958e-02 8.09671146e-01 1.27970703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.67538474999999 meters Centerline goodness [0,1] 0.9258507932663195 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.28 [[ 8.10541397e-01 3.20061426e-02 -5.84806165e-01 1.06309546e+01] [-3.43829878e-03 9.98748525e-01 4.98955140e-02 2.23264267e-01] [ 5.85671258e-01 -3.84316413e-02 8.09637071e-01 1.27998956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.70538475 meters Centerline goodness [0,1] 0.9259820562560621 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.28 [[ 8.10653029e-01 3.22088449e-02 -5.84640280e-01 1.06309220e+01] [-3.57261292e-03 9.98739394e-01 5.00685528e-02 2.23378711e-01] [ 5.85515929e-01 -3.84995306e-02 8.09746184e-01 1.27976114e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.73538475 meters Centerline goodness [0,1] 0.9229295877417001 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.28 [[ 8.10924632e-01 2.67740469e-02 -5.84537759e-01 1.06306850e+01] [ 2.69868461e-04 9.98935435e-01 4.61294190e-02 2.23310553e-01] [ 5.85150552e-01 -3.75652304e-02 8.10054125e-01 1.27936723e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.76538475 meters Centerline goodness [0,1] 0.924743581962736 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.28 [[ 8.10766504e-01 2.68767925e-02 -5.84752353e-01 1.06309813e+01] [ 3.58620875e-04 9.98922393e-01 4.64103949e-02 2.22720749e-01] [ 5.85369582e-01 -3.78376980e-02 8.09883177e-01 1.27999555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.79538475 meters Centerline goodness [0,1] 0.9249133264399976 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.28 [[ 8.10711847e-01 2.70430067e-02 -5.84820466e-01 1.06312737e+01] [ 2.62336508e-04 9.98915690e-01 4.65550790e-02 2.22272170e-01] [ 5.85445329e-01 -3.78961738e-02 8.09825689e-01 1.28008771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.82538475 meters Centerline goodness [0,1] 0.9241076866853454 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.28 [[ 8.10793008e-01 2.81645121e-02 -5.84654991e-01 1.06294383e+01] [-3.02758815e-04 9.98861748e-01 4.76981802e-02 2.19777782e-01] [ 5.85332903e-01 -3.84963415e-02 8.09878648e-01 1.28076465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.85538474999998 meters Centerline goodness [0,1] 0.925173181970765 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.28 [[ 8.10668116e-01 2.86731068e-02 -5.84803435e-01 1.06288633e+01] [-3.50593742e-04 9.98823769e-01 4.84866601e-02 2.17457657e-01] [ 5.85505834e-01 -3.91015610e-02 8.09724636e-01 1.28178019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.88538474999999 meters Centerline goodness [0,1] 0.926411445061861 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.28 [[ 8.10902304e-01 2.37579413e-02 -5.84699080e-01 1.06291046e+01] [ 3.07602946e-03 9.98988650e-01 4.48577293e-02 2.15849427e-01] [ 5.85173471e-01 -3.81737877e-02 8.10009117e-01 1.28106503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.91538474999999 meters Centerline goodness [0,1] 0.9252601995120294 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.28 [[ 8.10661592e-01 2.22289956e-02 -5.85092860e-01 1.06331546e+01] [ 4.59342119e-03 9.99006878e-01 4.43188277e-02 2.13752738e-01] [ 5.85496955e-01 -3.86151494e-02 8.09754399e-01 1.28136638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.94538474999999 meters Centerline goodness [0,1] 0.9249566402378593 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.28 [[ 8.10323357e-01 2.16276464e-02 -5.85583727e-01 1.06353343e+01] [ 5.35263993e-03 9.99003774e-01 4.43036039e-02 2.12015285e-01] [ 5.85958536e-01 -3.90346639e-02 8.09400327e-01 1.28220105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 123.97538474999999 meters Centerline goodness [0,1] 0.9258453505718548 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.28 [[ 8.09900514e-01 2.00941861e-02 -5.86222980e-01 1.06393524e+01] [ 6.90815434e-03 9.99016975e-01 4.37876912e-02 2.09572445e-01] [ 5.86526586e-01 -3.95133924e-02 8.08965547e-01 1.28303225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.00538474999999 meters Centerline goodness [0,1] 0.9242424242424242 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.28 [[ 8.09711628e-01 1.99640692e-02 -5.86488291e-01 1.06402908e+01] [ 7.25668698e-03 9.99004084e-01 4.40247673e-02 2.08248334e-01] [ 5.86783112e-01 -3.99033279e-02 8.08760350e-01 1.28371153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.03538474999999 meters Centerline goodness [0,1] 0.9240936438168272 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.28 [[ 0.80974677 0.01405991 -0.58661101 10.64187403] [ 0.01158491 0.99913496 0.03993888 0.2080403 ] [ 0.58666511 -0.03913622 0.80888343 1.28352137] [ 0. 0. 0. 1. ]] SLAMing on 124.06538474999999 meters Centerline goodness [0,1] 0.9251013408169629 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.28 [[ 0.80970143 0.01409556 -0.58667275 10.64226206] [ 0.01162178 0.99913028 0.04004527 0.20835411] [ 0.58672696 -0.03924289 0.8088334 1.28369176] [ 0. 0. 0. 1. ]] SLAMing on 124.09538475 meters Centerline goodness [0,1] 0.9252342266629315 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.28 [[ 0.8096007 0.01427166 -0.58680749 10.6420037 ] [ 0.01160928 0.99911952 0.04031641 0.20855181] [ 0.5868662 -0.0394526 0.80872218 1.28428525] [ 0. 0. 0. 1. ]] SLAMing on 124.12538475 meters Centerline goodness [0,1] 0.9254051700003111 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.29 [[ 0.80951024 0.01419192 -0.58693421 10.64186921] [ 0.01188846 0.99910658 0.04055492 0.20917676] [ 0.58698538 -0.03980737 0.80861829 1.28506553] [ 0. 0. 0. 1. ]] SLAMing on 124.15538475 meters Centerline goodness [0,1] 0.9271226047670977 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.29 [[ 8.09664791e-01 9.19973983e-03 -5.86820494e-01 1.06402074e+01] [ 1.52812108e-02 9.99207681e-01 3.67490727e-02 2.10660032e-01] [ 5.86693627e-01 -3.87217579e-02 8.08882695e-01 1.28500801e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.18538475 meters Centerline goodness [0,1] 0.926855861188125 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.28 [[ 8.09645772e-01 9.32440249e-03 -5.86844767e-01 1.06402174e+01] [ 1.51072627e-02 9.99211418e-01 3.67193881e-02 2.11792808e-01] [ 5.86724378e-01 -3.85953154e-02 8.08866433e-01 1.28499838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.21538474999998 meters Centerline goodness [0,1] 0.922240854605304 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.28 [[ 8.09730872e-01 1.01049373e-02 -5.86714416e-01 1.06392357e+01] [ 1.42427022e-02 9.99218718e-01 3.68659735e-02 2.14265814e-01] [ 5.86628555e-01 -3.82079156e-02 8.08954321e-01 1.28457930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.24538474999999 meters Centerline goodness [0,1] 0.925268232001244 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.29 [[ 8.09725908e-01 1.04681118e-02 -5.86714899e-01 1.06381185e+01] [ 1.41754087e-02 9.99200161e-01 3.73911328e-02 2.13553218e-01] [ 5.86637036e-01 -3.85934924e-02 8.08929867e-01 1.28534410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.27538474999999 meters Centerline goodness [0,1] 0.9276328081210687 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.29 [[ 8.09491715e-01 9.59758386e-03 -5.87052851e-01 1.06384695e+01] [ 1.54245017e-02 9.99173663e-01 3.76042112e-02 2.12161169e-01] [ 5.86928656e-01 -3.94952951e-02 8.08674764e-01 1.28720914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.30538474999999 meters Centerline goodness [0,1] 0.9278218900825159 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.29 [[ 8.09226118e-01 9.23721927e-03 -5.87424688e-01 1.06391144e+01] [ 1.59486709e-02 9.99162488e-01 3.76823863e-02 2.11874778e-01] [ 5.87280793e-01 -3.98622142e-02 8.08401060e-01 1.28824309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.33538474999999 meters Centerline goodness [0,1] 0.9282998878225103 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.29 [[ 8.09014838e-01 8.29327119e-03 -5.87729712e-01 1.06415670e+01] [ 1.68114703e-02 9.99164928e-01 3.72400343e-02 2.11596613e-01] [ 5.87547757e-01 -4.00083409e-02 8.08199830e-01 1.28852518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.36538474999999 meters Centerline goodness [0,1] 0.9274701953685788 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.29 [[ 8.08889805e-01 8.07417176e-03 -5.87904832e-01 1.06429126e+01] [ 1.70119226e-02 9.99165675e-01 3.71288087e-02 2.11952061e-01] [ 5.87714112e-01 -4.00345063e-02 8.08077571e-01 1.28858563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.39538474999999 meters Centerline goodness [0,1] 0.9249750124937531 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.29 [[ 8.08879220e-01 8.17807794e-03 -5.87917960e-01 1.06434824e+01] [ 1.69624793e-02 9.99162519e-01 3.72361920e-02 2.11823575e-01] [ 5.87730110e-01 -4.00921281e-02 8.08063079e-01 1.28852015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.42538474999999 meters Centerline goodness [0,1] 0.9290210890777463 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.29 [[ 8.09009187e-01 3.66238033e-03 -5.87784588e-01 1.06414100e+01] [ 2.03708053e-02 9.99205201e-01 3.42636375e-02 2.08856569e-01] [ 5.87442904e-01 -3.96932429e-02 8.08291582e-01 1.28903131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.45538475 meters Centerline goodness [0,1] 0.9284944532488114 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.29 [[ 8.08928118e-01 -2.48869257e-03 -5.87902293e-01 1.06429924e+01] [ 2.49632983e-02 9.99234562e-01 3.01184847e-02 2.07460491e-01] [ 5.87377335e-01 -3.90396695e-02 8.08371060e-01 1.28912096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.48538475 meters Centerline goodness [0,1] 0.9270142180094787 Centerline is valid? [False, False] Translation: X:10.65, Y:0.21, Z:1.29 [[ 8.08219138e-01 1.06421240e-03 -5.88880882e-01 1.06480273e+01] [ 2.31422436e-02 9.99168480e-01 3.35676234e-02 2.06536783e-01] [ 5.88426939e-01 -4.07580205e-02 8.07522459e-01 1.29095770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.51538475 meters Centerline goodness [0,1] 0.9270142180094787 Centerline is valid? [False, False] Translation: X:10.65, Y:0.21, Z:1.29 [[ 8.08219138e-01 1.06421240e-03 -5.88880882e-01 1.06480273e+01] [ 2.31422436e-02 9.99168480e-01 3.35676234e-02 2.06536783e-01] [ 5.88426939e-01 -4.07580205e-02 8.07522459e-01 1.29095770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.54538475 meters Centerline goodness [0,1] 0.9241700161407729 Centerline is valid? [False, False] Translation: X:10.65, Y:0.21, Z:1.29 [[ 8.08010278e-01 -3.00700280e-04 -5.89168313e-01 1.06519472e+01] [ 2.43054497e-02 9.99165581e-01 3.28235639e-02 2.06545439e-01] [ 5.88666830e-01 -4.08417778e-02 8.07343367e-01 1.29074293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.57538475 meters Centerline goodness [0,1] 0.9242644732679531 Centerline is valid? [False, False] Translation: X:10.65, Y:0.21, Z:1.29 [[ 8.08009698e-01 1.60625208e-04 -5.89169163e-01 1.06513996e+01] [ 2.40877701e-02 9.99154844e-01 3.33073122e-02 2.06355530e-01] [ 5.88676573e-01 -4.11044026e-02 8.07322934e-01 1.29115233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.60538474999998 meters Centerline goodness [0,1] 0.9274157871452948 Centerline is valid? [False, False] Translation: X:10.65, Y:0.21, Z:1.29 [[ 8.08117058e-01 1.90454380e-03 -5.89018839e-01 1.06473761e+01] [ 2.31292295e-02 9.99120920e-01 3.49632187e-02 2.05598314e-01] [ 5.88567633e-01 -4.18779254e-02 8.07362608e-01 1.29273016e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.63538474999999 meters Centerline goodness [0,1] 0.9265773045600025 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.29 [[ 8.08191685e-01 2.97153607e-03 -5.88912023e-01 1.06449000e+01] [ 2.24244755e-02 9.99106799e-01 3.58154627e-02 2.05363122e-01] [ 5.88492433e-01 -4.21518024e-02 8.07403172e-01 1.29342526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.66538474999999 meters Centerline goodness [0,1] 0.929350237717908 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.29 [[ 8.08401427e-01 4.20826926e-03 -5.88616533e-01 1.06422467e+01] [ 2.15083683e-02 9.99095487e-01 3.66823854e-02 2.05629919e-01] [ 5.88238491e-01 -4.23142739e-02 8.07579705e-01 1.29367532e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.69538474999999 meters Centerline goodness [0,1] 0.9284139581758629 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.30 [[ 8.08297891e-01 1.01525059e-02 -5.88686203e-01 1.06404679e+01] [ 1.75082745e-02 9.98994680e-01 4.12685070e-02 2.06222478e-01] [ 5.88513364e-01 -4.36641268e-02 8.07307540e-01 1.29503248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.72538474999999 meters Centerline goodness [0,1] 0.9289365572176749 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.30 [[ 0.80843243 0.0114059 -0.58847847 10.63783247] [ 0.01635899 0.99899056 0.04183589 0.20838253] [ 0.58836162 -0.0434484 0.80742978 1.29507757] [ 0. 0. 0. 1. ]] SLAMing on 124.75538474999999 meters Centerline goodness [0,1] 0.9270084450444228 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.29 [[ 0.80854015 0.01198331 -0.58831898 10.63661963] [ 0.01572437 0.9989956 0.04195864 0.20949669] [ 0.58823088 -0.04317619 0.80753963 1.29483059] [ 0. 0. 0. 1. ]] SLAMing on 124.78538474999999 meters Centerline goodness [0,1] 0.9268277455203846 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.30 [[ 0.80835085 0.01801278 -0.58842539 10.6349156 ] [ 0.0113734 0.9988674 0.04620141 0.21084666] [ 0.58859115 -0.04403934 0.80723044 1.29573453] [ 0. 0. 0. 1. ]] SLAMing on 124.81538474999999 meters Centerline goodness [0,1] 0.9271292787475928 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.30 [[ 0.8084664 0.01847571 -0.58825227 10.63455676] [ 0.01067089 0.99888268 0.04603827 0.21383361] [ 0.5884456 -0.04349757 0.80736593 1.29501067] [ 0. 0. 0. 1. ]] SLAMing on 124.84538475 meters Centerline goodness [0,1] 0.9277230769230769 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.29 [[ 8.08361917e-01 2.44582649e-02 -5.88177528e-01 1.06337318e+01] [ 6.00480583e-03 9.98741980e-01 4.97835278e-02 2.17317406e-01] [ 5.88655207e-01 -4.37749998e-02 8.07198115e-01 1.29476151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.87538475 meters Centerline goodness [0,1] 0.9266564417177914 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.29 [[ 8.08469535e-01 2.49295414e-02 -5.88009804e-01 1.06331847e+01] [ 5.33088959e-03 9.98751302e-01 4.96731067e-02 2.20084354e-01] [ 5.88513885e-01 -4.32938088e-02 8.07327104e-01 1.29417103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.90538475 meters Centerline goodness [0,1] 0.9289960671930734 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.29 [[ 8.08302028e-01 3.06636118e-02 -5.87969025e-01 1.06323714e+01] [ 1.17973108e-03 9.98556509e-01 5.36982849e-02 2.21842304e-01] [ 5.88766881e-01 -4.40980779e-02 8.07099077e-01 1.29460148e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.93538475 meters Centerline goodness [0,1] 0.9285323110624315 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.29 [[ 8.08432204e-01 3.10374838e-02 -5.87770403e-01 1.06317268e+01] [ 7.07332045e-04 9.98556749e-01 5.37021237e-02 2.23366845e-01] [ 5.88588882e-01 -4.38302750e-02 8.07243479e-01 1.29415101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.96538474999998 meters Centerline goodness [0,1] 0.9295257181028724 Centerline is valid? [False, False] Translation: X:10.63, Y:0.23, Z:1.29 [[ 8.08568545e-01 3.19342680e-02 -5.87534773e-01 1.06302656e+01] [-2.60293435e-04 9.98545457e-01 5.39157078e-02 2.25060122e-01] [ 5.88401937e-01 -4.34416140e-02 8.07400760e-01 1.29366564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 124.99538474999999 meters Centerline goodness [0,1] 0.9297075423293997 Centerline is valid? [False, False] Translation: X:10.63, Y:0.23, Z:1.29 [[ 8.08721531e-01 3.23787857e-02 -5.87299838e-01 1.06297851e+01] [-7.94938244e-04 9.98542963e-01 5.39566383e-02 2.26100715e-01] [ 5.88191171e-01 -4.31690280e-02 8.07568933e-01 1.29310704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.02538474999999 meters Centerline goodness [0,1] 0.9294353005365099 Centerline is valid? [False, False] Translation: X:10.63, Y:0.23, Z:1.29 [[ 8.08986597e-01 2.71969256e-02 -5.87197593e-01 1.06282341e+01] [ 2.80899306e-03 9.98738849e-01 5.01280391e-02 2.26898217e-01] [ 5.87820377e-01 -4.22023457e-02 8.07889947e-01 1.29308132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.05538474999999 meters Centerline goodness [0,1] 0.9293598905275962 Centerline is valid? [False, False] Translation: X:10.63, Y:0.23, Z:1.29 [[ 8.08779527e-01 2.69911454e-02 -5.87492259e-01 1.06285234e+01] [ 3.19054433e-03 9.98730218e-01 5.02769509e-02 2.26263529e-01] [ 5.88103304e-01 -4.25373887e-02 8.07666437e-01 1.29401623e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.08538474999999 meters Centerline goodness [0,1] 0.9288495467542739 Centerline is valid? [False, False] Translation: X:10.63, Y:0.23, Z:1.29 [[ 8.08529541e-01 2.54677441e-02 -5.87904224e-01 1.06315418e+01] [ 4.72532621e-03 9.98749826e-01 4.97640085e-02 2.25547517e-01] [ 5.88436618e-01 -4.30137102e-02 8.07398394e-01 1.29472780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.11538474999999 meters Centerline goodness [0,1] 0.9247834675581219 Centerline is valid? [False, False] Translation: X:10.63, Y:0.23, Z:1.29 [[ 8.09166512e-01 1.92788719e-02 -5.87263043e-01 1.06334542e+01] [ 9.49042787e-03 9.98902390e-01 4.58687942e-02 2.26180851e-01] [ 5.87502756e-01 -4.26888697e-02 8.08095398e-01 1.29385275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.14538474999999 meters Centerline goodness [0,1] 0.9225802521776207 Centerline is valid? [False, False] Translation: X:10.63, Y:0.23, Z:1.29 [[ 8.08854784e-01 1.86461633e-02 -5.87712734e-01 1.06349284e+01] [ 1.03331047e-02 9.98892011e-01 4.59127106e-02 2.25209322e-01] [ 5.87917651e-01 -4.32096128e-02 8.07765910e-01 1.29495165e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.17538474999999 meters Centerline goodness [0,1] 0.9237698183256748 Centerline is valid? [False, False] Translation: X:10.64, Y:0.23, Z:1.30 [[ 8.08642903e-01 1.84442907e-02 -5.88010598e-01 1.06360670e+01] [ 1.05380125e-02 9.98893914e-01 4.58246482e-02 2.25646171e-01] [ 5.88205411e-01 -4.32522396e-02 8.07554109e-01 1.29537110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.20538475 meters Centerline goodness [0,1] 0.923212763366216 Centerline is valid? [False, False] Translation: X:10.64, Y:0.23, Z:1.29 [[ 8.08696816e-01 1.88257851e-02 -5.87924357e-01 1.06361113e+01] [ 1.00273553e-02 9.98901295e-01 4.57783236e-02 2.26861981e-01] [ 5.88140215e-01 -4.29161110e-02 8.07619524e-01 1.29483883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.23538475 meters Centerline goodness [0,1] 0.9239458060587609 Centerline is valid? [False, False] Translation: X:10.64, Y:0.23, Z:1.30 [[ 8.08631138e-01 1.92188250e-02 -5.88001973e-01 1.06355159e+01] [ 9.83266826e-03 9.98885176e-01 4.61705952e-02 2.26108144e-01] [ 5.88233799e-01 -4.31166093e-02 8.07540684e-01 1.29534859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.26538475 meters Centerline goodness [0,1] 0.9240849663243227 Centerline is valid? [False, False] Translation: X:10.63, Y:0.23, Z:1.30 [[ 8.08727484e-01 1.98372688e-02 -5.87848909e-01 1.06348198e+01] [ 9.20181828e-03 9.98882084e-01 4.63671112e-02 2.27202427e-01] [ 5.88111540e-01 -4.29076360e-02 8.07640855e-01 1.29505485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.29538475 meters Centerline goodness [0,1] 0.9238103914244936 Centerline is valid? [False, False] Translation: X:10.63, Y:0.23, Z:1.29 [[ 8.08777573e-01 2.01469195e-02 -5.87769461e-01 1.06348723e+01] [ 8.92484670e-03 9.98877529e-01 4.65191250e-02 2.27486416e-01] [ 5.88046924e-01 -4.28693773e-02 8.07689935e-01 1.29487097e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.32538475 meters Centerline goodness [0,1] 0.9218043286889476 Centerline is valid? [False, False] Translation: X:10.63, Y:0.23, Z:1.29 [[ 8.08747604e-01 2.04572848e-02 -5.87799976e-01 1.06347562e+01] [ 8.58618232e-03 9.98877767e-01 4.65777177e-02 2.28353549e-01] [ 5.88093182e-01 -4.27165754e-02 8.07664351e-01 1.29485103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.35538474999998 meters Centerline goodness [0,1] 0.924435542607429 Centerline is valid? [False, False] Translation: X:10.63, Y:0.23, Z:1.29 [[ 8.08857390e-01 2.10126621e-02 -5.87629297e-01 1.06340996e+01] [ 7.99684557e-03 9.98875751e-01 4.67256251e-02 2.29519691e-01] [ 5.87950485e-01 -4.24935479e-02 8.07779998e-01 1.29450531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.38538474999999 meters Centerline goodness [0,1] 0.9235641763903621 Centerline is valid? [False, False] Translation: X:10.63, Y:0.23, Z:1.29 [[ 8.09010673e-01 2.16361041e-02 -5.87395616e-01 1.06331636e+01] [ 7.47249287e-03 9.98862991e-01 4.70838211e-02 2.30156589e-01] [ 5.87746453e-01 -4.24806234e-02 8.07929145e-01 1.29433624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.41538474999999 meters Centerline goodness [0,1] 0.9245431441365122 Centerline is valid? [False, False] Translation: X:10.63, Y:0.23, Z:1.29 [[ 8.09148801e-01 2.22846407e-02 -5.87181074e-01 1.06321503e+01] [ 6.86979025e-03 9.98853545e-01 4.73751217e-02 2.30965685e-01] [ 5.87563634e-01 -4.23673337e-02 8.08068057e-01 1.29410703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.44538474999999 meters Centerline goodness [0,1] 0.9255981150314161 Centerline is valid? [False, False] Translation: X:10.63, Y:0.23, Z:1.29 [[ 8.09456208e-01 2.42159661e-02 -5.86680692e-01 1.06286139e+01] [ 5.11492318e-03 9.98820516e-01 4.82847151e-02 2.32465842e-01] [ 5.87157973e-01 -4.20851891e-02 8.08377605e-01 1.29368775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.47538474999999 meters Centerline goodness [0,1] 0.9262885978613481 Centerline is valid? [False, False] Translation: X:10.63, Y:0.23, Z:1.29 [[ 8.09708398e-01 2.61384590e-02 -5.86250024e-01 1.06258401e+01] [ 3.35925182e-03 9.98784708e-01 4.91713540e-02 2.34393879e-01] [ 5.86822823e-01 -4.17838198e-02 8.08636560e-01 1.29316740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.50538474999999 meters Centerline goodness [0,1] 0.9247463528846731 Centerline is valid? [False, False] Translation: X:10.63, Y:0.24, Z:1.29 [[ 8.09733040e-01 2.66044042e-02 -5.86195026e-01 1.06254953e+01] [ 2.87367167e-03 9.98779929e-01 4.92990396e-02 2.35165171e-01] [ 5.86791399e-01 -4.16035933e-02 8.08668656e-01 1.29297516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.53538474999999 meters Centerline goodness [0,1] 0.9286100108030249 Centerline is valid? [False, False] Translation: X:10.62, Y:0.24, Z:1.29 [[ 8.09796088e-01 2.73498889e-02 -5.86073612e-01 1.06248649e+01] [ 2.18715830e-03 9.98765240e-01 4.96307460e-02 2.35441798e-01] [ 5.86707347e-01 -4.14726198e-02 8.08736366e-01 1.29279685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.56538474999999 meters Centerline goodness [0,1] 0.9270423634671391 Centerline is valid? [False, False] Translation: X:10.62, Y:0.23, Z:1.29 [[ 8.09813953e-01 2.79153867e-02 -5.86022263e-01 1.06242968e+01] [ 1.82228165e-03 9.98742862e-01 5.00936639e-02 2.34979126e-01] [ 5.86683936e-01 -4.16344456e-02 8.08745035e-01 1.29299436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.59538475 meters Centerline goodness [0,1] 0.9259181342790166 Centerline is valid? [False, False] Translation: X:10.62, Y:0.23, Z:1.29 [[ 8.09806440e-01 2.82732654e-02 -5.86015488e-01 1.06241579e+01] [ 1.62829837e-03 9.98726004e-01 5.04352744e-02 2.34158337e-01] [ 5.86694876e-01 -4.17970181e-02 8.08728713e-01 1.29317664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.62538475 meters Centerline goodness [0,1] 0.9232322623425161 Centerline is valid? [False, False] Translation: X:10.63, Y:0.23, Z:1.29 [[ 8.09612555e-01 2.77740021e-02 -5.86307185e-01 1.06261201e+01] [ 2.32733667e-03 9.98720126e-01 5.05241905e-02 2.31850840e-01] [ 5.86960044e-01 -4.22695532e-02 8.08511714e-01 1.29377674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.65538475 meters Centerline goodness [0,1] 0.9225477476390188 Centerline is valid? [False, False] Translation: X:10.63, Y:0.23, Z:1.29 [[ 8.09385869e-01 2.68797146e-02 -5.86661739e-01 1.06292602e+01] [ 3.13753951e-03 9.98739828e-01 5.00890372e-02 2.31251739e-01] [ 5.87268823e-01 -4.23820333e-02 8.08281567e-01 1.29385275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.68538475 meters Centerline goodness [0,1] 0.9222674506256596 Centerline is valid? [False, False] Translation: X:10.63, Y:0.23, Z:1.29 [[ 8.09329226e-01 2.64447145e-02 -5.86759645e-01 1.06313015e+01] [ 3.43460841e-03 9.98755775e-01 4.97504226e-02 2.31438981e-01] [ 5.87345220e-01 -4.22797606e-02 8.08231411e-01 1.29346974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.71538474999998 meters Centerline goodness [0,1] 0.921875 Centerline is valid? [False, False] Translation: X:10.63, Y:0.23, Z:1.29 [[ 8.09180030e-01 2.63714747e-02 -5.86968674e-01 1.06329905e+01] [ 3.39203930e-03 9.98765935e-01 4.95489832e-02 2.31471201e-01] [ 5.87550996e-01 -4.20850685e-02 8.08091996e-01 1.29326925e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.74538474999999 meters Centerline goodness [0,1] 0.9250331445100639 Centerline is valid? [False, False] Translation: X:10.63, Y:0.23, Z:1.29 [[ 8.09139027e-01 2.68661410e-02 -5.87002765e-01 1.06327710e+01] [ 3.01263895e-03 9.98751479e-01 4.98638909e-02 2.31400834e-01] [ 5.87609529e-01 -4.21152475e-02 8.08047862e-01 1.29344021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.77538474999999 meters Centerline goodness [0,1] 0.9249728490406661 Centerline is valid? [False, False] Translation: X:10.63, Y:0.23, Z:1.29 [[ 8.09138864e-01 2.74292723e-02 -5.86976945e-01 1.06322648e+01] [ 2.61876356e-03 9.98731708e-01 5.02803860e-02 2.31070259e-01] [ 5.87611641e-01 -4.22209683e-02 8.08040809e-01 1.29363159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.80538474999999 meters Centerline goodness [0,1] 0.9252897850760686 Centerline is valid? [False, False] Translation: X:10.63, Y:0.23, Z:1.29 [[ 8.08931464e-01 2.71455765e-02 -5.87275919e-01 1.06326867e+01] [ 3.17027066e-03 9.98717491e-01 5.05304114e-02 2.29577115e-01] [ 5.87894409e-01 -4.27374632e-02 8.07807943e-01 1.29474761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.83538474999999 meters Centerline goodness [0,1] 0.9252937800199378 Centerline is valid? [False, False] Translation: X:10.63, Y:0.23, Z:1.29 [[ 8.08857852e-01 2.71838721e-02 -5.87375529e-01 1.06334394e+01] [ 3.20359003e-03 9.98712230e-01 5.06321987e-02 2.29446447e-01] [ 5.87995503e-01 -4.28359619e-02 8.07729143e-01 1.29486155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.86538474999999 meters Centerline goodness [0,1] 0.922916161860916 Centerline is valid? [False, False] Translation: X:10.63, Y:0.23, Z:1.30 [[ 8.08782711e-01 2.74515500e-02 -5.87466543e-01 1.06338344e+01] [ 3.27316859e-03 9.98684414e-01 5.11734968e-02 2.28062289e-01] [ 5.88098473e-01 -4.33111165e-02 8.07628834e-01 1.29541958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.89538474999999 meters Centerline goodness [0,1] 0.9220283033285448 Centerline is valid? [False, False] Translation: X:10.63, Y:0.23, Z:1.30 [[ 8.09105369e-01 2.33849436e-02 -5.87198132e-01 1.06317361e+01] [ 6.30959132e-03 9.98804658e-01 4.84710582e-02 2.25604773e-01] [ 5.87629723e-01 -4.29231736e-02 8.07990662e-01 1.29558568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.92538474999999 meters Centerline goodness [0,1] 0.9210211408057439 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.30 [[ 8.09190464e-01 1.79384612e-02 -5.87272513e-01 1.06323093e+01] [ 1.03091268e-02 9.98946459e-01 4.47179272e-02 2.24901031e-01] [ 5.87455968e-01 -4.22395870e-02 8.08153020e-01 1.29558999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 125.95538475 meters Centerline goodness [0,1] 0.9173403830192739 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.30 [[ 0.80900028 0.01812444 -0.58752876 10.63230503] [ 0.01066108 0.99890769 0.04549473 0.22234079] [ 0.58771157 -0.04306894 0.80792338 1.29697575] [ 0. 0. 0. 1. ]] SLAMing on 125.98538475 meters Centerline goodness [0,1] 0.9171968649147072 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.30 [[ 8.09113024e-01 1.96694662e-02 -5.87323783e-01 1.06301720e+01] [ 9.59870317e-03 9.98863992e-01 4.66753740e-02 2.21186761e-01] [ 5.87574659e-01 -4.34031997e-02 8.08005064e-01 1.29740485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.01538475 meters Centerline goodness [0,1] 0.9175945862811443 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.30 [[ 8.09251807e-01 2.05436429e-02 -5.87102607e-01 1.06293286e+01] [ 8.71653213e-03 9.98858441e-01 4.69663396e-02 2.22392680e-01] [ 5.87397255e-01 -4.31250939e-02 8.08148929e-01 1.29688662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.04538475 meters Centerline goodness [0,1] 0.9098267668250805 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.30 [[ 8.08993987e-01 1.95038941e-02 -5.87493257e-01 1.06311172e+01] [ 9.89023956e-03 9.98856270e-01 4.67796539e-02 2.22316678e-01] [ 5.87733708e-01 -4.36549078e-02 8.07875818e-01 1.29797179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.07538475 meters Centerline goodness [0,1] 0.9137768305678186 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.30 [[ 0.80872209 0.01846779 -0.58790094 10.63290528] [ 0.01097095 0.99885948 0.04646901 0.2228452 ] [ 0.58808861 -0.04403035 0.80759712 1.29897884] [ 0. 0. 0. 1. ]] SLAMing on 126.10538474999998 meters Centerline goodness [0,1] 0.9110562263690694 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.30 [[ 0.80851042 0.01853851 -0.58818978 10.63326772] [ 0.01101595 0.99885177 0.04662396 0.22291077] [ 0.58837874 -0.04417542 0.80737785 1.29964371] [ 0. 0. 0. 1. ]] SLAMing on 126.13538474999999 meters Centerline goodness [0,1] 0.911599184741277 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.30 [[ 0.80844954 0.01876271 -0.58826635 10.63349314] [ 0.01081734 0.99884925 0.04672439 0.22390959] [ 0.58846608 -0.04413779 0.80731625 1.29976101] [ 0. 0. 0. 1. ]] SLAMing on 126.16538474999999 meters Centerline goodness [0,1] 0.9107429506012055 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.30 [[ 8.08128613e-01 2.48489554e-02 -5.88481668e-01 1.06327133e+01] [ 6.61874820e-03 9.98663499e-01 5.12582568e-02 2.23997857e-01] [ 5.88968876e-01 -4.53182760e-02 8.06884079e-01 1.30102690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.19538474999999 meters Centerline goodness [0,1] 0.9157764125533396 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.30 [[ 8.08179213e-01 2.58142474e-02 -5.88370618e-01 1.06318083e+01] [ 5.75549074e-03 9.98645022e-01 5.17203557e-02 2.24371100e-01] [ 5.88908511e-01 -4.51856780e-02 8.06935574e-01 1.30086283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.22538474999999 meters Centerline goodness [0,1] 0.915398144217357 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.30 [[ 8.08103437e-01 2.62530914e-02 -5.88455274e-01 1.06318375e+01] [ 5.43081970e-03 9.98631773e-01 5.20104698e-02 2.24480054e-01] [ 5.89015569e-01 -4.52256339e-02 8.06855192e-01 1.30111012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.25538474999999 meters Centerline goodness [0,1] 0.9170826148773331 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.30 [[ 8.08066667e-01 2.68274487e-02 -5.88479863e-01 1.06320119e+01] [ 4.96464212e-03 9.98616887e-01 5.23418167e-02 2.24870535e-01] [ 5.89070127e-01 -4.52172693e-02 8.06815831e-01 1.30110375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.28538474999999 meters Centerline goodness [0,1] 0.9123890857333212 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.30 [[ 8.08085004e-01 2.72860440e-02 -5.88433596e-01 1.06316888e+01] [ 4.66150620e-03 9.98599127e-01 5.27072437e-02 2.24703064e-01] [ 5.89047448e-01 -4.53349201e-02 8.06825786e-01 1.30124533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.31538474999999 meters Centerline goodness [0,1] 0.9168411787914656 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.30 [[ 8.07983441e-01 2.82130828e-02 -5.88529337e-01 1.06307194e+01] [ 4.07477269e-03 9.98561490e-01 5.34635146e-02 2.23744528e-01] [ 5.89191102e-01 -4.55957578e-02 8.06706187e-01 1.30195378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.34538475 meters Centerline goodness [0,1] 0.9153091503663779 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.30 [[ 8.07987560e-01 2.92545826e-02 -5.88472830e-01 1.06294126e+01] [ 3.46412070e-03 9.98513479e-01 5.43951393e-02 2.22973898e-01] [ 5.89189360e-01 -4.59891368e-02 8.06685129e-01 1.30260063e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.37538475 meters Centerline goodness [0,1] 0.9209116498683374 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.30 [[ 8.07988561e-01 3.02600135e-02 -5.88420612e-01 1.06278488e+01] [ 2.78767737e-03 9.98472798e-01 5.51751776e-02 2.22207520e-01] [ 5.89191577e-01 -4.62212392e-02 8.06670244e-01 1.30314797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.40538475 meters Centerline goodness [0,1] 0.9209116498683374 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.30 [[ 8.07988561e-01 3.02600135e-02 -5.88420612e-01 1.06278488e+01] [ 2.78767737e-03 9.98472798e-01 5.51751776e-02 2.22207520e-01] [ 5.89191577e-01 -4.62212392e-02 8.06670244e-01 1.30314797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.43538475 meters Centerline goodness [0,1] 0.9224451448660443 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.30 [[ 8.07993394e-01 3.06766604e-02 -5.88392402e-01 1.06277380e+01] [ 2.51633340e-03 9.98454887e-01 5.55113256e-02 2.21929415e-01] [ 5.89186171e-01 -4.63333758e-02 8.06667759e-01 1.30324526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.46538474999998 meters Centerline goodness [0,1] 0.9227669373409284 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.30 [[ 8.07834374e-01 3.09130236e-02 -5.88598342e-01 1.06284275e+01] [ 2.39900967e-03 9.98442965e-01 5.57305229e-02 2.22007125e-01] [ 5.89404673e-01 -4.64330852e-02 8.06502387e-01 1.30355951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.49538474999999 meters Centerline goodness [0,1] 0.9232776142948154 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.30 [[ 8.07777631e-01 3.10561391e-02 -5.88668680e-01 1.06289968e+01] [ 2.30215071e-03 9.98437458e-01 5.58331698e-02 2.21913522e-01] [ 5.89482823e-01 -4.64559896e-02 8.06443949e-01 1.30357023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.52538474999999 meters Centerline goodness [0,1] 0.9214510658914729 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.30 [[ 8.07592544e-01 3.15759001e-02 -5.88894936e-01 1.06294098e+01] [ 2.12569044e-03 9.98403255e-01 5.64483938e-02 2.20898934e-01] [ 5.89737030e-01 -4.68391103e-02 8.06235904e-01 1.30429188e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.55538474999999 meters Centerline goodness [0,1] 0.9220215510699651 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.30 [[ 8.07454846e-01 3.17605255e-02 -5.89073799e-01 1.06299007e+01] [ 2.14265927e-03 9.98385214e-01 5.67659600e-02 2.20278614e-01] [ 5.89925487e-01 -4.70981339e-02 8.06082927e-01 1.30479404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.58538474999999 meters Centerline goodness [0,1] 0.9248500636093778 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.31 [[ 8.07316816e-01 3.20160904e-02 -5.89249122e-01 1.06308310e+01] [ 2.11538224e-03 9.98363760e-01 5.71430432e-02 2.19707226e-01] [ 5.90114466e-01 -4.73790268e-02 8.05928126e-01 1.30520135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.61538474999999 meters Centerline goodness [0,1] 0.92388769421813 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.31 [[ 8.07307626e-01 3.23465487e-02 -5.89243666e-01 1.06310321e+01] [ 1.85804095e-03 9.98352392e-01 5.73502387e-02 2.19968822e-01] [ 5.90127905e-01 -4.73941239e-02 8.05917398e-01 1.30516412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.64538474999999 meters Centerline goodness [0,1] 0.9248281916987073 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.31 [[ 8.07334393e-01 3.35656871e-02 -5.89138797e-01 1.06294694e+01] [ 9.07345777e-04 9.98309121e-01 5.81212155e-02 2.19552927e-01] [ 5.90093513e-01 -4.74578089e-02 8.05938833e-01 1.30538379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.67538474999999 meters Centerline goodness [0,1] 0.9301343220081444 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.31 [[ 8.07318275e-01 3.47357712e-02 -5.89093057e-01 1.06279460e+01] [ 1.41167861e-04 9.98254698e-01 5.90553798e-02 2.17757266e-01] [ 5.90116246e-01 -4.77596484e-02 8.05904357e-01 1.30592816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.70538475 meters Centerline goodness [0,1] 0.9262994805115897 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.31 [[ 8.07160154e-01 3.50049765e-02 -5.89293762e-01 1.06279871e+01] [ 1.26383751e-04 9.98230112e-01 5.94695478e-02 2.17166040e-01] [ 5.90332508e-01 -4.80759265e-02 8.05727147e-01 1.30664488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.73538475 meters Centerline goodness [0,1] 0.925678750189595 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.31 [[ 8.07145577e-01 3.55538097e-02 -5.89280871e-01 1.06275568e+01] [-7.76047053e-05 9.98191226e-01 6.01188064e-02 2.16341333e-01] [ 5.90352447e-01 -4.84788977e-02 8.05688392e-01 1.30713557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.76538475 meters Centerline goodness [0,1] 0.916818679314119 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.31 [[ 8.07014930e-01 3.54539401e-02 -5.89465793e-01 1.06287222e+01] [ 2.08568408e-04 9.98178955e-01 6.03218968e-02 2.15553116e-01] [ 5.90530998e-01 -4.88036152e-02 8.05537925e-01 1.30756639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.79538475 meters Centerline goodness [0,1] 0.9200436787187576 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.31 [[ 8.06972260e-01 3.57078458e-02 -5.89508882e-01 1.06289326e+01] [ 6.75259548e-05 9.98164952e-01 6.05534757e-02 2.15462092e-01] [ 5.90589339e-01 -4.89047823e-02 8.05489016e-01 1.30769296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.82538475 meters Centerline goodness [0,1] 0.9209986113626758 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.31 [[ 8.06888591e-01 3.65554805e-02 -5.89571453e-01 1.06279584e+01] [-5.61930471e-04 9.98130359e-01 6.11184945e-02 2.15237981e-01] [ 5.90703382e-01 -4.89845178e-02 8.05400541e-01 1.30818854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.85538474999998 meters Centerline goodness [0,1] 0.9266573917251392 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.31 [[ 8.06528414e-01 3.66270319e-02 -5.90059639e-01 1.06286416e+01] [-5.09676800e-04 9.98121701e-01 6.12601915e-02 2.14751204e-01] [ 5.91195109e-01 -4.91073454e-02 8.05032180e-01 1.30912132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.88538474999999 meters Centerline goodness [0,1] 0.9263007969938483 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.31 [[ 8.06288632e-01 3.60664203e-02 -5.90421761e-01 1.06302693e+01] [ 5.30923199e-05 9.98135048e-01 6.10444401e-02 2.14590773e-01] [ 5.91522307e-01 -4.92507849e-02 8.04783027e-01 1.30963781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.91538474999999 meters Centerline goodness [0,1] 0.9256724012599952 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.31 [[ 8.06051179e-01 3.53919354e-02 -5.90786686e-01 1.06327262e+01] [ 6.28275235e-04 9.98158693e-01 6.06533473e-02 2.15169104e-01] [ 5.91845505e-01 -4.92608787e-02 8.04544755e-01 1.30979601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.94538474999999 meters Centerline goodness [0,1] 0.9231654153548075 Centerline is valid? [False, False] Translation: X:10.64, Y:0.22, Z:1.31 [[ 8.05526042e-01 3.38310953e-02 -5.91593824e-01 1.06376447e+01] [ 2.00767177e-03 9.98207310e-01 5.98175254e-02 2.15847867e-01] [ 5.92556971e-01 -4.93723007e-02 8.04014062e-01 1.31036696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 126.97538474999999 meters Centerline goodness [0,1] 0.9209126624357812 Centerline is valid? [False, False] Translation: X:10.64, Y:0.22, Z:1.31 [[ 8.05357802e-01 3.36153139e-02 -5.91835131e-01 1.06389268e+01] [ 2.30753246e-03 9.98205520e-01 5.98365648e-02 2.15766182e-01] [ 5.92784520e-01 -4.95555231e-02 8.03835035e-01 1.31075786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.00538474999999 meters Centerline goodness [0,1] 0.9227833146526916 Centerline is valid? [False, False] Translation: X:10.64, Y:0.22, Z:1.31 [[ 8.05001226e-01 3.34096541e-02 -5.92331682e-01 1.06403252e+01] [ 2.58764090e-03 9.98205878e-01 5.98191323e-02 2.16045082e-01] [ 5.93267504e-01 -4.96872165e-02 8.03470503e-01 1.31155541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.03538474999999 meters Centerline goodness [0,1] 0.924727602905569 Centerline is valid? [False, False] Translation: X:10.64, Y:0.22, Z:1.31 [[ 8.04905859e-01 3.38531823e-02 -5.92436090e-01 1.06400310e+01] [ 2.32377537e-03 9.98183888e-01 6.01957277e-02 2.16016593e-01] [ 5.93397976e-01 -4.98285823e-02 8.03365393e-01 1.31199178e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.06538474999999 meters Centerline goodness [0,1] 0.9273052331747522 Centerline is valid? [False, False] Translation: X:10.64, Y:0.22, Z:1.31 [[ 8.04828568e-01 3.50201354e-02 -5.92473262e-01 1.06379246e+01] [ 1.58960785e-03 9.98126892e-01 6.11570226e-02 2.15524819e-01] [ 5.93505222e-01 -5.01627191e-02 8.03265369e-01 1.31296680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.09538475 meters Centerline goodness [0,1] 0.9271422950025728 Centerline is valid? [False, False] Translation: X:10.64, Y:0.22, Z:1.31 [[ 8.04840329e-01 3.65203210e-02 -5.92366703e-01 1.06357399e+01] [ 4.77790411e-04 9.98064750e-01 6.21813986e-02 2.16224868e-01] [ 5.93491210e-01 -5.03291245e-02 8.03265313e-01 1.31352763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.12538475 meters Centerline goodness [0,1] 0.9297581938685955 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.31 [[ 8.04735654e-01 3.74267338e-02 -5.92452333e-01 1.06345848e+01] [-1.04902242e-04 9.98019516e-01 6.29049631e-02 2.16343090e-01] [ 5.93633318e-01 -5.05597170e-02 8.03145814e-01 1.31420773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.15538475 meters Centerline goodness [0,1] 0.930500060540017 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.31 [[ 8.04817665e-01 3.82185018e-02 -5.92290361e-01 1.06333204e+01] [-7.39931280e-04 9.97988468e-01 6.33913985e-02 2.16262751e-01] [ 5.93521675e-01 -5.05802632e-02 8.03227028e-01 1.31426838e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.18538475 meters Centerline goodness [0,1] 0.9324439053972104 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.31 [[ 8.04865804e-01 4.01176559e-02 -5.92099325e-01 1.06300271e+01] [-2.11720432e-03 9.97900266e-01 6.47346695e-02 2.15599830e-01] [ 5.93453077e-01 -5.08491266e-02 8.03260737e-01 1.31497463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.21538474999998 meters Centerline goodness [0,1] 0.934114512368668 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.32 [[ 8.04828764e-01 4.09264079e-02 -5.92094325e-01 1.06289445e+01] [-2.69036456e-03 9.97860965e-01 6.53165897e-02 2.15206111e-01] [ 5.93500988e-01 -5.09757206e-02 8.03217314e-01 1.31534742e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.24538474999999 meters Centerline goodness [0,1] 0.9317345977325917 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.32 [[ 8.05090423e-01 3.64205311e-02 -5.92032901e-01 1.06277973e+01] [ 4.20738682e-04 9.98077821e-01 6.19716522e-02 2.14641141e-01] [ 5.93151949e-01 -5.01418748e-02 8.03527572e-01 1.31512345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.27538474999999 meters Centerline goodness [0,1] 0.9323708439115407 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.32 [[ 8.04792805e-01 3.60632957e-02 -5.92459264e-01 1.06299606e+01] [ 9.93120837e-04 9.98069312e-01 6.21020337e-02 2.12731929e-01] [ 5.93555014e-01 -5.05676536e-02 8.03203186e-01 1.31584147e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.30538474999999 meters Centerline goodness [0,1] 0.9296668916017422 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.32 [[ 8.04926695e-01 3.06276128e-02 -5.92583298e-01 1.06309328e+01] [ 4.87954416e-03 9.98291580e-01 5.82246638e-02 2.12156886e-01] [ 5.93354199e-01 -4.97581226e-02 8.03402093e-01 1.31551976e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.33538474999999 meters Centerline goodness [0,1] 0.9276382217054738 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.32 [[ 8.04543719e-01 3.02329590e-02 -5.93123405e-01 1.06326376e+01] [ 5.66593681e-03 9.98267242e-01 5.85697111e-02 2.10317850e-01] [ 5.93866401e-01 -5.04824929e-02 8.02978341e-01 1.31693697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.36538474999999 meters Centerline goodness [0,1] 0.925698117849674 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.32 [[ 8.04329178e-01 2.56675800e-02 -5.93629303e-01 1.06388840e+01] [ 9.69696947e-03 9.98366437e-01 5.63065296e-02 2.07940076e-01] [ 5.94104825e-01 -5.10453898e-02 8.02766358e-01 1.31763677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.39538474999999 meters Centerline goodness [0,1] 0.9244245013369394 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.32 [[ 0.80383699 0.02426162 -0.59435466 10.64322216] [ 0.01118954 0.99837439 0.05588707 0.20588322] [ 0.59474438 -0.05157465 0.80225879 1.31863367] [ 0. 0. 0. 1. ]] SLAMing on 127.42538474999999 meters Centerline goodness [0,1] 0.9226128178292188 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.32 [[ 0.80361736 0.02429489 -0.59465022 10.64424048] [ 0.01125522 0.99836736 0.0559995 0.20515008] [ 0.59503987 -0.05169509 0.8020319 1.31905929] [ 0. 0. 0. 1. ]] SLAMing on 127.45538475 meters Centerline goodness [0,1] 0.9232621311272997 Centerline is valid? [False, False] Translation: X:10.65, Y:0.20, Z:1.32 [[ 0.80336416 0.0243527 -0.59498989 10.64510646] [ 0.01135004 0.99835573 0.05618728 0.20412604] [ 0.59537988 -0.05189201 0.80176681 1.31969782] [ 0. 0. 0. 1. ]] SLAMing on 127.48538475 meters Centerline goodness [0,1] 0.9234854566788119 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.32 [[ 0.80325552 0.02484539 -0.59511619 10.64490589] [ 0.01111228 0.99833067 0.05667788 0.20350385] [ 0.59553093 -0.05213992 0.80163853 1.32024233] [ 0. 0. 0. 1. ]] SLAMing on 127.51538475 meters Centerline goodness [0,1] 0.924356521202395 Centerline is valid? [False, False] Translation: X:10.65, Y:0.20, Z:1.32 [[ 0.80304736 0.02506016 -0.59538805 10.64533864] [ 0.01106144 0.99831638 0.05693905 0.20345828] [ 0.59581254 -0.0523106 0.80141813 1.32091242] [ 0. 0. 0. 1. ]] SLAMing on 127.54538475 meters Centerline goodness [0,1] 0.9224079442422747 Centerline is valid? [False, False] Translation: X:10.65, Y:0.20, Z:1.32 [[ 0.80288155 0.02506773 -0.5956113 10.64590498] [ 0.01113541 0.99831055 0.05702678 0.20347121] [ 0.59603458 -0.05241813 0.80124598 1.32134482] [ 0. 0. 0. 1. ]] SLAMing on 127.57538475 meters Centerline goodness [0,1] 0.9229322728814082 Centerline is valid? [False, False] Translation: X:10.65, Y:0.20, Z:1.32 [[ 0.80275236 0.02523813 -0.59577822 10.64616988] [ 0.01107096 0.99830097 0.05720667 0.20368211] [ 0.59620977 -0.05251863 0.80110905 1.3217068 ] [ 0. 0. 0. 1. ]] SLAMing on 127.60538474999998 meters Centerline goodness [0,1] 0.9243401759530792 Centerline is valid? [False, False] Translation: X:10.65, Y:0.20, Z:1.32 [[ 8.02754279e-01 2.60044826e-02 -5.95742674e-01 1.06452707e+01] [ 1.05701496e-02 9.98271170e-01 5.78181815e-02 2.03412157e-01] [ 5.96216268e-01 -5.27108818e-02 8.01091583e-01 1.32205770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.63538474999999 meters Centerline goodness [0,1] 0.9250169994436546 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.32 [[ 8.02778542e-01 2.71418945e-02 -5.95659240e-01 1.06426557e+01] [ 9.89306935e-03 9.98219697e-01 5.88180542e-02 2.03046566e-01] [ 5.96195220e-01 -5.31107700e-02 8.01080836e-01 1.32300176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.66538474999999 meters Centerline goodness [0,1] 0.9256994626644433 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.32 [[ 8.02770199e-01 2.80672377e-02 -5.95627600e-01 1.06409953e+01] [ 9.33433498e-03 9.98177693e-01 5.96168084e-02 2.02601280e-01] [ 5.96215463e-01 -5.34183847e-02 8.01045316e-01 1.32368264e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.69538474999999 meters Centerline goodness [0,1] 0.9261583902529075 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.32 [[ 8.02783831e-01 2.96251698e-02 -5.95533770e-01 1.06386454e+01] [ 7.98197586e-03 9.98141559e-01 6.04128870e-02 2.04472026e-01] [ 5.96216747e-01 -5.32520250e-02 8.01055437e-01 1.32383731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.72538474999999 meters Centerline goodness [0,1] 0.9294135754963829 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.32 [[ 8.02820622e-01 3.01433683e-02 -5.95458165e-01 1.06381982e+01] [ 7.33712188e-03 9.98146047e-01 6.04204943e-02 2.06139427e-01] [ 5.96175490e-01 -5.28757679e-02 8.01111065e-01 1.32340551e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.75538474999999 meters Centerline goodness [0,1] 0.9295212357583761 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.32 [[ 8.02514686e-01 3.11977654e-02 -5.95816144e-01 1.06379094e+01] [ 6.17541901e-03 9.98144121e-01 6.05819949e-02 2.09010575e-01] [ 5.96600404e-01 -5.22973550e-02 8.00832657e-01 1.32351009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.78538474999999 meters Centerline goodness [0,1] 0.9278239788872863 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.32 [[ 8.02441841e-01 3.16291122e-02 -5.95891510e-01 1.06380004e+01] [ 5.65241544e-03 9.98146616e-01 6.05919455e-02 2.10727293e-01] [ 5.96703563e-01 -5.19897387e-02 8.00775827e-01 1.32333166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.81538474999999 meters Centerline goodness [0,1] 0.929699408572648 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.32 [[ 8.01859427e-01 3.68805696e-02 -5.96373442e-01 1.06391987e+01] [ 1.85954390e-03 9.97934423e-01 6.42139304e-02 2.13186377e-01] [ 5.97509834e-01 -5.25995280e-02 8.00134544e-01 1.32422023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.84538475 meters Centerline goodness [0,1] 0.9273312287518213 Centerline is valid? [False, False] Translation: X:10.64, Y:0.22, Z:1.32 [[ 8.01734957e-01 3.71508183e-02 -5.96523995e-01 1.06396657e+01] [ 1.37067405e-03 9.97949385e-01 6.39933246e-02 2.15529550e-01] [ 5.97678158e-01 -5.21233253e-02 8.00039985e-01 1.32392782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.87538475 meters Centerline goodness [0,1] 0.9263037180106228 Centerline is valid? [False, False] Translation: X:10.64, Y:0.22, Z:1.32 [[ 8.01445272e-01 3.78358766e-02 -5.96870105e-01 1.06397350e+01] [ 5.23480349e-04 9.97952098e-01 6.39635541e-02 2.18660021e-01] [ 5.98067891e-01 -5.15757378e-02 7.99784184e-01 1.32405106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.90538475 meters Centerline goodness [0,1] 0.9282162553114547 Centerline is valid? [False, False] Translation: X:10.64, Y:0.22, Z:1.32 [[ 8.01282463e-01 3.79194484e-02 -5.97083353e-01 1.06396428e+01] [ 5.80643037e-04 9.97939702e-01 6.41561717e-02 2.19154911e-01] [ 5.98285950e-01 -5.17539076e-02 7.99609564e-01 1.32474828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.93538475 meters Centerline goodness [0,1] 0.9282973258800423 Centerline is valid? [False, False] Translation: X:10.64, Y:0.22, Z:1.33 [[ 8.00965419e-01 3.75495756e-02 -5.97531946e-01 1.06398496e+01] [ 1.19064170e-03 9.97929452e-01 6.43070056e-02 2.19238345e-01] [ 5.98709429e-01 -5.22191342e-02 7.99262274e-01 1.32624959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.96538474999998 meters Centerline goodness [0,1] 0.9290176550475329 Centerline is valid? [False, False] Translation: X:10.64, Y:0.22, Z:1.33 [[ 8.00905801e-01 3.80827939e-02 -5.97578111e-01 1.06388875e+01] [ 9.64018377e-04 9.97892200e-01 6.48862638e-02 2.18661869e-01] [ 5.98789586e-01 -5.25438613e-02 7.99180939e-01 1.32698001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 127.99538474999999 meters Centerline goodness [0,1] 0.9298641173641173 Centerline is valid? [False, False] Translation: X:10.64, Y:0.22, Z:1.33 [[ 8.00892706e-01 3.92993485e-02 -5.97516891e-01 1.06370660e+01] [ 8.97473196e-05 9.97836184e-01 6.57490867e-02 2.19225944e-01] [ 5.98807870e-01 -5.27115895e-02 7.99156194e-01 1.32752266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.02538475 meters Centerline goodness [0,1] 0.9316293352601156 Centerline is valid? [False, False] Translation: X:10.64, Y:0.22, Z:1.33 [[ 8.00938715e-01 4.03628506e-02 -5.97384311e-01 1.06356932e+01] [-6.45410538e-04 9.97782827e-01 6.65508353e-02 2.18741944e-01] [ 5.98745988e-01 -5.29175824e-02 7.99188946e-01 1.32776879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.05538475 meters Centerline goodness [0,1] 0.9306393244873341 Centerline is valid? [False, False] Translation: X:10.64, Y:0.22, Z:1.33 [[ 8.01016366e-01 3.50466936e-02 -5.97615688e-01 1.06350800e+01] [ 3.49547762e-03 9.97994017e-01 6.32117363e-02 2.17160811e-01] [ 5.98632244e-01 -5.27225876e-02 7.99287036e-01 1.32877457e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.08538475 meters Centerline goodness [0,1] 0.9319255937954435 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.33 [[ 8.01268237e-01 3.04908995e-02 -5.97527839e-01 1.06333841e+01] [ 6.68458508e-03 9.98182031e-01 5.98994915e-02 2.16638007e-01] [ 5.98267941e-01 -5.19897856e-02 7.99607737e-01 1.32884617e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.11538475 meters Centerline goodness [0,1] 0.9328749280586436 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.33 [[ 8.01200330e-01 3.13234787e-02 -5.97575829e-01 1.06326666e+01] [ 6.21104911e-03 9.98139919e-01 6.06475486e-02 2.16078900e-01] [ 5.98363982e-01 -5.23024087e-02 7.99515480e-01 1.32942366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.14538475 meters Centerline goodness [0,1] 0.9319233911228102 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.33 [[ 8.01099198e-01 3.14932266e-02 -5.97702478e-01 1.06333984e+01] [ 5.99787687e-03 9.98142196e-01 6.06315249e-02 2.16923729e-01] [ 5.98501546e-01 -5.21568118e-02 7.99422020e-01 1.32936785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.17538475 meters Centerline goodness [0,1] 0.9301249281587465 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.33 [[ 8.00945610e-01 3.20637382e-02 -5.97877952e-01 1.06335521e+01] [ 5.75290951e-03 9.98106823e-01 6.12345770e-02 2.15494304e-01] [ 5.98709473e-01 -5.24851034e-02 7.99244819e-01 1.32999653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.20538475 meters Centerline goodness [0,1] 0.93010573514709 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.33 [[ 8.00647511e-01 3.22235311e-02 -5.98268508e-01 1.06338204e+01] [ 5.93515031e-03 9.98077056e-01 6.17006075e-02 2.14551336e-01] [ 5.99106283e-01 -5.29512513e-02 7.98916658e-01 1.33122129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.23538475 meters Centerline goodness [0,1] 0.9294106903689273 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.33 [[ 8.00192436e-01 3.15124609e-02 -5.98914877e-01 1.06357933e+01] [ 7.02340911e-03 9.98057799e-01 6.18975043e-02 2.12715585e-01] [ 5.99702207e-01 -5.37363390e-02 7.98416977e-01 1.33295303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.26538475 meters Centerline goodness [0,1] 0.928368512692061 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.33 [[ 8.00322320e-01 2.69706246e-02 -5.98963078e-01 1.06355829e+01] [ 1.00994386e-02 9.98239586e-01 5.84442556e-02 2.12556871e-01] [ 5.99484933e-01 -5.28234330e-02 7.98641033e-01 1.33263922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.29538475 meters Centerline goodness [0,1] 0.9283100567176923 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.33 [[ 8.00184680e-01 2.74112413e-02 -5.99126949e-01 1.06354534e+01] [ 9.99202155e-03 9.98207079e-01 5.90151349e-02 2.11807650e-01] [ 5.99670440e-01 -5.32094963e-02 7.98476119e-01 1.33342643e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.32538475 meters Centerline goodness [0,1] 0.9257775467139668 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.33 [[ 8.00007119e-01 2.76210057e-02 -5.99354393e-01 1.06361656e+01] [ 1.02051650e-02 9.98168867e-01 5.96218747e-02 2.09650135e-01] [ 5.99903712e-01 -5.38144347e-02 7.98260323e-01 1.33436189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.35538475 meters Centerline goodness [0,1] 0.9257775467139668 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.33 [[ 8.00007119e-01 2.76210057e-02 -5.99354393e-01 1.06361656e+01] [ 1.02051650e-02 9.98168867e-01 5.96218747e-02 2.09650135e-01] [ 5.99903712e-01 -5.38144347e-02 7.98260323e-01 1.33436189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.38538475000001 meters Centerline goodness [0,1] 0.9262342573110115 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.34 [[ 7.99768130e-01 2.80835481e-02 -5.99651777e-01 1.06361141e+01] [ 1.02638288e-02 9.98119418e-01 6.04341041e-02 2.07596643e-01] [ 6.00221286e-01 -5.44879936e-02 7.97975855e-01 1.33568939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.41538475000002 meters Centerline goodness [0,1] 0.9260088311051147 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.34 [[ 7.99542616e-01 2.81252875e-02 -5.99950476e-01 1.06365188e+01] [ 1.05858537e-02 9.98087903e-01 6.08972770e-02 2.05687856e-01] [ 6.00516066e-01 -5.50409561e-02 7.97716082e-01 1.33677832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.44538475000002 meters Centerline goodness [0,1] 0.9263586202644801 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.34 [[ 0.79978857 0.02369731 -0.59981388 10.63614768] [ 0.01376967 0.99823331 0.05779837 0.20400497] [ 0.60012386 -0.05448572 0.79804928 1.33651871] [ 0. 0. 0. 1. ]] SLAMing on 128.47538475000002 meters Centerline goodness [0,1] 0.9279115038778852 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.34 [[ 0.80011517 0.0194742 -0.59953021 10.63475251] [ 0.01686371 0.99834754 0.05493457 0.20163999] [ 0.59960932 -0.05406429 0.7984646 1.33640205] [ 0. 0. 0. 1. ]] SLAMing on 128.50538475000002 meters Centerline goodness [0,1] 0.9296957303092273 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.34 [[ 0.79993962 0.01967514 -0.59975786 10.63468892] [ 0.01710707 0.99830842 0.05556656 0.19960068] [ 0.5998366 -0.05470999 0.79824988 1.33758511] [ 0. 0. 0. 1. ]] SLAMing on 128.53538475 meters Centerline goodness [0,1] 0.9311010145017738 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.34 [[ 0.79948407 0.01885901 -0.60039118 10.63694442] [ 0.01834396 0.99827434 0.05578392 0.19665583] [ 0.60040713 -0.05561191 0.79775848 1.33937042] [ 0. 0. 0. 1. ]] SLAMing on 128.56538475 meters Centerline goodness [0,1] 0.9302637739971906 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.34 [[ 0.7991723 0.01838496 -0.6008208 10.63854454] [ 0.01916409 0.99824476 0.05603684 0.19522808] [ 0.60079645 -0.05629728 0.79741723 1.34063077] [ 0. 0. 0. 1. ]] SLAMing on 128.59538475 meters Centerline goodness [0,1] 0.9291038907935709 Centerline is valid? [False, False] Translation: X:10.64, Y:0.19, Z:1.34 [[ 8.02414916e-01 7.98195845e-03 -5.96713157e-01 1.06384928e+01] [ 3.34727994e-02 9.97734395e-01 5.83579357e-02 1.94162210e-01] [ 5.95827051e-01 -6.68009379e-02 8.00329782e-01 1.33741726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.62538475 meters Centerline goodness [0,1] 0.9278389430638565 Centerline is valid? [False, False] Translation: X:10.64, Y:0.19, Z:1.34 [[ 8.01874772e-01 6.71657307e-03 -5.97454381e-01 1.06420982e+01] [ 3.48728006e-02 9.97706106e-01 5.80208064e-02 1.93133576e-01] [ 5.96473585e-01 -6.73603284e-02 7.99801131e-01 1.33875671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.65538475 meters Centerline goodness [0,1] 0.9246564573441087 Centerline is valid? [False, False] Translation: X:10.65, Y:0.19, Z:1.34 [[ 8.00996108e-01 9.17833712e-03 -5.98599192e-01 1.06490916e+01] [ 3.38572729e-02 9.97587689e-01 6.06010508e-02 1.93054572e-01] [ 5.97711401e-01 -6.88081420e-02 7.98753103e-01 1.34060782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 128.68538475 meters Centerline goodness [0,1] 0.9231611893583724 Centerline is valid? [False, False] Translation: X:10.65, Y:0.19, Z:1.34 [[ 0.80052439 0.01453066 -0.59912399 10.65038621] [ 0.03033835 0.99744167 0.06472796 0.19319026] [ 0.59853177 -0.06999274 0.79803554 1.34194567] [ 0. 0. 0. 1. ]] SLAMing on 128.71538475 meters Centerline goodness [0,1] 0.9248205160359908 Centerline is valid? [False, False] Translation: X:10.65, Y:0.19, Z:1.34 [[ 0.80070848 0.01632435 -0.59883173 10.64650671] [ 0.02878545 0.99742547 0.06567968 0.19339547] [ 0.5983622 -0.06982792 0.79817714 1.34219768] [ 0. 0. 0. 1. ]] SLAMing on 128.74538475 meters Centerline goodness [0,1] 0.9262230858432319 Centerline is valid? [False, False] Translation: X:10.64, Y:0.19, Z:1.34 [[ 0.80079039 0.0174592 -0.59869018 10.64387812] [ 0.02798872 0.99739225 0.06652317 0.19359817] [ 0.59829039 -0.07002769 0.79821346 1.34286227] [ 0. 0. 0. 1. ]] SLAMing on 128.77538475 meters Centerline goodness [0,1] 0.9321663702455615 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.34 [[ 0.80113916 0.02166416 -0.59808587 10.63736502] [ 0.02445528 0.99732492 0.06888357 0.19553409] [ 0.59797825 -0.06981168 0.79846624 1.34277362] [ 0. 0. 0. 1. ]] SLAMing on 128.80538475 meters Centerline goodness [0,1] 0.9325685506435366 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.34 [[ 0.801241 0.02297144 -0.59790064 10.63457785] [ 0.02344437 0.99729012 0.06973364 0.19638506] [ 0.59788228 -0.06989085 0.79853118 1.34322584] [ 0. 0. 0. 1. ]] SLAMing on 128.83538475 meters Centerline goodness [0,1] 0.9344637663221734 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.34 [[ 0.80144878 0.02403341 -0.59758033 10.63259004] [ 0.02239316 0.99728568 0.07014143 0.19833321] [ 0.59764404 -0.06959647 0.79873521 1.3428069 ] [ 0. 0. 0. 1. ]] SLAMing on 128.86538475 meters Centerline goodness [0,1] 0.9368032029565753 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.34 [[ 0.80167512 0.02663892 -0.59716612 10.62883819] [ 0.02005262 0.99724575 0.07140598 0.20104111] [ 0.59742355 -0.06921914 0.79893292 1.34236376] [ 0. 0. 0. 1. ]] SLAMing on 128.89538475 meters Centerline goodness [0,1] 0.93483932353212 Centerline is valid? [False, False] Translation: X:10.63, Y:0.20, Z:1.34 [[ 0.80160152 0.02767576 -0.59721777 10.62845465] [ 0.01881915 0.99726492 0.07147397 0.20403867] [ 0.59756242 -0.06853277 0.79888823 1.34180242] [ 0. 0. 0. 1. ]] SLAMing on 128.92538475 meters Centerline goodness [0,1] 0.9331578625206587 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.34 [[ 0.80160919 0.0275964 -0.59721114 10.62948642] [ 0.0186173 0.99729736 0.07107306 0.20598946] [ 0.59755845 -0.06809128 0.79892895 1.34111934] [ 0. 0. 0. 1. ]] SLAMing on 128.95538475 meters Centerline goodness [0,1] 0.9350260933256019 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.34 [[ 0.80165204 0.02820701 -0.59712508 10.62992494] [ 0.01769677 0.99732856 0.07087008 0.20844692] [ 0.59752893 -0.06738033 0.7990113 1.34006717] [ 0. 0. 0. 1. ]] SLAMing on 128.98538475 meters Centerline goodness [0,1] 0.9319982930992441 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.34 [[ 0.80167147 0.02840011 -0.59708985 10.63011686] [ 0.01743634 0.99733471 0.07084802 0.2094943 ] [ 0.59751053 -0.06720789 0.79903959 1.33982508] [ 0. 0. 0. 1. ]] SLAMing on 129.01538475 meters Centerline goodness [0,1] 0.9351308629966258 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.34 [[ 0.801607 0.02841365 -0.59717575 10.63163362] [ 0.01717877 0.99736284 0.07051415 0.2114199 ] [ 0.59760447 -0.06678339 0.79900493 1.33917595] [ 0. 0. 0. 1. ]] SLAMing on 129.04538475 meters Centerline goodness [0,1] 0.9303033068662346 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.34 [[ 0.80167357 0.028625 -0.59707629 10.63177364] [ 0.01685803 0.9973728 0.07045068 0.21223295] [ 0.5975243 -0.06654397 0.79908486 1.33872137] [ 0. 0. 0. 1. ]] SLAMing on 129.07538475 meters Centerline goodness [0,1] 0.9367200340902173 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.34 [[ 0.80197584 0.02468253 -0.59684632 10.62965043] [ 0.01925982 0.99755812 0.06713313 0.21315116] [ 0.59704591 -0.0653343 0.79954213 1.33813381] [ 0. 0. 0. 1. ]] SLAMing on 129.10538475 meters Centerline goodness [0,1] 0.936765018687897 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.34 [[ 0.80183819 0.02487426 -0.59702328 10.62919543] [ 0.01927217 0.99753685 0.06744485 0.21244637] [ 0.59723036 -0.06558579 0.79938376 1.33892651] [ 0. 0. 0. 1. ]] SLAMing on 129.13538475000001 meters Centerline goodness [0,1] 0.9340655987795576 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.34 [[ 0.80136528 0.02381544 -0.59770102 10.63158964] [ 0.02041049 0.99753665 0.06711221 0.21158004] [ 0.59782698 -0.06598077 0.79890515 1.3402725 ] [ 0. 0. 0. 1. ]] SLAMing on 129.16538475000002 meters Centerline goodness [0,1] 0.934607400170961 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.34 [[ 0.80122905 0.02321448 -0.59790726 10.63367876] [ 0.02099292 0.99754133 0.06686243 0.21148722] [ 0.59798938 -0.06612394 0.79877176 1.34040103] [ 0. 0. 0. 1. ]] SLAMing on 129.19538475000002 meters Centerline goodness [0,1] 0.9313554392088423 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.34 [[ 0.80112298 0.0160222 -0.59828526 10.63677634] [ 0.02647374 0.99771452 0.06216818 0.21159973] [ 0.59791396 -0.0656432 0.79886786 1.34079836] [ 0. 0. 0. 1. ]] SLAMing on 129.22538475000002 meters Centerline goodness [0,1] 0.9302539283854565 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.34 [[ 0.80068593 0.01535493 -0.59888752 10.63868532] [ 0.02734015 0.99769337 0.0621325 0.21093987] [ 0.59846015 -0.0661223 0.79841925 1.3421313 ] [ 0. 0. 0. 1. ]] SLAMing on 129.25538475000002 meters Centerline goodness [0,1] 0.9271297348775768 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.34 [[ 0.80035971 0.01438526 -0.59934748 10.64299234] [ 0.02804036 0.99771981 0.0613915 0.21239897] [ 0.59886399 -0.0659412 0.79813137 1.34180055] [ 0. 0. 0. 1. ]] SLAMing on 129.28538475 meters Centerline goodness [0,1] 0.925424457339351 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.34 [[ 8.00498282e-01 9.52691978e-03 -5.99259324e-01 1.06420414e+01] [ 3.13879247e-02 9.97835110e-01 5.77917998e-02 2.12924293e-01] [ 5.98512571e-01 -6.50717430e-02 7.98466261e-01 1.34164160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 129.31538475 meters Centerline goodness [0,1] 0.9263540799654737 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.34 [[ 0.80049389 0.01097781 -0.59924037 10.63905853] [ 0.03049881 0.99779074 0.05902083 0.2117806 ] [ 0.59856442 -0.06552194 0.79839058 1.34286213] [ 0. 0. 0. 1. ]] SLAMing on 129.34538475 meters Centerline goodness [0,1] 0.9274617774633156 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.34 [[ 0.80056579 0.01167564 -0.59913112 10.63826911] [ 0.03000877 0.99777462 0.05954232 0.21195508] [ 0.59849302 -0.06564673 0.79843385 1.34295921] [ 0. 0. 0. 1. ]] SLAMing on 129.37538475 meters Centerline goodness [0,1] 0.9278505938096118 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.34 [[ 0.80059355 0.01250103 -0.59907737 10.63687658] [ 0.02950802 0.99774683 0.06025397 0.21124682] [ 0.59848078 -0.06591653 0.7984208 1.34348343] [ 0. 0. 0. 1. ]] SLAMing on 129.40538475 meters Centerline goodness [0,1] 0.9287516150864455 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.34 [[ 0.80070036 0.01350319 -0.59891284 10.63546188] [ 0.0285882 0.99774563 0.06071557 0.21158555] [ 0.59838252 -0.06573682 0.79850925 1.343329 ] [ 0. 0. 0. 1. ]] SLAMing on 129.43538475 meters Centerline goodness [0,1] 0.930533860148856 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.34 [[ 0.80078933 0.01475121 -0.59876444 10.63398196] [ 0.02740927 0.99774679 0.0612378 0.2125175 ] [ 0.59831863 -0.06545027 0.79858067 1.34307924] [ 0. 0. 0. 1. ]] SLAMing on 129.46538475 meters Centerline goodness [0,1] 0.9317804683178661 Centerline is valid? [False, False] Translation: X:10.63, Y:0.21, Z:1.34 [[ 0.80083695 0.01534181 -0.5986859 10.63323121] [ 0.02682843 0.9977492 0.06145539 0.21301266] [ 0.59828121 -0.06527755 0.79862283 1.34290754] [ 0. 0. 0. 1. ]] SLAMing on 129.49538475 meters Centerline goodness [0,1] 0.9319702943064088 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.34 [[ 0.80070714 0.01562607 -0.59885215 10.63440243] [ 0.02624021 0.99778541 0.06112059 0.21514636] [ 0.59848102 -0.0646537 0.79852387 1.34226107] [ 0. 0. 0. 1. ]] SLAMing on 129.52538475 meters Centerline goodness [0,1] 0.9302325581395349 Centerline is valid? [False, False] Translation: X:10.64, Y:0.22, Z:1.34 [[ 0.80056566 0.01563255 -0.5990411 10.63540971] [ 0.02621938 0.99778856 0.06107815 0.21631895] [ 0.59867116 -0.06460356 0.79838538 1.3423867 ] [ 0. 0. 0. 1. ]] SLAMing on 129.55538475 meters Centerline goodness [0,1] 0.9326896719763652 Centerline is valid? [False, False] Translation: X:10.64, Y:0.22, Z:1.34 [[ 0.80052174 0.01616464 -0.59908568 10.63561883] [ 0.02556671 0.997805 0.0610862 0.21731603] [ 0.59875812 -0.06421748 0.79835132 1.34199671] [ 0. 0. 0. 1. ]] SLAMing on 129.58538475 meters Centerline goodness [0,1] 0.9315196998123827 Centerline is valid? [False, False] Translation: X:10.64, Y:0.22, Z:1.34 [[ 0.80036272 0.01655464 -0.59928746 10.63631842] [ 0.02501309 0.99782618 0.06096941 0.21912057] [ 0.59899405 -0.06378767 0.79820879 1.34176429] [ 0. 0. 0. 1. ]] SLAMing on 129.61538475 meters Centerline goodness [0,1] 0.9324034010106206 Centerline is valid? [False, False] Translation: X:10.64, Y:0.22, Z:1.34 [[ 0.80037532 0.01701737 -0.59925768 10.63618721] [ 0.02457177 0.99782584 0.06115401 0.21976063] [ 0.59899548 -0.06367099 0.79821703 1.34161048] [ 0. 0. 0. 1. ]] SLAMing on 129.64538475 meters Centerline goodness [0,1] 0.9329379009805109 Centerline is valid? [False, False] Translation: X:10.64, Y:0.22, Z:1.34 [[ 0.80039455 0.01772888 -0.59921136 10.63557771] [ 0.02398122 0.99781554 0.06155521 0.21984705] [ 0.59899372 -0.06363828 0.79822096 1.34160659] [ 0. 0. 0. 1. ]] SLAMing on 129.67538475 meters Centerline goodness [0,1] 0.933745662995927 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.34 [[ 0.80035453 0.01869008 -0.5992356 10.63457477] [ 0.0231525 0.99780481 0.06204448 0.22069209] [ 0.59907978 -0.06353139 0.79816488 1.34173696] [ 0. 0. 0. 1. ]] SLAMing on 129.70538475 meters Centerline goodness [0,1] 0.9361020432837626 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.34 [[ 0.80034763 0.01926684 -0.59922655 10.63407716] [ 0.02277631 0.99778489 0.06250246 0.22081525] [ 0.59910342 -0.06367186 0.79813594 1.34198071] [ 0. 0. 0. 1. ]] SLAMing on 129.73538475 meters Centerline goodness [0,1] 0.9342970573082401 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.34 [[ 0.80038542 0.01410812 -0.59931973 10.63247655] [ 0.02685399 0.99787576 0.05935345 0.21928057] [ 0.59888399 -0.06359976 0.79830635 1.34332262] [ 0. 0. 0. 1. ]] SLAMing on 129.76538475 meters Centerline goodness [0,1] 0.9345053743851339 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.34 [[ 0.80012903 0.01400982 -0.59966429 10.63283633] [ 0.02718108 0.99785339 0.05958021 0.21843521] [ 0.59921175 -0.06397138 0.79803066 1.34433822] [ 0. 0. 0. 1. ]] SLAMing on 129.79538475 meters Centerline goodness [0,1] 0.9318402230573403 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.34 [[ 0.7999321 0.01417292 -0.59992313 10.63348387] [ 0.02722135 0.99783494 0.05987011 0.21835884] [ 0.59947279 -0.06422274 0.7978144 1.34498522] [ 0. 0. 0. 1. ]] SLAMing on 129.82538475 meters Centerline goodness [0,1] 0.9334263443632282 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.34 [[ 0.79988452 0.01465866 -0.59997489 10.63405215] [ 0.02682205 0.99782963 0.06013817 0.21806584] [ 0.59955427 -0.06419614 0.79775531 1.34488675] [ 0. 0. 0. 1. ]] SLAMing on 129.85538475 meters Centerline goodness [0,1] 0.9343201021214516 Centerline is valid? [False, False] Translation: X:10.63, Y:0.22, Z:1.35 [[ 0.79975365 0.01451826 -0.60015274 10.63489027] [ 0.02703367 0.99782243 0.06016289 0.21711022] [ 0.59971933 -0.06433982 0.79761965 1.34519952] [ 0. 0. 0. 1. ]] SLAMing on 129.88538475000001 meters Centerline goodness [0,1] 0.932170365634609 Centerline is valid? [False, False] Translation: X:10.64, Y:0.22, Z:1.35 [[ 0.79961262 0.01474501 -0.60033511 10.6356777 ] [ 0.02698978 0.99780589 0.06045628 0.21536861] [ 0.59990934 -0.06454451 0.79746021 1.34555102] [ 0. 0. 0. 1. ]] SLAMing on 129.91538475000002 meters Centerline goodness [0,1] 0.9333313056966452 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.35 [[ 0.79948191 0.01485502 -0.60050646 10.63615785] [ 0.02697936 0.99779734 0.06060187 0.21457621] [ 0.60008399 -0.06465138 0.79732014 1.34591228] [ 0. 0. 0. 1. ]] SLAMing on 129.94538475000002 meters Centerline goodness [0,1] 0.933209307999634 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.35 [[ 0.79935976 0.01496579 -0.6006663 10.63683297] [ 0.02691321 0.99779461 0.06067615 0.21406979] [ 0.60024966 -0.06466793 0.79719408 1.34609156] [ 0. 0. 0. 1. ]] SLAMing on 129.97538475000002 meters Centerline goodness [0,1] 0.9334450708517447 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.35 [[ 0.7993079 0.0153978 -0.60072438 10.6371217 ] [ 0.02658149 0.99778718 0.06094396 0.21334921] [ 0.60033349 -0.06468114 0.79712988 1.34614458] [ 0. 0. 0. 1. ]] SLAMing on 130.00538475000002 meters Centerline goodness [0,1] 0.9353378891419893 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.35 [[ 0.79921564 0.01560318 -0.60084182 10.63779077] [ 0.02648345 0.99777789 0.06113837 0.21304362] [ 0.60046064 -0.0647751 0.79702648 1.34634203] [ 0. 0. 0. 1. ]] SLAMing on 130.03538475 meters Centerline goodness [0,1] 0.9346411192214112 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.35 [[ 0.79916197 0.01567542 -0.60091133 10.63861954] [ 0.02647311 0.99777224 0.061235 0.21302349] [ 0.60053253 -0.06484468 0.79696665 1.34636577] [ 0. 0. 0. 1. ]] SLAMing on 130.06538475 meters Centerline goodness [0,1] 0.9337899543378996 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.35 [[ 0.79917013 0.01571838 -0.60089936 10.63981708] [ 0.02636321 0.99777963 0.06116195 0.21303583] [ 0.60052651 -0.06472044 0.79698129 1.34591801] [ 0. 0. 0. 1. ]] SLAMing on 130.09538475 meters Centerline goodness [0,1] 0.9322471023727168 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.35 [[ 0.79902081 0.0158923 -0.60109332 10.64017925] [ 0.02635411 0.99776452 0.06141185 0.21251592] [ 0.60072557 -0.06491062 0.79681579 1.3464439 ] [ 0. 0. 0. 1. ]] SLAMing on 130.12538475 meters Centerline goodness [0,1] 0.9351071917287517 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.35 [[ 0.7988284 0.01610845 -0.60134325 10.63996656] [ 0.02635578 0.99774434 0.06173822 0.21141808] [ 0.60098133 -0.06516711 0.79660196 1.3472819 ] [ 0. 0. 0. 1. ]] SLAMing on 130.15538475 meters Centerline goodness [0,1] 0.9355411361410382 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.35 [[ 0.79900623 0.01240218 -0.60119484 10.63777087] [ 0.02870904 0.9978604 0.05874027 0.21061705] [ 0.60063703 -0.06419357 0.79694062 1.34692383] [ 0. 0. 0. 1. ]] SLAMing on 130.18538475 meters Centerline goodness [0,1] 0.9332721431849472 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.35 [[ 0.79875039 0.01224928 -0.60153783 10.63900964] [ 0.02896873 0.99785023 0.05878554 0.21037024] [ 0.60096474 -0.06438076 0.79667842 1.34751867] [ 0. 0. 0. 1. ]] SLAMing on 130.21538475 meters Centerline goodness [0,1] 0.9332721431849472 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.35 [[ 0.79875039 0.01224928 -0.60153783 10.63900964] [ 0.02896873 0.99785023 0.05878554 0.21037024] [ 0.60096474 -0.06438076 0.79667842 1.34751867] [ 0. 0. 0. 1. ]] SLAMing on 130.24538475 meters Centerline goodness [0,1] 0.9338307240704501 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.35 [[ 0.79854266 0.01208869 -0.60181682 10.64019965] [ 0.0291707 0.99784644 0.05874993 0.21027719] [ 0.60123098 -0.06446974 0.79647031 1.34789967] [ 0. 0. 0. 1. ]] SLAMing on 130.27538475 meters Centerline goodness [0,1] 0.9313014474127115 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.35 [[ 0.79822917 0.01163871 -0.60224142 10.64186294] [ 0.02971156 0.99783551 0.05866443 0.21043562] [ 0.60162065 -0.06472119 0.79615561 1.3486579 ] [ 0. 0. 0. 1. ]] SLAMing on 130.30538475 meters Centerline goodness [0,1] 0.9290387672740614 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.35 [[ 0.79804232 0.01151173 -0.60249144 10.64243396] [ 0.03004536 0.99781386 0.0588623 0.20995882] [ 0.60185192 -0.06507668 0.79595182 1.3494547 ] [ 0. 0. 0. 1. ]] SLAMing on 130.33538475 meters Centerline goodness [0,1] 0.9288565463031196 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.35 [[ 7.98133882e-01 6.03131904e-03 -6.02449939e-01 1.06421591e+01] [ 3.40614261e-02 9.97898853e-01 5.51153256e-02 2.09418091e-01] [ 6.01516521e-01 -6.45097129e-02 7.96251450e-01 1.34960969e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.36538475 meters Centerline goodness [0,1] 0.9259350393700787 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.35 [[ 7.97911856e-01 2.64426713e-04 -6.02774088e-01 1.06419414e+01] [ 3.87659546e-02 9.97907196e-01 5.17535321e-02 2.07651897e-01] [ 6.01526285e-01 -6.46618698e-02 7.96231732e-01 1.35143334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.39538475 meters Centerline goodness [0,1] 0.9268713243218277 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.35 [[ 7.97835675e-01 1.25873370e-04 -6.02874962e-01 1.06427243e+01] [ 3.89625328e-02 9.97898646e-01 5.17707808e-02 2.08462493e-01] [ 6.01614625e-01 -6.47941114e-02 7.96154235e-01 1.35166776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.42538475 meters Centerline goodness [0,1] 0.927760514414054 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.35 [[ 7.97839567e-01 1.95484421e-04 -6.02869793e-01 1.06433954e+01] [ 3.88947233e-02 9.97899933e-01 5.17969609e-02 2.09122367e-01] [ 6.01613851e-01 -6.47741187e-02 7.96156446e-01 1.35152824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.45538475 meters Centerline goodness [0,1] 0.9277897990726429 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.35 [[ 7.97608898e-01 7.08031133e-04 -6.03174556e-01 1.06426247e+01] [ 3.88416704e-02 9.97863486e-01 5.25336820e-02 2.07531681e-01] [ 6.01923061e-01 -6.53296395e-02 7.95877294e-01 1.35293480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.48538475 meters Centerline goodness [0,1] 0.9281061892267325 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.35 [[ 7.97508501e-01 1.22671868e-03 -6.03306461e-01 1.06418660e+01] [ 3.86632857e-02 9.97838427e-01 5.31377802e-02 2.06292936e-01] [ 6.02067555e-01 -6.57036415e-02 7.95737200e-01 1.35377729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.51538475 meters Centerline goodness [0,1] 0.9261992619926199 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.35 [[ 7.97315836e-01 1.24807753e-03 -6.03561016e-01 1.06421473e+01] [ 3.90151800e-02 9.97799840e-01 5.36031181e-02 2.04265028e-01] [ 6.02299987e-01 -6.62866566e-02 7.95512920e-01 1.35492115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.54538475 meters Centerline goodness [0,1] 0.9258028448971986 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.36 [[ 7.97102267e-01 9.82340391e-04 -6.03843532e-01 1.06432145e+01] [ 3.93985765e-02 9.97783266e-01 5.36312069e-02 2.03361836e-01] [ 6.02557656e-01 -6.65401322e-02 7.95296600e-01 1.35555346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.57538475 meters Centerline goodness [0,1] 0.9261884774430246 Centerline is valid? [False, False] Translation: X:10.64, Y:0.20, Z:1.36 [[ 7.96804006e-01 5.14578331e-04 -6.04237628e-01 1.06446586e+01] [ 3.99265763e-02 9.97769288e-01 5.35006179e-02 2.02924430e-01] [ 6.02917278e-01 -6.67546464e-02 7.95006021e-01 1.35628746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.60538475 meters Centerline goodness [0,1] 0.9279189399844116 Centerline is valid? [False, False] Translation: X:10.65, Y:0.20, Z:1.36 [[ 7.96511620e-01 4.52510498e-04 -6.04623051e-01 1.06455309e+01] [ 4.02324738e-02 9.97743719e-01 5.37477398e-02 2.02599247e-01] [ 6.03283173e-01 -6.71361804e-02 7.94696261e-01 1.35729986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.63538475000001 meters Centerline goodness [0,1] 0.9282388726798684 Centerline is valid? [False, False] Translation: X:10.65, Y:0.20, Z:1.36 [[ 7.96381256e-01 6.15497904e-04 -6.04794606e-01 1.06454956e+01] [ 4.00232568e-02 9.97753777e-01 5.37172232e-02 2.04219475e-01] [ 6.03469165e-01 -6.69852395e-02 7.94567772e-01 1.35752437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.66538475000002 meters Centerline goodness [0,1] 0.9289385682437453 Centerline is valid? [False, False] Translation: X:10.64, Y:0.21, Z:1.36 [[ 7.96351699e-01 1.03295659e-03 -6.04832956e-01 1.06449460e+01] [ 3.96689570e-02 9.97756230e-01 5.39340323e-02 2.05210383e-01] [ 6.03531561e-01 -6.69435508e-02 7.94523892e-01 1.35770523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.69538475000002 meters Centerline goodness [0,1] 0.9291438472725022 Centerline is valid? [False, False] Translation: X:10.65, Y:0.21, Z:1.36 [[ 7.96155804e-01 9.40244054e-04 -6.05090945e-01 1.06454231e+01] [ 3.97305846e-02 9.97759589e-01 5.38264097e-02 2.06514024e-01] [ 6.03785902e-01 -6.68948255e-02 7.94334732e-01 1.35810089e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.72538475000002 meters Centerline goodness [0,1] 0.928860095634737 Centerline is valid? [False, False] Translation: X:10.65, Y:0.21, Z:1.36 [[ 7.95646000e-01 5.61498672e-03 -6.05735846e-01 1.06471961e+01] [ 3.66751326e-02 9.97676143e-01 5.74216651e-02 2.07967650e-01] [ 6.04650624e-01 -6.79027606e-02 7.93591102e-01 1.35949216e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.75538475000002 meters Centerline goodness [0,1] 0.9293088040430187 Centerline is valid? [False, False] Translation: X:10.65, Y:0.21, Z:1.36 [[ 7.95551455e-01 5.41372859e-03 -6.05861844e-01 1.06477933e+01] [ 3.68339141e-02 9.97678374e-01 5.72811017e-02 2.08843233e-01] [ 6.04765364e-01 -6.78863269e-02 7.93505074e-01 1.35968161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.78538475 meters Centerline goodness [0,1] 0.9285516647708058 Centerline is valid? [False, False] Translation: X:10.65, Y:0.21, Z:1.36 [[ 7.95199456e-01 4.71847607e-03 -6.06329581e-01 1.06487425e+01] [ 3.75581044e-02 9.97666262e-01 5.70212136e-02 2.09493139e-01] [ 6.05183620e-01 -6.81158278e-02 7.93166452e-01 1.36083782e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.81538475 meters Centerline goodness [0,1] 0.9266229972014639 Centerline is valid? [False, False] Translation: X:10.65, Y:0.21, Z:1.36 [[ 7.94959932e-01 4.18210698e-03 -6.06647522e-01 1.06495659e+01] [ 3.81704232e-02 9.97650132e-01 5.68966910e-02 2.10427190e-01] [ 6.05459929e-01 -6.83865822e-02 7.92932248e-01 1.36170241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.84538475 meters Centerline goodness [0,1] 0.9269351561056716 Centerline is valid? [False, False] Translation: X:10.65, Y:0.21, Z:1.36 [[ 7.94707763e-01 3.44847573e-03 -6.06982438e-01 1.06513401e+01] [ 3.89006565e-02 9.97638822e-01 5.65996392e-02 2.11254037e-01] [ 6.05744427e-01 -6.85921880e-02 7.92697169e-01 1.36232537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.87538475 meters Centerline goodness [0,1] 0.9267954951073912 Centerline is valid? [False, False] Translation: X:10.65, Y:0.21, Z:1.36 [[ 7.94535605e-01 -2.83347044e-03 -6.07210955e-01 1.06526262e+01] [ 4.34373145e-02 9.97692450e-01 5.21821298e-02 2.12931394e-01] [ 6.05661929e-01 -6.78361733e-02 7.92825253e-01 1.36260511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.90538475 meters Centerline goodness [0,1] 0.9271359881642214 Centerline is valid? [False, False] Translation: X:10.65, Y:0.21, Z:1.36 [[ 7.94512093e-01 -8.67812283e-03 -6.07186317e-01 1.06531097e+01] [ 4.75291294e-02 9.97719113e-01 4.79327980e-02 2.14000678e-01] [ 6.05385427e-01 -6.69422247e-02 7.93112365e-01 1.36245293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.93538475 meters Centerline goodness [0,1] 0.9276408775271923 Centerline is valid? [False, False] Translation: X:10.65, Y:0.22, Z:1.36 [[ 7.94368156e-01 -8.71166395e-03 -6.07374134e-01 1.06529669e+01] [ 4.76426024e-02 9.97710463e-01 4.80001474e-02 2.15415217e-01] [ 6.05565368e-01 -6.70666729e-02 7.92964468e-01 1.36310189e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.96538475 meters Centerline goodness [0,1] 0.9280220622031561 Centerline is valid? [False, False] Translation: X:10.65, Y:0.22, Z:1.36 [[ 7.94487292e-01 -8.12406868e-03 -6.07226434e-01 1.06525543e+01] [ 4.69824769e-02 9.97735869e-01 4.81225857e-02 2.17044086e-01] [ 6.05460642e-01 -6.67617847e-02 7.93070157e-01 1.36256974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 130.99538475 meters Centerline goodness [0,1] 0.9282123160364423 Centerline is valid? [False, False] Translation: X:10.65, Y:0.22, Z:1.36 [[ 7.94539307e-01 -7.33110415e-03 -6.07168465e-01 1.06507196e+01] [ 4.63215159e-02 9.97745132e-01 4.85692084e-02 2.18627116e-01] [ 6.05443314e-01 -6.67151089e-02 7.93087314e-01 1.36290006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.02538475 meters Centerline goodness [0,1] 0.9326130745284746 Centerline is valid? [False, False] Translation: X:10.65, Y:0.22, Z:1.36 [[ 7.94720690e-01 -6.13563629e-03 -6.06944296e-01 1.06477160e+01] [ 4.52782370e-02 9.97762118e-01 4.91999785e-02 2.19461621e-01] [ 6.05284153e-01 -6.65816085e-02 7.93220009e-01 1.36305412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.05538475 meters Centerline goodness [0,1] 0.9335612048707541 Centerline is valid? [False, False] Translation: X:10.65, Y:0.22, Z:1.36 [[ 7.94643687e-01 -5.68787280e-03 -6.07049470e-01 1.06470947e+01] [ 4.48783900e-02 9.97770389e-01 4.93981788e-02 2.20384293e-01] [ 6.05415015e-01 -6.64973538e-02 7.93127204e-01 1.36336103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.08538475 meters Centerline goodness [0,1] 0.9325466820752996 Centerline is valid? [False, False] Translation: X:10.65, Y:0.22, Z:1.36 [[ 7.94614259e-01 -5.56520520e-03 -6.07089127e-01 1.06471784e+01] [ 4.46770738e-02 9.97782759e-01 4.93307699e-02 2.21557544e-01] [ 6.05468529e-01 -6.63218989e-02 7.93101044e-01 1.36332007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.11538475 meters Centerline goodness [0,1] 0.933171102661597 Centerline is valid? [False, False] Translation: X:10.65, Y:0.22, Z:1.36 [[ 7.94589051e-01 -5.44233926e-03 -6.07123234e-01 1.06479924e+01] [ 4.42627288e-02 9.97818237e-01 4.89854656e-02 2.24605180e-01] [ 6.05532040e-01 -6.57962457e-02 7.93096339e-01 1.36271130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.14538475 meters Centerline goodness [0,1] 0.9318898592916061 Centerline is valid? [False, False] Translation: X:10.65, Y:0.23, Z:1.36 [[ 7.94534664e-01 -5.56201215e-03 -6.07193323e-01 1.06492199e+01] [ 4.42377084e-02 9.97831058e-01 4.87463271e-02 2.26444766e-01] [ 6.05605228e-01 -6.55914878e-02 7.93057416e-01 1.36243159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.17538475 meters Centerline goodness [0,1] 0.9316091430652946 Centerline is valid? [False, False] Translation: X:10.65, Y:0.23, Z:1.36 [[ 7.94379480e-01 -6.08468522e-03 -6.07391322e-01 1.06515476e+01] [ 4.42568071e-02 9.97871914e-01 4.78850486e-02 2.29867128e-01] [ 6.05807376e-01 -6.49201006e-02 7.92958261e-01 1.36167026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.20538475 meters Centerline goodness [0,1] 0.9307152365968776 Centerline is valid? [False, False] Translation: X:10.65, Y:0.23, Z:1.36 [[ 7.94383132e-01 -5.80971162e-03 -6.07389238e-01 1.06519541e+01] [ 4.37784568e-02 9.97901336e-01 4.77113304e-02 2.31976771e-01] [ 6.05837343e-01 -6.44916396e-02 7.92970329e-01 1.36119525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.23538475 meters Centerline goodness [0,1] 0.9292022016572915 Centerline is valid? [False, False] Translation: X:10.65, Y:0.23, Z:1.36 [[ 7.94382192e-01 -5.32619122e-03 -6.07394900e-01 1.06515658e+01] [ 4.32935899e-02 9.97914845e-01 4.78709511e-02 2.32901981e-01] [ 6.05873417e-01 -6.43241368e-02 7.92956372e-01 1.36114065e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.26538475 meters Centerline goodness [0,1] 0.9311660607517351 Centerline is valid? [False, False] Translation: X:10.65, Y:0.23, Z:1.36 [[ 7.94476518e-01 -4.46533063e-03 -6.07278456e-01 1.06501941e+01] [ 4.23793378e-02 9.97942825e-01 4.81051876e-02 2.34498936e-01] [ 6.05814372e-01 -6.39545008e-02 7.93031379e-01 1.36088787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.29538475 meters Centerline goodness [0,1] 0.9325070523978153 Centerline is valid? [False, False] Translation: X:10.65, Y:0.24, Z:1.36 [[ 7.94416737e-01 -4.03137429e-03 -6.07359693e-01 1.06498025e+01] [ 4.19625765e-02 9.97952845e-01 4.82624251e-02 2.35425792e-01] [ 6.05921769e-01 -6.38268558e-02 7.92959609e-01 1.36102799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.32538475 meters Centerline goodness [0,1] 0.9321790186327961 Centerline is valid? [False, False] Translation: X:10.65, Y:0.24, Z:1.36 [[ 7.94411908e-01 -3.43565538e-03 -6.07369671e-01 1.06490715e+01] [ 4.13281707e-02 9.97972160e-01 4.84102251e-02 2.37608487e-01] [ 6.05971702e-01 -6.35591367e-02 7.92942957e-01 1.36096885e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.35538475 meters Centerline goodness [0,1] 0.9331062711003555 Centerline is valid? [False, False] Translation: X:10.65, Y:0.24, Z:1.36 [[ 7.94344740e-01 -2.94175014e-03 -6.07460106e-01 1.06484634e+01] [ 4.09591557e-02 9.97971941e-01 4.87273247e-02 2.38339038e-01] [ 6.06084797e-01 -6.35873472e-02 7.92854254e-01 1.36136559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.38538475000001 meters Centerline goodness [0,1] 0.9341677842348384 Centerline is valid? [False, False] Translation: X:10.65, Y:0.24, Z:1.36 [[ 7.94322855e-01 -1.98765636e-03 -6.07492593e-01 1.06469523e+01] [ 4.01853445e-02 9.97976322e-01 4.92787960e-02 2.39739211e-01] [ 6.06165274e-01 -6.35555731e-02 7.92795276e-01 1.36177296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.41538475000002 meters Centerline goodness [0,1] 0.9328782707622298 Centerline is valid? [False, False] Translation: X:10.65, Y:0.24, Z:1.36 [[ 7.94390231e-01 -7.39898030e-03 -6.07362672e-01 1.06463623e+01] [ 4.40437563e-02 9.97995277e-01 4.54485986e-02 2.39809656e-01] [ 6.05808805e-01 -6.28544563e-02 7.93123577e-01 1.36182577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.44538475000002 meters Centerline goodness [0,1] 0.9325351691110446 Centerline is valid? [False, False] Translation: X:10.65, Y:0.24, Z:1.36 [[ 7.94029872e-01 -8.77676585e-03 -6.07815375e-01 1.06479646e+01] [ 4.55531222e-02 9.97943385e-01 4.50989321e-02 2.39834003e-01] [ 6.06169510e-01 -6.34977873e-02 7.92796667e-01 1.36336262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.47538475000002 meters Centerline goodness [0,1] 0.9326629556473335 Centerline is valid? [False, False] Translation: X:10.65, Y:0.24, Z:1.36 [[ 7.93820900e-01 -9.17394047e-03 -6.08082410e-01 1.06495339e+01] [ 4.59717431e-02 9.97930532e-01 4.49583391e-02 2.40396657e-01] [ 6.06411557e-01 -6.36434775e-02 7.92599855e-01 1.36376932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.50538475000002 meters Centerline goodness [0,1] 0.9324695486028183 Centerline is valid? [False, False] Translation: X:10.65, Y:0.24, Z:1.37 [[ 7.93287162e-01 -4.74097790e-03 -6.08829206e-01 1.06524275e+01] [ 4.32368956e-02 9.97883724e-01 4.85658855e-02 2.40628992e-01] [ 6.07310505e-01 -6.48505783e-02 7.91813332e-01 1.36522677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.53538475 meters Centerline goodness [0,1] 0.9327395668880879 Centerline is valid? [False, False] Translation: X:10.65, Y:0.24, Z:1.36 [[ 7.93417651e-01 -4.00878990e-03 -6.08664407e-01 1.06519521e+01] [ 4.26096823e-02 9.97890901e-01 4.89710565e-02 2.40908896e-01] [ 6.07184359e-01 -6.47894977e-02 7.91915068e-01 1.36497002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.56538475 meters Centerline goodness [0,1] 0.9344923380231204 Centerline is valid? [False, False] Translation: X:10.65, Y:0.24, Z:1.37 [[ 7.93393601e-01 -3.10805583e-03 -6.08701022e-01 1.06500949e+01] [ 4.21172876e-02 9.97870712e-01 4.98013763e-02 2.38802096e-01] [ 6.07250136e-01 -6.51489293e-02 7.91835140e-01 1.36595486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.59538475 meters Centerline goodness [0,1] 0.9363076371030441 Centerline is valid? [False, False] Translation: X:10.65, Y:0.24, Z:1.37 [[ 7.93351642e-01 -2.51894937e-03 -6.08758431e-01 1.06493647e+01] [ 4.17542005e-02 9.97861652e-01 5.02862859e-02 2.38121851e-01] [ 6.07330025e-01 -6.53129291e-02 7.91760356e-01 1.36645504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.62538475 meters Centerline goodness [0,1] 0.9374308028367097 Centerline is valid? [False, False] Translation: X:10.65, Y:0.24, Z:1.37 [[ 7.93300353e-01 -2.00677227e-03 -6.08827170e-01 1.06491941e+01] [ 4.15619453e-02 9.97840290e-01 5.08661064e-02 2.36468936e-01] [ 6.07410203e-01 -6.56561417e-02 7.91670459e-01 1.36702753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.65538475 meters Centerline goodness [0,1] 0.9362535506054717 Centerline is valid? [False, False] Translation: X:10.65, Y:0.24, Z:1.37 [[ 7.93154184e-01 -2.05869642e-03 -6.09017408e-01 1.06500574e+01] [ 4.16894717e-02 9.97832156e-01 5.09212791e-02 2.36195519e-01] [ 6.07592321e-01 -6.57780395e-02 7.91520575e-01 1.36739462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.68538475 meters Centerline goodness [0,1] 0.9371379083796213 Centerline is valid? [False, False] Translation: X:10.65, Y:0.24, Z:1.37 [[ 7.92966229e-01 -2.34983257e-03 -6.09261059e-01 1.06514222e+01] [ 4.20655147e-02 9.97817423e-01 5.09007235e-02 2.35086050e-01] [ 6.07811691e-01 -6.59914347e-02 7.91334366e-01 1.36786883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.71538475 meters Centerline goodness [0,1] 0.9377358490566038 Centerline is valid? [False, False] Translation: X:10.65, Y:0.23, Z:1.37 [[ 7.92838502e-01 -2.31829078e-03 -6.09427383e-01 1.06518415e+01] [ 4.21997845e-02 9.97801342e-01 5.11043992e-02 2.34248645e-01] [ 6.07968986e-01 -6.62352396e-02 7.91193153e-01 1.36842086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.74538475 meters Centerline goodness [0,1] 0.9365461605610909 Centerline is valid? [False, False] Translation: X:10.65, Y:0.23, Z:1.37 [[ 7.92505637e-01 -3.23354006e-03 -6.09856015e-01 1.06540785e+01] [ 4.33113820e-02 9.97759423e-01 5.09927238e-02 2.31970863e-01] [ 6.08324699e-01 -6.68257279e-02 7.90870017e-01 1.36955539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.77538475 meters Centerline goodness [0,1] 0.9343314154893514 Centerline is valid? [False, False] Translation: X:10.66, Y:0.23, Z:1.37 [[ 7.92214999e-01 -3.57786537e-03 -6.10231591e-01 1.06555865e+01] [ 4.38830174e-02 9.97727931e-01 5.11200154e-02 2.30563287e-01] [ 6.08662202e-01 -6.72768465e-02 7.90572039e-01 1.37046868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.80538475 meters Centerline goodness [0,1] 0.93536766264039 Centerline is valid? [False, False] Translation: X:10.66, Y:0.23, Z:1.37 [[ 7.91839992e-01 -4.88506592e-03 -6.10709065e-01 1.06591019e+01] [ 4.53323269e-02 9.97679628e-01 5.07970495e-02 2.27799686e-01] [ 6.09043846e-01 -6.79079983e-02 7.90224080e-01 1.37150269e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.83538475 meters Centerline goodness [0,1] 0.933613113158775 Centerline is valid? [False, False] Translation: X:10.66, Y:0.23, Z:1.37 [[ 7.91668638e-01 -5.16644452e-03 -6.10928863e-01 1.06602629e+01] [ 4.57225743e-02 9.97661037e-01 5.08124097e-02 2.26627530e-01] [ 6.09237403e-01 -6.81598315e-02 7.90053178e-01 1.37198735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.86538475 meters Centerline goodness [0,1] 0.9333758658403208 Centerline is valid? [False, False] Translation: X:10.66, Y:0.23, Z:1.37 [[ 7.91405237e-01 -5.43491300e-03 -6.11267709e-01 1.06618772e+01] [ 4.60940599e-02 9.97644194e-01 5.08074785e-02 2.25614853e-01] [ 6.09551547e-01 -6.83851149e-02 7.89791357e-01 1.37259041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.89538475 meters Centerline goodness [0,1] 0.936038200675203 Centerline is valid? [False, False] Translation: X:10.66, Y:0.22, Z:1.37 [[ 7.91345369e-01 -5.31959914e-03 -6.11346227e-01 1.06621099e+01] [ 4.61528204e-02 9.97628543e-01 5.10608153e-02 2.24872531e-01] [ 6.09624823e-01 -6.86220923e-02 7.89714242e-01 1.37302414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.92538475 meters Centerline goodness [0,1] 0.9367347561906507 Centerline is valid? [False, False] Translation: X:10.66, Y:0.23, Z:1.37 [[ 7.91238593e-01 -5.11920237e-03 -6.11486127e-01 1.06621429e+01] [ 4.60004235e-02 9.97629946e-01 5.11708106e-02 2.25011506e-01] [ 6.09774918e-01 -6.86169410e-02 7.89598800e-01 1.37330462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.95538475 meters Centerline goodness [0,1] 0.9357064354622054 Centerline is valid? [False, False] Translation: X:10.66, Y:0.23, Z:1.37 [[ 7.90941988e-01 -6.03937886e-03 -6.11861338e-01 1.06642822e+01] [ 4.68926500e-02 9.97608866e-01 5.07703724e-02 2.25648750e-01] [ 6.10091674e-01 -6.88482188e-02 7.89333942e-01 1.37396289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 131.98538475 meters Centerline goodness [0,1] 0.9344342209493632 Centerline is valid? [False, False] Translation: X:10.66, Y:0.23, Z:1.37 [[ 7.90863807e-01 -6.28277107e-03 -6.11959938e-01 1.06646566e+01] [ 4.71583383e-02 9.97599774e-01 5.07028809e-02 2.25932666e-01] [ 6.10172542e-01 -6.89580872e-02 7.89261840e-01 1.37430007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.01538475 meters Centerline goodness [0,1] 0.9359048635462723 Centerline is valid? [False, False] Translation: X:10.66, Y:0.23, Z:1.38 [[ 7.90742192e-01 -6.13745582e-03 -6.12118549e-01 1.06645354e+01] [ 4.72067393e-02 9.97583367e-01 5.09798905e-02 2.25909965e-01] [ 6.10326397e-01 -6.92080711e-02 7.89120987e-01 1.37501085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.04538475 meters Centerline goodness [0,1] 0.9341030952961248 Centerline is valid? [False, False] Translation: X:10.66, Y:0.23, Z:1.37 [[ 7.90803084e-01 -5.23109622e-03 -6.12048298e-01 1.06635588e+01] [ 4.63990878e-02 9.97598462e-01 5.14240596e-02 2.26123557e-01] [ 6.10309436e-01 -6.90647876e-02 7.89146658e-01 1.37496294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.07538475 meters Centerline goodness [0,1] 0.9349439540637121 Centerline is valid? [False, False] Translation: X:10.66, Y:0.23, Z:1.38 [[ 7.90802571e-01 -4.82269815e-03 -6.12052314e-01 1.06627101e+01] [ 4.60705244e-02 9.97601251e-01 5.16647984e-02 2.26155998e-01] [ 6.10334990e-01 -6.90542264e-02 7.89127818e-01 1.37514591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.10538475 meters Centerline goodness [0,1] 0.9357744930368923 Centerline is valid? [False, False] Translation: X:10.66, Y:0.23, Z:1.38 [[ 7.90617757e-01 -4.26903481e-03 -6.12295139e-01 1.06614914e+01] [ 4.58229236e-02 9.97584119e-01 5.22128851e-02 2.25290997e-01] [ 6.10593009e-01 -6.93375875e-02 7.88903338e-01 1.37630671e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.13538475000001 meters Centerline goodness [0,1] 0.9342652636730698 Centerline is valid? [False, False] Translation: X:10.66, Y:0.23, Z:1.38 [[ 7.90259869e-01 -4.91002738e-03 -6.12752177e-01 1.06629313e+01] [ 4.65905663e-02 9.97554784e-01 5.20938720e-02 2.25032381e-01] [ 6.10998084e-01 -6.97161674e-02 7.88556274e-01 1.37740297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.16538475000002 meters Centerline goodness [0,1] 0.9342652636730698 Centerline is valid? [False, False] Translation: X:10.66, Y:0.23, Z:1.38 [[ 7.90259869e-01 -4.91002738e-03 -6.12752177e-01 1.06629313e+01] [ 4.65905663e-02 9.97554784e-01 5.20938720e-02 2.25032381e-01] [ 6.10998084e-01 -6.97161674e-02 7.88556274e-01 1.37740297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.19538475000002 meters Centerline goodness [0,1] 0.9323575343724163 Centerline is valid? [False, False] Translation: X:10.67, Y:0.22, Z:1.38 [[ 7.89932958e-01 -5.75663958e-03 -6.13166196e-01 1.06653765e+01] [ 4.75489211e-02 9.97520113e-01 5.18914715e-02 2.24295558e-01] [ 6.11346892e-01 -7.01461746e-02 7.88247735e-01 1.37824150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.22538475000002 meters Centerline goodness [0,1] 0.9310693907601694 Centerline is valid? [False, False] Translation: X:10.67, Y:0.22, Z:1.38 [[ 7.89807976e-01 -5.67193314e-03 -6.13327964e-01 1.06665556e+01] [ 4.75412771e-02 9.97515031e-01 5.19960660e-02 2.23824479e-01] [ 6.11508944e-01 -7.02253022e-02 7.88114978e-01 1.37839330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.25538475000002 meters Centerline goodness [0,1] 0.931300987548304 Centerline is valid? [False, False] Translation: X:10.67, Y:0.22, Z:1.38 [[ 7.89621713e-01 -5.54795514e-03 -6.13568880e-01 1.06666924e+01] [ 4.76854011e-02 9.97489719e-01 5.23484826e-02 2.22470973e-01] [ 6.11738223e-01 -7.05937766e-02 7.87904097e-01 1.37926728e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.28538475 meters Centerline goodness [0,1] 0.9315549531789059 Centerline is valid? [False, False] Translation: X:10.67, Y:0.22, Z:1.38 [[ 7.89467879e-01 -5.32125549e-03 -6.13768811e-01 1.06667728e+01] [ 4.76893433e-02 9.97471383e-01 5.26931380e-02 2.21581608e-01] [ 6.11936431e-01 -7.08697714e-02 7.87725384e-01 1.37999399e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.31538475 meters Centerline goodness [0,1] 0.9322279409498567 Centerline is valid? [False, False] Translation: X:10.67, Y:0.22, Z:1.38 [[ 7.89507333e-01 -4.56399079e-03 -6.13724158e-01 1.06658681e+01] [ 4.73058679e-02 9.97450035e-01 5.34376501e-02 2.19897488e-01] [ 6.11915293e-01 -7.12221705e-02 7.87710020e-01 1.38055058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.34538475 meters Centerline goodness [0,1] 0.932616796526131 Centerline is valid? [False, False] Translation: X:10.67, Y:0.22, Z:1.38 [[ 7.89414558e-01 -4.20634428e-03 -6.13846042e-01 1.06655224e+01] [ 4.71485371e-02 9.97438071e-01 5.37987890e-02 2.19772249e-01] [ 6.12047115e-01 -7.14114901e-02 7.87590457e-01 1.38111161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.37538475 meters Centerline goodness [0,1] 0.9322211924621563 Centerline is valid? [False, False] Translation: X:10.67, Y:0.22, Z:1.38 [[ 7.89163188e-01 -4.21741847e-03 -6.14169093e-01 1.06655460e+01] [ 4.74676528e-02 9.97404284e-01 5.41434816e-02 2.18836486e-01] [ 6.12346539e-01 -7.18812079e-02 7.87314936e-01 1.38237171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.40538475 meters Centerline goodness [0,1] 0.9297415924826904 Centerline is valid? [False, False] Translation: X:10.67, Y:0.22, Z:1.38 [[ 7.88882358e-01 -4.56847329e-03 -6.14527261e-01 1.06677930e+01] [ 4.76301195e-02 9.97418957e-01 5.37289087e-02 2.19992603e-01] [ 6.12695681e-01 -7.16557950e-02 7.87063815e-01 1.38238329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.43538475 meters Centerline goodness [0,1] 0.9288002957668371 Centerline is valid? [False, False] Translation: X:10.67, Y:0.22, Z:1.38 [[ 7.88717110e-01 -4.48711476e-03 -6.14739934e-01 1.06684246e+01] [ 4.76440929e-02 9.97411894e-01 5.38475016e-02 2.20038688e-01] [ 6.12907302e-01 -7.17591723e-02 7.86889611e-01 1.38280044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.46538475 meters Centerline goodness [0,1] 0.9302827541549752 Centerline is valid? [False, False] Translation: X:10.67, Y:0.22, Z:1.38 [[ 7.88643926e-01 -3.88433836e-03 -6.14837922e-01 1.06677443e+01] [ 4.72551378e-02 9.97405200e-01 5.43122292e-02 2.19633517e-01] [ 6.13031573e-01 -7.18872604e-02 7.86781108e-01 1.38328222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.49538475 meters Centerline goodness [0,1] 0.9305239179954442 Centerline is valid? [False, False] Translation: X:10.67, Y:0.22, Z:1.38 [[ 7.88531873e-01 -3.77073265e-03 -6.14982331e-01 1.06683107e+01] [ 4.72355860e-02 9.97398610e-01 5.44500873e-02 2.19828431e-01] [ 6.13177205e-01 -7.19846801e-02 7.86658707e-01 1.38360272e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.52538475 meters Centerline goodness [0,1] 0.9321123019427371 Centerline is valid? [False, False] Translation: X:10.66, Y:0.22, Z:1.39 [[ 7.88788845e-01 -7.06216922e-03 -6.14623692e-01 1.06620536e+01] [ 5.01226468e-02 9.97342916e-01 5.28661368e-02 2.18892882e-01] [ 6.12617236e-01 -7.25067852e-02 7.87046942e-01 1.38594174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.55538475 meters Centerline goodness [0,1] 0.9319929583989623 Centerline is valid? [False, False] Translation: X:10.66, Y:0.22, Z:1.39 [[ 7.88563491e-01 -7.26976573e-03 -6.14910377e-01 1.06621948e+01] [ 5.04939827e-02 9.97319051e-01 5.29628978e-02 2.20008843e-01] [ 6.12876805e-01 -7.28138815e-02 7.86816472e-01 1.38690498e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.58538475 meters Centerline goodness [0,1] 0.9302898684656378 Centerline is valid? [False, False] Translation: X:10.66, Y:0.22, Z:1.39 [[ 7.88338487e-01 -7.99570444e-03 -6.15189808e-01 1.06646217e+01] [ 5.10399002e-02 9.97318731e-01 5.24430858e-02 2.22503167e-01] [ 6.13120999e-01 -7.27421292e-02 7.86632839e-01 1.38694828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.61538475 meters Centerline goodness [0,1] 0.9288364249578415 Centerline is valid? [False, False] Translation: X:10.67, Y:0.22, Z:1.39 [[ 7.87809168e-01 -3.91732577e-03 -6.15906949e-01 1.06686014e+01] [ 4.83438978e-02 9.97287971e-01 5.54938762e-02 2.24705446e-01] [ 6.14019204e-01 -7.34939270e-02 7.85861985e-01 1.38772017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.64538475 meters Centerline goodness [0,1] 0.9277467297181109 Centerline is valid? [False, False] Translation: X:10.67, Y:0.23, Z:1.39 [[ 7.87537500e-01 1.59114474e-03 -6.16264679e-01 1.06692044e+01] [ 4.46519202e-02 9.97220994e-01 5.96363637e-02 2.25077863e-01] [ 6.14646965e-01 -7.44832740e-02 7.85277881e-01 1.38874619e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.67538475 meters Centerline goodness [0,1] 0.9292687419414257 Centerline is valid? [False, False] Translation: X:10.67, Y:0.23, Z:1.39 [[ 7.87517720e-01 2.47005212e-03 -6.16287060e-01 1.06679988e+01] [ 4.38768336e-02 9.97229701e-01 6.00645311e-02 2.25143651e-01] [ 6.14728122e-01 -7.43426073e-02 7.85227682e-01 1.38886840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.70538475 meters Centerline goodness [0,1] 0.931335868498528 Centerline is valid? [False, False] Translation: X:10.66, Y:0.22, Z:1.39 [[ 7.87732843e-01 5.00350249e-03 -6.15996699e-01 1.06633040e+01] [ 4.16468986e-02 9.97246572e-01 6.13580488e-02 2.23815155e-01] [ 6.14607601e-01 -7.39881023e-02 7.85355497e-01 1.38884986e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.73538475 meters Centerline goodness [0,1] 0.9331450672232795 Centerline is valid? [False, False] Translation: X:10.66, Y:0.22, Z:1.39 [[ 7.87781726e-01 5.92402841e-03 -6.15926017e-01 1.06617439e+01] [ 4.08716563e-02 9.97247185e-01 6.18672756e-02 2.23572525e-01] [ 6.14596990e-01 -7.39118256e-02 7.85370984e-01 1.38894436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.76538475 meters Centerline goodness [0,1] 0.931408493736633 Centerline is valid? [False, False] Translation: X:10.66, Y:0.22, Z:1.39 [[ 7.87805047e-01 -8.55902450e-05 -6.15924671e-01 1.06624382e+01] [ 4.51822552e-02 9.97313783e-01 5.76522585e-02 2.24516437e-01] [ 6.14265229e-01 -7.32476059e-02 7.85692699e-01 1.38888295e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.79538475 meters Centerline goodness [0,1] 0.9308679706601467 Centerline is valid? [False, False] Translation: X:10.67, Y:0.22, Z:1.39 [[ 7.87421289e-01 -1.30231219e-03 -6.16413837e-01 1.06650132e+01] [ 4.63889270e-02 9.97287219e-01 5.71512956e-02 2.24912027e-01] [ 6.14667212e-01 -7.35969233e-02 7.85345600e-01 1.38980779e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.82538475 meters Centerline goodness [0,1] 0.9294752568832515 Centerline is valid? [False, False] Translation: X:10.67, Y:0.23, Z:1.39 [[ 7.86894696e-01 -3.27564334e-03 -6.17078607e-01 1.06705649e+01] [ 4.80110531e-02 9.97279714e-01 5.59295201e-02 2.26840204e-01] [ 6.15216772e-01 -7.36372365e-02 7.84911384e-01 1.39009747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.85538475 meters Centerline goodness [0,1] 0.923749466886005 Centerline is valid? [False, False] Translation: X:10.67, Y:0.23, Z:1.39 [[ 7.86670890e-01 -3.85428612e-03 -6.17360556e-01 1.06730599e+01] [ 4.84215055e-02 9.97285266e-01 5.54748205e-02 2.28819873e-01] [ 6.15470770e-01 -7.35339539e-02 7.84721918e-01 1.39006250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.88538475000001 meters Centerline goodness [0,1] 0.9281081574860692 Centerline is valid? [False, False] Translation: X:10.67, Y:0.23, Z:1.39 [[ 7.86200827e-01 1.31834933e-03 -6.17969677e-01 1.06746387e+01] [ 4.49590371e-02 9.97225721e-01 5.93257653e-02 2.28673626e-01] [ 6.16333469e-01 -7.44252874e-02 7.83960415e-01 1.39127168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.91538475000002 meters Centerline goodness [0,1] 0.9276842395804582 Centerline is valid? [False, False] Translation: X:10.67, Y:0.23, Z:1.39 [[ 7.85932369e-01 1.91257148e-03 -6.18309513e-01 1.06737382e+01] [ 4.46620626e-02 9.97207472e-01 5.98544750e-02 2.27013553e-01] [ 6.16697342e-01 -7.46565475e-02 7.83652211e-01 1.39244284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.94538475000002 meters Centerline goodness [0,1] 0.9284043339079044 Centerline is valid? [False, False] Translation: X:10.67, Y:0.23, Z:1.39 [[ 7.85808357e-01 2.17512867e-03 -6.18466244e-01 1.06734053e+01] [ 4.46002228e-02 9.97190945e-01 6.01750650e-02 2.26548913e-01] [ 6.16859827e-01 -7.48698012e-02 7.83503967e-01 1.39310092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 132.97538475000002 meters Centerline goodness [0,1] 0.9270906913178343 Centerline is valid? [False, False] Translation: X:10.68, Y:0.23, Z:1.39 [[ 7.85342535e-01 1.13322466e-03 -6.19060431e-01 1.06755709e+01] [ 4.60139719e-02 9.97125277e-01 6.01988019e-02 2.25736731e-01] [ 6.17349023e-01 -7.57621090e-02 7.83032749e-01 1.39497629e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.00538475000002 meters Centerline goodness [0,1] 0.9261370639714039 Centerline is valid? [False, False] Translation: X:10.68, Y:0.22, Z:1.40 [[ 7.85117352e-01 1.28614246e-03 -6.19345695e-01 1.06752859e+01] [ 4.63080267e-02 9.97076820e-01 6.07731974e-02 2.24435889e-01] [ 6.17613399e-01 -7.63947688e-02 7.82762754e-01 1.39636204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.03538475 meters Centerline goodness [0,1] 0.9282757768579725 Centerline is valid? [False, False] Translation: X:10.67, Y:0.22, Z:1.40 [[ 7.85082003e-01 2.27442534e-03 -6.19387662e-01 1.06730843e+01] [ 4.61179884e-02 9.97002863e-01 6.21162054e-02 2.22388154e-01] [ 6.17672551e-01 -7.73312279e-02 7.82624112e-01 1.39802167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.06538475 meters Centerline goodness [0,1] 0.9304606056856498 Centerline is valid? [False, False] Translation: X:10.67, Y:0.22, Z:1.40 [[ 7.84981319e-01 2.74967700e-03 -6.19513331e-01 1.06723595e+01] [ 4.59701357e-02 9.96974815e-01 6.26734801e-02 2.21672248e-01] [ 6.17811521e-01 -7.76766230e-02 7.82480202e-01 1.39887237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.09538475 meters Centerline goodness [0,1] 0.9312338732241117 Centerline is valid? [False, False] Translation: X:10.67, Y:0.22, Z:1.40 [[ 7.85493488e-01 -5.66029968e-04 -6.18869663e-01 1.06680289e+01] [ 4.81559344e-02 9.97023482e-01 6.02094914e-02 2.19661025e-01] [ 6.16993506e-01 -7.70964103e-02 7.83182710e-01 1.39856281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.12538475 meters Centerline goodness [0,1] 0.9321864871603092 Centerline is valid? [False, False] Translation: X:10.67, Y:0.22, Z:1.40 [[ 7.85137190e-01 1.91252856e-04 -6.19321851e-01 1.06666501e+01] [ 4.85373278e-02 9.96905156e-01 6.18404179e-02 2.16349144e-01] [ 6.17416974e-01 -7.86134397e-02 7.82698031e-01 1.40160642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.15538475 meters Centerline goodness [0,1] 0.9327172250148303 Centerline is valid? [False, False] Translation: X:10.67, Y:0.22, Z:1.40 [[ 7.84950900e-01 -8.68370861e-05 -6.19557969e-01 1.06678340e+01] [ 4.89782837e-02 9.96879055e-01 6.19134669e-02 2.15602160e-01] [ 6.17618987e-01 -7.89439175e-02 7.82505364e-01 1.40223484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.18538475 meters Centerline goodness [0,1] 0.9330621186042873 Centerline is valid? [False, False] Translation: X:10.67, Y:0.21, Z:1.40 [[ 7.84624781e-01 -8.42039571e-04 -6.19970358e-01 1.06701947e+01] [ 4.99104364e-02 9.96839119e-01 6.18119668e-02 2.14191958e-01] [ 6.17958657e-01 -7.94421920e-02 7.82186702e-01 1.40322077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.21538475 meters Centerline goodness [0,1] 0.9319634131061271 Centerline is valid? [False, False] Translation: X:10.67, Y:0.21, Z:1.40 [[ 7.84354531e-01 -1.24685492e-03 -6.20311547e-01 1.06714774e+01] [ 5.04747623e-02 9.96810248e-01 6.18193083e-02 2.13450434e-01] [ 6.18255828e-01 -7.97983324e-02 7.81915569e-01 1.40409166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.24538475 meters Centerline goodness [0,1] 0.9292612567415026 Centerline is valid? [False, False] Translation: X:10.67, Y:0.21, Z:1.40 [[ 7.83985905e-01 -2.12887257e-03 -6.20774974e-01 1.06742964e+01] [ 5.13574484e-02 9.96788507e-01 6.14417165e-02 2.12856957e-01] [ 6.18650558e-01 -8.00508584e-02 7.81577473e-01 1.40478209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.27538475 meters Centerline goodness [0,1] 0.9298652460043874 Centerline is valid? [False, False] Translation: X:10.68, Y:0.21, Z:1.41 [[ 7.83767222e-01 -2.70323857e-03 -6.21048817e-01 1.06762246e+01] [ 5.18578474e-02 9.96783224e-01 6.11062079e-02 2.13136075e-01] [ 6.18885858e-01 -8.00992977e-02 7.81386203e-01 1.40504492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.30538475 meters Centerline goodness [0,1] 0.9293121759230336 Centerline is valid? [False, False] Translation: X:10.68, Y:0.21, Z:1.40 [[ 7.83483107e-01 -3.50482281e-03 -6.21403200e-01 1.06791113e+01] [ 5.23225707e-02 9.96805151e-01 6.03476533e-02 2.14479485e-01] [ 6.19206403e-01 -7.97947798e-02 7.81163379e-01 1.40484123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.33538475 meters Centerline goodness [0,1] 0.930762981940886 Centerline is valid? [False, False] Translation: X:10.68, Y:0.22, Z:1.40 [[ 7.83377362e-01 -3.74577356e-03 -6.21535098e-01 1.06800901e+01] [ 5.24408332e-02 9.96814591e-01 6.00885130e-02 2.15726324e-01] [ 6.19330177e-01 -7.96657992e-02 7.81078416e-01 1.40481847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.36538475 meters Centerline goodness [0,1] 0.9289745268605992 Centerline is valid? [False, False] Translation: X:10.68, Y:0.22, Z:1.40 [[ 7.83293552e-01 -3.57427993e-03 -6.21641727e-01 1.06805010e+01] [ 5.20675883e-02 9.96846966e-01 5.98756397e-02 2.17408068e-01] [ 6.19467657e-01 -7.92675879e-02 7.81009905e-01 1.40453958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.39538475 meters Centerline goodness [0,1] 0.9273174375894914 Centerline is valid? [False, False] Translation: X:10.68, Y:0.22, Z:1.40 [[ 7.83160876e-01 -3.78841830e-03 -6.21807599e-01 1.06815522e+01] [ 5.21889125e-02 9.96853669e-01 5.96580290e-02 2.18604851e-01] [ 6.19625177e-01 -7.91732966e-02 7.80894506e-01 1.40460312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.42538475 meters Centerline goodness [0,1] 0.9283744849592614 Centerline is valid? [False, False] Translation: X:10.68, Y:0.22, Z:1.41 [[ 7.82616202e-01 7.08524283e-04 -6.22504119e-01 1.06841237e+01] [ 4.92723250e-02 9.96791427e-01 6.30800176e-02 2.19441757e-01] [ 6.20551463e-01 -8.00396691e-02 7.80070210e-01 1.40589974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.45538475 meters Centerline goodness [0,1] 0.9276947870823777 Centerline is valid? [False, False] Translation: X:10.68, Y:0.22, Z:1.41 [[ 7.82629202e-01 1.21226479e-03 -6.22486998e-01 1.06837390e+01] [ 4.88107665e-02 9.96799610e-01 6.33091398e-02 2.20721768e-01] [ 6.20571544e-01 -7.99316490e-02 7.80065312e-01 1.40585398e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.48538475 meters Centerline goodness [0,1] 0.9261803106243426 Centerline is valid? [False, False] Translation: X:10.68, Y:0.22, Z:1.41 [[ 7.82690128e-01 1.51351051e-03 -6.22409731e-01 1.06830836e+01] [ 4.84076622e-02 9.96820015e-01 6.32973665e-02 2.22237882e-01] [ 6.20526278e-01 -7.96716239e-02 7.80127919e-01 1.40564690e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.51538475 meters Centerline goodness [0,1] 0.9294128559502829 Centerline is valid? [False, False] Translation: X:10.68, Y:0.22, Z:1.41 [[ 7.82918282e-01 -2.47974266e-03 -6.22119615e-01 1.06799113e+01] [ 5.10423045e-02 9.96876731e-01 6.02616518e-02 2.23586479e-01] [ 6.20027134e-01 -7.89343677e-02 7.80599589e-01 1.40567439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.54538475 meters Centerline goodness [0,1] 0.9278334618350038 Centerline is valid? [False, False] Translation: X:10.68, Y:0.23, Z:1.41 [[ 7.82840618e-01 -2.40151689e-03 -6.22217647e-01 1.06803929e+01] [ 5.08751554e-02 9.96891369e-01 6.01607602e-02 2.26690124e-01] [ 6.20138925e-01 -7.87517061e-02 7.80529232e-01 1.40562654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.57538475 meters Centerline goodness [0,1] 0.9279245980410276 Centerline is valid? [False, False] Translation: X:10.68, Y:0.23, Z:1.41 [[ 7.82880786e-01 -2.22873610e-03 -6.22167749e-01 1.06807555e+01] [ 5.05842357e-02 9.96911069e-01 6.00795759e-02 2.28196876e-01] [ 6.20112014e-01 -7.85070256e-02 7.80575260e-01 1.40523592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.60538475 meters Centerline goodness [0,1] 0.927195982376683 Centerline is valid? [False, False] Translation: X:10.68, Y:0.23, Z:1.41 [[ 7.83129958e-01 -8.31340556e-04 -6.21857522e-01 1.06774595e+01] [ 4.94890089e-02 9.96910712e-01 6.09907444e-02 2.28986622e-01] [ 6.19885721e-01 -7.85387915e-02 7.80751786e-01 1.40540819e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.63538475000001 meters Centerline goodness [0,1] 0.9278004981396636 Centerline is valid? [False, False] Translation: X:10.68, Y:0.23, Z:1.40 [[ 7.83544863e-01 -4.16670822e-03 -6.21321242e-01 1.06764639e+01] [ 5.18974708e-02 9.96922100e-01 5.87620553e-02 2.31122096e-01] [ 6.19164033e-01 -7.82877076e-02 7.81349432e-01 1.40497111e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.66538475000002 meters Centerline goodness [0,1] 0.9279990174706009 Centerline is valid? [False, False] Translation: X:10.67, Y:0.23, Z:1.40 [[ 7.83850363e-01 -8.35327741e-03 -6.20893575e-01 1.06727531e+01] [ 5.46930269e-02 9.96952072e-01 5.56348675e-02 2.32663413e-01] [ 6.18536403e-01 -7.75679601e-02 7.81918109e-01 1.40496516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.69538475000002 meters Centerline goodness [0,1] 0.9252001104057411 Centerline is valid? [False, False] Translation: X:10.67, Y:0.23, Z:1.41 [[ 7.83909675e-01 -7.90656577e-03 -6.20824539e-01 1.06719687e+01] [ 5.43284548e-02 9.96956994e-01 5.59032272e-02 2.33268770e-01] [ 6.18493363e-01 -7.75515186e-02 7.81953785e-01 1.40503503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.72538475000002 meters Centerline goodness [0,1] 0.928887262525539 Centerline is valid? [False, False] Translation: X:10.67, Y:0.24, Z:1.41 [[ 7.83671756e-01 -2.98538948e-03 -6.21167985e-01 1.06736610e+01] [ 5.07388293e-02 9.96954575e-01 5.92211618e-02 2.35858650e-01] [ 6.19099467e-01 -7.79272883e-02 7.81436618e-01 1.40515781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.75538475000002 meters Centerline goodness [0,1] 0.9296470157897946 Centerline is valid? [False, False] Translation: X:10.67, Y:0.24, Z:1.40 [[ 7.83595407e-01 -3.21996501e-03 -6.21263124e-01 1.06747358e+01] [ 5.07486894e-02 9.96976539e-01 5.88417515e-02 2.36921528e-01] [ 6.19195291e-01 -7.76364156e-02 7.81389646e-01 1.40482720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.78538475 meters Centerline goodness [0,1] 0.9299819918810853 Centerline is valid? [False, False] Translation: X:10.68, Y:0.24, Z:1.40 [[ 7.83673626e-01 -3.63122036e-03 -6.21162186e-01 1.06765608e+01] [ 5.06610475e-02 9.97025268e-01 5.80867754e-02 2.37459025e-01] [ 6.19103469e-01 -7.69898010e-02 7.81526369e-01 1.40361613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.81538475 meters Centerline goodness [0,1] 0.9296701963044995 Centerline is valid? [False, False] Translation: X:10.68, Y:0.24, Z:1.40 [[ 7.83491904e-01 -4.16687536e-03 -6.21388022e-01 1.06784979e+01] [ 5.10216891e-02 9.97032456e-01 5.76460586e-02 2.38205994e-01] [ 6.19303822e-01 -7.68694866e-02 7.81379458e-01 1.40360304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.84538475 meters Centerline goodness [0,1] 0.9286585365853659 Centerline is valid? [False, False] Translation: X:10.68, Y:0.24, Z:1.40 [[ 7.83344501e-01 -4.57694500e-03 -6.21570949e-01 1.06805299e+01] [ 5.12761258e-02 9.97040511e-01 5.72798192e-02 2.38440557e-01] [ 6.19469250e-01 -7.67415815e-02 7.81260890e-01 1.40344007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.87538475 meters Centerline goodness [0,1] 0.9259067041152766 Centerline is valid? [False, False] Translation: X:10.68, Y:0.24, Z:1.40 [[ 7.83100696e-01 -4.88151584e-03 -6.21875767e-01 1.06817403e+01] [ 5.16433802e-02 9.97025800e-01 5.72059109e-02 2.37743395e-01] [ 6.19746933e-01 -7.69137553e-02 7.81023696e-01 1.40404960e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.90538475 meters Centerline goodness [0,1] 0.9267711483823664 Centerline is valid? [False, False] Translation: X:10.68, Y:0.24, Z:1.41 [[ 7.82873771e-01 -5.00865859e-03 -6.22160407e-01 1.06825947e+01] [ 5.20431984e-02 9.96990367e-01 5.74605362e-02 2.36124033e-01] [ 6.20000132e-01 -7.73635642e-02 7.80778275e-01 1.40500436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.93538475 meters Centerline goodness [0,1] 0.9260882800608828 Centerline is valid? [False, False] Translation: X:10.68, Y:0.24, Z:1.41 [[ 7.82685608e-01 -5.02621115e-03 -6.22396961e-01 1.06831063e+01] [ 5.22721953e-02 9.96965539e-01 5.76830189e-02 2.35770636e-01] [ 6.20218395e-01 -7.76817242e-02 7.80573310e-01 1.40575873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.96538475 meters Centerline goodness [0,1] 0.9243887530562347 Centerline is valid? [False, False] Translation: X:10.68, Y:0.23, Z:1.41 [[ 7.82538330e-01 -5.21209526e-03 -6.22580595e-01 1.06836713e+01] [ 5.26001855e-02 9.96943343e-01 5.77684206e-02 2.34841367e-01] [ 6.20376485e-01 -7.79538581e-02 7.80420536e-01 1.40634018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 133.99538475 meters Centerline goodness [0,1] 0.9262774393044118 Centerline is valid? [False, False] Translation: X:10.68, Y:0.23, Z:1.41 [[ 7.82413979e-01 -5.27846550e-03 -6.22736303e-01 1.06841004e+01] [ 5.27588754e-02 9.96930999e-01 5.78367049e-02 2.34561631e-01] [ 6.20519836e-01 -7.81071134e-02 7.80291236e-01 1.40679689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.02538475 meters Centerline goodness [0,1] 0.9262774393044118 Centerline is valid? [False, False] Translation: X:10.68, Y:0.23, Z:1.41 [[ 7.82413979e-01 -5.27846550e-03 -6.22736303e-01 1.06841004e+01] [ 5.27588754e-02 9.96930999e-01 5.78367049e-02 2.34561631e-01] [ 6.20519836e-01 -7.81071134e-02 7.80291236e-01 1.40679689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.05538475 meters Centerline goodness [0,1] 0.9270153506756136 Centerline is valid? [False, False] Translation: X:10.68, Y:0.23, Z:1.41 [[ 7.82335543e-01 -5.18148020e-03 -6.22835653e-01 1.06845088e+01] [ 5.27305555e-02 9.96926468e-01 5.79405383e-02 2.34738709e-01] [ 6.20621130e-01 -7.81714125e-02 7.80204232e-01 1.40700604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.08538475 meters Centerline goodness [0,1] 0.9257910520839708 Centerline is valid? [False, False] Translation: X:10.68, Y:0.24, Z:1.41 [[ 7.82422843e-01 -4.46331031e-03 -6.22731542e-01 1.06833889e+01] [ 5.21673300e-02 9.96929311e-01 5.83996526e-02 2.35172385e-01] [ 6.20558671e-01 -7.81794641e-02 7.80253104e-01 1.40705664e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.11538475 meters Centerline goodness [0,1] 0.9264378337147215 Centerline is valid? [False, False] Translation: X:10.68, Y:0.24, Z:1.41 [[ 7.82581267e-01 -3.47335340e-03 -6.22538751e-01 1.06814337e+01] [ 5.14172708e-02 9.96928579e-01 5.90734435e-02 2.35514660e-01] [ 6.20421489e-01 -7.82390138e-02 7.80356221e-01 1.40717877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.14538475 meters Centerline goodness [0,1] 0.9255703015106109 Centerline is valid? [False, False] Translation: X:10.68, Y:0.24, Z:1.41 [[ 7.82855464e-01 -8.47155582e-03 -6.22145928e-01 1.06800063e+01] [ 5.48199619e-02 9.96957872e-01 5.54055260e-02 2.35975686e-01] [ 6.19783910e-01 -7.74805348e-02 7.80938328e-01 1.40664003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.17538475 meters Centerline goodness [0,1] 0.9167329701940143 Centerline is valid? [False, False] Translation: X:10.68, Y:0.24, Z:1.41 [[ 0.7825235 -0.01558519 -0.62242596 10.68202403] [ 0.06023545 0.99689236 0.05076732 0.23669385] [ 0.61970046 -0.07721873 0.78103048 1.40751677] [ 0. 0. 0. 1. ]] SLAMing on 134.20538475 meters Centerline goodness [0,1] 0.9137804430302289 Centerline is valid? [False, False] Translation: X:10.69, Y:0.24, Z:1.41 [[ 0.78207741 -0.01701197 -0.62294905 10.68529024] [ 0.06156912 0.99684595 0.05007393 0.23712613] [ 0.62013238 -0.07751611 0.78065811 1.40837269] [ 0. 0. 0. 1. ]] SLAMing on 134.23538475 meters Centerline goodness [0,1] 0.9138240029160718 Centerline is valid? [False, False] Translation: X:10.69, Y:0.24, Z:1.41 [[ 0.78149433 -0.01354428 -0.62376531 10.68977537] [ 0.05953424 0.99682127 0.0529437 0.23796573] [ 0.62106544 -0.07851059 0.77981652 1.40961903] [ 0. 0. 0. 1. ]] SLAMing on 134.26538475 meters Centerline goodness [0,1] 0.9150330764095406 Centerline is valid? [False, False] Translation: X:10.69, Y:0.24, Z:1.41 [[ 0.78162133 -0.01311581 -0.62361532 10.68983388] [ 0.0590213 0.99684825 0.05300998 0.23915083] [ 0.62095457 -0.07824032 0.77993197 1.40901148] [ 0. 0. 0. 1. ]] SLAMing on 134.29538475 meters Centerline goodness [0,1] 0.9178161268761014 Centerline is valid? [False, False] Translation: X:10.69, Y:0.24, Z:1.41 [[ 0.78161098 -0.0119284 -0.62365214 10.68744822] [ 0.05821202 0.99684867 0.05388956 0.23736937] [ 0.62104399 -0.07842472 0.77984224 1.40986468] [ 0. 0. 0. 1. ]] SLAMing on 134.32538475 meters Centerline goodness [0,1] 0.9194888178913738 Centerline is valid? [False, False] Translation: X:10.69, Y:0.24, Z:1.41 [[ 0.78158835 -0.01193553 -0.62368036 10.68812382] [ 0.05804508 0.99687058 0.053664 0.23749422] [ 0.62108809 -0.07814474 0.77983523 1.40953171] [ 0. 0. 0. 1. ]] SLAMing on 134.35538475 meters Centerline goodness [0,1] 0.9217615793470008 Centerline is valid? [False, False] Translation: X:10.69, Y:0.24, Z:1.41 [[ 0.78148574 -0.01229936 -0.62380187 10.68987536] [ 0.05819686 0.9968838 0.05325246 0.23873539] [ 0.621203 -0.07791935 0.77976625 1.40921482] [ 0. 0. 0. 1. ]] SLAMing on 134.38538475000001 meters Centerline goodness [0,1] 0.9222749103288954 Centerline is valid? [False, False] Translation: X:10.69, Y:0.24, Z:1.41 [[ 0.78128971 -0.01262199 -0.62404093 10.69128518] [ 0.05846122 0.99688022 0.05302943 0.2394814 ] [ 0.62142472 -0.07791354 0.77959015 1.40943922] [ 0. 0. 0. 1. ]] SLAMing on 134.41538475000002 meters Centerline goodness [0,1] 0.9215567041653998 Centerline is valid? [False, False] Translation: X:10.69, Y:0.24, Z:1.41 [[ 0.78130157 -0.01276637 -0.62402313 10.69213038] [ 0.0585175 0.99688529 0.05287178 0.24000251] [ 0.6214045 -0.07782508 0.7796151 1.40919638] [ 0. 0. 0. 1. ]] SLAMing on 134.44538475000002 meters Centerline goodness [0,1] 0.920377908742937 Centerline is valid? [False, False] Translation: X:10.69, Y:0.24, Z:1.41 [[ 0.78135277 -0.01207506 -0.62397278 10.69099379] [ 0.05814131 0.99687301 0.05351447 0.2392077 ] [ 0.62137543 -0.07809228 0.77961155 1.40967122] [ 0. 0. 0. 1. ]] SLAMing on 134.47538475000002 meters Centerline goodness [0,1] 0.9216479173000912 Centerline is valid? [False, False] Translation: X:10.69, Y:0.24, Z:1.41 [[ 0.78118451 -0.01168076 -0.62419093 10.69045084] [ 0.05802155 0.99685595 0.05396025 0.23883618] [ 0.62159815 -0.07836944 0.77940617 1.41052935] [ 0. 0. 0. 1. ]] SLAMing on 134.50538475000002 meters Centerline goodness [0,1] 0.9234710995882263 Centerline is valid? [False, False] Translation: X:10.69, Y:0.24, Z:1.41 [[ 0.78110618 -0.01121923 -0.62429741 10.68955203] [ 0.05786845 0.99683606 0.05448953 0.23819995] [ 0.62171084 -0.07868923 0.77928405 1.41132881] [ 0. 0. 0. 1. ]] SLAMing on 134.53538475 meters Centerline goodness [0,1] 0.9235426554703663 Centerline is valid? [False, False] Translation: X:10.69, Y:0.24, Z:1.41 [[ 0.78095365 -0.01116064 -0.62448926 10.68987328] [ 0.05795525 0.99682163 0.05466099 0.23827852] [ 0.62189435 -0.07888013 0.77911831 1.41187323] [ 0. 0. 0. 1. ]] SLAMing on 134.56538475 meters Centerline goodness [0,1] 0.9198170731707317 Centerline is valid? [False, False] Translation: X:10.69, Y:0.24, Z:1.41 [[ 0.78098065 -0.01083058 -0.6244613 10.68961041] [ 0.05759419 0.99683817 0.05474097 0.2394192 ] [ 0.62189398 -0.07871699 0.7791351 1.41167408] [ 0. 0. 0. 1. ]] SLAMing on 134.59538475 meters Centerline goodness [0,1] 0.9205378601198625 Centerline is valid? [False, False] Translation: X:10.69, Y:0.24, Z:1.41 [[ 7.80922921e-01 -1.06177821e-02 -6.24537152e-01 1.06895438e+01] [ 5.73947989e-02 9.96845370e-01 5.48192001e-02 2.40570257e-01] [ 6.21984911e-01 -7.86547541e-02 7.79068803e-01 1.41180941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.62538475 meters Centerline goodness [0,1] 0.9265991229396643 Centerline is valid? [False, False] Translation: X:10.69, Y:0.24, Z:1.41 [[ 7.81092074e-01 -9.48190448e-03 -6.24343867e-01 1.06880558e+01] [ 5.62317007e-02 9.96890117e-01 5.52095098e-02 2.42075669e-01] [ 6.21878740e-01 -7.82316281e-02 7.79196153e-01 1.41121899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.65538475 meters Centerline goodness [0,1] 0.9241848734388769 Centerline is valid? [False, False] Translation: X:10.69, Y:0.24, Z:1.41 [[ 7.81250434e-01 -8.92512338e-03 -6.24153908e-01 1.06870334e+01] [ 5.56032516e-02 9.96917975e-01 5.53428379e-02 2.43344958e-01] [ 6.21736308e-01 -7.79416029e-02 7.79338867e-01 1.41076592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.68538475 meters Centerline goodness [0,1] 0.9311831198191409 Centerline is valid? [False, False] Translation: X:10.69, Y:0.24, Z:1.41 [[ 7.81168674e-01 -2.62042323e-03 -6.24314533e-01 1.06853749e+01] [ 5.11025281e-02 9.96904003e-01 5.97573525e-02 2.44356689e-01] [ 6.22225068e-01 -7.85846228e-02 7.78884088e-01 1.41146315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.71538475 meters Centerline goodness [0,1] 0.9336078384226978 Centerline is valid? [False, False] Translation: X:10.68, Y:0.25, Z:1.41 [[ 7.80914869e-01 -2.40899733e-03 -6.24632823e-01 1.06842969e+01] [ 5.08412506e-02 9.96919788e-01 5.97168609e-02 2.45241934e-01] [ 6.22564964e-01 -7.83908985e-02 7.78631962e-01 1.41216002e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.74538475 meters Centerline goodness [0,1] 0.9322262927151522 Centerline is valid? [False, False] Translation: X:10.68, Y:0.25, Z:1.41 [[ 7.80759189e-01 -2.63786916e-03 -6.24826480e-01 1.06849673e+01] [ 5.09629844e-02 9.96928174e-01 5.94725952e-02 2.46136091e-01] [ 6.22750241e-01 -7.82767973e-02 7.78495267e-01 1.41235600e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.77538475 meters Centerline goodness [0,1] 0.93567601544494 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.41 [[ 7.80755306e-01 -2.74782544e-03 -6.24830858e-01 1.06856817e+01] [ 5.07495536e-02 9.96965392e-01 5.90295692e-02 2.47711300e-01] [ 6.22772538e-01 -7.77975365e-02 7.78525471e-01 1.41173378e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.80538475 meters Centerline goodness [0,1] 0.9345132743362832 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.41 [[ 7.80784803e-01 -2.77724673e-03 -6.24793868e-01 1.06857755e+01] [ 5.06804077e-02 9.96976451e-01 5.89020546e-02 2.48100057e-01] [ 6.22741188e-01 -7.76546371e-02 7.78564814e-01 1.41156211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.83538475 meters Centerline goodness [0,1] 0.9352299696578243 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.41 [[ 7.80692531e-01 -8.95081324e-03 -6.24851226e-01 1.06875848e+01] [ 5.50684060e-02 9.96992937e-01 5.45211312e-02 2.49038335e-01] [ 6.22484251e-01 -7.69738010e-02 7.78837847e-01 1.41129298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 134.86538475 meters Centerline goodness [0,1] 0.9317154054868857 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.41 [[ 0.78086234 -0.01399779 -0.62454628 10.68700758] [ 0.05841982 0.99700403 0.05069597 0.24938382] [ 0.62196553 -0.07607246 0.77934066 1.4105593 ] [ 0. 0. 0. 1. ]] SLAMing on 134.89538475 meters Centerline goodness [0,1] 0.9314865273993339 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.41 [[ 0.78034173 -0.01514433 -0.62516993 10.68924187] [ 0.05983567 0.99692811 0.05053739 0.24721463] [ 0.62248412 -0.07684389 0.77885078 1.41233947] [ 0. 0. 0. 1. ]] SLAMing on 134.92538475 meters Centerline goodness [0,1] 0.9304015991277486 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.41 [[ 0.78015817 -0.0153041 -0.62539508 10.6905407 ] [ 0.0601221 0.99690746 0.05060477 0.24673416] [ 0.62268657 -0.07707979 0.77866562 1.41278476] [ 0. 0. 0. 1. ]] SLAMing on 134.95538475 meters Centerline goodness [0,1] 0.929268070367332 Centerline is valid? [False, False] Translation: X:10.69, Y:0.24, Z:1.41 [[ 0.77982973 -0.01550943 -0.62579953 10.69147416] [ 0.06063929 0.9968632 0.050859 0.24473904] [ 0.62304772 -0.0776094 0.77832404 1.41402564] [ 0. 0. 0. 1. ]] SLAMing on 134.98538475 meters Centerline goodness [0,1] 0.9285933002633352 Centerline is valid? [False, False] Translation: X:10.69, Y:0.24, Z:1.41 [[ 0.77993688 -0.02009289 -0.62553556 10.69097508] [ 0.06382281 0.99682746 0.04755703 0.24305649] [ 0.62259546 -0.07701492 0.77874488 1.41361795] [ 0. 0. 0. 1. ]] SLAMing on 135.01538475 meters Centerline goodness [0,1] 0.9284601045136448 Centerline is valid? [False, False] Translation: X:10.69, Y:0.24, Z:1.42 [[ 0.77975481 -0.01945265 -0.62578274 10.69010717] [ 0.06411071 0.99674396 0.04890087 0.2403912 ] [ 0.62279391 -0.07825007 0.77846302 1.4157267 ] [ 0. 0. 0. 1. ]] SLAMing on 135.04538475 meters Centerline goodness [0,1] 0.9301372794814565 Centerline is valid? [False, False] Translation: X:10.69, Y:0.24, Z:1.42 [[ 0.77972855 -0.01897392 -0.62583015 10.68920232] [ 0.06394872 0.99672699 0.04945563 0.23943483] [ 0.62284344 -0.07858301 0.77838985 1.4163754 ] [ 0. 0. 0. 1. ]] SLAMing on 135.07538475 meters Centerline goodness [0,1] 0.931304692502363 Centerline is valid? [False, False] Translation: X:10.69, Y:0.24, Z:1.42 [[ 0.77965996 -0.01869697 -0.62592394 10.68893245] [ 0.06377503 0.99672767 0.04966587 0.23981385] [ 0.6229471 -0.07864081 0.77830105 1.41668084] [ 0. 0. 0. 1. ]] SLAMing on 135.10538475 meters Centerline goodness [0,1] 0.9323843416370107 Centerline is valid? [False, False] Translation: X:10.69, Y:0.24, Z:1.42 [[ 0.77952445 -0.0189989 -0.6260836 10.68991575] [ 0.06393274 0.99673301 0.04935491 0.24112952] [ 0.6231005 -0.0785006 0.77819241 1.41670954] [ 0. 0. 0. 1. ]] SLAMing on 135.13538475000001 meters Centerline goodness [0,1] 0.9306582727217163 Centerline is valid? [False, False] Translation: X:10.69, Y:0.24, Z:1.42 [[ 0.77926549 -0.02540436 -0.62617882 10.69151866] [ 0.06835033 0.99666283 0.04462539 0.24341987] [ 0.62295548 -0.07757456 0.77840135 1.41652098] [ 0. 0. 0. 1. ]] SLAMing on 135.16538475000002 meters Centerline goodness [0,1] 0.9309015239610747 Centerline is valid? [False, False] Translation: X:10.69, Y:0.24, Z:1.42 [[ 0.77909182 -0.02564138 -0.62638523 10.69230916] [ 0.06860542 0.99664947 0.04453242 0.24410935] [ 0.62314463 -0.07766827 0.77824058 1.41692001] [ 0. 0. 0. 1. ]] SLAMing on 135.19538475000002 meters Centerline goodness [0,1] 0.9283077580158028 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.42 [[ 0.77871064 -0.02124013 -0.6270236 10.69462101] [ 0.06571115 0.99669096 0.04784529 0.24545103] [ 0.62393251 -0.07846008 0.77752957 1.41790505] [ 0. 0. 0. 1. ]] SLAMing on 135.22538475000002 meters Centerline goodness [0,1] 0.9298859315589354 Centerline is valid? [False, False] Translation: X:10.70, Y:0.25, Z:1.42 [[ 0.77865616 -0.02115773 -0.62709403 10.6951061 ] [ 0.0656101 0.9966979 0.04783945 0.24677921] [ 0.62401113 -0.07839419 0.77747312 1.41791279] [ 0. 0. 0. 1. ]] SLAMing on 135.25538475000002 meters Centerline goodness [0,1] 0.9282314170633468 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.42 [[ 0.77869307 -0.02020689 -0.62707957 10.69283442] [ 0.064979 0.99670382 0.04857184 0.24631836] [ 0.62403112 -0.07856956 0.77743938 1.41857145] [ 0. 0. 0. 1. ]] SLAMing on 135.28538475 meters Centerline goodness [0,1] 0.930355237078823 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.42 [[ 0.77866633 -0.01982894 -0.62712484 10.69210654] [ 0.06471434 0.99670806 0.04883752 0.24582464] [ 0.62409198 -0.0786121 0.77738622 1.41886452] [ 0. 0. 0. 1. ]] SLAMing on 135.31538475 meters Centerline goodness [0,1] 0.9310029561454302 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.42 [[ 0.77862097 -0.01962368 -0.62718761 10.69198855] [ 0.06453247 0.99671541 0.04892811 0.24607812] [ 0.6241674 -0.07857041 0.77732988 1.41903182] [ 0. 0. 0. 1. ]] SLAMing on 135.34538475 meters Centerline goodness [0,1] 0.9327186415921125 Centerline is valid? [False, False] Translation: X:10.69, Y:0.24, Z:1.42 [[ 0.77858489 -0.01907292 -0.62724939 10.690989 ] [ 0.06429099 0.996703 0.0494954 0.24484691] [ 0.62423733 -0.07886286 0.77724411 1.41973037] [ 0. 0. 0. 1. ]] SLAMing on 135.37538475 meters Centerline goodness [0,1] 0.9335448831390737 Centerline is valid? [False, False] Translation: X:10.69, Y:0.24, Z:1.42 [[ 0.77836635 -0.01934022 -0.62751237 10.69191544] [ 0.06464223 0.99668184 0.04946403 0.24475497] [ 0.62447354 -0.07906494 0.7770338 1.42034393] [ 0. 0. 0. 1. ]] SLAMing on 135.40538475 meters Centerline goodness [0,1] 0.9309220549698336 Centerline is valid? [False, False] Translation: X:10.69, Y:0.24, Z:1.42 [[ 0.77823701 -0.01956418 -0.62766583 10.69305762] [ 0.06487917 0.99667076 0.0493771 0.24469034] [ 0.62461016 -0.07914953 0.77691538 1.42052782] [ 0. 0. 0. 1. ]] SLAMing on 135.43538475 meters Centerline goodness [0,1] 0.9288746373492136 Centerline is valid? [False, False] Translation: X:10.70, Y:0.24, Z:1.42 [[ 0.77797384 -0.02035594 -0.62796683 10.6950943 ] [ 0.06568073 0.99663372 0.04906385 0.24420125] [ 0.62485418 -0.07941571 0.77669196 1.42113251] [ 0. 0. 0. 1. ]] SLAMing on 135.46538475 meters Centerline goodness [0,1] 0.9290630448747361 Centerline is valid? [False, False] Translation: X:10.70, Y:0.24, Z:1.42 [[ 0.77783193 -0.02041231 -0.62814077 10.69557431] [ 0.0659079 0.99661063 0.04922806 0.24335646] [ 0.62500691 -0.07969059 0.7765409 1.42170669] [ 0. 0. 0. 1. ]] SLAMing on 135.49538475 meters Centerline goodness [0,1] 0.9307291666666666 Centerline is valid? [False, False] Translation: X:10.70, Y:0.24, Z:1.42 [[ 0.77762684 -0.02048125 -0.62839241 10.69588496] [ 0.06622791 0.99657721 0.04947458 0.24218091] [ 0.62522825 -0.08008988 0.77632161 1.42268087] [ 0. 0. 0. 1. ]] SLAMing on 135.52538475 meters Centerline goodness [0,1] 0.9285801751056144 Centerline is valid? [False, False] Translation: X:10.70, Y:0.24, Z:1.42 [[ 0.77750761 -0.02057386 -0.62853689 10.69632836] [ 0.06638515 0.99656555 0.0494987 0.24256454] [ 0.62535983 -0.08021113 0.7762031 1.42304715] [ 0. 0. 0. 1. ]] SLAMing on 135.55538475 meters Centerline goodness [0,1] 0.9314955329824991 Centerline is valid? [False, False] Translation: X:10.70, Y:0.24, Z:1.42 [[ 0.77744997 -0.01996068 -0.62862796 10.69501015] [ 0.06606814 0.99655829 0.05006569 0.24287567] [ 0.62546506 -0.08045585 0.77609298 1.42377327] [ 0. 0. 0. 1. ]] SLAMing on 135.58538475 meters Centerline goodness [0,1] 0.930169054704998 Centerline is valid? [False, False] Translation: X:10.69, Y:0.24, Z:1.42 [[ 0.77741325 -0.02552392 -0.62847209 10.6949823 ] [ 0.0698858 0.99649487 0.04597768 0.2440162 ] [ 0.62509569 -0.07966493 0.77647207 1.42344118] [ 0. 0. 0. 1. ]] SLAMing on 135.61538475 meters Centerline goodness [0,1] 0.9277196844615667 Centerline is valid? [False, False] Translation: X:10.70, Y:0.25, Z:1.42 [[ 0.77719462 -0.02631255 -0.62870993 10.69610806] [ 0.07061064 0.99646188 0.04558343 0.24576954] [ 0.62528607 -0.07982081 0.77630276 1.42399696] [ 0. 0. 0. 1. ]] SLAMing on 135.64538475 meters Centerline goodness [0,1] 0.92678894026149 Centerline is valid? [False, False] Translation: X:10.70, Y:0.25, Z:1.42 [[ 0.77704697 -0.02681522 -0.62887118 10.69673075] [ 0.07106335 0.99644177 0.04531891 0.24660905] [ 0.62541827 -0.07990462 0.77618763 1.42435316] [ 0. 0. 0. 1. ]] SLAMing on 135.67538475 meters Centerline goodness [0,1] 0.9272905318562947 Centerline is valid? [False, False] Translation: X:10.70, Y:0.25, Z:1.43 [[ 0.77690596 -0.02670888 -0.62904989 10.69544309] [ 0.07119743 0.99641822 0.04562515 0.24692963] [ 0.62557818 -0.08023319 0.77602486 1.42548144] [ 0. 0. 0. 1. ]] SLAMing on 135.70538475 meters Centerline goodness [0,1] 0.9259631184955267 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.43 [[ 0.77692577 -0.02095852 -0.62924327 10.69423073] [ 0.06728412 0.99648599 0.04988515 0.24820024] [ 0.62598658 -0.08109514 0.77560582 1.42641141] [ 0. 0. 0. 1. ]] SLAMing on 135.73538475 meters Centerline goodness [0,1] 0.9259924500730639 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.43 [[ 0.77719759 -0.02006431 -0.62893667 10.69264872] [ 0.06636034 0.9965315 0.05021234 0.24954672] [ 0.62574773 -0.08076136 0.77583335 1.42575333] [ 0. 0. 0. 1. ]] SLAMing on 135.76538475 meters Centerline goodness [0,1] 0.9307140478857039 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.43 [[ 0.77750624 -0.01805365 -0.62861603 10.68855067] [ 0.06485249 0.99656029 0.05159217 0.24872852] [ 0.62552234 -0.08088055 0.77600266 1.42604233] [ 0. 0. 0. 1. ]] SLAMing on 135.79538475 meters Centerline goodness [0,1] 0.9307442185553225 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.43 [[ 0.77755489 -0.01777653 -0.62856375 10.68791686] [ 0.06458697 0.99657131 0.05171208 0.2488786 ] [ 0.62548934 -0.080806 0.77603703 1.42600612] [ 0. 0. 0. 1. ]] SLAMing on 135.82538475 meters Centerline goodness [0,1] 0.9336517400827452 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.43 [[ 0.77765223 -0.0171894 -0.62845966 10.68679624] [ 0.0640755 0.99658787 0.05202834 0.24831023] [ 0.62542094 -0.08072882 0.77610019 1.42595864] [ 0. 0. 0. 1. ]] SLAMing on 135.85538475 meters Centerline goodness [0,1] 0.9323892188213796 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.43 [[ 0.77751899 -0.01722991 -0.62862337 10.6871866 ] [ 0.06417523 0.99657977 0.05206055 0.2477803 ] [ 0.62557634 -0.08082011 0.77596543 1.42635302] [ 0. 0. 0. 1. ]] SLAMing on 135.88538475000001 meters Centerline goodness [0,1] 0.9303620322482506 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.43 [[ 0.77745439 -0.01824587 -0.62867461 10.69009376] [ 0.06471663 0.99659405 0.05110832 0.2488203 ] [ 0.62560086 -0.08042009 0.77598723 1.4255181 ] [ 0. 0. 0. 1. ]] SLAMing on 135.91538475000002 meters Centerline goodness [0,1] 0.9304382179541725 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.43 [[ 0.77732134 -0.01865215 -0.62882718 10.6917657 ] [ 0.06501766 0.99658968 0.05081058 0.24923222] [ 0.62573495 -0.08038102 0.77588315 1.42543881] [ 0. 0. 0. 1. ]] SLAMing on 135.94538475000002 meters Centerline goodness [0,1] 0.9281515548381202 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.43 [[ 0.77725899 -0.01922614 -0.62888697 10.69338466] [ 0.06540335 0.99658699 0.05036647 0.24889747] [ 0.62577222 -0.0802791 0.77586365 1.42519841] [ 0. 0. 0. 1. ]] SLAMing on 135.97538475000002 meters Centerline goodness [0,1] 0.9281515548381202 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.43 [[ 0.77725899 -0.01922614 -0.62888697 10.69338466] [ 0.06540335 0.99658699 0.05036647 0.24889747] [ 0.62577222 -0.0802791 0.77586365 1.42519841] [ 0. 0. 0. 1. ]] SLAMing on 136.00538475000002 meters Centerline goodness [0,1] 0.9266253775513318 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.43 [[ 0.7772392 -0.0190303 -0.62891739 10.69316943] [ 0.06530022 0.99658471 0.05054494 0.24862535] [ 0.62580757 -0.08035396 0.77582738 1.42541707] [ 0. 0. 0. 1. ]] SLAMing on 136.03538475 meters Centerline goodness [0,1] 0.9300526812631322 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.43 [[ 0.77740077 -0.01844327 -0.62873515 10.69223903] [ 0.06477544 0.99660306 0.05085743 0.24909809] [ 0.6256614 -0.0802632 0.77595466 1.42516179] [ 0. 0. 0. 1. ]] SLAMing on 136.06538475 meters Centerline goodness [0,1] 0.9302424629612729 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.43 [[ 0.77741462 -0.01820706 -0.62872491 10.69183445] [ 0.06453935 0.99661407 0.05094187 0.24978261] [ 0.62566858 -0.08018045 0.77595742 1.42515571] [ 0. 0. 0. 1. ]] SLAMing on 136.09538475 meters Centerline goodness [0,1] 0.9302854026540629 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.42 [[ 0.77746614 -0.018008 -0.62866693 10.69178223] [ 0.06413426 0.99664922 0.05076544 0.25132472] [ 0.62564622 -0.0797875 0.77601595 1.4246261 ] [ 0. 0. 0. 1. ]] SLAMing on 136.12538475 meters Centerline goodness [0,1] 0.9322207803965356 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.42 [[ 0.77755717 -0.01802667 -0.62855381 10.69191092] [ 0.06395739 0.99667231 0.0505348 0.25271289] [ 0.6255512 -0.07949436 0.77612264 1.42409481] [ 0. 0. 0. 1. ]] SLAMing on 136.15538475 meters Centerline goodness [0,1] 0.9324086972321483 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.42 [[ 0.77758681 -0.01805657 -0.62851628 10.69207167] [ 0.06390869 0.99668059 0.05043295 0.2538484 ] [ 0.62551933 -0.07938365 0.77615965 1.42389206] [ 0. 0. 0. 1. ]] SLAMing on 136.18538475 meters Centerline goodness [0,1] 0.9327013073276773 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.42 [[ 0.77752882 -0.01821454 -0.62858346 10.69243029] [ 0.06406511 0.99667399 0.05036485 0.25432918] [ 0.62557541 -0.07943039 0.77610967 1.4240833 ] [ 0. 0. 0. 1. ]] SLAMing on 136.21538475 meters Centerline goodness [0,1] 0.9318841456040634 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.42 [[ 0.77762875 -0.01765405 -0.62847582 10.69086014] [ 0.06366614 0.99667856 0.05077874 0.25479483] [ 0.62549193 -0.07949963 0.77616986 1.4243433 ] [ 0. 0. 0. 1. ]] SLAMing on 136.24538475 meters Centerline goodness [0,1] 0.9322833217449137 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.77775314 -0.01723842 -0.62833342 10.68943686] [ 0.06344885 0.9966712 0.05119338 0.25513366] [ 0.62535934 -0.07968284 0.77625791 1.42458925] [ 0. 0. 0. 1. ]] SLAMing on 136.27538475 meters Centerline goodness [0,1] 0.9298553001238559 Centerline is valid? [False, False] Translation: X:10.68, Y:0.26, Z:1.43 [[ 0.77801822 -0.02140443 -0.62787698 10.6839477 ] [ 0.06675143 0.99657848 0.04873985 0.2552743 ] [ 0.62468544 -0.07983217 0.776785 1.42607234] [ 0. 0. 0. 1. ]] SLAMing on 136.30538475 meters Centerline goodness [0,1] 0.9302802666908015 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.43 [[ 0.77782755 -0.02228834 -0.62808243 10.68578302] [ 0.06735523 0.9965714 0.04804915 0.25733244] [ 0.62485805 -0.07967859 0.77666192 1.42607474] [ 0. 0. 0. 1. ]] SLAMing on 136.33538475 meters Centerline goodness [0,1] 0.9284237648680229 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.43 [[ 0.77744114 -0.01895721 -0.62866994 10.69078061] [ 0.06485327 0.99663398 0.05014746 0.26157876] [ 0.62560317 -0.079758 0.77605369 1.42565835] [ 0. 0. 0. 1. ]] SLAMing on 136.36538475 meters Centerline goodness [0,1] 0.928385533518801 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.43 [[ 0.77740905 -0.01906813 -0.62870627 10.69052203] [ 0.0649362 0.99663257 0.050068 0.26217749] [ 0.62563445 -0.07974911 0.77602939 1.4258778 ] [ 0. 0. 0. 1. ]] SLAMing on 136.39538475 meters Centerline goodness [0,1] 0.9273761412962132 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.43 [[ 0.77732282 -0.0191207 -0.62881128 10.69038988] [ 0.06506592 0.99662109 0.05012814 0.2622841 ] [ 0.6257281 -0.07987993 0.77594043 1.42634597] [ 0. 0. 0. 1. ]] SLAMing on 136.42538475 meters Centerline goodness [0,1] 0.9297495786178666 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.43 [[ 0.77729345 -0.01875065 -0.62885873 10.69007729] [ 0.0648356 0.99662122 0.05042308 0.26145924] [ 0.62578849 -0.07996596 0.77588286 1.42662992] [ 0. 0. 0. 1. ]] SLAMing on 136.45538475 meters Centerline goodness [0,1] 0.9293117433232193 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.43 [[ 0.77722639 -0.01870564 -0.62894295 10.69078829] [ 0.06475626 0.99662843 0.05038248 0.26189852] [ 0.62587999 -0.07988659 0.77581722 1.42656468] [ 0. 0. 0. 1. ]] SLAMing on 136.48538475 meters Centerline goodness [0,1] 0.9299485091605796 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.43 [[ 0.77725104 -0.01868832 -0.62891301 10.69180417] [ 0.06447948 0.99666203 0.0500718 0.26304358] [ 0.62587796 -0.07947034 0.77586161 1.42581947] [ 0. 0. 0. 1. ]] SLAMing on 136.51538475 meters Centerline goodness [0,1] 0.9287472976219073 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.43 [[ 0.77724515 -0.01868734 -0.62892031 10.69227084] [ 0.06468399 0.996636 0.05032568 0.26144324] [ 0.62586416 -0.07979646 0.77583927 1.42616811] [ 0. 0. 0. 1. ]] SLAMing on 136.54538475 meters Centerline goodness [0,1] 0.9294627018250698 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.43 [[ 0.77720045 -0.01826499 -0.62898796 10.69167326] [ 0.06448059 0.99662848 0.05073378 0.26043988] [ 0.62594067 -0.07998783 0.77575784 1.4266282 ] [ 0. 0. 0. 1. ]] SLAMing on 136.57538475 meters Centerline goodness [0,1] 0.9318298308559713 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.43 [[ 0.77720445 -0.01742328 -0.6290069 10.69039998] [ 0.06406393 0.99661337 0.05155188 0.2588177 ] [ 0.62597848 -0.08036301 0.77568855 1.42732206] [ 0. 0. 0. 1. ]] SLAMing on 136.60538475 meters Centerline goodness [0,1] 0.9311722646157544 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.43 [[ 0.77735141 -0.01701349 -0.62883649 10.689998 ] [ 0.06375833 0.99661738 0.05185241 0.25894508] [ 0.62582718 -0.08040111 0.77580667 1.42709567] [ 0. 0. 0. 1. ]] SLAMing on 136.63538475000001 meters Centerline goodness [0,1] 0.9311195331769235 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.43 [[ 0.77724967 -0.01705922 -0.62896099 10.6903821 ] [ 0.06385117 0.9966103 0.0518743 0.25908784] [ 0.62594407 -0.08047917 0.77570428 1.42737 ] [ 0. 0. 0. 1. ]] SLAMing on 136.66538475000002 meters Centerline goodness [0,1] 0.9320721751965539 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.43 [[ 0.77725009 -0.01651187 -0.62897509 10.68964752] [ 0.0635458 0.99660424 0.05236325 0.25827218] [ 0.62597462 -0.08066807 0.77566 1.42771895] [ 0. 0. 0. 1. ]] SLAMing on 136.69538475000002 meters Centerline goodness [0,1] 0.9324490223672786 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.43 [[ 0.77716628 -0.01669983 -0.62907368 10.69016356] [ 0.06378891 0.99658943 0.05234954 0.25840568] [ 0.62605395 -0.08081222 0.77558096 1.42803819] [ 0. 0. 0. 1. ]] SLAMing on 136.72538475000002 meters Centerline goodness [0,1] 0.9325481477030315 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.43 [[ 0.7773552 -0.01630877 -0.62885047 10.68979902] [ 0.0634769 0.99659505 0.05262119 0.25805256] [ 0.62585108 -0.08082284 0.77574357 1.42766556] [ 0. 0. 0. 1. ]] SLAMing on 136.75538475000002 meters Centerline goodness [0,1] 0.9351282977954464 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.43 [[ 0.77771967 -0.0154481 -0.62842142 10.68843184] [ 0.06269149 0.9966201 0.05308621 0.25788415] [ 0.62547733 -0.08068287 0.77605952 1.42696611] [ 0. 0. 0. 1. ]] SLAMing on 136.78538475 meters Centerline goodness [0,1] 0.9350399615407727 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.43 [[ 0.77795087 -0.01469168 -0.62815333 10.68695279] [ 0.06207604 0.99663276 0.05356956 0.25746812] [ 0.62525116 -0.08066775 0.77624333 1.42676696] [ 0. 0. 0. 1. ]] SLAMing on 136.81538475 meters Centerline goodness [0,1] 0.9350016542845971 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.43 [[ 0.77806742 -0.01421095 -0.62802001 10.68610046] [ 0.06167382 0.99664226 0.0538568 0.25684206] [ 0.62514593 -0.08063662 0.77633131 1.42668762] [ 0. 0. 0. 1. ]] SLAMing on 136.84538475 meters Centerline goodness [0,1] 0.9380010850563627 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.43 [[ 0.77821929 -0.01377251 -0.62784158 10.68544872] [ 0.06134074 0.99664583 0.05417009 0.25550264] [ 0.62498963 -0.08066848 0.77645383 1.42655123] [ 0. 0. 0. 1. ]] SLAMing on 136.87538475 meters Centerline goodness [0,1] 0.9391508865034375 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.43 [[ 0.77795212 -0.01416031 -0.62816398 10.68662729] [ 0.06186752 0.99661414 0.05415403 0.25443895] [ 0.62527027 -0.08099219 0.77619415 1.42736331] [ 0. 0. 0. 1. ]] SLAMing on 136.90538475 meters Centerline goodness [0,1] 0.9330844865258558 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.43 [[ 0.77764215 -0.02070442 -0.62836615 10.6885405 ] [ 0.06690989 0.9965069 0.04997063 0.25176424] [ 0.62513659 -0.08090318 0.7763111 1.42823949] [ 0. 0. 0. 1. ]] SLAMing on 136.93538475 meters Centerline goodness [0,1] 0.9312977099236641 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.43 [[ 0.7776323 -0.02689298 -0.62814391 10.69039629] [ 0.07129438 0.99641237 0.04560151 0.25165837] [ 0.624664 -0.08024434 0.77675977 1.42760362] [ 0. 0. 0. 1. ]] SLAMing on 136.96538475 meters Centerline goodness [0,1] 0.9223372553838591 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.43 [[ 0.77359047 -0.0299069 -0.63297975 10.69108148] [ 0.08173671 0.99525064 0.05287038 0.24896994] [ 0.62839231 -0.0926377 0.7723609 1.4300676 ] [ 0. 0. 0. 1. ]] SLAMing on 136.99538475 meters Centerline goodness [0,1] 0.9206746362709666 Centerline is valid? [False, False] Translation: X:10.70, Y:0.25, Z:1.42 [[ 0.77631285 -0.03447898 -0.62940413 10.69552413] [ 0.09114832 0.994149 0.05796335 0.24879427] [ 0.62372297 -0.10236682 0.77491335 1.42354811] [ 0. 0. 0. 1. ]] SLAMing on 137.02538475 meters Centerline goodness [0,1] 0.9186111283035217 Centerline is valid? [False, False] Translation: X:10.70, Y:0.25, Z:1.42 [[ 0.77604368 -0.03530328 -0.62969031 10.69823184] [ 0.09202721 0.99408431 0.05768343 0.24806025] [ 0.62392884 -0.10271351 0.77470171 1.42397661] [ 0. 0. 0. 1. ]] SLAMing on 137.05538475 meters Centerline goodness [0,1] 0.9189540461086183 Centerline is valid? [False, False] Translation: X:10.70, Y:0.25, Z:1.43 [[ 0.77575634 -0.03609586 -0.62999936 10.70035642] [ 0.09303722 0.99399447 0.05761137 0.24660929] [ 0.62413635 -0.10330578 0.77445577 1.42501318] [ 0. 0. 0. 1. ]] SLAMing on 137.08538475 meters Centerline goodness [0,1] 0.9192652579974557 Centerline is valid? [False, False] Translation: X:10.70, Y:0.25, Z:1.42 [[ 0.77590494 -0.04045783 -0.62955118 10.69889131] [ 0.09574447 0.99393318 0.05412782 0.2472929 ] [ 0.62354191 -0.10227408 0.77507128 1.42406762] [ 0. 0. 0. 1. ]] SLAMing on 137.11538475 meters Centerline goodness [0,1] 0.9152658235714508 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.42 [[ 0.77619122 -0.04354258 -0.62899223 10.69444515] [ 0.09760553 0.99388428 0.05164494 0.24743952] [ 0.62289674 -0.10147947 0.77569425 1.42373295] [ 0. 0. 0. 1. ]] SLAMing on 137.14538475 meters Centerline goodness [0,1] 0.9170370830872525 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.42 [[ 0.77629575 -0.0430676 -0.62889593 10.69344272] [ 0.09725944 0.99390014 0.05199143 0.24784021] [ 0.62282061 -0.10152679 0.77574918 1.42380169] [ 0. 0. 0. 1. ]] SLAMing on 137.17538475 meters Centerline goodness [0,1] 0.9167929722540135 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.42 [[ 0.77662162 -0.04223188 -0.62855017 10.69172217] [ 0.09640367 0.99396574 0.05233016 0.25053359] [ 0.62254734 -0.10123527 0.77600659 1.42306809] [ 0. 0. 0. 1. ]] SLAMing on 137.20538475 meters Centerline goodness [0,1] 0.9165666081709307 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.42 [[ 0.77700948 -0.04095302 -0.62815532 10.68855585] [ 0.09512746 0.99406058 0.05286138 0.25297909] [ 0.62225961 -0.10082861 0.77629026 1.42242785] [ 0. 0. 0. 1. ]] SLAMing on 137.23538475 meters Centerline goodness [0,1] 0.9142179510872913 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.42 [[ 0.77722863 -0.0402688 -0.6279284 10.68688469] [ 0.09442791 0.99411309 0.05312761 0.25424325] [ 0.62209246 -0.10058627 0.77645565 1.42208539] [ 0. 0. 0. 1. ]] SLAMing on 137.26538475 meters Centerline goodness [0,1] 0.9239704978488015 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.77743166 -0.03959941 -0.6277196 10.68539843] [ 0.09366576 0.9941766 0.05328799 0.25555106] [ 0.62195396 -0.10022361 0.77661348 1.42153859] [ 0. 0. 0. 1. ]] SLAMing on 137.29538475 meters Centerline goodness [0,1] 0.9219957835558679 Centerline is valid? [False, False] Translation: X:10.68, Y:0.26, Z:1.42 [[ 0.77728044 -0.03393224 -0.62823858 10.68433604] [ 0.08984738 0.9942967 0.05745889 0.25677389] [ 0.62270584 -0.10110727 0.7758961 1.42295453] [ 0. 0. 0. 1. ]] SLAMing on 137.32538475 meters Centerline goodness [0,1] 0.9256027484722265 Centerline is valid? [False, False] Translation: X:10.68, Y:0.26, Z:1.42 [[ 0.77730483 -0.03297436 -0.62825941 10.68445369] [ 0.08861324 0.99440833 0.05744366 0.26016351] [ 0.62285222 -0.10032334 0.77588036 1.42185657] [ 0. 0. 0. 1. ]] SLAMing on 137.35538475 meters Centerline goodness [0,1] 0.9230208396621908 Centerline is valid? [False, False] Translation: X:10.68, Y:0.26, Z:1.42 [[ 0.77736395 -0.03289429 -0.62819046 10.6845839 ] [ 0.08829179 0.99445183 0.05718499 0.2618171 ] [ 0.6228241 -0.09991761 0.77595529 1.42125723] [ 0. 0. 0. 1. ]] SLAMing on 137.38538475000001 meters Centerline goodness [0,1] 0.9264108625810753 Centerline is valid? [False, False] Translation: X:10.68, Y:0.26, Z:1.42 [[ 0.77745433 -0.03268423 -0.62808957 10.68436989] [ 0.08786158 0.9945003 0.05700444 0.26311574] [ 0.62277211 -0.09950328 0.77605025 1.42064682] [ 0. 0. 0. 1. ]] SLAMing on 137.41538475000002 meters Centerline goodness [0,1] 0.9276976779480953 Centerline is valid? [False, False] Translation: X:10.68, Y:0.26, Z:1.42 [[ 0.77778211 -0.03156418 -0.62774095 10.682395 ] [ 0.0866119 0.99459273 0.05730339 0.26402024] [ 0.62253785 -0.09893939 0.77631026 1.41970676] [ 0. 0. 0. 1. ]] SLAMing on 137.44538475000002 meters Centerline goodness [0,1] 0.9278391167192429 Centerline is valid? [False, False] Translation: X:10.68, Y:0.27, Z:1.42 [[ 0.77815232 -0.03068091 -0.62732579 10.68058537] [ 0.08557379 0.99467117 0.05750126 0.26526755] [ 0.62221869 -0.09842739 0.77663116 1.41870403] [ 0. 0. 0. 1. ]] SLAMing on 137.47538475000002 meters Centerline goodness [0,1] 0.9274178914897477 Centerline is valid? [False, False] Translation: X:10.68, Y:0.27, Z:1.42 [[ 0.77829487 -0.03036132 -0.62716449 10.67989039] [ 0.08513153 0.99470967 0.05749167 0.26622983] [ 0.62210106 -0.09813695 0.77676214 1.41823849] [ 0. 0. 0. 1. ]] SLAMing on 137.50538475000002 meters Centerline goodness [0,1] 0.9297387101646277 Centerline is valid? [False, False] Translation: X:10.68, Y:0.27, Z:1.42 [[ 0.77838743 -0.02988854 -0.62707231 10.67961604] [ 0.08433379 0.99479049 0.05726856 0.26773577] [ 0.6220939 -0.09746051 0.77685303 1.41731371] [ 0. 0. 0. 1. ]] SLAMing on 137.53538475 meters Centerline goodness [0,1] 0.9313230806417501 Centerline is valid? [False, False] Translation: X:10.68, Y:0.27, Z:1.42 [[ 0.77833875 -0.03006306 -0.6271244 10.68048816] [ 0.08422268 0.99482443 0.05684088 0.26891503] [ 0.62216986 -0.09705956 0.77684239 1.41678918] [ 0. 0. 0. 1. ]] SLAMing on 137.56538475 meters Centerline goodness [0,1] 0.9325147821889707 Centerline is valid? [False, False] Translation: X:10.68, Y:0.27, Z:1.42 [[ 0.77827768 -0.03052338 -0.62717795 10.68331923] [ 0.08395198 0.99490861 0.05575766 0.27196468] [ 0.62228283 -0.09604777 0.77687766 1.41508117] [ 0. 0. 0. 1. ]] SLAMing on 137.59538475 meters Centerline goodness [0,1] 0.931063649820258 Centerline is valid? [False, False] Translation: X:10.68, Y:0.27, Z:1.41 [[ 0.77848822 -0.03494272 -0.6266858 10.68209257] [ 0.08665937 0.9948706 0.05217896 0.27233406] [ 0.621648 -0.0949289 0.77752316 1.4139146 ] [ 0. 0. 0. 1. ]] SLAMing on 137.62538475 meters Centerline goodness [0,1] 0.9346956099927237 Centerline is valid? [False, False] Translation: X:10.68, Y:0.27, Z:1.41 [[ 0.77872528 -0.0388708 -0.62615973 10.67951051] [ 0.08909634 0.99481459 0.04904872 0.27225051] [ 0.62100627 -0.09398402 0.77815051 1.41311444] [ 0. 0. 0. 1. ]] SLAMing on 137.65538475 meters Centerline goodness [0,1] 0.9321977389143151 Centerline is valid? [False, False] Translation: X:10.68, Y:0.27, Z:1.41 [[ 0.77909927 -0.04217419 -0.62548035 10.67521832] [ 0.09168635 0.99467166 0.04713705 0.27000951] [ 0.62015961 -0.09407245 0.77881476 1.41364706] [ 0. 0. 0. 1. ]] SLAMing on 137.68538475 meters Centerline goodness [0,1] 0.9328086063331915 Centerline is valid? [False, False] Translation: X:10.67, Y:0.27, Z:1.42 [[ 0.77896539 -0.0413635 -0.6257012 10.67395077] [ 0.09169931 0.99460934 0.04840979 0.26799836] [ 0.62032585 -0.09508591 0.77855925 1.41545392] [ 0. 0. 0. 1. ]] SLAMing on 137.71538475 meters Centerline goodness [0,1] 0.9342851080597738 Centerline is valid? [False, False] Translation: X:10.67, Y:0.27, Z:1.42 [[ 0.77896254 -0.04103831 -0.62572615 10.67370937] [ 0.09175448 0.99457558 0.04899523 0.26676846] [ 0.62032127 -0.09557863 0.77850257 1.41609846] [ 0. 0. 0. 1. ]] SLAMing on 137.74538475 meters Centerline goodness [0,1] 0.9354399758088903 Centerline is valid? [False, False] Translation: X:10.67, Y:0.27, Z:1.42 [[ 0.77925408 -0.0402482 -0.6254144 10.67249652] [ 0.09112032 0.99460756 0.04952672 0.26638343] [ 0.62004852 -0.09558186 0.77871942 1.41573956] [ 0. 0. 0. 1. ]] SLAMing on 137.77538475 meters Centerline goodness [0,1] 0.935721206249243 Centerline is valid? [False, False] Translation: X:10.67, Y:0.27, Z:1.42 [[ 0.77940704 -0.03988996 -0.62524672 10.67219607] [ 0.09070269 0.99464161 0.04960939 0.26670234] [ 0.61991749 -0.09537747 0.7788488 1.4152576 ] [ 0. 0. 0. 1. ]] SLAMing on 137.80538475 meters Centerline goodness [0,1] 0.9358308157099697 Centerline is valid? [False, False] Translation: X:10.67, Y:0.27, Z:1.41 [[ 0.77980467 -0.03921262 -0.62479361 10.67167544] [ 0.08980803 0.99472027 0.04965981 0.26696306] [ 0.61954758 -0.09483644 0.77920912 1.41390601] [ 0. 0. 0. 1. ]] SLAMing on 137.83538475 meters Centerline goodness [0,1] 0.9358308157099697 Centerline is valid? [False, False] Translation: X:10.67, Y:0.27, Z:1.41 [[ 0.77980467 -0.03921262 -0.62479361 10.67167544] [ 0.08980803 0.99472027 0.04965981 0.26696306] [ 0.61954758 -0.09483644 0.77920912 1.41390601] [ 0. 0. 0. 1. ]] SLAMing on 137.86538475 meters Centerline goodness [0,1] 0.9347523734655621 Centerline is valid? [False, False] Translation: X:10.67, Y:0.27, Z:1.41 [[ 0.77991255 -0.03934971 -0.62465031 10.67246018] [ 0.08981116 0.99472936 0.04947173 0.26627468] [ 0.61941131 -0.09468419 0.77933596 1.41340091] [ 0. 0. 0. 1. ]] SLAMing on 137.89538475 meters Centerline goodness [0,1] 0.9369630973986691 Centerline is valid? [False, False] Translation: X:10.67, Y:0.27, Z:1.41 [[ 0.77972212 -0.03962487 -0.62487062 10.67355579] [ 0.09015452 0.99470091 0.04941916 0.26568342] [ 0.61960114 -0.09486812 0.77916267 1.41385934] [ 0. 0. 0. 1. ]] SLAMing on 137.92538475 meters Centerline goodness [0,1] 0.9382753403933434 Centerline is valid? [False, False] Translation: X:10.68, Y:0.26, Z:1.41 [[ 0.77934933 -0.0405221 -0.625278 10.67623996] [ 0.09112244 0.99462768 0.04911704 0.26402534] [ 0.61992848 -0.09525619 0.77885489 1.41472091] [ 0. 0. 0. 1. ]] SLAMing on 137.95538475 meters Centerline goodness [0,1] 0.9380469341408024 Centerline is valid? [False, False] Translation: X:10.68, Y:0.26, Z:1.41 [[ 0.77911457 -0.040978 -0.6255408 10.67826974] [ 0.0915505 0.99460043 0.04887226 0.26367774] [ 0.62016046 -0.09534566 0.77865924 1.41493658] [ 0. 0. 0. 1. ]] SLAMing on 137.98538475 meters Centerline goodness [0,1] 0.9352805019187428 Centerline is valid? [False, False] Translation: X:10.68, Y:0.26, Z:1.42 [[ 0.77872831 -0.04258883 -0.62591406 10.68273558] [ 0.09301279 0.99450468 0.04805277 0.26240535] [ 0.62042795 -0.09563806 0.77841025 1.41527145] [ 0. 0. 0. 1. ]] SLAMing on 138.01538475 meters Centerline goodness [0,1] 0.9358579231637728 Centerline is valid? [False, False] Translation: X:10.68, Y:0.26, Z:1.41 [[ 0.77881827 -0.04756262 -0.62544376 10.6820791 ] [ 0.09613271 0.99439169 0.04408716 0.26260381] [ 0.61983918 -0.09446149 0.77902273 1.41416117] [ 0. 0. 0. 1. ]] SLAMing on 138.04538475 meters Centerline goodness [0,1] 0.9354631611128096 Centerline is valid? [False, False] Translation: X:10.68, Y:0.26, Z:1.42 [[ 0.77859126 -0.0474065 -0.62573818 10.68269071] [ 0.09626631 0.99436269 0.04444807 0.26063931] [ 0.62010357 -0.09484439 0.77876575 1.41507128] [ 0. 0. 0. 1. ]] SLAMing on 138.07538475 meters Centerline goodness [0,1] 0.9358090510769985 Centerline is valid? [False, False] Translation: X:10.68, Y:0.26, Z:1.42 [[ 0.77851066 -0.04728779 -0.62584744 10.68281498] [ 0.0963671 0.99433968 0.04474363 0.25957444] [ 0.62018912 -0.0951445 0.77866102 1.41561459] [ 0. 0. 0. 1. ]] SLAMing on 138.10538475 meters Centerline goodness [0,1] 0.9353065798765697 Centerline is valid? [False, False] Translation: X:10.68, Y:0.26, Z:1.41 [[ 0.77863031 -0.05246112 -0.62528607 10.68165436] [ 0.09983093 0.99416331 0.04090363 0.26032285] [ 0.61949062 -0.09427169 0.77932292 1.41485748] [ 0. 0. 0. 1. ]] SLAMing on 138.13538475000001 meters Centerline goodness [0,1] 0.9366554570467747 Centerline is valid? [False, False] Translation: X:10.68, Y:0.26, Z:1.41 [[ 0.77876247 -0.05252351 -0.62511622 10.68196966] [ 0.09976406 0.99417624 0.04075223 0.26143645] [ 0.61933525 -0.09410043 0.7794671 1.41428371] [ 0. 0. 0. 1. ]] SLAMing on 138.16538475000002 meters Centerline goodness [0,1] 0.9316848025430982 Centerline is valid? [False, False] Translation: X:10.68, Y:0.26, Z:1.41 [[ 0.77873924 -0.05327042 -0.62508196 10.68402075] [ 0.10018996 0.99416014 0.04009478 0.26344165] [ 0.6192957 -0.09385032 0.77952867 1.4135541 ] [ 0. 0. 0. 1. ]] SLAMing on 138.19538475000002 meters Centerline goodness [0,1] 0.9271021181648684 Centerline is valid? [False, False] Translation: X:10.68, Y:0.26, Z:1.41 [[ 0.77878341 -0.05324505 -0.62502909 10.68436699] [ 0.10009506 0.99417246 0.04002631 0.26399386] [ 0.6192555 -0.09373415 0.77957458 1.41324277] [ 0. 0. 0. 1. ]] SLAMing on 138.22538475000002 meters Centerline goodness [0,1] 0.9321940799511749 Centerline is valid? [False, False] Translation: X:10.68, Y:0.26, Z:1.41 [[ 0.77864491 -0.0531007 -0.6252139 10.68433161] [ 0.1001297 0.99415929 0.0402661 0.26342163] [ 0.61942405 -0.09395548 0.77941402 1.4138754 ] [ 0. 0. 0. 1. ]] SLAMing on 138.25538475000002 meters Centerline goodness [0,1] 0.9332291953811755 Centerline is valid? [False, False] Translation: X:10.68, Y:0.26, Z:1.41 [[ 0.77884738 -0.05843796 -0.6244852 10.68436225] [ 0.1035499 0.99396774 0.03613235 0.26406928] [ 0.61860664 -0.09280697 0.78020041 1.41228828] [ 0. 0. 0. 1. ]] SLAMing on 138.28538475 meters Centerline goodness [0,1] 0.9291008207766752 Centerline is valid? [False, False] Translation: X:10.68, Y:0.26, Z:1.41 [[ 0.77886254 -0.06369166 -0.62395233 10.68361971] [ 0.10716037 0.993716 0.03232904 0.26440195] [ 0.61797232 -0.09204284 0.78079339 1.41173211] [ 0. 0. 0. 1. ]] SLAMing on 138.31538475 meters Centerline goodness [0,1] 0.9323285237263732 Centerline is valid? [False, False] Translation: X:10.68, Y:0.26, Z:1.41 [[ 0.77873969 -0.06344823 -0.62413045 10.68317841] [ 0.10734394 0.99367681 0.03291932 0.26268898] [ 0.61809528 -0.0926322 0.78062635 1.41286367] [ 0. 0. 0. 1. ]] SLAMing on 138.34538475 meters Centerline goodness [0,1] 0.9337172261700564 Centerline is valid? [False, False] Translation: X:10.68, Y:0.26, Z:1.41 [[ 0.77870712 -0.06352454 -0.62416333 10.68382301] [ 0.10741356 0.99367065 0.03287798 0.26271582] [ 0.61812422 -0.09264592 0.78060181 1.4128137 ] [ 0. 0. 0. 1. ]] SLAMing on 138.37538475 meters Centerline goodness [0,1] 0.9339157088122605 Centerline is valid? [False, False] Translation: X:10.68, Y:0.26, Z:1.41 [[ 0.77870306 -0.06354615 -0.62416619 10.68451239] [ 0.10726634 0.99369385 0.0326567 0.26345614] [ 0.6181549 -0.0923819 0.7806088 1.41237667] [ 0. 0. 0. 1. ]] SLAMing on 138.40538475 meters Centerline goodness [0,1] 0.9333967066327313 Centerline is valid? [False, False] Translation: X:10.68, Y:0.26, Z:1.41 [[ 0.77872212 -0.06326254 -0.62417122 10.68479576] [ 0.10699436 0.99371947 0.0327693 0.26272529] [ 0.61817802 -0.09230098 0.78060006 1.41221555] [ 0. 0. 0. 1. ]] SLAMing on 138.43538475 meters Centerline goodness [0,1] 0.9343833635832283 Centerline is valid? [False, False] Translation: X:10.68, Y:0.26, Z:1.41 [[ 0.77851829 -0.06288281 -0.62446378 10.68448915] [ 0.10689697 0.99371558 0.03320227 0.26167971] [ 0.61845154 -0.09260186 0.78034774 1.41313643] [ 0. 0. 0. 1. ]] SLAMing on 138.46538475 meters Centerline goodness [0,1] 0.9360691144708423 Centerline is valid? [False, False] Translation: X:10.68, Y:0.26, Z:1.41 [[ 0.77838878 -0.06826815 -0.62405959 10.68489039] [ 0.11066789 0.99342363 0.0293617 0.26076237] [ 0.61795107 -0.09191818 0.7808249 1.41269786] [ 0. 0. 0. 1. ]] SLAMing on 138.49538475 meters Centerline goodness [0,1] 0.9358305283636476 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.41 [[ 0.77820483 -0.06842333 -0.62427197 10.68586678] [ 0.11093886 0.99339188 0.02941342 0.26016455] [ 0.61813414 -0.09214569 0.78065316 1.4131518 ] [ 0. 0. 0. 1. ]] SLAMing on 138.52538475 meters Centerline goodness [0,1] 0.9343108686217373 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.41 [[ 0.77789082 -0.06908029 -0.62459089 10.68829555] [ 0.11184141 0.99329008 0.0294331 0.25903762] [ 0.6183667 -0.09275086 0.78039728 1.41398961] [ 0. 0. 0. 1. ]] SLAMing on 138.55538475 meters Centerline goodness [0,1] 0.9333127126507887 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.41 [[ 0.77765815 -0.06900813 -0.62488853 10.68901737] [ 0.1120872 0.99325137 0.02980228 0.25758335] [ 0.61861479 -0.09321799 0.78014495 1.41491937] [ 0. 0. 0. 1. ]] SLAMing on 138.58538475 meters Centerline goodness [0,1] 0.9336774597215705 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.41 [[ 0.7776122 -0.07370473 -0.62440922 10.68800469] [ 0.11541325 0.99296342 0.02652211 0.25556094] [ 0.61806071 -0.09268901 0.78064697 1.4147603 ] [ 0. 0. 0. 1. ]] SLAMing on 138.61538475 meters Centerline goodness [0,1] 0.9332790632142521 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.42 [[ 0.77727293 -0.07384746 -0.62481465 10.68911631] [ 0.11585154 0.9929058 0.02676745 0.2541164 ] [ 0.61840538 -0.09319135 0.78031414 1.41589579] [ 0. 0. 0. 1. ]] SLAMing on 138.64538475 meters Centerline goodness [0,1] 0.933592160055105 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.42 [[ 0.77687889 -0.07455918 -0.62522005 10.69149493] [ 0.11656994 0.99283026 0.02644848 0.25356122] [ 0.61876541 -0.09342913 0.78000023 1.41654269] [ 0. 0. 0. 1. ]] SLAMing on 138.67538475 meters Centerline goodness [0,1] 0.9337236240686244 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.77686581 -0.07478805 -0.62520897 10.69218612] [ 0.1165544 0.9928423 0.02606231 0.25513038] [ 0.61878476 -0.09311777 0.78002212 1.41602617] [ 0. 0. 0. 1. ]] SLAMing on 138.70538475 meters Centerline goodness [0,1] 0.933839852421599 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.77698854 -0.07452667 -0.62508766 10.69184497] [ 0.11624825 0.99287665 0.02612077 0.25611556] [ 0.61868825 -0.09296089 0.78011738 1.41563681] [ 0. 0. 0. 1. ]] SLAMing on 138.73538475 meters Centerline goodness [0,1] 0.9334101597782415 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.77698991 -0.07450202 -0.6250889 10.691591 ] [ 0.11616758 0.99288773 0.02605854 0.25731211] [ 0.61870169 -0.09286229 0.78011846 1.41560958] [ 0. 0. 0. 1. ]] SLAMing on 138.76538475 meters Centerline goodness [0,1] 0.9332647590549218 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.77720076 -0.07337461 -0.62496011 10.68895406] [ 0.11523409 0.99297886 0.02672263 0.25802915] [ 0.61861142 -0.09278556 0.78019918 1.41572869] [ 0. 0. 0. 1. ]] SLAMing on 138.79538475 meters Centerline goodness [0,1] 0.9333395545601593 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.77737684 -0.07265561 -0.62482511 10.6870433 ] [ 0.11454493 0.99305006 0.02703784 0.25933772] [ 0.61851816 -0.09258914 0.78029644 1.4156165 ] [ 0. 0. 0. 1. ]] SLAMing on 138.82538475 meters Centerline goodness [0,1] 0.9363892938002047 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.77739055 -0.07246669 -0.62482998 10.68654965] [ 0.11429591 0.99307904 0.02702721 0.26053657] [ 0.61854699 -0.09242621 0.78029291 1.41555605] [ 0. 0. 0. 1. ]] SLAMing on 138.85538475 meters Centerline goodness [0,1] 0.9346324235571114 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.77741087 -0.07232117 -0.62482157 10.68599244] [ 0.11414438 0.99309524 0.02707216 0.26133943] [ 0.61854944 -0.09236606 0.78029809 1.41562409] [ 0. 0. 0. 1. ]] SLAMing on 138.88538475000001 meters Centerline goodness [0,1] 0.9328602283245911 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.41 [[ 0.77744052 -0.07241781 -0.62477348 10.6864275 ] [ 0.11378437 0.99315275 0.02647141 0.2649029 ] [ 0.6185785 -0.0916694 0.7803572 1.414635 ] [ 0. 0. 0. 1. ]] SLAMing on 138.91538475000002 meters Centerline goodness [0,1] 0.9327824370991613 Centerline is valid? [False, False] Translation: X:10.69, Y:0.27, Z:1.41 [[ 0.77740378 -0.07281719 -0.62477277 10.68732878] [ 0.113781 0.99317019 0.02582366 0.26731291] [ 0.61862529 -0.09116268 0.78037947 1.41394173] [ 0. 0. 0. 1. ]] SLAMing on 138.94538475000002 meters Centerline goodness [0,1] 0.9308654913081001 Centerline is valid? [False, False] Translation: X:10.69, Y:0.27, Z:1.41 [[ 0.77717325 -0.07295654 -0.62504327 10.68771755] [ 0.11410592 0.99312941 0.02595785 0.2668077 ] [ 0.61885506 -0.09149488 0.78015838 1.41479493] [ 0. 0. 0. 1. ]] SLAMing on 138.97538475000002 meters Centerline goodness [0,1] 0.9295023879217378 Centerline is valid? [False, False] Translation: X:10.69, Y:0.27, Z:1.42 [[ 0.77695414 -0.07351731 -0.62524992 10.6889868 ] [ 0.1145753 0.99308448 0.02560712 0.2673313 ] [ 0.61904342 -0.09153376 0.78000437 1.41509594] [ 0. 0. 0. 1. ]] SLAMing on 139.00538475 meters Centerline goodness [0,1] 0.9272441527225663 Centerline is valid? [False, False] Translation: X:10.69, Y:0.27, Z:1.42 [[ 0.77698363 -0.07331204 -0.62523738 10.6890493 ] [ 0.11447053 0.99309136 0.02580807 0.26705059] [ 0.6190258 -0.0916237 0.78000779 1.41512185] [ 0. 0. 0. 1. ]] SLAMing on 139.03538475 meters Centerline goodness [0,1] 0.9286528449524044 Centerline is valid? [False, False] Translation: X:10.69, Y:0.27, Z:1.42 [[ 0.77719166 -0.07246293 -0.62507779 10.68761504] [ 0.11398233 0.99312686 0.02659066 0.26639173] [ 0.61885471 -0.09191386 0.78010941 1.41531239] [ 0. 0. 0. 1. ]] SLAMing on 139.06538475 meters Centerline goodness [0,1] 0.9288535110452919 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.77722036 -0.07143572 -0.62516034 10.68593061] [ 0.11363505 0.99313378 0.02779166 0.26402216] [ 0.61888253 -0.09264037 0.78000139 1.41655006] [ 0. 0. 0. 1. ]] SLAMing on 139.09538475 meters Centerline goodness [0,1] 0.9261127963845726 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.77695423 -0.07141211 -0.62549376 10.68649444] [ 0.11399689 0.99308019 0.02822156 0.26207789] [ 0.6191501 -0.0932312 0.7797186 1.41775372] [ 0. 0. 0. 1. ]] SLAMing on 139.12538475 meters Centerline goodness [0,1] 0.9276387208833473 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.77665312 -0.07153166 -0.62585394 10.68736118] [ 0.11443029 0.99302224 0.02850523 0.26072361] [ 0.61944785 -0.09375532 0.7794192 1.41885691] [ 0. 0. 0. 1. ]] SLAMing on 139.15538475 meters Centerline goodness [0,1] 0.9226383349950149 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.77607338 -0.07323378 -0.62637602 10.69122931] [ 0.11624965 0.99282656 0.02795417 0.25926836] [ 0.61983556 -0.09451048 0.77901967 1.42022498] [ 0. 0. 0. 1. ]] SLAMing on 139.18538475 meters Centerline goodness [0,1] 0.9236812570145904 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.77576206 -0.07375377 -0.62670057 10.69318058] [ 0.11687286 0.99275666 0.02783782 0.25850592] [ 0.62010802 -0.09483981 0.77876277 1.4208739 ] [ 0. 0. 0. 1. ]] SLAMing on 139.21538475 meters Centerline goodness [0,1] 0.9176422840373388 Centerline is valid? [False, False] Translation: X:10.70, Y:0.26, Z:1.42 [[ 0.77513137 -0.07557798 -0.62726336 10.69811047] [ 0.11873315 0.99255546 0.02713126 0.25718088] [ 0.62054314 -0.09550725 0.77833449 1.42195132] [ 0. 0. 0. 1. ]] SLAMing on 139.24538475 meters Centerline goodness [0,1] 0.9193573692302865 Centerline is valid? [False, False] Translation: X:10.70, Y:0.26, Z:1.42 [[ 0.77479228 -0.0759507 -0.62763716 10.6996135 ] [ 0.11934439 0.99247957 0.02722528 0.2560666 ] [ 0.62084928 -0.09599892 0.77802981 1.42293071] [ 0. 0. 0. 1. ]] SLAMing on 139.27538475 meters Centerline goodness [0,1] 0.9193076317859953 Centerline is valid? [False, False] Translation: X:10.70, Y:0.25, Z:1.42 [[ 0.77440583 -0.07633957 -0.62806678 10.70116849] [ 0.12008207 0.99238468 0.02743982 0.25436449] [ 0.6211891 -0.09666912 0.7776755 1.42424419] [ 0. 0. 0. 1. ]] SLAMing on 139.30538475 meters Centerline goodness [0,1] 0.9215747932454954 Centerline is valid? [False, False] Translation: X:10.70, Y:0.25, Z:1.43 [[ 0.77420869 -0.07596081 -0.62835568 10.70092251] [ 0.12000879 0.99238077 0.02789789 0.25391078] [ 0.62144895 -0.09700699 0.77742578 1.42518826] [ 0. 0. 0. 1. ]] SLAMing on 139.33538475 meters Centerline goodness [0,1] 0.9190043832185347 Centerline is valid? [False, False] Translation: X:10.70, Y:0.25, Z:1.43 [[ 0.77414766 -0.07602965 -0.62842254 10.70118413] [ 0.12005258 0.99237741 0.02782891 0.25466926] [ 0.62151651 -0.09698744 0.77737421 1.42526834] [ 0. 0. 0. 1. ]] SLAMing on 139.36538475 meters Centerline goodness [0,1] 0.9202296985206916 Centerline is valid? [False, False] Translation: X:10.70, Y:0.26, Z:1.42 [[ 0.77430859 -0.07598842 -0.62822923 10.70096723] [ 0.11970225 0.99242903 0.02749532 0.25693039] [ 0.6213836 -0.09649031 0.77754231 1.42435657] [ 0. 0. 0. 1. ]] SLAMing on 139.39538475 meters Centerline goodness [0,1] 0.9188028870084619 Centerline is valid? [False, False] Translation: X:10.70, Y:0.26, Z:1.42 [[ 0.77450331 -0.07581027 -0.62801069 10.70059895] [ 0.11932022 0.99247915 0.02734633 0.2583419 ] [ 0.62121439 -0.09611419 0.77772408 1.42358448] [ 0. 0. 0. 1. ]] SLAMing on 139.42538475 meters Centerline goodness [0,1] 0.9187826736370426 Centerline is valid? [False, False] Translation: X:10.70, Y:0.26, Z:1.42 [[ 0.77465994 -0.07540588 -0.62786617 10.69957396] [ 0.11886325 0.99253108 0.02745158 0.25927786] [ 0.62110668 -0.09589585 0.77783705 1.42324987] [ 0. 0. 0. 1. ]] SLAMing on 139.45538475 meters Centerline goodness [0,1] 0.9222849345655275 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.77527155 -0.07299717 -0.62739576 10.69381165] [ 0.11698834 0.992708 0.02906117 0.25933215] [ 0.62069941 -0.09592829 0.77815809 1.42342706] [ 0. 0. 0. 1. ]] SLAMing on 139.48538475 meters Centerline goodness [0,1] 0.9260723218972918 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.77569051 -0.07093925 -0.62711391 10.68900054] [ 0.11520077 0.99288368 0.03017908 0.26063404] [ 0.62051029 -0.09565363 0.7783427 1.42334604] [ 0. 0. 0. 1. ]] SLAMing on 139.51538475 meters Centerline goodness [0,1] 0.926194591924929 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.77574393 -0.07033062 -0.62711639 10.68772613] [ 0.11464682 0.99293919 0.03046092 0.26156733] [ 0.6205461 -0.09552677 0.77832973 1.42343443] [ 0. 0. 0. 1. ]] SLAMing on 139.54538475 meters Centerline goodness [0,1] 0.9280491551459293 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.77532472 -0.06641059 -0.62806147 10.69144532] [ 0.11196215 0.99315775 0.03319872 0.2638165 ] [ 0.62155938 -0.0960589 0.77745523 1.42412493] [ 0. 0. 0. 1. ]] SLAMing on 139.57538475 meters Centerline goodness [0,1] 0.9290858386197174 Centerline is valid? [False, False] Translation: X:10.69, Y:0.27, Z:1.42 [[ 0.77519738 -0.06738678 -0.62811467 10.69405213] [ 0.11228584 0.99315962 0.03202896 0.26672835] [ 0.6216598 -0.09535715 0.77746132 1.42301186] [ 0. 0. 0. 1. ]] SLAMing on 139.60538475 meters Centerline goodness [0,1] 0.9283573874755382 Centerline is valid? [False, False] Translation: X:10.70, Y:0.27, Z:1.42 [[ 0.77531161 -0.06790449 -0.6279179 10.69557837] [ 0.11229571 0.99318332 0.03125019 0.26906062] [ 0.62151556 -0.09474112 0.77765194 1.42170902] [ 0. 0. 0. 1. ]] SLAMing on 139.63538475000001 meters Centerline goodness [0,1] 0.9289861272382814 Centerline is valid? [False, False] Translation: X:10.69, Y:0.27, Z:1.42 [[ 0.77569968 -0.06711086 -0.62752381 10.6945753 ] [ 0.11119246 0.99330844 0.03121822 0.27108688] [ 0.62122962 -0.09399188 0.77797127 1.420221 ] [ 0. 0. 0. 1. ]] SLAMing on 139.66538475000002 meters Centerline goodness [0,1] 0.9316160968008067 Centerline is valid? [False, False] Translation: X:10.69, Y:0.27, Z:1.42 [[ 0.77595276 -0.06585647 -0.62734379 10.69166971] [ 0.11040516 0.99336236 0.03227871 0.26996386] [ 0.62105395 -0.09430874 0.77807317 1.42080064] [ 0. 0. 0. 1. ]] SLAMing on 139.69538475000002 meters Centerline goodness [0,1] 0.9313515170088875 Centerline is valid? [False, False] Translation: X:10.69, Y:0.27, Z:1.42 [[ 0.77576898 -0.06558114 -0.62759988 10.69142997] [ 0.11052042 0.99333199 0.03281465 0.26865736] [ 0.62126301 -0.09481919 0.77784419 1.42189252] [ 0. 0. 0. 1. ]] SLAMing on 139.72538475000002 meters Centerline goodness [0,1] 0.9318335484664085 Centerline is valid? [False, False] Translation: X:10.69, Y:0.27, Z:1.42 [[ 0.77537297 -0.06626278 -0.62801752 10.69308275] [ 0.11135823 0.99324256 0.03268881 0.26805987] [ 0.62160768 -0.09528094 0.77751234 1.42299275] [ 0. 0. 0. 1. ]] SLAMing on 139.75538475 meters Centerline goodness [0,1] 0.9318335484664085 Centerline is valid? [False, False] Translation: X:10.69, Y:0.27, Z:1.42 [[ 0.77537297 -0.06626278 -0.62801752 10.69308275] [ 0.11135823 0.99324256 0.03268881 0.26805987] [ 0.62160768 -0.09528094 0.77751234 1.42299275] [ 0. 0. 0. 1. ]] SLAMing on 139.78538475 meters Centerline goodness [0,1] 0.9306050916246464 Centerline is valid? [False, False] Translation: X:10.69, Y:0.27, Z:1.42 [[ 0.77513742 -0.06655769 -0.62827705 10.69421444] [ 0.11174716 0.9932001 0.03265169 0.26784482] [ 0.62183161 -0.09551772 0.7773042 1.42355862] [ 0. 0. 0. 1. ]] SLAMing on 139.81538475 meters Centerline goodness [0,1] 0.9292854726092707 Centerline is valid? [False, False] Translation: X:10.70, Y:0.27, Z:1.42 [[ 0.77504425 -0.0673331 -0.62830937 10.69676414] [ 0.11230717 0.99315481 0.03210335 0.26806342] [ 0.62184686 -0.09544517 0.77730091 1.42311526] [ 0. 0. 0. 1. ]] SLAMing on 139.84538475 meters Centerline goodness [0,1] 0.9288783841856467 Centerline is valid? [False, False] Translation: X:10.70, Y:0.27, Z:1.42 [[ 0.77512681 -0.06709575 -0.62823291 10.69653266] [ 0.1121645 0.9931639 0.03232024 0.26787109] [ 0.62176969 -0.09551772 0.77735373 1.42307396] [ 0. 0. 0. 1. ]] SLAMing on 139.87538475 meters Centerline goodness [0,1] 0.9300181891050344 Centerline is valid? [False, False] Translation: X:10.69, Y:0.27, Z:1.42 [[ 0.77542459 -0.06566454 -0.62801661 10.69399693] [ 0.11134326 0.99321286 0.03362879 0.26625816] [ 0.62154596 -0.09600201 0.77747298 1.42360397] [ 0. 0. 0. 1. ]] SLAMing on 139.90538475 meters Centerline goodness [0,1] 0.9323345355898764 Centerline is valid? [False, False] Translation: X:10.69, Y:0.27, Z:1.42 [[ 0.77548387 -0.06536681 -0.62797448 10.69367056] [ 0.11112907 0.99322946 0.03384622 0.26597342] [ 0.62151034 -0.09603342 0.77749758 1.42359298] [ 0. 0. 0. 1. ]] SLAMing on 139.93538475 meters Centerline goodness [0,1] 0.9317999630017882 Centerline is valid? [False, False] Translation: X:10.69, Y:0.27, Z:1.42 [[ 0.77587619 -0.06438237 -0.62759146 10.6916225 ] [ 0.11015968 0.99332235 0.03428636 0.26622673] [ 0.62119319 -0.09573724 0.7777875 1.42286954] [ 0. 0. 0. 1. ]] SLAMing on 139.96538475 meters Centerline goodness [0,1] 0.9347346488540262 Centerline is valid? [False, False] Translation: X:10.69, Y:0.27, Z:1.42 [[ 0.77604073 -0.06397371 -0.6274298 10.69084786] [ 0.10975083 0.99336155 0.03446137 0.26640413] [ 0.62106001 -0.09560436 0.77791019 1.42253081] [ 0. 0. 0. 1. ]] SLAMing on 139.99538475 meters Centerline goodness [0,1] 0.9327328065914471 Centerline is valid? [False, False] Translation: X:10.69, Y:0.27, Z:1.42 [[ 0.77595915 -0.06430321 -0.62749701 10.69194143] [ 0.1098911 0.99335867 0.03409554 0.26661764] [ 0.62113714 -0.09541309 0.77787209 1.42230722] [ 0. 0. 0. 1. ]] SLAMing on 140.02538475 meters Centerline goodness [0,1] 0.9321872015281758 Centerline is valid? [False, False] Translation: X:10.69, Y:0.27, Z:1.42 [[ 0.7759369 -0.06465592 -0.62748828 10.69318264] [ 0.11002291 0.99335768 0.03369685 0.26700893] [ 0.6211416 -0.09518472 0.77789651 1.4218175 ] [ 0. 0. 0. 1. ]] SLAMing on 140.05538475 meters Centerline goodness [0,1] 0.9325690752066877 Centerline is valid? [False, False] Translation: X:10.69, Y:0.27, Z:1.42 [[ 0.77592247 -0.06497262 -0.62747341 10.69457171] [ 0.11009211 0.99336411 0.03327866 0.26763506] [ 0.62114737 -0.09490153 0.77792651 1.42121867] [ 0. 0. 0. 1. ]] SLAMing on 140.08538475 meters Centerline goodness [0,1] 0.9335550218609521 Centerline is valid? [False, False] Translation: X:10.69, Y:0.27, Z:1.42 [[ 0.77615246 -0.06416635 -0.6272719 10.69330091] [ 0.10966302 0.99338463 0.03407352 0.26590424] [ 0.62093589 -0.09523478 0.7780546 1.42138296] [ 0. 0. 0. 1. ]] SLAMing on 140.11538475 meters Centerline goodness [0,1] 0.9307067724672449 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.77628894 -0.06336905 -0.62718406 10.69201846] [ 0.10922554 0.9934069 0.03482125 0.26473816] [ 0.62084239 -0.09553587 0.7780923 1.4217221 ] [ 0. 0. 0. 1. ]] SLAMing on 140.14538475 meters Centerline goodness [0,1] 0.9310025325838532 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.77629524 -0.0626628 -0.62724722 10.69110105] [ 0.10901265 0.9934 0.03567457 0.26293552] [ 0.62087193 -0.09607188 0.77800273 1.42259723] [ 0. 0. 0. 1. ]] SLAMing on 140.17538475 meters Centerline goodness [0,1] 0.9302929180571005 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.77619459 -0.0625395 -0.62738407 10.69134857] [ 0.10906985 0.993385 0.03591679 0.26252388] [ 0.6209877 -0.09630711 0.77788123 1.42306412] [ 0. 0. 0. 1. ]] SLAMing on 140.20538475 meters Centerline goodness [0,1] 0.9312821777599655 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.775998 -0.06278934 -0.62760227 10.69274571] [ 0.10938892 0.99335151 0.03587255 0.26186932] [ 0.62117725 -0.09648976 0.77770724 1.42346694] [ 0. 0. 0. 1. ]] SLAMing on 140.23538475 meters Centerline goodness [0,1] 0.9300157928962933 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.77600646 -0.06271859 -0.62759888 10.69314491] [ 0.1093501 0.99335342 0.03593801 0.26156728] [ 0.62117351 -0.09651613 0.77770695 1.42340892] [ 0. 0. 0. 1. ]] SLAMing on 140.26538475 meters Centerline goodness [0,1] 0.9298240197591849 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.776221 -0.06257813 -0.62734755 10.69349195] [ 0.10904934 0.99339015 0.03583643 0.26221921] [ 0.6209583 -0.09622883 0.7779144 1.4225054 ] [ 0. 0. 0. 1. ]] SLAMing on 140.29538475 meters Centerline goodness [0,1] 0.9297611322270635 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.77642358 -0.06230381 -0.62712412 10.69316736] [ 0.10868983 0.99342834 0.03587006 0.26257597] [ 0.62076803 -0.09601238 0.77809298 1.42187052] [ 0. 0. 0. 1. ]] SLAMing on 140.32538475 meters Centerline goodness [0,1] 0.9288777808633404 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.7768799 -0.0610458 -0.62668256 10.69055262] [ 0.10763656 0.99351437 0.03665461 0.26208466] [ 0.62038052 -0.09593019 0.7784121 1.42134503] [ 0. 0. 0. 1. ]] SLAMing on 140.35538475 meters Centerline goodness [0,1] 0.9284301606922126 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.7768797 -0.06029658 -0.62675534 10.68905702] [ 0.10742596 0.99350267 0.03757804 0.26043348] [ 0.62041728 -0.09652341 0.77830947 1.42244335] [ 0. 0. 0. 1. ]] SLAMing on 140.38538475000001 meters Centerline goodness [0,1] 0.9264336445119871 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.776868 -0.06007979 -0.62679066 10.68911248] [ 0.10738904 0.99349548 0.03787247 0.25947552] [ 0.62043831 -0.09673236 0.77826676 1.42269058] [ 0. 0. 0. 1. ]] SLAMing on 140.41538475000002 meters Centerline goodness [0,1] 0.926401038607771 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.7769195 -0.06037956 -0.62669801 10.69057641] [ 0.10748961 0.99349737 0.03753616 0.2598605 ] [ 0.62035641 -0.0965261 0.77835766 1.42198051] [ 0. 0. 0. 1. ]] SLAMing on 140.44538475000002 meters Centerline goodness [0,1] 0.9251498856542432 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.77684954 -0.06036918 -0.62678574 10.69117737] [ 0.10752219 0.99349233 0.03757623 0.25923678] [ 0.62043837 -0.09658445 0.77828508 1.42210884] [ 0. 0. 0. 1. ]] SLAMing on 140.47538475000002 meters Centerline goodness [0,1] 0.9273933531746031 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.776763 -0.06023497 -0.62690589 10.69157976] [ 0.10751768 0.99348578 0.03776191 0.25815462] [ 0.62054749 -0.09673552 0.77817932 1.42239614] [ 0. 0. 0. 1. ]] SLAMing on 140.50538475 meters Centerline goodness [0,1] 0.9227982162764772 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.7765003 -0.06062023 -0.62719412 10.6931484 ] [ 0.10808531 0.9934228 0.03779811 0.25694074] [ 0.62077761 -0.09714072 0.77794527 1.42312825] [ 0. 0. 0. 1. ]] SLAMing on 140.53538475 meters Centerline goodness [0,1] 0.9224368130162082 Centerline is valid? [False, False] Translation: X:10.69, Y:0.25, Z:1.42 [[ 0.77635974 -0.06567116 -0.62685952 10.69165393] [ 0.1119625 0.99310904 0.03462427 0.25445233] [ 0.62026604 -0.09706564 0.77836258 1.42390607] [ 0. 0. 0. 1. ]] SLAMing on 140.56538475 meters Centerline goodness [0,1] 0.9216940416679604 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.77607273 -0.06653005 -0.62712429 10.69377044] [ 0.11262635 0.99305466 0.03402557 0.25541065] [ 0.62050497 -0.09703703 0.77817568 1.42404815] [ 0. 0. 0. 1. ]] SLAMing on 140.59538475 meters Centerline goodness [0,1] 0.9191922315685305 Centerline is valid? [False, False] Translation: X:10.70, Y:0.26, Z:1.42 [[ 0.77527854 -0.06466707 -0.62830037 10.70177778] [ 0.11172378 0.99309978 0.03564569 0.25833822] [ 0.62165986 -0.09783143 0.7771538 1.42490362] [ 0. 0. 0. 1. ]] SLAMing on 140.62538475 meters Centerline goodness [0,1] 0.9211690119066027 Centerline is valid? [False, False] Translation: X:10.70, Y:0.26, Z:1.42 [[ 0.77511585 -0.06539607 -0.62842563 10.70379318] [ 0.11213856 0.993077 0.03497159 0.25971711] [ 0.62178804 -0.09757777 0.77708314 1.42452286] [ 0. 0. 0. 1. ]] SLAMing on 140.65538475 meters Centerline goodness [0,1] 0.9215680226999352 Centerline is valid? [False, False] Translation: X:10.70, Y:0.26, Z:1.42 [[ 0.77528341 -0.06486326 -0.62827413 10.70307425] [ 0.11155046 0.99313799 0.0351201 0.25983301] [ 0.62168491 -0.0973123 0.77719894 1.42402738] [ 0. 0. 0. 1. ]] SLAMing on 140.68538475 meters Centerline goodness [0,1] 0.9225630875804057 Centerline is valid? [False, False] Translation: X:10.70, Y:0.26, Z:1.42 [[ 0.77549516 -0.0637208 -0.6281297 10.70073726] [ 0.11079241 0.99319022 0.03603094 0.2589386 ] [ 0.62155635 -0.09753382 0.77727399 1.42437539] [ 0. 0. 0. 1. ]] SLAMing on 140.71538475 meters Centerline goodness [0,1] 0.9235461695671022 Centerline is valid? [False, False] Translation: X:10.70, Y:0.26, Z:1.43 [[ 0.77591618 -0.06156296 -0.62782488 10.69613112] [ 0.10934258 0.99328761 0.03773497 0.25671675] [ 0.6212876 -0.09792716 0.77743938 1.4250192 ] [ 0. 0. 0. 1. ]] SLAMing on 140.74538475 meters Centerline goodness [0,1] 0.9241616562325667 Centerline is valid? [False, False] Translation: X:10.70, Y:0.26, Z:1.43 [[ 0.77598482 -0.06119268 -0.62777625 10.69538973] [ 0.10906067 0.99330907 0.03798515 0.25645354] [ 0.62125143 -0.0979416 0.77746647 1.42507909] [ 0. 0. 0. 1. ]] SLAMing on 140.77538475 meters Centerline goodness [0,1] 0.9248833544479808 Centerline is valid? [False, False] Translation: X:10.70, Y:0.26, Z:1.42 [[ 0.77597165 -0.0616015 -0.62775254 10.69680745] [ 0.10923519 0.9933063 0.03755342 0.2575719 ] [ 0.62123721 -0.09771306 0.77750658 1.42448995] [ 0. 0. 0. 1. ]] SLAMing on 140.80538475 meters Centerline goodness [0,1] 0.9215135135135135 Centerline is valid? [False, False] Translation: X:10.70, Y:0.26, Z:1.42 [[ 0.77582358 -0.06224952 -0.62787162 10.69881332] [ 0.10966149 0.99327918 0.03702479 0.25832086] [ 0.62134703 -0.09757804 0.77743578 1.4242077 ] [ 0. 0. 0. 1. ]] SLAMing on 140.83538475 meters Centerline goodness [0,1] 0.9222352360991246 Centerline is valid? [False, False] Translation: X:10.70, Y:0.26, Z:1.42 [[ 0.77561422 -0.06334092 -0.6280211 10.70193648] [ 0.11029056 0.99324598 0.03603352 0.25967066] [ 0.62149704 -0.09721291 0.77736162 1.42353386] [ 0. 0. 0. 1. ]] SLAMing on 140.86538475 meters Centerline goodness [0,1] 0.9224853891110427 Centerline is valid? [False, False] Translation: X:10.70, Y:0.26, Z:1.42 [[ 0.77570285 -0.0632391 -0.62792189 10.70228513] [ 0.11010341 0.9932686 0.03598236 0.25993489] [ 0.6214196 -0.09704796 0.77744413 1.42307918] [ 0. 0. 0. 1. ]] SLAMing on 140.89538475 meters Centerline goodness [0,1] 0.9240780240502025 Centerline is valid? [False, False] Translation: X:10.70, Y:0.26, Z:1.42 [[ 0.7759586 -0.06219456 -0.6277102 10.70042639] [ 0.10924512 0.99333991 0.03662415 0.25907585] [ 0.62125177 -0.0969931 0.7775851 1.42289559] [ 0. 0. 0. 1. ]] SLAMing on 140.92538475 meters Centerline goodness [0,1] 0.925325176877684 Centerline is valid? [False, False] Translation: X:10.70, Y:0.26, Z:1.42 [[ 0.77610763 -0.0613917 -0.62760498 10.69915508] [ 0.10865489 0.99338352 0.03719279 0.25827325] [ 0.62116912 -0.09705796 0.77764303 1.42296636] [ 0. 0. 0. 1. ]] SLAMing on 140.95538475 meters Centerline goodness [0,1] 0.9315975966723156 Centerline is valid? [False, False] Translation: X:10.70, Y:0.26, Z:1.42 [[ 0.77643606 -0.06027954 -0.62730649 10.69712494] [ 0.10747019 0.9934989 0.03755114 0.2591579 ] [ 0.62096474 -0.0965728 0.77786662 1.42218157] [ 0. 0. 0. 1. ]] SLAMing on 140.98538475 meters Centerline goodness [0,1] 0.9313960639606396 Centerline is valid? [False, False] Translation: X:10.70, Y:0.26, Z:1.42 [[ 0.7766223 -0.05991429 -0.62711091 10.69627323] [ 0.10690101 0.99356366 0.03746233 0.26063812] [ 0.62083008 -0.09613287 0.77802859 1.42143773] [ 0. 0. 0. 1. ]] SLAMing on 141.01538475 meters Centerline goodness [0,1] 0.9343780607247796 Centerline is valid? [False, False] Translation: X:10.70, Y:0.26, Z:1.42 [[ 0.776516 -0.05479067 -0.62771083 10.69760365] [ 0.10332823 0.99379871 0.04107803 0.2621838 ] [ 0.62156752 -0.096758 0.77736202 1.42196752] [ 0. 0. 0. 1. ]] SLAMing on 141.04538475 meters Centerline goodness [0,1] 0.9330872032708855 Centerline is valid? [False, False] Translation: X:10.70, Y:0.26, Z:1.42 [[ 0.77685407 -0.05403325 -0.62735809 10.69670958] [ 0.10229923 0.99390536 0.04107325 0.26409246] [ 0.62131524 -0.09608617 0.77764698 1.42058111] [ 0. 0. 0. 1. ]] SLAMing on 141.07538475 meters Centerline goodness [0,1] 0.9357848518111965 Centerline is valid? [False, False] Translation: X:10.70, Y:0.26, Z:1.42 [[ 0.77708223 -0.05352634 -0.62711892 10.69565653] [ 0.10182247 0.99394344 0.0413355 0.26392171] [ 0.6211082 -0.09597588 0.77782597 1.42019856] [ 0. 0. 0. 1. ]] SLAMing on 141.10538475 meters Centerline goodness [0,1] 0.9407477722999663 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.77742488 -0.05186515 -0.62683376 10.69214469] [ 0.10062149 0.99401455 0.04254866 0.26215578] [ 0.62087509 -0.09615134 0.77799039 1.42044307] [ 0. 0. 0. 1. ]] SLAMing on 141.13538475000001 meters Centerline goodness [0,1] 0.9402320726915521 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.77776929 -0.05612936 -0.62603867 10.68929833] [ 0.10325793 0.99388286 0.03917464 0.26170195] [ 0.62001026 -0.09511229 0.77880738 1.41930581] [ 0. 0. 0. 1. ]] SLAMing on 141.16538475000002 meters Centerline goodness [0,1] 0.9364972236708899 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.77764742 -0.05605605 -0.62619663 10.6891313 ] [ 0.10354501 0.99383527 0.0396218 0.26047113] [ 0.62011525 -0.09565132 0.77865775 1.42030021] [ 0. 0. 0. 1. ]] SLAMing on 141.19538475000002 meters Centerline goodness [0,1] 0.9372605510773286 Centerline is valid? [False, False] Translation: X:10.69, Y:0.26, Z:1.42 [[ 0.77752475 -0.05656065 -0.62630357 10.69106201] [ 0.10387859 0.9938168 0.03920982 0.26075709] [ 0.62021327 -0.09554613 0.7785926 1.41999708] [ 0. 0. 0. 1. ]] SLAMing on 141.22538475000002 meters Centerline goodness [0,1] 0.9357283102221131 Centerline is valid? [False, False] Translation: X:10.70, Y:0.26, Z:1.42 [[ 0.77717509 -0.05812491 -0.62659426 10.69587122] [ 0.10487326 0.99376348 0.0378913 0.26156686] [ 0.62048407 -0.09516116 0.77842397 1.41921435] [ 0. 0. 0. 1. ]] SLAMing on 141.25538475 meters Centerline goodness [0,1] 0.9364533079310451 Centerline is valid? [False, False] Translation: X:10.70, Y:0.26, Z:1.42 [[ 0.77704653 -0.05852383 -0.62671657 10.69774972] [ 0.10518755 0.9937405 0.03762167 0.26072507] [ 0.62059188 -0.09515657 0.77833858 1.41906942] [ 0. 0. 0. 1. ]] SLAMing on 141.28538475 meters Centerline goodness [0,1] 0.9354431937011749 Centerline is valid? [False, False] Translation: X:10.70, Y:0.26, Z:1.42 [[ 0.77701869 -0.05815388 -0.62678551 10.6978077 ] [ 0.10505189 0.99373926 0.03803133 0.25935178] [ 0.6206497 -0.09539606 0.77826316 1.41939057] [ 0. 0. 0. 1. ]] SLAMing on 141.31538475 meters Centerline goodness [0,1] 0.9370999507631709 Centerline is valid? [False, False] Translation: X:10.70, Y:0.26, Z:1.42 [[ 0.77684403 -0.0579752 -0.62701853 10.69830514] [ 0.1051492 0.99371503 0.03839392 0.2580319 ] [ 0.62085184 -0.09575658 0.77805763 1.42010404] [ 0. 0. 0. 1. ]] SLAMing on 141.34538475 meters Centerline goodness [0,1] 0.9362398493222589 Centerline is valid? [False, False] Translation: X:10.70, Y:0.26, Z:1.42 [[ 0.77660441 -0.05796252 -0.62731646 10.69941696] [ 0.10542527 0.99367386 0.03870118 0.25624943] [ 0.62110475 -0.09619052 0.77780221 1.42092942] [ 0. 0. 0. 1. ]] SLAMing on 141.37538475 meters Centerline goodness [0,1] 0.9368427564023258 Centerline is valid? [False, False] Translation: X:10.70, Y:0.25, Z:1.42 [[ 0.7760145 -0.0596023 -0.62789255 10.70333608] [ 0.10717231 0.9935084 0.03814647 0.25454768] [ 0.62154291 -0.09689491 0.77736464 1.42227841] [ 0. 0. 0. 1. ]] SLAMing on 141.40538475 meters Centerline goodness [0,1] 0.9363625108332302 Centerline is valid? [False, False] Translation: X:10.70, Y:0.25, Z:1.42 [[ 0.77576474 -0.05992469 -0.62817044 10.70456433] [ 0.10757093 0.99346813 0.03807321 0.25388149] [ 0.62178579 -0.09710874 0.7771437 1.422828 ] [ 0. 0. 0. 1. ]] SLAMing on 141.43538475 meters Centerline goodness [0,1] 0.9362038500883474 Centerline is valid? [False, False] Translation: X:10.71, Y:0.25, Z:1.42 [[ 0.77570299 -0.05996207 -0.62824312 10.70542438] [ 0.10772141 0.99344746 0.03818688 0.25276046] [ 0.62183677 -0.09729691 0.77707936 1.42298399] [ 0. 0. 0. 1. ]] SLAMing on 141.46538475 meters Centerline goodness [0,1] 0.9370605544370451 Centerline is valid? [False, False] Translation: X:10.71, Y:0.25, Z:1.42 [[ 0.77577091 -0.05970667 -0.62818358 10.7053364 ] [ 0.10764013 0.99344395 0.03850603 0.25186578] [ 0.62176612 -0.09748962 0.77711175 1.42308859] [ 0. 0. 0. 1. ]] SLAMing on 141.49538475 meters Centerline goodness [0,1] 0.9371883420571747 Centerline is valid? [False, False] Translation: X:10.70, Y:0.25, Z:1.42 [[ 0.77599878 -0.05847036 -0.62801841 10.70300028] [ 0.10719719 0.99343425 0.03996448 0.24942281] [ 0.62155825 -0.09833419 0.77717162 1.42408955] [ 0. 0. 0. 1. ]] SLAMing on 141.52538475 meters Centerline goodness [0,1] 0.9369115460852329 Centerline is valid? [False, False] Translation: X:10.70, Y:0.25, Z:1.42 [[ 0.7760722 -0.05782118 -0.62798778 10.70188395] [ 0.10687838 0.99344237 0.04061118 0.24836809] [ 0.62152148 -0.09863552 0.77716284 1.4245263 ] [ 0. 0. 0. 1. ]] SLAMing on 141.55538475 meters Centerline goodness [0,1] 0.9422074699094181 Centerline is valid? [False, False] Translation: X:10.70, Y:0.25, Z:1.42 [[ 0.77611423 -0.06243472 -0.62749391 10.69946793] [ 0.11007116 0.99322293 0.03731701 0.24800593] [ 0.62091146 -0.09803124 0.77772671 1.42443919] [ 0. 0. 0. 1. ]] SLAMing on 141.58538475 meters Centerline goodness [0,1] 0.9428110155546586 Centerline is valid? [False, False] Translation: X:10.70, Y:0.25, Z:1.42 [[ 0.77595816 -0.0625619 -0.62767423 10.70027136] [ 0.11019203 0.99321286 0.03722811 0.24809092] [ 0.62108506 -0.09805215 0.77758545 1.42463866] [ 0. 0. 0. 1. ]] SLAMing on 141.61538475 meters Centerline goodness [0,1] 0.9414425579377866 Centerline is valid? [False, False] Translation: X:10.70, Y:0.25, Z:1.42 [[ 0.77585948 -0.06265924 -0.62778649 10.70115862] [ 0.11034333 0.99319566 0.03723883 0.24794985] [ 0.62118146 -0.09816415 0.7774943 1.42478177] [ 0. 0. 0. 1. ]] SLAMing on 141.64538475 meters Centerline goodness [0,1] 0.9395587417341327 Centerline is valid? [False, False] Translation: X:10.70, Y:0.25, Z:1.42 [[ 0.77576486 -0.06364016 -0.62780476 10.70362745] [ 0.11076992 0.99318668 0.03619732 0.24977607] [ 0.62122372 -0.09762249 0.77752874 1.42375635] [ 0. 0. 0. 1. ]] SLAMing on 141.67538475 meters Centerline goodness [0,1] 0.9395587417341327 Centerline is valid? [False, False] Translation: X:10.70, Y:0.25, Z:1.42 [[ 0.77576486 -0.06364016 -0.62780476 10.70362745] [ 0.11076992 0.99318668 0.03619732 0.24977607] [ 0.62122372 -0.09762249 0.77752874 1.42375635] [ 0. 0. 0. 1. ]] SLAMing on 141.70538475 meters Centerline goodness [0,1] 0.9407164714245975 Centerline is valid? [False, False] Translation: X:10.71, Y:0.25, Z:1.42 [[ 0.77584631 -0.06408761 -0.62765858 10.70505316] [ 0.11074777 0.99321497 0.03548183 0.25113578] [ 0.62112595 -0.09704023 0.77767972 1.4225719 ] [ 0. 0. 0. 1. ]] SLAMing on 141.73538475 meters Centerline goodness [0,1] 0.9432453296279142 Centerline is valid? [False, False] Translation: X:10.71, Y:0.25, Z:1.42 [[ 0.7757697 -0.06435134 -0.62772628 10.70583298] [ 0.11093927 0.9932006 0.03528534 0.25138145] [ 0.62118746 -0.09701279 0.77763401 1.42255891] [ 0. 0. 0. 1. ]] SLAMing on 141.76538475 meters Centerline goodness [0,1] 0.9427601111454152 Centerline is valid? [False, False] Translation: X:10.71, Y:0.25, Z:1.42 [[ 0.77564682 -0.06471421 -0.62784081 10.70694519] [ 0.11110988 0.99319533 0.03489447 0.25170471] [ 0.62131039 -0.0968251 0.77755919 1.42240478] [ 0. 0. 0. 1. ]] SLAMing on 141.79538475 meters Centerline goodness [0,1] 0.9439281193071294 Centerline is valid? [False, False] Translation: X:10.71, Y:0.25, Z:1.42 [[ 0.77560601 -0.06460271 -0.62790271 10.70722754] [ 0.11098224 0.99320937 0.03490107 0.25148223] [ 0.62138415 -0.09675552 0.77750891 1.42237362] [ 0. 0. 0. 1. ]] SLAMing on 141.82538475 meters Centerline goodness [0,1] 0.9477978674084376 Centerline is valid? [False, False] Translation: X:10.71, Y:0.25, Z:1.42 [[ 0.77555667 -0.06460456 -0.62796345 10.70770102] [ 0.11099053 0.99320861 0.03489636 0.25141918] [ 0.62144424 -0.0967621 0.77746006 1.42240251] [ 0. 0. 0. 1. ]] SLAMing on 141.85538475 meters Centerline goodness [0,1] 0.9450758739325429 Centerline is valid? [False, False] Translation: X:10.71, Y:0.25, Z:1.42 [[ 0.77543157 -0.06471199 -0.62810687 10.70834246] [ 0.11112973 0.99319398 0.03486976 0.25157291] [ 0.62157547 -0.09684046 0.7773454 1.42265213] [ 0. 0. 0. 1. ]] SLAMing on 141.88538475000001 meters Centerline goodness [0,1] 0.9444976964224978 Centerline is valid? [False, False] Translation: X:10.71, Y:0.25, Z:1.42 [[ 0.77515819 -0.06524001 -0.62838963 10.71006938] [ 0.11162618 0.99314815 0.03458833 0.25116687] [ 0.62182745 -0.09695616 0.77712941 1.42303438] [ 0. 0. 0. 1. ]] SLAMing on 141.91538475000002 meters Centerline goodness [0,1] 0.9431846344485749 Centerline is valid? [False, False] Translation: X:10.71, Y:0.25, Z:1.42 [[ 0.77474946 -0.06563181 -0.62885271 10.71113228] [ 0.11227137 0.99307242 0.03467432 0.25051102] [ 0.62222055 -0.09746606 0.7767509 1.42432282] [ 0. 0. 0. 1. ]] SLAMing on 141.94538475000002 meters Centerline goodness [0,1] 0.9427524758622831 Centerline is valid? [False, False] Translation: X:10.71, Y:0.25, Z:1.42 [[ 0.7747628 -0.07088276 -0.62826606 10.7102565 ] [ 0.11581984 0.99279207 0.03081666 0.25025328] [ 0.62155319 -0.09664128 0.777388 1.42364155] [ 0. 0. 0. 1. ]] SLAMing on 141.97538475000002 meters Centerline goodness [0,1] 0.9428032878066869 Centerline is valid? [False, False] Translation: X:10.71, Y:0.25, Z:1.42 [[ 0.77473971 -0.07119366 -0.62825937 10.71140554] [ 0.11584773 0.99280305 0.0303546 0.25190695] [ 0.62157677 -0.09629934 0.77741158 1.42298876] [ 0. 0. 0. 1. ]] SLAMing on 142.00538475 meters Centerline goodness [0,1] 0.9447088638892323 Centerline is valid? [False, False] Translation: X:10.71, Y:0.25, Z:1.42 [[ 0.77487031 -0.07106107 -0.62811331 10.71114658] [ 0.11562701 0.99282984 0.03031999 0.25294888] [ 0.62145506 -0.09612092 0.77753095 1.42250622] [ 0. 0. 0. 1. ]] SLAMing on 142.03538475 meters Centerline goodness [0,1] 0.9447722007722008 Centerline is valid? [False, False] Translation: X:10.71, Y:0.25, Z:1.42 [[ 0.77499447 -0.07060295 -0.62801178 10.7102589 ] [ 0.11522742 0.99286849 0.03057454 0.25322358] [ 0.62137446 -0.09605928 0.77760298 1.42236535] [ 0. 0. 0. 1. ]] SLAMing on 142.06538475 meters Centerline goodness [0,1] 0.9464434372398483 Centerline is valid? [False, False] Translation: X:10.71, Y:0.25, Z:1.42 [[ 0.77516997 -0.06968799 -0.62789737 10.70848881] [ 0.11447874 0.99293792 0.03112711 0.25307877] [ 0.62129392 -0.0960097 0.77767345 1.42235319] [ 0. 0. 0. 1. ]] SLAMing on 142.09538475 meters Centerline goodness [0,1] 0.9476169897518212 Centerline is valid? [False, False] Translation: X:10.71, Y:0.25, Z:1.42 [[ 0.77525527 -0.06941441 -0.62782235 10.7077592 ] [ 0.11414987 0.99297447 0.03116892 0.25358909] [ 0.62124799 -0.09582971 0.77773234 1.42212646] [ 0. 0. 0. 1. ]] SLAMing on 142.12538475 meters Centerline goodness [0,1] 0.9475376387300213 Centerline is valid? [False, False] Translation: X:10.71, Y:0.25, Z:1.42 [[ 0.77523858 -0.06950749 -0.62783266 10.70797047] [ 0.11413765 0.99298109 0.03100235 0.25427684] [ 0.62127107 -0.09569356 0.77773067 1.42195017] [ 0. 0. 0. 1. ]] SLAMing on 142.15538475 meters Centerline goodness [0,1] 0.9481826884476423 Centerline is valid? [False, False] Translation: X:10.71, Y:0.25, Z:1.42 [[ 0.77496994 -0.06933256 -0.62818356 10.70755876] [ 0.11433931 0.99294332 0.03146567 0.25346613] [ 0.62156907 -0.09621102 0.77742866 1.4232982 ] [ 0. 0. 0. 1. ]] SLAMing on 142.18538475 meters Centerline goodness [0,1] 0.9465153472350372 Centerline is valid? [False, False] Translation: X:10.71, Y:0.26, Z:1.42 [[ 0.77485223 -0.07027821 -0.62822368 10.70969275] [ 0.1147861 0.99292187 0.03050107 0.25583962] [ 0.62163347 -0.09574517 0.77743469 1.42246897] [ 0. 0. 0. 1. ]] SLAMing on 142.21538475 meters Centerline goodness [0,1] 0.9442227406679764 Centerline is valid? [False, False] Translation: X:10.71, Y:0.26, Z:1.42 [[ 0.77457807 -0.07153844 -0.6284195 10.71269502] [ 0.11532537 0.99290092 0.02911736 0.25902088] [ 0.62187528 -0.09502638 0.77732948 1.42148086] [ 0. 0. 0. 1. ]] SLAMing on 142.24538475 meters Centerline goodness [0,1] 0.9451300200030774 Centerline is valid? [False, False] Translation: X:10.71, Y:0.26, Z:1.42 [[ 0.77462274 -0.07112345 -0.62841154 10.71221734] [ 0.11490851 0.99294498 0.02926278 0.25888091] [ 0.62189681 -0.09487745 0.77733045 1.42132867] [ 0. 0. 0. 1. ]] SLAMing on 142.27538475 meters Centerline goodness [0,1] 0.9480099732200573 Centerline is valid? [False, False] Translation: X:10.71, Y:0.26, Z:1.42 [[ 0.7750967 -0.06861262 -0.62810621 10.70689234] [ 0.11311433 0.99309505 0.03110252 0.2569072 ] [ 0.62163515 -0.09515527 0.77750577 1.42188842] [ 0. 0. 0. 1. ]] SLAMing on 142.30538475 meters Centerline goodness [0,1] 0.9519802743103714 Centerline is valid? [False, True] Translation: X:10.70, Y:0.26, Z:1.42 [[ 0.77519713 -0.06707564 -0.62814829 10.70359463] [ 0.11243936 0.99311996 0.03271283 0.25532655] [ 0.62163237 -0.09598748 0.77740568 1.42341563] [ 0. 0. 0. 1. ]] SLAMing on 142.33538475 meters Centerline goodness [0,1] 0.9524044541781054 Centerline is valid? [True, True] Translation: X:10.77, Y:0.31, Z:1.37 [[ 7.76331922e-01 -1.46375033e-01 -6.13093057e-01 1.07712000e+01] [ 1.13836777e-01 9.89227788e-01 -9.20302804e-02 3.07122470e-01] [ 6.19959623e-01 1.65350691e-03 7.84631972e-01 1.37201869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.36538475 meters Centerline goodness [0,1] 0.9509251562451895 Centerline is valid? [True, True] Translation: X:10.79, Y:0.31, Z:1.39 [[ 7.75646267e-01 -1.46695357e-01 -6.13883816e-01 1.07946405e+01] [ 1.14092037e-01 9.89180594e-01 -9.22212579e-02 3.11379069e-01] [ 6.20770388e-01 1.49181932e-03 7.83991007e-01 1.38699116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.39538475 meters Centerline goodness [0,1] 0.9485804124664755 Centerline is valid? [True, False] Translation: X:10.79, Y:0.30, Z:1.40 [[ 0.77224708 -0.13625654 -0.62053896 10.78949604] [ 0.11669716 0.99053445 -0.07227227 0.30468272] [ 0.62451279 -0.01660308 0.78083809 1.39667634] [ 0. 0. 0. 1. ]] SLAMing on 142.42538475 meters Centerline goodness [0,1] 0.9488033555391069 Centerline is valid? [False, False] Translation: X:10.79, Y:0.30, Z:1.40 [[ 0.77350918 -0.1321189 -0.61986139 10.78876037] [ 0.11520824 0.99104742 -0.06746906 0.30261481] [ 0.62322597 -0.01922521 0.78180546 1.39745243] [ 0. 0. 0. 1. ]] SLAMing on 142.45538475 meters Centerline goodness [0,1] 0.9468216670789018 Centerline is valid? [False, False] Translation: X:10.79, Y:0.30, Z:1.40 [[ 0.77426593 -0.12872266 -0.61963114 10.78894327] [ 0.11407574 0.99144577 -0.06341931 0.29951348] [ 0.62249418 -0.02158147 0.78232681 1.39873509] [ 0. 0. 0. 1. ]] SLAMing on 142.48538475 meters Centerline goodness [0,1] 0.9493298665923794 Centerline is valid? [False, False] Translation: X:10.79, Y:0.30, Z:1.40 [[ 0.77403994 -0.12217914 -0.62123621 10.78869842] [ 0.11078042 0.99220275 -0.05710874 0.29538057] [ 0.62336977 -0.02461636 0.78153961 1.40315005] [ 0. 0. 0. 1. ]] SLAMing on 142.51538475 meters Centerline goodness [0,1] 0.9514211406279026 Centerline is valid? [False, True] Translation: X:10.78, Y:0.29, Z:1.41 [[ 0.77416679 -0.11880492 -0.62173239 10.78391804] [ 0.10979915 0.99254281 -0.05294258 0.2905327 ] [ 0.62338586 -0.02727931 0.78143836 1.40720124] [ 0. 0. 0. 1. ]] SLAMing on 142.54538475 meters Centerline goodness [0,1] 0.9521766169154229 Centerline is valid? [True, True] Translation: X:10.82, Y:0.31, Z:1.41 [[ 7.73905329e-01 -1.40617318e-01 -6.17492762e-01 1.08172316e+01] [ 1.10671800e-01 9.90063297e-01 -8.67549429e-02 3.06915884e-01] [ 6.23556168e-01 -1.19892291e-03 7.81777634e-01 1.40710327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.57538475 meters Centerline goodness [0,1] 0.9505166189468442 Centerline is valid? [True, True] Translation: X:10.84, Y:0.31, Z:1.42 [[ 7.73312590e-01 -1.41738536e-01 -6.17978823e-01 1.08400722e+01] [ 1.11868480e-01 9.89902472e-01 -8.70548005e-02 3.09599550e-01] [ 6.24077785e-01 -1.81177827e-03 7.81360119e-01 1.42420003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.60538475 meters Centerline goodness [0,1] 0.9496816275819226 Centerline is valid? [True, False] Translation: X:10.83, Y:0.30, Z:1.43 [[ 0.76983711 -0.12871364 -0.62512689 10.83066424] [ 0.11117273 0.99152333 -0.06724665 0.30313062] [ 0.62848346 -0.01772809 0.7776209 1.43120904] [ 0. 0. 0. 1. ]] SLAMing on 142.63538475000001 meters Centerline goodness [0,1] 0.9471674685705417 Centerline is valid? [False, False] Translation: X:10.84, Y:0.30, Z:1.44 [[ 0.76851436 -0.12442922 -0.62761696 10.83538292] [ 0.10983556 0.99200305 -0.062178 0.30267772] [ 0.6303347 -0.02114997 0.77603534 1.43762229] [ 0. 0. 0. 1. ]] SLAMing on 142.66538475000002 meters Centerline goodness [0,1] 0.9473080618665344 Centerline is valid? [False, False] Translation: X:10.84, Y:0.30, Z:1.44 [[ 0.76807464 -0.11842654 -0.6293143 10.83556233] [ 0.10694377 0.99267094 -0.05627996 0.299535 ] [ 0.63136706 -0.02407403 0.77511036 1.44235034] [ 0. 0. 0. 1. ]] SLAMing on 142.69538475000002 meters Centerline goodness [0,1] 0.9477452347745234 Centerline is valid? [False, False] Translation: X:10.83, Y:0.30, Z:1.44 [[ 0.76839766 -0.11234712 -0.63003425 10.8336905 ] [ 0.1035893 0.99332254 -0.05078954 0.29751002] [ 0.63153328 -0.02623824 0.77490468 1.44495269] [ 0. 0. 0. 1. ]] SLAMing on 142.72538475000002 meters Centerline goodness [0,1] 0.9477935260258712 Centerline is valid? [False, False] Translation: X:10.83, Y:0.30, Z:1.45 [[ 0.76845669 -0.10600459 -0.63106049 10.83259624] [ 0.09996895 0.99396201 -0.04522978 0.29522224] [ 0.63204472 -0.02832932 0.77441393 1.44775443] [ 0. 0. 0. 1. ]] SLAMing on 142.75538475 meters Centerline goodness [0,1] 0.9483196137896887 Centerline is valid? [False, False] Translation: X:10.83, Y:0.29, Z:1.45 [[ 0.7716248 -0.10244174 -0.62777453 10.8259137 ] [ 0.10009385 0.99420522 -0.0392071 0.29403026] [ 0.62815316 -0.0325832 0.77740719 1.44635676] [ 0. 0. 0. 1. ]] SLAMing on 142.78538475 meters Centerline goodness [0,1] 0.9485464846289589 Centerline is valid? [False, False] Translation: X:10.82, Y:0.29, Z:1.45 [[ 0.77172444 -0.10172345 -0.62776885 10.82450635] [ 0.09968169 0.9942715 -0.03857141 0.29384306] [ 0.62809629 -0.03281056 0.77744358 1.44673293] [ 0. 0. 0. 1. ]] SLAMing on 142.81538475 meters Centerline goodness [0,1] 0.950122219128067 Centerline is valid? [False, True] Translation: X:10.82, Y:0.29, Z:1.45 [[ 0.77147993 -0.09471238 -0.62916475 10.82254819] [ 0.09604787 0.99486254 -0.03198971 0.29014988] [ 0.62896226 -0.03575051 0.77661341 1.45137052] [ 0. 0. 0. 1. ]] SLAMing on 142.84538475 meters Centerline goodness [0,1] 0.9499227202472952 Centerline is valid? [True, False] Translation: X:10.82, Y:0.29, Z:1.45 [[ 0.77144118 -0.0945578 -0.62923551 10.82241622] [ 0.09593788 0.99487652 -0.03188457 0.29047393] [ 0.62902657 -0.03577045 0.7765604 1.45151998] [ 0. 0. 0. 1. ]] SLAMing on 142.87538475 meters Centerline goodness [0,1] 0.9490690875519311 Centerline is valid? [False, False] Translation: X:10.82, Y:0.29, Z:1.45 [[ 0.77145356 -0.08924733 -0.62999549 10.82341227] [ 0.09263095 0.99531874 -0.02757013 0.28971582] [ 0.62950687 -0.03708801 0.77610925 1.45292624] [ 0. 0. 0. 1. ]] SLAMing on 142.90538475 meters Centerline goodness [0,1] 0.9515047079820297 Centerline is valid? [False, True] Translation: X:10.82, Y:0.29, Z:1.46 [[ 0.77131495 -0.08300496 -0.63101777 10.82285763] [ 0.08902988 0.99578236 -0.02216228 0.28745171] [ 0.63019595 -0.03908533 0.77545174 1.45573074] [ 0. 0. 0. 1. ]] SLAMing on 142.93538475 meters Centerline goodness [0,1] 0.9505087455042882 Centerline is valid? [True, True] Translation: X:10.86, Y:0.31, Z:1.45 [[ 7.71232750e-01 -1.12836281e-01 -6.26472681e-01 1.08635402e+01] [ 8.69987561e-02 9.93613168e-01 -7.18615934e-02 3.11478266e-01] [ 6.30580100e-01 9.19670299e-04 7.76123632e-01 1.44791380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.96538475 meters Centerline goodness [0,1] 0.9500015355793741 Centerline is valid? [True, True] Translation: X:10.89, Y:0.31, Z:1.46 [[ 7.70659717e-01 -1.12246102e-01 -6.27283360e-01 1.08856653e+01] [ 8.59967333e-02 9.93679045e-01 -7.21561958e-02 3.14637996e-01] [ 6.31417582e-01 1.66355358e-03 7.75441210e-01 1.46466256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 142.99538475 meters Centerline goodness [0,1] 0.9488011758581621 Centerline is valid? [True, False] Translation: X:10.87, Y:0.31, Z:1.47 [[ 0.76738137 -0.09839515 -0.63359627 10.87448934] [ 0.08448523 0.99505627 -0.05220409 0.30873396] [ 0.63560057 -0.01346908 0.77190058 1.47035871] [ 0. 0. 0. 1. ]] SLAMing on 143.02538475 meters Centerline goodness [0,1] 0.9483815595880334 Centerline is valid? [False, False] Translation: X:10.87, Y:0.31, Z:1.47 [[ 0.77151893 -0.0951403 -0.62905235 10.87171687] [ 0.08653579 0.99525919 -0.04439257 0.30885647] [ 0.63029366 -0.02018584 0.77609435 1.46509654] [ 0. 0. 0. 1. ]] SLAMing on 143.05538475 meters Centerline goodness [0,1] 0.9482252141982864 Centerline is valid? [False, False] Translation: X:10.87, Y:0.31, Z:1.47 [[ 0.77267067 -0.09376274 -0.62784439 10.86981787] [ 0.08719669 0.99533326 -0.04133326 0.30800374] [ 0.62878993 -0.02280896 0.77724062 1.46625064] [ 0. 0. 0. 1. ]] SLAMing on 143.08538475 meters Centerline goodness [0,1] 0.947052001953125 Centerline is valid? [False, False] Translation: X:10.87, Y:0.31, Z:1.46 [[ 0.77655874 -0.09082171 -0.62346446 10.86720456] [ 0.0891527 0.99543873 -0.03396367 0.30840415] [ 0.62370531 -0.02920876 0.78111365 1.46138262] [ 0. 0. 0. 1. ]] SLAMing on 143.11538475 meters Centerline goodness [0,1] 0.9486922141119222 Centerline is valid? [False, False] Translation: X:10.87, Y:0.31, Z:1.46 [[ 0.77647797 -0.0854115 -0.62432911 10.86743981] [ 0.0857739 0.9958759 -0.02956407 0.30862277] [ 0.62427942 -0.03059529 0.78060178 1.46322368] [ 0. 0. 0. 1. ]] SLAMing on 143.14538475 meters Centerline goodness [0,1] 0.9478837265872051 Centerline is valid? [False, False] Translation: X:10.87, Y:0.31, Z:1.47 [[ 0.77626853 -0.08460188 -0.62469968 10.86548309] [ 0.08560222 0.99592157 -0.02850413 0.30774979] [ 0.62456339 -0.03134882 0.78034469 1.4650308 ] [ 0. 0. 0. 1. ]] SLAMing on 143.17538475 meters Centerline goodness [0,1] 0.9505771567436209 Centerline is valid? [False, True] Translation: X:10.86, Y:0.31, Z:1.47 [[ 0.7759365 -0.07821882 -0.62594278 10.86358735] [ 0.08178175 0.99638182 -0.02313049 0.30732878] [ 0.62548725 -0.03324291 0.77952589 1.46851267] [ 0. 0. 0. 1. ]] SLAMing on 143.20538475 meters Centerline goodness [0,1] 0.9513930950938825 Centerline is valid? [True, True] Translation: X:10.90, Y:0.33, Z:1.46 [[ 7.76177039e-01 -1.04300364e-01 -6.21828463e-01 1.09016205e+01] [ 8.00223307e-02 9.94543431e-01 -6.69312331e-02 3.31219414e-01] [ 6.25416365e-01 2.19032340e-03 7.80288134e-01 1.46253610e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.23538475 meters Centerline goodness [0,1] 0.9484203931863608 Centerline is valid? [True, False] Translation: X:10.89, Y:0.34, Z:1.47 [[ 0.77386322 -0.08740416 -0.62729278 10.89469113] [ 0.076616 0.99607733 -0.0442712 0.33535376] [ 0.6287016 -0.01380081 0.77752417 1.46836114] [ 0. 0. 0. 1. ]] SLAMing on 143.26538475 meters Centerline goodness [0,1] 0.9540864813494891 Centerline is valid? [False, True] Translation: X:10.88, Y:0.34, Z:1.47 [[ 0.77836567 -0.08511117 -0.62201525 10.87970047] [ 0.07947032 0.99615554 -0.03685921 0.33686886] [ 0.62276107 -0.02074181 0.78213709 1.46759101] [ 0. 0. 0. 1. ]] SLAMing on 143.29538475 meters Centerline goodness [0,1] 0.9543353286315415 Centerline is valid? [True, True] Translation: X:10.91, Y:0.35, Z:1.47 [[ 7.78271152e-01 -1.03797095e-01 -6.19290059e-01 1.09113654e+01] [ 7.94377025e-02 9.94594416e-01 -6.68700201e-02 3.54696678e-01] [ 6.22883348e-01 2.84802816e-03 7.82309544e-01 1.47067881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.32538475 meters Centerline goodness [0,1] 0.9545763112068711 Centerline is valid? [True, True] Translation: X:10.93, Y:0.36, Z:1.49 [[ 7.77860054e-01 -1.04279914e-01 -6.19725290e-01 1.09345703e+01] [ 7.98372734e-02 9.94544189e-01 -6.71406466e-02 3.61681455e-01] [ 6.23345607e-01 2.74884954e-03 7.81941621e-01 1.48732642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.35538475 meters Centerline goodness [0,1] 0.9516204790981682 Centerline is valid? [True, True] Translation: X:10.96, Y:0.37, Z:1.50 [[ 7.77198684e-01 -1.03185312e-01 -6.20737462e-01 1.09574926e+01] [ 7.81903885e-02 9.94654579e-01 -6.74428062e-02 3.72603575e-01] [ 6.24378466e-01 3.88075697e-03 7.81112330e-01 1.50136507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.38538475000001 meters Centerline goodness [0,1] 0.9539100426975493 Centerline is valid? [True, True] Translation: X:10.98, Y:0.38, Z:1.52 [[ 7.77262101e-01 -1.02195260e-01 -6.20821838e-01 1.09784727e+01] [ 7.68579996e-02 9.94752929e-01 -6.75237594e-02 3.78076217e-01] [ 6.24464950e-01 4.76853456e-03 7.81038275e-01 1.52036053e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.41538475000002 meters Centerline goodness [0,1] 0.9505278771485909 Centerline is valid? [True, True] Translation: X:11.00, Y:0.39, Z:1.53 [[ 7.76132845e-01 -1.00791741e-01 -6.22461912e-01 1.10024803e+01] [ 7.47454055e-02 9.94888401e-01 -6.78984031e-02 3.87637474e-01] [ 6.26123735e-01 6.17201280e-03 7.79699285e-01 1.53393054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.44538475000002 meters Centerline goodness [0,1] 0.9488801206916561 Centerline is valid? [True, False] Translation: X:10.99, Y:0.38, Z:1.54 [[ 7.72385530e-01 -8.74894270e-02 -6.29099510e-01 1.09932618e+01] [ 7.39582290e-02 9.96118583e-01 -4.77278676e-02 3.82886764e-01] [ 6.30833396e-01 -9.66277134e-03 7.75858142e-01 1.54131489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.47538475000002 meters Centerline goodness [0,1] 0.9499506473901178 Centerline is valid? [False, False] Translation: X:10.99, Y:0.38, Z:1.54 [[ 0.7721592 -0.08167217 -0.63015857 10.99348474] [ 0.07045045 0.996595 -0.0428386 0.38099114] [ 0.6315116 -0.01131674 0.77528384 1.54367403] [ 0. 0. 0. 1. ]] SLAMing on 143.50538475 meters Centerline goodness [0,1] 0.9450841965164053 Centerline is valid? [False, False] Translation: X:10.99, Y:0.38, Z:1.54 [[ 0.77286155 -0.07666857 -0.62992614 10.99213177] [ 0.06730516 0.99697906 -0.03876548 0.38003232] [ 0.63099527 -0.01243693 0.77568698 1.5437598 ] [ 0. 0. 0. 1. ]] SLAMing on 143.53538475 meters Centerline goodness [0,1] 0.9486846659743856 Centerline is valid? [False, False] Translation: X:10.99, Y:0.38, Z:1.54 [[ 0.7732914 -0.06971217 -0.6302068 10.98942114] [ 0.06243123 0.99747903 -0.03373321 0.38061959] [ 0.63096969 -0.01325899 0.77569418 1.54446316] [ 0. 0. 0. 1. ]] SLAMing on 143.56538475 meters Centerline goodness [0,1] 0.9486846659743856 Centerline is valid? [False, False] Translation: X:10.99, Y:0.38, Z:1.54 [[ 0.7732914 -0.06971217 -0.6302068 10.98942114] [ 0.06243123 0.99747903 -0.03373321 0.38061959] [ 0.63096969 -0.01325899 0.77569418 1.54446316] [ 0. 0. 0. 1. ]] SLAMing on 143.59538475 meters Centerline goodness [0,1] 0.9504740017236426 Centerline is valid? [False, True] Translation: X:10.98, Y:0.38, Z:1.54 [[ 0.77385488 -0.06190057 -0.63033083 10.98497563] [ 0.05675069 0.99798627 -0.02833293 0.38112525] [ 0.63081534 -0.01384613 0.77580944 1.54495597] [ 0. 0. 0. 1. ]] SLAMing on 143.62538475 meters Centerline goodness [0,1] 0.9508805248618785 Centerline is valid? [True, True] Translation: X:11.02, Y:0.40, Z:1.54 [[ 0.77557999 -0.08274529 -0.6258026 11.01858032] [ 0.05268948 0.99639786 -0.0664464 0.40371333] [ 0.6290465 0.01856128 0.77714605 1.54368496] [ 0. 0. 0. 1. ]] SLAMing on 143.65538475 meters Centerline goodness [0,1] 0.9483501954472292 Centerline is valid? [True, False] Translation: X:11.01, Y:0.40, Z:1.55 [[ 0.77670612 -0.07004354 -0.62595647 11.00905508] [ 0.04524008 0.99743458 -0.05547606 0.39926415] [ 0.62823637 0.01477028 0.77788232 1.54765008] [ 0. 0. 0. 1. ]] SLAMing on 143.68538475 meters Centerline goodness [0,1] 0.9398707824838478 Centerline is valid? [False, False] Translation: X:11.00, Y:0.40, Z:1.54 [[ 7.81152769e-01 -6.36797019e-02 -6.21083929e-01 1.10011867e+01] [ 4.46982307e-02 9.97936287e-01 -4.61002728e-02 3.97051366e-01] [ 6.22737842e-01 8.25000299e-03 7.82387064e-01 1.54323720e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.71538475 meters Centerline goodness [0,1] 0.9208909811125783 Centerline is valid? [False, False] Translation: X:10.99, Y:0.39, Z:1.54 [[ 7.84879649e-01 -5.50281065e-02 -6.17200003e-01 1.09917965e+01] [ 4.12807775e-02 9.98479709e-01 -3.65262564e-02 3.93568918e-01] [ 6.18271650e-01 3.19021932e-03 7.85958007e-01 1.54141166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.74538475 meters Centerline goodness [0,1] 0.9110785075227985 Centerline is valid? [False, False] Translation: X:10.98, Y:0.39, Z:1.54 [[ 7.89200791e-01 -5.07201026e-02 -6.12037239e-01 1.09847479e+01] [ 4.20553945e-02 9.98707717e-01 -2.85348769e-02 3.91319564e-01] [ 6.12693606e-01 -3.21972012e-03 7.90313975e-01 1.53668433e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.77538475 meters Centerline goodness [0,1] 0.9305949829094491 Centerline is valid? [False, False] Translation: X:10.97, Y:0.38, Z:1.54 [[ 0.78614764 -0.04276812 -0.61655719 10.97373539] [ 0.04441587 0.99893292 -0.01265909 0.38315138] [ 0.61644068 -0.01743301 0.78720834 1.54019738] [ 0. 0. 0. 1. ]] SLAMing on 143.80538475 meters Centerline goodness [0,1] 0.9400985792983474 Centerline is valid? [False, False] Translation: X:10.98, Y:0.38, Z:1.54 [[ 0.78579523 -0.04294795 -0.61699379 10.97518553] [ 0.04499866 0.99891227 -0.01222297 0.38052503] [ 0.61684762 -0.01815915 0.78687309 1.54128936] [ 0. 0. 0. 1. ]] SLAMing on 143.83538475 meters Centerline goodness [0,1] 0.9365747460087083 Centerline is valid? [False, False] Translation: X:10.97, Y:0.37, Z:1.54 [[ 7.82884891e-01 -3.97891943e-02 -6.20892959e-01 1.09688040e+01] [ 5.13178825e-02 9.98682119e-01 7.07429388e-04 3.73576550e-01] [ 6.20046548e-01 -3.24167477e-02 7.83895039e-01 1.54456073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.86538475 meters Centerline goodness [0,1] 0.9512643275877155 Centerline is valid? [False, True] Translation: X:10.97, Y:0.37, Z:1.54 [[ 7.87087911e-01 -4.37103736e-02 -6.15290195e-01 1.09659906e+01] [ 5.77486552e-02 9.98326791e-01 2.95150387e-03 3.69357565e-01] [ 6.14131674e-01 -3.78552743e-02 7.88295163e-01 1.53781921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 143.89538475 meters Centerline goodness [0,1] 0.9557203141484 Centerline is valid? [True, True] Translation: X:11.01, Y:0.40, Z:1.52 [[ 0.78847974 -0.08682144 -0.60890208 11.01210887] [ 0.05880056 0.99609302 -0.06588775 0.39505073] [ 0.61224358 0.01614737 0.79050431 1.52144546] [ 0. 0. 0. 1. ]] SLAMing on 143.92538475 meters Centerline goodness [0,1] 0.9543500511770727 Centerline is valid? [True, True] Translation: X:11.03, Y:0.39, Z:1.54 [[ 0.78851352 -0.08797326 -0.60869298 11.03433861] [ 0.06013178 0.9960025 -0.06605443 0.39435542] [ 0.61207075 0.01548301 0.79065142 1.53822505] [ 0. 0. 0. 1. ]] SLAMing on 143.95538475 meters Centerline goodness [0,1] 0.9560919472395173 Centerline is valid? [True, True] Translation: X:11.06, Y:0.39, Z:1.56 [[ 0.78845804 -0.09000498 -0.60846777 11.0571518 ] [ 0.06266724 0.99584309 -0.06610104 0.39048334] [ 0.61188785 0.01398689 0.79082086 1.55650255] [ 0. 0. 0. 1. ]] SLAMing on 143.98538475 meters Centerline goodness [0,1] 0.9551060243101765 Centerline is valid? [True, True] Translation: X:11.08, Y:0.39, Z:1.57 [[ 0.78780239 -0.09080265 -0.60919806 11.0807666 ] [ 0.0634505 0.99577559 -0.06637022 0.39011645] [ 0.61265115 0.0136327 0.79023587 1.57296895] [ 0. 0. 0. 1. ]] SLAMing on 144.01538475 meters Centerline goodness [0,1] 0.9514900957706264 Centerline is valid? [True, True] Translation: X:11.10, Y:0.39, Z:1.59 [[ 0.78722165 -0.0915503 -0.60983654 11.10448688] [ 0.064161 0.99571103 -0.0666551 0.3884913 ] [ 0.61332327 0.01334461 0.78971925 1.58757796] [ 0. 0. 0. 1. ]] SLAMing on 144.04538475 meters Centerline goodness [0,1] 0.9530493996774386 Centerline is valid? [True, True] Translation: X:11.13, Y:0.38, Z:1.60 [[ 0.78630675 -0.09267692 -0.61084587 11.12762794] [ 0.06538216 0.99561576 -0.06689112 0.38378827] [ 0.61436704 0.01265851 0.78891882 1.60435563] [ 0. 0. 0. 1. ]] SLAMing on 144.07538475 meters Centerline goodness [0,1] 0.9507575757575758 Centerline is valid? [True, True] Translation: X:11.15, Y:0.39, Z:1.62 [[ 0.78739987 -0.09257966 -0.60945094 11.15088611] [ 0.06523257 0.99562081 -0.0669621 0.38786798] [ 0.61298136 0.01296989 0.78999091 1.61993919] [ 0. 0. 0. 1. ]] SLAMing on 144.10538475 meters Centerline goodness [0,1] 0.9528279467680608 Centerline is valid? [True, True] Translation: X:11.17, Y:0.39, Z:1.64 [[ 0.78864297 -0.09077116 -0.60811419 11.17100437] [ 0.06301098 0.99576684 -0.06691792 0.3910553 ] [ 0.61161416 0.01445648 0.7910241 1.63888109] [ 0. 0. 0. 1. ]] SLAMing on 144.13538475000001 meters Centerline goodness [0,1] 0.9493999641769658 Centerline is valid? [True, False] Translation: X:11.16, Y:0.39, Z:1.64 [[ 7.93145181e-01 -8.60680993e-02 -6.02920396e-01 1.11629918e+01] [ 6.57663779e-02 9.96278957e-01 -5.57047841e-02 3.88034958e-01] [ 6.05471309e-01 4.53009047e-03 7.95854241e-01 1.63529933e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.16538475000002 meters Centerline goodness [0,1] 0.9609370337212773 Centerline is valid? [False, True] Translation: X:11.16, Y:0.39, Z:1.64 [[ 7.97426371e-01 -8.47253869e-02 -5.97438526e-01 1.11551717e+01] [ 7.25312833e-02 9.96373371e-01 -4.44895336e-02 3.85745811e-01] [ 5.99041231e-01 -7.85585569e-03 8.00679642e-01 1.63774119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.19538475000002 meters Centerline goodness [0,1] 0.9624190322676935 Centerline is valid? [True, True] Translation: X:11.18, Y:0.40, Z:1.65 [[ 7.98354862e-01 -1.00857094e-01 -5.93681195e-01 1.11846106e+01] [ 7.57379983e-02 9.94863272e-01 -6.71626781e-02 3.97180115e-01] [ 5.97405449e-01 8.65542528e-03 8.01892644e-01 1.64548480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.22538475000002 meters Centerline goodness [0,1] 0.9603545192279095 Centerline is valid? [True, True] Translation: X:11.21, Y:0.40, Z:1.66 [[ 7.96881853e-01 -1.02285159e-01 -5.95413351e-01 1.12084039e+01] [ 7.72086947e-02 9.94724088e-01 -6.75485416e-02 4.02296152e-01] [ 5.99181216e-01 7.85711937e-03 8.00574878e-01 1.65941660e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.25538475 meters Centerline goodness [0,1] 0.9510351141431145 Centerline is valid? [True, True] Translation: X:11.24, Y:0.41, Z:1.67 [[ 7.91919842e-01 -1.02669576e-01 -6.01931825e-01 1.12375020e+01] [ 7.69995620e-02 9.94685052e-01 -6.83572617e-02 4.14188194e-01] [ 6.05750800e-01 7.78498504e-03 7.95616341e-01 1.66512992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.28538475 meters Centerline goodness [0,1] 0.9437186224714483 Centerline is valid? [True, False] Translation: X:11.23, Y:0.42, Z:1.66 [[ 0.79239038 -0.09343172 -0.60281673 11.2280801 ] [ 0.08227592 0.99554045 -0.04615068 0.4163357 ] [ 0.60444037 -0.01302795 0.79654385 1.661645 ] [ 0. 0. 0. 1. ]] SLAMing on 144.31538475 meters Centerline goodness [0,1] 0.9430689442995692 Centerline is valid? [False, False] Translation: X:11.22, Y:0.42, Z:1.66 [[ 0.79545207 -0.08985158 -0.59931852 11.22320863] [ 0.08181577 0.9958159 -0.04070475 0.41587643] [ 0.6004683 -0.01665502 0.7994751 1.65821805] [ 0. 0. 0. 1. ]] SLAMing on 144.34538475 meters Centerline goodness [0,1] 0.9428479644880556 Centerline is valid? [False, False] Translation: X:11.22, Y:0.41, Z:1.66 [[ 0.79494315 -0.08246542 -0.60105312 11.21972651] [ 0.07794298 0.99639077 -0.03362023 0.41280371] [ 0.60165629 -0.0201217 0.79850162 1.66438133] [ 0. 0. 0. 1. ]] SLAMing on 144.37538475 meters Centerline goodness [0,1] 0.943162205645751 Centerline is valid? [False, False] Translation: X:11.22, Y:0.41, Z:1.67 [[ 0.79506674 -0.08096758 -0.60109327 11.21668873] [ 0.07690569 0.99650831 -0.03250695 0.41276547] [ 0.60162645 -0.02038229 0.79851748 1.66521499] [ 0. 0. 0. 1. ]] SLAMing on 144.40538475 meters Centerline goodness [0,1] 0.942231017723582 Centerline is valid? [False, False] Translation: X:11.22, Y:0.41, Z:1.67 [[ 0.79505163 -0.07478892 -0.60191322 11.21549827] [ 0.07293691 0.99695643 -0.02753334 0.41161992] [ 0.60214044 -0.02201126 0.79808671 1.6672682 ] [ 0. 0. 0. 1. ]] SLAMing on 144.43538475 meters Centerline goodness [0,1] 0.9461596385542168 Centerline is valid? [False, False] Translation: X:11.21, Y:0.41, Z:1.67 [[ 0.79572987 -0.06691366 -0.60194396 11.21123762] [ 0.06739415 0.9974884 -0.02179282 0.412207 ] [ 0.60189035 -0.0232263 0.7982409 1.66789117] [ 0. 0. 0. 1. ]] SLAMing on 144.46538475 meters Centerline goodness [0,1] 0.9493582670306058 Centerline is valid? [False, False] Translation: X:11.20, Y:0.41, Z:1.66 [[ 8.00883165e-01 -5.86866615e-02 -5.95937942e-01 1.11998008e+01] [ 6.53030545e-02 9.97810221e-01 -1.05011499e-02 4.10973177e-01] [ 5.95249247e-01 -3.05063737e-02 8.02961826e-01 1.66237954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.49538475 meters Centerline goodness [0,1] 0.9479331929500678 Centerline is valid? [False, False] Translation: X:11.20, Y:0.41, Z:1.67 [[ 8.00611610e-01 -5.09993824e-02 -5.97009307e-01 1.11967147e+01] [ 6.11605638e-02 9.98122663e-01 -3.24581525e-03 4.06954929e-01] [ 5.96054053e-01 -3.39147884e-02 8.02227744e-01 1.66718155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.52538475 meters Centerline goodness [0,1] 0.9465291896601801 Centerline is valid? [False, False] Translation: X:11.19, Y:0.40, Z:1.67 [[ 8.01006065e-01 -4.78638094e-02 -5.96739759e-01 1.11908852e+01] [ 5.91780113e-02 9.98247245e-01 -6.33391572e-04 4.03272733e-01] [ 5.95724137e-01 -3.48065217e-02 8.02434583e-01 1.66848971e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.55538475 meters Centerline goodness [0,1] 0.9477434679334917 Centerline is valid? [False, False] Translation: X:11.19, Y:0.40, Z:1.67 [[ 8.01170259e-01 -4.64332734e-02 -5.96632355e-01 1.11883860e+01] [ 5.83329569e-02 9.98296980e-01 6.37634798e-04 4.01296582e-01] [ 5.95586671e-01 -3.53141835e-02 8.02514440e-01 1.66914149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.58538475 meters Centerline goodness [0,1] 0.9542011522826309 Centerline is valid? [False, True] Translation: X:11.19, Y:0.40, Z:1.67 [[ 8.01513088e-01 -4.47343903e-02 -5.96301605e-01 1.11855745e+01] [ 5.74249020e-02 9.98347199e-01 2.29138624e-03 3.98081858e-01] [ 5.95213534e-01 -3.60791373e-02 8.02757214e-01 1.66964373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.61538475 meters Centerline goodness [0,1] 0.9487980839442708 Centerline is valid? [True, False] Translation: X:11.19, Y:0.40, Z:1.67 [[ 8.01349734e-01 -4.47276447e-02 -5.96521618e-01 1.11864820e+01] [ 5.76121278e-02 9.98335815e-01 2.53847254e-03 3.97076741e-01] [ 5.95415356e-01 -3.64010840e-02 8.02592995e-01 1.67006927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.64538475 meters Centerline goodness [0,1] 0.945117147608905 Centerline is valid? [False, False] Translation: X:11.19, Y:0.40, Z:1.67 [[ 8.01327912e-01 -4.55317847e-02 -5.96490096e-01 1.11907607e+01] [ 5.84164261e-02 9.98289711e-01 2.27464053e-03 3.95856481e-01] [ 5.95366357e-01 -3.66675526e-02 8.02617213e-01 1.66930603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.67538475 meters Centerline goodness [0,1] 0.9466565393941164 Centerline is valid? [False, False] Translation: X:11.19, Y:0.39, Z:1.67 [[ 8.01142381e-01 -4.57531639e-02 -5.96722325e-01 1.11924080e+01] [ 5.87311536e-02 9.98271165e-01 2.30920143e-03 3.94900649e-01] [ 5.95585037e-01 -3.68961896e-02 8.02444475e-01 1.66952605e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.70538475 meters Centerline goodness [0,1] 0.9472570740163958 Centerline is valid? [False, False] Translation: X:11.19, Y:0.39, Z:1.67 [[ 8.00870510e-01 -4.59409982e-02 -5.97072735e-01 1.11941446e+01] [ 5.93242051e-02 9.98234938e-01 2.76531945e-03 3.91756850e-01] [ 5.95891824e-01 -3.76355282e-02 8.02182337e-01 1.67042334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.73538475 meters Centerline goodness [0,1] 0.9445212531254596 Centerline is valid? [False, False] Translation: X:11.19, Y:0.39, Z:1.67 [[ 8.00706457e-01 -4.55778145e-02 -5.97320544e-01 1.11942658e+01] [ 5.93529840e-02 9.98231289e-01 3.39368380e-03 3.89572106e-01] [ 5.96109380e-01 -3.81701013e-02 8.01995418e-01 1.67128716e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.76538475 meters Centerline goodness [0,1] 0.9427366060892141 Centerline is valid? [False, False] Translation: X:11.19, Y:0.39, Z:1.67 [[ 8.00370525e-01 -4.49518553e-02 -5.97817993e-01 1.11946287e+01] [ 5.95510496e-02 9.98214341e-01 4.66917733e-03 3.85289181e-01] [ 5.96540606e-01 -3.93377609e-02 8.01618267e-01 1.67311872e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.79538475 meters Centerline goodness [0,1] 0.9443339960238568 Centerline is valid? [False, False] Translation: X:11.20, Y:0.38, Z:1.67 [[ 8.00255369e-01 -4.47907734e-02 -5.97984222e-01 1.11952292e+01] [ 5.96567913e-02 9.98206085e-01 5.06743298e-03 3.83823238e-01] [ 5.96684515e-01 -3.97290604e-02 8.01491853e-01 1.67358542e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.82538475 meters Centerline goodness [0,1] 0.9458711501264693 Centerline is valid? [False, False] Translation: X:11.19, Y:0.38, Z:1.67 [[ 8.00256234e-01 -4.94744614e-02 -5.97613787e-01 1.11941332e+01] [ 6.31364697e-02 9.98003049e-01 1.92380124e-03 3.81710092e-01] [ 5.96325202e-01 -3.92707587e-02 8.01781804e-01 1.67360846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.85538475 meters Centerline goodness [0,1] 0.9480717034032272 Centerline is valid? [False, False] Translation: X:11.19, Y:0.38, Z:1.68 [[ 8.00075403e-01 -4.87332225e-02 -5.97916735e-01 1.11933099e+01] [ 6.31237375e-02 9.98000819e-01 3.12410354e-03 3.79134310e-01] [ 5.96569144e-01 -4.02422575e-02 8.01552130e-01 1.67522136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.88538475000001 meters Centerline goodness [0,1] 0.9500074928817623 Centerline is valid? [False, True] Translation: X:11.19, Y:0.38, Z:1.68 [[ 8.00124218e-01 -4.72775684e-02 -5.97968283e-01 1.11909761e+01] [ 6.24833281e-02 9.98034947e-01 4.69884214e-03 3.76448599e-01] [ 5.96571094e-01 -4.11227058e-02 8.01505991e-01 1.67651153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.91538475000002 meters Centerline goodness [0,1] 0.9490386634272173 Centerline is valid? [True, False] Translation: X:11.19, Y:0.37, Z:1.68 [[ 7.99957992e-01 -4.68556170e-02 -5.98223839e-01 1.11904974e+01] [ 6.24866655e-02 9.98031254e-01 5.38817917e-03 3.74885145e-01] [ 5.96793622e-01 -4.16913299e-02 8.01310929e-01 1.67763394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.94538475000002 meters Centerline goodness [0,1] 0.9486848426615422 Centerline is valid? [False, False] Translation: X:11.19, Y:0.37, Z:1.68 [[ 7.99631782e-01 -4.76506549e-02 -5.98597050e-01 1.11929739e+01] [ 6.32159098e-02 9.97987335e-01 5.00286558e-03 3.74663309e-01] [ 5.97153885e-01 -4.18413075e-02 8.01034670e-01 1.67795261e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 144.97538475000002 meters Centerline goodness [0,1] 0.9485272061911333 Centerline is valid? [False, False] Translation: X:11.19, Y:0.38, Z:1.68 [[ 7.99458636e-01 -4.83198672e-02 -5.98774649e-01 1.11949909e+01] [ 6.37363993e-02 9.97956327e-01 4.56515263e-03 3.75362725e-01] [ 5.97330362e-01 -4.18133908e-02 8.00904538e-01 1.67786953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.00538475 meters Centerline goodness [0,1] 0.9482614160033515 Centerline is valid? [False, False] Translation: X:11.20, Y:0.38, Z:1.68 [[ 7.99261298e-01 -4.94016715e-02 -5.98949792e-01 1.11980173e+01] [ 6.44494756e-02 9.97914129e-01 3.69537732e-03 3.76845950e-01] [ 5.97517902e-01 -4.15555720e-02 8.00778054e-01 1.67733172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.03538475 meters Centerline goodness [0,1] 0.9444444444444444 Centerline is valid? [False, False] Translation: X:11.20, Y:0.38, Z:1.68 [[ 7.99241607e-01 -4.92182983e-02 -5.98991163e-01 1.11981307e+01] [ 6.44101331e-02 9.97915710e-01 3.94587651e-03 3.76266141e-01] [ 5.97548483e-01 -4.17348092e-02 8.00745913e-01 1.67752741e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.06538475 meters Centerline goodness [0,1] 0.9473146087688699 Centerline is valid? [False, False] Translation: X:11.20, Y:0.37, Z:1.68 [[ 7.99227888e-01 -4.84749661e-02 -5.99070079e-01 1.11969864e+01] [ 6.40610180e-02 9.97934846e-01 4.71479776e-03 3.74563514e-01] [ 5.97604358e-01 -4.21452370e-02 8.00682715e-01 1.67825988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.09538475 meters Centerline goodness [0,1] 0.9424041320080478 Centerline is valid? [False, False] Translation: X:11.20, Y:0.37, Z:1.68 [[ 7.99175711e-01 -4.82679529e-02 -5.99156397e-01 1.11973617e+01] [ 6.39711011e-02 9.97939559e-01 4.93302019e-03 3.74258759e-01] [ 5.97683764e-01 -4.22710443e-02 8.00616811e-01 1.67839836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.12538475 meters Centerline goodness [0,1] 0.9446366782006921 Centerline is valid? [False, False] Translation: X:11.20, Y:0.37, Z:1.68 [[ 7.99105688e-01 -4.80890783e-02 -5.99264166e-01 1.11977150e+01] [ 6.39158169e-02 9.97942012e-01 5.14861631e-03 3.73723011e-01] [ 5.97783295e-01 -4.24167473e-02 8.00534791e-01 1.67859296e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.15538475 meters Centerline goodness [0,1] 0.9422331701162546 Centerline is valid? [False, False] Translation: X:11.20, Y:0.37, Z:1.68 [[ 7.99015284e-01 -4.76154799e-02 -5.99422507e-01 1.11970572e+01] [ 6.37273280e-02 9.97951217e-01 5.67409963e-03 3.73032563e-01] [ 5.97924245e-01 -4.27332870e-02 8.00412683e-01 1.67930967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.18538475 meters Centerline goodness [0,1] 0.9407069555302167 Centerline is valid? [False, False] Translation: X:11.20, Y:0.37, Z:1.68 [[ 7.98850988e-01 -4.67831307e-02 -5.99706960e-01 1.11956495e+01] [ 6.34872459e-02 9.97960035e-01 6.71853858e-03 3.71666752e-01] [ 5.98169264e-01 -4.34408544e-02 8.00191492e-01 1.68076446e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.21538475 meters Centerline goodness [0,1] 0.9434337949135668 Centerline is valid? [False, False] Translation: X:11.20, Y:0.37, Z:1.68 [[ 7.98738485e-01 -4.66026876e-02 -5.99870838e-01 1.11952095e+01] [ 6.35880538e-02 9.97950691e-01 7.13993946e-03 3.70912592e-01] [ 5.98308777e-01 -4.38475635e-02 8.00064997e-01 1.68161018e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.24538475 meters Centerline goodness [0,1] 0.9474366706875754 Centerline is valid? [False, False] Translation: X:11.19, Y:0.37, Z:1.68 [[ 7.98658519e-01 -4.61298781e-02 -6.00013837e-01 1.11946605e+01] [ 6.34704022e-02 9.97953557e-01 7.75932367e-03 3.70103187e-01] [ 5.98428006e-01 -4.42801695e-02 7.99951991e-01 1.68238022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.27538475 meters Centerline goodness [0,1] 0.9466457906780682 Centerline is valid? [False, False] Translation: X:11.19, Y:0.37, Z:1.68 [[ 7.98555104e-01 -4.61239464e-02 -6.00151920e-01 1.11949291e+01] [ 6.37729552e-02 9.97931066e-01 8.16076699e-03 3.68942018e-01] [ 5.98533838e-01 -4.47902836e-02 7.99844407e-01 1.68309074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.30538475 meters Centerline goodness [0,1] 0.9452952726174294 Centerline is valid? [False, False] Translation: X:11.19, Y:0.37, Z:1.68 [[ 7.98574294e-01 -4.55863418e-02 -6.00167461e-01 1.11937642e+01] [ 6.36807068e-02 9.97930336e-01 8.93381008e-03 3.67274411e-01] [ 5.98518056e-01 -4.53533992e-02 7.99824484e-01 1.68391681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.33538475 meters Centerline goodness [0,1] 0.9482509047044632 Centerline is valid? [False, False] Translation: X:11.19, Y:0.37, Z:1.68 [[ 7.98553279e-01 -4.48048930e-02 -6.00254265e-01 1.11925544e+01] [ 6.33116845e-02 9.97946299e-01 9.73733370e-03 3.66441891e-01] [ 5.98585242e-01 -4.57788884e-02 7.99749962e-01 1.68470754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.36538475 meters Centerline goodness [0,1] 0.9477713559475898 Centerline is valid? [False, False] Translation: X:11.19, Y:0.37, Z:1.68 [[ 7.98754922e-01 -4.41555637e-02 -6.00034050e-01 1.11914482e+01] [ 6.28188832e-02 9.97972981e-01 1.01841430e-02 3.66129466e-01] [ 5.98368083e-01 -4.58281032e-02 7.99909634e-01 1.68449396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.39538475 meters Centerline goodness [0,1] 0.946614701350494 Centerline is valid? [False, False] Translation: X:11.19, Y:0.36, Z:1.69 [[ 0.79878861 -0.04329037 -0.60005224 11.18995151] [ 0.06263246 0.9979718 0.01137822 0.36395238] [ 0.59834265 -0.04667154 0.79987989 1.68561522] [ 0. 0. 0. 1. ]] SLAMing on 145.42538475 meters Centerline goodness [0,1] 0.9508454581203303 Centerline is valid? [False, True] Translation: X:11.19, Y:0.36, Z:1.69 [[ 0.79872741 -0.04285917 -0.60016466 11.18979601] [ 0.06258268 0.99796739 0.01202078 0.36276409] [ 0.59842956 -0.04716124 0.79978615 1.68627912] [ 0. 0. 0. 1. ]] SLAMing on 145.45538475 meters Centerline goodness [0,1] 0.947069541451564 Centerline is valid? [True, False] Translation: X:11.19, Y:0.36, Z:1.69 [[ 0.79830071 -0.04372692 -0.60066957 11.19295185] [ 0.06356254 0.99790773 0.01183111 0.36069076] [ 0.59889546 -0.04762486 0.79940984 1.68698551] [ 0. 0. 0. 1. ]] SLAMing on 145.48538475 meters Centerline goodness [0,1] 0.947069541451564 Centerline is valid? [False, False] Translation: X:11.19, Y:0.36, Z:1.69 [[ 0.79830071 -0.04372692 -0.60066957 11.19295185] [ 0.06356254 0.99790773 0.01183111 0.36069076] [ 0.59889546 -0.04762486 0.79940984 1.68698551] [ 0. 0. 0. 1. ]] SLAMing on 145.51538475 meters Centerline goodness [0,1] 0.9449242746791557 Centerline is valid? [False, False] Translation: X:11.19, Y:0.36, Z:1.69 [[ 0.79809898 -0.04386198 -0.60092774 11.19450763] [ 0.06402936 0.9978734 0.01220291 0.3581212 ] [ 0.59911457 -0.04821615 0.7992102 1.68766299] [ 0. 0. 0. 1. ]] SLAMing on 145.54538475 meters Centerline goodness [0,1] 0.9470188587271121 Centerline is valid? [False, False] Translation: X:11.19, Y:0.36, Z:1.69 [[ 0.79800792 -0.04353501 -0.60107243 11.19452382] [ 0.06399106 0.99786988 0.0126825 0.3569117 ] [ 0.59923994 -0.048584 0.79909392 1.68821331] [ 0. 0. 0. 1. ]] SLAMing on 145.57538475 meters Centerline goodness [0,1] 0.9496299467857361 Centerline is valid? [False, False] Translation: X:11.19, Y:0.35, Z:1.69 [[ 0.7978441 -0.04317223 -0.60131601 11.19480336] [ 0.0640919 0.99785407 0.01339688 0.35446618] [ 0.59944726 -0.04922811 0.79889898 1.68917183] [ 0. 0. 0. 1. ]] SLAMing on 145.60538475 meters Centerline goodness [0,1] 0.94502442002442 Centerline is valid? [False, False] Translation: X:11.19, Y:0.35, Z:1.69 [[ 0.79778369 -0.04252617 -0.60144219 11.19410752] [ 0.06388321 0.9978566 0.01418251 0.35282227] [ 0.59954993 -0.04973663 0.79879043 1.69001479] [ 0. 0. 0. 1. ]] SLAMing on 145.63538475000001 meters Centerline goodness [0,1] 0.9469351531658353 Centerline is valid? [False, False] Translation: X:11.19, Y:0.35, Z:1.69 [[ 0.79749736 -0.0422729 -0.60183966 11.19433606] [ 0.06400923 0.99784058 0.0147308 0.35087686] [ 0.59991732 -0.05027107 0.79848108 1.69121314] [ 0. 0. 0. 1. ]] SLAMing on 145.66538475000002 meters Centerline goodness [0,1] 0.9457971369142297 Centerline is valid? [False, False] Translation: X:11.20, Y:0.35, Z:1.69 [[ 0.79731422 -0.04257525 -0.60206095 11.19559102] [ 0.06435918 0.99781897 0.01466978 0.3502523 ] [ 0.60012327 -0.05044457 0.79831536 1.69154629] [ 0. 0. 0. 1. ]] SLAMing on 145.69538475000002 meters Centerline goodness [0,1] 0.9435399963278046 Centerline is valid? [False, False] Translation: X:11.20, Y:0.35, Z:1.69 [[ 0.7971354 -0.04325763 -0.60224906 11.1971648 ] [ 0.06498268 0.9977833 0.01434333 0.35026527] [ 0.6002936 -0.05056933 0.79817939 1.69176935] [ 0. 0. 0. 1. ]] SLAMing on 145.72538475000002 meters Centerline goodness [0,1] 0.9463903661593007 Centerline is valid? [False, False] Translation: X:11.20, Y:0.35, Z:1.69 [[ 0.79710406 -0.043129 -0.60229977 11.19687868] [ 0.06492767 0.99778493 0.01447891 0.35080447] [ 0.60034117 -0.05064712 0.79813868 1.69200368] [ 0. 0. 0. 1. ]] SLAMing on 145.75538475 meters Centerline goodness [0,1] 0.9519970572908684 Centerline is valid? [False, True] Translation: X:11.19, Y:0.35, Z:1.69 [[ 0.7972454 -0.04171773 -0.6022121 11.19397428] [ 0.06449912 0.99778517 0.01626719 0.34857602] [ 0.60019967 -0.0518111 0.79817039 1.69365692] [ 0. 0. 0. 1. ]] SLAMing on 145.78538475 meters Centerline goodness [0,1] 0.9521972132904609 Centerline is valid? [True, True] Translation: X:11.24, Y:0.38, Z:1.67 [[ 7.98922293e-01 -8.03307534e-02 -5.96045417e-01 1.12405533e+01] [ 6.32734365e-02 9.96766538e-01 -4.95271788e-02 3.75375579e-01] [ 5.98096682e-01 1.85452542e-03 8.01421811e-01 1.67267670e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.81538475 meters Centerline goodness [0,1] 0.9551595728310713 Centerline is valid? [True, True] Translation: X:11.26, Y:0.38, Z:1.69 [[ 8.00360983e-01 -8.07099320e-02 -5.94060774e-01 1.12610551e+01] [ 6.38021544e-02 9.96736211e-01 -4.94591768e-02 3.75347267e-01] [ 5.96113732e-01 1.68283810e-03 8.02898241e-01 1.69171007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.84538475 meters Centerline goodness [0,1] 0.9559257437914925 Centerline is valid? [True, True] Translation: X:11.28, Y:0.38, Z:1.71 [[ 8.01012671e-01 -8.17458911e-02 -5.93039889e-01 1.12835395e+01] [ 6.51047011e-02 9.96652706e-01 -4.94445207e-02 3.76164512e-01] [ 5.95096697e-01 9.96002813e-04 8.03653488e-01 1.70955149e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.87538475 meters Centerline goodness [0,1] 0.9550340930032557 Centerline is valid? [True, True] Translation: X:11.31, Y:0.38, Z:1.72 [[ 8.00780248e-01 -8.15713120e-02 -5.93377718e-01 1.13066753e+01] [ 6.47303585e-02 9.96666588e-01 -4.96557383e-02 3.78141173e-01] [ 5.95450229e-01 1.35378199e-03 8.03391058e-01 1.72429531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.90538475 meters Centerline goodness [0,1] 0.9513221338410982 Centerline is valid? [True, True] Translation: X:11.33, Y:0.38, Z:1.74 [[ 7.99283063e-01 -8.14049614e-02 -5.95415667e-01 1.13311992e+01] [ 6.43393777e-02 9.96679867e-01 -4.98967576e-02 3.81218945e-01] [ 5.97500652e-01 1.57295976e-03 8.01866882e-01 1.73914050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 145.93538475 meters Centerline goodness [0,1] 0.9486959189935563 Centerline is valid? [True, False] Translation: X:11.32, Y:0.37, Z:1.75 [[ 0.79608171 -0.06947751 -0.60118782 11.32278352] [ 0.06478569 0.99746348 -0.02948592 0.37498784] [ 0.6017115 -0.01547517 0.79856358 1.74729051] [ 0. 0. 0. 1. ]] SLAMing on 145.96538475 meters Centerline goodness [0,1] 0.9482498537696641 Centerline is valid? [False, False] Translation: X:11.32, Y:0.37, Z:1.75 [[ 0.79589137 -0.06949355 -0.60143792 11.32361098] [ 0.06493117 0.99745869 -0.02932769 0.37422534] [ 0.60194757 -0.01571042 0.79838106 1.74776917] [ 0. 0. 0. 1. ]] SLAMing on 145.99538475 meters Centerline goodness [0,1] 0.949088333128003 Centerline is valid? [False, False] Translation: X:11.32, Y:0.37, Z:1.75 [[ 0.79566556 -0.06857688 -0.60184178 11.32319007] [ 0.06477096 0.9975064 -0.02803038 0.37223955] [ 0.60226326 -0.01667906 0.79812328 1.74941696] [ 0. 0. 0. 1. ]] SLAMing on 146.02538475 meters Centerline goodness [0,1] 0.9473489860602518 Centerline is valid? [False, False] Translation: X:11.32, Y:0.37, Z:1.75 [[ 0.7952036 -0.06307837 -0.60305253 11.32408813] [ 0.061997 0.99781999 -0.0226193 0.36933837] [ 0.60316466 -0.0194005 0.79738072 1.75315732] [ 0. 0. 0. 1. ]] SLAMing on 146.05538475 meters Centerline goodness [0,1] 0.9446685346552945 Centerline is valid? [False, False] Translation: X:11.33, Y:0.37, Z:1.75 [[ 0.79485294 -0.06347838 -0.6034727 11.32592001] [ 0.06244629 0.99779001 -0.02270603 0.36939274] [ 0.60358037 -0.01963668 0.79706031 1.75383849] [ 0. 0. 0. 1. ]] SLAMing on 146.08538475 meters Centerline goodness [0,1] 0.9465187618132804 Centerline is valid? [False, False] Translation: X:11.33, Y:0.37, Z:1.75 [[ 0.79477027 -0.0632677 -0.60360369 11.32608624] [ 0.06243528 0.99779813 -0.02237675 0.36889323] [ 0.60369036 -0.01990179 0.79697043 1.75426807] [ 0. 0. 0. 1. ]] SLAMing on 146.11538475 meters Centerline goodness [0,1] 0.9440074039796391 Centerline is valid? [False, False] Translation: X:11.33, Y:0.37, Z:1.76 [[ 0.79424792 -0.05719611 -0.60489573 11.32637265] [ 0.05952697 0.998095 -0.01621434 0.3654325 ] [ 0.6046708 -0.02312941 0.79613959 1.75887676] [ 0. 0. 0. 1. ]] SLAMing on 146.14538475 meters Centerline goodness [0,1] 0.9486942026301167 Centerline is valid? [False, False] Translation: X:11.32, Y:0.36, Z:1.76 [[ 0.79510705 -0.05551455 -0.60392293 11.3218001 ] [ 0.05882947 0.9981656 -0.01430149 0.36328999] [ 0.60360904 -0.02415725 0.7969144 1.75917074] [ 0. 0. 0. 1. ]] SLAMing on 146.17538475 meters Centerline goodness [0,1] 0.9508891294263182 Centerline is valid? [False, True] Translation: X:11.32, Y:0.36, Z:1.76 [[ 0.79520016 -0.05425788 -0.60391455 11.31937821] [ 0.05822196 0.99821875 -0.01302026 0.36199577] [ 0.60354528 -0.02480737 0.79694271 1.7602193 ] [ 0. 0. 0. 1. ]] SLAMing on 146.20538475 meters Centerline goodness [0,1] 0.9533957626854992 Centerline is valid? [True, True] Translation: X:11.35, Y:0.37, Z:1.76 [[ 7.96256328e-01 -7.38471069e-02 -6.00435229e-01 1.13518969e+01] [ 6.03832752e-02 9.97266796e-01 -4.25769533e-02 3.70342153e-01] [ 6.01938302e-01 -2.35407721e-03 7.98539128e-01 1.76265696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.23538475 meters Centerline goodness [0,1] 0.9562093739308929 Centerline is valid? [True, True] Translation: X:11.37, Y:0.37, Z:1.78 [[ 7.96761362e-01 -7.41189080e-02 -5.99731373e-01 1.13738186e+01] [ 6.07069365e-02 9.97246354e-01 -4.25955195e-02 3.73017962e-01] [ 6.01237059e-01 -2.46939026e-03 7.99066894e-01 1.78178341e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.26538475 meters Centerline goodness [0,1] 0.9523971754212092 Centerline is valid? [True, True] Translation: X:11.40, Y:0.38, Z:1.80 [[ 7.95770273e-01 -7.47264068e-02 -6.00970579e-01 1.13979833e+01] [ 6.12708257e-02 9.97200384e-01 -4.28634957e-02 3.75798755e-01] [ 6.02491128e-01 -2.71246794e-03 7.98120971e-01 1.79526166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.29538475 meters Centerline goodness [0,1] 0.9539076294024719 Centerline is valid? [True, True] Translation: X:11.42, Y:0.38, Z:1.81 [[ 7.95019390e-01 -7.50524109e-02 -6.01923006e-01 1.14215271e+01] [ 6.15568871e-02 9.97175541e-01 -4.30312670e-02 3.79198530e-01] [ 6.03452500e-01 -2.84181489e-03 7.97393883e-01 1.81162703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.32538475 meters Centerline goodness [0,1] 0.9459109011762526 Centerline is valid? [True, False] Translation: X:11.41, Y:0.38, Z:1.82 [[ 0.79168261 -0.06214559 -0.60776358 11.41367784] [ 0.0604034 0.99790076 -0.02335581 0.37641167] [ 0.6079392 -0.0182206 0.79377449 1.81728304] [ 0. 0. 0. 1. ]] SLAMing on 146.35538475 meters Centerline goodness [0,1] 0.9493178591271066 Centerline is valid? [False, False] Translation: X:11.41, Y:0.37, Z:1.82 [[ 0.79122866 -0.0564662 -0.60890786 11.41424091] [ 0.05711225 0.99819905 -0.01835361 0.37456737] [ 0.6088476 -0.0202542 0.7930286 1.8202778 ] [ 0. 0. 0. 1. ]] SLAMing on 146.38538475000001 meters Centerline goodness [0,1] 0.9482891849287547 Centerline is valid? [False, False] Translation: X:11.41, Y:0.37, Z:1.82 [[ 0.79105181 -0.04875387 -0.60980332 11.41039491] [ 0.0527178 0.99854384 -0.01144691 0.37075369] [ 0.60947343 -0.02309239 0.79247011 1.82459676] [ 0. 0. 0. 1. ]] SLAMing on 146.41538475000002 meters Centerline goodness [0,1] 0.9468068656254832 Centerline is valid? [False, False] Translation: X:11.41, Y:0.37, Z:1.83 [[ 7.91192584e-01 -4.76639535e-02 -6.09706850e-01 1.14080373e+01] [ 5.19896364e-02 9.98591365e-01 -1.06001723e-02 3.70659979e-01] [ 6.09353242e-01 -2.33116597e-02 7.92556114e-01 1.82507456e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.44538475000002 meters Centerline goodness [0,1] 0.9501551888386958 Centerline is valid? [False, True] Translation: X:11.41, Y:0.37, Z:1.83 [[ 7.91179373e-01 -4.14204670e-02 -6.10179928e-01 1.14064435e+01] [ 4.80221192e-02 9.98830931e-01 -5.53596288e-03 3.70880134e-01] [ 6.09695888e-01 -2.49221936e-02 7.92243529e-01 1.82701846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.47538475000002 meters Centerline goodness [0,1] 0.9476444608023555 Centerline is valid? [True, False] Translation: X:11.41, Y:0.37, Z:1.83 [[ 7.90812019e-01 -3.62113620e-02 -6.10986979e-01 1.14074708e+01] [ 4.48703151e-02 9.98992180e-01 -1.13076556e-03 3.70634478e-01] [ 6.10412161e-01 -2.65209553e-02 7.91639838e-01 1.82908357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.50538475 meters Centerline goodness [0,1] 0.9476534296028881 Centerline is valid? [False, False] Translation: X:11.41, Y:0.37, Z:1.83 [[ 7.90314237e-01 -3.15702098e-02 -6.11887840e-01 1.14094694e+01] [ 4.20569342e-02 9.99111371e-01 2.77181231e-03 3.70868720e-01] [ 6.11256592e-01 -2.79247293e-02 7.90939687e-01 1.83107413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.53538475 meters Centerline goodness [0,1] 0.9443850920301579 Centerline is valid? [False, False] Translation: X:11.41, Y:0.37, Z:1.83 [[ 7.90338860e-01 -3.14046873e-02 -6.11864553e-01 1.14092627e+01] [ 4.16856703e-02 9.99127486e-01 2.56350661e-03 3.72065384e-01] [ 6.11250187e-01 -2.75320229e-02 7.90958404e-01 1.83069361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.56538475 meters Centerline goodness [0,1] 0.9449333822271117 Centerline is valid? [False, False] Translation: X:11.41, Y:0.37, Z:1.83 [[ 7.90476371e-01 -3.04700227e-02 -6.11734162e-01 1.14076102e+01] [ 4.10844985e-02 9.99150153e-01 3.32202719e-03 3.71286861e-01] [ 6.11113059e-01 -2.77587753e-02 7.91056433e-01 1.83095656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.59538475 meters Centerline goodness [0,1] 0.9475386822107609 Centerline is valid? [False, False] Translation: X:11.41, Y:0.37, Z:1.83 [[ 7.90517395e-01 -2.97127271e-02 -6.11718401e-01 1.14062627e+01] [ 4.07121513e-02 9.99162586e-01 4.08001216e-03 3.70301464e-01] [ 6.11084911e-01 -2.81296927e-02 7.91065074e-01 1.83154411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.62538475 meters Centerline goodness [0,1] 0.9472361038722139 Centerline is valid? [False, False] Translation: X:11.40, Y:0.37, Z:1.83 [[ 7.91327366e-01 -3.07407200e-02 -6.10619364e-01 1.14033731e+01] [ 4.22015075e-02 9.99099464e-01 4.39254148e-03 3.67782966e-01] [ 6.09934449e-01 -2.92449959e-02 7.91912052e-01 1.83187271e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.65538475 meters Centerline goodness [0,1] 0.9474588755217285 Centerline is valid? [False, False] Translation: X:11.40, Y:0.37, Z:1.83 [[ 7.91194389e-01 -3.07040675e-02 -6.10793499e-01 1.14041495e+01] [ 4.23361223e-02 9.99092758e-01 4.61676652e-03 3.67453272e-01] [ 6.10097608e-01 -2.95113880e-02 7.91776475e-01 1.83226606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.68538475 meters Centerline goodness [0,1] 0.9481068080907745 Centerline is valid? [False, False] Translation: X:11.40, Y:0.37, Z:1.83 [[ 7.94181771e-01 -3.47054616e-02 -6.06688425e-01 1.14029265e+01] [ 4.75232913e-02 9.98857260e-01 5.07069070e-03 3.65623504e-01] [ 6.05819157e-01 -3.28588809e-02 7.94923545e-01 1.82827940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.71538475 meters Centerline goodness [0,1] 0.9553340601152468 Centerline is valid? [False, True] Translation: X:11.40, Y:0.36, Z:1.83 [[ 7.93912543e-01 -3.96382650e-02 -6.06738561e-01 1.14012578e+01] [ 5.17097044e-02 9.98659228e-01 2.41926903e-03 3.62566848e-01] [ 6.05829168e-01 -3.32949597e-02 7.94897770e-01 1.83025851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.74538475 meters Centerline goodness [0,1] 0.9529203099231416 Centerline is valid? [True, True] Translation: X:11.44, Y:0.37, Z:1.82 [[ 7.92846391e-01 -6.42595939e-02 -6.06024178e-01 1.14400391e+01] [ 5.65136247e-02 9.97892849e-01 -3.18758996e-02 3.72083820e-01] [ 6.06795526e-01 -8.97593098e-03 7.94807286e-01 1.82306427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.77538475 meters Centerline goodness [0,1] 0.9512172400943982 Centerline is valid? [True, True] Translation: X:11.46, Y:0.37, Z:1.84 [[ 7.92354772e-01 -6.47200301e-02 -6.06617865e-01 1.14645687e+01] [ 5.69961969e-02 9.97860975e-01 -3.20141968e-02 3.72805829e-01] [ 6.07392253e-01 -9.20830962e-03 7.94348700e-01 1.83700867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.80538475 meters Centerline goodness [0,1] 0.9524489859303662 Centerline is valid? [True, True] Translation: X:11.49, Y:0.38, Z:1.86 [[ 7.92955100e-01 -6.49360589e-02 -6.05809803e-01 1.14866359e+01] [ 5.72366979e-02 9.97846384e-01 -3.20398910e-02 3.76281950e-01] [ 6.06585665e-01 -9.26835762e-03 7.94964105e-01 1.85591247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.83538475 meters Centerline goodness [0,1] 0.9526709966126977 Centerline is valid? [True, True] Translation: X:11.51, Y:0.38, Z:1.87 [[ 7.93191895e-01 -6.51709594e-02 -6.05474495e-01 1.15094224e+01] [ 5.74026015e-02 9.97831589e-01 -3.22034434e-02 3.77337610e-01] [ 6.06260307e-01 -9.21230085e-03 7.95212911e-01 1.87175638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.86538475 meters Centerline goodness [0,1] 0.9535957842529448 Centerline is valid? [True, True] Translation: X:11.53, Y:0.38, Z:1.89 [[ 7.93470151e-01 -6.40222193e-02 -6.05232414e-01 1.15320525e+01] [ 5.59031572e-02 9.97914548e-01 -3.22706072e-02 3.80151574e-01] [ 6.06036267e-01 -8.22863923e-03 7.95394451e-01 1.88955416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.89538475 meters Centerline goodness [0,1] 0.9529455468532334 Centerline is valid? [True, True] Translation: X:11.55, Y:0.38, Z:1.91 [[ 7.93241684e-01 -6.31502671e-02 -6.05623377e-01 1.15537352e+01] [ 5.46559778e-02 9.97977030e-01 -3.24741695e-02 3.83441579e-01] [ 6.06448971e-01 -7.34107297e-03 7.95088520e-01 1.90746125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.92538475 meters Centerline goodness [0,1] 0.951085446067381 Centerline is valid? [True, True] Translation: X:11.58, Y:0.39, Z:1.92 [[ 7.92564874e-01 -6.15310200e-02 -6.06675246e-01 1.15759116e+01] [ 5.24220829e-02 9.98088023e-01 -3.27448214e-02 3.88465353e-01] [ 6.07530119e-01 -5.85078482e-03 7.94275092e-01 1.92446515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 146.95538475 meters Centerline goodness [0,1] 0.9478642445071805 Centerline is valid? [True, False] Translation: X:11.57, Y:0.39, Z:1.93 [[ 0.78975013 -0.04851357 -0.6115073 11.56726654] [ 0.05143765 0.99859428 -0.01279214 0.38719213] [ 0.61126828 -0.02135191 0.79113538 1.93007273] [ 0. 0. 0. 1. ]] SLAMing on 146.98538475 meters Centerline goodness [0,1] 0.9487548185767607 Centerline is valid? [False, False] Translation: X:11.57, Y:0.39, Z:1.93 [[ 7.89449087e-01 -4.31781171e-02 -6.12295508e-01 1.15681671e+01] [ 4.82084957e-02 9.98802996e-01 -8.27750616e-03 3.86374977e-01] [ 6.11919995e-01 -2.29831757e-02 7.90585665e-01 1.93207807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.01538475 meters Centerline goodness [0,1] 0.9518340238849622 Centerline is valid? [False, True] Translation: X:11.56, Y:0.39, Z:1.93 [[ 7.90056443e-01 -3.66738961e-02 -6.11936142e-01 1.15645083e+01] [ 4.41185073e-02 9.99022061e-01 -2.91193837e-03 3.86318609e-01] [ 6.11444498e-01 -2.46971135e-02 7.90901813e-01 1.93328258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.04538475 meters Centerline goodness [0,1] 0.9516168247021639 Centerline is valid? [True, True] Translation: X:11.60, Y:0.40, Z:1.94 [[ 7.90929995e-01 -5.12842183e-02 -6.09753779e-01 1.15971484e+01] [ 4.18137698e-02 9.98682176e-01 -2.97576998e-02 4.00571594e-01] [ 6.10476331e-01 -1.95984680e-03 7.92032075e-01 1.93506663e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.07538475 meters Centerline goodness [0,1] 0.9520002422700705 Centerline is valid? [True, True] Translation: X:11.62, Y:0.41, Z:1.95 [[ 7.91311795e-01 -4.86191699e-02 -6.09476677e-01 1.16200688e+01] [ 3.84050734e-02 9.98817372e-01 -2.98145682e-02 4.07174009e-01] [ 6.10205452e-01 1.85622969e-04 7.92243190e-01 1.95327939e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.10538475 meters Centerline goodness [0,1] 0.9504878711899224 Centerline is valid? [True, True] Translation: X:11.64, Y:0.41, Z:1.97 [[ 7.91306046e-01 -4.70657374e-02 -6.09606067e-01 1.16431000e+01] [ 3.63067501e-02 9.98890512e-01 -2.99927587e-02 4.11426258e-01] [ 6.10341348e-01 1.60063613e-03 7.92136905e-01 1.96895824e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.13538475000001 meters Centerline goodness [0,1] 0.9507101588830044 Centerline is valid? [True, True] Translation: X:11.67, Y:0.42, Z:1.99 [[ 7.91349068e-01 -4.32804574e-02 -6.09830677e-01 1.16658473e+01] [ 3.14638005e-02 9.99052316e-01 -3.00748924e-02 4.19396560e-01] [ 6.10554405e-01 4.61214728e-03 7.91960887e-01 1.98641685e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.16538475000002 meters Centerline goodness [0,1] 0.9524167142299258 Centerline is valid? [True, True] Translation: X:11.69, Y:0.42, Z:2.00 [[ 7.91628216e-01 -4.22616873e-02 -6.09539759e-01 1.16884602e+01] [ 3.00457409e-02 9.99090701e-01 -3.02493845e-02 4.23673950e-01] [ 6.10263895e-01 5.63219266e-03 7.92178173e-01 2.00337615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.19538475000002 meters Centerline goodness [0,1] 0.9500958543014618 Centerline is valid? [True, True] Translation: X:11.71, Y:0.43, Z:2.02 [[ 7.92002325e-01 -4.07000124e-02 -6.09159935e-01 1.17115461e+01] [ 2.79292418e-02 9.99146197e-01 -3.04439559e-02 4.28642296e-01] [ 6.09878902e-01 7.09830875e-03 7.92462831e-01 2.01803609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.22538475000002 meters Centerline goodness [0,1] 0.9527140626876426 Centerline is valid? [True, True] Translation: X:11.73, Y:0.43, Z:2.04 [[ 7.91627618e-01 -4.06906253e-02 -6.09647428e-01 1.17336936e+01] [ 2.78375829e-02 9.99145812e-01 -3.05403870e-02 4.30005150e-01] [ 6.10369382e-01 7.20550300e-03 7.92084148e-01 2.03688281e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.25538475 meters Centerline goodness [0,1] 0.948780999790086 Centerline is valid? [True, False] Translation: X:11.73, Y:0.43, Z:2.04 [[ 7.93227293e-01 -3.77281712e-02 -6.07755745e-01 1.17316419e+01] [ 2.67327890e-02 9.99274076e-01 -2.71418340e-02 4.29989975e-01] [ 6.08338573e-01 5.28263746e-03 7.93660050e-01 2.03573809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.28538475 meters Centerline goodness [0,1] 0.9489477786438036 Centerline is valid? [False, False] Translation: X:11.73, Y:0.43, Z:2.04 [[ 7.93160510e-01 -3.69304979e-02 -6.07891885e-01 1.17309184e+01] [ 2.64041495e-02 9.99306423e-01 -2.62582138e-02 4.29775359e-01] [ 6.08439994e-01 4.77611001e-03 7.93585510e-01 2.03658575e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.31538475 meters Centerline goodness [0,1] 0.9523079697078976 Centerline is valid? [False, True] Translation: X:11.73, Y:0.43, Z:2.04 [[ 7.93020790e-01 -3.51102809e-02 -6.08181959e-01 1.17283945e+01] [ 2.61427635e-02 9.99379464e-01 -2.36059924e-02 4.26923882e-01] [ 6.08633373e-01 2.82048565e-03 7.93446572e-01 2.03955553e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.34538475 meters Centerline goodness [0,1] 0.9510938347495932 Centerline is valid? [True, True] Translation: X:11.75, Y:0.42, Z:2.06 [[ 7.93273957e-01 -4.08283600e-02 -6.07494424e-01 1.17528025e+01] [ 2.99961847e-02 9.99158269e-01 -2.79818229e-02 4.24120688e-01] [ 6.08125529e-01 3.97473646e-03 7.93830928e-01 2.05543366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.37538475 meters Centerline goodness [0,1] 0.9510938347495932 Centerline is valid? [True, True] Translation: X:11.78, Y:0.43, Z:2.07 [[ 7.93263030e-01 -4.11713788e-02 -6.07485541e-01 1.17752094e+01] [ 3.02813670e-02 9.99144277e-01 -2.81736064e-02 4.25397321e-01] [ 6.08125648e-01 3.95358780e-03 7.93830943e-01 2.07164375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.40538475 meters Centerline goodness [0,1] 0.9524815843497162 Centerline is valid? [True, True] Translation: X:11.80, Y:0.42, Z:2.09 [[ 7.93889488e-01 -4.20489901e-02 -6.06606431e-01 1.17979447e+01] [ 3.12595518e-02 9.99109274e-01 -2.83460668e-02 4.24601884e-01] [ 6.07258035e-01 3.54139937e-03 7.94496783e-01 2.08824954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.43538475 meters Centerline goodness [0,1] 0.952360774818402 Centerline is valid? [True, True] Translation: X:11.82, Y:0.42, Z:2.11 [[ 7.94315830e-01 -4.26972287e-02 -6.06002730e-01 1.18210626e+01] [ 3.20457702e-02 9.99083155e-01 -2.83886830e-02 4.22852462e-01] [ 6.06659237e-01 3.12975607e-03 7.94955832e-01 2.10604873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.46538475 meters Centerline goodness [0,1] 0.9518916958781578 Centerline is valid? [True, True] Translation: X:11.84, Y:0.42, Z:2.12 [[ 7.94768613e-01 -4.28707360e-02 -6.05396524e-01 1.18438796e+01] [ 3.21483121e-02 9.99075427e-01 -2.85443156e-02 4.22699225e-01] [ 6.06060507e-01 3.22364972e-03 7.95412013e-01 2.12187704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.49538475 meters Centerline goodness [0,1] 0.9522913505311077 Centerline is valid? [True, True] Translation: X:11.87, Y:0.42, Z:2.14 [[ 7.94858335e-01 -4.27862847e-02 -6.05284695e-01 1.18660067e+01] [ 3.19953558e-02 9.99078558e-01 -2.86065127e-02 4.22720315e-01] [ 6.05950926e-01 3.37182586e-03 7.95494881e-01 2.13698816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.52538475 meters Centerline goodness [0,1] 0.9521800281293952 Centerline is valid? [True, True] Translation: X:11.89, Y:0.42, Z:2.15 [[ 7.94898814e-01 -4.38269387e-02 -6.05157067e-01 1.18888466e+01] [ 3.32354994e-02 9.99035495e-01 -2.86963655e-02 4.18614227e-01] [ 6.05831063e-01 2.69800952e-03 7.95588740e-01 2.15331514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.55538475 meters Centerline goodness [0,1] 0.9533728028467131 Centerline is valid? [True, True] Translation: X:11.91, Y:0.42, Z:2.17 [[ 7.94773617e-01 -4.50632350e-02 -6.05230702e-01 1.19110117e+01] [ 3.46263491e-02 9.98982094e-01 -2.89100604e-02 4.16402357e-01] [ 6.05917415e-01 2.02002364e-03 7.95524987e-01 2.17134257e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.58538475 meters Centerline goodness [0,1] 0.9531485526194358 Centerline is valid? [True, True] Translation: X:11.93, Y:0.41, Z:2.19 [[ 7.94517327e-01 -4.89625157e-02 -6.05264313e-01 1.19337756e+01] [ 3.93630281e-02 9.98800383e-01 -2.91264018e-02 4.11460254e-01] [ 6.05964330e-01 -6.83605212e-04 7.95491523e-01 2.18846771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.61538475 meters Centerline goodness [0,1] 0.9588972898970098 Centerline is valid? [True, True] Translation: X:11.95, Y:0.40, Z:2.21 [[ 7.96470044e-01 -5.68431402e-02 -6.02000271e-01 1.19541217e+01] [ 4.91954815e-02 9.98362778e-01 -2.91816282e-02 4.01860405e-01] [ 6.02673439e-01 -6.37340053e-03 7.97962472e-01 2.21080424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.64538475 meters Centerline goodness [0,1] 0.9546864338440544 Centerline is valid? [True, True] Translation: X:11.98, Y:0.40, Z:2.22 [[ 7.94973751e-01 -5.76257516e-02 -6.03900660e-01 1.19804840e+01] [ 4.99882612e-02 9.98315300e-01 -2.94573514e-02 4.03267587e-01] [ 6.04580771e-01 -6.77012275e-03 7.96515070e-01 2.22196975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.67538475 meters Centerline goodness [0,1] 0.9508019407274637 Centerline is valid? [True, True] Translation: X:12.01, Y:0.41, Z:2.23 [[ 7.93125963e-01 -5.80497995e-02 -6.06284940e-01 1.20066125e+01] [ 5.04057591e-02 9.98288800e-01 -2.96434024e-02 4.08362295e-01] [ 6.06968259e-01 -7.04930057e-03 7.94694810e-01 2.23481677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.70538475 meters Centerline goodness [0,1] 0.951592002961866 Centerline is valid? [True, True] Translation: X:12.03, Y:0.41, Z:2.25 [[ 7.92865693e-01 -5.76640063e-02 -6.06662060e-01 1.20287952e+01] [ 4.97691826e-02 9.98314697e-01 -2.98461841e-02 4.10691984e-01] [ 6.07360701e-01 -6.52905939e-03 7.94399364e-01 2.25178034e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.73538475 meters Centerline goodness [0,1] 0.9506180431707767 Centerline is valid? [True, True] Translation: X:12.05, Y:0.41, Z:2.27 [[ 7.92017114e-01 -5.70113814e-02 -6.07831057e-01 1.20523498e+01] [ 4.87535316e-02 9.98356778e-01 -3.01137420e-02 4.14652779e-01] [ 6.08549081e-01 -5.78331162e-03 7.93495160e-01 2.26838219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.76538475 meters Centerline goodness [0,1] 0.9488566510941726 Centerline is valid? [True, False] Translation: X:12.05, Y:0.41, Z:2.27 [[ 7.91766530e-01 -5.05889996e-02 -6.08725319e-01 1.20512701e+01] [ 4.49718753e-02 9.98687714e-01 -2.45026554e-02 4.12179561e-01] [ 6.09166063e-01 -7.97513674e-03 7.93002588e-01 2.27132443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.79538475 meters Centerline goodness [0,1] 0.9476264901474059 Centerline is valid? [False, False] Translation: X:12.05, Y:0.41, Z:2.27 [[ 7.92402833e-01 -4.70687664e-02 -6.08179481e-01 1.20478749e+01] [ 4.27762278e-02 9.98851795e-01 -2.15704708e-02 4.12894346e-01] [ 6.08496462e-01 -8.92312185e-03 7.93506417e-01 2.27171273e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.82538475 meters Centerline goodness [0,1] 0.9488797439414723 Centerline is valid? [False, False] Translation: X:12.05, Y:0.41, Z:2.27 [[ 7.92561561e-01 -4.10063958e-02 -6.08411578e-01 1.20465673e+01] [ 3.89226709e-02 9.99103747e-01 -1.66351714e-02 4.13276802e-01] [ 6.08548435e-01 -1.04966062e-02 7.93447303e-01 2.27313954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.85538475 meters Centerline goodness [0,1] 0.9498626792798291 Centerline is valid? [False, False] Translation: X:12.04, Y:0.41, Z:2.27 [[ 7.92803916e-01 -3.96138412e-02 -6.08188042e-01 1.20439557e+01] [ 3.80108875e-02 9.99156638e-01 -1.55301506e-02 4.13025742e-01] [ 6.08290328e-01 -1.08054031e-02 7.93641052e-01 2.27348046e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.88538475000001 meters Centerline goodness [0,1] 0.9498659844054581 Centerline is valid? [False, False] Translation: X:12.04, Y:0.41, Z:2.28 [[ 7.92583687e-01 -3.30343705e-02 -6.08867662e-01 1.20421985e+01] [ 3.39498559e-02 9.99373229e-01 -1.00277350e-02 4.11389598e-01] [ 6.08817302e-01 -1.27231502e-02 7.93208431e-01 2.27611005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.91538475000002 meters Centerline goodness [0,1] 0.947926155340985 Centerline is valid? [False, False] Translation: X:12.04, Y:0.41, Z:2.28 [[ 7.92178939e-01 -2.75376763e-02 -6.09667290e-01 1.20429319e+01] [ 3.05366618e-02 9.99518688e-01 -5.46842804e-03 4.10509110e-01] [ 6.09524438e-01 -1.42852304e-02 7.92638563e-01 2.27812503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.94538475000002 meters Centerline goodness [0,1] 0.9502666989938174 Centerline is valid? [False, True] Translation: X:12.04, Y:0.41, Z:2.28 [[ 7.91819276e-01 -2.20509205e-02 -6.10357265e-01 1.20434767e+01] [ 2.71446855e-02 9.99631110e-01 -8.99638536e-04 4.09533442e-01] [ 6.10151949e-01 -1.58556049e-02 7.92125747e-01 2.28007004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 147.97538475000002 meters Centerline goodness [0,1] 0.9492856495605159 Centerline is valid? [True, False] Translation: X:12.04, Y:0.41, Z:2.28 [[ 7.91616670e-01 -1.59955437e-02 -6.10808636e-01 1.20427773e+01] [ 2.30809852e-02 9.99726629e-01 3.73295581e-03 4.09008601e-01] [ 6.10581948e-01 -1.70531351e-02 7.91769458e-01 2.28151615e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.00538475 meters Centerline goodness [0,1] 0.9491540730929015 Centerline is valid? [False, False] Translation: X:12.04, Y:0.41, Z:2.28 [[ 7.91359332e-01 -1.01311215e-02 -6.11267346e-01 1.20425895e+01] [ 1.90692504e-02 9.99785216e-01 8.11704364e-03 4.09381779e-01] [ 6.11053820e-01 -1.80799083e-02 7.91382553e-01 2.28275512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.03538475 meters Centerline goodness [0,1] 0.9495211131859527 Centerline is valid? [False, False] Translation: X:12.04, Y:0.41, Z:2.28 [[ 7.91410848e-01 -1.00070678e-02 -6.11202690e-01 1.20424597e+01] [ 1.88169218e-02 9.99790975e-01 7.99561272e-03 4.10589518e-01] [ 6.10994921e-01 -1.78287679e-02 7.91433726e-01 2.28246661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.06538475 meters Centerline goodness [0,1] 0.9507611012700034 Centerline is valid? [False, True] Translation: X:12.04, Y:0.41, Z:2.28 [[ 7.91020234e-01 -4.21640254e-03 -6.11775458e-01 1.20422252e+01] [ 1.51275373e-02 9.99805308e-01 1.26690379e-02 4.09817255e-01] [ 6.11602933e-01 -1.92761214e-02 7.90930012e-01 2.28441393e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.09538475 meters Centerline goodness [0,1] 0.9464767616191904 Centerline is valid? [True, False] Translation: X:12.04, Y:0.41, Z:2.28 [[ 7.90988997e-01 -4.04791318e-03 -6.11816984e-01 1.20421352e+01] [ 1.48084732e-02 9.99811834e-01 1.25301978e-02 4.11243055e-01] [ 6.11651140e-01 -1.89713240e-02 7.90900103e-01 2.28426315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.12538475 meters Centerline goodness [0,1] 0.9508094088185315 Centerline is valid? [False, True] Translation: X:12.04, Y:0.41, Z:2.29 [[ 7.90839148e-01 1.77642485e-03 -6.12021475e-01 1.20417250e+01] [ 1.07632399e-02 9.99800769e-01 1.68099696e-02 4.12309016e-01] [ 6.11929403e-01 -1.98813160e-02 7.90662468e-01 2.28507803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.15538475 meters Centerline goodness [0,1] 0.9512238646164828 Centerline is valid? [True, True] Translation: X:12.08, Y:0.43, Z:2.28 [[ 7.91675884e-01 -1.83665649e-02 -6.10665182e-01 1.20791035e+01] [ 8.03489826e-03 9.99774575e-01 -1.96529781e-02 4.29882756e-01] [ 6.10888481e-01 1.06521562e-02 7.91644994e-01 2.28255748e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.18538475 meters Centerline goodness [0,1] 0.9531138153185397 Centerline is valid? [True, True] Translation: X:12.10, Y:0.43, Z:2.30 [[ 7.92914804e-01 -1.92790491e-02 -6.09027447e-01 1.21010510e+01] [ 9.17086780e-03 9.99763715e-01 -1.97081050e-02 4.29466673e-01] [ 6.09263497e-01 1.00415380e-02 7.92904256e-01 2.30216163e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.21538475 meters Centerline goodness [0,1] 0.9529759947385729 Centerline is valid? [True, True] Translation: X:12.12, Y:0.43, Z:2.32 [[ 7.93001185e-01 -1.99141731e-02 -6.08894528e-01 1.21234850e+01] [ 9.83260364e-03 9.99753788e-01 -1.98917926e-02 4.30511963e-01] [ 6.09140739e-01 9.78719656e-03 7.93001747e-01 2.31915469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.24538475 meters Centerline goodness [0,1] 0.9539980374081893 Centerline is valid? [True, True] Translation: X:12.15, Y:0.43, Z:2.34 [[ 7.93448853e-01 -1.96900576e-02 -6.08318353e-01 1.21461877e+01] [ 9.41118269e-03 9.99753986e-01 -2.00847490e-02 4.31788968e-01] [ 6.08564168e-01 1.02112259e-02 7.93438960e-01 2.33610618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.27538475 meters Centerline goodness [0,1] 0.9530643910007758 Centerline is valid? [True, True] Translation: X:12.17, Y:0.43, Z:2.35 [[ 7.93310905e-01 -1.93362847e-02 -6.08509586e-01 1.21691904e+01] [ 8.79583131e-03 9.99755209e-01 -2.03016069e-02 4.33595795e-01] [ 6.08753186e-01 1.07531385e-02 7.93286788e-01 2.35104919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.30538475 meters Centerline goodness [0,1] 0.9514670328030326 Centerline is valid? [True, True] Translation: X:12.19, Y:0.43, Z:2.37 [[ 7.93026561e-01 -1.99402031e-02 -6.08860626e-01 1.21915928e+01] [ 9.47800105e-03 9.99747036e-01 -2.03968721e-02 4.32989290e-01] [ 6.09113324e-01 1.04044797e-02 7.93014947e-01 2.36774683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.33538475 meters Centerline goodness [0,1] 0.9516644275264965 Centerline is valid? [True, True] Translation: X:12.21, Y:0.43, Z:2.38 [[ 7.93272590e-01 -2.19704066e-02 -6.08470130e-01 1.22143143e+01] [ 1.18935541e-02 9.99717225e-01 -2.05915834e-02 4.30379660e-01] [ 6.08750475e-01 9.09786633e-03 7.93309579e-01 2.38385867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.36538475 meters Centerline goodness [0,1] 0.9512099921935988 Centerline is valid? [True, True] Translation: X:12.24, Y:0.43, Z:2.40 [[ 7.92833960e-01 -2.41582862e-02 -6.08958693e-01 1.22378589e+01] [ 1.45793629e-02 9.99679897e-01 -2.06771644e-02 4.25376894e-01] [ 6.09263288e-01 7.51532839e-03 7.92932384e-01 2.40133484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.39538475 meters Centerline goodness [0,1] 0.952503015681544 Centerline is valid? [True, True] Translation: X:12.26, Y:0.42, Z:2.42 [[ 7.92643907e-01 -2.55597995e-02 -6.09148860e-01 1.22597441e+01] [ 1.61955041e-02 9.99650990e-01 -2.08711073e-02 4.23282279e-01] [ 6.09469722e-01 6.67788314e-03 7.92781221e-01 2.41891738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.42538475 meters Centerline goodness [0,1] 0.9505960464765354 Centerline is valid? [True, True] Translation: X:12.28, Y:0.42, Z:2.43 [[ 7.92156217e-01 -2.77522767e-02 -6.09687083e-01 1.22840400e+01] [ 1.87769543e-02 9.99600941e-01 -2.11041389e-02 4.21914726e-01] [ 6.10029470e-01 5.26970834e-03 7.92361203e-01 2.43202226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.45538475 meters Centerline goodness [0,1] 0.9491965688051226 Centerline is valid? [True, False] Translation: X:12.28, Y:0.42, Z:2.43 [[ 7.91973405e-01 -2.73348955e-02 -6.09943383e-01 1.22847043e+01] [ 1.87775651e-02 9.99615206e-01 -2.04167230e-02 4.21133898e-01] [ 6.10266769e-01 4.71625004e-03 7.92181941e-01 2.43282017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.48538475 meters Centerline goodness [0,1] 0.9492927028746252 Centerline is valid? [False, False] Translation: X:12.28, Y:0.41, Z:2.44 [[ 7.89030458e-01 -1.95543526e-02 -6.14042803e-01 1.22753962e+01] [ 2.17252046e-02 9.99756290e-01 -3.92112553e-03 4.14551077e-01] [ 6.13969830e-01 -1.02463181e-02 7.89262986e-01 2.43771659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.51538475 meters Centerline goodness [0,1] 0.9473604322880301 Centerline is valid? [False, False] Translation: X:12.28, Y:0.41, Z:2.44 [[ 7.88918082e-01 -1.90875326e-02 -6.14201861e-01 1.22753951e+01] [ 2.16894882e-02 9.99759601e-01 -3.21020604e-03 4.12659344e-01] [ 6.14115483e-01 -1.07891344e-02 7.89142426e-01 2.43842812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.54538475 meters Centerline goodness [0,1] 0.9483295669700116 Centerline is valid? [False, False] Translation: X:12.27, Y:0.41, Z:2.44 [[ 7.89318537e-01 -1.81883194e-02 -6.13714455e-01 1.22736182e+01] [ 2.15118469e-02 9.99766667e-01 -1.96243700e-03 4.08997385e-01] [ 6.13606949e-01 -1.16531435e-02 7.89525627e-01 2.43862125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.57538475 meters Centerline goodness [0,1] 0.9490950226244343 Centerline is valid? [False, False] Translation: X:12.27, Y:0.41, Z:2.44 [[ 7.89253374e-01 -1.72921404e-02 -6.13824155e-01 1.22724713e+01] [ 2.11806803e-02 9.99775231e-01 -9.30771867e-04 4.07290169e-01] [ 6.13702282e-01 -1.22665984e-02 7.89442233e-01 2.43957846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.60538475 meters Centerline goodness [0,1] 0.9493752296949651 Centerline is valid? [False, False] Translation: X:12.27, Y:0.41, Z:2.44 [[ 7.89371286e-01 -1.57720036e-02 -6.13713464e-01 1.22697065e+01] [ 2.04436559e-02 9.99790826e-01 6.01144557e-04 4.05033922e-01] [ 6.13575610e-01 -1.30210732e-02 7.89528608e-01 2.44059523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.63538475000001 meters Centerline goodness [0,1] 0.950163673631719 Centerline is valid? [False, True] Translation: X:12.27, Y:0.40, Z:2.44 [[ 7.89400779e-01 -1.52532164e-02 -6.13688642e-01 1.22690431e+01] [ 2.01934165e-02 9.99795459e-01 1.12532991e-03 4.04689786e-01] [ 6.13545952e-01 -1.32808066e-02 7.89547329e-01 2.44092215e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.66538475000002 meters Centerline goodness [0,1] 0.9514075887392901 Centerline is valid? [True, True] Translation: X:12.30, Y:0.41, Z:2.45 [[ 7.89111016e-01 -2.77787680e-02 -6.13622151e-01 1.23001399e+01] [ 2.06290326e-02 9.99611854e-01 -1.87238824e-02 4.12813236e-01] [ 6.13904103e-01 2.11679049e-03 7.89377775e-01 2.44743135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.69538475000002 meters Centerline goodness [0,1] 0.9487596209867836 Centerline is valid? [True, False] Translation: X:12.29, Y:0.41, Z:2.45 [[ 7.86222927e-01 -2.02148666e-02 -6.17612231e-01 1.22916684e+01] [ 2.34542679e-02 9.99720808e-01 -2.86415896e-03 4.08995526e-01] [ 6.17497697e-01 -1.22337753e-02 7.86477545e-01 2.45145516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.72538475000002 meters Centerline goodness [0,1] 0.9455968088370665 Centerline is valid? [False, False] Translation: X:12.29, Y:0.41, Z:2.45 [[ 7.86098492e-01 -2.00494865e-02 -6.17775994e-01 1.22921849e+01] [ 2.34235822e-02 9.99722146e-01 -2.63958625e-03 4.08676142e-01] [ 6.17657265e-01 -1.23955520e-02 7.86349702e-01 2.45175978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.75538475 meters Centerline goodness [0,1] 0.9466531689060679 Centerline is valid? [False, False] Translation: X:12.29, Y:0.41, Z:2.45 [[ 7.86059904e-01 -1.99669506e-02 -6.17827766e-01 1.22924371e+01] [ 2.34349777e-02 9.99722255e-01 -2.49277969e-03 4.08630197e-01] [ 6.17705941e-01 -1.25193058e-02 7.86309505e-01 2.45193430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.78538475 meters Centerline goodness [0,1] 0.9465144046780761 Centerline is valid? [False, False] Translation: X:12.29, Y:0.41, Z:2.45 [[ 7.86202405e-01 -1.91805531e-02 -6.17671341e-01 1.22910177e+01] [ 2.29912345e-02 9.99734081e-01 -1.78037846e-03 4.08550935e-01] [ 6.17541239e-01 -1.28012888e-02 7.86434323e-01 2.45220627e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.81538475 meters Centerline goodness [0,1] 0.9519183623437117 Centerline is valid? [False, True] Translation: X:12.29, Y:0.41, Z:2.45 [[ 7.89115322e-01 -1.86278865e-02 -6.13962548e-01 1.22868804e+01] [ 2.40507595e-02 9.99710570e-01 5.80373824e-04 4.09451503e-01] [ 6.13774038e-01 -1.52242475e-02 7.89334943e-01 2.44838219e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.84538475 meters Centerline goodness [0,1] 0.9535580066607596 Centerline is valid? [True, True] Translation: X:12.32, Y:0.42, Z:2.45 [[ 7.89480299e-01 -3.17066299e-02 -6.12956399e-01 1.23179629e+01] [ 2.43043324e-02 9.99496491e-01 -2.03976559e-02 4.18476143e-01] [ 6.13294511e-01 1.20605140e-03 7.89853397e-01 2.45427735e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.87538475 meters Centerline goodness [0,1] 0.9540064348092538 Centerline is valid? [True, True] Translation: X:12.34, Y:0.42, Z:2.47 [[ 7.89248050e-01 -3.23007471e-02 -6.13224410e-01 1.23404281e+01] [ 2.49008614e-02 9.99477708e-01 -2.05975499e-02 4.18896433e-01] [ 6.13569444e-01 9.86760077e-04 7.89640148e-01 2.47206362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.90538475 meters Centerline goodness [0,1] 0.9508432996013493 Centerline is valid? [True, True] Translation: X:12.36, Y:0.42, Z:2.49 [[ 7.88355850e-01 -3.19800688e-02 -6.14387768e-01 1.23639700e+01] [ 2.42941539e-02 9.99487362e-01 -2.08520367e-02 4.19620248e-01] [ 6.14739659e-01 1.51279416e-03 7.88728637e-01 2.48715121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.93538475 meters Centerline goodness [0,1] 0.9523226260832287 Centerline is valid? [True, True] Translation: X:12.39, Y:0.42, Z:2.50 [[ 7.88296061e-01 -3.26661144e-02 -6.14428390e-01 1.23861155e+01] [ 2.51058229e-02 9.99465747e-01 -2.09265089e-02 4.19785205e-01] [ 6.14783717e-01 1.07055416e-03 7.88695021e-01 2.50468363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.96538475 meters Centerline goodness [0,1] 0.953092403975948 Centerline is valid? [True, True] Translation: X:12.41, Y:0.42, Z:2.52 [[ 7.88900291e-01 -3.30007107e-02 -6.13634487e-01 1.24100260e+01] [ 2.53845563e-02 9.99454744e-01 -2.11149034e-02 4.21045734e-01] [ 6.13996706e-01 1.08071426e-03 7.89307847e-01 2.52190460e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 148.99538475 meters Centerline goodness [0,1] 0.9529343226835102 Centerline is valid? [True, True] Translation: X:12.43, Y:0.42, Z:2.54 [[ 7.89284638e-01 -3.30523806e-02 -6.13137261e-01 1.24333048e+01] [ 2.53292607e-02 9.99452828e-01 -2.12714179e-02 4.22089366e-01] [ 6.13504840e-01 1.25888990e-03 7.89689956e-01 2.53994514e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.02538475 meters Centerline goodness [0,1] 0.9526714281335255 Centerline is valid? [True, True] Translation: X:12.46, Y:0.42, Z:2.56 [[ 7.90117337e-01 -3.38639133e-02 -6.12019468e-01 1.24550046e+01] [ 2.62563715e-02 9.99426099e-01 -2.14026925e-02 4.23099240e-01] [ 6.12393009e-01 8.41227890e-04 7.90553031e-01 2.55723051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.05538475 meters Centerline goodness [0,1] 0.9508462149447058 Centerline is valid? [True, True] Translation: X:12.48, Y:0.43, Z:2.57 [[ 7.88512588e-01 -3.41120184e-02 -6.14071876e-01 1.24796290e+01] [ 2.64337985e-02 9.99417711e-01 -2.15752797e-02 4.26126826e-01] [ 6.14450286e-01 7.80127379e-04 7.88955156e-01 2.57194729e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.08538475 meters Centerline goodness [0,1] 0.9508462149447058 Centerline is valid? [True, True] Translation: X:12.50, Y:0.43, Z:2.59 [[ 7.88503364e-01 -3.44421313e-02 -6.14065294e-01 1.25019268e+01] [ 2.67073151e-02 9.99406406e-01 -2.17613323e-02 4.27169541e-01] [ 6.14450295e-01 7.58848424e-04 7.88955169e-01 2.58831869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.11538475 meters Centerline goodness [0,1] 0.9499617912272658 Centerline is valid? [True, False] Translation: X:12.50, Y:0.43, Z:2.59 [[ 7.88786881e-01 -3.36588228e-02 -6.13744523e-01 1.25031117e+01] [ 2.64549055e-02 9.99433365e-01 -2.08107244e-02 4.27018243e-01] [ 6.14097219e-01 1.78672978e-04 7.89230368e-01 2.58814198e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.14538475 meters Centerline goodness [0,1] 0.9499020687966704 Centerline is valid? [False, False] Translation: X:12.50, Y:0.42, Z:2.59 [[ 7.88435886e-01 -2.72080158e-02 -6.14514912e-01 1.25017071e+01] [ 2.35157309e-02 9.99624202e-01 -1.40877703e-02 4.22164441e-01] [ 6.14667279e-01 -3.34346366e-03 7.88779410e-01 2.59277023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.17538475 meters Centerline goodness [0,1] 0.9503965216326281 Centerline is valid? [False, True] Translation: X:12.50, Y:0.42, Z:2.59 [[ 7.88508661e-01 -2.63890973e-02 -6.14457246e-01 1.25003455e+01] [ 2.31738971e-02 9.99644387e-01 -1.31935858e-02 4.21125071e-01] [ 6.14586904e-01 -3.83611227e-03 7.88839795e-01 2.59336390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.20538475 meters Centerline goodness [0,1] 0.951777736980601 Centerline is valid? [True, True] Translation: X:12.53, Y:0.42, Z:2.61 [[ 7.89612545e-01 -3.04502965e-02 -6.12849744e-01 1.25256503e+01] [ 2.41621249e-02 9.99536267e-01 -1.85322078e-02 4.24036885e-01] [ 6.13129857e-01 -1.74488360e-04 7.89982119e-01 2.60755721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.23538475 meters Centerline goodness [0,1] 0.9529139093043824 Centerline is valid? [True, True] Translation: X:12.55, Y:0.43, Z:2.62 [[ 7.89319152e-01 -3.09620315e-02 -6.13201948e-01 1.25491631e+01] [ 2.46558003e-02 9.99520505e-01 -1.87310071e-02 4.25366853e-01] [ 6.13487871e-01 -3.34242132e-04 7.89704071e-01 2.62437792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.26538475 meters Centerline goodness [0,1] 0.951237396883593 Centerline is valid? [True, True] Translation: X:12.57, Y:0.43, Z:2.64 [[ 7.89034442e-01 -3.06258401e-02 -6.13585126e-01 1.25727228e+01] [ 2.40774130e-02 9.99530906e-01 -1.89273909e-02 4.27126391e-01] [ 6.13876964e-01 1.60820886e-04 7.89401702e-01 2.64003541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.29538475 meters Centerline goodness [0,1] 0.951237396883593 Centerline is valid? [True, True] Translation: X:12.59, Y:0.43, Z:2.66 [[ 7.89025989e-01 -3.09059996e-02 -6.13581948e-01 1.25949925e+01] [ 2.43525604e-02 9.99522293e-01 -1.90299478e-02 4.28040869e-01] [ 6.13876975e-01 7.28319350e-05 7.89401706e-01 2.65645079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.32538475 meters Centerline goodness [0,1] 0.9450327477505049 Centerline is valid? [True, False] Translation: X:12.60, Y:0.43, Z:2.66 [[ 7.88731115e-01 -3.08930381e-02 -6.13961602e-01 1.25958233e+01] [ 2.44228799e-02 9.99522694e-01 -1.89184590e-02 4.27311412e-01] [ 6.14253003e-01 -7.31332061e-05 7.89109145e-01 2.65708104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.35538475 meters Centerline goodness [0,1] 0.949627037480431 Centerline is valid? [False, False] Translation: X:12.59, Y:0.42, Z:2.66 [[ 7.88690076e-01 -3.01019067e-02 -6.14053612e-01 1.25946501e+01] [ 2.42534139e-02 9.99546502e-01 -1.78483254e-02 4.24938533e-01] [ 6.14312409e-01 -8.16099322e-04 7.89062481e-01 2.65815954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.38538475000001 meters Centerline goodness [0,1] 0.9514059430255403 Centerline is valid? [False, True] Translation: X:12.59, Y:0.42, Z:2.66 [[ 7.88838652e-01 -2.92511589e-02 -6.13903862e-01 1.25933466e+01] [ 2.38604614e-02 9.99571295e-01 -1.69677457e-02 4.24242080e-01] [ 6.14137004e-01 -1.26321576e-03 7.89198419e-01 2.65852056e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.41538475000002 meters Centerline goodness [0,1] 0.9537850078565486 Centerline is valid? [True, True] Translation: X:12.62, Y:0.42, Z:2.68 [[ 7.90419198e-01 -3.35507316e-02 -6.11646826e-01 1.26153272e+01] [ 2.87435375e-02 9.99430501e-01 -1.76771630e-02 4.21161610e-01] [ 6.11891576e-01 -3.60852454e-03 7.90933422e-01 2.67690078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.44538475000002 meters Centerline goodness [0,1] 0.9527593003202759 Centerline is valid? [True, True] Translation: X:12.64, Y:0.42, Z:2.69 [[ 7.90665798e-01 -3.42760774e-02 -6.11287777e-01 1.26385796e+01] [ 2.95209105e-02 9.99404682e-01 -1.78549259e-02 4.22275569e-01] [ 6.11535863e-01 -3.92849251e-03 7.91206961e-01 2.69271050e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.47538475000002 meters Centerline goodness [0,1] 0.9547994689555096 Centerline is valid? [True, True] Translation: X:12.66, Y:0.42, Z:2.71 [[ 7.91909557e-01 -3.81941186e-02 -6.09442748e-01 1.26595448e+01] [ 3.43328855e-02 9.99248140e-01 -1.80113093e-02 4.18254969e-01] [ 6.09672458e-01 -6.66060011e-03 7.92625466e-01 2.71162486e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.50538475 meters Centerline goodness [0,1] 0.9544273250417672 Centerline is valid? [True, True] Translation: X:12.68, Y:0.42, Z:2.73 [[ 7.91631517e-01 -3.91160275e-02 -6.09745421e-01 1.26827727e+01] [ 3.53311974e-02 9.99209370e-01 -1.82302506e-02 4.18446014e-01] [ 6.09976433e-01 -7.11139496e-03 7.92387645e-01 2.72909694e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.53538475 meters Centerline goodness [0,1] 0.9505458819163084 Centerline is valid? [True, True] Translation: X:12.71, Y:0.42, Z:2.74 [[ 7.89646174e-01 -4.00102957e-02 -6.12256560e-01 1.27084774e+01] [ 3.62921842e-02 9.99170200e-01 -1.84875288e-02 4.20137473e-01] [ 6.12488201e-01 -7.62152151e-03 7.90442987e-01 2.74158000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.56538475 meters Centerline goodness [0,1] 0.9486119679210364 Centerline is valid? [True, False] Translation: X:12.71, Y:0.42, Z:2.74 [[ 7.89732581e-01 -3.95449249e-02 -6.12175342e-01 1.27082728e+01] [ 3.58752412e-02 9.99189361e-01 -1.82644099e-02 4.20464542e-01] [ 6.12401353e-01 -7.53793850e-03 7.90511076e-01 2.74135951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.59538475 meters Centerline goodness [0,1] 0.9500138423205882 Centerline is valid? [False, True] Translation: X:12.71, Y:0.42, Z:2.74 [[ 7.89619813e-01 -3.36973491e-02 -6.12670417e-01 1.27079198e+01] [ 3.22207816e-02 9.99390400e-01 -1.34405700e-02 4.18843425e-01] [ 6.12749845e-01 -9.12777928e-03 7.90224216e-01 2.74306697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.62538475 meters Centerline goodness [0,1] 0.9519189305735231 Centerline is valid? [True, True] Translation: X:12.73, Y:0.42, Z:2.76 [[ 7.90757692e-01 -3.39259345e-02 -6.11188435e-01 1.27315424e+01] [ 2.93435078e-02 9.99415991e-01 -1.75109939e-02 4.24049742e-01] [ 6.11425573e-01 -4.08745953e-03 7.91291389e-01 2.75773726e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.65538475 meters Centerline goodness [0,1] 0.9509484928479341 Centerline is valid? [True, True] Translation: X:12.75, Y:0.43, Z:2.77 [[ 7.90566209e-01 -3.35721806e-02 -6.11455622e-01 1.27546800e+01] [ 2.88412865e-02 9.99429322e-01 -1.75843917e-02 4.25738129e-01] [ 6.11697024e-01 -3.73354092e-03 7.91083315e-01 2.77264221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.68538475 meters Centerline goodness [0,1] 0.9498637935784029 Centerline is valid? [True, False] Translation: X:12.75, Y:0.43, Z:2.77 [[ 7.90541333e-01 -3.35437437e-02 -6.11489344e-01 1.27549013e+01] [ 2.86903138e-02 9.99431035e-01 -1.77333909e-02 4.26943048e-01] [ 6.11736272e-01 -3.52484269e-03 7.91053923e-01 2.77252724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.71538475 meters Centerline goodness [0,1] 0.9513761467889909 Centerline is valid? [False, True] Translation: X:12.75, Y:0.43, Z:2.77 [[ 7.90815361e-01 -3.26331506e-02 -6.11184213e-01 1.27530577e+01] [ 2.78755872e-02 9.99461752e-01 -1.72961655e-02 4.27544110e-01] [ 6.11419673e-01 -3.35904547e-03 7.91299375e-01 2.77214464e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.74538475 meters Centerline goodness [0,1] 0.9549574376875498 Centerline is valid? [True, True] Translation: X:12.77, Y:0.43, Z:2.79 [[ 7.91325635e-01 -3.35281003e-02 -6.10474902e-01 1.27748285e+01] [ 2.74060019e-02 9.99436786e-01 -1.93654889e-02 4.29618459e-01] [ 6.10780362e-01 -1.40626854e-03 7.91798820e-01 2.79121756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.77538475 meters Centerline goodness [0,1] 0.9545190928237843 Centerline is valid? [True, True] Translation: X:12.80, Y:0.43, Z:2.81 [[ 7.91124760e-01 -3.33591059e-02 -6.10744451e-01 1.27976301e+01] [ 2.70389102e-02 9.99442894e-01 -1.95652534e-02 4.31020036e-01] [ 6.11056881e-01 -1.03530798e-03 7.91586013e-01 2.80788697e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.80538475 meters Centerline goodness [0,1] 0.9531846064638203 Centerline is valid? [True, True] Translation: X:12.82, Y:0.43, Z:2.82 [[ 7.90819816e-01 -3.33945263e-02 -6.11137320e-01 1.28208540e+01] [ 2.69079367e-02 9.99441934e-01 -1.97935226e-02 4.32543158e-01] [ 6.11457260e-01 -7.91334390e-04 7.91277065e-01 2.82257062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.83538475 meters Centerline goodness [0,1] 0.9489484913136239 Centerline is valid? [True, False] Translation: X:12.81, Y:0.43, Z:2.83 [[ 7.87319528e-01 -2.08677332e-02 -6.16191933e-01 1.28121493e+01] [ 2.57754087e-02 9.99667335e-01 -9.20668718e-04 4.29719917e-01] [ 6.16006160e-01 -1.51577384e-02 7.87595489e-01 2.82693203e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.86538475 meters Centerline goodness [0,1] 0.9470963818789906 Centerline is valid? [False, False] Translation: X:12.81, Y:0.43, Z:2.83 [[ 7.87716865e-01 -1.79221880e-02 -6.15776693e-01 1.28116312e+01] [ 2.40422831e-02 9.99709566e-01 1.65892784e-03 4.30495919e-01] [ 6.15568119e-01 -1.61114430e-02 7.87918976e-01 2.82714783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.89538475 meters Centerline goodness [0,1] 0.9535448610900258 Centerline is valid? [False, True] Translation: X:12.81, Y:0.43, Z:2.82 [[ 7.90634956e-01 -1.70795551e-02 -6.12049553e-01 1.28057458e+01] [ 2.50777737e-02 9.99675381e-01 4.49857971e-03 4.30965842e-01] [ 6.11774037e-01 -1.89055745e-02 7.90806618e-01 2.82450565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.92538475 meters Centerline goodness [0,1] 0.9537129840546698 Centerline is valid? [True, True] Translation: X:12.84, Y:0.44, Z:2.83 [[ 7.91381956e-01 -3.15616203e-02 -6.10506727e-01 1.28369445e+01] [ 2.48705494e-02 9.99501789e-01 -1.94326965e-02 4.41694234e-01] [ 6.10815893e-01 1.95047667e-04 7.91772636e-01 2.82937888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.95538475 meters Centerline goodness [0,1] 0.9554066753569588 Centerline is valid? [True, True] Translation: X:12.86, Y:0.44, Z:2.85 [[ 7.92566274e-01 -3.08659894e-02 -6.09004098e-01 1.28578946e+01] [ 2.39545059e-02 9.99523167e-01 -1.94838393e-02 4.44848082e-01] [ 6.09315093e-01 8.53841644e-04 7.92927732e-01 2.84789572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 149.98538475 meters Centerline goodness [0,1] 0.955689129187181 Centerline is valid? [True, True] Translation: X:12.88, Y:0.45, Z:2.86 [[ 7.92612913e-01 -2.94852040e-02 -6.09011816e-01 1.28800352e+01] [ 2.21609533e-02 9.99563215e-01 -1.95517842e-02 4.47602855e-01] [ 6.09322297e-01 2.00071420e-03 7.92920132e-01 2.86400109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.01538475 meters Centerline goodness [0,1] 0.9566539237229463 Centerline is valid? [True, True] Translation: X:12.90, Y:0.45, Z:2.88 [[ 7.92624815e-01 -2.55829390e-02 -6.09172731e-01 1.29022940e+01] [ 1.71669457e-02 9.99659624e-01 -1.96451408e-02 4.54157797e-01] [ 6.09467964e-01 5.11359088e-03 7.92794206e-01 2.88031252e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.04538475 meters Centerline goodness [0,1] 0.9562612883804937 Centerline is valid? [True, True] Translation: X:12.92, Y:0.46, Z:2.90 [[ 7.92895970e-01 -2.49472322e-02 -6.08846136e-01 1.29249757e+01] [ 1.63238059e-02 9.99672613e-01 -1.97028184e-02 4.56693588e-01] [ 6.09138338e-01 5.68359918e-03 7.93043619e-01 2.89723973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.07538475 meters Centerline goodness [0,1] 0.957080125120308 Centerline is valid? [True, True] Translation: X:12.95, Y:0.46, Z:2.91 [[ 7.93039450e-01 -2.45719119e-02 -6.08674505e-01 1.29466726e+01] [ 1.56917970e-02 9.99678592e-01 -1.99117922e-02 4.59030805e-01] [ 6.08968143e-01 6.23963999e-03 7.93170138e-01 2.91444602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.10538475 meters Centerline goodness [0,1] 0.9597837513140111 Centerline is valid? [True, True] Translation: X:12.97, Y:0.46, Z:2.93 [[ 7.93963012e-01 -2.34473246e-02 -6.07513752e-01 1.29684783e+01] [ 1.41524022e-02 9.99698044e-01 -2.00880401e-02 4.62865554e-01] [ 6.07801320e-01 7.35138189e-03 7.94055107e-01 2.92979764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.13538475000001 meters Centerline goodness [0,1] 0.9562669071235347 Centerline is valid? [True, True] Translation: X:12.99, Y:0.46, Z:2.95 [[ 7.92197120e-01 -2.32117121e-02 -6.09823696e-01 1.29931195e+01] [ 1.36958305e-02 9.99700935e-01 -2.02599094e-02 4.63363160e-01] [ 6.10111586e-01 7.69779989e-03 7.92278105e-01 2.94564228e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.16538475000002 meters Centerline goodness [0,1] 0.9547553370112737 Centerline is valid? [True, True] Translation: X:13.02, Y:0.46, Z:2.96 [[ 7.91538665e-01 -2.34410149e-02 -6.10669355e-01 1.30163978e+01] [ 1.38099540e-02 9.99695007e-01 -2.04738504e-02 4.64006246e-01] [ 6.10963033e-01 7.77252854e-03 7.91620970e-01 2.96178762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.19538475000002 meters Centerline goodness [0,1] 0.9549855665143132 Centerline is valid? [True, True] Translation: X:13.04, Y:0.46, Z:2.98 [[ 7.90929360e-01 -2.37778689e-02 -6.11445304e-01 1.30400235e+01] [ 1.41540777e-02 9.99688282e-01 -2.05669767e-02 4.64176732e-01] [ 6.11743745e-01 7.61258140e-03 7.91019367e-01 2.97737467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.22538475000002 meters Centerline goodness [0,1] 0.9548652874669232 Centerline is valid? [True, True] Translation: X:13.06, Y:0.46, Z:2.99 [[ 7.90590348e-01 -2.40976663e-02 -6.11871068e-01 1.30635525e+01] [ 1.44879360e-02 9.99681760e-01 -2.06513688e-02 4.63715791e-01] [ 6.12173996e-01 7.46202398e-03 7.90687876e-01 2.99366418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.25538475 meters Centerline goodness [0,1] 0.953121226756822 Centerline is valid? [True, True] Translation: X:13.09, Y:0.46, Z:3.01 [[ 7.90551288e-01 -2.43531768e-02 -6.11911419e-01 1.30866735e+01] [ 1.46656449e-02 9.99675285e-01 -2.08385138e-02 4.64601719e-01] [ 6.12220206e-01 7.49983837e-03 7.90651739e-01 3.00948919e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.28538475 meters Centerline goodness [0,1] 0.9554411987286212 Centerline is valid? [True, True] Translation: X:13.11, Y:0.46, Z:3.03 [[ 7.91198973e-01 -2.62480411e-02 -6.10995275e-01 1.31090010e+01] [ 1.69334917e-02 9.99635725e-01 -2.10160683e-02 4.61742834e-01] [ 6.11324335e-01 6.28160824e-03 7.91355229e-01 3.02664401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.31538475 meters Centerline goodness [0,1] 0.9517063552252389 Centerline is valid? [True, True] Translation: X:13.13, Y:0.46, Z:3.04 [[ 7.89177632e-01 -2.76814783e-02 -6.13540871e-01 1.31328260e+01] [ 1.86005524e-02 9.99602754e-01 -2.11743711e-02 4.58893474e-01] [ 6.13883283e-01 5.29814092e-03 7.89379025e-01 3.04311883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.34538475 meters Centerline goodness [0,1] 0.9513033427624175 Centerline is valid? [True, True] Translation: X:13.16, Y:0.46, Z:3.06 [[ 7.88833309e-01 -3.11364843e-02 -6.13817994e-01 1.31561438e+01] [ 2.28214828e-02 9.99511075e-01 -2.13726467e-02 4.55107194e-01] [ 6.14183353e-01 2.85121880e-03 7.89158210e-01 3.06031861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.37538475 meters Centerline goodness [0,1] 0.9499086479902558 Centerline is valid? [True, False] Translation: X:13.15, Y:0.45, Z:3.07 [[ 7.86079574e-01 -2.22357607e-02 -6.17725242e-01 1.31470566e+01] [ 2.52522338e-02 9.99673698e-01 -3.84999626e-03 4.50630443e-01] [ 6.17609284e-01 -1.25725388e-02 7.86384577e-01 3.06546187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.40538475 meters Centerline goodness [0,1] 0.9502925758868707 Centerline is valid? [False, True] Translation: X:13.15, Y:0.45, Z:3.07 [[ 7.85809534e-01 -2.19764586e-02 -6.18077998e-01 1.31472289e+01] [ 2.55844977e-02 9.99668111e-01 -3.01680798e-03 4.48644562e-01] [ 6.17939164e-01 -1.34425787e-02 7.86110989e-01 3.06690649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.43538475 meters Centerline goodness [0,1] 0.9491220033592915 Centerline is valid? [True, False] Translation: X:13.15, Y:0.45, Z:3.07 [[ 7.85725972e-01 -2.12493940e-02 -6.18209642e-01 1.31466576e+01] [ 2.53982553e-02 9.99675247e-01 -2.08088704e-03 4.46802248e-01] [ 6.18053093e-01 -1.40664393e-02 7.86010502e-01 3.06775909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.46538475 meters Centerline goodness [0,1] 0.9495513642190075 Centerline is valid? [False, False] Translation: X:13.15, Y:0.45, Z:3.07 [[ 7.85699571e-01 -2.05810007e-02 -6.18265806e-01 1.31456699e+01] [ 2.51840250e-02 9.99682021e-01 -1.27352778e-03 4.45650825e-01] [ 6.18095420e-01 -1.45698113e-02 7.85968048e-01 3.06851609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.49538475 meters Centerline goodness [0,1] 0.9547111996322966 Centerline is valid? [False, True] Translation: X:13.14, Y:0.44, Z:3.07 [[ 7.85816985e-01 -1.79887310e-02 -6.18197437e-01 1.31410047e+01] [ 2.41150142e-02 9.99707968e-01 1.56343266e-03 4.42010504e-01] [ 6.17988780e-01 -1.61364119e-02 7.86021300e-01 3.07086310e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.52538475 meters Centerline goodness [0,1] 0.9534755085735357 Centerline is valid? [True, True] Translation: X:13.17, Y:0.45, Z:3.08 [[ 7.86192399e-01 -3.06100102e-02 -6.17223249e-01 1.31716432e+01] [ 2.45867031e-02 9.99531063e-01 -1.82523536e-02 4.48289130e-01] [ 6.17492515e-01 -8.25623117e-04 7.86576324e-01 3.07725609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.55538475 meters Centerline goodness [0,1] 0.9539035520473607 Centerline is valid? [True, True] Translation: X:13.19, Y:0.45, Z:3.10 [[ 7.86735098e-01 -3.16044224e-02 -6.16481181e-01 1.31948120e+01] [ 2.57136860e-02 9.99499535e-01 -1.84251305e-02 4.46027063e-01] [ 6.16754969e-01 -1.35630662e-03 7.87154031e-01 3.09553138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.58538475 meters Centerline goodness [0,1] 0.955128600505767 Centerline is valid? [True, True] Translation: X:13.22, Y:0.45, Z:3.11 [[ 7.86902788e-01 -3.24031945e-02 -6.16225636e-01 1.32166004e+01] [ 2.65856213e-02 9.99473362e-01 -1.86065453e-02 4.45616565e-01] [ 6.16504020e-01 -1.74119904e-03 7.87349834e-01 3.11287266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.61538475 meters Centerline goodness [0,1] 0.9561829370110393 Centerline is valid? [True, True] Translation: X:13.24, Y:0.45, Z:3.13 [[ 7.86799875e-01 -3.29382946e-02 -6.16328667e-01 1.32393617e+01] [ 2.70902771e-02 9.99455618e-01 -1.88304350e-02 4.45344875e-01] [ 6.16613391e-01 -1.88073046e-03 7.87263863e-01 3.12952485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.64538475 meters Centerline goodness [0,1] 0.9565996908809892 Centerline is valid? [True, True] Translation: X:13.26, Y:0.45, Z:3.15 [[ 7.86972637e-01 -3.30501246e-02 -6.16102068e-01 1.32613930e+01] [ 2.70645157e-02 9.99452271e-01 -1.90439043e-02 4.46003574e-01] [ 6.16394014e-01 -1.68747253e-03 7.87436075e-01 3.14743275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.67538475 meters Centerline goodness [0,1] 0.9561072246641491 Centerline is valid? [True, True] Translation: X:13.29, Y:0.45, Z:3.16 [[ 7.87686345e-01 -3.34939870e-02 -6.15165324e-01 1.32853315e+01] [ 2.74737079e-02 9.99437391e-01 -1.92378829e-02 4.45901967e-01] [ 6.15463580e-01 -1.74745479e-03 7.88163390e-01 3.16389696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.70538475 meters Centerline goodness [0,1] 0.9539494031050906 Centerline is valid? [True, True] Translation: X:13.31, Y:0.45, Z:3.18 [[ 7.86792301e-01 -3.39842439e-02 -6.16281548e-01 1.33092842e+01] [ 2.79213387e-02 9.99420578e-01 -1.94655484e-02 4.46473418e-01] [ 6.16585983e-01 -1.89206221e-03 7.87285301e-01 3.17892686e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.73538475 meters Centerline goodness [0,1] 0.9526469310494632 Centerline is valid? [True, True] Translation: X:13.33, Y:0.45, Z:3.19 [[ 7.85505247e-01 -3.46145472e-02 -6.17886187e-01 1.33332808e+01] [ 2.86338471e-02 9.99398072e-01 -1.95856048e-02 4.46113935e-01] [ 6.18192211e-01 -2.30786332e-03 7.86023577e-01 3.19355636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.76538475 meters Centerline goodness [0,1] 0.9509457364341085 Centerline is valid? [True, True] Translation: X:13.36, Y:0.45, Z:3.21 [[ 7.84688345e-01 -3.52398207e-02 -6.18888000e-01 1.33572921e+01] [ 2.93533920e-02 9.99375189e-01 -1.96877914e-02 4.46097636e-01] [ 6.19195107e-01 -2.71768162e-03 7.85232471e-01 3.20997014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.79538475 meters Centerline goodness [0,1] 0.9507286821705426 Centerline is valid? [True, True] Translation: X:13.38, Y:0.45, Z:3.23 [[ 7.83839944e-01 -3.54331685e-02 -6.19951153e-01 1.33801734e+01] [ 2.94296210e-02 9.99368563e-01 -1.99091205e-02 4.46453251e-01] [ 6.20265136e-01 -2.63936358e-03 7.84387783e-01 3.22719744e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.82538475 meters Centerline goodness [0,1] 0.9501040792866685 Centerline is valid? [True, True] Translation: X:13.40, Y:0.45, Z:3.24 [[ 7.83432624e-01 -3.55450689e-02 -6.20459404e-01 1.34037171e+01] [ 2.94097259e-02 9.99364980e-01 -2.01172844e-02 4.47146774e-01] [ 6.20780470e-01 -2.48700411e-03 7.83980499e-01 3.24440389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.85538475 meters Centerline goodness [0,1] 0.94887950834937 Centerline is valid? [True, False] Translation: X:13.40, Y:0.45, Z:3.25 [[ 7.83541024e-01 -3.36339106e-02 -6.20429064e-01 1.34005819e+01] [ 2.84234459e-02 9.99428743e-01 -1.82837358e-02 4.45470283e-01] [ 6.20689593e-01 -3.30867487e-03 7.84049413e-01 3.24563509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.88538475000001 meters Centerline goodness [0,1] 0.9507372342076672 Centerline is valid? [False, True] Translation: X:13.40, Y:0.44, Z:3.25 [[ 7.83612133e-01 -3.18305713e-02 -6.20434396e-01 1.33977712e+01] [ 2.76763815e-02 9.99483676e-01 -1.63217709e-02 4.44164492e-01] [ 6.20633582e-01 -4.38144139e-03 7.84088490e-01 3.24720856e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.91538475000002 meters Centerline goodness [0,1] 0.9520161290322581 Centerline is valid? [True, True] Translation: X:13.42, Y:0.45, Z:3.26 [[ 7.84473716e-01 -3.31945903e-02 -6.19273048e-01 1.34206083e+01] [ 2.73168969e-02 9.99446834e-01 -1.89687579e-02 4.46648842e-01] [ 6.19560147e-01 -2.03612600e-03 7.84946545e-01 3.26445254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.94538475000002 meters Centerline goodness [0,1] 0.9502289037366989 Centerline is valid? [True, True] Translation: X:13.44, Y:0.45, Z:3.28 [[ 7.84146787e-01 -3.26590765e-02 -6.19715419e-01 1.34447811e+01] [ 2.64750988e-02 9.99465607e-01 -1.91721227e-02 4.50445206e-01] [ 6.20010391e-01 -1.37326853e-03 7.84592397e-01 3.28066258e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 150.97538475000002 meters Centerline goodness [0,1] 0.9502289037366989 Centerline is valid? [True, True] Translation: X:13.47, Y:0.45, Z:3.30 [[ 7.84137452e-01 -3.29944201e-02 -6.19709468e-01 1.34669615e+01] [ 2.67516982e-02 9.99454562e-01 -1.93629691e-02 4.51393453e-01] [ 6.20010325e-01 -1.39505142e-03 7.84592411e-01 3.29720736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.00538475 meters Centerline goodness [0,1] 0.9515521816947479 Centerline is valid? [True, True] Translation: X:13.49, Y:0.46, Z:3.31 [[ 7.83176108e-01 -3.09061856e-02 -6.21031394e-01 1.34896713e+01] [ 2.38835653e-02 9.99522146e-01 -1.96228072e-02 4.56193485e-01] [ 6.21341098e-01 5.35669959e-04 7.83540014e-01 3.31489857e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.03538475 meters Centerline goodness [0,1] 0.95147484451013 Centerline is valid? [True, True] Translation: X:13.51, Y:0.46, Z:3.33 [[ 7.83603611e-01 -3.06232709e-02 -6.20505920e-01 1.35118204e+01] [ 2.33825437e-02 9.99530491e-01 -1.98003709e-02 4.58537317e-01] [ 6.20820939e-01 1.00663533e-03 7.83951751e-01 3.33168718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.06538475 meters Centerline goodness [0,1] 0.9489564149785145 Centerline is valid? [True, False] Translation: X:13.51, Y:0.46, Z:3.33 [[ 7.83197281e-01 -2.44714768e-02 -6.21291530e-01 1.35111543e+01] [ 1.99764246e-02 9.99699691e-01 -1.41940553e-02 4.55845732e-01] [ 6.21452300e-01 -1.29443788e-03 7.83450932e-01 3.33481238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.09538475 meters Centerline goodness [0,1] 0.951817958481759 Centerline is valid? [False, True] Translation: X:13.51, Y:0.46, Z:3.33 [[ 7.84505503e-01 -2.19871541e-02 -6.19731943e-01 1.35093050e+01] [ 1.88557210e-02 9.99754912e-01 -1.16007389e-02 4.55868955e-01] [ 6.19835122e-01 -2.58464912e-03 7.84727813e-01 3.33381778e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.12538475 meters Centerline goodness [0,1] 0.9511372693274477 Centerline is valid? [True, True] Translation: X:13.53, Y:0.46, Z:3.35 [[ 7.84547139e-01 -2.51878438e-02 -6.19557390e-01 1.35342605e+01] [ 1.90040306e-02 9.99681978e-01 -1.65767947e-02 4.59106095e-01] [ 6.19777891e-01 1.23118925e-03 7.84776306e-01 3.34778502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.15538475 meters Centerline goodness [0,1] 0.9520980205030324 Centerline is valid? [True, True] Translation: X:13.56, Y:0.46, Z:3.37 [[ 7.84774594e-01 -2.61099373e-02 -6.19231061e-01 1.35563429e+01] [ 2.00135868e-02 9.99658773e-01 -1.67867441e-02 4.58124842e-01] [ 6.19458063e-01 7.80775730e-04 7.85029361e-01 3.36692404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.18538475 meters Centerline goodness [0,1] 0.9520980205030324 Centerline is valid? [True, True] Translation: X:13.58, Y:0.46, Z:3.38 [[ 7.84767484e-01 -2.64459390e-02 -6.19225814e-01 1.35785289e+01] [ 2.02902493e-02 9.99649956e-01 -1.69785458e-02 4.58979900e-01] [ 6.19458071e-01 7.59964502e-04 7.85029376e-01 3.38346276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.21538475 meters Centerline goodness [0,1] 0.9524571006826988 Centerline is valid? [True, True] Translation: X:13.60, Y:0.46, Z:3.40 [[ 7.85020157e-01 -2.66264040e-02 -6.18897720e-01 1.36016625e+01] [ 2.03558984e-02 9.99645055e-01 -1.71872705e-02 4.60671582e-01] [ 6.19135680e-01 8.94134679e-04 7.85283522e-01 3.39995250e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.24538475 meters Centerline goodness [0,1] 0.9552880481513327 Centerline is valid? [True, True] Translation: X:13.62, Y:0.46, Z:3.42 [[ 7.84736169e-01 -2.64208228e-02 -6.19266571e-01 1.36233794e+01] [ 1.99147529e-02 9.99650021e-01 -1.74137434e-02 4.62484272e-01] [ 6.19509926e-01 1.33265356e-03 7.84987691e-01 3.41951760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.27538475 meters Centerline goodness [0,1] 0.9530732425469267 Centerline is valid? [True, True] Translation: X:13.65, Y:0.46, Z:3.43 [[ 7.85266371e-01 -2.61985254e-02 -6.18603560e-01 1.36480534e+01] [ 1.94896449e-02 9.99655208e-01 -1.75959700e-02 4.64845476e-01] [ 6.18851259e-01 1.76115975e-03 7.85506218e-01 3.43391300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.30538475 meters Centerline goodness [0,1] 0.9549961627014582 Centerline is valid? [True, True] Translation: X:13.67, Y:0.47, Z:3.45 [[ 7.86092805e-01 -2.55723598e-02 -6.17579271e-01 1.36697251e+01] [ 1.85636199e-02 9.99669847e-01 -1.77648271e-02 4.66255362e-01] [ 6.17829664e-01 2.50029597e-03 7.86307990e-01 3.45392557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.33538475 meters Centerline goodness [0,1] 0.9566284277038218 Centerline is valid? [True, True] Translation: X:13.69, Y:0.47, Z:3.47 [[ 7.86463103e-01 -2.58647245e-02 -6.17095458e-01 1.36917797e+01] [ 1.87946699e-02 9.99662286e-01 -1.79464539e-02 4.67049006e-01] [ 6.17351236e-01 2.51611837e-03 7.86683622e-01 3.47286126e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.36538475 meters Centerline goodness [0,1] 0.9561352420071728 Centerline is valid? [True, True] Translation: X:13.71, Y:0.47, Z:3.49 [[ 7.87217922e-01 -2.64599376e-02 -6.16106983e-01 1.37143441e+01] [ 1.94257180e-02 9.99647254e-01 -1.81110276e-02 4.68171251e-01] [ 6.16368871e-01 2.28900501e-03 7.87454237e-01 3.48959535e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.39538475 meters Centerline goodness [0,1] 0.9553683565630265 Centerline is valid? [True, True] Translation: X:13.74, Y:0.47, Z:3.51 [[ 7.85840621e-01 -2.62588521e-02 -6.17871338e-01 1.37383704e+01] [ 1.90392814e-02 9.99651815e-01 -1.82689628e-02 4.69668062e-01] [ 6.18135927e-01 2.59266683e-03 7.86066953e-01 3.50603668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.42538475 meters Centerline goodness [0,1] 0.9525895072126428 Centerline is valid? [True, True] Translation: X:13.76, Y:0.47, Z:3.52 [[ 7.85186608e-01 -2.61477924e-02 -6.18706945e-01 1.37613436e+01] [ 1.87220780e-02 9.99653786e-01 -1.84876132e-02 4.70604263e-01] [ 6.18976150e-01 2.93274661e-03 7.85404307e-01 3.52104244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.45538475 meters Centerline goodness [0,1] 0.9538305895337074 Centerline is valid? [True, True] Translation: X:13.78, Y:0.47, Z:3.54 [[ 7.85216242e-01 -2.60371636e-02 -6.18674001e-01 1.37834572e+01] [ 1.84867395e-02 9.99655937e-01 -1.86077273e-02 4.72275043e-01] [ 6.18945631e-01 3.17382460e-03 7.85427421e-01 3.53591597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.48538475 meters Centerline goodness [0,1] 0.954192141079603 Centerline is valid? [True, True] Translation: X:13.81, Y:0.47, Z:3.55 [[ 7.84700832e-01 -2.72254564e-02 -6.19276496e-01 1.38065556e+01] [ 1.99044678e-02 9.99626515e-01 -1.87254575e-02 4.71725577e-01] [ 6.19555015e-01 2.36751307e-03 7.84949666e-01 3.55409559e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.51538475 meters Centerline goodness [0,1] 0.9534156731741702 Centerline is valid? [True, True] Translation: X:13.83, Y:0.47, Z:3.57 [[ 7.84372728e-01 -2.81432074e-02 -6.19651018e-01 1.38299995e+01] [ 2.09060921e-02 9.99602099e-01 -1.89362083e-02 4.72061113e-01] [ 6.19937383e-01 1.89856408e-03 7.84648989e-01 3.57066013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.54538475 meters Centerline goodness [0,1] 0.9513041875326431 Centerline is valid? [True, True] Translation: X:13.85, Y:0.47, Z:3.59 [[ 7.84063880e-01 -2.85935725e-02 -6.20021161e-01 1.38529773e+01] [ 2.13155480e-02 9.99589512e-01 -1.91430304e-02 4.72820010e-01] [ 6.20314017e-01 1.79326788e-03 7.84351519e-01 3.58588831e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.57538475 meters Centerline goodness [0,1] 0.9510946219414975 Centerline is valid? [True, True] Translation: X:13.88, Y:0.47, Z:3.60 [[ 7.83490970e-01 -2.83169483e-02 -6.20757642e-01 1.38758213e+01] [ 2.08865577e-02 9.99596776e-01 -1.92363333e-02 4.73794921e-01] [ 6.21052052e-01 2.10600306e-03 7.83766492e-01 3.60223846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.60538475 meters Centerline goodness [0,1] 0.9507745056021552 Centerline is valid? [True, True] Translation: X:13.90, Y:0.47, Z:3.62 [[ 7.83848307e-01 -2.84272914e-02 -6.20301314e-01 1.38982250e+01] [ 2.09849121e-02 9.99593647e-01 -1.92918373e-02 4.74036557e-01] [ 6.20597668e-01 2.10490542e-03 7.84126332e-01 3.61899562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.63538475000001 meters Centerline goodness [0,1] 0.9520275887551191 Centerline is valid? [True, True] Translation: X:13.92, Y:0.47, Z:3.64 [[ 7.84092691e-01 -2.89369614e-02 -6.19968793e-01 1.39209674e+01] [ 2.15868867e-02 9.99579632e-01 -1.93536792e-02 4.74540147e-01] [ 6.20268215e-01 1.79188236e-03 7.84387743e-01 3.63680883e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.66538475000002 meters Centerline goodness [0,1] 0.9519316470479762 Centerline is valid? [True, True] Translation: X:13.94, Y:0.48, Z:3.66 [[ 7.83114876e-01 -2.93861567e-02 -6.21182376e-01 1.39429249e+01] [ 2.19722080e-02 9.99566706e-01 -1.95862943e-02 4.75045277e-01] [ 6.21488787e-01 1.68957005e-03 7.83421236e-01 3.65527312e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.69538475000002 meters Centerline goodness [0,1] 0.9483608313691879 Centerline is valid? [True, False] Translation: X:13.93, Y:0.47, Z:3.66 [[ 7.80348457e-01 -2.02783769e-02 -6.25016058e-01 1.39337716e+01] [ 2.39094132e-02 9.99710790e-01 -2.58367522e-03 4.72849649e-01] [ 6.24887691e-01 -1.29276002e-02 7.80607617e-01 3.65965362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.72538475000002 meters Centerline goodness [0,1] 0.9484422387648194 Centerline is valid? [False, False] Translation: X:13.93, Y:0.47, Z:3.66 [[ 7.80219137e-01 -2.05051641e-02 -6.25170087e-01 1.39348145e+01] [ 2.40512991e-02 9.99706879e-01 -2.77343688e-03 4.73558092e-01] [ 6.25043706e-01 -1.28722642e-02 7.80483614e-01 3.65970315e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.75538475 meters Centerline goodness [0,1] 0.9477472510643511 Centerline is valid? [False, False] Translation: X:13.93, Y:0.47, Z:3.66 [[ 7.80133628e-01 -1.96383216e-02 -6.25304613e-01 1.39330320e+01] [ 2.37400727e-02 9.99716582e-01 -1.77885571e-03 4.72467423e-01] [ 6.25162324e-01 -1.34570318e-02 7.80378739e-01 3.66091554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.78538475 meters Centerline goodness [0,1] 0.9511184250624733 Centerline is valid? [False, True] Translation: X:13.93, Y:0.47, Z:3.66 [[ 7.79956376e-01 -1.26824353e-02 -6.25705367e-01 1.39302605e+01] [ 1.92828953e-02 9.99806954e-01 3.77147175e-03 4.71589467e-01] [ 6.25536746e-01 -1.50069946e-02 7.80050363e-01 3.66316194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.81538475 meters Centerline goodness [0,1] 0.9529444054771126 Centerline is valid? [True, True] Translation: X:13.96, Y:0.48, Z:3.67 [[ 7.80288356e-01 -2.76268496e-02 -6.24809442e-01 1.39610774e+01] [ 1.97470479e-02 9.99614077e-01 -1.95384312e-02 4.81096815e-01] [ 6.25108100e-01 2.90746838e-03 7.80532774e-01 3.66940923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.84538475 meters Centerline goodness [0,1] 0.951010933968603 Centerline is valid? [True, True] Translation: X:13.98, Y:0.48, Z:3.68 [[ 7.80301153e-01 -2.87582837e-02 -6.24742404e-01 1.39842979e+01] [ 2.10391113e-02 9.99583850e-01 -1.97352911e-02 4.82560837e-01] [ 6.25049971e-01 2.25544542e-03 7.80581480e-01 3.68379412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.87538475 meters Centerline goodness [0,1] 0.9516163367089377 Centerline is valid? [True, True] Translation: X:14.01, Y:0.49, Z:3.70 [[ 7.80229401e-01 -2.84315786e-02 -6.24846963e-01 1.40073497e+01] [ 2.05360656e-02 9.99592233e-01 -1.98402868e-02 4.85904490e-01] [ 6.25156262e-01 2.64807686e-03 7.80495122e-01 3.69918772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.90538475 meters Centerline goodness [0,1] 0.9504553734061931 Centerline is valid? [True, True] Translation: X:14.03, Y:0.49, Z:3.71 [[ 7.80385005e-01 -2.84948872e-02 -6.24649731e-01 1.40294853e+01] [ 2.04459635e-02 9.99589792e-01 -2.00551995e-02 4.87197340e-01] [ 6.24964965e-01 2.87921137e-03 7.80647490e-01 3.71457985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.93538475 meters Centerline goodness [0,1] 0.9509415564629167 Centerline is valid? [True, True] Translation: X:14.05, Y:0.49, Z:3.73 [[ 7.80844766e-01 -2.87750839e-02 -6.24062053e-01 1.40520016e+01] [ 2.07419073e-02 9.99582046e-01 -2.01371763e-02 4.87923782e-01] [ 6.24380673e-01 2.77977147e-03 7.81115259e-01 3.73230283e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.96538475 meters Centerline goodness [0,1] 0.9508486455190908 Centerline is valid? [True, True] Translation: X:14.07, Y:0.49, Z:3.75 [[ 7.80975278e-01 -2.83798438e-02 -6.23916821e-01 1.40737774e+01] [ 2.00853460e-02 9.99591621e-01 -2.03265803e-02 4.88983359e-01] [ 6.24238892e-01 3.34297146e-03 7.81226363e-01 3.74994636e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 151.99538475 meters Centerline goodness [0,1] 0.9505845816587505 Centerline is valid? [True, True] Translation: X:14.10, Y:0.49, Z:3.77 [[ 7.80929185e-01 -2.84152834e-02 -6.23972899e-01 1.40955656e+01] [ 1.99516747e-02 9.99589725e-01 -2.05502198e-02 4.88626480e-01] [ 6.24300839e-01 3.59896208e-03 7.81175723e-01 3.76792746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.02538475 meters Centerline goodness [0,1] 0.9502031588916384 Centerline is valid? [True, True] Translation: X:14.12, Y:0.49, Z:3.78 [[ 7.80061653e-01 -2.88002046e-02 -6.25039491e-01 1.41183957e+01] [ 2.02351325e-02 9.99578774e-01 -2.08041613e-02 4.89478788e-01] [ 6.25375373e-01 3.58077152e-03 7.80315847e-01 3.78348061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.05538475 meters Centerline goodness [0,1] 0.9479204781070862 Centerline is valid? [True, False] Translation: X:14.12, Y:0.49, Z:3.78 [[ 7.81291535e-01 -2.64958077e-02 -6.23603648e-01 1.41178849e+01] [ 1.93257142e-02 9.99646470e-01 -1.82606753e-02 4.89289338e-01] [ 6.23867016e-01 2.21532510e-03 7.81527375e-01 3.78247793e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.08538475 meters Centerline goodness [0,1] 0.948461772768809 Centerline is valid? [False, False] Translation: X:14.11, Y:0.49, Z:3.78 [[ 7.85247200e-01 -2.39082699e-02 -6.18720639e-01 1.41136579e+01] [ 2.04460987e-02 9.99710530e-01 -1.26811793e-02 4.89478900e-01] [ 6.18844723e-01 -2.69256268e-03 7.85508726e-01 3.77724164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.11538475 meters Centerline goodness [0,1] 0.9485122032764961 Centerline is valid? [False, False] Translation: X:14.11, Y:0.49, Z:3.78 [[ 7.85308459e-01 -2.32708062e-02 -6.18667191e-01 1.41125124e+01] [ 2.00383067e-02 9.99725161e-01 -1.21683497e-02 4.89358248e-01] [ 6.18780325e-01 -2.84113500e-03 7.85558933e-01 3.77747292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.14538475 meters Centerline goodness [0,1] 0.9499590076822639 Centerline is valid? [False, False] Translation: X:14.11, Y:0.49, Z:3.78 [[ 7.85378203e-01 -2.26419050e-02 -6.18601991e-01 1.41111270e+01] [ 1.95998634e-02 9.99739348e-01 -1.17081710e-02 4.89335765e-01] [ 6.18705846e-01 -2.92917225e-03 7.85617271e-01 3.77771727e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.17538475 meters Centerline goodness [0,1] 0.9501827040194885 Centerline is valid? [False, True] Translation: X:14.11, Y:0.49, Z:3.78 [[ 7.85531622e-01 -2.10056034e-02 -6.18464902e-01 1.41076357e+01] [ 1.85009267e-02 9.99774149e-01 -1.04578227e-02 4.88290142e-01] [ 6.18544895e-01 -3.22722339e-03 7.85742832e-01 3.77839451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.20538475 meters Centerline goodness [0,1] 0.954138770541692 Centerline is valid? [True, True] Translation: X:14.13, Y:0.49, Z:3.79 [[ 7.86205580e-01 -2.64801422e-02 -6.17397431e-01 1.41327743e+01] [ 1.74879028e-02 9.99634740e-01 -2.06048530e-02 4.93582222e-01] [ 6.17717540e-01 5.40266420e-03 7.86381493e-01 3.79369007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.23538475 meters Centerline goodness [0,1] 0.9514995455922448 Centerline is valid? [True, True] Translation: X:14.16, Y:0.50, Z:3.81 [[ 7.86285269e-01 -2.62308452e-02 -6.17306583e-01 1.41553582e+01] [ 1.70253678e-02 9.99638865e-01 -2.07912514e-02 4.96499200e-01] [ 6.17629025e-01 5.83798308e-03 7.86447904e-01 3.80794278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.26538475 meters Centerline goodness [0,1] 0.9543320916992217 Centerline is valid? [True, True] Translation: X:14.18, Y:0.50, Z:3.83 [[ 7.86575802e-01 -2.57723505e-02 -6.16955666e-01 1.41769106e+01] [ 1.63773562e-02 9.99647869e-01 -2.08787176e-02 4.99481524e-01] [ 6.17276510e-01 6.31859134e-03 7.86720907e-01 3.82586490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.29538475 meters Centerline goodness [0,1] 0.9529741795366795 Centerline is valid? [True, True] Translation: X:14.20, Y:0.50, Z:3.84 [[ 7.86617978e-01 -2.67501461e-02 -6.16860265e-01 1.42001944e+01] [ 1.74559276e-02 9.99625202e-01 -2.10890123e-02 5.01676721e-01] [ 6.17193201e-01 5.82112805e-03 7.86790103e-01 3.84117349e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.32538475 meters Centerline goodness [0,1] 0.9513404055973645 Centerline is valid? [True, True] Translation: X:14.22, Y:0.50, Z:3.86 [[ 7.86025426e-01 -2.65813316e-02 -6.17622427e-01 1.42238432e+01] [ 1.71321249e-02 9.99628059e-01 -2.12187230e-02 5.03403487e-01] [ 6.17956730e-01 6.09727123e-03 7.86188466e-01 3.85783392e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.35538475 meters Centerline goodness [0,1] 0.9524614409465455 Centerline is valid? [True, True] Translation: X:14.25, Y:0.51, Z:3.88 [[ 7.86013454e-01 -2.60042636e-02 -6.17662228e-01 1.42464903e+01] [ 1.62500722e-02 9.99638779e-01 -2.14066756e-02 5.05880356e-01] [ 6.17995781e-01 6.78887922e-03 7.86152101e-01 3.87531044e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.38538475000001 meters Centerline goodness [0,1] 0.9542278021479352 Centerline is valid? [True, True] Translation: X:14.27, Y:0.51, Z:3.89 [[ 7.86510641e-01 -2.55541250e-02 -6.17047809e-01 1.42670808e+01] [ 1.55544996e-02 9.99646278e-01 -2.15725691e-02 5.06085564e-01] [ 6.17380814e-01 7.36918527e-03 7.86629917e-01 3.89424899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.41538475000002 meters Centerline goodness [0,1] 0.9540344817137836 Centerline is valid? [True, True] Translation: X:14.29, Y:0.51, Z:3.91 [[ 7.86561841e-01 -2.54246336e-02 -6.16987891e-01 1.42887012e+01] [ 1.52227529e-02 9.99646745e-01 -2.17865144e-02 5.06901543e-01] [ 6.17323852e-01 7.74418668e-03 7.86671017e-01 3.91218291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.44538475000002 meters Centerline goodness [0,1] 0.9559910346498668 Centerline is valid? [True, True] Translation: X:14.31, Y:0.51, Z:3.93 [[ 7.86837733e-01 -2.72109917e-02 -6.16559765e-01 1.43108932e+01] [ 1.73359755e-02 9.99607819e-01 -2.19925483e-02 5.05680860e-01] [ 6.16916401e-01 6.61590183e-03 7.87000879e-01 3.93073277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.47538475000002 meters Centerline goodness [0,1] 0.955408428562791 Centerline is valid? [True, True] Translation: X:14.33, Y:0.51, Z:3.95 [[ 7.86670636e-01 -2.74618506e-02 -6.16761832e-01 1.43340152e+01] [ 1.74921972e-02 9.99600578e-01 -2.21970348e-02 5.06981468e-01] [ 6.17125056e-01 6.67323584e-03 7.86836790e-01 3.94691362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.50538475 meters Centerline goodness [0,1] 0.9534012269197063 Centerline is valid? [True, True] Translation: X:14.36, Y:0.51, Z:3.96 [[ 7.85682534e-01 -2.75573491e-02 -6.18015815e-01 1.43580114e+01] [ 1.73900495e-02 9.99596394e-01 -2.24640993e-02 5.08198333e-01] [ 6.18385431e-01 6.90232482e-03 7.85844651e-01 3.96173902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.53538475 meters Centerline goodness [0,1] 0.9523146747352497 Centerline is valid? [True, True] Translation: X:14.38, Y:0.51, Z:3.98 [[ 7.85393071e-01 -2.79585603e-02 -6.18365623e-01 1.43813365e+01] [ 1.78284528e-02 9.99586718e-01 -2.25508367e-02 5.08545714e-01] [ 6.18740552e-01 6.68676853e-03 7.85566939e-01 3.97879131e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.56538475 meters Centerline goodness [0,1] 0.9528076282730438 Centerline is valid? [True, True] Translation: X:14.41, Y:0.51, Z:4.00 [[ 7.85593109e-01 -2.88189727e-02 -6.18071949e-01 1.44055233e+01] [ 1.87843161e-02 9.99565123e-01 -2.27313515e-02 5.09894012e-01] [ 6.18458258e-01 6.24753421e-03 7.85792817e-01 3.99558423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.59538475 meters Centerline goodness [0,1] 0.9530011154321546 Centerline is valid? [True, True] Translation: X:14.43, Y:0.51, Z:4.01 [[ 7.85812302e-01 -3.00813902e-02 -6.17733062e-01 1.44281369e+01] [ 2.02661628e-02 9.99532481e-01 -2.28932647e-02 5.10065514e-01] [ 6.18132921e-01 5.47073023e-03 7.86054555e-01 4.01259994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.62538475 meters Centerline goodness [0,1] 0.9514920865047722 Centerline is valid? [True, True] Translation: X:14.45, Y:0.51, Z:4.03 [[ 7.85403091e-01 -3.05027927e-02 -6.18232613e-01 1.44509815e+01] [ 2.07020728e-02 9.99520749e-01 -2.30151272e-02 5.10715708e-01] [ 6.18638351e-01 5.27745549e-03 7.85658157e-01 4.03004849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.65538475 meters Centerline goodness [0,1] 0.9507854353945338 Centerline is valid? [True, True] Translation: X:14.47, Y:0.51, Z:4.05 [[ 7.85201731e-01 -3.13830478e-02 -6.18444295e-01 1.44732182e+01] [ 2.16611638e-02 9.99495740e-01 -2.32176759e-02 5.10334298e-01] [ 6.18861080e-01 4.83433612e-03 7.85485578e-01 4.04684335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.68538475 meters Centerline goodness [0,1] 0.9521246030545895 Centerline is valid? [True, True] Translation: X:14.50, Y:0.51, Z:4.06 [[ 7.85843020e-01 -3.19410187e-02 -6.17600615e-01 1.44950632e+01] [ 2.22326241e-02 9.99478895e-01 -2.34018900e-02 5.11492841e-01] [ 6.18026261e-01 4.65932963e-03 7.86143646e-01 4.06410331e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.71538475 meters Centerline goodness [0,1] 0.9544850899432573 Centerline is valid? [True, True] Translation: X:14.52, Y:0.51, Z:4.08 [[ 7.87773331e-01 -3.34041159e-02 -6.15058814e-01 1.45157816e+01] [ 2.41301919e-02 9.99435545e-01 -2.33736007e-02 5.11177769e-01] [ 6.15492415e-01 3.57161207e-03 7.88134716e-01 4.08279936e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.74538475 meters Centerline goodness [0,1] 0.9533127982122365 Centerline is valid? [True, True] Translation: X:14.54, Y:0.51, Z:4.10 [[ 7.87843139e-01 -3.43225140e-02 -6.14918818e-01 1.45384155e+01] [ 2.52470143e-02 9.99406487e-01 -2.34363556e-02 5.12440785e-01] [ 6.15358250e-01 2.93930779e-03 7.88242085e-01 4.09910254e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.77538475 meters Centerline goodness [0,1] 0.9526177773758929 Centerline is valid? [True, True] Translation: X:14.56, Y:0.52, Z:4.11 [[ 7.86678617e-01 -3.28710012e-02 -6.16487024e-01 1.45624271e+01] [ 2.32711323e-02 9.99450713e-01 -2.35950522e-02 5.15583237e-01] [ 6.16923989e-01 4.21537192e-03 7.87011450e-01 4.11419224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.80538475 meters Centerline goodness [0,1] 0.9503503261657406 Centerline is valid? [True, True] Translation: X:14.59, Y:0.52, Z:4.13 [[ 7.85708125e-01 -3.22872246e-02 -6.17754221e-01 1.45877673e+01] [ 2.24267096e-02 9.99467212e-01 -2.37135966e-02 5.18248362e-01] [ 6.18190736e-01 4.77777097e-03 7.86013605e-01 4.12929516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.83538475 meters Centerline goodness [0,1] 0.9508508327299059 Centerline is valid? [True, True] Translation: X:14.61, Y:0.52, Z:4.15 [[ 7.85357907e-01 -3.23529127e-02 -6.18195962e-01 1.46118786e+01] [ 2.23472463e-02 9.99464161e-01 -2.39163488e-02 5.20228446e-01] [ 6.18638472e-01 4.96791621e-03 7.85660080e-01 4.14595293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.86538475 meters Centerline goodness [0,1] 0.9522991622973543 Centerline is valid? [True, True] Translation: X:14.63, Y:0.52, Z:4.17 [[ 7.85122371e-01 -3.15488619e-02 -6.18536606e-01 1.46328698e+01] [ 2.11664498e-02 9.99485156e-01 -2.41123416e-02 5.21067786e-01] [ 6.18978872e-01 5.83891479e-03 7.85385932e-01 4.16524566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.89538475 meters Centerline goodness [0,1] 0.951048951048951 Centerline is valid? [True, True] Translation: X:14.66, Y:0.52, Z:4.18 [[ 7.85384561e-01 -3.08066980e-02 -6.18241084e-01 1.46559856e+01] [ 2.01776530e-02 9.99504162e-01 -2.41721330e-02 5.24278525e-01] [ 6.18679201e-01 6.50976601e-03 7.85616745e-01 4.17988205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.92538475 meters Centerline goodness [0,1] 0.9521684058145847 Centerline is valid? [True, True] Translation: X:14.68, Y:0.53, Z:4.20 [[ 7.85885494e-01 -3.06071631e-02 -6.17614113e-01 1.46789114e+01] [ 1.98705397e-02 9.99508468e-01 -2.42483930e-02 5.25209782e-01] [ 6.18052710e-01 6.78413454e-03 7.86107387e-01 4.19823874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.95538475 meters Centerline goodness [0,1] 0.9532659526323729 Centerline is valid? [True, True] Translation: X:14.70, Y:0.53, Z:4.22 [[ 7.86102913e-01 -3.09284139e-02 -6.17321345e-01 1.47008898e+01] [ 2.01410651e-02 9.99498678e-01 -2.44280535e-02 5.25570692e-01] [ 6.17767390e-01 6.76945459e-03 7.86331754e-01 4.21568813e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 152.98538475 meters Centerline goodness [0,1] 0.9486854799807043 Centerline is valid? [True, False] Translation: X:14.70, Y:0.52, Z:4.21 [[ 7.88475501e-01 -2.89075071e-02 -6.14386475e-01 1.46990672e+01] [ 2.01597664e-02 9.99572853e-01 -2.11587949e-02 5.24869100e-01] [ 6.14735689e-01 4.29730359e-03 7.88721475e-01 4.21271928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.01538475 meters Centerline goodness [0,1] 0.9502759098995869 Centerline is valid? [False, True] Translation: X:14.70, Y:0.52, Z:4.21 [[ 7.92833084e-01 -2.68797317e-02 -6.08845777e-01 1.46958950e+01] [ 2.25686693e-02 9.99636570e-01 -1.47439227e-02 5.24507671e-01] [ 6.09020817e-01 -2.05136930e-03 7.93151585e-01 4.20635823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.04538475 meters Centerline goodness [0,1] 0.9517489494210478 Centerline is valid? [True, True] Translation: X:14.72, Y:0.53, Z:4.22 [[ 7.92927120e-01 -3.30400366e-02 -6.08420035e-01 1.47223560e+01] [ 2.28584743e-02 9.99438861e-01 -2.44837308e-02 5.28286895e-01] [ 6.08887570e-01 5.50626038e-03 7.93237422e-01 4.21826589e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.07538475 meters Centerline goodness [0,1] 0.9504382905153326 Centerline is valid? [True, True] Translation: X:14.75, Y:0.53, Z:4.24 [[ 7.93454895e-01 -3.50923555e-02 -6.07616537e-01 1.47451026e+01] [ 2.53129644e-02 9.99375296e-01 -2.46631497e-02 5.25490247e-01] [ 6.08102445e-01 4.18852108e-03 7.93847513e-01 4.23650366e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.10538475 meters Centerline goodness [0,1] 0.9504382905153326 Centerline is valid? [True, True] Translation: X:14.77, Y:0.53, Z:4.25 [[ 7.93445886e-01 -3.54262105e-02 -6.07608928e-01 1.47674884e+01] [ 2.55907971e-02 9.99363605e-01 -2.48494583e-02 5.26653724e-01] [ 6.08102571e-01 4.16750372e-03 7.93847526e-01 4.25274550e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.13538475000001 meters Centerline goodness [0,1] 0.9514015289406625 Centerline is valid? [True, True] Translation: X:14.79, Y:0.53, Z:4.27 [[ 7.93581236e-01 -3.58912968e-02 -6.07404837e-01 1.47904104e+01] [ 2.60215077e-02 9.99347386e-01 -2.50536256e-02 5.26766349e-01] [ 6.07907643e-01 4.07649751e-03 7.93997280e-01 4.26989400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.16538475000002 meters Centerline goodness [0,1] 0.9543645368091636 Centerline is valid? [True, True] Translation: X:14.81, Y:0.53, Z:4.29 [[ 7.94362397e-01 -3.52828820e-02 -6.06418585e-01 1.48128243e+01] [ 2.51326648e-02 9.99365858e-01 -2.52236065e-02 5.26839622e-01] [ 6.06923992e-01 4.79576949e-03 7.94745411e-01 4.28885533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.19538475000002 meters Centerline goodness [0,1] 0.9530299342905817 Centerline is valid? [True, True] Translation: X:14.84, Y:0.53, Z:4.30 [[ 7.94163130e-01 -3.54118788e-02 -6.06672005e-01 1.48363519e+01] [ 2.51388572e-02 9.99360589e-01 -2.54254067e-02 5.28560356e-01] [ 6.07184453e-01 4.94087969e-03 7.94545548e-01 4.30418578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.22538475000002 meters Centerline goodness [0,1] 0.9526338147833475 Centerline is valid? [True, True] Translation: X:14.86, Y:0.53, Z:4.32 [[ 7.94592458e-01 -3.53588236e-02 -6.06112679e-01 1.48597522e+01] [ 2.50386369e-02 9.99361841e-01 -2.54750437e-02 5.29826343e-01] [ 6.06626650e-01 5.06604223e-03 7.94970718e-01 4.32162235e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.25538475 meters Centerline goodness [0,1] 0.952827042595119 Centerline is valid? [True, True] Translation: X:14.88, Y:0.53, Z:4.34 [[ 7.94342733e-01 -3.57646556e-02 -6.06416121e-01 1.48831245e+01] [ 2.53970358e-02 9.99347780e-01 -2.56711156e-02 5.32141562e-01] [ 6.06938722e-01 4.99049220e-03 7.94732963e-01 4.33624528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.28538475 meters Centerline goodness [0,1] 0.9508892053200836 Centerline is valid? [True, True] Translation: X:14.91, Y:0.53, Z:4.35 [[ 7.93890669e-01 -3.50107240e-02 -6.07051773e-01 1.49072083e+01] [ 2.43468647e-02 9.99370682e-01 -2.57967164e-02 5.34895598e-01] [ 6.07572906e-01 5.69996506e-03 7.94243461e-01 4.34998409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.31538475 meters Centerline goodness [0,1] 0.9518075943224554 Centerline is valid? [True, True] Translation: X:14.93, Y:0.53, Z:4.37 [[ 7.94020060e-01 -3.53198744e-02 -6.06864606e-01 1.49285474e+01] [ 2.46906374e-02 9.99360658e-01 -2.58582085e-02 5.34305968e-01] [ 6.07389921e-01 5.54806232e-03 7.94384480e-01 4.36939192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.34538475 meters Centerline goodness [0,1] 0.9543305654888175 Centerline is valid? [True, True] Translation: X:14.95, Y:0.53, Z:4.39 [[ 7.94250160e-01 -3.56215338e-02 -6.06545785e-01 1.49501949e+01] [ 2.49189296e-02 9.99349754e-01 -2.60598747e-02 5.33104831e-01] [ 6.07079674e-01 5.58358792e-03 7.94621352e-01 4.38812561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.37538475 meters Centerline goodness [0,1] 0.954618632483825 Centerline is valid? [True, True] Translation: X:14.97, Y:0.53, Z:4.40 [[ 7.94726449e-01 -3.57281316e-02 -6.05915317e-01 1.49727784e+01] [ 2.49192605e-02 9.99344966e-01 -2.62425006e-02 5.34929927e-01] [ 6.06456018e-01 5.75664769e-03 7.95096195e-01 4.40478091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.40538475 meters Centerline goodness [0,1] 0.9546518342907511 Centerline is valid? [True, True] Translation: X:15.00, Y:0.53, Z:4.42 [[ 7.95196744e-01 -3.74868020e-02 -6.05191604e-01 1.49953410e+01] [ 2.71071094e-02 9.99287022e-01 -2.62802548e-02 5.33950399e-01] [ 6.05745278e-01 4.49297802e-03 7.95645946e-01 4.42277196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.43538475 meters Centerline goodness [0,1] 0.9563596690608237 Centerline is valid? [True, True] Translation: X:15.02, Y:0.54, Z:4.44 [[ 7.95343192e-01 -3.82946247e-02 -6.04948534e-01 1.50179443e+01] [ 2.79909209e-02 9.99258049e-01 -2.64548513e-02 5.35798253e-01] [ 6.05512771e-01 4.10761932e-03 7.95824988e-01 4.43931468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.46538475 meters Centerline goodness [0,1] 0.9529680365296803 Centerline is valid? [True, True] Translation: X:15.04, Y:0.54, Z:4.45 [[ 7.94516965e-01 -3.83871409e-02 -6.06027409e-01 1.50419862e+01] [ 2.79047434e-02 9.99253641e-01 -2.67111653e-02 5.38190362e-01] [ 6.06600460e-01 4.31143463e-03 7.94995153e-01 4.45370233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.49538475 meters Centerline goodness [0,1] 0.953112196898425 Centerline is valid? [True, True] Translation: X:15.07, Y:0.54, Z:4.47 [[ 7.94690458e-01 -3.78779901e-02 -6.05831936e-01 1.50650026e+01] [ 2.72195605e-02 9.99270916e-01 -2.67718619e-02 5.39719439e-01] [ 6.06404297e-01 4.78486412e-03 7.95142084e-01 4.47019560e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.52538475 meters Centerline goodness [0,1] 0.9544473820159844 Centerline is valid? [True, True] Translation: X:15.09, Y:0.54, Z:4.49 [[ 7.94732425e-01 -3.84322620e-02 -6.05741970e-01 1.50868347e+01] [ 2.77611178e-02 9.99250514e-01 -2.69764980e-02 5.38731379e-01] [ 6.06324743e-01 4.62302353e-03 7.95203706e-01 4.48830091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.55538475 meters Centerline goodness [0,1] 0.9552134572174652 Centerline is valid? [True, True] Translation: X:15.11, Y:0.54, Z:4.51 [[ 7.95053746e-01 -3.93296777e-02 -6.05262520e-01 1.51093113e+01] [ 2.87500727e-02 9.99217483e-01 -2.71635002e-02 5.39030448e-01] [ 6.05857223e-01 4.19510112e-03 7.95562334e-01 4.50517761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.58538475 meters Centerline goodness [0,1] 0.9534246575342465 Centerline is valid? [True, True] Translation: X:15.13, Y:0.54, Z:4.52 [[ 7.94602912e-01 -4.03806569e-02 -6.05785123e-01 1.51315104e+01] [ 2.99996154e-02 9.99178300e-01 -2.72533838e-02 5.39586549e-01] [ 6.06387859e-01 3.48229747e-03 7.95161391e-01 4.52024516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.61538475 meters Centerline goodness [0,1] 0.9516881690914082 Centerline is valid? [True, True] Translation: X:15.16, Y:0.54, Z:4.54 [[ 7.94108987e-01 -4.11230864e-02 -6.06382559e-01 1.51552004e+01] [ 3.08418890e-02 9.99149487e-01 -2.73693384e-02 5.39432796e-01] [ 6.06992335e-01 3.03225402e-03 7.94701901e-01 4.53650298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.64538475 meters Centerline goodness [0,1] 0.95001217730151 Centerline is valid? [True, True] Translation: X:15.18, Y:0.54, Z:4.55 [[ 7.91856239e-01 -4.47442350e-02 -6.09066211e-01 1.51791939e+01] [ 3.51699348e-02 9.98998357e-01 -2.76651121e-02 5.35736081e-01] [ 6.09693998e-01 4.85972695e-04 7.92636734e-01 4.55079428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.67538475 meters Centerline goodness [0,1] 0.9486701884026993 Centerline is valid? [True, False] Translation: X:15.17, Y:0.53, Z:4.55 [[ 7.88790147e-01 -3.62987645e-02 -6.13589849e-01 1.51702168e+01] [ 3.68121370e-02 9.99252645e-01 -1.17905885e-02 5.32731836e-01] [ 6.13559264e-01 -1.32872536e-02 7.89536876e-01 4.55402363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.70538475 meters Centerline goodness [0,1] 0.9471780688691 Centerline is valid? [False, False] Translation: X:15.17, Y:0.53, Z:4.56 [[ 7.88301239e-01 -3.23712644e-02 -6.14437350e-01 1.51742288e+01] [ 3.45666721e-02 9.99367900e-01 -8.30329092e-03 5.31914149e-01] [ 6.14317753e-01 -1.46935599e-02 7.88921921e-01 4.55546899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.73538475 meters Centerline goodness [0,1] 0.9469142179950774 Centerline is valid? [False, False] Translation: X:15.17, Y:0.53, Z:4.56 [[ 7.88339839e-01 -3.18274393e-02 -6.14416237e-01 1.51734510e+01] [ 3.42182663e-02 9.99383438e-01 -7.86468995e-03 5.31583933e-01] [ 6.14287725e-01 -1.48242100e-02 7.88942859e-01 4.55567579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.76538475 meters Centerline goodness [0,1] 0.9475949443821416 Centerline is valid? [False, False] Translation: X:15.17, Y:0.53, Z:4.56 [[ 7.88461959e-01 -3.03198705e-02 -6.14335776e-01 1.51699180e+01] [ 3.32898836e-02 9.99423946e-01 -6.59997018e-03 5.30735104e-01] [ 6.14181995e-01 -1.52473410e-02 7.89017107e-01 4.55665823e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.79538475 meters Centerline goodness [0,1] 0.9487132743900586 Centerline is valid? [False, False] Translation: X:15.17, Y:0.53, Z:4.56 [[ 7.88532152e-01 -2.93933993e-02 -6.14290707e-01 1.51678939e+01] [ 3.27075418e-02 9.99447915e-01 -5.83799057e-03 5.30307012e-01] [ 6.14123165e-01 -1.54884957e-02 7.89058201e-01 4.55718995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.82538475 meters Centerline goodness [0,1] 0.9482784817819917 Centerline is valid? [False, False] Translation: X:15.17, Y:0.53, Z:4.56 [[ 7.88507515e-01 -2.87103922e-02 -6.14354630e-01 1.51665309e+01] [ 3.22959304e-02 9.99464527e-01 -5.25662957e-03 5.30259088e-01] [ 6.14176580e-01 -1.56962625e-02 7.89012520e-01 4.55778780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.85538475 meters Centerline goodness [0,1] 0.9485436893203884 Centerline is valid? [False, False] Translation: X:15.17, Y:0.53, Z:4.56 [[ 7.88159949e-01 -2.32605653e-02 -6.15030764e-01 1.51668477e+01] [ 2.88391581e-02 9.99583706e-01 -8.47132769e-04 5.30282198e-01] [ 6.14794435e-01 -1.70692933e-02 7.88502658e-01 4.55965855e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.88538475000001 meters Centerline goodness [0,1] 0.9490946464738067 Centerline is valid? [False, False] Translation: X:15.17, Y:0.53, Z:4.56 [[ 7.87926570e-01 -1.80458515e-02 -6.15504725e-01 1.51678293e+01] [ 2.52571306e-02 9.99676417e-01 3.02313217e-03 5.31785041e-01] [ 6.15251003e-01 -1.79278894e-02 7.88127397e-01 4.56055772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.91538475000002 meters Centerline goodness [0,1] 0.9482017437636232 Centerline is valid? [False, False] Translation: X:15.17, Y:0.53, Z:4.56 [[ 7.87917629e-01 -1.72494592e-02 -6.15539005e-01 1.51662747e+01] [ 2.48018701e-02 9.99685417e-01 3.73298501e-03 5.31108197e-01] [ 6.15280974e-01 -1.82078031e-02 7.88097582e-01 4.56119592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.94538475000002 meters Centerline goodness [0,1] 0.9504881450488145 Centerline is valid? [False, True] Translation: X:15.16, Y:0.53, Z:4.56 [[ 7.87803246e-01 -1.58480785e-02 -6.15723058e-01 1.51633903e+01] [ 2.41164348e-02 9.99696018e-01 5.12526630e-03 5.29543685e-01] [ 6.15454664e-01 -1.88867464e-02 7.87945967e-01 4.56277414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 153.97538475000002 meters Centerline goodness [0,1] 0.9505850967076942 Centerline is valid? [True, True] Translation: X:15.20, Y:0.54, Z:4.56 [[ 7.87982565e-01 -3.39320027e-02 -6.14761821e-01 1.51970887e+01] [ 2.33823758e-02 9.99409141e-01 -2.51919501e-02 5.43180701e-01] [ 6.15253396e-01 5.47622556e-03 7.88310389e-01 4.56112093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.00538475 meters Centerline goodness [0,1] 0.9508241591144091 Centerline is valid? [True, True] Translation: X:15.22, Y:0.54, Z:4.58 [[ 7.89092900e-01 -3.60620040e-02 -6.13214421e-01 1.52197726e+01] [ 2.60667197e-02 9.99341860e-01 -2.52264236e-02 5.42561313e-01] [ 6.13720556e-01 3.92150330e-03 7.89513585e-01 4.57834358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.03538475 meters Centerline goodness [0,1] 0.9495749848208864 Centerline is valid? [True, False] Translation: X:15.22, Y:0.54, Z:4.58 [[ 7.89029099e-01 -3.50933069e-02 -6.13352705e-01 1.52193632e+01] [ 2.59468811e-02 9.99379932e-01 -2.38014806e-02 5.41616947e-01] [ 6.13807657e-01 2.86547114e-03 7.89450410e-01 4.57970674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.06538475 meters Centerline goodness [0,1] 0.9471832054121287 Centerline is valid? [False, False] Translation: X:15.21, Y:0.54, Z:4.59 [[ 7.85643436e-01 -2.32992273e-02 -6.18240679e-01 1.52104633e+01] [ 2.61596866e-02 9.99647961e-01 -4.43005303e-03 5.37363691e-01] [ 6.18126251e-01 -1.26925403e-02 7.85976359e-01 4.58577423e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.09538475 meters Centerline goodness [0,1] 0.9471403024884066 Centerline is valid? [False, False] Translation: X:15.21, Y:0.54, Z:4.59 [[ 7.85610081e-01 -2.27088069e-02 -6.18305031e-01 1.52097762e+01] [ 2.58408650e-02 9.99658532e-01 -3.88191661e-03 5.36598256e-01] [ 6.18182053e-01 -1.29278640e-02 7.85928635e-01 4.58619288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.12538475 meters Centerline goodness [0,1] 0.9466025328787141 Centerline is valid? [False, False] Translation: X:15.21, Y:0.54, Z:4.59 [[ 7.85666501e-01 -2.17391112e-02 -6.18268194e-01 1.52082161e+01] [ 2.53008779e-02 9.99675384e-01 -2.99870207e-03 5.35105085e-01] [ 6.18132684e-01 -1.32867484e-02 7.85961480e-01 4.58666008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.15538475 meters Centerline goodness [0,1] 0.9497616428309498 Centerline is valid? [False, False] Translation: X:15.21, Y:0.53, Z:4.59 [[ 7.85472484e-01 -2.07039767e-02 -6.18550178e-01 1.52062433e+01] [ 2.54577430e-02 9.99675257e-01 -1.13312822e-03 5.31227383e-01] [ 6.18372768e-01 -1.48568504e-02 7.85744483e-01 4.58919437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.18538475 meters Centerline goodness [0,1] 0.9509908699502275 Centerline is valid? [False, True] Translation: X:15.21, Y:0.53, Z:4.59 [[ 7.85409216e-01 -2.03656024e-02 -6.18641743e-01 1.52057355e+01] [ 2.54012869e-02 9.99677117e-01 -6.60514563e-04 5.30786975e-01] [ 6.18455445e-01 -1.51955222e-02 7.85672933e-01 4.58980297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.21538475 meters Centerline goodness [0,1] 0.9491783787079662 Centerline is valid? [True, False] Translation: X:15.21, Y:0.53, Z:4.59 [[ 7.86395135e-01 -1.77960397e-02 -6.17467402e-01 1.52064779e+01] [ 2.39443004e-02 9.99711879e-01 1.68230593e-03 5.32833236e-01] [ 6.17259558e-01 -1.61077822e-02 7.86594672e-01 4.58855863e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.24538475 meters Centerline goodness [0,1] 0.9480641828238011 Centerline is valid? [False, False] Translation: X:15.21, Y:0.53, Z:4.59 [[ 7.86152984e-01 -1.25125470e-02 -6.17905269e-01 1.52072570e+01] [ 2.03976420e-02 9.99775662e-01 5.70625856e-03 5.33841899e-01] [ 6.17695250e-01 -1.70898027e-02 7.86231847e-01 4.58960159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.27538475 meters Centerline goodness [0,1] 0.9451951042171595 Centerline is valid? [False, False] Translation: X:15.21, Y:0.54, Z:4.59 [[ 7.86089812e-01 -1.26189862e-02 -6.17983470e-01 1.52076348e+01] [ 2.03226514e-02 9.99778696e-01 5.43580176e-03 5.35032308e-01] [ 6.17778114e-01 -1.68320910e-02 7.86172299e-01 4.58950052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.30538475 meters Centerline goodness [0,1] 0.9467364345774605 Centerline is valid? [False, False] Translation: X:15.20, Y:0.54, Z:4.59 [[ 7.86175705e-01 -1.14376096e-02 -6.17897194e-01 1.52049942e+01] [ 1.93749118e-02 9.99793406e-01 6.14477359e-03 5.35096709e-01] [ 6.17699258e-01 -1.68025754e-02 7.86234888e-01 4.58985326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.33538475 meters Centerline goodness [0,1] 0.9468704512372634 Centerline is valid? [False, False] Translation: X:15.20, Y:0.53, Z:4.59 [[ 7.86215787e-01 -1.05169523e-02 -6.17862550e-01 1.52029770e+01] [ 1.87675011e-02 9.99800319e-01 6.86310160e-03 5.34788175e-01] [ 6.17666996e-01 -1.69916149e-02 7.86256171e-01 4.59038406e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.36538475 meters Centerline goodness [0,1] 0.947658069003054 Centerline is valid? [False, False] Translation: X:15.20, Y:0.54, Z:4.59 [[ 7.86284455e-01 -9.75417114e-03 -6.17787675e-01 1.52012302e+01] [ 1.81974224e-02 9.99807214e-01 7.37479864e-03 5.35054947e-01] [ 6.17596639e-01 -1.70408328e-02 7.86310372e-01 4.59065117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.39538475 meters Centerline goodness [0,1] 0.9480769809956932 Centerline is valid? [False, False] Translation: X:15.20, Y:0.54, Z:4.59 [[ 7.86258413e-01 -4.40043652e-03 -6.17882145e-01 1.52013845e+01] [ 1.46001446e-02 9.99827758e-01 1.14581850e-02 5.36387376e-01] [ 6.17725298e-01 -1.80302630e-02 7.86187233e-01 4.59127998e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.42538475 meters Centerline goodness [0,1] 0.9466834592779177 Centerline is valid? [False, False] Translation: X:15.20, Y:0.54, Z:4.59 [[ 7.85927282e-01 5.76254008e-04 -6.18318668e-01 1.52025510e+01] [ 1.13339076e-02 9.99818127e-01 1.53380075e-02 5.37493637e-01] [ 6.18215051e-01 -1.90625252e-02 7.85777812e-01 4.59244607e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.45538475 meters Centerline goodness [0,1] 0.9468014683757597 Centerline is valid? [False, False] Translation: X:15.20, Y:0.54, Z:4.59 [[ 7.85801272e-01 1.31140195e-03 -6.18477680e-01 1.52006976e+01] [ 1.11030246e-02 9.99806688e-01 1.62268092e-02 5.36372347e-01] [ 6.18379401e-01 -1.96180202e-02 7.85634807e-01 4.59372303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.48538475 meters Centerline goodness [0,1] 0.9487888441425738 Centerline is valid? [False, False] Translation: X:15.20, Y:0.53, Z:4.60 [[ 7.85594426e-01 1.82923600e-03 -6.18739083e-01 1.51988096e+01] [ 1.14989206e-02 9.99779764e-01 1.75555762e-02 5.34572768e-01] [ 6.18634927e-01 -2.09063944e-02 7.85400375e-01 4.59615324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.51538475 meters Centerline goodness [0,1] 0.9482810524414474 Centerline is valid? [False, False] Translation: X:15.20, Y:0.53, Z:4.60 [[ 7.85463288e-01 1.65969522e-03 -6.18906026e-01 1.51988765e+01] [ 1.18371134e-02 9.99773205e-01 1.77037165e-02 5.34476388e-01] [ 6.18795043e-01 -2.12316802e-02 7.85265503e-01 4.59683288e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.54538475 meters Centerline goodness [0,1] 0.9473921539155268 Centerline is valid? [False, False] Translation: X:15.20, Y:0.53, Z:4.60 [[ 7.85409181e-01 1.67033980e-03 -6.18974659e-01 1.51985273e+01] [ 1.20267740e-02 9.99766396e-01 1.79585515e-02 5.34405017e-01] [ 6.18860061e-01 -2.15490796e-02 7.85205617e-01 4.59741369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.57538475 meters Centerline goodness [0,1] 0.9486426559597292 Centerline is valid? [False, False] Translation: X:15.20, Y:0.53, Z:4.60 [[ 7.85187786e-01 1.14935782e-03 -6.19256668e-01 1.51985640e+01] [ 1.27268980e-02 9.99757115e-01 1.79926742e-02 5.34840310e-01] [ 6.19126940e-01 -2.20088445e-02 7.84982448e-01 4.59860974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.60538475 meters Centerline goodness [0,1] 0.9468907260963336 Centerline is valid? [False, False] Translation: X:15.20, Y:0.54, Z:4.60 [[ 7.84949010e-01 -1.43026969e-04 -6.19560353e-01 1.52005425e+01] [ 1.38766136e-02 9.99753176e-01 1.73501135e-02 5.35191904e-01] [ 6.19404950e-01 -2.22163540e-02 7.84757250e-01 4.59915765e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.63538475000001 meters Centerline goodness [0,1] 0.9459030150452556 Centerline is valid? [False, False] Translation: X:15.20, Y:0.53, Z:4.60 [[ 7.84730539e-01 -4.28447093e-04 -6.19836912e-01 1.52013239e+01] [ 1.42434041e-02 9.99748167e-01 1.73414889e-02 5.34916865e-01] [ 6.19673387e-01 -2.24369835e-02 7.84539021e-01 4.59975979e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.66538475000002 meters Centerline goodness [0,1] 0.9457352720731524 Centerline is valid? [False, False] Translation: X:15.20, Y:0.54, Z:4.59 [[ 7.88857195e-01 -3.67573411e-03 -6.14565550e-01 1.52012306e+01] [ 1.88482703e-02 9.99656425e-01 1.82146923e-02 5.37994757e-01] [ 6.14287448e-01 -2.59522887e-02 7.88655444e-01 4.59219335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.69538475000002 meters Centerline goodness [0,1] 0.9432838501137316 Centerline is valid? [False, False] Translation: X:15.20, Y:0.54, Z:4.59 [[ 7.88661401e-01 -4.65124421e-03 -6.14810183e-01 1.52034016e+01] [ 1.95491367e-02 9.99655480e-01 1.75143614e-02 5.39344718e-01] [ 6.14516905e-01 -2.58319091e-02 7.88480619e-01 4.59217890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.72538475000002 meters Centerline goodness [0,1] 0.9422681027538264 Centerline is valid? [False, False] Translation: X:15.20, Y:0.54, Z:4.59 [[ 7.88526624e-01 -5.32581971e-03 -6.14977560e-01 1.52047331e+01] [ 2.01451704e-02 9.99649568e-01 1.71730654e-02 5.39896314e-01] [ 6.14670591e-01 -2.59302470e-02 7.88357588e-01 4.59238394e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.75538475 meters Centerline goodness [0,1] 0.9444477683379203 Centerline is valid? [False, False] Translation: X:15.20, Y:0.54, Z:4.59 [[ 7.88527576e-01 -1.08622403e-02 -6.14903467e-01 1.52042474e+01] [ 2.40100744e-02 9.99625474e-01 1.31312215e-02 5.40692948e-01] [ 6.14530535e-01 -2.51182083e-02 7.88493055e-01 4.59231217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.78538475 meters Centerline goodness [0,1] 0.9441839629684934 Centerline is valid? [False, False] Translation: X:15.20, Y:0.54, Z:4.59 [[ 7.88218033e-01 -1.10201544e-02 -6.15297398e-01 1.52044221e+01] [ 2.43966950e-02 9.99613219e-01 1.33496794e-02 5.40343678e-01] [ 6.14912298e-01 -2.55336810e-02 7.88182021e-01 4.59352738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.81538475 meters Centerline goodness [0,1] 0.9450073223945724 Centerline is valid? [False, False] Translation: X:15.20, Y:0.54, Z:4.59 [[ 7.88121878e-01 -1.10116075e-02 -6.15420710e-01 1.52043573e+01] [ 2.44642824e-02 9.99610307e-01 1.34436811e-02 5.42616651e-01] [ 6.15032849e-01 -2.56510852e-02 7.88084143e-01 4.59405090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.84538475 meters Centerline goodness [0,1] 0.9418151530475652 Centerline is valid? [False, False] Translation: X:15.20, Y:0.54, Z:4.59 [[ 7.88023268e-01 -1.12925159e-02 -6.15541882e-01 1.52048938e+01] [ 2.44944510e-02 9.99615184e-01 1.30194665e-02 5.44651590e-01] [ 6.15157989e-01 -2.53370030e-02 7.87996628e-01 4.59394814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.87538475 meters Centerline goodness [0,1] 0.9407238613832085 Centerline is valid? [False, False] Translation: X:15.21, Y:0.55, Z:4.59 [[ 7.87758740e-01 -6.03920150e-03 -6.15954297e-01 1.52050836e+01] [ 2.07579345e-02 9.99644265e-01 1.67466828e-02 5.47108700e-01] [ 6.15634044e-01 -2.59782847e-02 7.87603868e-01 4.59484036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.90538475 meters Centerline goodness [0,1] 0.940408476024874 Centerline is valid? [False, False] Translation: X:15.20, Y:0.55, Z:4.60 [[ 7.87476840e-01 -8.47970097e-04 -6.16343660e-01 1.52002285e+01] [ 1.71696682e-02 9.99641146e-01 2.05616624e-02 5.48735878e-01] [ 6.16105047e-01 -2.67742491e-02 7.87208810e-01 4.59690984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.93538475 meters Centerline goodness [0,1] 0.9417432684065853 Centerline is valid? [False, False] Translation: X:15.20, Y:0.55, Z:4.60 [[ 7.87616405e-01 1.07235151e-04 -6.16165876e-01 1.51974997e+01] [ 1.64467825e-02 9.99640028e-01 2.11971366e-02 5.49182644e-01] [ 6.15946347e-01 -2.68291587e-02 7.87331121e-01 4.59726511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.96538475 meters Centerline goodness [0,1] 0.9415918222642401 Centerline is valid? [False, False] Translation: X:15.19, Y:0.55, Z:4.60 [[ 7.87860956e-01 1.17430886e-03 -6.15852039e-01 1.51945644e+01] [ 1.56019427e-02 9.99639170e-01 2.18657173e-02 5.49783348e-01] [ 6.15655499e-01 -2.68356331e-02 7.87558351e-01 4.59739270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 154.99538475 meters Centerline goodness [0,1] 0.9415918222642401 Centerline is valid? [False, False] Translation: X:15.19, Y:0.55, Z:4.60 [[ 7.87860956e-01 1.17430886e-03 -6.15852039e-01 1.51945644e+01] [ 1.56019427e-02 9.99639170e-01 2.18657173e-02 5.49783348e-01] [ 6.15655499e-01 -2.68356331e-02 7.87558351e-01 4.59739270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.02538475 meters Centerline goodness [0,1] 0.9420763098284941 Centerline is valid? [False, False] Translation: X:15.19, Y:0.55, Z:4.60 [[ 7.87722370e-01 6.98987684e-03 -6.15990755e-01 1.51926452e+01] [ 1.15429957e-02 9.99592592e-01 2.61038091e-02 5.52371373e-01] [ 6.15922258e-01 -2.76729330e-02 7.87320761e-01 4.59855411e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.05538475 meters Centerline goodness [0,1] 0.9416656870812272 Centerline is valid? [False, False] Translation: X:15.19, Y:0.55, Z:4.60 [[ 7.87102211e-01 1.17847992e-02 -6.16710003e-01 1.51942364e+01] [ 8.53520804e-03 9.99513659e-01 2.99932689e-02 5.52979117e-01] [ 6.16763536e-01 -2.88715164e-02 7.86618825e-01 4.60034233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.08538475 meters Centerline goodness [0,1] 0.9415833748571094 Centerline is valid? [False, False] Translation: X:15.20, Y:0.55, Z:4.60 [[ 7.86674854e-01 1.67830492e-02 -6.17139372e-01 1.51951548e+01] [ 5.21977069e-03 9.99413880e-01 3.38326731e-02 5.53878286e-01] [ 6.17345469e-01 -2.98366392e-02 7.86126164e-01 4.60157891e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.11538475 meters Centerline goodness [0,1] 0.9406264609630669 Centerline is valid? [False, False] Translation: X:15.19, Y:0.56, Z:4.60 [[ 7.86688727e-01 1.68356816e-02 -6.17120252e-01 1.51948534e+01] [ 5.04132564e-03 9.99419557e-01 3.36917537e-02 5.55254919e-01] [ 6.17329273e-01 -2.96160270e-02 7.86147225e-01 4.60146964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.14538475 meters Centerline goodness [0,1] 0.9417634358405789 Centerline is valid? [False, False] Translation: X:15.19, Y:0.56, Z:4.60 [[ 7.86742608e-01 1.67584268e-02 -6.17053664e-01 1.51943209e+01] [ 4.85139310e-03 9.99432663e-01 3.33288951e-02 5.57498280e-01] [ 6.17262127e-01 -2.92148317e-02 7.86214958e-01 4.60119934e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.17538475 meters Centerline goodness [0,1] 0.940869159151271 Centerline is valid? [False, False] Translation: X:15.19, Y:0.56, Z:4.60 [[ 7.86868465e-01 1.76113585e-02 -6.16869402e-01 1.51917441e+01] [ 4.18116138e-03 9.99417624e-01 3.38663679e-02 5.58201527e-01] [ 6.17106585e-01 -2.92276075e-02 7.86336576e-01 4.60150972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.20538475 meters Centerline goodness [0,1] 0.9422669029839905 Centerline is valid? [False, False] Translation: X:15.19, Y:0.56, Z:4.60 [[ 7.86879073e-01 1.81208987e-02 -6.16841112e-01 1.51905726e+01] [ 3.88414037e-03 9.99403545e-01 3.43142484e-02 5.58285421e-01] [ 6.17094999e-01 -2.93970614e-02 7.86339351e-01 4.60189091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.23538475 meters Centerline goodness [0,1] 0.9428612968886304 Centerline is valid? [False, False] Translation: X:15.19, Y:0.56, Z:4.60 [[ 7.87026079e-01 1.82095845e-02 -6.16650924e-01 1.51903748e+01] [ 3.76164491e-03 9.99404051e-01 3.43131653e-02 5.58863272e-01] [ 6.16908260e-01 -2.93249778e-02 7.86488553e-01 4.60153040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.26538475 meters Centerline goodness [0,1] 0.9424746638789674 Centerline is valid? [False, False] Translation: X:15.19, Y:0.56, Z:4.60 [[ 7.87006341e-01 1.83381068e-02 -6.16672306e-01 1.51903314e+01] [ 3.62474741e-03 9.99403449e-01 3.43454152e-02 5.59122996e-01] [ 6.16934259e-01 -2.92653409e-02 7.86470380e-01 4.60149760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.29538475 meters Centerline goodness [0,1] 0.9413699746732264 Centerline is valid? [False, False] Translation: X:15.19, Y:0.56, Z:4.60 [[ 7.87034997e-01 1.89175484e-02 -6.16618228e-01 1.51894807e+01] [ 3.15187386e-03 9.99393363e-01 3.46838715e-02 5.59172006e-01] [ 6.16900299e-01 -2.92409236e-02 7.86497927e-01 4.60153974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.32538475 meters Centerline goodness [0,1] 0.9434168827427254 Centerline is valid? [False, False] Translation: X:15.19, Y:0.56, Z:4.60 [[ 7.86808586e-01 2.54116135e-02 -6.16673738e-01 1.51884896e+01] [-1.32067165e-03 9.99219080e-01 3.94903362e-02 5.58335806e-01] [ 6.17195678e-01 -3.02569120e-02 7.86227711e-01 4.60236837e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.35538475 meters Centerline goodness [0,1] 0.9438581314878893 Centerline is valid? [False, False] Translation: X:15.19, Y:0.56, Z:4.60 [[ 7.87079981e-01 2.70791162e-02 -6.16256298e-01 1.51862751e+01] [-2.95989604e-03 9.99190269e-01 4.01253740e-02 5.58195672e-01] [ 6.16843856e-01 -2.97578241e-02 7.86522809e-01 4.60140463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.38538475000001 meters Centerline goodness [0,1] 0.9442773697299173 Centerline is valid? [False, False] Translation: X:15.19, Y:0.56, Z:4.60 [[ 7.87065772e-01 2.77413696e-02 -6.16244990e-01 1.51855964e+01] [-3.51314301e-03 9.99173662e-01 4.04926151e-02 5.57759011e-01] [ 6.16859083e-01 -2.97053946e-02 7.86512848e-01 4.60143439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.41538475000002 meters Centerline goodness [0,1] 0.9438710793357934 Centerline is valid? [False, False] Translation: X:15.19, Y:0.56, Z:4.60 [[ 7.86687048e-01 3.39275624e-02 -6.16419020e-01 1.51859945e+01] [-7.65216424e-03 9.98947925e-01 4.52160115e-02 5.56035183e-01] [ 6.17304570e-01 -3.08539110e-02 7.86119014e-01 4.60230641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.44538475000002 meters Centerline goodness [0,1] 0.9445710823210318 Centerline is valid? [False, False] Translation: X:15.19, Y:0.56, Z:4.60 [[ 7.86866503e-01 3.45453067e-02 -6.16155604e-01 1.51852049e+01] [-8.26284378e-03 9.98932265e-01 4.54538857e-02 5.56472231e-01] [ 6.17067932e-01 -3.06749426e-02 7.86311780e-01 4.60173563e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.47538475000002 meters Centerline goodness [0,1] 0.9453506163572851 Centerline is valid? [False, False] Translation: X:15.18, Y:0.56, Z:4.60 [[ 7.87083702e-01 3.55157668e-02 -6.15822926e-01 1.51835657e+01] [-9.04155734e-03 9.98898103e-01 4.60524745e-02 5.56075485e-01] [ 6.16779941e-01 -3.06791539e-02 7.86537535e-01 4.60140360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.50538475 meters Centerline goodness [0,1] 0.9466101202579446 Centerline is valid? [False, False] Translation: X:15.18, Y:0.55, Z:4.60 [[ 7.87242784e-01 3.71414456e-02 -6.15523608e-01 1.51815346e+01] [-1.01913814e-02 9.98831759e-01 4.72361475e-02 5.53718045e-01] [ 6.16558947e-01 -3.09132803e-02 7.86701617e-01 4.60135276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.53538475 meters Centerline goodness [0,1] 0.9452321459701319 Centerline is valid? [False, False] Translation: X:15.18, Y:0.55, Z:4.60 [[ 7.87163004e-01 3.72636482e-02 -6.15618246e-01 1.51820589e+01] [-1.02937932e-02 9.98827815e-01 4.72972906e-02 5.53068267e-01] [ 6.16659098e-01 -3.08936304e-02 7.86623888e-01 4.60132877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.56538475 meters Centerline goodness [0,1] 0.9446578212290503 Centerline is valid? [False, False] Translation: X:15.18, Y:0.55, Z:4.60 [[ 7.87184344e-01 3.79833869e-02 -6.15546969e-01 1.51818950e+01] [-1.08051282e-02 9.98797787e-01 4.78145397e-02 5.51145393e-01] [ 6.16623108e-01 -3.09877932e-02 7.86648396e-01 4.60116763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.59538475 meters Centerline goodness [0,1] 0.9451700165798889 Centerline is valid? [False, False] Translation: X:15.18, Y:0.55, Z:4.60 [[ 7.87339944e-01 3.92211215e-02 -6.15270279e-01 1.51799824e+01] [-1.16578620e-02 9.98743079e-01 4.87478825e-02 5.49380702e-01] [ 6.16408879e-01 -3.12084191e-02 7.86807555e-01 4.60117682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.62538475 meters Centerline goodness [0,1] 0.9440577768717784 Centerline is valid? [False, False] Translation: X:15.18, Y:0.55, Z:4.60 [[ 7.87870895e-01 4.19114840e-02 -6.14412630e-01 1.51752187e+01] [-1.36911615e-02 9.98626982e-01 5.05638549e-02 5.46987303e-01] [ 6.15688237e-01 -3.14257671e-02 7.87362951e-01 4.60063942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.65538475 meters Centerline goodness [0,1] 0.9446384910932588 Centerline is valid? [False, False] Translation: X:15.17, Y:0.55, Z:4.60 [[ 7.88102141e-01 4.29263070e-02 -6.14045884e-01 1.51736341e+01] [-1.44575008e-02 9.98581072e-01 5.12525384e-02 5.46210549e-01] [ 6.15374680e-01 -3.15146664e-02 7.87604488e-01 4.60030244e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.68538475 meters Centerline goodness [0,1] 0.9413494003958551 Centerline is valid? [False, False] Translation: X:15.17, Y:0.54, Z:4.60 [[ 0.78836784 0.04465611 -0.61358127 15.1708991 ] [-0.01555228 0.99848996 0.052687 0.54371146] [ 0.61500754 -0.03199415 0.78787188 4.60036853] [ 0. 0. 0. 1. ]] SLAMing on 155.71538475 meters Centerline goodness [0,1] 0.9471846483377835 Centerline is valid? [False, False] Translation: X:15.17, Y:0.54, Z:4.60 [[ 7.88424155e-01 3.96336035e-02 -6.13853833e-01 1.51700308e+01] [-1.15052043e-02 9.98697722e-01 4.97040287e-02 5.39523133e-01] [ 6.15024375e-01 -3.21253431e-02 7.87853401e-01 4.60149109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.74538475 meters Centerline goodness [0,1] 0.9469685859267298 Centerline is valid? [False, False] Translation: X:15.17, Y:0.54, Z:4.60 [[ 7.88182210e-01 3.94602266e-02 -6.14175621e-01 1.51710443e+01] [-1.09816581e-02 9.98685251e-01 5.00716694e-02 5.37405388e-01] [ 6.15343974e-01 -3.27209324e-02 7.87579287e-01 4.60241395e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.77538475 meters Centerline goodness [0,1] 0.9460046365583825 Centerline is valid? [False, False] Translation: X:15.17, Y:0.54, Z:4.60 [[ 7.88006185e-01 3.89832035e-02 -6.14431902e-01 1.51730102e+01] [-1.03821888e-02 9.98692855e-01 5.00478860e-02 5.35873768e-01] [ 6.15579778e-01 -3.30588957e-02 7.87380878e-01 4.60275129e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.80538475 meters Centerline goodness [0,1] 0.9452906342986772 Centerline is valid? [False, False] Translation: X:15.18, Y:0.53, Z:4.60 [[ 7.87978516e-01 3.81093398e-02 -6.14522201e-01 1.51759356e+01] [-9.23879998e-03 9.98702099e-01 5.00875341e-02 5.32620159e-01] [ 6.15633416e-01 -3.37904531e-02 7.87307883e-01 4.60295021e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.83538475 meters Centerline goodness [0,1] 0.9450393421286162 Centerline is valid? [False, False] Translation: X:15.18, Y:0.53, Z:4.60 [[ 7.87906071e-01 3.84142646e-02 -6.14596102e-01 1.51759520e+01] [-9.01052095e-03 9.98664716e-01 5.08684100e-02 5.29911126e-01] [ 6.15729514e-01 -3.45416980e-02 7.87200125e-01 4.60375990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.86538475 meters Centerline goodness [0,1] 0.9460753695606913 Centerline is valid? [False, False] Translation: X:15.17, Y:0.53, Z:4.60 [[ 7.88515297e-01 3.38333645e-02 -6.14083813e-01 1.51741724e+01] [-5.71057614e-03 9.98845412e-01 4.76993915e-02 5.27445725e-01] [ 6.14988630e-01 -3.41049275e-02 7.87798095e-01 4.60296644e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.89538475 meters Centerline goodness [0,1] 0.9480480749157496 Centerline is valid? [False, False] Translation: X:15.17, Y:0.53, Z:4.60 [[ 7.88447132e-01 3.43389010e-02 -6.14143273e-01 1.51738462e+01] [-5.84786554e-03 9.98813840e-01 4.83395944e-02 5.25685021e-01] [ 6.15074729e-01 -3.45217872e-02 7.87712716e-01 4.60348902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.92538475 meters Centerline goodness [0,1] 0.9462230215827339 Centerline is valid? [False, False] Translation: X:15.17, Y:0.52, Z:4.60 [[ 7.88786370e-01 2.98798977e-02 -6.13940758e-01 1.51725317e+01] [-2.57888290e-03 9.98969847e-01 4.53055590e-02 5.22206687e-01] [ 6.14662030e-01 -3.41531261e-02 7.88050856e-01 4.60323990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.95538475 meters Centerline goodness [0,1] 0.9479537098426858 Centerline is valid? [False, False] Translation: X:15.17, Y:0.52, Z:4.60 [[ 7.89184008e-01 2.49034472e-02 -6.13651708e-01 1.51714734e+01] [ 7.69196250e-04 9.99136688e-01 4.15365667e-02 5.21303054e-01] [ 6.14156339e-01 -3.32520128e-02 7.88483541e-01 4.60236240e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 155.98538475 meters Centerline goodness [0,1] 0.9465362130069972 Centerline is valid? [False, False] Translation: X:15.18, Y:0.52, Z:4.60 [[ 7.88954689e-01 2.37843622e-02 -6.13990882e-01 1.51750142e+01] [ 2.06413681e-03 9.99142325e-01 4.13564340e-02 5.18395661e-01] [ 6.14447913e-01 -3.38957137e-02 7.88228928e-01 4.60282338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.01538475 meters Centerline goodness [0,1] 0.9439793751895663 Centerline is valid? [False, False] Translation: X:15.18, Y:0.52, Z:4.60 [[ 7.88740979e-01 2.31587896e-02 -6.14289296e-01 1.51773702e+01] [ 2.77794928e-03 9.99145623e-01 4.12347828e-02 5.17249376e-01] [ 6.14719409e-01 -3.42300274e-02 7.88002762e-01 4.60315519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.04538475 meters Centerline goodness [0,1] 0.9410479686883704 Centerline is valid? [False, False] Translation: X:15.18, Y:0.52, Z:4.60 [[ 7.88576259e-01 2.28689961e-02 -6.14511589e-01 1.51787016e+01] [ 3.24414658e-03 9.99139623e-01 4.13459690e-02 5.16002199e-01] [ 6.14928419e-01 -3.45980152e-02 7.87823595e-01 4.60357894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.07538475 meters Centerline goodness [0,1] 0.9418682387261457 Centerline is valid? [False, False] Translation: X:15.18, Y:0.52, Z:4.60 [[ 7.88286725e-01 2.19754125e-02 -6.14915540e-01 1.51807138e+01] [ 4.29832778e-03 9.99140981e-01 4.12167985e-02 5.15074349e-01] [ 6.15293072e-01 -3.51337636e-02 7.87515114e-01 4.60453903e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.10538475 meters Centerline goodness [0,1] 0.9404158445894673 Centerline is valid? [False, False] Translation: X:15.18, Y:0.52, Z:4.60 [[ 7.88247002e-01 2.19514257e-02 -6.14967316e-01 1.51814518e+01] [ 3.89559504e-03 9.99165497e-01 4.06587434e-02 5.16313012e-01] [ 6.15346641e-01 -3.44447962e-02 7.87503693e-01 4.60370450e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.13538475000001 meters Centerline goodness [0,1] 0.9429916476841306 Centerline is valid? [False, False] Translation: X:15.18, Y:0.52, Z:4.60 [[ 7.88328909e-01 2.26370825e-02 -6.14837454e-01 1.51799870e+01] [ 3.31813915e-03 9.99151945e-01 4.10412051e-02 5.16330459e-01] [ 6.15245091e-01 -3.43940846e-02 7.87585249e-01 4.60374517e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.16538475000002 meters Centerline goodness [0,1] 0.9420439373710402 Centerline is valid? [False, False] Translation: X:15.18, Y:0.52, Z:4.60 [[ 7.88581084e-01 2.35399951e-02 -6.14480059e-01 1.51775333e+01] [ 2.20954477e-03 9.99152105e-01 4.11118970e-02 5.18595197e-01] [ 6.14926818e-01 -3.37777855e-02 7.87860438e-01 4.60302420e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.19538475000002 meters Centerline goodness [0,1] 0.937888198757764 Centerline is valid? [False, False] Translation: X:15.18, Y:0.52, Z:4.60 [[ 7.88671898e-01 2.38046132e-02 -6.14353300e-01 1.51765570e+01] [ 1.91324753e-03 9.99150298e-01 4.11706276e-02 5.19516564e-01] [ 6.14811334e-01 -3.36455269e-02 7.87956219e-01 4.60292519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.22538475000002 meters Centerline goodness [0,1] 0.9419093410747226 Centerline is valid? [False, False] Translation: X:15.18, Y:0.52, Z:4.60 [[ 7.88684015e-01 2.42852393e-02 -6.14318933e-01 1.51750060e+01] [ 1.66478719e-03 9.99131503e-01 4.16349510e-02 5.19670861e-01] [ 6.14796513e-01 -3.38595306e-02 7.87958615e-01 4.60350098e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.25538475 meters Centerline goodness [0,1] 0.9442363587331076 Centerline is valid? [False, False] Translation: X:15.18, Y:0.52, Z:4.60 [[ 7.88274226e-01 2.83883502e-02 -6.14668891e-01 1.51777101e+01] [-1.26283087e-03 9.99007719e-01 4.45194549e-02 5.23178710e-01] [ 6.15322801e-01 -3.43173160e-02 7.87527887e-01 4.60380495e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.28538475 meters Centerline goodness [0,1] 0.9429424052521636 Centerline is valid? [False, False] Translation: X:15.18, Y:0.53, Z:4.60 [[ 7.87897492e-01 3.28159409e-02 -6.14931424e-01 1.51798713e+01] [-4.34976964e-03 9.98850774e-01 4.77306154e-02 5.25281759e-01] [ 6.15791054e-01 -3.49320221e-02 7.87134761e-01 4.60422134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.31538475 meters Centerline goodness [0,1] 0.94231398566031 Centerline is valid? [False, False] Translation: X:15.18, Y:0.53, Z:4.60 [[ 7.87915592e-01 3.31275298e-02 -6.14891525e-01 1.51789985e+01] [-4.61115814e-03 9.98841287e-01 4.79042887e-02 5.25646506e-01] [ 6.15765993e-01 -3.49091739e-02 7.87155380e-01 4.60434537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.34538475 meters Centerline goodness [0,1] 0.9425775756306293 Centerline is valid? [False, False] Translation: X:15.17, Y:0.53, Z:4.60 [[ 7.88282940e-01 2.90252569e-02 -6.14627970e-01 1.51749252e+01] [-1.86673834e-03 9.98995017e-01 4.47824869e-02 5.25330635e-01] [ 6.15310103e-01 -3.41539208e-02 7.87544911e-01 4.60442179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.37538475 meters Centerline goodness [0,1] 0.941920248699707 Centerline is valid? [False, False] Translation: X:15.18, Y:0.53, Z:4.60 [[ 7.88177633e-01 2.88090408e-02 -6.14773176e-01 1.51753811e+01] [-1.73101753e-03 9.99003636e-01 4.45952887e-02 5.25660854e-01] [ 6.15445385e-01 -3.40848259e-02 7.87442190e-01 4.60456930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.40538475 meters Centerline goodness [0,1] 0.9402188496973672 Centerline is valid? [False, False] Translation: X:15.18, Y:0.53, Z:4.61 [[ 7.87575397e-01 3.30438191e-02 -6.15331700e-01 1.51794627e+01] [-4.60407233e-03 9.98848891e-01 4.77461636e-02 5.26597479e-01] [ 6.16201101e-01 -3.47706721e-02 7.86820947e-01 4.60504138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.43538475 meters Centerline goodness [0,1] 0.9380735988594849 Centerline is valid? [False, False] Translation: X:15.18, Y:0.53, Z:4.60 [[ 7.87650916e-01 3.27636053e-02 -6.15250014e-01 1.51804119e+01] [-4.55898344e-03 9.98867684e-01 4.73557389e-02 5.27485634e-01] [ 6.16104901e-01 -3.44948765e-02 7.86908415e-01 4.60442052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.46538475 meters Centerline goodness [0,1] 0.9406686314786699 Centerline is valid? [False, False] Translation: X:15.18, Y:0.53, Z:4.60 [[ 7.87640071e-01 3.28257666e-02 -6.15260586e-01 1.51801363e+01] [-4.54599324e-03 9.98862212e-01 4.74722615e-02 5.27458428e-01] [ 6.16118863e-01 -3.45940849e-02 7.86893129e-01 4.60462499e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.49538475 meters Centerline goodness [0,1] 0.942444543695102 Centerline is valid? [False, False] Translation: X:15.18, Y:0.53, Z:4.60 [[ 7.87735270e-01 3.36145820e-02 -6.15096093e-01 1.51779976e+01] [-5.13299388e-03 9.98833575e-01 4.80119010e-02 5.27700212e-01] [ 6.15992529e-01 -3.46633833e-02 7.86988979e-01 4.60486427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.52538475 meters Centerline goodness [0,1] 0.9441294344663796 Centerline is valid? [False, False] Translation: X:15.18, Y:0.53, Z:4.60 [[ 7.88119470e-01 3.48767720e-02 -6.14533410e-01 1.51754433e+01] [-6.48362972e-03 9.98808415e-01 4.83705817e-02 5.29255750e-01] [ 6.15488151e-01 -3.41373901e-02 7.87406486e-01 4.60377075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.55538475 meters Centerline goodness [0,1] 0.9438933111559938 Centerline is valid? [False, False] Translation: X:15.17, Y:0.53, Z:4.60 [[ 7.88288502e-01 3.54117628e-02 -6.14285963e-01 1.51744452e+01] [-7.00071976e-03 9.98794090e-01 4.85937728e-02 5.29508449e-01] [ 6.15265981e-01 -3.40054685e-02 7.87585805e-01 4.60337389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.58538475 meters Centerline goodness [0,1] 0.9438482063445004 Centerline is valid? [False, False] Translation: X:15.17, Y:0.53, Z:4.60 [[ 7.88481892e-01 3.58185379e-02 -6.14014119e-01 1.51735851e+01] [-7.65023692e-03 9.98796755e-01 4.84408505e-02 5.31061449e-01] [ 6.15010390e-01 -3.34973800e-02 7.87807175e-01 4.60255071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.61538475 meters Centerline goodness [0,1] 0.9422004744958482 Centerline is valid? [False, False] Translation: X:15.17, Y:0.53, Z:4.60 [[ 7.88514104e-01 3.61760983e-02 -6.13951788e-01 1.51729308e+01] [-7.97536435e-03 9.98786049e-01 4.86088576e-02 5.31255902e-01] [ 6.14964959e-01 -3.34322806e-02 7.87845405e-01 4.60250067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.64538475 meters Centerline goodness [0,1] 0.943056706523026 Centerline is valid? [False, False] Translation: X:15.17, Y:0.53, Z:4.60 [[ 7.88579508e-01 3.65721273e-02 -6.13844312e-01 1.51719304e+01] [-8.30042629e-03 9.98772004e-01 4.88424674e-02 5.31747268e-01] [ 6.14876787e-01 -3.34209995e-02 7.87914700e-01 4.60256538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.67538475 meters Centerline goodness [0,1] 0.9450526689549059 Centerline is valid? [False, False] Translation: X:15.17, Y:0.53, Z:4.60 [[ 7.88634084e-01 3.68380066e-02 -6.13758294e-01 1.51712703e+01] [-8.48278445e-03 9.98760486e-01 4.90462333e-02 5.31630117e-01] [ 6.14804297e-01 -3.34731520e-02 7.87969050e-01 4.60259662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.70538475 meters Centerline goodness [0,1] 0.9443147223125351 Centerline is valid? [False, False] Translation: X:15.17, Y:0.53, Z:4.60 [[ 7.88519285e-01 3.70408293e-02 -6.13893570e-01 1.51704785e+01] [-8.30686807e-03 9.98735044e-01 4.95914114e-02 5.30520326e-01] [ 6.14953928e-01 -3.40042514e-02 7.87829536e-01 4.60361410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.73538475 meters Centerline goodness [0,1] 0.945675587948892 Centerline is valid? [False, False] Translation: X:15.17, Y:0.53, Z:4.60 [[ 7.88533937e-01 3.68368020e-02 -6.13887026e-01 1.51711101e+01] [-8.22244870e-03 9.98746764e-01 4.93689485e-02 5.31005264e-01] [ 6.14936274e-01 -3.38814367e-02 7.87848606e-01 4.60334861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.76538475 meters Centerline goodness [0,1] 0.9425671677121553 Centerline is valid? [False, False] Translation: X:15.17, Y:0.53, Z:4.60 [[ 7.88391320e-01 3.62080382e-02 -6.14107568e-01 1.51731804e+01] [-7.73159157e-03 9.98770711e-01 4.89621200e-02 5.30650612e-01] [ 6.15125475e-01 -3.38532815e-02 7.87702105e-01 4.60324239e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.79538475 meters Centerline goodness [0,1] 0.9421219954244288 Centerline is valid? [False, False] Translation: X:15.17, Y:0.53, Z:4.60 [[ 7.88158054e-01 3.58581758e-02 -6.14427436e-01 1.51745262e+01] [-7.22229955e-03 9.98771479e-01 4.90241938e-02 5.29261048e-01] [ 6.15430517e-01 -3.42012342e-02 7.87448763e-01 4.60387454e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.82538475 meters Centerline goodness [0,1] 0.9438249026080233 Centerline is valid? [False, False] Translation: X:15.18, Y:0.53, Z:4.60 [[ 7.88063732e-01 3.56377846e-02 -6.14561227e-01 1.51755159e+01] [-6.81977554e-03 9.98767025e-01 4.91723606e-02 5.27853989e-01] [ 6.15555882e-01 -3.45597844e-02 7.87335111e-01 4.60422827e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.85538475 meters Centerline goodness [0,1] 0.9438125297760839 Centerline is valid? [False, False] Translation: X:15.17, Y:0.53, Z:4.60 [[ 7.87990312e-01 3.61783289e-02 -6.14623785e-01 1.51744722e+01] [-6.99939580e-03 9.98733969e-01 4.98143265e-02 5.26720421e-01] [ 6.15647852e-01 -3.49512115e-02 7.87245918e-01 4.60496040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.88538475000001 meters Centerline goodness [0,1] 0.9456119402985075 Centerline is valid? [False, False] Translation: X:15.17, Y:0.53, Z:4.60 [[ 7.88619323e-01 3.18448391e-02 -6.14056568e-01 1.51718535e+01] [-4.25939945e-03 9.98916952e-01 4.63333613e-02 5.26309283e-01] [ 6.14866994e-01 -3.39238718e-02 7.87900851e-01 4.60371488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.91538475000002 meters Centerline goodness [0,1] 0.9456119402985075 Centerline is valid? [False, False] Translation: X:15.17, Y:0.53, Z:4.60 [[ 7.88619323e-01 3.18448391e-02 -6.14056568e-01 1.51718535e+01] [-4.25939945e-03 9.98916952e-01 4.63333613e-02 5.26309283e-01] [ 6.14866994e-01 -3.39238718e-02 7.87900851e-01 4.60371488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.94538475000002 meters Centerline goodness [0,1] 0.9460275692970128 Centerline is valid? [False, False] Translation: X:15.17, Y:0.53, Z:4.60 [[ 7.88704417e-01 3.21058472e-02 -6.13933675e-01 1.51716626e+01] [-4.41745162e-03 9.98905584e-01 4.65630859e-02 5.25712188e-01] [ 6.14756724e-01 -3.40124892e-02 7.87983072e-01 4.60356380e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 156.97538475000002 meters Centerline goodness [0,1] 0.9466234856663068 Centerline is valid? [False, False] Translation: X:15.17, Y:0.52, Z:4.60 [[ 7.88677517e-01 3.23356387e-02 -6.13956171e-01 1.51716985e+01] [-4.32695287e-03 9.98883140e-01 4.70505147e-02 5.24348677e-01] [ 6.14791876e-01 -3.44511237e-02 7.87936589e-01 4.60398849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.00538475 meters Centerline goodness [0,1] 0.9449755746695837 Centerline is valid? [False, False] Translation: X:15.17, Y:0.52, Z:4.60 [[ 7.88488525e-01 3.24030252e-02 -6.14195319e-01 1.51717554e+01] [-4.05935675e-03 9.98863673e-01 4.74856250e-02 5.23084010e-01] [ 6.15036070e-01 -3.49486325e-02 7.87724079e-01 4.60494004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.03538475 meters Centerline goodness [0,1] 0.9465770281220925 Centerline is valid? [False, False] Translation: X:15.17, Y:0.52, Z:4.61 [[ 7.88264474e-01 3.24530113e-02 -6.14480204e-01 1.51721314e+01] [-3.81931044e-03 9.98847068e-01 4.78534023e-02 5.21941526e-01] [ 6.15324737e-01 -3.53742464e-02 7.87479607e-01 4.60581485e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.06538475 meters Centerline goodness [0,1] 0.9487310406968014 Centerline is valid? [False, False] Translation: X:15.17, Y:0.52, Z:4.61 [[ 7.88188220e-01 3.16348970e-02 -6.14620667e-01 1.51745938e+01] [-3.20610246e-03 9.98875525e-01 4.73012277e-02 5.21752420e-01] [ 6.15425911e-01 -3.53117336e-02 7.87403347e-01 4.60541783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.09538475 meters Centerline goodness [0,1] 0.9485452586206896 Centerline is valid? [False, False] Translation: X:15.17, Y:0.52, Z:4.60 [[ 7.88392456e-01 3.15596859e-02 -6.14362533e-01 1.51746106e+01] [-3.33435696e-03 9.98887734e-01 4.70337947e-02 5.22814646e-01] [ 6.15163570e-01 -3.50325849e-02 7.87620785e-01 4.60463493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.12538475 meters Centerline goodness [0,1] 0.9492393387637758 Centerline is valid? [False, False] Translation: X:15.17, Y:0.52, Z:4.61 [[ 7.88262172e-01 3.18827973e-02 -6.14513007e-01 1.51739936e+01] [-3.35398229e-03 9.98864569e-01 4.75218244e-02 5.21971143e-01] [ 6.15330399e-01 -3.53985908e-02 7.87474089e-01 4.60545292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.15538475 meters Centerline goodness [0,1] 0.9483306359767428 Centerline is valid? [False, False] Translation: X:15.17, Y:0.52, Z:4.61 [[ 7.88141479e-01 3.23371300e-02 -6.14644059e-01 1.51734739e+01] [-3.68991349e-03 9.98849196e-01 4.78191271e-02 5.21613438e-01] [ 6.15483057e-01 -3.54202542e-02 7.87353804e-01 4.60582867e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.18538475 meters Centerline goodness [0,1] 0.9479492422420015 Centerline is valid? [False, False] Translation: X:15.17, Y:0.52, Z:4.61 [[ 7.88144511e-01 3.25589306e-02 -6.14628462e-01 1.51731093e+01] [-3.84284194e-03 9.98840701e-01 4.79842248e-02 5.21427888e-01] [ 6.15478239e-01 -3.54565834e-02 7.87355934e-01 4.60592654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.21538475 meters Centerline goodness [0,1] 0.9488181872857401 Centerline is valid? [False, False] Translation: X:15.17, Y:0.52, Z:4.61 [[ 7.88187496e-01 3.30042475e-02 -6.14549584e-01 1.51721923e+01] [-4.20719248e-03 9.98826631e-01 4.82458463e-02 5.21622050e-01] [ 6.15420808e-01 -3.54412444e-02 7.87401516e-01 4.60596335e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.24538475 meters Centerline goodness [0,1] 0.9490267932235973 Centerline is valid? [False, False] Translation: X:15.17, Y:0.52, Z:4.61 [[ 7.87996763e-01 3.28894104e-02 -6.14800284e-01 1.51725239e+01] [-3.89993729e-03 9.98818757e-01 4.84343011e-02 5.21012558e-01] [ 6.15667031e-01 -3.57683899e-02 7.87194213e-01 4.60672007e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.27538475 meters Centerline goodness [0,1] 0.9512180505198813 Centerline is valid? [False, True] Translation: X:15.17, Y:0.52, Z:4.61 [[ 7.88003566e-01 3.26055308e-02 -6.14806684e-01 1.51731665e+01] [-3.75399548e-03 9.98832563e-01 4.81603483e-02 5.22018087e-01] [ 6.15659230e-01 -3.56425447e-02 7.87206023e-01 4.60651910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.30538475 meters Centerline goodness [0,1] 0.9514769193972734 Centerline is valid? [True, True] Translation: X:15.22, Y:0.54, Z:4.60 [[ 7.88524181e-01 2.00279685e-03 -6.15000492e-01 1.52154898e+01] [-4.49504192e-03 9.99986755e-01 -2.50679301e-03 5.40786303e-01] [ 6.14987325e-01 4.74111990e-03 7.88522740e-01 4.59553876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.33538475 meters Centerline goodness [0,1] 0.9518825323723795 Centerline is valid? [True, True] Translation: X:15.24, Y:0.54, Z:4.61 [[ 7.88856471e-01 1.37467407e-03 -6.14575933e-01 1.52379704e+01] [-3.77444248e-03 9.99989476e-01 -2.60803212e-03 5.40177345e-01] [ 6.14565880e-01 4.37704452e-03 7.88853358e-01 4.61409439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.36538475 meters Centerline goodness [0,1] 0.9537639543907827 Centerline is valid? [True, True] Translation: X:15.26, Y:0.54, Z:4.63 [[ 7.89081464e-01 1.38298273e-03 -6.14287010e-01 1.52606851e+01] [-3.92588585e-03 9.99988397e-01 -2.79165446e-03 5.43138048e-01] [ 6.14276022e-01 4.61446347e-03 7.89077737e-01 4.63109405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.39538475 meters Centerline goodness [0,1] 0.9544613548194569 Centerline is valid? [True, True] Translation: X:15.28, Y:0.55, Z:4.65 [[ 7.88653253e-01 2.34978531e-03 -6.14833738e-01 1.52841056e+01] [-5.32245835e-03 9.99981319e-01 -3.00541848e-03 5.45583715e-01] [ 6.14815190e-01 5.64266002e-03 7.88651027e-01 4.64861412e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.42538475 meters Centerline goodness [0,1] 0.9535265009241042 Centerline is valid? [True, True] Translation: X:15.31, Y:0.55, Z:4.67 [[ 7.87940861e-01 3.35224411e-03 -6.15741798e-01 1.53070597e+01] [-6.75463083e-03 9.99972069e-01 -3.19955403e-03 5.47155004e-01] [ 6.15713874e-01 6.68016790e-03 7.87941496e-01 4.66589894e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.45538475 meters Centerline goodness [0,1] 0.9524349148599887 Centerline is valid? [True, True] Translation: X:15.33, Y:0.55, Z:4.68 [[ 7.87392973e-01 3.74327972e-03 -6.16440016e-01 1.53300673e+01] [-7.40754425e-03 9.99966819e-01 -3.38961248e-03 5.48975210e-01] [ 6.16406874e-01 7.23526375e-03 7.87394575e-01 4.68153421e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.48538475 meters Centerline goodness [0,1] 0.9545942080800858 Centerline is valid? [True, True] Translation: X:15.35, Y:0.55, Z:4.70 [[ 7.87670261e-01 4.21848577e-03 -6.16082595e-01 1.53515680e+01] [-8.06151295e-03 9.99961520e-01 -3.45974807e-03 5.49672274e-01] [ 6.16044294e-01 7.69169848e-03 7.87673959e-01 4.69969120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.51538475 meters Centerline goodness [0,1] 0.9544047619047619 Centerline is valid? [True, True] Translation: X:15.37, Y:0.55, Z:4.72 [[ 7.87720625e-01 2.45173598e-03 -6.16027765e-01 1.53743462e+01] [-5.99197703e-03 9.99975269e-01 -3.68218556e-03 5.48435428e-01] [ 6.16003502e-01 6.59175772e-03 7.87715834e-01 4.71683763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.54538475 meters Centerline goodness [0,1] 0.9549078746976438 Centerline is valid? [True, True] Translation: X:15.40, Y:0.55, Z:4.73 [[ 7.87830999e-01 2.00066687e-03 -6.15888232e-01 1.53978667e+01] [-5.56949240e-03 9.99976978e-01 -3.87602462e-03 5.49069865e-01] [ 6.15866299e-01 6.48383717e-03 7.87824004e-01 4.73324521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.57538475 meters Centerline goodness [0,1] 0.952843686657923 Centerline is valid? [True, True] Translation: X:15.42, Y:0.55, Z:4.75 [[ 7.87683414e-01 2.00475763e-03 -6.16076960e-01 1.54219241e+01] [-5.73792036e-03 9.99975206e-01 -4.08221202e-03 5.50046127e-01] [ 6.16053501e-01 6.75049123e-03 7.87675387e-01 4.75011762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.60538475 meters Centerline goodness [0,1] 0.9579844497607656 Centerline is valid? [True, True] Translation: X:15.44, Y:0.55, Z:4.77 [[ 7.89817431e-01 -1.36331786e-03 -6.13340498e-01 1.54422257e+01] [-1.57834177e-03 9.99989701e-01 -4.25523126e-03 5.46884860e-01] [ 6.13339982e-01 4.32891676e-03 7.89807145e-01 4.77236102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.63538475000001 meters Centerline goodness [0,1] 0.9581165919282512 Centerline is valid? [True, True] Translation: X:15.46, Y:0.55, Z:4.79 [[ 7.89838376e-01 -2.41332521e-03 -6.13310293e-01 1.54644114e+01] [-3.87452307e-04 9.99990095e-01 -4.43385027e-03 5.46515958e-01] [ 6.13314919e-01 3.73965358e-03 7.89829618e-01 4.78938829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.66538475000002 meters Centerline goodness [0,1] 0.9527205729398829 Centerline is valid? [True, True] Translation: X:15.49, Y:0.55, Z:4.80 [[ 7.86937918e-01 -1.51487004e-03 -6.17030322e-01 1.54911740e+01] [-1.74060438e-03 9.99987557e-01 -4.67497087e-03 5.51839159e-01] [ 6.17029726e-01 4.75291752e-03 7.86925490e-01 4.80042039e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.69538475000002 meters Centerline goodness [0,1] 0.9490917711203959 Centerline is valid? [True, False] Translation: X:15.49, Y:0.55, Z:4.80 [[ 7.86378809e-01 2.98457378e-03 -6.17737372e-01 1.54947016e+01] [-4.79477564e-03 9.99987696e-01 -1.27234151e-03 5.52383463e-01] [ 6.17725974e-01 3.96245450e-03 7.86383444e-01 4.80124761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.72538475000002 meters Centerline goodness [0,1] 0.9448375921594173 Centerline is valid? [False, False] Translation: X:15.50, Y:0.55, Z:4.80 [[ 7.85836079e-01 7.61051662e-03 -6.18388015e-01 1.54984178e+01] [-7.96967622e-03 9.99965868e-01 2.17888724e-03 5.52787795e-01] [ 6.18383491e-01 3.21610405e-03 7.85869910e-01 4.80189474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.75538475 meters Centerline goodness [0,1] 0.9452058867251375 Centerline is valid? [False, False] Translation: X:15.50, Y:0.55, Z:4.80 [[ 7.85682373e-01 8.23728659e-03 -6.18575263e-01 1.54976118e+01] [-8.12577570e-03 9.99962500e-01 2.99510676e-03 5.50898628e-01] [ 6.18576737e-01 2.67320125e-03 7.85719844e-01 4.80285525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.78538475 meters Centerline goodness [0,1] 0.9471098007683374 Centerline is valid? [False, False] Translation: X:15.50, Y:0.55, Z:4.80 [[ 7.85622630e-01 9.50813152e-03 -6.18632910e-01 1.54954745e+01] [-8.75860617e-03 9.99952628e-01 4.24601059e-03 5.49191649e-01] [ 6.18643976e-01 2.08260002e-03 7.85668692e-01 4.80389739e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.81538475 meters Centerline goodness [0,1] 0.9485767031919962 Centerline is valid? [False, False] Translation: X:15.49, Y:0.55, Z:4.80 [[ 7.85752682e-01 1.00825612e-02 -6.18458619e-01 1.54944860e+01] [-9.23245656e-03 9.99946928e-01 4.57200931e-03 5.49512750e-01] [ 6.18471894e-01 2.11742376e-03 7.85804068e-01 4.80373115e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.84538475 meters Centerline goodness [0,1] 0.9498290979343141 Centerline is valid? [False, False] Translation: X:15.49, Y:0.55, Z:4.80 [[ 7.86768160e-01 1.24435275e-02 -6.17123181e-01 1.54882986e+01] [-1.03920515e-02 9.99922102e-01 6.91340571e-03 5.48714949e-01] [ 6.17161135e-01 9.73928402e-04 7.86836187e-01 4.80403523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.87538475 meters Centerline goodness [0,1] 0.9479876711516804 Centerline is valid? [False, False] Translation: X:15.49, Y:0.55, Z:4.80 [[ 7.86747991e-01 1.30617470e-02 -6.17136119e-01 1.54869952e+01] [-1.06699462e-02 9.99914489e-01 7.56084632e-03 5.48477860e-01] [ 6.17182105e-01 6.36328550e-04 7.86820084e-01 4.80465879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.90538475 meters Centerline goodness [0,1] 0.9520810433439292 Centerline is valid? [False, True] Translation: X:15.49, Y:0.55, Z:4.81 [[ 7.86715848e-01 1.33846057e-02 -6.17170177e-01 1.54858416e+01] [-1.07466856e-02 9.99910361e-01 7.98615720e-03 5.48578203e-01] [ 6.17221746e-01 3.49697433e-04 7.86789167e-01 4.80535458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.93538475 meters Centerline goodness [0,1] 0.950789450209628 Centerline is valid? [True, True] Translation: X:15.51, Y:0.55, Z:4.82 [[ 7.86235277e-01 7.85533512e-03 -6.17877321e-01 1.55132418e+01] [-1.17704143e-02 9.99928161e-01 -2.26508422e-03 5.53566081e-01] [ 6.17815140e-01 9.05356119e-03 7.86271255e-01 4.81752877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.96538475 meters Centerline goodness [0,1] 0.951905706755116 Centerline is valid? [True, True] Translation: X:15.54, Y:0.56, Z:4.83 [[ 7.86693803e-01 9.66397245e-03 -6.17267744e-01 1.55363610e+01] [-1.42020345e-02 9.99896155e-01 -2.44575170e-03 5.57253666e-01] [ 6.17180008e-01 1.06905155e-02 7.86749357e-01 4.83359209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 157.99538475 meters Centerline goodness [0,1] 0.9561507466224224 Centerline is valid? [True, True] Translation: X:15.56, Y:0.55, Z:4.86 [[ 7.88216558e-01 8.40322147e-03 -6.15340592e-01 1.55570938e+01] [-1.26420425e-02 9.99916864e-01 -2.53866622e-03 5.54327117e-01] [ 6.15268102e-01 9.78018068e-03 7.88257262e-01 4.85513180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.02538475 meters Centerline goodness [0,1] 0.9574948726332372 Centerline is valid? [True, True] Translation: X:15.58, Y:0.55, Z:4.88 [[ 7.88718577e-01 6.09078835e-03 -6.14724254e-01 1.55782481e+01] [-9.83741599e-03 9.99947928e-01 -2.71419508e-03 5.50551555e-01] [ 6.14675712e-01 8.18803428e-03 7.88737424e-01 4.87566329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.05538475 meters Centerline goodness [0,1] 0.9577402003031293 Centerline is valid? [True, True] Translation: X:15.60, Y:0.55, Z:4.89 [[ 7.89076424e-01 4.10065143e-03 -6.14281354e-01 1.56006841e+01] [-7.45848421e-03 9.99967964e-01 -2.90549921e-03 5.48564145e-01] [ 6.14249761e-01 6.87426871e-03 7.89081729e-01 4.89252233e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.08538475 meters Centerline goodness [0,1] 0.9577301507089563 Centerline is valid? [True, True] Translation: X:15.62, Y:0.55, Z:4.91 [[ 7.88352781e-01 1.98398606e-03 -6.15220251e-01 1.56230217e+01] [-4.84571167e-03 9.99983806e-01 -2.98458371e-03 5.47849923e-01] [ 6.15204366e-01 5.33408481e-03 7.88349628e-01 4.90931904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.11538475 meters Centerline goodness [0,1] 0.9554641387944911 Centerline is valid? [True, True] Translation: X:15.65, Y:0.55, Z:4.92 [[ 7.88074457e-01 1.12325388e-03 -6.15578905e-01 1.56467316e+01] [-3.92953238e-03 9.99987140e-01 -3.20596538e-03 5.48633179e-01] [ 6.15567388e-01 4.94547667e-03 7.88068737e-01 4.92251889e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.14538475 meters Centerline goodness [0,1] 0.9529717770868213 Centerline is valid? [True, True] Translation: X:15.67, Y:0.55, Z:4.94 [[ 7.86679431e-01 1.32887488e-03 -6.17360274e-01 1.56720717e+01] [-4.29018446e-03 9.99985305e-01 -3.31434433e-03 5.49490305e-01] [ 6.17346797e-01 5.25591596e-03 7.86673571e-01 4.93730400e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.17538475 meters Centerline goodness [0,1] 0.951657951033991 Centerline is valid? [True, True] Translation: X:15.70, Y:0.55, Z:4.95 [[ 7.85936860e-01 2.44432421e-03 -6.18301931e-01 1.56950185e+01] [-5.86407538e-03 9.99976678e-01 -3.50075859e-03 5.51103374e-01] [ 6.18278954e-01 6.37714434e-03 7.85932864e-01 4.95409452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.20538475 meters Centerline goodness [0,1] 0.9516945619155399 Centerline is valid? [True, True] Translation: X:15.72, Y:0.55, Z:4.97 [[ 7.86012223e-01 2.79223760e-03 -6.18204649e-01 1.57165956e+01] [-6.36174762e-03 9.99973384e-01 -3.57203415e-03 5.51834128e-01] [ 6.18178221e-01 6.74052446e-03 7.86009066e-01 4.97207265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.23538475 meters Centerline goodness [0,1] 0.9566749275924875 Centerline is valid? [True, True] Translation: X:15.74, Y:0.55, Z:4.99 [[ 7.87749325e-01 3.56377351e-03 -6.15985633e-01 1.57368312e+01] [-7.47368913e-03 9.99964956e-01 -3.77240121e-03 5.51126716e-01] [ 6.15950602e-01 7.57539164e-03 7.87748354e-01 4.99314206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.26538475 meters Centerline goodness [0,1] 0.9543287850801406 Centerline is valid? [True, True] Translation: X:15.76, Y:0.55, Z:5.01 [[ 7.87542053e-01 4.19717435e-03 -6.16246621e-01 1.57608060e+01] [-8.43411844e-03 9.99956560e-01 -3.96794212e-03 5.52656212e-01] [ 6.16203197e-01 8.32241828e-03 7.87543241e-01 5.00826106e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.29538475 meters Centerline goodness [0,1] 0.9549280639961794 Centerline is valid? [True, True] Translation: X:15.78, Y:0.55, Z:5.02 [[ 7.87537414e-01 3.51062754e-03 -6.16256843e-01 1.57835564e+01] [-7.61795055e-03 9.99962827e-01 -4.03877712e-03 5.52656627e-01] [ 6.16219756e-01 7.87530224e-03 7.87534883e-01 5.02400790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.32538475 meters Centerline goodness [0,1] 0.9556876923536618 Centerline is valid? [True, True] Translation: X:15.81, Y:0.55, Z:5.04 [[ 7.87123881e-01 3.00683993e-03 -6.16787610e-01 1.58067416e+01] [-7.05988834e-03 9.99966530e-01 -4.13475786e-03 5.51554852e-01] [ 6.16754533e-01 7.60901830e-03 7.87118764e-01 5.04211092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.35538475 meters Centerline goodness [0,1] 0.9558739940766446 Centerline is valid? [True, True] Translation: X:15.83, Y:0.55, Z:5.06 [[ 7.87233184e-01 2.97430512e-03 -6.16648253e-01 1.58296864e+01] [-7.17121925e-03 9.99964904e-01 -4.33183912e-03 5.51840321e-01] [ 6.16613727e-01 7.83228732e-03 7.87226884e-01 5.05854614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.38538475000001 meters Centerline goodness [0,1] 0.9561138828309383 Centerline is valid? [True, True] Translation: X:15.85, Y:0.55, Z:5.07 [[ 7.87364204e-01 3.97589738e-03 -6.16475305e-01 1.58522438e+01] [-8.61294683e-03 9.99952550e-01 -4.55138637e-03 5.53622592e-01] [ 6.16427957e-01 8.89326773e-03 7.87361088e-01 5.07412008e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.41538475000002 meters Centerline goodness [0,1] 0.9546978861009642 Centerline is valid? [True, True] Translation: X:15.88, Y:0.55, Z:5.09 [[ 7.87216715e-01 3.65744906e-03 -6.16665603e-01 1.58759402e+01] [-8.28174581e-03 9.99954934e-01 -4.64148558e-03 5.53866227e-01] [ 6.16620836e-01 8.76092281e-03 7.87211528e-01 5.08976987e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.44538475000002 meters Centerline goodness [0,1] 0.953562874251497 Centerline is valid? [True, True] Translation: X:15.90, Y:0.55, Z:5.11 [[ 7.86617275e-01 2.63758125e-03 -6.17435264e-01 1.59000001e+01] [-7.17355714e-03 9.99962423e-01 -4.86749303e-03 5.53156720e-01] [ 6.17399224e-01 8.25806125e-03 7.86606638e-01 5.10653184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.47538475000002 meters Centerline goodness [0,1] 0.9529041916167664 Centerline is valid? [True, True] Translation: X:15.92, Y:0.55, Z:5.12 [[ 7.85734201e-01 4.90059997e-04 -6.18564083e-01 1.59239684e+01] [-4.61477826e-03 9.99976501e-01 -5.06971018e-03 5.50592301e-01] [ 6.18547063e-01 6.83798077e-03 7.85717998e-01 5.12331602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.50538475 meters Centerline goodness [0,1] 0.9517541229385307 Centerline is valid? [True, True] Translation: X:15.95, Y:0.55, Z:5.14 [[ 7.85047292e-01 1.03315434e-04 -6.19435823e-01 1.59477433e+01] [-4.29000559e-03 9.99976910e-01 -5.27018959e-03 5.51197221e-01] [ 6.19420975e-01 6.79473120e-03 7.85029609e-01 5.13952204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.53538475 meters Centerline goodness [0,1] 0.9506643073508683 Centerline is valid? [True, True] Translation: X:15.97, Y:0.55, Z:5.16 [[ 7.84744642e-01 -3.35468161e-04 -6.19819114e-01 1.59720271e+01] [-3.89181480e-03 9.99977474e-01 -5.46859776e-03 5.50964886e-01] [ 6.19806986e-01 6.70367400e-03 7.84725660e-01 5.15531167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.56538475 meters Centerline goodness [0,1] 0.9511260037432833 Centerline is valid? [True, True] Translation: X:16.00, Y:0.55, Z:5.17 [[ 7.84768667e-01 -2.20042094e-03 -6.19784880e-01 1.59956577e+01] [-1.66820272e-03 9.99982576e-01 -5.66250636e-03 5.46047107e-01] [ 6.19786541e-01 5.47768439e-03 7.84751322e-01 5.17282036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.59538475 meters Centerline goodness [0,1] 0.9506655750629188 Centerline is valid? [True, True] Translation: X:16.02, Y:0.54, Z:5.19 [[ 7.85622083e-01 -4.25001022e-03 -6.18692073e-01 1.60178695e+01] [ 8.08450882e-04 9.99982605e-01 -5.84264707e-03 5.41261147e-01] [ 6.18706142e-01 4.08993041e-03 7.85611853e-01 5.18921904e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.62538475 meters Centerline goodness [0,1] 0.9510792238064966 Centerline is valid? [True, True] Translation: X:16.04, Y:0.54, Z:5.21 [[ 7.86120934e-01 -5.49767382e-03 -6.18048261e-01 1.60407816e+01] [ 2.34718131e-03 9.99979784e-01 -5.90956167e-03 5.39729495e-01] [ 6.18068255e-01 3.19495881e-03 7.86117945e-01 5.20788696e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.65538475 meters Centerline goodness [0,1] 0.9536803763848839 Centerline is valid? [True, True] Translation: X:16.06, Y:0.54, Z:5.23 [[ 7.86459999e-01 -7.82564779e-03 -6.17591636e-01 1.60632682e+01] [ 5.17452926e-03 9.99968120e-01 -6.08142633e-03 5.37610865e-01] [ 6.17619538e-01 1.58705256e-03 7.86475421e-01 5.22625316e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.68538475 meters Centerline goodness [0,1] 0.9510585647511686 Centerline is valid? [True, True] Translation: X:16.09, Y:0.54, Z:5.24 [[ 7.86041960e-01 -8.96844185e-03 -6.18108085e-01 1.60871709e+01] [ 6.46938749e-03 9.99959342e-01 -6.28185795e-03 5.36066193e-01] [ 6.18139292e-01 9.39023219e-04 7.86068021e-01 5.24249699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.71538475 meters Centerline goodness [0,1] 0.9487093632046755 Centerline is valid? [True, False] Translation: X:16.09, Y:0.53, Z:5.24 [[ 7.85718066e-01 -8.19647108e-03 -6.18530467e-01 1.60862546e+01] [ 6.74706265e-03 9.99966285e-01 -4.68029608e-03 5.32568327e-01] [ 6.18547975e-01 -4.95870630e-04 7.85746878e-01 5.24489725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.74538475 meters Centerline goodness [0,1] 0.9511009174311926 Centerline is valid? [False, True] Translation: X:16.08, Y:0.53, Z:5.25 [[ 7.85657895e-01 -7.39380996e-03 -6.18617009e-01 1.60848142e+01] [ 6.41543123e-03 9.99972185e-01 -3.80408246e-03 5.31400537e-01] [ 6.18627929e-01 -9.79987457e-04 7.85683477e-01 5.24577941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.77538475 meters Centerline goodness [0,1] 0.9512239734170655 Centerline is valid? [True, True] Translation: X:16.11, Y:0.53, Z:5.26 [[ 7.86470238e-01 -7.44526925e-03 -6.17583300e-01 1.61068461e+01] [ 5.81281044e-03 9.99972281e-01 -4.65274961e-03 5.32739061e-01] [ 6.17600822e-01 6.93544430e-05 7.86491716e-01 5.26337865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.80538475 meters Centerline goodness [0,1] 0.9512239734170655 Centerline is valid? [True, True] Translation: X:16.13, Y:0.53, Z:5.28 [[ 7.86468124e-01 -7.71019459e-03 -6.17582742e-01 1.61291088e+01] [ 6.09225549e-03 9.99970275e-01 -4.72584555e-03 5.33105322e-01] [ 6.17600821e-01 -4.57449653e-05 7.86491719e-01 5.27983201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.83538475 meters Centerline goodness [0,1] 0.9526973483693996 Centerline is valid? [True, True] Translation: X:16.15, Y:0.53, Z:5.30 [[ 7.87192173e-01 -8.07464507e-03 -6.16654913e-01 1.61527458e+01] [ 6.39284298e-03 9.99967398e-01 -4.93304406e-03 5.33729574e-01] [ 6.16674642e-01 -5.89243569e-05 7.87218129e-01 5.29751038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.86538475 meters Centerline goodness [0,1] 0.9533487720153574 Centerline is valid? [True, True] Translation: X:16.18, Y:0.53, Z:5.31 [[ 7.87357925e-01 -8.65991291e-03 -6.16435320e-01 1.61754989e+01] [ 6.99901543e-03 9.99962459e-01 -5.10817184e-03 5.34195274e-01] [ 6.16456415e-01 -2.92480745e-04 7.87388978e-01 5.31436476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.89538475 meters Centerline goodness [0,1] 0.9521820011588545 Centerline is valid? [True, True] Translation: X:16.20, Y:0.53, Z:5.33 [[ 7.87783612e-01 -9.83459767e-03 -6.15873576e-01 1.61987939e+01] [ 8.32574472e-03 9.99951199e-01 -5.31802728e-03 5.34386796e-01] [ 6.15895822e-01 -9.38151437e-04 7.87827047e-01 5.33078647e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.92538475 meters Centerline goodness [0,1] 0.9524941341377944 Centerline is valid? [True, True] Translation: X:16.22, Y:0.53, Z:5.35 [[ 7.88031035e-01 -1.10843337e-02 -6.15535722e-01 1.62208733e+01] [ 9.76743439e-03 9.99937161e-01 -5.50186710e-03 5.33857086e-01] [ 6.15558027e-01 -1.67656275e-03 7.88089782e-01 5.34809081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.95538475 meters Centerline goodness [0,1] 0.9525661673098544 Centerline is valid? [True, True] Translation: X:16.24, Y:0.54, Z:5.36 [[ 7.88005809e-01 -1.01685956e-02 -6.15583824e-01 1.62436525e+01] [ 8.44010505e-03 9.99948058e-01 -5.71362588e-03 5.37346706e-01] [ 6.15609949e-01 -6.93221760e-04 7.88050703e-01 5.36464332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 158.98538475 meters Centerline goodness [0,1] 0.9565085527113915 Centerline is valid? [True, True] Translation: X:16.26, Y:0.54, Z:5.38 [[ 7.88664576e-01 -7.40469542e-03 -6.14779112e-01 1.62645492e+01] [ 4.77709459e-03 9.99971090e-01 -5.91587451e-03 5.41872756e-01] [ 6.14805144e-01 1.72878270e-03 7.88677149e-01 5.38456797e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.01538475 meters Centerline goodness [0,1] 0.954969696969697 Centerline is valid? [True, True] Translation: X:16.29, Y:0.54, Z:5.40 [[ 7.88884143e-01 -6.87287505e-03 -6.14503518e-01 1.62874420e+01] [ 3.95698559e-03 9.99973540e-01 -6.10426124e-03 5.43626541e-01] [ 6.14529211e-01 2.38397333e-03 7.88890464e-01 5.39993784e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.04538475 meters Centerline goodness [0,1] 0.9571303056927318 Centerline is valid? [True, True] Translation: X:16.31, Y:0.55, Z:5.42 [[ 7.88940521e-01 -5.76343383e-03 -6.14442542e-01 1.63089870e+01] [ 2.47343151e-03 9.99977697e-01 -6.20385909e-03 5.45739076e-01] [ 6.14464593e-01 3.37469427e-03 7.88937181e-01 5.41808220e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.07538475 meters Centerline goodness [0,1] 0.9569575294223881 Centerline is valid? [True, True] Translation: X:16.33, Y:0.55, Z:5.43 [[ 7.88862246e-01 -4.52147704e-03 -6.14553426e-01 1.63327235e+01] [ 7.24220896e-04 9.99979081e-01 -6.42754846e-03 5.50899046e-01] [ 6.14569632e-01 4.62537788e-03 7.88849018e-01 5.43426922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.10538475 meters Centerline goodness [0,1] 0.9549367850692354 Centerline is valid? [True, True] Translation: X:16.36, Y:0.55, Z:5.45 [[ 7.88734157e-01 -4.43695885e-03 -6.14718426e-01 1.63566867e+01] [ 4.66239330e-04 9.99977982e-01 -6.61948968e-03 5.53549880e-01] [ 6.14734262e-01 4.93441170e-03 7.88718859e-01 5.44871618e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.13538475000001 meters Centerline goodness [0,1] 0.9529976019184653 Centerline is valid? [True, True] Translation: X:16.38, Y:0.56, Z:5.46 [[ 7.87236901e-01 -3.77343073e-03 -6.16639135e-01 1.63803608e+01] [-4.62239095e-04 9.99977385e-01 -6.70933264e-03 5.56027358e-01] [ 6.16650507e-01 5.56686895e-03 7.87217354e-01 5.46448023e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.16538475000002 meters Centerline goodness [0,1] 0.9533815627532795 Centerline is valid? [True, True] Translation: X:16.40, Y:0.56, Z:5.48 [[ 7.86519354e-01 -2.39712655e-03 -6.17560977e-01 1.64034969e+01] [-2.28450698e-03 9.99974331e-01 -6.79102815e-03 5.58971507e-01] [ 6.17561404e-01 6.75209743e-03 7.86493688e-01 5.48250583e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.19538475000002 meters Centerline goodness [0,1] 0.9534555712270804 Centerline is valid? [True, True] Translation: X:16.43, Y:0.56, Z:5.50 [[ 7.86596610e-01 -2.63499438e-03 -6.17461602e-01 1.64251985e+01] [-2.12929514e-03 9.99973373e-01 -6.97990052e-03 5.60028980e-01] [ 6.17463553e-01 6.80512407e-03 7.86570054e-01 5.49902291e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.22538475000002 meters Centerline goodness [0,1] 0.9509662705557556 Centerline is valid? [True, True] Translation: X:16.45, Y:0.56, Z:5.51 [[ 7.86532296e-01 -2.14944999e-03 -6.17545405e-01 1.64486221e+01] [-2.86283616e-03 9.99970506e-01 -7.12676292e-03 5.61638382e-01] [ 6.17542509e-01 7.37336052e-03 7.86502945e-01 5.51445818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.25538475 meters Centerline goodness [0,1] 0.9561293031066331 Centerline is valid? [True, True] Translation: X:16.47, Y:0.56, Z:5.53 [[ 7.87112967e-01 -2.76670267e-03 -6.16802661e-01 1.64697692e+01] [-2.11911501e-03 9.99971909e-01 -7.18967044e-03 5.60633919e-01] [ 6.16805226e-01 6.96615861e-03 7.87084993e-01 5.53468422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.28538475 meters Centerline goodness [0,1] 0.954334342132862 Centerline is valid? [True, True] Translation: X:16.49, Y:0.56, Z:5.55 [[ 7.87668718e-01 -3.54444512e-03 -6.16088814e-01 1.64927878e+01] [-1.26944417e-03 9.99971991e-01 -7.37596138e-03 5.61529968e-01] [ 6.16097702e-01 6.59190440e-03 7.87642158e-01 5.54973170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.31538475 meters Centerline goodness [0,1] 0.9571304112716676 Centerline is valid? [True, True] Translation: X:16.51, Y:0.56, Z:5.57 [[ 7.89679390e-01 -3.85843452e-03 -6.13507599e-01 1.65148205e+01] [-8.75005190e-04 9.99972124e-01 -7.41523094e-03 5.60998425e-01] [ 6.13519108e-01 6.39247737e-03 7.89654000e-01 5.56952908e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.34538475 meters Centerline goodness [0,1] 0.9579256947362103 Centerline is valid? [True, True] Translation: X:16.54, Y:0.56, Z:5.59 [[ 7.90458604e-01 -3.95902632e-03 -6.12502671e-01 1.65376391e+01] [-8.00919346e-04 9.99971575e-01 -7.49712220e-03 5.62046450e-01] [ 6.12514942e-01 6.41672999e-03 7.90432965e-01 5.58753121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.37538475 meters Centerline goodness [0,1] 0.9585844954266007 Centerline is valid? [True, True] Translation: X:16.56, Y:0.56, Z:5.60 [[ 7.91485137e-01 -4.36775913e-03 -6.11172807e-01 1.65601198e+01] [-4.02652848e-04 9.99970521e-01 -7.66775626e-03 5.62785417e-01] [ 6.11188282e-01 6.31500559e-03 7.91460047e-01 5.60375528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.40538475 meters Centerline goodness [0,1] 0.9582716869470697 Centerline is valid? [True, True] Translation: X:16.58, Y:0.56, Z:5.62 [[ 7.91451897e-01 -7.10563927e-03 -6.11190155e-01 1.65825298e+01] [ 3.00160063e-03 9.99965551e-01 -7.73862593e-03 5.59218654e-01] [ 6.11224088e-01 4.29020142e-03 7.91445961e-01 5.62175781e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.43538475 meters Centerline goodness [0,1] 0.9563812112973871 Centerline is valid? [True, True] Translation: X:16.61, Y:0.56, Z:5.64 [[ 7.89803306e-01 -8.20412489e-03 -6.13305332e-01 1.66057047e+01] [ 4.21084576e-03 9.99959503e-01 -7.95371000e-03 5.58156716e-01] [ 6.13345748e-01 3.69933231e-03 7.89805868e-01 5.63672361e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.46538475 meters Centerline goodness [0,1] 0.9550204179678117 Centerline is valid? [True, True] Translation: X:16.63, Y:0.56, Z:5.65 [[ 7.88496716e-01 -7.48615969e-03 -6.14993403e-01 1.66310346e+01] [ 3.21674111e-03 9.99962440e-01 -8.04803544e-03 5.61513996e-01] [ 6.15030553e-01 4.36757495e-03 7.88491181e-01 5.65126603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.49538475 meters Centerline goodness [0,1] 0.9517780172413793 Centerline is valid? [True, True] Translation: X:16.66, Y:0.56, Z:5.66 [[ 7.87466048e-01 -6.88951693e-03 -6.16319526e-01 1.66575599e+01] [ 2.28755112e-03 9.99963308e-01 -8.25528817e-03 5.64501259e-01] [ 6.16353787e-01 5.09089673e-03 7.87452915e-01 5.66415958e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.52538475 meters Centerline goodness [0,1] 0.9508118433619867 Centerline is valid? [True, True] Translation: X:16.68, Y:0.57, Z:5.68 [[ 7.87484486e-01 -6.53295964e-03 -6.16299850e-01 1.66809800e+01] [ 1.68944175e-03 9.99962945e-01 -8.44119691e-03 5.65939471e-01] [ 6.16332159e-01 5.60610891e-03 7.87466343e-01 5.67936853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.55538475 meters Centerline goodness [0,1] 0.9504268384004793 Centerline is valid? [True, True] Translation: X:16.70, Y:0.57, Z:5.70 [[ 7.86513884e-01 -6.30425656e-03 -6.17540417e-01 1.67035193e+01] [ 1.29170396e-03 9.99962501e-01 -8.56312708e-03 5.65397950e-01] [ 6.17571244e-01 5.93733894e-03 7.86492534e-01 5.69731213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.58538475 meters Centerline goodness [0,1] 0.9528347261468165 Centerline is valid? [True, True] Translation: X:16.73, Y:0.57, Z:5.72 [[ 7.87091228e-01 -6.28346979e-03 -6.16804602e-01 1.67255526e+01] [ 1.13314235e-03 9.99961157e-01 -8.74075729e-03 5.65498185e-01] [ 6.16835565e-01 6.18084598e-03 7.87067775e-01 5.71622661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.61538475 meters Centerline goodness [0,1] 0.9549140934759102 Centerline is valid? [True, True] Translation: X:16.75, Y:0.57, Z:5.73 [[ 7.88366299e-01 -5.81658890e-03 -6.15178629e-01 1.67466200e+01] [ 4.28702539e-04 9.99960255e-01 -8.90535339e-03 5.65583878e-01] [ 6.15205977e-01 6.75695186e-03 7.88337459e-01 5.73452128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.64538475 meters Centerline goodness [0,1] 0.9558792611503228 Centerline is valid? [True, True] Translation: X:16.77, Y:0.57, Z:5.75 [[ 7.88508199e-01 -5.93446557e-03 -6.14995612e-01 1.67676384e+01] [ 5.25310577e-04 9.99959580e-01 -8.97569656e-03 5.65218998e-01] [ 6.15024019e-01 6.75434663e-03 7.88479445e-01 5.75277278e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.67538475 meters Centerline goodness [0,1] 0.9557721139430285 Centerline is valid? [True, True] Translation: X:16.79, Y:0.57, Z:5.77 [[ 7.89094797e-01 -7.43423411e-03 -6.14226451e-01 1.67915027e+01] [ 2.27045949e-03 9.99955230e-01 -9.18601518e-03 5.66190107e-01] [ 6.14267244e-01 5.85406051e-03 7.89076348e-01 5.76735890e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.70538475 meters Centerline goodness [0,1] 0.9552458474754453 Centerline is valid? [True, True] Translation: X:16.82, Y:0.57, Z:5.78 [[ 7.88410682e-01 -8.24964069e-03 -6.15093928e-01 1.68152116e+01] [ 3.22840102e-03 9.99951791e-01 -9.27327823e-03 5.65595757e-01] [ 6.15140776e-01 5.32538175e-03 7.88399306e-01 5.78374348e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.73538475 meters Centerline goodness [0,1] 0.9564154417313091 Centerline is valid? [True, True] Translation: X:16.84, Y:0.56, Z:5.80 [[ 7.88413974e-01 -9.19600784e-03 -6.15076288e-01 1.68365995e+01] [ 4.27727409e-03 9.99946034e-01 -9.46752301e-03 5.63180535e-01] [ 6.15130158e-01 4.83347757e-03 7.88410760e-01 5.80203465e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.76538475 meters Centerline goodness [0,1] 0.9561263030669286 Centerline is valid? [True, True] Translation: X:16.86, Y:0.56, Z:5.82 [[ 7.88733639e-01 -1.00415143e-02 -6.14653085e-01 1.68596246e+01] [ 5.18467558e-03 9.99939679e-01 -9.68282879e-03 5.62191475e-01] [ 6.14713238e-01 4.45039595e-03 7.88738124e-01 5.81950886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.79538475 meters Centerline goodness [0,1] 0.9558437641381391 Centerline is valid? [True, True] Translation: X:16.88, Y:0.56, Z:5.84 [[ 7.88866326e-01 -1.01039632e-02 -6.14481758e-01 1.68831223e+01] [ 5.11576922e-03 9.99938160e-01 -9.87446777e-03 5.63272413e-01] [ 6.14543529e-01 4.64608824e-03 7.88869232e-01 5.83514754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.82538475 meters Centerline goodness [0,1] 0.9534602963812513 Centerline is valid? [True, True] Translation: X:16.91, Y:0.56, Z:5.85 [[ 7.88752645e-01 -1.02537300e-02 -6.14625191e-01 1.69051841e+01] [ 5.13321384e-03 9.99935875e-01 -1.00943413e-02 5.64318159e-01] [ 6.14689283e-01 4.80693586e-03 7.88754701e-01 5.85020789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.85538475 meters Centerline goodness [0,1] 0.9555140299587088 Centerline is valid? [True, True] Translation: X:16.93, Y:0.56, Z:5.87 [[ 7.89552602e-01 -1.01857160e-02 -6.13598353e-01 1.69277154e+01] [ 4.99390682e-03 9.99935784e-01 -1.01729573e-02 5.64344270e-01] [ 6.13662569e-01 4.96783187e-03 7.89552767e-01 5.86934893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.88538475000001 meters Centerline goodness [0,1] 0.9557754381730972 Centerline is valid? [True, True] Translation: X:16.95, Y:0.57, Z:5.89 [[ 7.89920111e-01 -1.00066066e-02 -6.13128115e-01 1.69499362e+01] [ 4.64078586e-03 9.99935765e-01 -1.03406019e-02 5.65398514e-01] [ 6.13192205e-01 5.32285309e-03 7.89915810e-01 5.88503834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.91538475000002 meters Centerline goodness [0,1] 0.9565033528665499 Centerline is valid? [True, True] Translation: X:16.97, Y:0.57, Z:5.90 [[ 7.89852215e-01 -1.00017939e-02 -6.13215658e-01 1.69723616e+01] [ 4.56234719e-03 9.99935169e-01 -1.04328148e-02 5.65707931e-01] [ 6.13280249e-01 5.44267917e-03 7.89846639e-01 5.90240680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.94538475000002 meters Centerline goodness [0,1] 0.9549576692476877 Centerline is valid? [True, True] Translation: X:17.00, Y:0.57, Z:5.92 [[ 7.89149626e-01 -1.01337886e-02 -6.14117394e-01 1.69962293e+01] [ 4.54283473e-03 9.99932833e-01 -1.06626709e-02 5.67041849e-01] [ 6.14184199e-01 5.62460892e-03 7.89142657e-01 5.91693430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 159.97538475000002 meters Centerline goodness [0,1] 0.9536216151016224 Centerline is valid? [True, True] Translation: X:17.02, Y:0.57, Z:5.93 [[ 7.89037248e-01 -1.00218787e-02 -6.14263610e-01 1.70191764e+01] [ 4.34478575e-03 9.99932958e-01 -1.07331916e-02 5.67833709e-01] [ 6.14329996e-01 5.80004421e-03 7.89027893e-01 5.93272095e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.00538475 meters Centerline goodness [0,1] 0.9566847021128676 Centerline is valid? [True, True] Translation: X:17.04, Y:0.57, Z:5.95 [[ 7.89862227e-01 -1.07783342e-02 -6.13189604e-01 1.70407335e+01] [ 5.27047165e-03 9.99927926e-01 -1.07872196e-02 5.66771730e-01] [ 6.13261678e-01 5.28861883e-03 7.89862105e-01 5.95191566e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.03538475 meters Centerline goodness [0,1] 0.9562299740039901 Centerline is valid? [True, True] Translation: X:17.06, Y:0.57, Z:5.97 [[ 7.90536241e-01 -1.17656154e-02 -6.12302231e-01 1.70623593e+01] [ 6.39322359e-03 9.99919504e-01 -1.09596096e-02 5.65701946e-01] [ 6.12381889e-01 4.74938348e-03 7.90547826e-01 5.96953375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.06538475 meters Centerline goodness [0,1] 0.9553806568790677 Centerline is valid? [True, True] Translation: X:17.08, Y:0.56, Z:5.99 [[ 7.91604674e-01 -1.57621117e-02 -6.10830251e-01 1.70845320e+01] [ 1.14182163e-02 9.99874263e-01 -1.10037386e-02 5.62446117e-01] [ 6.10926890e-01 1.73601898e-03 7.91685115e-01 5.98879326e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.09538475 meters Centerline goodness [0,1] 0.9539501606742254 Centerline is valid? [True, True] Translation: X:17.11, Y:0.56, Z:6.01 [[ 7.90919687e-01 -1.59952938e-02 -6.11710879e-01 1.71072853e+01] [ 1.15544548e-02 9.99870456e-01 -1.12055812e-02 5.63359174e-01] [ 6.11810873e-01 1.79472911e-03 7.91002045e-01 6.00636091e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.12538475 meters Centerline goodness [0,1] 0.9529429520072442 Centerline is valid? [True, True] Translation: X:17.13, Y:0.56, Z:6.02 [[ 7.89900590e-01 -1.70232960e-02 -6.12998585e-01 1.71320048e+01] [ 1.26814871e-02 9.99854310e-01 -1.14253147e-02 5.64193408e-01] [ 6.13103774e-01 1.25112916e-03 7.90001390e-01 6.02152683e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.15538475 meters Centerline goodness [0,1] 0.9525793111775182 Centerline is valid? [True, True] Translation: X:17.15, Y:0.57, Z:6.04 [[ 7.89811762e-01 -1.75003345e-02 -6.13099600e-01 1.71549903e+01] [ 1.31300426e-02 9.99846217e-01 -1.16251604e-02 5.65698546e-01] [ 6.13208760e-01 1.13166450e-03 7.89920082e-01 6.03626369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.18538475 meters Centerline goodness [0,1] 0.9516752188348928 Centerline is valid? [True, True] Translation: X:17.18, Y:0.57, Z:6.05 [[ 7.90073622e-01 -1.78293723e-02 -6.12752630e-01 1.71784480e+01] [ 1.34302376e-02 9.99840467e-01 -1.17757985e-02 5.66362750e-01] [ 6.12864831e-01 1.07433431e-03 7.90187031e-01 6.05270740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.21538475 meters Centerline goodness [0,1] 0.9507035860190649 Centerline is valid? [True, True] Translation: X:17.20, Y:0.57, Z:6.07 [[ 7.89775994e-01 -1.76388780e-02 -6.13141704e-01 1.72011633e+01] [ 1.30108343e-02 9.99843293e-01 -1.20045158e-02 5.66404852e-01] [ 6.13257367e-01 1.50339327e-03 7.89881726e-01 6.06943402e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.24538475 meters Centerline goodness [0,1] 0.9514788966434031 Centerline is valid? [True, True] Translation: X:17.22, Y:0.57, Z:6.09 [[ 7.90292099e-01 -1.69757869e-02 -6.12495079e-01 1.72242471e+01] [ 1.21269680e-02 9.99853681e-01 -1.20645149e-02 5.67638221e-01] [ 6.12610264e-01 2.10678260e-03 7.90382329e-01 6.08737078e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.27538475 meters Centerline goodness [0,1] 0.9510719017222691 Centerline is valid? [True, True] Translation: X:17.25, Y:0.57, Z:6.10 [[ 7.90049042e-01 -1.70526376e-02 -6.12806429e-01 1.72475662e+01] [ 1.20778385e-02 9.99851998e-01 -1.22518771e-02 5.69259925e-01] [ 6.12924659e-01 2.27820666e-03 7.90138072e-01 6.10430237e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.30538475 meters Centerline goodness [0,1] 0.9518858001502629 Centerline is valid? [True, True] Translation: X:17.27, Y:0.57, Z:6.12 [[ 7.89150513e-01 -1.59747034e-02 -6.13992081e-01 1.72716540e+01] [ 1.05362840e-02 9.99866706e-01 -1.24722457e-02 5.73599652e-01] [ 6.14109480e-01 3.37328417e-03 7.89213638e-01 6.11993192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.33538475 meters Centerline goodness [0,1] 0.9500420319442776 Centerline is valid? [True, True] Translation: X:17.30, Y:0.58, Z:6.13 [[ 7.88581289e-01 -1.56299226e-02 -6.14731857e-01 1.72957067e+01] [ 9.93417776e-03 9.99870273e-01 -1.26786796e-02 5.76972703e-01] [ 6.14850277e-01 3.89131393e-03 7.88634259e-01 6.13457985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.36538475 meters Centerline goodness [0,1] 0.9504624502379598 Centerline is valid? [True, True] Translation: X:17.32, Y:0.58, Z:6.15 [[ 7.87209534e-01 -1.30556991e-02 -6.16547401e-01 1.73183390e+01] [ 6.56922685e-03 9.99896680e-01 -1.27857034e-02 5.81736703e-01] [ 6.16650626e-01 6.01478789e-03 7.87213966e-01 6.15154994e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.39538475 meters Centerline goodness [0,1] 0.9502840059790733 Centerline is valid? [True, True] Translation: X:17.34, Y:0.58, Z:6.17 [[ 7.87309126e-01 -1.20473589e-02 -6.16440753e-01 1.73416384e+01] [ 5.23634450e-03 9.99903676e-01 -1.28537522e-02 5.84603179e-01] [ 6.16536229e-01 6.89198023e-03 7.87296373e-01 6.16728625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.42538475 meters Centerline goodness [0,1] 0.9499433546002027 Centerline is valid? [True, False] Translation: X:17.34, Y:0.58, Z:6.17 [[ 7.86929084e-01 -5.72852689e-03 -6.17016855e-01 1.73403344e+01] [ 1.36063715e-03 9.99970583e-01 -7.54863240e-03 5.82255182e-01] [ 6.17041947e-01 5.10070232e-03 7.86913730e-01 6.16969626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.45538475 meters Centerline goodness [0,1] 0.9513374731311202 Centerline is valid? [False, True] Translation: X:17.34, Y:0.58, Z:6.17 [[ 7.87187327e-01 -4.23653786e-03 -6.16699412e-01 1.73368029e+01] [ 1.54386974e-04 9.99977727e-01 -6.67247601e-03 5.82801860e-01] [ 6.16713944e-01 5.15727820e-03 7.87170448e-01 6.16981471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.48538475 meters Centerline goodness [0,1] 0.9515216485021738 Centerline is valid? [True, True] Translation: X:17.36, Y:0.59, Z:6.18 [[ 7.87512172e-01 -6.77575282e-03 -6.16261850e-01 1.73615927e+01] [-5.98604100e-04 9.99930680e-01 -1.17591104e-02 5.87362169e-01] [ 6.16298807e-01 9.62933946e-03 7.87453526e-01 6.18286138e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.51538475 meters Centerline goodness [0,1] 0.9516254565048194 Centerline is valid? [True, True] Translation: X:17.38, Y:0.59, Z:6.20 [[ 7.87292800e-01 -7.51619658e-03 -6.16533498e-01 1.73846380e+01] [ 1.64118055e-04 9.99928216e-01 -1.19806111e-02 5.87949783e-01] [ 6.16579290e-01 9.33106458e-03 7.87237519e-01 6.19836668e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.54538475 meters Centerline goodness [0,1] 0.9516191845660705 Centerline is valid? [True, True] Translation: X:17.41, Y:0.59, Z:6.22 [[ 7.87765080e-01 -8.72056207e-03 -6.15914060e-01 1.74083653e+01] [ 1.54346179e-03 9.99924587e-01 -1.21835490e-02 5.85514069e-01] [ 6.15973860e-01 8.64713461e-03 7.87719132e-01 6.21517422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.57538475 meters Centerline goodness [0,1] 0.9524423907825252 Centerline is valid? [True, True] Translation: X:17.43, Y:0.58, Z:6.23 [[ 7.88596492e-01 -9.48237999e-03 -6.14837911e-01 1.74307407e+01] [ 2.39576684e-03 9.99920884e-01 -1.23485171e-02 5.83818894e-01] [ 6.14906361e-01 8.26498899e-03 7.88556819e-01 6.23338032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.60538475 meters Centerline goodness [0,1] 0.9527771936675778 Centerline is valid? [True, True] Translation: X:17.45, Y:0.58, Z:6.25 [[ 7.88727109e-01 -9.96260568e-03 -6.14662748e-01 1.74533237e+01] [ 2.86603748e-03 9.99917398e-01 -1.25292468e-02 5.83825174e-01] [ 6.14736800e-01 8.12051017e-03 7.88690512e-01 6.24976100e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.63538475000001 meters Centerline goodness [0,1] 0.9548914998201654 Centerline is valid? [True, True] Translation: X:17.48, Y:0.58, Z:6.27 [[ 7.89100412e-01 -9.97697049e-03 -6.14183198e-01 1.74752062e+01] [ 2.84331878e-03 9.99916702e-01 -1.25898518e-02 5.82752353e-01] [ 6.14257646e-01 8.18833858e-03 7.89063049e-01 6.26809905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.66538475000002 meters Centerline goodness [0,1] 0.9516572932870647 Centerline is valid? [True, True] Translation: X:17.50, Y:0.58, Z:6.28 [[ 7.88588474e-01 -1.01768608e-02 -6.14837092e-01 1.74998611e+01] [ 2.91214885e-03 9.99913636e-01 -1.28155815e-02 5.84729004e-01] [ 6.14914415e-01 8.31572272e-03 7.88550006e-01 6.28227236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.69538475000002 meters Centerline goodness [0,1] 0.9538706575309532 Centerline is valid? [True, True] Translation: X:17.52, Y:0.58, Z:6.30 [[ 7.87959019e-01 -1.06268040e-02 -6.15635977e-01 1.75221676e+01] [ 3.40399193e-03 9.99910957e-01 -1.29031634e-02 5.83739316e-01] [ 6.15718278e-01 8.07154405e-03 7.87925030e-01 6.30112443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.72538475000002 meters Centerline goodness [0,1] 0.9538706575309532 Centerline is valid? [True, True] Translation: X:17.54, Y:0.58, Z:6.32 [[ 7.87957554e-01 -1.09648588e-02 -6.15631924e-01 1.75444399e+01] [ 3.68369563e-03 9.99907481e-01 -1.30942666e-02 5.84463907e-01] [ 6.15718543e-01 8.04992562e-03 7.87925044e-01 6.31754638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.75538475 meters Centerline goodness [0,1] 0.9532423823547088 Centerline is valid? [True, True] Translation: X:17.57, Y:0.59, Z:6.33 [[ 7.87654587e-01 -1.10112969e-02 -6.16018670e-01 1.75684167e+01] [ 3.56106466e-03 9.99904944e-01 -1.33199880e-02 5.85785568e-01] [ 6.16106784e-01 8.29786733e-03 7.87618928e-01 6.33424160e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.78538475 meters Centerline goodness [0,1] 0.9519975878184833 Centerline is valid? [True, True] Translation: X:17.59, Y:0.59, Z:6.35 [[ 7.87125343e-01 -1.20924718e-02 -6.16674522e-01 1.75926703e+01] [ 4.76802669e-03 9.99897216e-01 -1.35212239e-02 5.86469614e-01] [ 6.16774643e-01 7.70257740e-03 7.87102096e-01 6.34885853e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.81538475 meters Centerline goodness [0,1] 0.951437603492398 Centerline is valid? [True, True] Translation: X:17.61, Y:0.58, Z:6.37 [[ 7.86425904e-01 -1.39027552e-02 -6.17528146e-01 1.76147290e+01] [ 6.96128941e-03 9.99882661e-01 -1.36456704e-02 5.83655100e-01] [ 6.17645398e-01 6.43251651e-03 7.86430407e-01 6.36660732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.84538475 meters Centerline goodness [0,1] 0.9494234879730259 Centerline is valid? [True, False] Translation: X:17.62, Y:0.58, Z:6.37 [[ 7.86213787e-01 -1.39934715e-02 -6.17796134e-01 1.76155107e+01] [ 7.13762771e-03 9.99882522e-01 -1.35645495e-02 5.83614177e-01] [ 6.17913372e-01 6.25503704e-03 7.86221304e-01 6.36715375e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.87538475 meters Centerline goodness [0,1] 0.9484265734265734 Centerline is valid? [False, False] Translation: X:17.62, Y:0.58, Z:6.37 [[ 7.86038712e-01 -1.39505192e-02 -6.18019842e-01 1.76160266e+01] [ 7.09164323e-03 9.99883037e-01 -1.35506674e-02 5.83930494e-01] [ 6.18136596e-01 6.26857296e-03 7.86045707e-01 6.36747951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.90538475 meters Centerline goodness [0,1] 0.9479063036990142 Centerline is valid? [False, False] Translation: X:17.62, Y:0.58, Z:6.37 [[ 7.85856099e-01 -1.31736461e-02 -6.18269073e-01 1.76150922e+01] [ 6.92398575e-03 9.99897845e-01 -1.25043355e-02 5.81862380e-01] [ 6.18370641e-01 5.54572205e-03 7.85867034e-01 6.36874873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.93538475 meters Centerline goodness [0,1] 0.9487358484839288 Centerline is valid? [False, False] Translation: X:17.61, Y:0.58, Z:6.37 [[ 7.87828809e-01 -1.35050769e-02 -6.15746198e-01 1.76126348e+01] [ 8.29974120e-03 9.99901578e-01 -1.13114340e-02 5.79959298e-01] [ 6.15838357e-01 3.80093952e-03 7.87863358e-01 6.36669571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.96538475 meters Centerline goodness [0,1] 0.9451339191351874 Centerline is valid? [False, False] Translation: X:17.61, Y:0.58, Z:6.37 [[ 7.87641417e-01 -1.35051830e-02 -6.15985884e-01 1.76135238e+01] [ 8.56472449e-03 9.99903137e-01 -1.09709383e-02 5.79403019e-01] [ 6.16074382e-01 3.36541597e-03 7.87680792e-01 6.36734363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 160.99538475 meters Centerline goodness [0,1] 0.9463647920576306 Centerline is valid? [False, False] Translation: X:17.61, Y:0.58, Z:6.37 [[ 7.87721555e-01 -1.31257118e-02 -6.15891604e-01 1.76137216e+01] [ 8.55974256e-03 9.99909676e-01 -1.03619411e-02 5.79014865e-01] [ 6.15971982e-01 2.89045080e-03 7.87762758e-01 6.36760613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.02538475 meters Centerline goodness [0,1] 0.9438382736255077 Centerline is valid? [False, False] Translation: X:17.61, Y:0.58, Z:6.37 [[ 7.87524978e-01 -1.31794829e-02 -6.16141794e-01 1.76148279e+01] [ 8.94112320e-03 9.99910421e-01 -9.96027945e-03 5.77786306e-01] [ 6.16217872e-01 2.33496916e-03 7.87572271e-01 6.36833333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.05538475 meters Centerline goodness [0,1] 0.9466963306107522 Centerline is valid? [False, False] Translation: X:17.61, Y:0.58, Z:6.37 [[ 7.87531361e-01 -1.23944143e-02 -6.16149928e-01 1.76134591e+01] [ 8.66183407e-03 9.99921593e-01 -9.04321548e-03 5.76379562e-01] [ 6.16213703e-01 1.78482736e-03 7.87576972e-01 6.36909347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.08538475 meters Centerline goodness [0,1] 0.9471271393643031 Centerline is valid? [False, False] Translation: X:17.61, Y:0.57, Z:6.37 [[ 7.87413203e-01 -1.10480002e-02 -6.16326529e-01 1.76113989e+01] [ 8.35023849e-03 9.99938808e-01 -7.25627723e-03 5.73261836e-01] [ 6.16368982e-01 5.67214991e-04 7.87457273e-01 6.37098866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.11538475 meters Centerline goodness [0,1] 0.9430242170039494 Centerline is valid? [False, False] Translation: X:17.61, Y:0.57, Z:6.37 [[ 7.87130683e-01 -1.04940158e-02 -6.16696979e-01 1.76110552e+01] [ 8.35574838e-03 9.99944924e-01 -6.35056121e-03 5.71179726e-01] [ 6.16729657e-01 -1.54243203e-04 7.87175017e-01 6.37244042e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.14538475 meters Centerline goodness [0,1] 0.942896509491733 Centerline is valid? [False, False] Translation: X:17.61, Y:0.57, Z:6.37 [[ 7.86907114e-01 -1.04750446e-02 -6.16982550e-01 1.76116214e+01] [ 8.49547717e-03 9.99945052e-01 -6.14169326e-03 5.70808280e-01] [ 6.17012982e-01 -4.08619050e-04 7.86952866e-01 6.37311054e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.17538475 meters Centerline goodness [0,1] 0.942463308821267 Centerline is valid? [False, False] Translation: X:17.61, Y:0.57, Z:6.37 [[ 7.90993793e-01 -1.08646203e-02 -6.11727700e-01 1.76105694e+01] [ 1.22883754e-02 9.99922747e-01 -1.86970834e-03 5.70778210e-01] [ 6.11700756e-01 -6.03821190e-03 7.91066195e-01 6.36685463e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.20538475 meters Centerline goodness [0,1] 0.9448237682229194 Centerline is valid? [False, False] Translation: X:17.61, Y:0.57, Z:6.37 [[ 7.90729564e-01 -1.09506491e-02 -6.12067676e-01 1.76116082e+01] [ 1.26959456e-02 9.99918296e-01 -1.48789897e-03 5.69518318e-01] [ 6.12033961e-01 -6.59425224e-03 7.90803987e-01 6.36778439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.23538475 meters Centerline goodness [0,1] 0.9453567035670357 Centerline is valid? [False, False] Translation: X:17.61, Y:0.57, Z:6.37 [[ 7.90673014e-01 -1.03579641e-02 -6.12151042e-01 1.76112224e+01] [ 1.27097340e-02 9.99919102e-01 -5.02951909e-04 5.67892979e-01] [ 6.12106729e-01 -7.38260638e-03 7.90740697e-01 6.36878541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.26538475 meters Centerline goodness [0,1] 0.9458664132667136 Centerline is valid? [False, False] Translation: X:17.61, Y:0.57, Z:6.37 [[ 7.90506455e-01 -9.56862886e-03 -6.12378957e-01 1.76101774e+01] [ 1.25364375e-02 9.99921260e-01 5.58901244e-04 5.66347772e-01] [ 6.12325390e-01 -8.11886557e-03 7.90564166e-01 6.37012204e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.29538475 meters Centerline goodness [0,1] 0.9485735389160742 Centerline is valid? [False, False] Translation: X:17.61, Y:0.56, Z:6.37 [[ 7.90481086e-01 -7.03728200e-03 -6.12446022e-01 1.76057611e+01] [ 1.17098078e-02 9.99924870e-01 3.62420236e-03 5.62236727e-01] [ 6.12374504e-01 -1.00364886e-02 7.90504102e-01 6.37309032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.32538475 meters Centerline goodness [0,1] 0.9494799864210104 Centerline is valid? [False, False] Translation: X:17.60, Y:0.56, Z:6.37 [[ 7.90441600e-01 -6.23401589e-03 -6.12505685e-01 1.76044046e+01] [ 1.14308722e-02 9.99924202e-01 4.57447760e-03 5.61096624e-01] [ 6.12430740e-01 -1.06173316e-02 7.90452946e-01 6.37404330e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.35538475 meters Centerline goodness [0,1] 0.952472247131946 Centerline is valid? [False, True] Translation: X:17.60, Y:0.56, Z:6.37 [[ 7.90395827e-01 -5.91116298e-03 -6.12567951e-01 1.76042581e+01] [ 1.14154506e-02 9.99921936e-01 5.08029028e-03 5.60366811e-01] [ 6.12490101e-01 -1.10081794e-02 7.90401604e-01 6.37459783e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.38538475000001 meters Centerline goodness [0,1] 0.951522858383475 Centerline is valid? [True, True] Translation: X:17.63, Y:0.56, Z:6.38 [[ 7.90299361e-01 -1.31017771e-02 -6.12580822e-01 1.76312012e+01] [ 1.17816747e-02 9.99911457e-01 -6.18623203e-03 5.63677997e-01] [ 6.12607633e-01 -2.32825274e-03 7.90383747e-01 6.38304171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.41538475000002 meters Centerline goodness [0,1] 0.9522583447077801 Centerline is valid? [True, True] Translation: X:17.65, Y:0.56, Z:6.40 [[ 7.91358661e-01 -1.40467602e-02 -6.11190771e-01 1.76532625e+01] [ 1.29074198e-02 9.99897050e-01 -6.26795404e-03 5.62167902e-01] [ 6.11215894e-01 -2.92869617e-03 7.91458498e-01 6.40217725e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.44538475000002 meters Centerline goodness [0,1] 0.9533790096543133 Centerline is valid? [True, True] Translation: X:17.68, Y:0.56, Z:6.42 [[ 7.92932858e-01 -1.53827894e-02 -6.09114811e-01 1.76755444e+01] [ 1.44581544e-02 9.99874802e-01 -6.42985152e-03 5.62157367e-01] [ 6.09137460e-01 -3.70823543e-03 7.93055991e-01 6.41913806e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.47538475000002 meters Centerline goodness [0,1] 0.9533380968653888 Centerline is valid? [True, True] Translation: X:17.70, Y:0.56, Z:6.44 [[ 7.92950685e-01 -1.50540680e-02 -6.09099816e-01 1.76978030e+01] [ 1.39894900e-02 9.99881013e-01 -6.50025004e-03 5.63431635e-01] [ 6.09125196e-01 -3.36661803e-03 7.93066934e-01 6.43573736e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.50538475 meters Centerline goodness [0,1] 0.9518611810803247 Centerline is valid? [True, True] Translation: X:17.72, Y:0.56, Z:6.45 [[ 7.92259802e-01 -1.51173142e-02 -6.09996617e-01 1.77217037e+01] [ 1.39065111e-02 9.99880732e-01 -6.71797415e-03 5.63776518e-01] [ 6.10025422e-01 -3.16054384e-03 7.92375540e-01 6.45034632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.53538475 meters Centerline goodness [0,1] 0.9509173884697774 Centerline is valid? [True, True] Translation: X:17.75, Y:0.56, Z:6.47 [[ 7.91194196e-01 -1.50219947e-02 -6.11380475e-01 1.77451377e+01] [ 1.37301554e-02 9.99882619e-01 -6.79938649e-03 5.63906306e-01] [ 6.11410850e-01 -3.01471378e-03 7.91307578e-01 6.46523932e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.56538475 meters Centerline goodness [0,1] 0.9499751583654205 Centerline is valid? [True, False] Translation: X:17.75, Y:0.56, Z:6.47 [[ 7.90932727e-01 -1.53939185e-02 -6.11709448e-01 1.77464619e+01] [ 1.40657486e-02 9.99876741e-01 -6.97546870e-03 5.64161455e-01] [ 6.11741429e-01 -3.08702485e-03 7.91051764e-01 6.46569480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.59538475 meters Centerline goodness [0,1] 0.9486356840269126 Centerline is valid? [False, False] Translation: X:17.75, Y:0.57, Z:6.46 [[ 7.92051212e-01 -1.46166642e-02 -6.10279634e-01 1.77485116e+01] [ 1.39504973e-02 9.99885619e-01 -5.84237753e-03 5.65757650e-01] [ 6.10295225e-01 -3.88624217e-03 7.92164526e-01 6.46393493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.62538475 meters Centerline goodness [0,1] 0.9456737941322725 Centerline is valid? [False, False] Translation: X:17.75, Y:0.57, Z:6.46 [[ 7.92083430e-01 -1.47231002e-02 -6.10235258e-01 1.77497311e+01] [ 1.40972372e-02 9.99883656e-01 -5.82594865e-03 5.67289750e-01] [ 6.10250037e-01 -3.98799381e-03 7.92198831e-01 6.46387526e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.65538475 meters Centerline goodness [0,1] 0.9465438927169916 Centerline is valid? [False, False] Translation: X:17.75, Y:0.57, Z:6.47 [[ 7.91996456e-01 -9.64796257e-03 -6.10449450e-01 1.77498927e+01] [ 1.08288062e-02 9.99939828e-01 -1.75445465e-03 5.68348536e-01] [ 6.10429645e-01 -5.22091694e-03 7.92053275e-01 6.46505792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.68538475 meters Centerline goodness [0,1] 0.9468068703937833 Centerline is valid? [False, False] Translation: X:17.75, Y:0.57, Z:6.47 [[ 7.91794006e-01 -2.99860954e-03 -6.10780861e-01 1.77469893e+01] [ 6.49722813e-03 9.99972721e-01 3.51343450e-03 5.68494369e-01] [ 6.10753664e-01 -6.75029897e-03 7.91791889e-01 6.46737875e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.71538475 meters Centerline goodness [0,1] 0.9475433036950436 Centerline is valid? [False, False] Translation: X:17.74, Y:0.57, Z:6.47 [[ 7.91830206e-01 -2.15610370e-03 -6.10737485e-01 1.77448640e+01] [ 5.74177293e-03 9.99975856e-01 3.91405090e-03 5.69603722e-01] [ 6.10714300e-01 -6.60597969e-03 7.91823468e-01 6.46769321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.74538475 meters Centerline goodness [0,1] 0.9539370442167452 Centerline is valid? [False, True] Translation: X:17.74, Y:0.57, Z:6.47 [[ 7.92300829e-01 3.25502435e-04 -6.10130552e-01 1.77387239e+01] [ 4.09749892e-03 9.99974468e-01 5.85439608e-03 5.70425810e-01] [ 6.10116880e-01 -7.13845214e-03 7.92279266e-01 6.46859833e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.77538475 meters Centerline goodness [0,1] 0.9527879901960784 Centerline is valid? [True, True] Translation: X:17.77, Y:0.58, Z:6.48 [[ 7.93702966e-01 -5.04571371e-03 -6.08284590e-01 1.77673470e+01] [ 3.48189057e-03 9.99986901e-01 -3.75163333e-03 5.77174040e-01] [ 6.08295552e-01 8.59702122e-04 7.93710138e-01 6.47775109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.80538475 meters Centerline goodness [0,1] 0.9533887937362369 Centerline is valid? [True, True] Translation: X:17.79, Y:0.58, Z:6.50 [[ 7.94377906e-01 -5.99937117e-03 -6.07394230e-01 1.77902467e+01] [ 4.54124155e-03 9.99981935e-01 -3.93780633e-03 5.78502907e-01] [ 6.07406882e-01 3.69782430e-04 7.94390800e-01 6.49513655e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.83538475 meters Centerline goodness [0,1] 0.9558468542793412 Centerline is valid? [True, True] Translation: X:17.81, Y:0.58, Z:6.51 [[ 7.95882070e-01 -5.04838085e-03 -6.05430627e-01 1.78119069e+01] [ 3.22109917e-03 9.99986391e-01 -4.10401615e-03 5.83163270e-01] [ 6.05443107e-01 1.31616078e-03 7.95887500e-01 6.51387226e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.86538475 meters Centerline goodness [0,1] 0.9543979867196265 Centerline is valid? [True, True] Translation: X:17.83, Y:0.59, Z:6.53 [[ 7.95677019e-01 -4.39885685e-03 -6.05705152e-01 1.78346123e+01] [ 2.26129414e-03 9.99988234e-01 -4.29176689e-03 5.85153774e-01] [ 6.05716904e-01 2.04518277e-03 7.95677604e-01 6.53001336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.89538475 meters Centerline goodness [0,1] 0.9558119813435096 Centerline is valid? [True, True] Translation: X:17.86, Y:0.59, Z:6.55 [[ 7.95248134e-01 -3.34752759e-03 -6.06274854e-01 1.78574745e+01] [ 8.83370744e-04 9.99990093e-01 -4.36270031e-03 5.87118681e-01] [ 6.06283452e-01 2.93386381e-03 7.95243213e-01 6.54688006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.92538475 meters Centerline goodness [0,1] 0.9540719268049642 Centerline is valid? [True, True] Translation: X:17.88, Y:0.59, Z:6.56 [[ 7.94466675e-01 -2.51096001e-03 -6.07302559e-01 1.78815256e+01] [-2.30430782e-04 9.99990134e-01 -4.43601756e-03 5.89879395e-01] [ 6.07307706e-01 3.66420932e-03 7.94458258e-01 6.56208344e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.95538475 meters Centerline goodness [0,1] 0.9543421768296367 Centerline is valid? [True, True] Translation: X:17.90, Y:0.59, Z:6.58 [[ 7.94445579e-01 -2.04384400e-03 -6.07331906e-01 1.79048021e+01] [-8.71768311e-04 9.99989470e-01 -4.50560053e-03 5.91296296e-01] [ 6.07334719e-01 4.10890714e-03 7.94435432e-01 6.57814255e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 161.98538475 meters Centerline goodness [0,1] 0.9536080922419243 Centerline is valid? [True, True] Translation: X:17.93, Y:0.59, Z:6.59 [[ 7.94818986e-01 -2.17360749e-03 -6.06842693e-01 1.79277436e+01] [-8.64286434e-04 9.99988516e-01 -4.71379788e-03 5.93052063e-01] [ 6.06845971e-01 4.27110196e-03 7.94807980e-01 6.59392469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.01538475 meters Centerline goodness [0,1] 0.9541736829444311 Centerline is valid? [True, True] Translation: X:17.95, Y:0.59, Z:6.61 [[ 7.94487111e-01 -1.79447291e-03 -6.07278363e-01 1.79505527e+01] [-1.50584429e-03 9.99986739e-01 -4.92496222e-03 5.93981281e-01] [ 6.07279147e-01 4.82728566e-03 7.94473873e-01 6.60996009e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.04538475 meters Centerline goodness [0,1] 0.9547812528111788 Centerline is valid? [True, True] Translation: X:17.97, Y:0.60, Z:6.63 [[ 7.94802015e-01 -1.00440731e-03 -6.06867983e-01 1.79730518e+01] [-2.54663056e-03 9.99984306e-01 -4.99030882e-03 5.97465795e-01] [ 6.06863471e-01 5.51177606e-03 7.94786983e-01 6.62633822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.07538475 meters Centerline goodness [0,1] 0.9552479264872605 Centerline is valid? [True, True] Translation: X:18.00, Y:0.60, Z:6.64 [[ 7.94746103e-01 -7.24007677e-04 -6.06941601e-01 1.79968558e+01] [-3.06036649e-03 9.99981796e-01 -5.20018539e-03 6.00170248e-01] [ 6.06934317e-01 5.99029081e-03 7.94729420e-01 6.64187262e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.10538475 meters Centerline goodness [0,1] 0.9540935497394741 Centerline is valid? [True, True] Translation: X:18.02, Y:0.60, Z:6.66 [[ 7.93722270e-01 -6.03023037e-05 -6.08280326e-01 1.80205803e+01] [-3.99628443e-03 9.99977897e-01 -5.31373576e-03 6.02026924e-01] [ 6.08267201e-01 6.64849160e-03 7.93704485e-01 6.65918935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.13538475000001 meters Centerline goodness [0,1] 0.9537092521572388 Centerline is valid? [True, True] Translation: X:18.04, Y:0.60, Z:6.68 [[ 7.93604862e-01 5.02429972e-04 -6.08433292e-01 1.80433942e+01] [-4.84967096e-03 9.99973116e-01 -5.49987325e-03 6.03101596e-01] [ 6.08414172e-01 7.31542742e-03 7.93585963e-01 6.67597876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.16538475000002 meters Centerline goodness [0,1] 0.9537885594489368 Centerline is valid? [True, True] Translation: X:18.07, Y:0.60, Z:6.69 [[ 7.93096057e-01 6.60212950e-04 -6.09096222e-01 1.80664059e+01] [-5.11476951e-03 9.99971373e-01 -5.57598185e-03 6.04191870e-01] [ 6.09075104e-01 7.53767601e-03 7.93076731e-01 6.69372515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.19538475000002 meters Centerline goodness [0,1] 0.9550244693307713 Centerline is valid? [True, True] Translation: X:18.09, Y:0.60, Z:6.71 [[ 7.95146043e-01 -9.60546234e-04 -6.06417223e-01 1.80880647e+01] [-3.16723047e-03 9.99978528e-01 -5.73686935e-03 6.03948744e-01] [ 6.06409713e-01 6.48231206e-03 7.95125927e-01 6.71268812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.22538475000002 meters Centerline goodness [0,1] 0.95600131339363 Centerline is valid? [True, True] Translation: X:18.11, Y:0.60, Z:6.73 [[ 7.96018215e-01 -2.39036819e-03 -6.05267947e-01 1.81111449e+01] [-1.48094228e-03 9.99981517e-01 -5.89686113e-03 6.03783652e-01] [ 6.05270856e-01 5.59037576e-03 7.95999962e-01 6.73078507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.25538475 meters Centerline goodness [0,1] 0.9561683946338403 Centerline is valid? [True, True] Translation: X:18.13, Y:0.60, Z:6.75 [[ 7.96575760e-01 -4.52072083e-03 -6.04521812e-01 1.81334973e+01] [ 1.06489822e-03 9.99980981e-01 -6.07482255e-03 6.01902874e-01] [ 6.04537778e-01 4.19530219e-03 7.96565424e-01 6.74935760e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.28538475 meters Centerline goodness [0,1] 0.9563463607027608 Centerline is valid? [True, True] Translation: X:18.16, Y:0.60, Z:6.77 [[ 7.96835759e-01 -5.60775553e-03 -6.04169948e-01 1.81564445e+01] [ 2.29540315e-03 9.99977808e-01 -6.25415380e-03 6.01133536e-01] [ 6.04191612e-01 3.59671979e-03 7.96830948e-01 6.76521963e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.31538475 meters Centerline goodness [0,1] 0.9538945476333134 Centerline is valid? [True, True] Translation: X:18.18, Y:0.60, Z:6.78 [[ 7.96736150e-01 -6.41554168e-03 -6.04293263e-01 1.81801152e+01] [ 3.25573603e-03 9.99974705e-01 -6.32377861e-03 6.01017870e-01] [ 6.04318548e-01 3.07096368e-03 7.96736884e-01 6.78049481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.34538475 meters Centerline goodness [0,1] 0.9554361852174174 Centerline is valid? [True, True] Translation: X:18.20, Y:0.60, Z:6.80 [[ 7.96696703e-01 -7.20070198e-03 -6.04336423e-01 1.82020368e+01] [ 4.08460724e-03 9.99970337e-01 -6.52996431e-03 6.00644549e-01] [ 6.04365518e-01 2.73392411e-03 7.96702483e-01 6.79805036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.37538475 meters Centerline goodness [0,1] 0.9530076317528995 Centerline is valid? [True, True] Translation: X:18.23, Y:0.60, Z:6.82 [[ 7.97408716e-01 -7.35248207e-03 -6.03394796e-01 1.82253484e+01] [ 4.12207425e-03 9.99968808e-01 -6.73733818e-03 6.00537025e-01] [ 6.03425511e-01 2.88517404e-03 7.97414151e-01 6.81569507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.40538475 meters Centerline goodness [0,1] 0.9542601435564766 Centerline is valid? [True, True] Translation: X:18.25, Y:0.60, Z:6.83 [[ 7.96948550e-01 -7.13734134e-03 -6.04005022e-01 1.82484672e+01] [ 3.69946669e-03 9.99969109e-01 -6.93510169e-03 6.01458694e-01] [ 6.04035862e-01 3.29242278e-03 7.96950336e-01 6.83054502e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.43538475 meters Centerline goodness [0,1] 0.9545372866127583 Centerline is valid? [True, True] Translation: X:18.27, Y:0.60, Z:6.85 [[ 7.96069674e-01 -6.53095095e-03 -6.05169745e-01 1.82712545e+01] [ 2.86958388e-03 9.99971264e-01 -7.01683224e-03 6.02218450e-01] [ 6.05198182e-01 3.84930201e-03 7.96065540e-01 6.84624816e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.46538475 meters Centerline goodness [0,1] 0.9539034797764289 Centerline is valid? [True, True] Translation: X:18.30, Y:0.60, Z:6.86 [[ 7.95278263e-01 -6.35191355e-03 -6.06211298e-01 1.82957920e+01] [ 2.57569973e-03 9.99971486e-01 -7.09873676e-03 6.02831803e-01] [ 6.06239103e-01 4.08405276e-03 7.95271948e-01 6.86187320e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.49538475 meters Centerline goodness [0,1] 0.9541137809400344 Centerline is valid? [True, True] Translation: X:18.32, Y:0.60, Z:6.88 [[ 7.95645081e-01 -6.84230058e-03 -6.05724433e-01 1.83184911e+01] [ 3.05867710e-03 9.99968837e-01 -7.27800585e-03 6.02326026e-01] [ 6.05755355e-01 3.93799410e-03 7.95641214e-01 6.87932363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.52538475 meters Centerline goodness [0,1] 0.9527634864759154 Centerline is valid? [True, True] Translation: X:18.34, Y:0.60, Z:6.89 [[ 7.95641619e-01 -6.98848681e-03 -6.05727311e-01 1.83417274e+01] [ 3.09783636e-03 9.99967317e-01 -7.46786679e-03 6.03028647e-01] [ 6.05759703e-01 4.06530154e-03 7.95637264e-01 6.89413503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.55538475 meters Centerline goodness [0,1] 0.9536911334359067 Centerline is valid? [True, True] Translation: X:18.36, Y:0.60, Z:6.91 [[ 7.96253374e-01 -8.07198198e-03 -6.04909421e-01 1.83644620e+01] [ 4.39785546e-03 9.99961792e-01 -7.55462911e-03 6.02584798e-01] [ 6.04947290e-01 3.35509471e-03 7.96258450e-01 6.91221052e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.58538475 meters Centerline goodness [0,1] 0.9526160515383226 Centerline is valid? [True, True] Translation: X:18.39, Y:0.60, Z:6.93 [[ 7.95974708e-01 -8.39197119e-03 -6.05271707e-01 1.83878699e+01] [ 4.64978717e-03 9.99959162e-01 -7.74943788e-03 6.03197146e-01] [ 6.05312022e-01 3.35397193e-03 7.95981222e-01 6.92686888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.61538475 meters Centerline goodness [0,1] 0.9537129537129537 Centerline is valid? [True, True] Translation: X:18.41, Y:0.60, Z:6.94 [[ 7.96148382e-01 -1.07932847e-02 -6.05005172e-01 1.84104842e+01] [ 7.60194533e-03 9.99940408e-01 -7.83524714e-03 5.99607328e-01] [ 6.05053687e-01 1.63880309e-03 7.96182988e-01 6.94325805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.64538475 meters Centerline goodness [0,1] 0.9537129537129537 Centerline is valid? [True, True] Translation: X:18.43, Y:0.60, Z:6.96 [[ 7.96145525e-01 -1.10506651e-02 -6.05004286e-01 1.84327927e+01] [ 7.87360715e-03 9.99937771e-01 -7.90315111e-03 6.00100889e-01] [ 6.05053973e-01 1.52849231e-03 7.96182990e-01 6.95961639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.67538475 meters Centerline goodness [0,1] 0.9540725011375701 Centerline is valid? [True, True] Translation: X:18.45, Y:0.60, Z:6.98 [[ 7.96316557e-01 -1.15419936e-02 -6.04769976e-01 1.84545152e+01] [ 8.33787451e-03 9.99932393e-01 -8.10494236e-03 5.99296981e-01] [ 6.04822636e-01 1.41160363e-03 7.96358956e-01 6.97684851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.70538475 meters Centerline goodness [0,1] 0.954248366013072 Centerline is valid? [True, True] Translation: X:18.48, Y:0.60, Z:6.99 [[ 7.96469490e-01 -1.16750799e-02 -6.04565996e-01 1.84763909e+01] [ 8.34790890e-03 9.99930606e-01 -8.31243396e-03 5.99904790e-01] [ 6.04621091e-01 1.57373818e-03 7.96511682e-01 6.99261562e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.73538475 meters Centerline goodness [0,1] 0.9558730062649435 Centerline is valid? [True, True] Translation: X:18.50, Y:0.60, Z:7.01 [[ 7.97567177e-01 -1.16398591e-02 -6.03117826e-01 1.84993150e+01] [ 8.25183861e-03 9.99930790e-01 -8.38585372e-03 5.99881217e-01] [ 6.03173695e-01 1.71145071e-03 7.97608027e-01 7.01032961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.76538475 meters Centerline goodness [0,1] 0.9561089541373453 Centerline is valid? [True, True] Translation: X:18.52, Y:0.60, Z:7.03 [[ 7.97942004e-01 -1.25933285e-02 -6.02602660e-01 1.85224468e+01] [ 9.31506676e-03 9.99919958e-01 -8.56192289e-03 5.99980742e-01] [ 6.02662250e-01 1.21863389e-03 7.97995443e-01 7.02718554e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.79538475 meters Centerline goodness [0,1] 0.9542692190823457 Centerline is valid? [True, True] Translation: X:18.55, Y:0.60, Z:7.04 [[ 7.97827590e-01 -1.29366953e-02 -6.02746861e-01 1.85450686e+01] [ 9.58584923e-03 9.99915572e-01 -8.77275094e-03 6.00967881e-01] [ 6.02809462e-01 1.22130222e-03 7.97884240e-01 7.04158429e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.82538475 meters Centerline goodness [0,1] 0.9543297566873206 Centerline is valid? [True, True] Translation: X:18.57, Y:0.60, Z:7.06 [[ 7.96849875e-01 -1.26339950e-02 -6.04045245e-01 1.85689535e+01] [ 9.12061312e-03 9.99918958e-01 -8.88213547e-03 6.01618398e-01] [ 6.04108509e-01 1.56846556e-03 7.96900527e-01 7.05656718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.85538475 meters Centerline goodness [0,1] 0.9537205632435057 Centerline is valid? [True, True] Translation: X:18.59, Y:0.60, Z:7.07 [[ 7.95391096e-01 -1.31668734e-02 -6.05953495e-01 1.85923217e+01] [ 9.71339506e-03 9.99912526e-01 -8.97721318e-03 6.01014487e-01] [ 6.06018692e-01 1.25452974e-03 7.95449415e-01 7.07308898e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.88538475000001 meters Centerline goodness [0,1] 0.9517886326493553 Centerline is valid? [True, True] Translation: X:18.62, Y:0.60, Z:7.09 [[ 7.94818574e-01 -1.32250846e-02 -6.06703002e-01 1.86157607e+01] [ 9.63443031e-03 9.99911498e-01 -9.17465377e-03 6.02267695e-01] [ 6.06770643e-01 1.44694743e-03 7.94875647e-01 7.08960862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.91538475000002 meters Centerline goodness [0,1] 0.954322853688029 Centerline is valid? [True, True] Translation: X:18.64, Y:0.60, Z:7.10 [[ 7.94732397e-01 -1.26590577e-02 -6.06827954e-01 1.86391249e+01] [ 8.77662601e-03 9.99917630e-01 -9.36500354e-03 6.04510997e-01] [ 6.06896522e-01 2.11676970e-03 7.94778039e-01 7.10479803e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.94538475000002 meters Centerline goodness [0,1] 0.953749357209837 Centerline is valid? [True, True] Translation: X:18.66, Y:0.61, Z:7.12 [[ 7.94746505e-01 -1.27146681e-02 -6.06808314e-01 1.86606265e+01] [ 8.68463925e-03 9.99916424e-01 -9.57719041e-03 6.05049414e-01] [ 6.06879370e-01 2.34152731e-03 7.94790505e-01 7.12242503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 162.97538475000002 meters Centerline goodness [0,1] 0.9520125710141424 Centerline is valid? [True, True] Translation: X:18.68, Y:0.61, Z:7.14 [[ 7.94543338e-01 -1.19710029e-02 -6.07089433e-01 1.86842037e+01] [ 7.57623072e-03 9.99923262e-01 -9.80158820e-03 6.07222181e-01] [ 6.07160181e-01 3.18833700e-03 7.94573061e-01 7.13748721e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.00538475 meters Centerline goodness [0,1] 0.9515451771742742 Centerline is valid? [True, True] Translation: X:18.71, Y:0.61, Z:7.15 [[ 7.93886978e-01 -1.19242523e-02 -6.07948417e-01 1.87082620e+01] [ 7.44698190e-03 9.99923384e-01 -9.88780730e-03 6.08502098e-01] [ 6.08019743e-01 3.32242060e-03 7.93914953e-01 7.15384814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.03538475 meters Centerline goodness [0,1] 0.9509451081203689 Centerline is valid? [True, True] Translation: X:18.73, Y:0.61, Z:7.17 [[ 7.93715918e-01 -1.22393489e-02 -6.08165471e-01 1.87306067e+01] [ 7.69863905e-03 9.99919600e-01 -1.00759297e-02 6.07389148e-01] [ 6.08239897e-01 3.31537935e-03 7.93746329e-01 7.16982369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.06538475 meters Centerline goodness [0,1] 0.9509319593877861 Centerline is valid? [True, True] Translation: X:18.75, Y:0.60, Z:7.19 [[ 7.94455543e-01 -1.42445132e-02 -6.07155238e-01 1.87527802e+01] [ 1.01714330e-02 9.99896760e-01 -1.01494493e-02 6.04617321e-01] [ 6.07237130e-01 1.88764745e-03 7.94518411e-01 7.18748474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.09538475 meters Centerline goodness [0,1] 0.9533502968617472 Centerline is valid? [True, True] Translation: X:18.77, Y:0.60, Z:7.21 [[ 7.95000816e-01 -1.43518080e-02 -6.06438561e-01 1.87748622e+01] [ 1.02657293e-02 9.99895225e-01 -1.02055533e-02 6.04246101e-01] [ 6.06521490e-01 1.88788907e-03 7.95064851e-01 7.20665766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.12538475 meters Centerline goodness [0,1] 0.9527351900571532 Centerline is valid? [True, True] Translation: X:18.80, Y:0.60, Z:7.22 [[ 7.95304391e-01 -1.50852013e-02 -6.06022576e-01 1.87979335e+01] [ 1.10495800e-02 9.99884986e-01 -1.03885350e-02 6.04030952e-01] [ 6.06109588e-01 1.56575252e-03 7.95379605e-01 7.22242961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.15538475 meters Centerline goodness [0,1] 0.9526786253548348 Centerline is valid? [True, True] Translation: X:18.82, Y:0.60, Z:7.24 [[ 7.96110942e-01 -1.57813403e-02 -6.04944888e-01 1.88220422e+01] [ 1.18871164e-02 9.99874839e-01 -1.04404579e-02 6.03724063e-01] [ 6.05033937e-01 1.12071252e-03 7.96198894e-01 7.23922285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.18538475 meters Centerline goodness [0,1] 0.952240887864637 Centerline is valid? [True, True] Translation: X:18.85, Y:0.60, Z:7.26 [[ 7.95324250e-01 -1.64715957e-02 -6.05960415e-01 1.88459911e+01] [ 1.25987596e-02 9.99863989e-01 -1.06430325e-02 6.03838769e-01] [ 6.06053305e-01 8.30312223e-04 7.95423599e-01 7.25543168e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.21538475 meters Centerline goodness [0,1] 0.9518718197237703 Centerline is valid? [True, True] Translation: X:18.87, Y:0.61, Z:7.27 [[ 7.94291561e-01 -1.66254178e-02 -6.07309239e-01 1.88699032e+01] [ 1.26302803e-02 9.99861337e-01 -1.08527698e-02 6.05053438e-01] [ 6.07405460e-01 9.49777568e-04 7.94391406e-01 7.27155092e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.24538475 meters Centerline goodness [0,1] 0.9483019553241722 Centerline is valid? [True, False] Translation: X:18.87, Y:0.61, Z:7.27 [[ 7.94125885e-01 -1.69094669e-02 -6.07518024e-01 1.88708813e+01] [ 1.27684297e-02 9.99856432e-01 -1.11392558e-02 6.05992821e-01] [ 6.07619162e-01 1.08892018e-03 7.94227781e-01 7.27168300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.27538475 meters Centerline goodness [0,1] 0.9477993858751279 Centerline is valid? [False, False] Translation: X:18.87, Y:0.61, Z:7.27 [[ 7.93595259e-01 -1.18082741e-02 -6.08331431e-01 1.88723643e+01] [ 9.53957644e-03 9.99930242e-01 -6.96476875e-03 6.05491116e-01] [ 6.08371237e-01 -2.76016729e-04 7.93652545e-01 7.27358298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.30538475 meters Centerline goodness [0,1] 0.9479132187885535 Centerline is valid? [False, False] Translation: X:18.87, Y:0.61, Z:7.27 [[ 7.93543290e-01 -1.21505182e-02 -6.08392482e-01 1.88730735e+01] [ 9.60687829e-03 9.99926178e-01 -7.43951904e-03 6.07082387e-01] [ 6.08437963e-01 5.88278925e-05 7.93601438e-01 7.27336873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.33538475 meters Centerline goodness [0,1] 0.9461771680725243 Centerline is valid? [False, False] Translation: X:18.87, Y:0.61, Z:7.27 [[ 7.93674117e-01 -7.39340394e-03 -6.08298227e-01 1.88723278e+01] [ 6.53430842e-03 9.99972069e-01 -3.62829590e-03 6.07578600e-01] [ 6.08308062e-01 -1.09512368e-03 7.93700260e-01 7.27413637e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.36538475 meters Centerline goodness [0,1] 0.9466570984332018 Centerline is valid? [False, False] Translation: X:18.87, Y:0.61, Z:7.27 [[ 7.93708041e-01 -7.03960339e-03 -6.08258161e-01 1.88713586e+01] [ 6.18884503e-03 9.99974733e-01 -3.49734635e-03 6.08642761e-01] [ 6.08267412e-01 -9.88543572e-04 7.93731553e-01 7.27425455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.39538475 meters Centerline goodness [0,1] 0.9456197854588796 Centerline is valid? [False, False] Translation: X:18.87, Y:0.61, Z:7.28 [[ 7.93339841e-01 -8.15412841e-04 -6.08778475e-01 1.88694081e+01] [ 2.31817488e-03 9.99995899e-01 1.68154926e-03 6.08362441e-01] [ 6.08774607e-01 -2.74529499e-03 7.93338478e-01 7.27688087e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.42538475 meters Centerline goodness [0,1] 0.9479368678581018 Centerline is valid? [False, False] Translation: X:18.87, Y:0.61, Z:7.28 [[ 7.92849964e-01 5.88287495e-03 -6.09388485e-01 1.88674476e+01] [-1.49979240e-03 9.99969214e-01 7.70212041e-03 6.06354172e-01] [ 6.09415035e-01 -5.19266967e-03 7.92834378e-01 7.28038362e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.45538475 meters Centerline goodness [0,1] 0.948902290484537 Centerline is valid? [False, False] Translation: X:18.87, Y:0.61, Z:7.28 [[ 7.92251966e-01 1.23593071e-02 -6.10068906e-01 1.88654426e+01] [-5.41057458e-03 9.99897835e-01 1.32304827e-02 6.05751251e-01] [ 6.10170097e-01 -7.18105261e-03 7.92237897e-01 7.28369706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.48538475 meters Centerline goodness [0,1] 0.9454421526789948 Centerline is valid? [False, False] Translation: X:18.87, Y:0.60, Z:7.29 [[ 7.91682865e-01 1.82457720e-02 -6.10659752e-01 1.88650754e+01] [-9.02830628e-03 9.99794186e-01 1.81679918e-02 6.04589874e-01] [ 6.10865559e-01 -8.87006449e-03 7.91684654e-01 7.28609812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.51538475 meters Centerline goodness [0,1] 0.9479734534249822 Centerline is valid? [False, False] Translation: X:18.86, Y:0.61, Z:7.29 [[ 7.91487913e-01 2.42233973e-02 -6.10704601e-01 1.88638746e+01] [-1.30681998e-02 9.99656581e-01 2.27143472e-02 6.05206189e-01] [ 6.11045092e-01 -9.99732153e-03 7.91532658e-01 7.28721732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.54538475 meters Centerline goodness [0,1] 0.9475115261851282 Centerline is valid? [False, False] Translation: X:18.86, Y:0.61, Z:7.29 [[ 7.91576575e-01 2.44260638e-02 -6.10581603e-01 1.88632356e+01] [-1.33377402e-02 9.99653364e-01 2.26992658e-02 6.06298927e-01] [ 6.10924407e-01 -9.82442829e-03 7.91627974e-01 7.28702069e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.57538475 meters Centerline goodness [0,1] 0.9485209373799462 Centerline is valid? [False, False] Translation: X:18.86, Y:0.61, Z:7.29 [[ 7.91642128e-01 2.57340449e-02 -6.10442872e-01 1.88604643e+01] [-1.41826735e-02 9.99617377e-01 2.37476712e-02 6.05440173e-01] [ 6.10820426e-01 -1.01419450e-02 7.91704205e-01 7.28765528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.60538475 meters Centerline goodness [0,1] 0.9484756007229416 Centerline is valid? [False, False] Translation: X:18.86, Y:0.60, Z:7.29 [[ 7.91478608e-01 2.57406947e-02 -6.10654592e-01 1.88602694e+01] [-1.39354549e-02 9.99613039e-01 2.40743618e-02 6.04993343e-01] [ 6.11037983e-01 -1.05445928e-02 7.91531045e-01 7.28851609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.63538475000001 meters Centerline goodness [0,1] 0.9462645891344273 Centerline is valid? [False, False] Translation: X:18.86, Y:0.61, Z:7.29 [[ 7.91513307e-01 1.95717911e-02 -6.10838465e-01 1.88609535e+01] [-9.49432817e-03 9.99760252e-01 1.97306038e-02 6.06766026e-01] [ 6.11078181e-01 -9.81753462e-03 7.91509364e-01 7.28872598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.66538475000002 meters Centerline goodness [0,1] 0.9451750488715124 Centerline is valid? [False, False] Translation: X:18.86, Y:0.61, Z:7.29 [[ 7.91245425e-01 1.85294909e-02 -6.11217912e-01 1.88634450e+01] [-8.74272398e-03 9.99781424e-01 1.89912635e-02 6.08141409e-01] [ 6.11436213e-01 -9.68304088e-03 7.91234476e-01 7.28888194e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.69538475000002 meters Centerline goodness [0,1] 0.940615748963884 Centerline is valid? [False, False] Translation: X:18.87, Y:0.61, Z:7.29 [[ 7.90465074e-01 2.12695316e-02 -6.12137708e-01 1.88694929e+01] [-1.01522805e-02 9.99714571e-01 2.16265675e-02 6.08133612e-01] [ 6.12422973e-01 -1.08804526e-02 7.90455386e-01 7.29031003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.72538475000002 meters Centerline goodness [0,1] 0.9404814781913476 Centerline is valid? [False, False] Translation: X:18.87, Y:0.61, Z:7.29 [[ 7.90358879e-01 2.10259746e-02 -6.12283227e-01 1.88705991e+01] [-1.00978201e-02 9.99722217e-01 2.12960793e-02 6.08926638e-01] [ 6.12560916e-01 -1.06488195e-02 7.90351648e-01 7.29014912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.75538475 meters Centerline goodness [0,1] 0.9376260529125637 Centerline is valid? [False, False] Translation: X:18.87, Y:0.61, Z:7.29 [[ 7.90484465e-01 2.25767070e-02 -6.12065848e-01 1.88676207e+01] [-1.12529383e-02 9.99687069e-01 2.23413366e-02 6.08308304e-01] [ 6.12378708e-01 -1.07729404e-02 7.90491153e-01 7.29045761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.78538475 meters Centerline goodness [0,1] 0.9385526121059642 Centerline is valid? [False, False] Translation: X:18.87, Y:0.61, Z:7.29 [[ 7.90586944e-01 2.37308138e-02 -6.11889805e-01 1.88654439e+01] [-1.20491128e-02 9.99658194e-01 2.32016143e-02 6.07528182e-01] [ 6.12231250e-01 -1.09701641e-02 7.90602651e-01 7.29073451e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.81538475 meters Centerline goodness [0,1] 0.93994653994654 Centerline is valid? [False, False] Translation: X:18.86, Y:0.60, Z:7.29 [[ 7.90341445e-01 2.48818738e-02 -6.12161166e-01 1.88633731e+01] [-1.21430427e-02 9.99614878e-01 2.49528100e-02 6.04473746e-01] [ 6.12546281e-01 -1.22877407e-02 7.90339209e-01 7.29299918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.84538475 meters Centerline goodness [0,1] 0.9411450132208324 Centerline is valid? [False, False] Translation: X:18.86, Y:0.60, Z:7.29 [[ 7.90274273e-01 2.52460343e-02 -6.12232972e-01 1.88627860e+01] [-1.22120695e-02 9.99601346e-01 2.54561356e-02 6.04013136e-01] [ 6.12631569e-01 -1.26406975e-02 7.90267533e-01 7.29361511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.87538475 meters Centerline goodness [0,1] 0.9411117062429328 Centerline is valid? [False, False] Translation: X:18.86, Y:0.60, Z:7.30 [[ 7.89906588e-01 2.49338812e-02 -6.12720070e-01 1.88634059e+01] [-1.15086789e-02 9.99599824e-01 2.58407105e-02 6.03045607e-01] [ 6.13119183e-01 -1.33601489e-02 7.89877442e-01 7.29519959e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.90538475 meters Centerline goodness [0,1] 0.9411503639268596 Centerline is valid? [False, False] Translation: X:18.86, Y:0.60, Z:7.30 [[ 7.89765057e-01 2.49027799e-02 -6.12903749e-01 1.88637414e+01] [-1.13997189e-02 9.99598883e-01 2.59252638e-02 6.03555804e-01] [ 6.13303515e-01 -1.34879370e-02 7.89732154e-01 7.29566687e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.93538475 meters Centerline goodness [0,1] 0.937232905982906 Centerline is valid? [False, False] Translation: X:18.86, Y:0.61, Z:7.30 [[ 7.89727270e-01 2.45226848e-02 -6.12967761e-01 1.88649706e+01] [-1.13062827e-02 9.99612810e-01 2.54243553e-02 6.05000366e-01] [ 6.13353900e-01 -1.31479199e-02 7.89698756e-01 7.29524733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.96538475 meters Centerline goodness [0,1] 0.9392541330257593 Centerline is valid? [False, False] Translation: X:18.86, Y:0.60, Z:7.30 [[ 7.89242302e-01 3.04797955e-02 -6.13325012e-01 1.88643489e+01] [-1.50700482e-02 9.99427994e-01 3.02750434e-02 6.04145493e-01] [ 6.13896963e-01 -1.46515075e-02 7.89250183e-01 7.29723026e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 163.99538475 meters Centerline goodness [0,1] 0.9400254958346921 Centerline is valid? [False, False] Translation: X:18.86, Y:0.60, Z:7.30 [[ 7.89353193e-01 3.13850050e-02 -6.13136623e-01 1.88624122e+01] [-1.58645534e-02 9.99401722e-01 3.07329418e-02 6.04541381e-01] [ 6.13734350e-01 -1.45320071e-02 7.89378849e-01 7.29717790e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.02538475 meters Centerline goodness [0,1] 0.9388742953277648 Centerline is valid? [False, False] Translation: X:18.86, Y:0.60, Z:7.30 [[ 7.89426301e-01 3.20936516e-02 -6.13005801e-01 1.88609320e+01] [-1.64612115e-02 9.99379988e-01 3.11234246e-02 6.04786851e-01] [ 6.13624595e-01 -1.44788318e-02 7.89465148e-01 7.29724321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.05538475 meters Centerline goodness [0,1] 0.9421026201518329 Centerline is valid? [False, False] Translation: X:18.86, Y:0.61, Z:7.30 [[ 7.89475277e-01 3.22615397e-02 -6.12933911e-01 1.88607495e+01] [-1.69143270e-02 9.99381950e-01 3.08159773e-02 6.06298246e-01] [ 6.13549258e-01 -1.39610877e-02 7.89533024e-01 7.29667530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.08538475 meters Centerline goodness [0,1] 0.9381084429759868 Centerline is valid? [False, False] Translation: X:18.86, Y:0.61, Z:7.30 [[ 7.89405519e-01 3.18500549e-02 -6.13045269e-01 1.88617256e+01] [-1.66994411e-02 9.99397724e-01 3.04190284e-02 6.07566201e-01] [ 6.13644894e-01 -1.37754355e-02 7.89461957e-01 7.29658376e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.11538475 meters Centerline goodness [0,1] 0.9379283857244151 Centerline is valid? [False, False] Translation: X:18.86, Y:0.61, Z:7.30 [[ 7.89490474e-01 3.12996794e-02 -6.12964209e-01 1.88626729e+01] [-1.65075198e-02 9.99420405e-01 2.97717361e-02 6.09378848e-01] [ 6.13540784e-01 -1.33859833e-02 7.89549569e-01 7.29598674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.14538475 meters Centerline goodness [0,1] 0.93296567181786 Centerline is valid? [False, False] Translation: X:18.86, Y:0.61, Z:7.30 [[ 7.89572496e-01 3.16024932e-02 -6.12843012e-01 1.88621030e+01] [-1.67990662e-02 9.99411922e-01 2.98931823e-02 6.09935546e-01] [ 6.13427311e-01 -1.33076442e-02 7.89639057e-01 7.29582521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.17538475 meters Centerline goodness [0,1] 0.940635080346838 Centerline is valid? [False, False] Translation: X:18.86, Y:0.61, Z:7.30 [[ 7.89796114e-01 3.21322238e-02 -6.12527239e-01 1.88612097e+01] [-1.73294702e-02 9.99397197e-01 3.00821008e-02 6.10151623e-01] [ 6.13124611e-01 -1.31439538e-02 7.89876856e-01 7.29525390e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.20538475 meters Centerline goodness [0,1] 0.9383711315851642 Centerline is valid? [False, False] Translation: X:18.86, Y:0.61, Z:7.30 [[ 7.89664032e-01 3.25812034e-02 -6.12673797e-01 1.88602717e+01] [-1.73422770e-02 9.99375312e-01 3.07933487e-02 6.08796217e-01] [ 6.13294352e-01 -1.36912412e-02 7.89735771e-01 7.29627756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.23538475 meters Centerline goodness [0,1] 0.9393912450727602 Centerline is valid? [False, False] Translation: X:18.86, Y:0.61, Z:7.30 [[ 7.89960227e-01 2.77386881e-02 -6.12530330e-01 1.88583213e+01] [-1.40533711e-02 9.99532850e-01 2.71400859e-02 6.08893244e-01] [ 6.12997017e-01 -1.28314723e-02 7.89981019e-01 7.29602297e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.26538475 meters Centerline goodness [0,1] 0.9380766501064585 Centerline is valid? [False, False] Translation: X:18.86, Y:0.61, Z:7.30 [[ 7.89860110e-01 2.77236088e-02 -6.12660108e-01 1.88587281e+01] [-1.39573987e-02 9.99531594e-01 2.72357058e-02 6.08959138e-01] [ 6.13128206e-01 -1.29612562e-02 7.89877085e-01 7.29633558e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.29538475 meters Centerline goodness [0,1] 0.9370851114272167 Centerline is valid? [False, False] Translation: X:18.86, Y:0.61, Z:7.30 [[ 7.89949910e-01 2.75924326e-02 -6.12550241e-01 1.88594183e+01] [-1.38344062e-02 9.99534732e-01 2.71832508e-02 6.08848716e-01] [ 6.13015293e-01 -1.29991377e-02 7.89964096e-01 7.29598210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.32538475 meters Centerline goodness [0,1] 0.9388308168795974 Centerline is valid? [False, False] Translation: X:18.86, Y:0.61, Z:7.30 [[ 7.89869596e-01 2.77571645e-02 -6.12646359e-01 1.88592511e+01] [-1.36247896e-02 9.99522890e-01 2.77192772e-02 6.07212575e-01] [ 6.13123468e-01 -1.35474366e-02 7.89870926e-01 7.29668038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.35538475 meters Centerline goodness [0,1] 0.9413446078723278 Centerline is valid? [False, False] Translation: X:18.86, Y:0.61, Z:7.30 [[ 7.89947420e-01 2.81456013e-02 -6.12528284e-01 1.88583856e+01] [-1.34507466e-02 9.99501001e-01 2.85801889e-02 6.05315654e-01] [ 6.13027039e-01 -1.43378838e-02 7.89931816e-01 7.29746700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.38538475000001 meters Centerline goodness [0,1] 0.9395574904580153 Centerline is valid? [False, False] Translation: X:18.86, Y:0.60, Z:7.30 [[ 7.89956538e-01 2.85084128e-02 -6.12499745e-01 1.88577427e+01] [-1.35745251e-02 9.99486855e-01 2.90130717e-02 6.04666598e-01] [ 6.13012561e-01 -1.46046725e-02 7.89938165e-01 7.29782003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.41538475000002 meters Centerline goodness [0,1] 0.941042676722332 Centerline is valid? [False, False] Translation: X:18.86, Y:0.60, Z:7.30 [[ 7.89970931e-01 2.87051424e-02 -6.12471994e-01 1.88576176e+01] [-1.36661028e-02 9.99479677e-01 2.92166543e-02 6.03931689e-01] [ 6.12991979e-01 -1.47102024e-02 7.89952178e-01 7.29787887e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.44538475000002 meters Centerline goodness [0,1] 0.9415160942922102 Centerline is valid? [False, False] Translation: X:18.86, Y:0.60, Z:7.30 [[ 7.89880770e-01 2.90194278e-02 -6.12573458e-01 1.88573532e+01] [-1.37117255e-02 9.99465782e-01 2.96671307e-02 6.02885401e-01] [ 6.13107134e-01 -1.50340569e-02 7.89856708e-01 7.29840924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.47538475000002 meters Centerline goodness [0,1] 0.9429434820333303 Centerline is valid? [False, False] Translation: X:18.86, Y:0.60, Z:7.30 [[ 7.89830615e-01 2.95670559e-02 -6.12611940e-01 1.88568681e+01] [-1.39335980e-02 9.99444553e-01 3.02727543e-02 6.00995298e-01] [ 6.13166743e-01 -1.53744596e-02 7.89803882e-01 7.29883572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.50538475 meters Centerline goodness [0,1] 0.9429434820333303 Centerline is valid? [False, False] Translation: X:18.86, Y:0.60, Z:7.30 [[ 7.89830615e-01 2.95670559e-02 -6.12611940e-01 1.88568681e+01] [-1.39335980e-02 9.99444553e-01 3.02727543e-02 6.00995298e-01] [ 6.13166743e-01 -1.53744596e-02 7.89803882e-01 7.29883572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.53538475 meters Centerline goodness [0,1] 0.9431384248210024 Centerline is valid? [False, False] Translation: X:18.86, Y:0.60, Z:7.30 [[ 7.89909801e-01 3.00893867e-02 -6.12484396e-01 1.88562090e+01] [-1.43117997e-02 9.99427987e-01 3.06410162e-02 6.00521520e-01] [ 6.13056016e-01 -1.54378850e-02 7.89888595e-01 7.29874706e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.56538475 meters Centerline goodness [0,1] 0.9463449765934462 Centerline is valid? [False, False] Translation: X:18.86, Y:0.60, Z:7.30 [[ 7.90185181e-01 3.09209349e-02 -6.12087637e-01 1.88552854e+01] [-1.50997142e-02 9.99405512e-01 3.09938990e-02 6.00326539e-01] [ 6.12682118e-01 -1.52485713e-02 7.90182323e-01 7.29788775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.59538475 meters Centerline goodness [0,1] 0.941552785703559 Centerline is valid? [False, False] Translation: X:18.86, Y:0.60, Z:7.30 [[ 7.90134451e-01 3.10555057e-02 -6.12146310e-01 1.88557125e+01] [-1.51088101e-02 9.99398967e-01 3.11998105e-02 5.99456752e-01] [ 6.12747316e-01 -1.54032428e-02 7.90128766e-01 7.29798634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.62538475 meters Centerline goodness [0,1] 0.9414336982418047 Centerline is valid? [False, False] Translation: X:18.86, Y:0.60, Z:7.30 [[ 7.89801079e-01 3.01583931e-02 -6.12621194e-01 1.88579808e+01] [-1.39685657e-02 9.99415824e-01 3.11911949e-02 5.96745480e-01] [ 6.13203992e-01 -1.60774000e-02 7.89760965e-01 7.29907110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.65538475 meters Centerline goodness [0,1] 0.941324214730981 Centerline is valid? [False, False] Translation: X:18.86, Y:0.60, Z:7.30 [[ 7.89710534e-01 2.99280785e-02 -6.12749200e-01 1.88589817e+01] [-1.37118832e-02 9.99420908e-01 3.11421521e-02 5.96185548e-01] [ 6.13326387e-01 -1.61913401e-02 7.89663589e-01 7.29917982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.68538475 meters Centerline goodness [0,1] 0.9390760113684465 Centerline is valid? [False, False] Translation: X:18.86, Y:0.59, Z:7.30 [[ 7.89538530e-01 2.98882310e-02 -6.12972759e-01 1.88600336e+01] [-1.32984706e-02 9.99412068e-01 3.16017369e-02 5.93869047e-01] [ 6.13556892e-01 -1.67991887e-02 7.89471803e-01 7.29987931e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.71538475 meters Centerline goodness [0,1] 0.9427203297369378 Centerline is valid? [False, False] Translation: X:18.86, Y:0.59, Z:7.30 [[ 7.89512410e-01 3.02645975e-02 -6.12987936e-01 1.88596767e+01] [-1.33867099e-02 9.99394989e-01 3.21006537e-02 5.92707510e-01] [ 6.13588584e-01 -1.71379728e-02 7.89439889e-01 7.30028967e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.74538475 meters Centerline goodness [0,1] 0.9422452755786089 Centerline is valid? [False, False] Translation: X:18.86, Y:0.59, Z:7.30 [[ 7.89537969e-01 3.13353780e-02 -6.12901207e-01 1.88579834e+01] [-1.37648123e-02 9.99348568e-01 3.33612056e-02 5.90652381e-01] [ 6.13547330e-01 -1.79034684e-02 7.89454964e-01 7.30124374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.77538475 meters Centerline goodness [0,1] 0.9425217444194393 Centerline is valid? [False, False] Translation: X:18.86, Y:0.59, Z:7.30 [[ 7.89553664e-01 3.19004830e-02 -6.12851834e-01 1.88569870e+01] [-1.39577459e-02 9.99323166e-01 3.40351469e-02 5.89595709e-01] [ 6.13522773e-01 -1.83185448e-02 7.89464526e-01 7.30174881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.80538475 meters Centerline goodness [0,1] 0.9428528026735531 Centerline is valid? [False, False] Translation: X:18.86, Y:0.59, Z:7.30 [[ 7.89570639e-01 3.30227608e-02 -6.12770514e-01 1.88550631e+01] [-1.43606873e-02 9.99271895e-01 3.53475555e-02 5.87260186e-01] [ 6.13491627e-01 -1.91095863e-02 7.89469979e-01 7.30274541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.83538475 meters Centerline goodness [0,1] 0.9431257987949607 Centerline is valid? [False, False] Translation: X:18.85, Y:0.59, Z:7.30 [[ 7.89456879e-01 3.35353369e-02 -6.12889237e-01 1.88539012e+01] [-1.44527208e-02 9.99245146e-01 3.60590812e-02 5.86206348e-01] [ 6.13635849e-01 -1.96091726e-02 7.89345631e-01 7.30373814e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.86538475 meters Centerline goodness [0,1] 0.9433358720487434 Centerline is valid? [False, False] Translation: X:18.85, Y:0.58, Z:7.30 [[ 7.89509630e-01 3.44976401e-02 -6.12767866e-01 1.88520132e+01] [-1.48476609e-02 9.99200401e-01 3.71228419e-02 5.84451938e-01] [ 6.13558548e-01 -2.02106717e-02 7.89390548e-01 7.30452064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.89538475 meters Centerline goodness [0,1] 0.9442154438032426 Centerline is valid? [False, False] Translation: X:18.85, Y:0.58, Z:7.30 [[ 7.89532960e-01 3.47270808e-02 -6.12724844e-01 1.88517720e+01] [-1.49941746e-02 9.99191252e-01 3.73097328e-02 5.84394749e-01] [ 6.13524962e-01 -2.02699605e-02 7.89415131e-01 7.30453573e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.92538475 meters Centerline goodness [0,1] 0.9466447147778896 Centerline is valid? [False, False] Translation: X:18.85, Y:0.58, Z:7.30 [[ 7.89637503e-01 3.45109421e-02 -6.12602325e-01 1.88528015e+01] [-1.48752072e-02 9.99200247e-01 3.71159552e-02 5.84172113e-01] [ 6.13393302e-01 -2.01955637e-02 7.89519345e-01 7.30393136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.95538475 meters Centerline goodness [0,1] 0.9444833998963447 Centerline is valid? [False, False] Translation: X:18.85, Y:0.58, Z:7.30 [[ 7.89508712e-01 3.41940539e-02 -6.12786064e-01 1.88542030e+01] [-1.46162674e-02 9.99211126e-01 3.69254622e-02 5.83631069e-01] [ 6.13565284e-01 -2.01963292e-02 7.89385679e-01 7.30392922e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 164.98538475 meters Centerline goodness [0,1] 0.9448351447620787 Centerline is valid? [False, False] Translation: X:18.86, Y:0.58, Z:7.30 [[ 7.89376473e-01 3.40072990e-02 -6.12966791e-01 1.88551358e+01] [-1.44594011e-02 9.99217460e-01 3.68156582e-02 5.83532121e-01] [ 6.13739122e-01 -2.01982817e-02 7.89250480e-01 7.30405441e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.01538475 meters Centerline goodness [0,1] 0.9432395437262358 Centerline is valid? [False, False] Translation: X:18.86, Y:0.58, Z:7.30 [[ 7.89295463e-01 3.34499375e-02 -6.13101764e-01 1.88568184e+01] [-1.41547870e-02 9.99240887e-01 3.62945228e-02 5.83933855e-01] [ 6.13850400e-01 -1.99687773e-02 7.89169775e-01 7.30370598e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.04538475 meters Centerline goodness [0,1] 0.9432827619890717 Centerline is valid? [False, False] Translation: X:18.86, Y:0.58, Z:7.30 [[ 7.89174412e-01 3.29603130e-02 -6.13284082e-01 1.88585555e+01] [-1.38993180e-02 9.99261645e-01 3.58186216e-02 5.83855583e-01] [ 6.14011854e-01 -1.97429092e-02 7.89049847e-01 7.30337425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.07538475 meters Centerline goodness [0,1] 0.9379804916588167 Centerline is valid? [False, False] Translation: X:18.86, Y:0.58, Z:7.30 [[ 7.88989735e-01 3.28141000e-02 -6.13529488e-01 1.88594386e+01] [-1.36975540e-02 9.99264026e-01 3.58299326e-02 5.83467387e-01] [ 6.14253673e-01 -1.98655957e-02 7.88858532e-01 7.30377236e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.10538475 meters Centerline goodness [0,1] 0.9414775323686215 Centerline is valid? [False, False] Translation: X:18.86, Y:0.58, Z:7.30 [[ 7.88834916e-01 3.24529768e-02 -6.13747733e-01 1.88609076e+01] [-1.33753657e-02 9.99274920e-01 3.56473663e-02 5.83216876e-01] [ 6.14459579e-01 -1.99107869e-02 7.88697018e-01 7.30388107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.13538475000001 meters Centerline goodness [0,1] 0.9375667185164852 Centerline is valid? [False, False] Translation: X:18.86, Y:0.58, Z:7.30 [[ 7.88666912e-01 3.19033600e-02 -6.13992409e-01 1.88625651e+01] [-1.30214921e-02 9.99295525e-01 3.51979350e-02 5.83838581e-01] [ 6.14682799e-01 -1.97643494e-02 7.88526745e-01 7.30382699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.16538475000002 meters Centerline goodness [0,1] 0.9379588617195559 Centerline is valid? [False, False] Translation: X:18.86, Y:0.58, Z:7.30 [[ 7.88585114e-01 3.18091200e-02 -6.14102351e-01 1.88631422e+01] [-1.30083922e-02 9.99300646e-01 3.50571034e-02 5.84457404e-01] [ 6.14788012e-01 -1.96570257e-02 7.88447400e-01 7.30381363e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.19538475000002 meters Centerline goodness [0,1] 0.9356191865766916 Centerline is valid? [False, False] Translation: X:18.86, Y:0.58, Z:7.30 [[ 7.88666859e-01 3.21842176e-02 -6.13977818e-01 1.88624498e+01] [-1.32827054e-02 9.99287782e-01 3.53199501e-02 5.84201264e-01] [ 6.14677277e-01 -1.97003876e-02 7.88532650e-01 7.30376358e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.22538475000002 meters Centerline goodness [0,1] 0.9374733507949077 Centerline is valid? [False, False] Translation: X:18.86, Y:0.58, Z:7.31 [[ 7.88635976e-01 3.36270643e-02 -6.13940159e-01 1.88596083e+01] [-1.39555477e-02 9.99225072e-01 3.68035197e-02 5.82091377e-01] [ 6.14701993e-01 -2.04567085e-02 7.88494123e-01 7.30507079e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.25538475 meters Centerline goodness [0,1] 0.9406593406593406 Centerline is valid? [False, False] Translation: X:18.86, Y:0.58, Z:7.31 [[ 7.88565426e-01 3.44570526e-02 -6.13984756e-01 1.88582217e+01] [-1.43274550e-02 9.99187388e-01 3.76734380e-02 5.80631437e-01] [ 6.14783940e-01 -2.09111317e-02 7.88418310e-01 7.30584737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.28538475 meters Centerline goodness [0,1] 0.9415403460419538 Centerline is valid? [False, False] Translation: X:18.86, Y:0.58, Z:7.31 [[ 7.88465278e-01 3.52705000e-02 -6.14067177e-01 1.88569518e+01] [-1.44350650e-02 9.99140649e-01 3.88534734e-02 5.78403464e-01] [ 6.14909859e-01 -2.17705151e-02 7.88296841e-01 7.30713901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.31538475 meters Centerline goodness [0,1] 0.9411710493978864 Centerline is valid? [False, False] Translation: X:18.86, Y:0.58, Z:7.31 [[ 7.88390515e-01 3.56582178e-02 -6.14140772e-01 1.88564445e+01] [-1.44719048e-02 9.99117423e-01 3.94327088e-02 5.77320043e-01] [ 6.15004845e-01 -2.22005869e-02 7.88210742e-01 7.30781508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.34538475 meters Centerline goodness [0,1] 0.9442186922792759 Centerline is valid? [False, False] Translation: X:18.86, Y:0.58, Z:7.31 [[ 7.88287063e-01 3.60117704e-02 -6.14252927e-01 1.88563992e+01] [-1.44389889e-02 9.99093591e-01 4.00438643e-02 5.75928520e-01] [ 6.15138213e-01 -2.26968690e-02 7.88092527e-01 7.30847809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.37538475 meters Centerline goodness [0,1] 0.9401324259702042 Centerline is valid? [False, False] Translation: X:18.86, Y:0.58, Z:7.31 [[ 7.88288760e-01 3.61467817e-02 -6.14242819e-01 1.88563748e+01] [-1.44623702e-02 9.99085630e-01 4.02336104e-02 5.75654742e-01] [ 6.15135490e-01 -2.28322958e-02 7.88090741e-01 7.30860280e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.40538475 meters Centerline goodness [0,1] 0.941194515169177 Centerline is valid? [False, False] Translation: X:18.86, Y:0.58, Z:7.31 [[ 7.88198619e-01 3.64064314e-02 -6.14343152e-01 1.88559009e+01] [-1.45030535e-02 9.99070287e-01 4.05983154e-02 5.75104438e-01] [ 6.15250029e-01 -2.30896846e-02 7.87993825e-01 7.30921041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.43538475 meters Centerline goodness [0,1] 0.9400607678850934 Centerline is valid? [False, False] Translation: X:18.85, Y:0.57, Z:7.31 [[ 7.88184431e-01 3.70896154e-02 -6.14320489e-01 1.88544154e+01] [-1.49351919e-02 9.99041143e-01 4.11550103e-02 5.74778784e-01] [ 6.15257867e-01 -2.32627440e-02 7.87982615e-01 7.30967747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.46538475 meters Centerline goodness [0,1] 0.9419191147250329 Centerline is valid? [False, False] Translation: X:18.85, Y:0.58, Z:7.31 [[ 7.88324700e-01 3.77338231e-02 -6.14101235e-01 1.88526943e+01] [-1.55135670e-02 9.99019282e-01 4.14705058e-02 5.75752165e-01] [ 6.15063815e-01 -2.31653234e-02 7.88136962e-01 7.30960513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.49538475 meters Centerline goodness [0,1] 0.9420876445526476 Centerline is valid? [False, False] Translation: X:18.86, Y:0.58, Z:7.31 [[ 7.87740647e-01 4.18034956e-02 -6.14586968e-01 1.88558706e+01] [-1.82689146e-02 9.98841257e-01 4.45240315e-02 5.77920264e-01] [ 6.15736080e-01 -2.38455526e-02 7.87591563e-01 7.31036443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.52538475 meters Centerline goodness [0,1] 0.9402840444538655 Centerline is valid? [False, False] Translation: X:18.86, Y:0.58, Z:7.31 [[ 7.87763060e-01 4.10349554e-02 -6.14610034e-01 1.88575304e+01] [-1.80657565e-02 9.98888494e-01 4.35362388e-02 5.80358122e-01] [ 6.15713399e-01 -2.31928455e-02 7.87628784e-01 7.30946628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.55538475 meters Centerline goodness [0,1] 0.9400757002271006 Centerline is valid? [False, False] Translation: X:18.86, Y:0.58, Z:7.31 [[ 7.87801668e-01 4.05083566e-02 -6.14595481e-01 1.88583966e+01] [-1.80138080e-02 9.98923427e-01 4.27491566e-02 5.82799909e-01] [ 6.15665522e-01 -2.26066519e-02 7.87683251e-01 7.30876265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 165.58538475 meters Centerline goodness [0,1] 0.9414802065404475 Centerline is valid? [False, False] Translation: X:18.86, Y:0.58, Z:7.31 [[ 0.78805917 0.04171463 -0.61418452 18.85559213] [-0.01933353 0.99888643 0.04303628 0.58454922] [ 0.61529583 -0.02204078 0.7879881 7.30804971] [ 0. 0. 0. 1. ]] SLAMing on 165.61538475 meters Centerline goodness [0,1] 0.9422937989163155 Centerline is valid? [False, False] Translation: X:18.85, Y:0.58, Z:7.31 [[ 0.78832537 0.0427847 -0.61376916 18.85302455] [-0.02024707 0.99884291 0.04362213 0.58458533] [ 0.61492533 -0.0219614 0.78827948 7.30779794] [ 0. 0. 0. 1. ]] SLAMing on 165.64538475 meters Centerline goodness [0,1] 0.9450851346455742 Centerline is valid? [False, False] Translation: X:18.85, Y:0.59, Z:7.31 [[ 0.78869086 0.0443066 -0.61319137 18.84936569] [-0.02160036 0.99878095 0.04438514 0.58535304] [ 0.61441041 -0.021761 0.78868644 7.30733101] [ 0. 0. 0. 1. ]] SLAMing on 165.67538475 meters Centerline goodness [0,1] 0.9451499758103532 Centerline is valid? [False, False] Translation: X:18.85, Y:0.58, Z:7.31 [[ 0.78869031 0.04475101 -0.6131598 18.84823594] [-0.02178261 0.9987551 0.04487504 0.5849914 ] [ 0.61440468 -0.02203629 0.78868326 7.30782702] [ 0. 0. 0. 1. ]] SLAMing on 165.70538475 meters Centerline goodness [0,1] 0.9452734821589747 Centerline is valid? [False, False] Translation: X:18.85, Y:0.59, Z:7.31 [[ 0.78873725 0.04509588 -0.61307415 18.84751593] [-0.0220223 0.99873827 0.04513186 0.58558685] [ 0.61433588 -0.02209587 0.78873519 7.30792912] [ 0. 0. 0. 1. ]] SLAMing on 165.73538475 meters Centerline goodness [0,1] 0.943400198490271 Centerline is valid? [False, False] Translation: X:18.85, Y:0.59, Z:7.31 [[ 0.78873901 0.04519021 -0.61306494 18.84760786] [-0.02205984 0.99873267 0.04523743 0.58542147] [ 0.61433227 -0.02215641 0.7887363 7.30794214] [ 0. 0. 0. 1. ]] SLAMing on 165.76538475 meters Centerline goodness [0,1] 0.9432834017878715 Centerline is valid? [False, False] Translation: X:18.85, Y:0.58, Z:7.31 [[ 0.78864912 0.0449992 -0.61319462 18.84808827] [-0.02174701 0.99873567 0.04532255 0.58497312] [ 0.61445882 -0.02240844 0.7886306 7.30834919] [ 0. 0. 0. 1. ]] SLAMing on 165.79538475 meters Centerline goodness [0,1] 0.944055099081682 Centerline is valid? [False, False] Translation: X:18.85, Y:0.58, Z:7.31 [[ 0.78831671 0.04457753 -0.61365268 18.84899857] [-0.0209958 0.99874005 0.04557957 0.5837889 ] [ 0.61491133 -0.02304701 0.78825941 7.30970982] [ 0. 0. 0. 1. ]] SLAMing on 165.82538475 meters Centerline goodness [0,1] 0.9485818292128014 Centerline is valid? [False, False] Translation: X:18.85, Y:0.58, Z:7.31 [[ 0.78801011 0.04414076 -0.61407789 18.85017655] [-0.02022365 0.99874409 0.04583926 0.58217904] [ 0.61533005 -0.02370291 0.78791313 7.3109578 ] [ 0. 0. 0. 1. ]] SLAMing on 165.85538475 meters Centerline goodness [0,1] 0.9409894634855275 Centerline is valid? [False, False] Translation: X:18.85, Y:0.58, Z:7.31 [[ 0.78793522 0.04376208 -0.61420108 18.85141867] [-0.01996861 0.99876268 0.04554528 0.582201 ] [ 0.61543427 -0.02362199 0.78783416 7.31082157] [ 0. 0. 0. 1. ]] SLAMing on 165.88538475000001 meters Centerline goodness [0,1] 0.9460130125586321 Centerline is valid? [False, False] Translation: X:18.85, Y:0.58, Z:7.31 [[ 0.78755002 0.0491241 -0.61428966 18.85288178] [-0.0236399 0.99849229 0.04954086 0.58194381] [ 0.61579714 -0.02449416 0.78752391 7.31124626] [ 0. 0. 0. 1. ]] SLAMing on 165.91538475000002 meters Centerline goodness [0,1] 0.9448017634447565 Centerline is valid? [False, False] Translation: X:18.85, Y:0.58, Z:7.31 [[ 0.78788955 0.05051719 -0.61374104 18.85045231] [-0.02511663 0.99843645 0.04993811 0.58273087] [ 0.61530416 -0.02393061 0.78792647 7.31008452] [ 0. 0. 0. 1. ]] SLAMing on 165.94538475000002 meters Centerline goodness [0,1] 0.9395541324311262 Centerline is valid? [False, False] Translation: X:18.85, Y:0.58, Z:7.31 [[ 0.78790205 0.05135473 -0.61365548 18.84867608] [-0.02564014 0.99838824 0.05063108 0.58208343] [ 0.61526656 -0.02415813 0.78794888 7.31055821] [ 0. 0. 0. 1. ]] SLAMing on 165.97538475000002 meters Centerline goodness [0,1] 0.9399296473347163 Centerline is valid? [False, False] Translation: X:18.85, Y:0.58, Z:7.31 [[ 0.78798355 0.05202415 -0.61349442 18.84727487] [-0.02621265 0.99835499 0.05099221 0.58246197] [ 0.61513805 -0.02409971 0.78805101 7.31054703] [ 0. 0. 0. 1. ]] SLAMing on 166.00538475 meters Centerline goodness [0,1] 0.9477222707950195 Centerline is valid? [False, False] Translation: X:18.85, Y:0.58, Z:7.31 [[ 0.78803014 0.0522917 -0.61341183 18.84689853] [-0.02635532 0.99833815 0.05124782 0.58223108] [ 0.61507226 -0.02421816 0.78809872 7.31061521] [ 0. 0. 0. 1. ]] SLAMing on 166.03538475 meters Centerline goodness [0,1] 0.9402349530395917 Centerline is valid? [False, False] Translation: X:18.85, Y:0.58, Z:7.31 [[ 0.78796077 0.05264119 -0.61347105 18.84654067] [-0.02644601 0.99831265 0.05169592 0.5813819 ] [ 0.61515725 -0.0245105 0.78802335 7.31108006] [ 0. 0. 0. 1. ]] SLAMing on 166.06538475 meters Centerline goodness [0,1] 0.9490449709864603 Centerline is valid? [False, False] Translation: X:18.85, Y:0.58, Z:7.31 [[ 0.78803051 0.05228407 -0.61341201 18.84760496] [-0.02610616 0.9983289 0.05155465 0.58132072] [ 0.61508242 -0.0246128 0.78807857 7.31079899] [ 0. 0. 0. 1. ]] SLAMing on 166.09538475 meters Centerline goodness [0,1] 0.9497614878328603 Centerline is valid? [False, False] Translation: X:18.85, Y:0.58, Z:7.31 [[ 0.7879116 0.05216812 -0.61357461 18.84809869] [-0.0255962 0.99831841 0.05201136 0.5794601 ] [ 0.61525617 -0.02527518 0.78792196 7.31170509] [ 0. 0. 0. 1. ]] SLAMing on 166.12538475 meters Centerline goodness [0,1] 0.9504264714778295 Centerline is valid? [False, True] Translation: X:18.85, Y:0.58, Z:7.31 [[ 0.78781651 0.05266899 -0.61365391 18.84727795] [-0.02577855 0.9982836 0.05258635 0.57834972] [ 0.61537031 -0.02560929 0.78782203 7.31236972] [ 0. 0. 0. 1. ]] SLAMing on 166.15538475 meters Centerline goodness [0,1] 0.9497686312713103 Centerline is valid? [True, False] Translation: X:18.84, Y:0.58, Z:7.31 [[ 0.78848678 0.04850963 -0.61313572 18.84455091] [-0.02333576 0.99852657 0.04899114 0.57766528] [ 0.61460885 -0.02432088 0.78845701 7.31078004] [ 0. 0. 0. 1. ]] SLAMing on 166.18538475 meters Centerline goodness [0,1] 0.9503451211724998 Centerline is valid? [False, True] Translation: X:18.84, Y:0.58, Z:7.31 [[ 0.78849387 0.04893686 -0.61309266 18.84412024] [-0.02354904 0.99850074 0.04941376 0.57664175] [ 0.61459162 -0.0245247 0.78846412 7.31095234] [ 0. 0. 0. 1. ]] SLAMing on 166.21538475 meters Centerline goodness [0,1] 0.950200901010593 Centerline is valid? [True, True] Translation: X:18.88, Y:0.59, Z:7.31 [[ 7.88724414e-01 2.61056830e-02 -6.14192390e-01 1.88819812e+01] [-2.38686480e-02 9.99645015e-01 1.18377084e-02 5.88160115e-01] [ 6.14283392e-01 5.32325234e-03 7.89067536e-01 7.30693227e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.24538475 meters Centerline goodness [0,1] 0.9468784227820373 Centerline is valid? [True, False] Translation: X:18.88, Y:0.59, Z:7.31 [[ 7.88537338e-01 2.57534488e-02 -6.14447416e-01 1.88837423e+01] [-2.35038532e-02 9.99654863e-01 1.17355762e-02 5.87739584e-01] [ 6.14537579e-01 5.18794181e-03 7.88870489e-01 7.30712265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.27538475 meters Centerline goodness [0,1] 0.9467897710016401 Centerline is valid? [False, False] Translation: X:18.89, Y:0.59, Z:7.31 [[ 7.88216497e-01 2.52068232e-02 -6.14881591e-01 1.88858036e+01] [-2.26621812e-02 9.99671990e-01 1.19305084e-02 5.85729693e-01] [ 6.14980634e-01 4.53073449e-03 7.88529196e-01 7.30809410e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.30538475 meters Centerline goodness [0,1] 0.944961922388422 Centerline is valid? [False, False] Translation: X:18.89, Y:0.58, Z:7.31 [[ 7.88003930e-01 2.51273135e-02 -6.15157235e-01 1.88867320e+01] [-2.23987130e-02 9.99675389e-01 1.21414211e-02 5.84824431e-01] [ 6.15262630e-01 4.21124281e-03 7.88310955e-01 7.30870955e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.33538475 meters Centerline goodness [0,1] 0.9428937885543273 Centerline is valid? [False, False] Translation: X:18.89, Y:0.58, Z:7.31 [[ 7.87709242e-01 2.50651227e-02 -6.15537074e-01 1.88878845e+01] [-2.20335596e-02 9.99678946e-01 1.25110855e-02 5.82942792e-01] [ 6.15653045e-01 3.70737510e-03 7.88008619e-01 7.30958639e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.36538475 meters Centerline goodness [0,1] 0.9432791095890412 Centerline is valid? [False, False] Translation: X:18.89, Y:0.58, Z:7.31 [[ 7.87536876e-01 2.54810723e-02 -6.15740516e-01 1.88876593e+01] [-2.20018873e-02 9.99670406e-01 1.32285859e-02 5.81503246e-01] [ 6.15874651e-01 3.12945427e-03 7.87837941e-01 7.31057208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.39538475 meters Centerline goodness [0,1] 0.9420573314589573 Centerline is valid? [False, False] Translation: X:18.89, Y:0.58, Z:7.31 [[ 7.87516972e-01 2.55682726e-02 -6.15762359e-01 1.88877482e+01] [-2.19980999e-02 9.99668539e-01 1.33751609e-02 5.81484487e-01] [ 6.15900237e-01 3.01243567e-03 7.87818395e-01 7.31071093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.42538475 meters Centerline goodness [0,1] 0.9387730173756375 Centerline is valid? [False, False] Translation: X:18.89, Y:0.58, Z:7.31 [[ 7.87471280e-01 2.54281723e-02 -6.15826591e-01 1.88882987e+01] [-2.18857921e-02 9.99672117e-01 1.32917322e-02 5.82010361e-01] [ 6.15962657e-01 3.01099538e-03 7.87769598e-01 7.31078626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.45538475 meters Centerline goodness [0,1] 0.9387730173756375 Centerline is valid? [False, False] Translation: X:18.89, Y:0.58, Z:7.31 [[ 7.87471280e-01 2.54281723e-02 -6.15826591e-01 1.88882987e+01] [-2.18857921e-02 9.99672117e-01 1.32917322e-02 5.82010361e-01] [ 6.15962657e-01 3.01099538e-03 7.87769598e-01 7.31078626e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.48538475 meters Centerline goodness [0,1] 0.9419467081769068 Centerline is valid? [False, False] Translation: X:18.89, Y:0.58, Z:7.31 [[ 7.87553465e-01 2.58946699e-02 -6.15702043e-01 1.88871029e+01] [-2.23217942e-02 9.99659811e-01 1.34907048e-02 5.82882287e-01] [ 6.15841925e-01 3.11892302e-03 7.87863564e-01 7.31079893e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.51538475 meters Centerline goodness [0,1] 0.9431689645684938 Centerline is valid? [False, False] Translation: X:18.88, Y:0.58, Z:7.31 [[ 7.87675246e-01 2.70709794e-02 -6.15495628e-01 1.88844866e+01] [-2.30611264e-02 9.99629567e-01 1.44538361e-02 5.82138837e-01] [ 6.15658908e-01 2.80909361e-03 7.88007753e-01 7.31127702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.54538475 meters Centerline goodness [0,1] 0.9452989370450462 Centerline is valid? [False, False] Translation: X:18.88, Y:0.58, Z:7.31 [[ 7.87912844e-01 2.83382664e-02 -6.15134369e-01 1.88813914e+01] [-2.41238459e-02 9.99594177e-01 1.51499875e-02 5.83041693e-01] [ 6.15314058e-01 2.90253704e-03 7.88276719e-01 7.31125973e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.57538475 meters Centerline goodness [0,1] 0.943982454537147 Centerline is valid? [False, False] Translation: X:18.88, Y:0.58, Z:7.31 [[ 7.88272643e-01 2.96680801e-02 -6.14610482e-01 1.88792741e+01] [-2.50690873e-02 9.99556109e-01 1.60974068e-02 5.84113145e-01] [ 6.14815241e-01 2.71857843e-03 7.88666488e-01 7.31101027e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.60538475 meters Centerline goodness [0,1] 0.9443464509458062 Centerline is valid? [False, False] Translation: X:18.88, Y:0.58, Z:7.31 [[ 7.88280880e-01 2.96566823e-02 -6.14600468e-01 1.88793341e+01] [-2.50899119e-02 9.99556315e-01 1.60520968e-02 5.84678654e-01] [ 6.14803831e-01 2.76671061e-03 7.88675215e-01 7.31098173e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.63538475000001 meters Centerline goodness [0,1] 0.9481355520466416 Centerline is valid? [False, False] Translation: X:18.88, Y:0.58, Z:7.31 [[ 7.88276347e-01 2.99859849e-02 -6.14590304e-01 1.88789351e+01] [-2.52931625e-02 9.99546740e-01 1.63269606e-02 5.84700878e-01] [ 6.14801315e-01 2.67477557e-03 7.88677493e-01 7.31114534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.66538475000002 meters Centerline goodness [0,1] 0.9489613343442002 Centerline is valid? [False, False] Translation: X:18.88, Y:0.58, Z:7.31 [[ 7.88250867e-01 3.02198548e-02 -6.14611529e-01 1.88787554e+01] [-2.53643963e-02 9.99540170e-01 1.66161079e-02 5.84132758e-01] [ 6.14831049e-01 2.49158897e-03 7.88654914e-01 7.31139015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.69538475000002 meters Centerline goodness [0,1] 0.9466125983291664 Centerline is valid? [False, False] Translation: X:18.88, Y:0.58, Z:7.31 [[ 7.87966072e-01 3.04232762e-02 -6.14966579e-01 1.88786404e+01] [-2.51467178e-02 9.99535319e-01 1.72275681e-02 5.82173864e-01] [ 6.15204935e-01 1.88965189e-03 7.88364965e-01 7.31266952e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.72538475000002 meters Centerline goodness [0,1] 0.9461139896373056 Centerline is valid? [False, False] Translation: X:18.88, Y:0.58, Z:7.31 [[ 7.87873534e-01 3.02948819e-02 -6.15091468e-01 1.88794648e+01] [-2.50460113e-02 9.99539209e-01 1.71483972e-02 5.82190628e-01] [ 6.15327548e-01 1.89481954e-03 7.88269255e-01 7.31272818e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.75538475 meters Centerline goodness [0,1] 0.9459937216177502 Centerline is valid? [False, False] Translation: X:18.88, Y:0.58, Z:7.31 [[ 7.87701678e-01 2.94211323e-02 -6.15353933e-01 1.88821002e+01] [-2.44807170e-02 9.99564891e-01 1.64536676e-02 5.82924348e-01] [ 6.15570273e-01 2.10372391e-03 7.88079192e-01 7.31246256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.78538475 meters Centerline goodness [0,1] 0.9459155443407412 Centerline is valid? [False, False] Translation: X:18.88, Y:0.58, Z:7.31 [[ 7.87603082e-01 2.91218026e-02 -6.15494358e-01 1.88832010e+01] [-2.42572307e-02 9.99573604e-01 1.62541141e-02 5.83404835e-01] [ 6.15705263e-01 2.12839829e-03 7.87973666e-01 7.31251572e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.81538475 meters Centerline goodness [0,1] 0.946570440899994 Centerline is valid? [False, False] Translation: X:18.88, Y:0.58, Z:7.31 [[ 7.87600199e-01 2.88589629e-02 -6.15510428e-01 1.88838474e+01] [-2.40861475e-02 9.99581100e-01 1.60462259e-02 5.84038987e-01] [ 6.15715668e-01 2.18726421e-03 7.87965375e-01 7.31240921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.84538475 meters Centerline goodness [0,1] 0.9465321411309812 Centerline is valid? [False, False] Translation: X:18.88, Y:0.58, Z:7.31 [[ 7.87394684e-01 2.91899629e-02 -6.15757710e-01 1.88832726e+01] [-2.40467054e-02 9.99572422e-01 1.66351695e-02 5.83370177e-01] [ 6.15980006e-01 1.70850026e-03 7.87759934e-01 7.31350305e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.87538475 meters Centerline goodness [0,1] 0.945699984832398 Centerline is valid? [False, False] Translation: X:18.88, Y:0.58, Z:7.31 [[ 7.87136997e-01 2.94423880e-02 -6.16075071e-01 1.88826828e+01] [-2.39322286e-02 9.99565745e-01 1.71921579e-02 5.82317682e-01] [ 6.16313716e-01 1.21146592e-03 7.87499801e-01 7.31476753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.90538475 meters Centerline goodness [0,1] 0.9457121096725057 Centerline is valid? [False, False] Translation: X:18.88, Y:0.58, Z:7.32 [[ 7.87147007e-01 3.07575019e-02 -6.15998024e-01 1.88797055e+01] [-2.47492133e-02 9.99526511e-01 1.82819895e-02 5.81846137e-01] [ 6.16268664e-01 8.54853188e-04 7.87535525e-01 7.31568218e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.93538475 meters Centerline goodness [0,1] 0.94691905687895 Centerline is valid? [False, False] Translation: X:18.88, Y:0.58, Z:7.32 [[ 7.87430870e-01 3.20028686e-02 -6.15571638e-01 1.88765854e+01] [-2.57524038e-02 9.99487394e-01 1.90200867e-02 5.83136269e-01] [ 6.15864789e-01 8.75445978e-04 7.87851379e-01 7.31563899e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.96538475 meters Centerline goodness [0,1] 0.9521003553746621 Centerline is valid? [False, True] Translation: X:18.88, Y:0.58, Z:7.32 [[ 7.87540629e-01 3.24951382e-02 -6.15405414e-01 1.88753069e+01] [-2.61104165e-02 9.99471557e-01 1.93611434e-02 5.83709849e-01] [ 6.15709351e-01 8.20804629e-04 7.87972920e-01 7.31572071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 166.99538475 meters Centerline goodness [0,1] 0.9510320198535198 Centerline is valid? [True, True] Translation: X:18.90, Y:0.59, Z:7.33 [[ 7.88903756e-01 2.87064637e-02 -6.13845911e-01 1.89011657e+01] [-2.61873443e-02 9.99571354e-01 1.30893834e-02 5.89095904e-01] [ 6.13958538e-01 5.74873052e-03 7.89317341e-01 7.32720552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.02538475 meters Centerline goodness [0,1] 0.950297970172732 Centerline is valid? [True, True] Translation: X:18.92, Y:0.59, Z:7.35 [[ 7.88969994e-01 2.94507107e-02 -6.13725513e-01 1.89235037e+01] [-2.71885569e-02 9.99545620e-01 1.30129401e-02 5.89724400e-01] [ 6.13829888e-01 6.41949171e-03 7.89412224e-01 7.34515577e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.05538475 meters Centerline goodness [0,1] 0.9518378460142187 Centerline is valid? [True, True] Translation: X:18.95, Y:0.59, Z:7.36 [[ 7.89083442e-01 3.06141720e-02 -6.13522692e-01 1.89465710e+01] [-2.88125139e-02 9.99502659e-01 1.28169157e-02 5.91859909e-01] [ 6.13609941e-01 7.56351510e-03 7.89573070e-01 7.36233786e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.08538475 meters Centerline goodness [0,1] 0.9523680077322701 Centerline is valid? [True, True] Translation: X:18.97, Y:0.59, Z:7.38 [[ 7.88712916e-01 3.10696155e-02 -6.13976070e-01 1.89693839e+01] [-2.95353011e-02 9.99483855e-01 1.26368208e-02 5.92705233e-01] [ 6.14051790e-01 8.16714434e-03 7.89223477e-01 7.37825040e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.11538475 meters Centerline goodness [0,1] 0.9519146756650899 Centerline is valid? [True, True] Translation: X:18.99, Y:0.59, Z:7.39 [[ 7.88731445e-01 3.15682873e-02 -6.13926828e-01 1.89919191e+01] [-3.02205776e-02 9.99464245e-01 1.25673846e-02 5.93085770e-01] [ 6.13994645e-01 8.64093191e-03 7.89262891e-01 7.39453953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.14538475 meters Centerline goodness [0,1] 0.950952280341674 Centerline is valid? [True, True] Translation: X:19.02, Y:0.59, Z:7.41 [[ 7.88285500e-01 3.11865308e-02 -6.14518813e-01 1.90152348e+01] [-2.97912875e-02 9.99477882e-01 1.25076852e-02 5.92153046e-01] [ 6.14588033e-01 8.44767972e-03 7.88803009e-01 7.41228468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.17538475 meters Centerline goodness [0,1] 0.9499894301331804 Centerline is valid? [True, False] Translation: X:19.02, Y:0.59, Z:7.41 [[ 7.88197421e-01 3.12536407e-02 -6.14628372e-01 1.90154668e+01] [-2.97097128e-02 9.99477587e-01 1.27234517e-02 5.91607340e-01] [ 6.14704936e-01 8.23184064e-03 7.88714193e-01 7.41266372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.20538475 meters Centerline goodness [0,1] 0.9505867446981809 Centerline is valid? [False, True] Translation: X:19.02, Y:0.59, Z:7.41 [[ 7.88156330e-01 3.13944088e-02 -6.14673890e-01 1.90155931e+01] [-2.97230918e-02 9.99474460e-01 1.29360739e-02 5.91451724e-01] [ 6.14756974e-01 8.07435995e-03 7.88675261e-01 7.41287541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.23538475 meters Centerline goodness [0,1] 0.9498016894244452 Centerline is valid? [True, False] Translation: X:19.02, Y:0.59, Z:7.41 [[ 7.88659105e-01 3.12393878e-02 -6.14036576e-01 1.90152819e+01] [-2.96006817e-02 9.99479456e-01 1.28303092e-02 5.91700701e-01] [ 6.14117754e-01 8.05716108e-03 7.89173281e-01 7.41191202e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.26538475 meters Centerline goodness [0,1] 0.9503447860519738 Centerline is valid? [False, True] Translation: X:19.02, Y:0.59, Z:7.41 [[ 7.88517415e-01 3.06479425e-02 -6.14248313e-01 1.90169728e+01] [-2.91281047e-02 9.99497802e-01 1.24779070e-02 5.92399931e-01] [ 6.14322260e-01 8.05284220e-03 7.89014139e-01 7.41200717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.29538475 meters Centerline goodness [0,1] 0.9472971346014929 Centerline is valid? [True, False] Translation: X:19.02, Y:0.59, Z:7.41 [[ 7.88414666e-01 3.06790951e-02 -6.14378635e-01 1.90175682e+01] [-2.91294463e-02 9.99497123e-01 1.25290565e-02 5.92347989e-01] [ 6.14454058e-01 8.01841757e-03 7.88911855e-01 7.41215012e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.32538475 meters Centerline goodness [0,1] 0.949588942090523 Centerline is valid? [False, False] Translation: X:19.02, Y:0.59, Z:7.41 [[ 7.88319783e-01 3.13064683e-02 -6.14468734e-01 1.90164026e+01] [-2.93661654e-02 9.99480929e-01 1.32476861e-02 5.91369734e-01] [ 6.14564519e-01 7.60117743e-03 7.88829940e-01 7.41295545e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.35538475 meters Centerline goodness [0,1] 0.9508587642246974 Centerline is valid? [False, True] Translation: X:19.01, Y:0.59, Z:7.41 [[ 7.88440434e-01 3.37253128e-02 -6.14185872e-01 1.90115948e+01] [-3.05624516e-02 9.99410416e-01 1.56447043e-02 5.88151355e-01] [ 6.14351380e-01 6.43610856e-03 7.89006310e-01 7.41457769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.38538475000001 meters Centerline goodness [0,1] 0.952366569003534 Centerline is valid? [True, True] Translation: X:19.03, Y:0.59, Z:7.43 [[ 7.89296842e-01 3.30092676e-02 -6.13123873e-01 1.90342231e+01] [-3.03819613e-02 9.99430329e-01 1.46953616e-02 5.87006140e-01] [ 6.13259678e-01 7.02890334e-03 7.89850088e-01 7.43332340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.41538475000002 meters Centerline goodness [0,1] 0.9539876375697272 Centerline is valid? [True, True] Translation: X:19.06, Y:0.59, Z:7.45 [[ 7.90819419e-01 3.26065530e-02 -6.11180381e-01 1.90568208e+01] [-3.00337480e-02 9.99444299e-01 1.44591722e-02 5.87190198e-01] [ 6.11312211e-01 6.92144334e-03 7.91359257e-01 7.45138571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.44538475000002 meters Centerline goodness [0,1] 0.9529174322980992 Centerline is valid? [True, True] Translation: X:19.08, Y:0.59, Z:7.47 [[ 7.90786851e-01 3.17652222e-02 -6.11266821e-01 1.90792162e+01] [-2.91154009e-02 9.99474153e-01 1.42727237e-02 5.86541811e-01] [ 6.11398764e-01 6.51059632e-03 7.91295876e-01 7.46656926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.47538475000002 meters Centerline goodness [0,1] 0.9502744104698149 Centerline is valid? [True, True] Translation: X:19.10, Y:0.59, Z:7.48 [[ 7.90378640e-01 3.05153039e-02 -6.11858171e-01 1.91018490e+01] [-2.76432757e-02 9.99517833e-01 1.41404269e-02 5.85284084e-01] [ 6.11994652e-01 5.73747271e-03 7.90841089e-01 7.48090909e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.50538475 meters Centerline goodness [0,1] 0.9513338576008711 Centerline is valid? [True, True] Translation: X:19.12, Y:0.58, Z:7.50 [[ 7.90366778e-01 2.97359164e-02 -6.11911866e-01 1.91243676e+01] [-2.67312025e-02 9.99543973e-01 1.40459796e-02 5.83730876e-01] [ 6.12050487e-01 5.25566435e-03 7.90801226e-01 7.49803825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.53538475 meters Centerline goodness [0,1] 0.9509304219320204 Centerline is valid? [True, True] Translation: X:19.15, Y:0.58, Z:7.51 [[ 7.90732851e-01 2.86666471e-02 -6.11489805e-01 1.91469854e+01] [-2.55463609e-02 9.99578029e-01 1.38255843e-02 5.81798545e-01] [ 6.11628107e-01 4.68899558e-03 7.91131513e-01 7.51439000e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.56538475 meters Centerline goodness [0,1] 0.950420473107871 Centerline is valid? [True, True] Translation: X:19.17, Y:0.58, Z:7.53 [[ 7.90595292e-01 2.81816305e-02 -6.11690183e-01 1.91695364e+01] [-2.49851634e-02 9.99593116e-01 1.37602523e-02 5.80943305e-01] [ 6.11829082e-01 4.40438845e-03 7.90977734e-01 7.53195763e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.59538475 meters Centerline goodness [0,1] 0.9519134320192103 Centerline is valid? [True, True] Translation: X:19.19, Y:0.58, Z:7.55 [[ 7.91357457e-01 2.77467504e-02 -6.10723745e-01 1.91919167e+01] [-2.46067183e-02 9.99605646e-01 1.35300099e-02 5.80305710e-01] [ 6.10858318e-01 4.32083288e-03 7.91728139e-01 7.55102805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.62538475 meters Centerline goodness [0,1] 0.9511715797430084 Centerline is valid? [True, True] Translation: X:19.21, Y:0.58, Z:7.57 [[ 7.91524533e-01 2.74847455e-02 -6.10519043e-01 1.92138471e+01] [-2.44217623e-02 9.99612750e-01 1.33389419e-02 5.79939147e-01] [ 6.10649237e-01 4.35185124e-03 7.91889241e-01 7.56707355e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.65538475 meters Centerline goodness [0,1] 0.9504307087804141 Centerline is valid? [True, True] Translation: X:19.24, Y:0.58, Z:7.58 [[ 7.90674012e-01 2.75834886e-02 -6.11615694e-01 1.92381032e+01] [-2.46497128e-02 9.99608795e-01 1.32155053e-02 5.80248786e-01] [ 6.11740956e-01 4.62699460e-03 7.91044622e-01 7.58326886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.68538475 meters Centerline goodness [0,1] 0.9504174578774452 Centerline is valid? [True, True] Translation: X:19.26, Y:0.58, Z:7.60 [[ 7.90534177e-01 2.74411145e-02 -6.11802828e-01 1.92611555e+01] [-2.46139937e-02 9.99612100e-01 1.30307780e-02 5.80644097e-01] [ 6.11923088e-01 4.75763561e-03 7.90902964e-01 7.59819476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.71538475 meters Centerline goodness [0,1] 0.9510624792189342 Centerline is valid? [True, True] Translation: X:19.28, Y:0.58, Z:7.62 [[ 7.90365183e-01 2.73915199e-02 -6.12023351e-01 1.92835789e+01] [-2.46648810e-02 9.99612720e-01 1.28861889e-02 5.79761851e-01] [ 6.12139299e-01 4.91068809e-03 7.90734699e-01 7.61530895e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.74538475 meters Centerline goodness [0,1] 0.950808747803962 Centerline is valid? [True, True] Translation: X:19.31, Y:0.58, Z:7.63 [[ 7.90169727e-01 2.73501975e-02 -6.12277526e-01 1.93064464e+01] [-2.47759239e-02 9.99612637e-01 1.26779404e-02 5.79674723e-01] [ 6.12387096e-01 5.15201665e-03 7.90541271e-01 7.63245769e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.77538475 meters Centerline goodness [0,1] 0.9491243459060524 Centerline is valid? [True, False] Translation: X:19.31, Y:0.58, Z:7.63 [[ 7.90190104e-01 2.76055742e-02 -6.12239766e-01 1.93061142e+01] [-2.49224223e-02 9.99606083e-01 1.29054806e-02 5.79666944e-01] [ 6.12354858e-01 5.06071497e-03 7.90566833e-01 7.63256345e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.80538475 meters Centerline goodness [0,1] 0.9515063344850578 Centerline is valid? [False, True] Translation: X:19.31, Y:0.58, Z:7.63 [[ 7.90022592e-01 2.81968918e-02 -6.12428967e-01 1.93052820e+01] [-2.51085370e-02 9.99591772e-01 1.36327149e-02 5.78954980e-01] [ 6.12563357e-01 4.60704262e-03 7.90408065e-01 7.63355469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.83538475 meters Centerline goodness [0,1] 0.9516050731233692 Centerline is valid? [True, True] Translation: X:19.33, Y:0.58, Z:7.65 [[ 7.90455602e-01 2.74993802e-02 -6.11901729e-01 1.93277600e+01] [-2.44504895e-02 9.99612057e-01 1.33382294e-02 5.77743366e-01] [ 6.12031139e-01 4.41801867e-03 7.90821324e-01 7.65085740e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.86538475 meters Centerline goodness [0,1] 0.9526769662065393 Centerline is valid? [True, True] Translation: X:19.35, Y:0.58, Z:7.67 [[ 7.90925231e-01 2.76534619e-02 -6.11287628e-01 1.93499806e+01] [-2.47313667e-02 9.99606703e-01 1.32211475e-02 5.77570174e-01] [ 6.11412821e-01 4.66103936e-03 7.91298071e-01 7.66783205e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.89538475 meters Centerline goodness [0,1] 0.9502185526954833 Centerline is valid? [True, True] Translation: X:19.37, Y:0.58, Z:7.68 [[ 7.90262720e-01 2.68693060e-02 -6.12178793e-01 1.93728944e+01] [-2.38104988e-02 9.99630158e-01 1.31380230e-02 5.77359186e-01] [ 6.12305393e-01 4.19379264e-03 7.90610219e-01 7.68421557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.92538475 meters Centerline goodness [0,1] 0.9528470559713931 Centerline is valid? [True, True] Translation: X:19.40, Y:0.58, Z:7.70 [[ 7.90923981e-01 2.64884808e-02 -6.11340836e-01 1.93958955e+01] [-2.33913657e-02 9.99641202e-01 1.30503056e-02 5.76469205e-01] [ 6.11467171e-01 3.97829737e-03 7.91259801e-01 7.70270708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.95538475 meters Centerline goodness [0,1] 0.9521510891208592 Centerline is valid? [True, True] Translation: X:19.42, Y:0.58, Z:7.72 [[ 7.91064260e-01 2.71193189e-02 -6.11131637e-01 1.94184052e+01] [-2.43246728e-02 9.99621235e-01 1.28722966e-02 5.79546291e-01] [ 6.11249250e-01 4.68276336e-03 7.91424302e-01 7.71764414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 167.98538475 meters Centerline goodness [0,1] 0.9515047135605511 Centerline is valid? [True, True] Translation: X:19.44, Y:0.58, Z:7.73 [[ 7.90686781e-01 2.79224126e-02 -6.11583807e-01 1.94412334e+01] [-2.54076465e-02 9.99595363e-01 1.27891285e-02 5.81835628e-01] [ 6.11693441e-01 5.42671028e-03 7.91076283e-01 7.73342941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.01538475 meters Centerline goodness [0,1] 0.954513920308871 Centerline is valid? [True, True] Translation: X:19.46, Y:0.58, Z:7.75 [[ 7.90577498e-01 2.90468378e-02 -6.11672708e-01 1.94636805e+01] [-2.68812526e-02 9.99557665e-01 1.27229412e-02 5.81724148e-01] [ 6.11771705e-01 6.38405755e-03 7.91008613e-01 7.75259435e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.04538475 meters Centerline goodness [0,1] 0.9540649915438512 Centerline is valid? [True, True] Translation: X:19.48, Y:0.58, Z:7.77 [[ 7.90522767e-01 2.87242339e-02 -6.11758672e-01 1.94849317e+01] [-2.66186384e-02 9.99567052e-01 1.25362474e-02 5.81896126e-01] [ 6.11853906e-01 6.37399393e-03 7.90945112e-01 7.76909388e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.07538475 meters Centerline goodness [0,1] 0.9534217666566174 Centerline is valid? [True, True] Translation: X:19.51, Y:0.58, Z:7.79 [[ 7.90502759e-01 2.67402706e-02 -6.11874452e-01 1.95081122e+01] [-2.41841488e-02 9.99630097e-01 1.24416747e-02 5.80201680e-01] [ 6.11980812e-01 4.96248468e-03 7.90857041e-01 7.78615876e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.10538475 meters Centerline goodness [0,1] 0.9513612817732803 Centerline is valid? [True, True] Translation: X:19.53, Y:0.58, Z:7.80 [[ 7.90164860e-01 2.62535620e-02 -6.12331809e-01 1.95329315e+01] [-2.37108035e-02 9.99643650e-01 1.22625718e-02 5.81205606e-01] [ 6.12435541e-01 4.82942594e-03 7.90505778e-01 7.79938625e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.13538475000001 meters Centerline goodness [0,1] 0.9504070169114776 Centerline is valid? [True, True] Translation: X:19.56, Y:0.58, Z:7.82 [[ 7.89460534e-01 2.60510713e-02 -6.13248243e-01 1.95567487e+01] [-2.35021658e-02 9.99649218e-01 1.22102277e-02 5.81530815e-01] [ 6.13351216e-01 4.77316902e-03 7.89795862e-01 7.81564785e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.16538475000002 meters Centerline goodness [0,1] 0.9514583521071761 Centerline is valid? [True, True] Translation: X:19.58, Y:0.58, Z:7.83 [[ 7.89819305e-01 2.65405786e-02 -6.12765096e-01 1.95779118e+01] [-2.42689963e-02 9.99633254e-01 1.20155720e-02 5.80758424e-01] [ 6.12859267e-01 5.38106313e-03 7.90173755e-01 7.83363104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.19538475000002 meters Centerline goodness [0,1] 0.9512813547043376 Centerline is valid? [True, True] Translation: X:19.60, Y:0.58, Z:7.85 [[ 7.90067267e-01 2.61528341e-02 -6.12462034e-01 1.95998786e+01] [-2.39465196e-02 9.99643654e-01 1.17952672e-02 5.79541534e-01] [ 6.12552266e-01 5.34727962e-03 7.90411999e-01 7.85183929e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.22538475000002 meters Centerline goodness [0,1] 0.9530829884293526 Centerline is valid? [True, True] Translation: X:19.62, Y:0.58, Z:7.87 [[ 7.91265996e-01 2.55828905e-02 -6.10936690e-01 1.96218717e+01] [-2.34009606e-02 9.99659410e-01 1.15524128e-02 5.77421921e-01] [ 6.11024155e-01 5.15547401e-03 7.91595163e-01 7.86994941e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.25538475 meters Centerline goodness [0,1] 0.9516182647849869 Centerline is valid? [True, True] Translation: X:19.64, Y:0.58, Z:7.89 [[ 7.90994835e-01 2.49606621e-02 -6.11313452e-01 1.96447926e+01] [-2.27562537e-02 9.99676351e-01 1.13730600e-02 5.76308666e-01] [ 6.11399480e-01 4.91517229e-03 7.91306841e-01 7.88653508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.28538475 meters Centerline goodness [0,1] 0.9507794763130013 Centerline is valid? [True, True] Translation: X:19.67, Y:0.57, Z:7.90 [[ 7.90312639e-01 2.37051626e-02 -6.12245048e-01 1.96696189e+01] [-2.13261186e-02 9.99710077e-01 1.11785124e-02 5.74106710e-01] [ 6.12332532e-01 4.22229092e-03 7.90589048e-01 7.90179951e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.31538475 meters Centerline goodness [0,1] 0.9507794763130013 Centerline is valid? [True, True] Translation: X:19.69, Y:0.57, Z:7.92 [[ 7.90320081e-01 2.33659726e-02 -6.12248480e-01 1.96918851e+01] [-2.10447209e-02 9.99718153e-01 1.09878941e-02 5.73944730e-01] [ 6.12332662e-01 4.20064499e-03 7.90589062e-01 7.91824389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.34538475 meters Centerline goodness [0,1] 0.9503956823625724 Centerline is valid? [True, True] Translation: X:19.71, Y:0.57, Z:7.93 [[ 7.90637437e-01 2.19200799e-02 -6.11892109e-01 1.97142603e+01] [-1.93844558e-02 9.99754121e-01 1.07676070e-02 5.71692127e-01] [ 6.11977684e-01 3.34792228e-03 7.90867944e-01 7.93433804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.37538475 meters Centerline goodness [0,1] 0.947920774060481 Centerline is valid? [True, False] Translation: X:19.71, Y:0.57, Z:7.94 [[ 7.90276378e-01 2.21739141e-02 -6.12349217e-01 1.97147355e+01] [-1.91073910e-02 9.99750804e-01 1.15428721e-02 5.69406630e-01] [ 6.12452573e-01 2.57833683e-03 7.90503130e-01 7.93579033e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.40538475 meters Centerline goodness [0,1] 0.9484004757402946 Centerline is valid? [False, False] Translation: X:19.71, Y:0.57, Z:7.94 [[ 7.89948456e-01 2.22776858e-02 -6.12768424e-01 1.97147005e+01] [-1.87599204e-02 9.99750039e-01 1.21624203e-02 5.67949644e-01] [ 6.12886207e-01 1.88780170e-03 7.90168928e-01 7.93726650e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.43538475 meters Centerline goodness [0,1] 0.9495174009682429 Centerline is valid? [False, False] Translation: X:19.72, Y:0.57, Z:7.94 [[ 7.89846155e-01 2.19164356e-02 -6.12913306e-01 1.97157269e+01] [-1.84940664e-02 9.99757956e-01 1.19163079e-02 5.68771628e-01] [ 6.13026117e-01 1.92320939e-03 7.90060302e-01 7.93736538e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.46538475 meters Centerline goodness [0,1] 0.9485213581599123 Centerline is valid? [False, False] Translation: X:19.72, Y:0.57, Z:7.94 [[ 7.89719775e-01 2.20558517e-02 -6.13071135e-01 1.97157002e+01] [-1.85311656e-02 9.99755105e-01 1.20965121e-02 5.69030726e-01] [ 6.13187796e-01 1.80806794e-03 7.89935098e-01 7.93782364e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.49538475 meters Centerline goodness [0,1] 0.9490937842111665 Centerline is valid? [False, False] Translation: X:19.71, Y:0.57, Z:7.94 [[ 7.89680187e-01 2.25740039e-02 -6.13103268e-01 1.97143642e+01] [-1.89000271e-02 9.99743655e-01 1.24664810e-02 5.69820541e-01] [ 6.13227520e-01 1.74313537e-03 7.89904405e-01 7.93833544e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.52538475 meters Centerline goodness [0,1] 0.9491664389177371 Centerline is valid? [False, False] Translation: X:19.72, Y:0.57, Z:7.94 [[ 7.89066997e-01 2.76991510e-02 -6.13682353e-01 1.97155752e+01] [-2.20615302e-02 9.99616254e-01 1.67521456e-02 5.69064879e-01] [ 6.13910875e-01 3.20206566e-04 7.89375282e-01 7.94021775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.55538475 meters Centerline goodness [0,1] 0.9478392721758908 Centerline is valid? [False, False] Translation: X:19.72, Y:0.57, Z:7.94 [[ 7.88538252e-01 3.32177143e-02 -6.14087948e-01 1.97159714e+01] [-2.56553722e-02 9.99447735e-01 2.11193316e-02 5.69145336e-01] [ 6.14450345e-01 -8.98745984e-04 7.88954983e-01 7.94186646e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.58538475 meters Centerline goodness [0,1] 0.9484236348768891 Centerline is valid? [False, False] Translation: X:19.71, Y:0.57, Z:7.94 [[ 7.88674673e-01 3.43078497e-02 -6.13852777e-01 1.97134542e+01] [-2.67183654e-02 9.99411145e-01 2.15288580e-02 5.70581988e-01] [ 6.14229915e-01 -5.78122292e-04 7.89126908e-01 7.94175516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.61538475 meters Centerline goodness [0,1] 0.9494964768500318 Centerline is valid? [False, False] Translation: X:19.71, Y:0.57, Z:7.94 [[ 7.88744701e-01 3.48018616e-02 -6.13734981e-01 1.97121599e+01] [-2.71569483e-02 9.99394105e-01 2.17697812e-02 5.71528601e-01] [ 6.14120750e-01 -5.03630439e-04 7.89211917e-01 7.94182073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.64538475 meters Centerline goodness [0,1] 0.9499788685624585 Centerline is valid? [False, False] Translation: X:19.71, Y:0.57, Z:7.94 [[ 7.88748115e-01 3.48203548e-02 -6.13729545e-01 1.97116848e+01] [-2.72412399e-02 9.99393511e-01 2.16915743e-02 5.72862887e-01] [ 6.14112633e-01 -3.90434538e-04 7.89218298e-01 7.94195418e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.67538475 meters Centerline goodness [0,1] 0.9509025270758122 Centerline is valid? [False, True] Translation: X:19.71, Y:0.57, Z:7.94 [[ 7.88115961e-01 3.95827585e-02 -6.14252747e-01 1.97137211e+01] [-3.02546775e-02 9.99215063e-01 2.55717118e-02 5.73102535e-01] [ 6.14782796e-01 -1.56945545e-03 7.88694903e-01 7.94347469e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.70538475 meters Centerline goodness [0,1] 0.949349945828819 Centerline is valid? [True, False] Translation: X:19.72, Y:0.57, Z:7.94 [[ 7.87985831e-01 3.91598801e-02 -6.14446771e-01 1.97150465e+01] [-2.99736383e-02 9.99231870e-01 2.52438432e-02 5.73399480e-01] [ 6.14963341e-01 -1.47458553e-03 7.88554319e-01 7.94349756e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.73538475 meters Centerline goodness [0,1] 0.9485015914960062 Centerline is valid? [False, False] Translation: X:19.72, Y:0.57, Z:7.94 [[ 7.87952703e-01 3.89216832e-02 -6.14504386e-01 1.97159735e+01] [-2.99390775e-02 9.99241516e-01 2.49006923e-02 5.74344988e-01] [ 6.15007471e-01 -1.22287336e-03 7.88520333e-01 7.94319181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.76538475 meters Centerline goodness [0,1] 0.9484554651616584 Centerline is valid? [False, False] Translation: X:19.71, Y:0.57, Z:7.94 [[ 7.88165961e-01 3.98013224e-02 -6.14174464e-01 1.97144168e+01] [-3.05972453e-02 9.99206772e-01 2.54879430e-02 5.74090946e-01] [ 6.14701738e-01 -1.29668232e-03 7.88758576e-01 7.94297436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.79538475 meters Centerline goodness [0,1] 0.9509368244054768 Centerline is valid? [False, True] Translation: X:19.71, Y:0.57, Z:7.94 [[ 7.88173349e-01 4.02258356e-02 -6.14137325e-01 1.97136954e+01] [-3.08843131e-02 9.99189666e-01 2.58102644e-02 5.73987924e-01] [ 6.14677908e-01 -1.37575309e-03 7.88777013e-01 7.94313764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.82538475 meters Centerline goodness [0,1] 0.9515614657921656 Centerline is valid? [True, True] Translation: X:19.74, Y:0.58, Z:7.95 [[ 7.88584620e-01 3.32991641e-02 -6.14023992e-01 1.97404172e+01] [-3.14192844e-02 9.99410362e-01 1.38476107e-02 5.77835097e-01] [ 6.14123054e-01 8.37218156e-03 7.89165877e-01 7.95472945e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.85538475 meters Centerline goodness [0,1] 0.9504610377870186 Centerline is valid? [True, True] Translation: X:19.76, Y:0.58, Z:7.97 [[ 7.88647120e-01 3.26804825e-02 -6.13976958e-01 1.97627942e+01] [-3.08051535e-02 9.99432493e-01 1.36284276e-02 5.77822687e-01] [ 6.14073906e-01 8.16563427e-03 7.89206285e-01 7.96959682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.88538475000001 meters Centerline goodness [0,1] 0.9502705953096813 Centerline is valid? [True, True] Translation: X:19.79, Y:0.58, Z:7.99 [[ 7.88119419e-01 3.14847162e-02 -6.14716597e-01 1.97854638e+01] [-2.94041015e-02 9.99476534e-01 1.34928708e-02 5.76368191e-01] [ 6.14819633e-01 7.44119574e-03 7.88632644e-01 7.98649427e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.91538475000002 meters Centerline goodness [0,1] 0.9497491965277987 Centerline is valid? [True, False] Translation: X:19.79, Y:0.58, Z:7.99 [[ 7.87985847e-01 3.17802189e-02 -6.14872607e-01 1.97853145e+01] [-2.94486511e-02 9.99469382e-01 1.39187131e-02 5.75931058e-01] [ 6.14988684e-01 7.13941995e-03 7.88503612e-01 7.98710807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.94538475000002 meters Centerline goodness [0,1] 0.9492243867243867 Centerline is valid? [False, False] Translation: X:19.78, Y:0.57, Z:7.99 [[ 7.87783661e-01 3.21340090e-02 -6.15113249e-01 1.97846512e+01] [-2.92838737e-02 9.99462913e-01 1.47084997e-02 5.74375603e-01] [ 6.15255523e-01 6.42578294e-03 7.88301561e-01 7.98845847e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 168.97538475 meters Centerline goodness [0,1] 0.9499323410013532 Centerline is valid? [False, False] Translation: X:19.78, Y:0.57, Z:7.99 [[ 7.87728035e-01 3.21302800e-02 -6.15184678e-01 1.97849473e+01] [-2.92306308e-02 9.99463541e-01 1.47715904e-02 5.74604292e-01] [ 6.15329272e-01 6.34624035e-03 7.88244640e-01 7.98864507e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.00538475 meters Centerline goodness [0,1] 0.9501867244910251 Centerline is valid? [False, True] Translation: X:19.79, Y:0.57, Z:7.99 [[ 7.87707042e-01 3.22466416e-02 -6.15205470e-01 1.97850708e+01] [-2.92050462e-02 9.99460981e-01 1.49937541e-02 5.74417331e-01] [ 6.15357361e-01 6.15641850e-03 7.88224218e-01 7.98884207e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.03538475 meters Centerline goodness [0,1] 0.9499051119077025 Centerline is valid? [True, False] Translation: X:19.78, Y:0.57, Z:7.99 [[ 7.87577081e-01 3.27146318e-02 -6.15347133e-01 1.97845668e+01] [-2.93016334e-02 9.99448371e-01 1.56322993e-02 5.73215523e-01] [ 6.15519094e-01 5.71903549e-03 7.88101223e-01 7.98961347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.06538475 meters Centerline goodness [0,1] 0.9477431081490457 Centerline is valid? [False, False] Translation: X:19.78, Y:0.57, Z:7.99 [[ 7.87437714e-01 3.31501875e-02 -6.15502162e-01 1.97840146e+01] [-2.92833080e-02 9.99437177e-01 1.63650908e-02 5.71376007e-01] [ 6.15698249e-01 5.13744964e-03 7.87965274e-01 7.99058595e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.09538475 meters Centerline goodness [0,1] 0.9496294511056215 Centerline is valid? [False, False] Translation: X:19.79, Y:0.57, Z:7.99 [[ 7.86858933e-01 3.81739145e-02 -6.15951112e-01 1.97854416e+01] [-3.19983462e-02 9.99266166e-01 2.10531590e-02 5.68983372e-01] [ 6.16302787e-01 3.14355069e-03 7.87503011e-01 7.99289123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.12538475 meters Centerline goodness [0,1] 0.9472491616060909 Centerline is valid? [False, False] Translation: X:19.79, Y:0.57, Z:7.99 [[ 7.86730714e-01 3.75230018e-02 -6.16154858e-01 1.97876575e+01] [-3.14985028e-02 9.99290729e-01 2.06369359e-02 5.68964503e-01] [ 6.16492197e-01 3.17224424e-03 7.87354627e-01 7.99276578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.15538475 meters Centerline goodness [0,1] 0.946448550089202 Centerline is valid? [False, False] Translation: X:19.79, Y:0.57, Z:7.99 [[ 7.86671213e-01 3.74411624e-02 -6.16235800e-01 1.97885477e+01] [-3.13638919e-02 9.99294143e-01 2.06766037e-02 5.68294205e-01] [ 6.16574982e-01 3.06186409e-03 7.87290237e-01 7.99279582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.18538475 meters Centerline goodness [0,1] 0.9463481022228943 Centerline is valid? [False, False] Translation: X:19.79, Y:0.57, Z:7.99 [[ 7.86492699e-01 3.72799452e-02 -6.16473390e-01 1.97895791e+01] [-3.11345627e-02 9.99300636e-01 2.07093558e-02 5.67783793e-01] [ 6.16814295e-01 2.90587228e-03 7.87103349e-01 7.99315359e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.21538475 meters Centerline goodness [0,1] 0.9449638759031024 Centerline is valid? [False, False] Translation: X:19.79, Y:0.57, Z:7.99 [[ 7.86240610e-01 3.70875210e-02 -6.16806468e-01 1.97909183e+01] [-3.07576559e-02 9.99308756e-01 2.08800766e-02 5.66078341e-01] [ 6.17154494e-01 2.55475693e-03 7.86837851e-01 7.99376755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.24538475 meters Centerline goodness [0,1] 0.944305724725944 Centerline is valid? [False, False] Translation: X:19.79, Y:0.56, Z:7.99 [[ 7.86045405e-01 3.74438090e-02 -6.17033696e-01 1.97909044e+01] [-3.07291256e-02 9.99296601e-01 2.14947468e-02 5.64592246e-01] [ 6.17404520e-01 2.06505902e-03 7.86643117e-01 7.99463928e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.27538475 meters Centerline goodness [0,1] 0.945004415481592 Centerline is valid? [False, False] Translation: X:19.79, Y:0.56, Z:8.00 [[ 7.85833369e-01 3.79494718e-02 -6.17272836e-01 1.97904171e+01] [-3.06660021e-02 9.99278773e-01 2.23948522e-02 5.62683856e-01] [ 6.17677515e-01 1.33066791e-03 7.86430363e-01 7.99590471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.30538475 meters Centerline goodness [0,1] 0.9446311801014484 Centerline is valid? [False, False] Translation: X:19.79, Y:0.56, Z:8.00 [[ 7.86279147e-01 3.74851443e-02 -6.16733303e-01 1.97904606e+01] [-2.98283400e-02 9.99297039e-01 2.27089926e-02 5.59984078e-01] [ 6.17151013e-01 5.40523298e-04 7.86844543e-01 7.99574192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.33538475 meters Centerline goodness [0,1] 0.943507329939275 Centerline is valid? [False, False] Translation: X:19.79, Y:0.56, Z:8.00 [[ 7.86065851e-01 3.70196823e-02 -6.17033241e-01 1.97921507e+01] [-2.92270709e-02 9.99314522e-01 2.27214723e-02 5.59332871e-01] [ 6.17451420e-01 1.73500832e-04 7.86608997e-01 7.99630539e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.36538475 meters Centerline goodness [0,1] 0.9429641453831041 Centerline is valid? [False, False] Translation: X:19.79, Y:0.56, Z:8.00 [[ 7.85747073e-01 3.65109720e-02 -6.17469421e-01 1.97940716e+01] [-2.82955597e-02 9.99333030e-01 2.30836809e-02 5.57252493e-01] [ 6.17900395e-01 -6.66291856e-04 7.86256102e-01 7.99759077e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.39538475 meters Centerline goodness [0,1] 0.9448852801869964 Centerline is valid? [False, False] Translation: X:19.79, Y:0.55, Z:8.00 [[ 7.85632088e-01 3.77053800e-02 -6.17543947e-01 1.97919408e+01] [-2.83920370e-02 9.99286850e-01 2.48934431e-02 5.53988155e-01] [ 6.18042162e-01 -2.02375708e-03 7.86142347e-01 7.99962606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.42538475 meters Centerline goodness [0,1] 0.9454293201788192 Centerline is valid? [False, False] Translation: X:19.79, Y:0.55, Z:8.00 [[ 7.85624565e-01 3.87752892e-02 -6.17487262e-01 1.97898648e+01] [-2.87509856e-02 9.99244019e-01 2.61681434e-02 5.51752201e-01] [ 6.18035131e-01 -2.80496886e-03 7.86145476e-01 8.00073614e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.45538475 meters Centerline goodness [0,1] 0.9459767635366267 Centerline is valid? [False, False] Translation: X:19.79, Y:0.55, Z:8.00 [[ 7.85601978e-01 3.96038964e-02 -6.17463411e-01 1.97883357e+01] [-2.88851514e-02 9.99208823e-01 2.73381877e-02 5.49757393e-01] [ 6.18057587e-01 -3.64141023e-03 7.86124392e-01 8.00190515e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.48538475 meters Centerline goodness [0,1] 0.9467610401600246 Centerline is valid? [False, False] Translation: X:19.79, Y:0.55, Z:8.00 [[ 7.85547204e-01 3.92976975e-02 -6.17552655e-01 1.97892127e+01] [-2.86095263e-02 9.99220722e-01 2.71927262e-02 5.49916789e-01] [ 6.18140021e-01 -3.69328114e-03 7.86059333e-01 8.00196425e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.51538475 meters Centerline goodness [0,1] 0.9468917503542603 Centerline is valid? [False, False] Translation: X:19.79, Y:0.55, Z:8.00 [[ 7.85518737e-01 3.83050024e-02 -6.17651229e-01 1.97916999e+01] [-2.79390986e-02 9.99259924e-01 2.64388177e-02 5.50685045e-01] [ 6.18206859e-01 -3.51156810e-03 7.86007601e-01 8.00145905e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.54538475 meters Centerline goodness [0,1] 0.9470292167935183 Centerline is valid? [False, False] Translation: X:19.79, Y:0.55, Z:8.00 [[ 7.85357920e-01 3.80031636e-02 -6.17874338e-01 1.97928752e+01] [-2.76507609e-02 9.99271197e-01 2.63155819e-02 5.50814619e-01] [ 6.18424105e-01 -3.58245507e-03 7.85836365e-01 8.00172121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.57538475 meters Centerline goodness [0,1] 0.9462134251290878 Centerline is valid? [False, False] Translation: X:19.79, Y:0.55, Z:8.00 [[ 7.85219584e-01 3.73738021e-02 -6.18088508e-01 1.97946604e+01] [-2.73902400e-02 9.99296252e-01 2.56276363e-02 5.52179026e-01] [ 6.18611331e-01 -3.19372940e-03 7.85690665e-01 8.00139611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.60538475 meters Centerline goodness [0,1] 0.9468199563493284 Centerline is valid? [False, False] Translation: X:19.80, Y:0.55, Z:8.00 [[ 7.85198459e-01 3.72203677e-02 -6.18124603e-01 1.97952548e+01] [-2.73792936e-02 9.99302534e-01 2.53933083e-02 5.52909730e-01] [ 6.18638630e-01 -3.01497160e-03 7.85669877e-01 8.00120013e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.63538475000001 meters Centerline goodness [0,1] 0.9460995085995086 Centerline is valid? [False, False] Translation: X:19.80, Y:0.55, Z:8.00 [[ 7.84963558e-01 3.67876444e-02 -6.18448770e-01 1.97968285e+01] [-2.71945247e-02 9.99319327e-01 2.49267100e-02 5.53575668e-01] [ 6.18944804e-01 -2.74813863e-03 7.85429677e-01 8.00121458e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.66538475000002 meters Centerline goodness [0,1] 0.9449752680573904 Centerline is valid? [False, False] Translation: X:19.80, Y:0.55, Z:8.00 [[ 7.84830645e-01 3.63522701e-02 -6.18643170e-01 1.97981533e+01] [-2.69210894e-02 9.99335582e-01 2.45692861e-02 5.54124128e-01] [ 6.19125281e-01 -2.62818053e-03 7.85287832e-01 8.00123482e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.69538475000002 meters Centerline goodness [0,1] 0.9440447641886491 Centerline is valid? [False, False] Translation: X:19.80, Y:0.56, Z:8.00 [[ 7.84657058e-01 3.57185450e-02 -6.18900224e-01 1.97999417e+01] [-2.65255884e-02 9.99358883e-01 2.40461297e-02 5.55148083e-01] [ 6.19362329e-01 -2.45127274e-03 7.85101456e-01 8.00121954e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.72538475 meters Centerline goodness [0,1] 0.9420631759551457 Centerline is valid? [False, False] Translation: X:19.80, Y:0.56, Z:8.00 [[ 7.84079996e-01 3.96967254e-02 -6.19388997e-01 1.98035530e+01] [-2.89459006e-02 9.99205459e-01 2.73968107e-02 5.55301640e-01] [ 6.19984431e-01 -3.55251883e-03 7.84606070e-01 8.00232752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.75538475 meters Centerline goodness [0,1] 0.9427307361435419 Centerline is valid? [False, False] Translation: X:19.80, Y:0.56, Z:8.00 [[ 7.84231003e-01 4.07735156e-02 -6.19127818e-01 1.98008559e+01] [-2.98751606e-02 9.99162527e-01 2.79592375e-02 5.56233538e-01] [ 6.19749312e-01 -3.42995789e-03 7.84792346e-01 8.00236424e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.78538475 meters Centerline goodness [0,1] 0.9446932515337423 Centerline is valid? [False, False] Translation: X:19.80, Y:0.56, Z:8.00 [[ 7.84301968e-01 4.19938171e-02 -6.18956333e-01 1.97981161e+01] [-3.06982340e-02 9.99111184e-01 2.88870249e-02 5.55914669e-01] [ 6.19619271e-01 -3.65528413e-03 7.84894004e-01 8.00288718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.81538475 meters Centerline goodness [0,1] 0.9486668098554816 Centerline is valid? [False, False] Translation: X:19.79, Y:0.55, Z:8.00 [[ 7.84488905e-01 4.46958105e-02 -6.18530066e-01 1.97921073e+01] [-3.23043630e-02 9.98990473e-01 3.12163880e-02 5.54776446e-01] [ 6.19300885e-01 -4.50769033e-03 7.85140812e-01 8.00439844e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.84538475 meters Centerline goodness [0,1] 0.9485368624681426 Centerline is valid? [False, False] Translation: X:19.79, Y:0.55, Z:8.01 [[ 7.84558911e-01 4.57298489e-02 -6.18365665e-01 1.97898350e+01] [-3.27999659e-02 9.98941196e-01 3.22591074e-02 5.54127638e-01] [ 6.19186141e-01 -5.02679750e-03 7.85228155e-01 8.00515327e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.87538475 meters Centerline goodness [0,1] 0.9504673471897676 Centerline is valid? [False, True] Translation: X:19.79, Y:0.55, Z:8.01 [[ 7.84604241e-01 4.65218997e-02 -6.18249059e-01 1.97883001e+01] [-3.30502656e-02 9.98901389e-01 3.32219053e-02 5.52864632e-01] [ 6.19115389e-01 -5.63275218e-03 7.85279827e-01 8.00587722e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.90538475 meters Centerline goodness [0,1] 0.9512646514497224 Centerline is valid? [True, True] Translation: X:19.81, Y:0.55, Z:8.02 [[ 7.86200810e-01 4.15550352e-02 -6.16572353e-01 1.98102684e+01] [-2.92489709e-02 9.99120608e-01 3.00417743e-02 5.47761043e-01] [ 6.17278531e-01 -5.58476049e-03 7.86724873e-01 8.02113612e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.93538475 meters Centerline goodness [0,1] 0.949902648576815 Centerline is valid? [True, False] Translation: X:19.81, Y:0.55, Z:8.02 [[ 7.86934965e-01 3.78820351e-02 -6.15871994e-01 1.98125368e+01] [-2.60401668e-02 9.99263310e-01 2.81912641e-02 5.46486971e-01] [ 6.16486229e-01 -6.14728196e-03 7.87341692e-01 8.02054689e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.96538475 meters Centerline goodness [0,1] 0.9506894206393371 Centerline is valid? [False, True] Translation: X:19.81, Y:0.54, Z:8.02 [[ 7.86501478e-01 3.75242403e-02 -6.16447367e-01 1.98139807e+01] [-2.52794507e-02 9.99271962e-01 2.85743712e-02 5.44523207e-01] [ 6.17070801e-01 -6.89033431e-03 7.86877468e-01 8.02207601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 169.99538475 meters Centerline goodness [0,1] 0.9523986842921864 Centerline is valid? [True, True] Translation: X:19.83, Y:0.54, Z:8.04 [[ 7.86058616e-01 3.78147823e-02 -6.16994242e-01 1.98348894e+01] [-2.24380901e-02 9.99214810e-01 3.26541726e-02 5.39421475e-01] [ 6.17744595e-01 -1.18239213e-02 7.86289902e-01 8.04269209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.02538475 meters Centerline goodness [0,1] 0.9500964470163649 Centerline is valid? [True, True] Translation: X:19.86, Y:0.53, Z:8.06 [[ 7.85181757e-01 3.36098176e-02 -6.18352640e-01 1.98581655e+01] [-1.71521161e-02 9.99323334e-01 3.25373338e-02 5.31278420e-01] [ 6.19027796e-01 -1.49416647e-02 7.85226931e-01 8.05785533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.05538475 meters Centerline goodness [0,1] 0.9498277481991857 Centerline is valid? [True, False] Translation: X:19.86, Y:0.53, Z:8.05 [[ 7.89610612e-01 2.71757483e-02 -6.13006166e-01 1.98587209e+01] [-9.79131749e-03 9.99449615e-01 3.16953793e-02 5.32155395e-01] [ 6.13530122e-01 -1.90248699e-02 7.89442109e-01 8.05115953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.08538475 meters Centerline goodness [0,1] 0.948770043447004 Centerline is valid? [False, False] Translation: X:19.86, Y:0.53, Z:8.05 [[ 7.89148762e-01 2.60835269e-02 -6.13648010e-01 1.98613405e+01] [-8.57800902e-03 9.99468460e-01 3.14518045e-02 5.32067701e-01] [ 6.14142206e-01 -1.95562744e-02 7.88953042e-01 8.05246700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.11538475 meters Centerline goodness [0,1] 0.9457966672907695 Centerline is valid? [False, False] Translation: X:19.86, Y:0.53, Z:8.05 [[ 7.88807198e-01 2.49935081e-02 -6.14132338e-01 1.98638864e+01] [-7.47156942e-03 9.99488980e-01 3.10797966e-02 5.32205051e-01] [ 6.14595297e-01 -1.99274349e-02 7.88590843e-01 8.05331462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.14538475 meters Centerline goodness [0,1] 0.945697968355023 Centerline is valid? [False, False] Translation: X:19.87, Y:0.53, Z:8.05 [[ 7.88383016e-01 2.37465865e-02 -6.14726216e-01 1.98660938e+01] [-6.34138967e-03 9.99515321e-01 3.04780122e-02 5.33574714e-01] [ 6.15152020e-01 -2.01301287e-02 7.88151490e-01 8.05440309e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.17538475 meters Centerline goodness [0,1] 0.946597250366306 Centerline is valid? [False, False] Translation: X:19.87, Y:0.53, Z:8.05 [[ 7.88360764e-01 2.39651835e-02 -6.14746269e-01 1.98653496e+01] [-6.56477366e-03 9.99511802e-01 3.05460557e-02 5.34955791e-01] [ 6.15178193e-01 -2.00456417e-02 7.88133214e-01 8.05468582e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.20538475 meters Centerline goodness [0,1] 0.9472998542138403 Centerline is valid? [False, False] Translation: X:19.86, Y:0.54, Z:8.06 [[ 7.88036536e-01 3.02140276e-02 -6.14886599e-01 1.98629828e+01] [-1.08359052e-02 9.99320945e-01 3.52169351e-02 5.37053790e-01] [ 6.15533103e-01 -2.10893786e-02 7.87828812e-01 8.05642924e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.23538475 meters Centerline goodness [0,1] 0.9474866869824853 Centerline is valid? [False, False] Translation: X:19.86, Y:0.54, Z:8.06 [[ 7.87572231e-01 3.65392584e-02 -6.15138085e-01 1.98613806e+01] [-1.47480161e-02 9.99072197e-01 4.04628325e-02 5.36494664e-01] [ 6.16045840e-01 -2.27953368e-02 7.87380401e-01 8.05884150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.26538475 meters Centerline goodness [0,1] 0.9474866869824853 Centerline is valid? [False, False] Translation: X:19.86, Y:0.54, Z:8.06 [[ 7.87572231e-01 3.65392584e-02 -6.15138085e-01 1.98613806e+01] [-1.47480161e-02 9.99072197e-01 4.04628325e-02 5.36494664e-01] [ 6.16045840e-01 -2.27953368e-02 7.87380401e-01 8.05884150e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.29538475 meters Centerline goodness [0,1] 0.9494106090373281 Centerline is valid? [False, False] Translation: X:19.86, Y:0.54, Z:8.06 [[ 7.87378142e-01 4.32734441e-02 -6.14949649e-01 1.98580286e+01] [-1.95028473e-02 9.98782486e-01 4.53120713e-02 5.38798503e-01] [ 6.16161748e-01 -2.36844654e-02 7.87263454e-01 8.06010439e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.32538475 meters Centerline goodness [0,1] 0.9507422196482458 Centerline is valid? [False, True] Translation: X:19.86, Y:0.54, Z:8.06 [[ 0.78703971 0.04907049 -0.61494763 19.85671612] [-0.0236253 0.99849766 0.04943952 0.5420752 ] [ 0.61644979 -0.02438255 0.78701661 8.06113344] [ 0. 0. 0. 1. ]] SLAMing on 170.35538475 meters Centerline goodness [0,1] 0.949409012184376 Centerline is valid? [True, False] Translation: X:19.86, Y:0.54, Z:8.06 [[ 0.78688595 0.04876177 -0.61516891 19.85714498] [-0.02353916 0.99851947 0.04903847 0.54450141] [ 0.61664934 -0.02410712 0.78686875 8.06134019] [ 0. 0. 0. 1. ]] SLAMing on 170.38538475000001 meters Centerline goodness [0,1] 0.9482737807822308 Centerline is valid? [False, False] Translation: X:19.86, Y:0.55, Z:8.06 [[ 0.78618204 0.053154 -0.61570484 19.8590629 ] [-0.02641986 0.9982742 0.05244632 0.54662081] [ 0.61742999 -0.02496552 0.78622957 8.06284934] [ 0. 0. 0. 1. ]] SLAMing on 170.41538475000002 meters Centerline goodness [0,1] 0.9486963835155593 Centerline is valid? [False, False] Translation: X:19.86, Y:0.55, Z:8.06 [[ 0.78603578 0.05273623 -0.61592746 19.85968044] [-0.02622395 0.99830225 0.05200894 0.54849049] [ 0.61762452 -0.02472883 0.78608424 8.06303668] [ 0. 0. 0. 1. ]] SLAMing on 170.44538475000002 meters Centerline goodness [0,1] 0.9477640997993231 Centerline is valid? [False, False] Translation: X:19.86, Y:0.55, Z:8.06 [[ 0.78589091 0.05227859 -0.6161513 19.86027548] [-0.0259649 0.99833088 0.05158758 0.55018371] [ 0.61781979 -0.02454391 0.78593657 8.06329366] [ 0. 0. 0. 1. ]] SLAMing on 170.47538475 meters Centerline goodness [0,1] 0.9462609839201387 Centerline is valid? [False, False] Translation: X:19.86, Y:0.55, Z:8.06 [[ 0.78557376 0.05086301 -0.616674 19.86251571] [-0.02515042 0.99841692 0.05031017 0.55385882] [ 0.61825668 -0.02401274 0.78560936 8.06350457] [ 0. 0. 0. 1. ]] SLAMing on 170.50538475 meters Centerline goodness [0,1] 0.944375 Centerline is valid? [False, False] Translation: X:19.87, Y:0.56, Z:8.06 [[ 0.78481585 0.05471576 -0.61730889 19.86544775] [-0.02768938 0.99819601 0.05327315 0.55651014] [ 0.61911015 -0.02471671 0.7849151 8.06484011] [ 0. 0. 0. 1. ]] SLAMing on 170.53538475 meters Centerline goodness [0,1] 0.9439670498992533 Centerline is valid? [False, False] Translation: X:19.87, Y:0.56, Z:8.07 [[ 0.78405408 0.05950414 -0.61783368 19.86688429] [-0.03071227 0.99789407 0.0571331 0.55724387] [ 0.61993222 -0.02582037 0.78423042 8.06663883] [ 0. 0. 0. 1. ]] SLAMing on 170.56538475 meters Centerline goodness [0,1] 0.9444575263436745 Centerline is valid? [False, False] Translation: X:19.87, Y:0.56, Z:8.07 [[ 0.78369114 0.06550247 -0.61768731 19.86574423] [-0.03537143 0.99751671 0.06090384 0.56145429] [ 0.62014277 -0.02588131 0.78406193 8.06676881] [ 0. 0. 0. 1. ]] SLAMing on 170.59538475 meters Centerline goodness [0,1] 0.9469710272168569 Centerline is valid? [False, False] Translation: X:19.86, Y:0.56, Z:8.07 [[ 0.78340349 0.07202048 -0.61732652 19.86380057] [-0.04002908 0.99704786 0.06552277 0.56244851] [ 0.62022307 -0.02661976 0.78397368 8.06732469] [ 0. 0. 0. 1. ]] SLAMing on 170.62538475 meters Centerline goodness [0,1] 0.9456610366919045 Centerline is valid? [False, False] Translation: X:19.86, Y:0.56, Z:8.07 [[ 0.7830246 0.07864038 -0.61699932 19.86157577] [-0.04476603 0.99652783 0.07020173 0.56341553] [ 0.62037768 -0.02734908 0.78382623 8.06803682] [ 0. 0. 0. 1. ]] SLAMing on 170.65538475 meters Centerline goodness [0,1] 0.947726811741184 Centerline is valid? [False, False] Translation: X:19.85, Y:0.57, Z:8.07 [[ 0.78264853 0.08856204 -0.61613151 19.854569 ] [-0.05261315 0.99569675 0.07628783 0.56563718] [ 0.62023635 -0.02728994 0.78394013 8.06786701] [ 0. 0. 0. 1. ]] SLAMing on 170.68538475 meters Centerline goodness [0,1] 0.9520670714079214 Centerline is valid? [False, True] Translation: X:19.85, Y:0.57, Z:8.07 [[ 0.78211139 0.09504877 -0.61584698 19.85301174] [-0.05721554 0.99507736 0.08091614 0.56571907] [ 0.62050637 -0.02804942 0.78369961 8.06861882] [ 0. 0. 0. 1. ]] SLAMing on 170.71538475 meters Centerline goodness [0,1] 0.9537665324899367 Centerline is valid? [True, True] Translation: X:19.89, Y:0.59, Z:8.06 [[ 7.82019254e-01 7.69192035e-02 -6.18489549e-01 1.98948180e+01] [-6.77580909e-02 9.96965782e-01 3.83154124e-02 5.88810016e-01] [ 6.19560108e-01 1.19442808e-02 7.84858336e-01 8.06268988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.74538475 meters Centerline goodness [0,1] 0.95308947535039 Centerline is valid? [True, True] Translation: X:19.92, Y:0.59, Z:8.08 [[ 7.81698764e-01 8.21606465e-02 -6.18220567e-01 1.99186825e+01] [-7.44922393e-02 9.96488084e-01 3.82413900e-02 5.92498215e-01] [ 6.19191366e-01 1.61593871e-02 7.85073835e-01 8.07964854e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.77538475 meters Centerline goodness [0,1] 0.940360769872551 Centerline is valid? [True, False] Translation: X:19.92, Y:0.59, Z:8.08 [[ 7.81724529e-01 8.30898090e-02 -6.18063787e-01 1.99177021e+01] [-7.51799112e-02 9.96412268e-01 3.88660925e-02 5.91245914e-01] [ 6.19075716e-01 1.60834028e-02 7.85166595e-01 8.07950006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.80538475 meters Centerline goodness [0,1] 0.9531200046502165 Centerline is valid? [False, True] Translation: X:19.91, Y:0.59, Z:8.08 [[ 7.81846163e-01 8.52523694e-02 -6.17615261e-01 1.99147582e+01] [-7.65002295e-02 9.96239633e-01 4.06731827e-02 5.86918199e-01] [ 6.18760287e-01 1.54475374e-02 7.85427961e-01 8.07959357e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.83538475 meters Centerline goodness [0,1] 0.9504982134038288 Centerline is valid? [True, True] Translation: X:19.94, Y:0.59, Z:8.09 [[ 7.82400091e-01 8.35394325e-02 -6.17147682e-01 1.99386230e+01] [-7.68877005e-02 9.96338343e-01 3.73923399e-02 5.85960117e-01] [ 6.18011634e-01 1.81952960e-02 7.85958365e-01 8.09414555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.86538475 meters Centerline goodness [0,1] 0.9515007481735762 Centerline is valid? [True, True] Translation: X:19.96, Y:0.58, Z:8.11 [[ 7.82441284e-01 8.27011570e-02 -6.17208357e-01 1.99607600e+01] [-7.58733222e-02 9.96418553e-01 3.73270182e-02 5.78815559e-01] [ 6.18084846e-01 1.76234485e-02 7.85913823e-01 8.11043491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.89538475 meters Centerline goodness [0,1] 0.9547374596655911 Centerline is valid? [True, True] Translation: X:19.98, Y:0.57, Z:8.13 [[ 7.82708746e-01 8.03937795e-02 -6.17174092e-01 1.99828977e+01] [-7.29918728e-02 9.96636519e-01 3.72536690e-02 5.71399782e-01] [ 6.18093201e-01 1.58899202e-02 7.85944212e-01 8.12871568e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.92538475 meters Centerline goodness [0,1] 0.9562108497813497 Centerline is valid? [True, True] Translation: X:20.01, Y:0.56, Z:8.15 [[ 7.83226874e-01 7.52186117e-02 -6.17169203e-01 2.00050916e+01] [-6.65534855e-02 9.97094297e-01 3.70620735e-02 5.57952932e-01] [ 6.18163650e-01 1.20467497e-02 7.85957109e-01 8.14720772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.95538475 meters Centerline goodness [0,1] 0.9556651710100139 Centerline is valid? [True, True] Translation: X:20.03, Y:0.55, Z:8.16 [[ 7.83391684e-01 7.32987632e-02 -6.17191024e-01 2.00278512e+01] [-6.42497953e-02 9.97251985e-01 3.68841749e-02 5.52937916e-01] [ 6.18198538e-01 1.07596411e-02 7.85948343e-01 8.16279139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 170.98538475 meters Centerline goodness [0,1] 0.9520337108873016 Centerline is valid? [True, True] Translation: X:20.05, Y:0.54, Z:8.18 [[ 7.83847605e-01 6.96412225e-02 -6.17035681e-01 2.00512137e+01] [-5.96553360e-02 9.97540337e-01 3.68037651e-02 5.44285842e-01] [ 6.18081041e-01 7.96092775e-03 7.86074075e-01 8.17751704e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.01538475 meters Centerline goodness [0,1] 0.9542417068712356 Centerline is valid? [True, True] Translation: X:20.07, Y:0.54, Z:8.20 [[ 7.84538999e-01 6.78183495e-02 -6.16359660e-01 2.00728535e+01] [-5.74171005e-02 9.97675827e-01 3.66908721e-02 5.38712759e-01] [ 6.17415448e-01 6.60416452e-03 7.86609528e-01 8.19650541e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.04538475 meters Centerline goodness [0,1] 0.953793186760087 Centerline is valid? [True, True] Translation: X:20.09, Y:0.53, Z:8.22 [[ 7.84872492e-01 6.54586795e-02 -6.16190175e-01 2.00944986e+01] [-5.45756281e-02 9.97842795e-01 3.64864021e-02 5.29619853e-01] [ 6.17249279e-01 4.99179249e-03 7.86751810e-01 8.21563275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.07538475 meters Centerline goodness [0,1] 0.9527761790809681 Centerline is valid? [True, True] Translation: X:20.12, Y:0.53, Z:8.23 [[ 7.84874321e-01 6.41989053e-02 -6.16320372e-01 2.01173073e+01] [-5.31208498e-02 9.97928080e-01 3.63004380e-02 5.25480322e-01] [ 6.17373854e-01 4.24818035e-03 7.86658425e-01 8.23212657e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.10538475 meters Centerline goodness [0,1] 0.9516899394603145 Centerline is valid? [True, True] Translation: X:20.14, Y:0.52, Z:8.25 [[ 7.84185407e-01 6.24217987e-02 -6.17378948e-01 2.01409663e+01] [-5.08749590e-02 9.98045494e-01 3.62895342e-02 5.19633633e-01] [ 6.18437536e-01 2.95140553e-03 7.85828419e-01 8.24910978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.13538475000001 meters Centerline goodness [0,1] 0.9507549076654519 Centerline is valid? [True, True] Translation: X:20.16, Y:0.51, Z:8.27 [[ 7.83897811e-01 5.94513073e-02 -6.18037025e-01 2.01628943e+01] [-4.72187022e-02 9.98230838e-01 3.61329340e-02 5.11540825e-01] [ 6.19091768e-01 8.58378347e-04 7.85318182e-01 8.26574475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.16538475000002 meters Centerline goodness [0,1] 0.949041851908631 Centerline is valid? [True, False] Translation: X:20.16, Y:0.51, Z:8.27 [[ 7.83581928e-01 5.95320352e-02 -6.18429704e-01 2.01636443e+01] [-4.68076513e-02 9.98226388e-01 3.67848094e-02 5.09279155e-01] [ 6.19522724e-01 1.23330055e-04 7.84978712e-01 8.26697270e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.19538475000002 meters Centerline goodness [0,1] 0.9501571067709937 Centerline is valid? [False, True] Translation: X:20.16, Y:0.51, Z:8.27 [[ 7.83396633e-01 5.94362575e-02 -6.18673619e-01 2.01645846e+01] [-4.64672265e-02 9.98232062e-01 3.70613978e-02 5.07959329e-01] [ 6.19782633e-01 -2.85727051e-04 7.84773474e-01 8.26757107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.22538475 meters Centerline goodness [0,1] 0.94800602650432 Centerline is valid? [True, False] Translation: X:20.17, Y:0.51, Z:8.27 [[ 7.83211927e-01 5.85621589e-02 -6.18990752e-01 2.01676707e+01] [-4.56474128e-02 9.98283649e-01 3.66888317e-02 5.07427029e-01] [ 6.20076924e-01 -4.79804163e-04 7.84540871e-01 8.26764212e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.25538475 meters Centerline goodness [0,1] 0.9479539011463084 Centerline is valid? [False, False] Translation: X:20.17, Y:0.51, Z:8.27 [[ 7.83066389e-01 5.85137483e-02 -6.19179434e-01 2.01683926e+01] [-4.54771389e-02 9.98286372e-01 3.68259301e-02 5.07110608e-01] [ 6.20273214e-01 -6.78639013e-04 7.84385542e-01 8.26804548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.28538475 meters Centerline goodness [0,1] 0.9475940777297964 Centerline is valid? [False, False] Translation: X:20.17, Y:0.51, Z:8.27 [[ 7.83088280e-01 5.88483892e-02 -6.19120032e-01 2.01680157e+01] [-4.57041173e-02 9.98266658e-01 3.70784742e-02 5.06840364e-01] [ 6.20228893e-01 -7.39384026e-04 7.84420533e-01 8.26805868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.31538475 meters Centerline goodness [0,1] 0.9476833857733358 Centerline is valid? [False, False] Translation: X:20.17, Y:0.51, Z:8.27 [[ 7.83026057e-01 5.93014880e-02 -6.19155496e-01 2.01674141e+01] [-4.59492502e-02 9.98239701e-01 3.74988829e-02 5.06633548e-01] [ 6.20289336e-01 -9.12871678e-04 7.84372556e-01 8.26846462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.34538475 meters Centerline goodness [0,1] 0.9476068665824268 Centerline is valid? [False, False] Translation: X:20.17, Y:0.51, Z:8.27 [[ 7.82959398e-01 6.02839299e-02 -6.19144918e-01 2.01656169e+01] [-4.63970432e-02 9.98180245e-01 3.85163896e-02 5.05437697e-01] [ 6.20340145e-01 -1.43027572e-03 7.84331600e-01 8.26941927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.37538475 meters Centerline goodness [0,1] 0.9490312230038257 Centerline is valid? [False, False] Translation: X:20.17, Y:0.50, Z:8.27 [[ 7.82930204e-01 6.06274677e-02 -6.19148290e-01 2.01652210e+01] [-4.65345952e-02 9.98159114e-01 3.88962058e-02 5.04892802e-01] [ 6.20366687e-01 -1.64119930e-03 7.84310194e-01 8.26972961e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.40538475 meters Centerline goodness [0,1] 0.9498104017017603 Centerline is valid? [False, False] Translation: X:20.17, Y:0.51, Z:8.27 [[ 7.82969165e-01 6.06848729e-02 -6.19093396e-01 2.01654717e+01] [-4.66011377e-02 9.98155675e-01 3.89047865e-02 5.05723731e-01] [ 6.20312518e-01 -1.61079159e-03 7.84353100e-01 8.26964101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.43538475 meters Centerline goodness [0,1] 0.9491379044446501 Centerline is valid? [False, False] Translation: X:20.17, Y:0.51, Z:8.27 [[ 7.82892406e-01 5.99816900e-02 -6.19258974e-01 2.01673335e+01] [-4.61906888e-02 9.98198534e-01 3.82897891e-02 5.07142162e-01] [ 6.20440086e-01 -1.37278656e-03 7.84252648e-01 8.26938437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.46538475 meters Centerline goodness [0,1] 0.9459525781417748 Centerline is valid? [False, False] Translation: X:20.17, Y:0.51, Z:8.27 [[ 7.82075689e-01 6.40159651e-02 -6.19886743e-01 2.01707217e+01] [-4.85639522e-02 9.97945547e-01 4.17878931e-02 5.07360708e-01] [ 6.21288307e-01 -2.57714511e-03 7.83577819e-01 8.27114896e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.49538475 meters Centerline goodness [0,1] 0.9454171905185367 Centerline is valid? [False, False] Translation: X:20.17, Y:0.51, Z:8.27 [[ 7.82075225e-01 6.38053130e-02 -6.19909045e-01 2.01712965e+01] [-4.87459418e-02 9.97960324e-01 4.12192363e-02 5.09530035e-01] [ 6.21274638e-01 -2.01849329e-03 7.83590295e-01 8.27061396e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.52538475 meters Centerline goodness [0,1] 0.9480185122751096 Centerline is valid? [False, False] Translation: X:20.17, Y:0.51, Z:8.27 [[ 7.82019769e-01 6.40079160e-02 -6.19958118e-01 2.01709579e+01] [-4.89648381e-02 9.97947550e-01 4.12690323e-02 5.10334836e-01] [ 6.21327229e-01 -1.91705027e-03 7.83548849e-01 8.27076140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.55538475 meters Centerline goodness [0,1] 0.945086175284195 Centerline is valid? [False, False] Translation: X:20.17, Y:0.51, Z:8.27 [[ 7.81970732e-01 6.41606077e-02 -6.20004187e-01 2.01706790e+01] [-4.91655636e-02 9.97937994e-01 4.12614575e-02 5.11090545e-01] [ 6.21373094e-01 -1.78239688e-03 7.83512796e-01 8.27084764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.58538475 meters Centerline goodness [0,1] 0.9483011041298115 Centerline is valid? [False, False] Translation: X:20.17, Y:0.51, Z:8.27 [[ 7.82021041e-01 6.45983939e-02 -6.19895265e-01 2.01696510e+01] [-4.97371708e-02 9.97910328e-01 4.12455003e-02 5.13195052e-01] [ 6.21264280e-01 -1.42301240e-03 7.83599815e-01 8.27067799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.61538475 meters Centerline goodness [0,1] 0.9470194647201946 Centerline is valid? [False, False] Translation: X:20.17, Y:0.51, Z:8.27 [[ 7.82053418e-01 6.49371573e-02 -6.19819020e-01 2.01689563e+01] [-5.01239928e-02 9.97888593e-01 4.13030382e-02 5.14159774e-01] [ 6.21192431e-01 -1.23337812e-03 7.83657095e-01 8.27055135e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.64538475 meters Centerline goodness [0,1] 0.9488486393009921 Centerline is valid? [False, False] Translation: X:20.17, Y:0.52, Z:8.27 [[ 7.82155303e-01 6.53500775e-02 -6.19647037e-01 2.01680602e+01] [-5.05869070e-02 9.97861875e-01 4.13840974e-02 5.16011761e-01] [ 6.21026608e-01 -1.02276421e-03 7.83788815e-01 8.27035529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.67538475 meters Centerline goodness [0,1] 0.9490022172949002 Centerline is valid? [False, False] Translation: X:20.17, Y:0.52, Z:8.27 [[ 7.82315931e-01 6.58717038e-02 -6.19388975e-01 2.01669077e+01] [-5.08983540e-02 9.97827380e-01 4.18315427e-02 5.16219494e-01] [ 6.20798793e-01 -1.19960304e-03 7.83969017e-01 8.27038134e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.70538475 meters Centerline goodness [0,1] 0.9507264879323971 Centerline is valid? [False, True] Translation: X:20.17, Y:0.52, Z:8.27 [[ 7.82263064e-01 6.67071908e-02 -6.19366329e-01 2.01652058e+01] [-5.12884622e-02 9.97771273e-01 4.26846727e-02 5.15288871e-01] [ 6.20833305e-01 -1.62429637e-03 7.83940922e-01 8.27115935e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.73538475 meters Centerline goodness [0,1] 0.9538902264346448 Centerline is valid? [True, True] Translation: X:20.19, Y:0.52, Z:8.29 [[ 7.84236246e-01 6.26430879e-02 -6.17291953e-01 2.01880196e+01] [-5.12988038e-02 9.98030374e-01 3.61082355e-02 5.15558579e-01] [ 6.18338050e-01 3.34895167e-03 7.85905109e-01 8.28762110e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.76538475 meters Centerline goodness [0,1] 0.9535095438958516 Centerline is valid? [True, True] Translation: X:20.21, Y:0.51, Z:8.30 [[ 7.84763893e-01 6.24551718e-02 -6.16640076e-01 2.02107505e+01] [-5.11419793e-02 9.98042363e-01 3.59991660e-02 5.14837556e-01] [ 6.17681253e-01 3.28534835e-03 7.86421691e-01 8.30485081e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.79538475 meters Centerline goodness [0,1] 0.9554126603779308 Centerline is valid? [True, True] Translation: X:20.23, Y:0.51, Z:8.32 [[ 7.85681037e-01 6.18299283e-02 -6.15534214e-01 2.02329856e+01] [-5.05393351e-02 9.98082122e-01 3.57470769e-02 5.13526023e-01] [ 6.16563933e-01 3.02288946e-03 7.87299040e-01 8.32397950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.82538475 meters Centerline goodness [0,1] 0.9535152214862976 Centerline is valid? [True, True] Translation: X:20.26, Y:0.51, Z:8.34 [[ 7.86192341e-01 6.10776600e-02 -6.14956196e-01 2.02568091e+01] [-4.97610184e-02 9.98129426e-01 3.55174536e-02 5.12179887e-01] [ 6.15975198e-01 2.67729653e-03 7.87760997e-01 8.33886755e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.85538475 meters Centerline goodness [0,1] 0.9527024971864829 Centerline is valid? [True, True] Translation: X:20.28, Y:0.51, Z:8.36 [[ 7.86284762e-01 6.09304882e-02 -6.14852623e-01 2.02796713e+01] [-4.96627879e-02 9.98138365e-01 3.54035482e-02 5.10677265e-01] [ 6.15865148e-01 2.69802497e-03 7.87846965e-01 8.35573014e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.88538475000001 meters Centerline goodness [0,1] 0.9520021858587085 Centerline is valid? [True, True] Translation: X:20.30, Y:0.51, Z:8.37 [[ 7.86043502e-01 6.02008188e-02 -6.15232862e-01 2.03029762e+01] [-4.88937657e-02 9.98183379e-01 3.52042800e-02 5.08541891e-01] [ 6.16234544e-01 2.40895590e-03 7.87559003e-01 8.37095225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.91538475000002 meters Centerline goodness [0,1] 0.9500426465212624 Centerline is valid? [True, True] Translation: X:20.33, Y:0.50, Z:8.39 [[ 7.84588469e-01 5.88817190e-02 -6.17214612e-01 2.03265429e+01] [-4.71917962e-02 9.98263877e-01 3.52443922e-02 5.03912880e-01] [ 6.18218302e-01 1.47512245e-03 7.86005061e-01 8.38799910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.94538475000002 meters Centerline goodness [0,1] 0.9504309027565552 Centerline is valid? [True, True] Translation: X:20.35, Y:0.50, Z:8.40 [[ 7.84277427e-01 5.77554293e-02 -6.17716138e-01 2.03498301e+01] [-4.58864700e-02 9.98330417e-01 3.50829092e-02 5.01474507e-01] [ 6.18711038e-01 8.30079303e-04 7.85618204e-01 8.40491628e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 171.97538475 meters Centerline goodness [0,1] 0.9500690501764616 Centerline is valid? [True, True] Translation: X:20.37, Y:0.50, Z:8.42 [[ 7.83655122e-01 5.56078369e-02 -6.18702205e-01 2.03739674e+01] [-4.32592799e-02 9.98452494e-01 3.49464202e-02 4.97847765e-01] [ 6.19688054e-01 -6.21329377e-04 7.84847966e-01 8.42083519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.00538475 meters Centerline goodness [0,1] 0.9493380621885223 Centerline is valid? [True, False] Translation: X:20.37, Y:0.50, Z:8.42 [[ 7.83503738e-01 5.58163741e-02 -6.18875128e-01 2.03743680e+01] [-4.31206457e-02 9.98440450e-01 3.54581039e-02 4.96583262e-01] [ 6.19889105e-01 -1.09526184e-03 7.84688663e-01 8.42149862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.03538475 meters Centerline goodness [0,1] 0.9494649044800834 Centerline is valid? [False, False] Translation: X:20.37, Y:0.50, Z:8.42 [[ 7.83343740e-01 5.58293402e-02 -6.19076465e-01 2.03748327e+01] [-4.29364861e-02 9.98439354e-01 3.57115542e-02 4.95719774e-01] [ 6.20104058e-01 -1.39345441e-03 7.84518334e-01 8.42205985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.06538475 meters Centerline goodness [0,1] 0.9499861585309588 Centerline is valid? [False, False] Translation: X:20.37, Y:0.49, Z:8.42 [[ 7.83257177e-01 5.68829941e-02 -6.19090074e-01 2.03732404e+01] [-4.32085716e-02 9.98378243e-01 3.70662054e-02 4.93076141e-01] [ 6.20194497e-01 -2.28237355e-03 7.84444757e-01 8.42327927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.09538475 meters Centerline goodness [0,1] 0.9511075510644197 Centerline is valid? [False, True] Translation: X:20.37, Y:0.49, Z:8.42 [[ 7.83246454e-01 5.81615431e-02 -6.18984835e-01 2.03709053e+01] [-4.38156893e-02 9.98302902e-01 3.83601546e-02 4.91213388e-01] [ 6.20165443e-01 -2.92420787e-03 7.84465596e-01 8.42425956e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.12538475 meters Centerline goodness [0,1] 0.9511075510644197 Centerline is valid? [True, True] Translation: X:20.39, Y:0.49, Z:8.44 [[ 7.83257502e-01 5.69398774e-02 -6.19084434e-01 2.03936768e+01] [-4.35752414e-02 9.98376050e-01 3.66941470e-02 4.90668858e-01] [ 6.20168432e-01 -1.76421222e-03 7.84466700e-01 8.44004653e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.15538475 meters Centerline goodness [0,1] 0.9518886557215158 Centerline is valid? [True, True] Translation: X:20.42, Y:0.49, Z:8.46 [[ 7.83684540e-01 5.69279766e-02 -6.18544863e-01 2.04168761e+01] [-4.37560489e-02 9.98377163e-01 3.64478860e-02 4.89522950e-01] [ 6.19615970e-01 -1.49856552e-03 7.84903691e-01 8.45734043e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.18538475 meters Centerline goodness [0,1] 0.9513876069164975 Centerline is valid? [True, True] Translation: X:20.44, Y:0.49, Z:8.47 [[ 7.83024712e-01 5.72287518e-02 -6.19352219e-01 2.04398868e+01] [-4.42492767e-02 9.98360568e-01 3.63067272e-02 4.91132215e-01] [ 6.20414621e-01 -1.02317692e-03 7.84273327e-01 8.47499530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.21538475 meters Centerline goodness [0,1] 0.948706114034278 Centerline is valid? [True, False] Translation: X:20.44, Y:0.49, Z:8.47 [[ 7.83034835e-01 5.70182198e-02 -6.19358837e-01 2.04405937e+01] [-4.42408480e-02 9.98372840e-01 3.59780398e-02 4.92081821e-01] [ 6.20402445e-01 -7.71098273e-04 7.84283247e-01 8.47462982e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.24538475 meters Centerline goodness [0,1] 0.9531808654913081 Centerline is valid? [False, True] Translation: X:20.44, Y:0.49, Z:8.48 [[ 7.82815645e-01 5.75890273e-02 -6.19583061e-01 2.04389630e+01] [-4.39748171e-02 9.98338565e-01 3.72333808e-02 4.90282080e-01] [ 6.20697898e-01 -1.90082123e-03 7.84047515e-01 8.47678279e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.27538475 meters Centerline goodness [0,1] 0.951437739108972 Centerline is valid? [True, True] Translation: X:20.46, Y:0.49, Z:8.49 [[ 7.83653569e-01 5.73301657e-02 -6.18546955e-01 2.04624638e+01] [-4.34436302e-02 9.98352120e-01 3.74926050e-02 4.89142370e-01] [ 6.19677121e-01 -2.50928854e-03 7.84852833e-01 8.49430866e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.30538475 meters Centerline goodness [0,1] 0.9524000369947899 Centerline is valid? [True, True] Translation: X:20.48, Y:0.49, Z:8.51 [[ 7.84502508e-01 5.65390026e-02 -6.17542838e-01 2.04843732e+01] [-4.26362297e-02 9.98396212e-01 3.72445368e-02 4.88047373e-01] [ 6.18658199e-01 -2.88873419e-03 7.85654942e-01 8.51086669e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.33538475 meters Centerline goodness [0,1] 0.9527855884806724 Centerline is valid? [True, True] Translation: X:20.51, Y:0.49, Z:8.53 [[ 7.85297920e-01 5.61291122e-02 -6.16568488e-01 2.05061622e+01] [-4.22461865e-02 9.98418787e-01 3.70835003e-02 4.86277138e-01] [ 6.17675025e-01 -3.07392833e-03 7.86427437e-01 8.53012978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.36538475 meters Centerline goodness [0,1] 0.9534826331050651 Centerline is valid? [True, True] Translation: X:20.53, Y:0.49, Z:8.55 [[ 7.85424837e-01 5.58843500e-02 -6.16429043e-01 2.05292750e+01] [-4.20943618e-02 9.98432683e-01 3.68814619e-02 4.85638173e-01] [ 6.17523999e-01 -3.01942907e-03 7.86546244e-01 8.54700511e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.39538475 meters Centerline goodness [0,1] 0.9535349180933612 Centerline is valid? [True, True] Translation: X:20.55, Y:0.48, Z:8.56 [[ 7.86650970e-01 5.62050157e-02 -6.14834325e-01 2.05517319e+01] [-4.27554718e-02 9.98416175e-01 3.65665390e-02 4.84467715e-01] [ 6.15915758e-01 -2.47757174e-03 7.87808124e-01 8.56448086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.42538475 meters Centerline goodness [0,1] 0.9549610774743605 Centerline is valid? [True, True] Translation: X:20.57, Y:0.48, Z:8.58 [[ 7.87219034e-01 5.61334128e-02 -6.14113371e-01 2.05737634e+01] [-4.28506410e-02 9.98420660e-01 3.63319216e-02 4.83568506e-01] [ 6.15182912e-01 -2.28602858e-03 7.88381100e-01 8.58350159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.45538475 meters Centerline goodness [0,1] 0.9557061450793162 Centerline is valid? [True, True] Translation: X:20.60, Y:0.48, Z:8.60 [[ 7.88299726e-01 5.64141093e-02 -6.12699755e-01 2.05951626e+01] [-4.34256156e-02 9.98405804e-01 3.60564420e-02 4.81858157e-01] [ 6.13757084e-01 -1.81641931e-03 7.89492839e-01 8.60155353e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.48538475 meters Centerline goodness [0,1] 0.9541739908101273 Centerline is valid? [True, True] Translation: X:20.62, Y:0.48, Z:8.62 [[ 7.88089412e-01 5.65835978e-02 -6.12954628e-01 2.06167642e+01] [-4.36820805e-02 9.98396587e-01 3.60018259e-02 4.80776193e-01] [ 6.14008921e-01 -1.59752440e-03 7.89297468e-01 8.61736592e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.51538475 meters Centerline goodness [0,1] 0.9515548583556335 Centerline is valid? [True, True] Translation: X:20.64, Y:0.48, Z:8.63 [[ 7.87971887e-01 5.62966912e-02 -6.13132113e-01 2.06407956e+01] [-4.33855236e-02 9.98412638e-01 3.59151880e-02 4.80213409e-01] [ 6.14180757e-01 -1.69910072e-03 7.89163552e-01 8.63200266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.54538475 meters Centerline goodness [0,1] 0.9521199618191335 Centerline is valid? [True, True] Translation: X:20.66, Y:0.48, Z:8.65 [[ 7.87280627e-01 5.57710556e-02 -6.14067426e-01 2.06639710e+01] [-4.28319523e-02 9.98441857e-01 3.57670658e-02 4.78959931e-01] [ 6.15105388e-01 -1.85701132e-03 7.88442714e-01 8.64880121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.57538475 meters Centerline goodness [0,1] 0.9507969721213613 Centerline is valid? [True, True] Translation: X:20.69, Y:0.48, Z:8.66 [[ 7.85352051e-01 5.43044456e-02 -6.16662941e-01 2.06876694e+01] [-4.09944710e-02 9.98520568e-01 3.57229413e-02 4.75644595e-01] [ 6.17690545e-01 -2.77531412e-03 7.86416358e-01 8.66435918e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.60538475 meters Centerline goodness [0,1] 0.9482443928847641 Centerline is valid? [True, False] Translation: X:20.69, Y:0.48, Z:8.66 [[ 7.90097794e-01 5.02307344e-02 -6.10919266e-01 2.06887648e+01] [-3.48896163e-02 9.98706291e-01 3.69926812e-02 4.75730649e-01] [ 6.11987084e-01 -7.91309698e-03 7.90828168e-01 8.65648848e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.63538475000001 meters Centerline goodness [0,1] 0.9470878024444999 Centerline is valid? [False, False] Translation: X:20.69, Y:0.47, Z:8.66 [[ 7.89685452e-01 4.97105557e-02 -6.11494683e-01 2.06907606e+01] [-3.39895658e-02 9.98726056e-01 3.72957644e-02 4.73360799e-01] [ 6.12569666e-01 -8.66748379e-03 7.90369078e-01 8.65783377e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.66538475000002 meters Centerline goodness [0,1] 0.9470821742256118 Centerline is valid? [False, False] Translation: X:20.69, Y:0.47, Z:8.66 [[ 7.89431547e-01 4.97153673e-02 -6.11822045e-01 2.06914196e+01] [-3.35765374e-02 9.98719927e-01 3.78301997e-02 4.71068281e-01] [ 6.12919610e-01 -9.32148731e-03 7.90090287e-01 8.65892700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.69538475000002 meters Centerline goodness [0,1] 0.9468128425998434 Centerline is valid? [False, False] Translation: X:20.69, Y:0.47, Z:8.66 [[ 7.89429128e-01 5.06790302e-02 -6.11746098e-01 2.06898568e+01] [-3.40883806e-02 9.98667577e-01 3.87434326e-02 4.69078617e-01] [ 6.12894473e-01 -9.73176039e-03 7.90104840e-01 8.65948528e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.72538475 meters Centerline goodness [0,1] 0.9494174392382861 Centerline is valid? [False, False] Translation: X:20.69, Y:0.47, Z:8.66 [[ 7.89798496e-01 5.25024266e-02 -6.11115235e-01 2.06861467e+01] [-3.55424432e-02 9.98573129e-01 3.98552399e-02 4.68780205e-01] [ 6.12335749e-01 -9.75708006e-03 7.90537621e-01 8.65910455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.75538475 meters Centerline goodness [0,1] 0.9507159194159852 Centerline is valid? [False, True] Translation: X:20.68, Y:0.47, Z:8.66 [[ 7.90037174e-01 5.37929898e-02 -6.10694341e-01 2.06832068e+01] [-3.65761083e-02 9.98504342e-01 4.06357926e-02 4.68890170e-01] [ 6.11966872e-01 -9.76696440e-03 7.90823086e-01 8.65899167e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.78538475 meters Centerline goodness [0,1] 0.9509813069577929 Centerline is valid? [True, True] Translation: X:20.71, Y:0.47, Z:8.67 [[ 7.91009079e-01 5.23584186e-02 -6.09559869e-01 2.07079856e+01] [-3.90285239e-02 9.98620352e-01 3.51307013e-02 4.73476998e-01] [ 6.10558279e-01 -3.99848175e-03 7.91961237e-01 8.67281184e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.81538475 meters Centerline goodness [0,1] 0.9505873578221145 Centerline is valid? [True, True] Translation: X:20.73, Y:0.48, Z:8.69 [[ 7.91123385e-01 5.37655962e-02 -6.09288971e-01 2.07324429e+01] [-4.08722710e-02 9.98549597e-01 3.50451199e-02 4.76040038e-01] [ 6.10289478e-01 -2.82198990e-03 7.92173459e-01 8.68908500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.84538475 meters Centerline goodness [0,1] 0.9490643202379477 Centerline is valid? [True, False] Translation: X:20.73, Y:0.48, Z:8.69 [[ 7.90568621e-01 5.95232748e-02 -6.09473736e-01 2.07324524e+01] [-4.48045861e-02 9.98219612e-01 3.93720010e-02 4.76350627e-01] [ 6.10732187e-01 -3.81905007e-03 7.91828018e-01 8.69029196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.87538475 meters Centerline goodness [0,1] 0.9488488674340884 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.69 [[ 7.90520870e-01 5.95738323e-02 -6.09530731e-01 2.07326148e+01] [-4.50000577e-02 9.98217553e-01 3.92009117e-02 4.77350370e-01] [ 6.10779624e-01 -3.56022080e-03 7.91792635e-01 8.69015180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.90538475 meters Centerline goodness [0,1] 0.9487155679356236 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.69 [[ 7.90658057e-01 5.99636564e-02 -6.09314531e-01 2.07321373e+01] [-4.54134370e-02 9.98194752e-01 3.93046711e-02 4.77934388e-01] [ 6.10571419e-01 -3.40548778e-03 7.91953878e-01 8.68970146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.93538475 meters Centerline goodness [0,1] 0.9484002219345293 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.69 [[ 7.90644330e-01 6.06246329e-02 -6.09266935e-01 2.07309110e+01] [-4.56956815e-02 9.98153395e-01 4.00212950e-02 4.77092592e-01] [ 6.10568136e-01 -3.80174216e-03 7.91954606e-01 8.69030176e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.96538475 meters Centerline goodness [0,1] 0.9483688910940213 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.69 [[ 7.90597517e-01 6.16497715e-02 -6.09224812e-01 2.07287168e+01] [-4.60844434e-02 9.98087728e-01 4.11960139e-02 4.75387077e-01] [ 6.10599533e-01 -4.49367993e-03 7.91926775e-01 8.69145428e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 172.99538475 meters Centerline goodness [0,1] 0.9489767571071396 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.69 [[ 7.90551201e-01 6.20013666e-02 -6.09249234e-01 2.07283557e+01] [-4.62642685e-02 9.98065225e-01 4.15382301e-02 4.75381276e-01] [ 6.10645901e-01 -4.65162752e-03 7.91890110e-01 8.69178308e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.02538475 meters Centerline goodness [0,1] 0.9454786006584412 Centerline is valid? [False, False] Translation: X:20.73, Y:0.47, Z:8.69 [[ 7.90217465e-01 6.68372354e-02 -6.09170865e-01 2.07296947e+01] [-4.93433713e-02 9.97746642e-01 4.54628332e-02 4.74891236e-01] [ 6.10836795e-01 -5.86698065e-03 7.91734797e-01 8.69251438e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.05538475 meters Centerline goodness [0,1] 0.9452000122801093 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.69 [[ 7.90266207e-01 6.70920105e-02 -6.09079621e-01 2.07294868e+01] [-4.95627819e-02 9.97729668e-01 4.55964980e-02 4.75108193e-01] [ 6.10755968e-01 -5.84569109e-03 7.91797307e-01 8.69239379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.08538475 meters Centerline goodness [0,1] 0.9449239748118569 Centerline is valid? [False, False] Translation: X:20.73, Y:0.47, Z:8.69 [[ 7.90229941e-01 6.80839666e-02 -6.09016596e-01 2.07280033e+01] [-5.03762741e-02 9.97662724e-01 4.61662221e-02 4.74324365e-01] [ 6.10736335e-01 -5.80194404e-03 7.91812772e-01 8.69252455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.11538475 meters Centerline goodness [0,1] 0.9463163730442281 Centerline is valid? [False, False] Translation: X:20.73, Y:0.47, Z:8.69 [[ 7.90231682e-01 6.87208790e-02 -6.08942796e-01 2.07269992e+01] [-5.08834036e-02 9.97619055e-01 4.65521243e-02 4.74236480e-01] [ 6.10692040e-01 -5.80188142e-03 7.91846936e-01 8.69260381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.14538475 meters Centerline goodness [0,1] 0.9462780791272103 Centerline is valid? [False, False] Translation: X:20.73, Y:0.47, Z:8.69 [[ 7.90282804e-01 6.92687233e-02 -6.08814367e-01 2.07265272e+01] [-5.15004439e-02 9.97582806e-01 4.66502988e-02 4.74676686e-01] [ 6.10574151e-01 -5.51271877e-03 7.91939907e-01 8.69215877e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.17538475 meters Centerline goodness [0,1] 0.9460924745094416 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.69 [[ 7.90218490e-01 6.92547964e-02 -6.08899426e-01 2.07270279e+01] [-5.16399990e-02 9.97585145e-01 4.64455588e-02 4.75249895e-01] [ 6.10645599e-01 -5.25857369e-03 7.91886545e-01 8.69195382e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.20538475 meters Centerline goodness [0,1] 0.9447530769466868 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.69 [[ 7.89627842e-01 7.38546826e-02 -6.09125075e-01 2.07300280e+01] [-5.47685991e-02 9.97250639e-01 4.99155592e-02 4.75765442e-01] [ 6.11136869e-01 -6.05378828e-03 7.91501787e-01 8.69242488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.23538475 meters Centerline goodness [0,1] 0.9436615412832818 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.69 [[ 7.88860981e-01 7.87584481e-02 -6.09504274e-01 2.07321473e+01] [-5.78563431e-02 9.96867145e-01 5.39308731e-02 4.75399580e-01] [ 6.11842297e-01 -7.28027307e-03 7.90946269e-01 8.69390415e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.26538475 meters Centerline goodness [0,1] 0.9431068198484478 Centerline is valid? [False, False] Translation: X:20.73, Y:0.47, Z:8.70 [[ 7.88074916e-01 8.35442575e-02 -6.09883828e-01 2.07346925e+01] [-6.09754502e-02 9.96469572e-01 5.77094950e-02 4.74475126e-01] [ 6.12551974e-01 -8.29146440e-03 7.90386823e-01 8.69504074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.29538475 meters Centerline goodness [0,1] 0.9446365723029839 Centerline is valid? [False, False] Translation: X:20.73, Y:0.47, Z:8.70 [[ 7.88042103e-01 8.41083744e-02 -6.09848690e-01 2.07340416e+01] [-6.14081829e-02 9.96421932e-01 5.80721019e-02 4.74047326e-01] [ 6.12550960e-01 -8.31356143e-03 7.90387377e-01 8.69513139e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.32538475 meters Centerline goodness [0,1] 0.9431118463376528 Centerline is valid? [False, False] Translation: X:20.73, Y:0.47, Z:8.69 [[ 7.88186201e-01 8.55890219e-02 -6.09456341e-01 2.07312604e+01] [-6.25936340e-02 9.96295727e-01 5.89649099e-02 4.73014740e-01] [ 6.12245497e-01 -8.32724120e-03 7.90623873e-01 8.69494122e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.35538475 meters Centerline goodness [0,1] 0.9428510339350622 Centerline is valid? [False, False] Translation: X:20.73, Y:0.47, Z:8.69 [[ 7.88200986e-01 8.58954593e-02 -6.09394106e-01 2.07309137e+01] [-6.28739116e-02 9.96269823e-01 5.91042390e-02 4.73289922e-01] [ 6.12197744e-01 -8.27102827e-03 7.90661440e-01 8.69485906e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.38538475000001 meters Centerline goodness [0,1] 0.9402530102118579 Centerline is valid? [False, False] Translation: X:20.73, Y:0.47, Z:8.70 [[ 7.87728247e-01 9.15853604e-02 -6.09176765e-01 2.07315280e+01] [-6.67905507e-02 9.95754679e-01 6.33375236e-02 4.72998117e-01] [ 6.12391404e-01 -9.20550490e-03 7.90501124e-01 8.69528285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.41538475000002 meters Centerline goodness [0,1] 0.9367501065838358 Centerline is valid? [False, False] Translation: X:20.73, Y:0.47, Z:8.70 [[ 7.87110416e-01 9.75563092e-02 -6.09048405e-01 2.07314404e+01] [-7.08863289e-02 9.95177848e-01 6.77951206e-02 4.72893046e-01] [ 6.12725323e-01 -1.01890400e-02 7.90230259e-01 8.69619930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.44538475000002 meters Centerline goodness [0,1] 0.9356876869543984 Centerline is valid? [False, False] Translation: X:20.73, Y:0.47, Z:8.70 [[ 7.87257182e-01 9.81859759e-02 -6.08757459e-01 2.07304992e+01] [-7.14460156e-02 9.95116588e-01 6.81061132e-02 4.72606190e-01] [ 6.12471711e-01 -1.01237318e-02 7.90427678e-01 8.69576094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.47538475 meters Centerline goodness [0,1] 0.9367383183293527 Centerline is valid? [False, False] Translation: X:20.73, Y:0.47, Z:8.69 [[ 7.87985841e-01 9.47619171e-02 -6.08357209e-01 2.07263259e+01] [-6.93959750e-02 9.95458025e-01 6.51730012e-02 4.72204443e-01] [ 6.11769984e-01 -9.13786047e-03 7.90982924e-01 8.69479374e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.50538475 meters Centerline goodness [0,1] 0.9333414872798435 Centerline is valid? [False, False] Translation: X:20.72, Y:0.47, Z:8.70 [[ 7.87920593e-01 9.59398556e-02 -6.08257086e-01 2.07240575e+01] [-6.98965947e-02 9.95338460e-01 6.64516085e-02 4.70322967e-01] [ 6.11797029e-01 -9.84349175e-03 7.90953539e-01 8.69592430e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.53538475 meters Centerline goodness [0,1] 0.9320561235454853 Centerline is valid? [False, False] Translation: X:20.72, Y:0.47, Z:8.69 [[ 7.88539093e-01 9.06709224e-02 -6.08263827e-01 2.07234147e+01] [-6.63872245e-02 9.95841939e-01 6.23824460e-02 4.70791173e-01] [ 6.11390902e-01 -8.81005015e-03 7.91279690e-01 8.69495985e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.56538475 meters Centerline goodness [0,1] 0.9319690265486725 Centerline is valid? [False, False] Translation: X:20.72, Y:0.47, Z:8.70 [[ 7.88442486e-01 9.06546351e-02 -6.08391472e-01 2.07234980e+01] [-6.61952073e-02 9.95840947e-01 6.26019358e-02 4.70546286e-01] [ 6.11536295e-01 -9.08542624e-03 7.91164215e-01 8.69554162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.59538475 meters Centerline goodness [0,1] 0.9308176100628931 Centerline is valid? [False, False] Translation: X:20.72, Y:0.47, Z:8.70 [[ 7.88264352e-01 9.03718292e-02 -6.08664311e-01 2.07243820e+01] [-6.57154761e-02 9.95863079e-01 6.27551184e-02 4.69494763e-01] [ 6.11817609e-01 -9.46895781e-03 7.90942193e-01 8.69628436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.62538475 meters Centerline goodness [0,1] 0.9234689178818112 Centerline is valid? [False, False] Translation: X:20.73, Y:0.47, Z:8.70 [[ 7.88961934e-01 8.66197449e-02 -6.08305915e-01 2.07273091e+01] [-6.25707068e-02 9.96192971e-01 6.06998457e-02 4.69006204e-01] [ 6.11247882e-01 -9.82773660e-03 7.91378192e-01 8.69576416e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.65538475 meters Centerline goodness [0,1] 0.918289611107698 Centerline is valid? [False, False] Translation: X:20.73, Y:0.47, Z:8.70 [[ 7.88845285e-01 8.44448107e-02 -6.08762836e-01 2.07315293e+01] [-6.07346995e-02 9.96378251e-01 5.95119959e-02 4.68977928e-01] [ 6.11583529e-01 -9.97272942e-03 7.91117015e-01 8.69595907e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.68538475 meters Centerline goodness [0,1] 0.9194509274044957 Centerline is valid? [False, False] Translation: X:20.73, Y:0.47, Z:8.70 [[ 7.88437413e-01 8.34604598e-02 -6.09426614e-01 2.07339717e+01] [-5.96772994e-02 9.96457321e-01 5.92572917e-02 4.68375369e-01] [ 6.12213252e-01 -1.03517312e-02 7.90624927e-01 8.69714275e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.71538475 meters Centerline goodness [0,1] 0.9128181397501157 Centerline is valid? [False, False] Translation: X:20.74, Y:0.47, Z:8.70 [[ 7.88565510e-01 7.60494036e-02 -6.10230223e-01 2.07381468e+01] [-5.43428024e-02 9.97059294e-01 5.40335495e-02 4.68312227e-01] [ 6.12544934e-01 -9.44737313e-03 7.90379308e-01 8.69686209e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.74538475 meters Centerline goodness [0,1] 0.9128041804520578 Centerline is valid? [False, False] Translation: X:20.74, Y:0.47, Z:8.70 [[ 7.88340285e-01 7.58571778e-02 -6.10545070e-01 2.07385923e+01] [-5.38298908e-02 9.97068541e-01 5.43752390e-02 4.67241135e-01] [ 6.12880035e-01 -1.00006170e-02 7.90112682e-01 8.69802766e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.77538475 meters Centerline goodness [0,1] 0.9090600296442688 Centerline is valid? [False, False] Translation: X:20.74, Y:0.47, Z:8.70 [[ 7.88140840e-01 7.53978227e-02 -6.10859382e-01 2.07397705e+01] [-5.30743210e-02 9.97097123e-01 5.45934353e-02 4.65892321e-01] [ 6.13202359e-01 -1.06063690e-02 7.89854652e-01 8.69906901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.80538475 meters Centerline goodness [0,1] 0.9053422835400748 Centerline is valid? [False, False] Translation: X:20.74, Y:0.47, Z:8.70 [[ 7.88114142e-01 7.51785742e-02 -6.10920847e-01 2.07407520e+01] [-5.28820873e-02 9.97113409e-01 5.44824157e-02 4.66012711e-01] [ 6.13253279e-01 -1.06315928e-02 7.89814779e-01 8.69899754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.83538475 meters Centerline goodness [0,1] 0.9050803380700287 Centerline is valid? [False, False] Translation: X:20.74, Y:0.46, Z:8.70 [[ 7.87443091e-01 8.02426802e-02 -6.11141956e-01 2.07433303e+01] [-5.60900315e-02 9.96704772e-01 5.85961316e-02 4.64944521e-01] [ 6.13830014e-01 -1.18621475e-02 7.89349101e-01 8.70002518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.86538475 meters Centerline goodness [0,1] 0.9044949012600512 Centerline is valid? [False, False] Translation: X:20.74, Y:0.47, Z:8.70 [[ 7.87484016e-01 8.03154494e-02 -6.11079662e-01 2.07441111e+01] [-5.64264176e-02 9.96704117e-01 5.82834602e-02 4.65919514e-01] [ 6.13746677e-01 -1.14162571e-02 7.89420474e-01 8.69920248e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.89538475 meters Centerline goodness [0,1] 0.9162193842926769 Centerline is valid? [False, False] Translation: X:20.74, Y:0.47, Z:8.70 [[ 7.87536028e-01 8.25144120e-02 -6.10719556e-01 2.07412684e+01] [-5.85315453e-02 9.96530837e-01 5.91637439e-02 4.65391875e-01] [ 6.13482732e-01 -1.08472205e-02 7.89633633e-01 8.69829171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.92538475 meters Centerline goodness [0,1] 0.9210404087320019 Centerline is valid? [False, False] Translation: X:20.74, Y:0.47, Z:8.70 [[ 7.87543327e-01 8.40204511e-02 -6.10504768e-01 2.07386998e+01] [-5.98558145e-02 9.96407171e-01 5.99168665e-02 4.65019950e-01] [ 6.13345571e-01 -1.06448682e-02 7.89742931e-01 8.69815314e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.95538475 meters Centerline goodness [0,1] 0.9271050097835202 Centerline is valid? [False, False] Translation: X:20.73, Y:0.46, Z:8.70 [[ 7.87750921e-01 8.65699360e-02 -6.09880425e-01 2.07349541e+01] [-6.23131708e-02 9.96195732e-01 6.09190615e-02 4.64894034e-01] [ 6.12834036e-01 -9.98546370e-03 7.90148552e-01 8.69682373e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 173.98538475 meters Centerline goodness [0,1] 0.9261578523157046 Centerline is valid? [False, False] Translation: X:20.73, Y:0.46, Z:8.70 [[ 7.87852594e-01 8.74009344e-02 -6.09630516e-01 2.07338992e+01] [-6.30478660e-02 9.96124175e-01 6.13318362e-02 4.64735145e-01] [ 6.12628155e-01 -9.88454319e-03 7.90309458e-01 8.69643101e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.01538475 meters Centerline goodness [0,1] 0.9299522894850982 Centerline is valid? [False, False] Translation: X:20.73, Y:0.46, Z:8.70 [[ 7.87883706e-01 8.81982864e-02 -6.09475453e-01 2.07331687e+01] [-6.36849352e-02 9.96053863e-01 6.18136807e-02 4.64320029e-01] [ 6.12522240e-01 -9.88758710e-03 7.90391511e-01 8.69626834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.04538475 meters Centerline goodness [0,1] 0.9300366755765525 Centerline is valid? [False, False] Translation: X:20.73, Y:0.46, Z:8.70 [[ 7.87774334e-01 8.78985853e-02 -6.09660100e-01 2.07336380e+01] [-6.33808831e-02 9.96079480e-01 6.17133123e-02 4.64654566e-01] [ 6.12694428e-01 -9.97536799e-03 7.90256939e-01 8.69669509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.07538475 meters Centerline goodness [0,1] 0.9300366755765525 Centerline is valid? [False, False] Translation: X:20.73, Y:0.46, Z:8.70 [[ 7.87774334e-01 8.78985853e-02 -6.09660100e-01 2.07336380e+01] [-6.33808831e-02 9.96079480e-01 6.17133123e-02 4.64654566e-01] [ 6.12694428e-01 -9.97536799e-03 7.90256939e-01 8.69669509e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.10538475 meters Centerline goodness [0,1] 0.9259075856519452 Centerline is valid? [False, False] Translation: X:20.73, Y:0.47, Z:8.70 [[ 7.89292388e-01 8.33269274e-02 -6.08337200e-01 2.07325479e+01] [-5.98205308e-02 9.96471282e-01 5.88768870e-02 4.66830497e-01] [ 6.11096580e-01 -1.00800246e-02 7.91491859e-01 8.69528884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.13538475000001 meters Centerline goodness [0,1] 0.9204671857619577 Centerline is valid? [False, False] Translation: X:20.73, Y:0.47, Z:8.69 [[ 7.89818131e-01 7.73927641e-02 -6.08438724e-01 2.07324747e+01] [-5.56395807e-02 9.96957682e-01 5.45858765e-02 4.68253572e-01] [ 6.10812211e-01 -9.25963943e-03 7.91721353e-01 8.69490467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.16538475000002 meters Centerline goodness [0,1] 0.9102186385486122 Centerline is valid? [False, False] Translation: X:20.73, Y:0.47, Z:8.69 [[ 7.95022540e-01 6.51212326e-02 -6.03074113e-01 2.07296451e+01] [-4.36639484e-02 9.97785184e-01 5.01815236e-02 4.70120180e-01] [ 6.05006298e-01 -1.35628454e-02 7.96105162e-01 8.68892277e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.19538475000002 meters Centerline goodness [0,1] 0.9042420849661006 Centerline is valid? [False, False] Translation: X:20.73, Y:0.47, Z:8.68 [[ 8.00202785e-01 5.03043766e-02 -5.97616075e-01 2.07291744e+01] [-2.97857937e-02 9.98579785e-01 4.41726044e-02 4.72787399e-01] [ 5.98989407e-01 -1.75465719e-02 8.00564681e-01 8.68195970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.22538475 meters Centerline goodness [0,1] 0.9010817719861584 Centerline is valid? [False, False] Translation: X:20.73, Y:0.47, Z:8.68 [[ 8.00154674e-01 4.31693384e-02 -5.98238169e-01 2.07321123e+01] [-2.45184050e-02 9.98927014e-01 3.92895392e-02 4.73580069e-01] [ 5.99292371e-01 -1.67698627e-02 8.00354562e-01 8.68227927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.25538475 meters Centerline goodness [0,1] 0.8999122587114565 Centerline is valid? [False, False] Translation: X:20.73, Y:0.47, Z:8.69 [[ 7.97669571e-01 4.04933515e-02 -6.01733781e-01 2.07298722e+01] [-1.33927301e-02 9.98686684e-01 4.94524299e-02 4.72864966e-01] [ 6.02946009e-01 -3.13878404e-02 7.97164295e-01 8.68835718e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.28538475 meters Centerline goodness [0,1] 0.8970800175449589 Centerline is valid? [False, False] Translation: X:20.73, Y:0.47, Z:8.69 [[ 7.97055545e-01 3.85865380e-02 -6.02671997e-01 2.07336793e+01] [-1.14411379e-02 9.98742360e-01 4.88139282e-02 4.72712069e-01] [ 6.03797613e-01 -3.20121588e-02 7.96494610e-01 8.69016187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.31538475 meters Centerline goodness [0,1] 0.8977791679699718 Centerline is valid? [False, False] Translation: X:20.74, Y:0.47, Z:8.69 [[ 7.96541933e-01 3.75453198e-02 -6.03416355e-01 2.07357873e+01] [-1.01567918e-02 9.98760024e-01 4.87365874e-02 4.72287920e-01] [ 6.04497963e-01 -3.26919613e-02 7.95935580e-01 8.69197828e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.34538475 meters Centerline goodness [0,1] 0.8966955104088287 Centerline is valid? [False, False] Translation: X:20.74, Y:0.47, Z:8.69 [[ 7.96423677e-01 3.06042889e-02 -6.03964158e-01 2.07381680e+01] [-5.20649397e-03 9.99028613e-01 4.37575390e-02 4.74360917e-01] [ 6.04716644e-01 -3.17050044e-02 7.95809382e-01 8.69213064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.37538475 meters Centerline goodness [0,1] 0.8960916948515596 Centerline is valid? [False, False] Translation: X:20.74, Y:0.47, Z:8.69 [[ 7.96173472e-01 3.04834523e-02 -6.04300059e-01 2.07386575e+01] [-4.85382638e-03 9.99019748e-01 4.39998021e-02 4.74177234e-01] [ 6.05048959e-01 -3.20983077e-02 7.95540983e-01 8.69316717e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.40538475 meters Centerline goodness [0,1] 0.9029645381199575 Centerline is valid? [False, False] Translation: X:20.74, Y:0.48, Z:8.69 [[ 7.96248546e-01 3.13779615e-02 -6.04155341e-01 2.07371776e+01] [-5.68357671e-03 9.98997925e-01 4.43941764e-02 4.75128792e-01] [ 6.04942931e-01 -3.19150352e-02 7.95628985e-01 8.69306480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.43538475 meters Centerline goodness [0,1] 0.904329717464955 Centerline is valid? [False, False] Translation: X:20.73, Y:0.47, Z:8.69 [[ 7.96217243e-01 3.87246045e-02 -6.03770244e-01 2.07346072e+01] [-1.09239022e-02 9.98706975e-01 4.96492394e-02 4.74696250e-01] [ 6.04912201e-01 -3.29360534e-02 7.95610738e-01 8.69349300e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.46538475 meters Centerline goodness [0,1] 0.9081230406307229 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.69 [[ 7.96419018e-01 3.99513768e-02 -6.03424092e-01 2.07327212e+01] [-1.22322335e-02 9.98675529e-01 4.99755965e-02 4.75837729e-01] [ 6.04621468e-01 -3.24202911e-02 7.95852879e-01 8.69262119e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.49538475 meters Centerline goodness [0,1] 0.9145119386366448 Centerline is valid? [False, False] Translation: X:20.73, Y:0.47, Z:8.69 [[ 7.96407462e-01 4.84170295e-02 -6.02819165e-01 2.07278936e+01] [-1.84652237e-02 9.98272110e-01 5.57837742e-02 4.74701029e-01] [ 6.04478445e-01 -3.32954233e-02 7.95925389e-01 8.69293798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.52538475 meters Centerline goodness [0,1] 0.9186745122328894 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.69 [[ 7.96541750e-01 5.02108647e-02 -6.02494905e-01 2.07253088e+01] [-2.01890905e-02 9.98198640e-01 5.64966825e-02 4.75349354e-01] [ 6.04246342e-01 -3.28381422e-02 7.96120603e-01 8.69227662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.55538475 meters Centerline goodness [0,1] 0.9209198675291714 Centerline is valid? [False, False] Translation: X:20.72, Y:0.48, Z:8.69 [[ 0.79680666 0.05132497 -0.60205057 20.72374885] [-0.02146928 0.99816158 0.0566792 0.47637633] [ 0.60385281 -0.03223677 0.79644371 8.69105628] [ 0. 0. 0. 1. ]] SLAMing on 174.58538475 meters Centerline goodness [0,1] 0.928677150786309 Centerline is valid? [False, False] Translation: X:20.72, Y:0.48, Z:8.69 [[ 0.79662796 0.05855177 -0.60162744 20.7218637 ] [-0.02693311 0.99774731 0.06144036 0.47578902] [ 0.6038696 -0.03274141 0.79641039 8.69071277] [ 0. 0. 0. 1. ]] SLAMing on 174.61538475 meters Centerline goodness [0,1] 0.9336045866469391 Centerline is valid? [False, False] Translation: X:20.72, Y:0.48, Z:8.69 [[ 0.79630993 0.0643399 -0.60145729 20.72267316] [-0.03132502 0.99737913 0.06521969 0.47590993] [ 0.60407718 -0.03309442 0.79623836 8.69017445] [ 0. 0. 0. 1. ]] SLAMing on 174.64538475 meters Centerline goodness [0,1] 0.9333744411900724 Centerline is valid? [False, False] Translation: X:20.72, Y:0.48, Z:8.69 [[ 0.79641015 0.06430233 -0.6013286 20.72325552] [-0.03165839 0.99740071 0.0647269 0.47753074] [ 0.60392766 -0.03251206 0.79637575 8.68918103] [ 0. 0. 0. 1. ]] SLAMing on 174.67538475 meters Centerline goodness [0,1] 0.9363557911606978 Centerline is valid? [False, False] Translation: X:20.72, Y:0.48, Z:8.69 [[ 0.79644852 0.06454206 -0.60125209 20.7234609 ] [-0.03206569 0.99739652 0.06459081 0.47766386] [ 0.60385557 -0.03216369 0.79644457 8.68855349] [ 0. 0. 0. 1. ]] SLAMing on 174.70538475 meters Centerline goodness [0,1] 0.937349694764753 Centerline is valid? [False, False] Translation: X:20.72, Y:0.48, Z:8.69 [[ 0.7962555 0.06450467 -0.60151169 20.72341809] [-0.03196276 0.99739616 0.06464743 0.47753181] [ 0.60411551 -0.0322499 0.79624393 8.68921891] [ 0. 0. 0. 1. ]] SLAMing on 174.73538475 meters Centerline goodness [0,1] 0.9372858862380791 Centerline is valid? [False, False] Translation: X:20.72, Y:0.48, Z:8.69 [[ 0.79661329 0.05905088 -0.60159808 20.72294076] [-0.02827231 0.99776769 0.06050046 0.47806831] [ 0.60382774 -0.0311869 0.79650451 8.68867499] [ 0. 0. 0. 1. ]] SLAMing on 174.76538475 meters Centerline goodness [0,1] 0.9362852640360906 Centerline is valid? [False, False] Translation: X:20.72, Y:0.48, Z:8.69 [[ 0.79633115 0.05876211 -0.60199976 20.72377383] [-0.02773699 0.99777041 0.06070312 0.47716033] [ 0.60422459 -0.03164212 0.79618554 8.68982701] [ 0. 0. 0. 1. ]] SLAMing on 174.79538475 meters Centerline goodness [0,1] 0.9359520721388426 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.69 [[ 0.79591193 0.05783358 -0.60264374 20.72543592] [-0.02670282 0.99781156 0.06049001 0.47701373] [ 0.60482325 -0.03205243 0.79571445 8.69125988] [ 0. 0. 0. 1. ]] SLAMing on 174.82538475 meters Centerline goodness [0,1] 0.9341636459398334 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.69 [[ 0.79600879 0.05049456 -0.60317519 20.72866525] [-0.02142149 0.99824011 0.05529737 0.47919959] [ 0.60490589 -0.03109628 0.79568957 8.69110267] [ 0. 0. 0. 1. ]] SLAMing on 174.85538475 meters Centerline goodness [0,1] 0.9334637964774951 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.69 [[ 7.95957539e-01 4.35859914e-02 -6.03781300e-01 2.07302924e+01] [-1.62827034e-02 9.98585195e-01 5.06209536e-02 4.80981935e-01] [ 6.05133432e-01 -3.04609378e-02 7.95541112e-01 8.69188840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.88538475000001 meters Centerline goodness [0,1] 0.9339865430529286 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.69 [[ 7.95680249e-01 4.35759429e-02 -6.04147398e-01 2.07303531e+01] [-1.56552268e-02 9.98555157e-01 5.14053819e-02 4.79583332e-01] [ 6.05514538e-01 -3.14441825e-02 7.95212807e-01 8.69379336e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.91538475000002 meters Centerline goodness [0,1] 0.9342154304882594 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.69 [[ 7.95947467e-01 3.77274463e-02 -6.04188935e-01 2.07297563e+01] [-1.14855917e-02 9.98817609e-01 4.72383859e-02 4.81333434e-01] [ 6.05256731e-01 -3.06598062e-02 7.95439668e-01 8.69382197e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.94538475000002 meters Centerline goodness [0,1] 0.9339781067296927 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.70 [[ 7.95738143e-01 3.79415074e-02 -6.04451198e-01 2.07292108e+01] [-1.12388273e-02 9.98788971e-01 4.78986487e-02 4.80516391e-01] [ 6.05536537e-01 -3.13214591e-02 7.95200898e-01 8.69525927e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 174.97538475 meters Centerline goodness [0,1] 0.9364807668367983 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.70 [[ 7.95610392e-01 3.81852155e-02 -6.04603997e-01 2.07284844e+01] [-1.10853057e-02 9.98762062e-01 4.84918398e-02 4.79869323e-01] [ 6.05707207e-01 -3.18783916e-02 7.95048771e-01 8.69640851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.00538475 meters Centerline goodness [0,1] 0.9367477354510485 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.70 [[ 7.95532537e-01 3.80172799e-02 -6.04717015e-01 2.07292128e+01] [-1.09434107e-02 9.98768377e-01 4.83939048e-02 4.80368555e-01] [ 6.05812037e-01 -3.18812593e-02 7.94968780e-01 8.69650674e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.03538475 meters Centerline goodness [0,1] 0.9371568597040851 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.70 [[ 7.95632816e-01 3.77434121e-02 -6.04602231e-01 2.07303771e+01] [-1.10404070e-02 9.98794815e-01 4.78228706e-02 4.81772991e-01] [ 6.05678571e-01 -3.13743905e-02 7.95090634e-01 8.69544988e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.06538475 meters Centerline goodness [0,1] 0.9401993355481728 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.70 [[ 7.95725629e-01 3.84071513e-02 -6.04438263e-01 2.07294594e+01] [-1.16222638e-02 9.98771847e-01 4.81634769e-02 4.81702155e-01] [ 6.05545743e-01 -3.12999720e-02 7.95194734e-01 8.69524075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.09538475 meters Centerline goodness [0,1] 0.9415990297602388 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.69 [[ 7.95968927e-01 4.03254101e-02 -6.03992821e-01 2.07262312e+01] [-1.33273988e-02 9.98704221e-01 4.91147591e-02 4.81144240e-01] [ 6.05190753e-01 -3.10441689e-02 7.95474960e-01 8.69471360e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.12538475 meters Centerline goodness [0,1] 0.9418503570319776 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.69 [[ 7.96079513e-01 4.12763960e-02 -6.03782799e-01 2.07250369e+01] [-1.42301376e-02 9.98672251e-01 4.95099733e-02 4.81210259e-01] [ 6.05024721e-01 -3.08219631e-02 7.95609888e-01 8.69427638e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.15538475 meters Centerline goodness [0,1] 0.9428438805508278 Centerline is valid? [False, False] Translation: X:20.72, Y:0.48, Z:8.69 [[ 7.95943663e-01 4.86168271e-02 -6.03415354e-01 2.07229270e+01] [-1.97916221e-02 9.98326969e-01 5.43282056e-02 4.80895892e-01] [ 6.05047086e-01 -3.12996223e-02 7.95574231e-01 8.69399483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.18538475 meters Centerline goodness [0,1] 0.9419287082226478 Centerline is valid? [False, False] Translation: X:20.72, Y:0.48, Z:8.69 [[ 7.95997877e-01 4.89308746e-02 -6.03318448e-01 2.07227397e+01] [-2.03168056e-02 9.98325462e-01 5.41617847e-02 4.82136125e-01] [ 6.04958352e-01 -3.08551620e-02 7.95659067e-01 8.69336481e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.21538475 meters Centerline goodness [0,1] 0.9410820653683528 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.69 [[ 7.95699382e-01 4.77713591e-02 -6.03804928e-01 2.07255959e+01] [-1.93647538e-02 9.98381666e-01 5.34701276e-02 4.82714737e-01] [ 6.05382110e-01 -3.08536137e-02 7.95336756e-01 8.69375120e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.24538475 meters Centerline goodness [0,1] 0.9399019940210189 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.69 [[ 7.95479978e-01 4.69388088e-02 -6.04159211e-01 2.07279181e+01] [-1.87451395e-02 9.98424437e-01 5.28891558e-02 4.83452239e-01] [ 6.05689874e-01 -3.07472158e-02 7.95106524e-01 8.69386117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.27538475 meters Centerline goodness [0,1] 0.9374383932971907 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.69 [[ 7.95116598e-01 4.58033576e-02 -6.04724440e-01 2.07306928e+01] [-1.77786210e-02 9.98475715e-01 5.22510113e-02 4.83832194e-01] [ 6.06195939e-01 -3.07944797e-02 7.94718933e-01 8.69451038e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.30538475 meters Centerline goodness [0,1] 0.9393892706375374 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.70 [[ 7.94907445e-01 4.57130333e-02 -6.05006175e-01 2.07310289e+01] [-1.75116470e-02 9.98470831e-01 5.24341620e-02 4.83868928e-01] [ 6.06477943e-01 -3.10856511e-02 7.94492408e-01 8.69539022e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.33538475 meters Centerline goodness [0,1] 0.9400602780169762 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.70 [[ 7.94827276e-01 4.55642817e-02 -6.05122713e-01 2.07310783e+01] [-1.73829706e-02 9.98477472e-01 5.23504556e-02 4.85428603e-01] [ 6.06586707e-01 -3.10907397e-02 7.94409172e-01 8.69575926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.36538475 meters Centerline goodness [0,1] 0.9397701431995575 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.70 [[ 7.94680506e-01 4.56409024e-02 -6.05309674e-01 2.07307753e+01] [-1.72891977e-02 9.98466660e-01 5.25871836e-02 4.85716870e-01] [ 6.06781655e-01 -3.13246911e-02 7.94251086e-01 8.69652487e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.39538475 meters Centerline goodness [0,1] 0.9412126618882087 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.70 [[ 7.94586256e-01 4.65168931e-02 -6.05366716e-01 2.07282313e+01] [-1.76160372e-02 9.98407294e-01 5.35961814e-02 4.85338856e-01] [ 6.06895673e-01 -3.19226265e-02 7.94140157e-01 8.69798031e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.42538475 meters Centerline goodness [0,1] 0.9416195277914412 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.70 [[ 7.94629053e-01 4.72339239e-02 -6.05255008e-01 2.07263847e+01] [-1.80434089e-02 9.98365800e-01 5.42232891e-02 4.85166434e-01] [ 6.06827079e-01 -3.21665373e-02 7.94182731e-01 8.69845805e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.45538475 meters Centerline goodness [0,1] 0.9439269574840912 Centerline is valid? [False, False] Translation: X:20.72, Y:0.48, Z:8.70 [[ 7.94627034e-01 4.84000326e-02 -6.05165526e-01 2.07235422e+01] [-1.85497533e-02 9.98287250e-01 5.54839932e-02 4.83860896e-01] [ 6.06814456e-01 -3.28634097e-02 7.94163845e-01 8.69979001e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.48538475 meters Centerline goodness [0,1] 0.9458744656641142 Centerline is valid? [False, False] Translation: X:20.72, Y:0.48, Z:8.70 [[ 7.94538317e-01 4.90920354e-02 -6.05226267e-01 2.07221130e+01] [-1.88436121e-02 9.98239838e-01 5.62329421e-02 4.82875558e-01] [ 6.06921561e-01 -3.32745782e-02 7.94064872e-01 8.70068340e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.51538475 meters Centerline goodness [0,1] 0.9451835919496082 Centerline is valid? [False, False] Translation: X:20.72, Y:0.48, Z:8.70 [[ 7.94610791e-01 4.94625064e-02 -6.05100942e-01 2.07213328e+01] [-1.90062128e-02 9.98213864e-01 5.66378524e-02 4.82355869e-01] [ 6.06821600e-01 -3.35043715e-02 7.94131603e-01 8.70092422e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.54538475 meters Centerline goodness [0,1] 0.9459849975405804 Centerline is valid? [False, False] Translation: X:20.72, Y:0.48, Z:8.70 [[ 7.94516216e-01 4.91461916e-02 -6.05250886e-01 2.07223310e+01] [-1.87533543e-02 9.98229946e-01 5.64383414e-02 4.82468576e-01] [ 6.06953288e-01 -3.34906931e-02 7.94031535e-01 8.70097585e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.57538475 meters Centerline goodness [0,1] 0.9428747496533662 Centerline is valid? [False, False] Translation: X:20.72, Y:0.48, Z:8.70 [[ 7.94272625e-01 4.85883458e-02 -6.05615530e-01 2.07241123e+01] [-1.82349034e-02 9.98254443e-01 5.61743315e-02 4.81731072e-01] [ 6.07287811e-01 -3.35743930e-02 7.93772180e-01 8.70135586e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.60538475 meters Centerline goodness [0,1] 0.9451839526714735 Centerline is valid? [False, False] Translation: X:20.72, Y:0.48, Z:8.70 [[ 7.94122686e-01 4.87951935e-02 -6.05795501e-01 2.07239636e+01] [-1.82694405e-02 9.98237899e-01 5.64564018e-02 4.81368849e-01] [ 6.07482829e-01 -3.37657645e-02 7.93614822e-01 8.70197839e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.63538475000001 meters Centerline goodness [0,1] 0.9448309833138353 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.70 [[ 7.94077700e-01 4.85056950e-02 -6.05877713e-01 2.07250725e+01] [-1.82223037e-02 9.98262399e-01 5.60368630e-02 4.82249066e-01] [ 6.07543047e-01 -3.34571356e-02 7.93581796e-01 8.70157006e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.66538475000002 meters Centerline goodness [0,1] 0.9446423088731962 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.70 [[ 7.94055658e-01 4.81183475e-02 -6.05937486e-01 2.07262277e+01] [-1.80934560e-02 9.98291119e-01 5.55649860e-02 4.83762297e-01] [ 6.07575706e-01 -3.31581883e-02 7.93569339e-01 8.70117049e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.69538475000002 meters Centerline goodness [0,1] 0.943147394510572 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.70 [[ 7.93846928e-01 4.68628274e-02 -6.06309269e-01 2.07296499e+01] [-1.74488769e-02 9.98371107e-01 5.43200596e-02 4.86378598e-01] [ 6.07867248e-01 -3.25423967e-02 7.93371541e-01 8.70050170e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.72538475 meters Centerline goodness [0,1] 0.9406520007353392 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.70 [[ 7.93484219e-01 4.51830521e-02 -6.06911267e-01 2.07333474e+01] [-1.61915353e-02 9.98454547e-01 5.31634487e-02 4.88064245e-01] [ 6.08375401e-01 -3.23575323e-02 7.92989509e-01 8.70083474e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.75538475 meters Centerline goodness [0,1] 0.9395917361987746 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.70 [[ 7.93313548e-01 4.51647934e-02 -6.07135698e-01 2.07334562e+01] [-1.60384274e-02 9.98448779e-01 5.33179505e-02 4.87995977e-01] [ 6.08601991e-01 -3.25603507e-02 7.92807316e-01 8.70151436e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.78538475 meters Centerline goodness [0,1] 0.9413246497911034 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.70 [[ 7.93280812e-01 4.60585302e-02 -6.07111329e-01 2.07310402e+01] [-1.63700252e-02 9.98387594e-01 5.43528621e-02 4.86873547e-01] [ 6.08635832e-01 -3.31786548e-02 7.92755700e-01 8.70285656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.81538475 meters Centerline goodness [0,1] 0.9421423950214116 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.70 [[ 7.93249490e-01 4.65591285e-02 -6.07114070e-01 2.07298573e+01] [-1.65677489e-02 9.98353531e-01 5.49157294e-02 4.86473912e-01] [ 6.08671303e-01 -3.35033609e-02 7.92714810e-01 8.70352613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.84538475 meters Centerline goodness [0,1] 0.9426345609065155 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.70 [[ 7.93303858e-01 4.71761111e-02 -6.06995389e-01 2.07283970e+01] [-1.69064537e-02 9.98315866e-01 5.54941698e-02 4.86053234e-01] [ 6.08591127e-01 -3.37615995e-02 7.92765409e-01 8.70393405e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.87538475 meters Centerline goodness [0,1] 0.943728018757327 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.70 [[ 7.93454115e-01 4.75341430e-02 -6.06771021e-01 2.07272917e+01] [-1.71521538e-02 9.98295929e-01 5.57767152e-02 4.86758793e-01] [ 6.08388339e-01 -3.38488343e-02 7.92917326e-01 8.70395268e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.90538475 meters Centerline goodness [0,1] 0.9426873209941178 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.70 [[ 7.93461561e-01 4.74938500e-02 -6.06764440e-01 2.07275397e+01] [-1.71633779e-02 9.98300216e-01 5.56964744e-02 4.87667103e-01] [ 6.08378312e-01 -3.37788841e-02 7.92928002e-01 8.70387249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.93538475 meters Centerline goodness [0,1] 0.9426873209941178 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.70 [[ 7.93461561e-01 4.74938500e-02 -6.06764440e-01 2.07275397e+01] [-1.71633779e-02 9.98300216e-01 5.56964744e-02 4.87667103e-01] [ 6.08378312e-01 -3.37788841e-02 7.92928002e-01 8.70387249e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.96538475 meters Centerline goodness [0,1] 0.9432840418977203 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.70 [[ 7.93351100e-01 4.73073541e-02 -6.06923427e-01 2.07282211e+01] [-1.69082376e-02 9.98303702e-01 5.57120327e-02 4.87623941e-01] [ 6.08529492e-01 -3.39371969e-02 7.92805224e-01 8.70423195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 175.99538475 meters Centerline goodness [0,1] 0.9444204419207505 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.70 [[ 7.93311337e-01 4.76506798e-02 -6.06948544e-01 2.07277376e+01] [-1.70567405e-02 9.98280594e-01 5.60796194e-02 4.86763764e-01] [ 6.08577185e-01 -3.41360340e-02 7.92760078e-01 8.70457570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.02538475 meters Centerline goodness [0,1] 0.9448316451383081 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.70 [[ 7.93739888e-01 4.26717350e-02 -6.06758694e-01 2.07270429e+01] [-1.37294255e-02 9.98538908e-01 5.22642613e-02 4.86364018e-01] [ 6.08102370e-01 -3.31537807e-02 7.93166019e-01 8.70365873e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.05538475 meters Centerline goodness [0,1] 0.9465243959179875 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.70 [[ 7.93682148e-01 4.34108223e-02 -6.06781796e-01 2.07255656e+01] [-1.38477154e-02 9.98481403e-01 5.33210033e-02 4.83447441e-01] [ 6.08175048e-01 -3.39173868e-02 7.93078005e-01 8.70486123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.08538475 meters Centerline goodness [0,1] 0.9459434255517563 Centerline is valid? [False, False] Translation: X:20.72, Y:0.48, Z:8.71 [[ 7.93657975e-01 4.39010399e-02 -6.06778145e-01 2.07245749e+01] [-1.41193938e-02 9.98453456e-01 5.37711776e-02 4.82927184e-01] [ 6.08200347e-01 -3.41085843e-02 7.93050404e-01 8.70533337e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.11538475 meters Centerline goodness [0,1] 0.9451910571623212 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.71 [[ 7.93117683e-01 4.89509094e-02 -6.07098138e-01 2.07265204e+01] [-1.75010593e-02 9.98185113e-01 5.76211114e-02 4.82792254e-01] [ 6.08816929e-01 -3.50754619e-02 7.92534957e-01 8.70617096e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.14538475 meters Centerline goodness [0,1] 0.9448904317639402 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.70 [[ 7.93158045e-01 4.85190372e-02 -6.07080076e-01 2.07282092e+01] [-1.76275231e-02 9.98232784e-01 5.67501441e-02 4.85155186e-01] [ 6.08760697e-01 -3.43105153e-02 7.92611634e-01 8.70490943e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.17538475 meters Centerline goodness [0,1] 0.9425237816704122 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.70 [[ 0.79267132 0.05336958 -0.6073087 20.7307786 ] [-0.02121856 0.99797248 0.06000578 0.48676234] [ 0.60927986 -0.03467865 0.79219659 8.70480491] [ 0. 0. 0. 1. ]] SLAMing on 176.20538475 meters Centerline goodness [0,1] 0.9400657066535663 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.70 [[ 0.79272783 0.05367547 -0.60720798 20.73077203] [-0.02185809 0.99797809 0.05968206 0.4885187 ] [ 0.60918372 -0.03403923 0.79229825 8.70389786] [ 0. 0. 0. 1. ]] SLAMing on 176.23538475 meters Centerline goodness [0,1] 0.9382605748790782 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.70 [[ 0.79224206 0.05987421 -0.60726238 20.73032166] [-0.02624847 0.99759719 0.06411595 0.48835359] [ 0.60964214 -0.03485564 0.79191006 8.7046803 ] [ 0. 0. 0. 1. ]] SLAMing on 176.26538475 meters Centerline goodness [0,1] 0.9378742052959694 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.70 [[ 0.79221745 0.06024046 -0.60725827 20.73032252] [-0.02671457 0.99758521 0.06410986 0.48924718] [ 0.60965388 -0.03456631 0.79191371 8.70437113] [ 0. 0. 0. 1. ]] SLAMing on 176.29538475 meters Centerline goodness [0,1] 0.9334644580349734 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.70 [[ 0.79205768 0.06041503 -0.6074493 20.73119058] [-0.02720936 0.99759559 0.06373928 0.49057474] [ 0.60983955 -0.03395687 0.7917971 8.70379031] [ 0. 0. 0. 1. ]] SLAMing on 176.32538475 meters Centerline goodness [0,1] 0.9337306829702909 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.70 [[ 0.79202944 0.06041248 -0.60748637 20.73184255] [-0.0273214 0.99760224 0.06358706 0.49085946] [ 0.60987122 -0.03376544 0.7917809 8.70349519] [ 0. 0. 0. 1. ]] SLAMing on 176.35538475 meters Centerline goodness [0,1] 0.9334439018397371 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.70 [[ 0.79217693 0.06113704 -0.60722151 20.73073616] [-0.0281102 0.99756889 0.06376612 0.49147818] [ 0.60964377 -0.03344493 0.79196964 8.70286602] [ 0. 0. 0. 1. ]] SLAMing on 176.38538475000001 meters Centerline goodness [0,1] 0.9349401289530243 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.70 [[ 0.79216033 0.06128815 -0.60722794 20.73037821] [-0.02821644 0.99755894 0.06387486 0.49193077] [ 0.60966043 -0.03346532 0.79195596 8.70302754] [ 0. 0. 0. 1. ]] SLAMing on 176.41538475000002 meters Centerline goodness [0,1] 0.9346889804959084 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.70 [[ 0.79244744 0.06015309 -0.60696677 20.72997966] [-0.02723347 0.99762207 0.06331312 0.49231417] [ 0.60933192 -0.03364251 0.79220123 8.70305948] [ 0. 0. 0. 1. ]] SLAMing on 176.44538475000002 meters Centerline goodness [0,1] 0.934906527735213 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.70 [[ 0.79277486 0.05399048 -0.60711865 20.72994522] [-0.02231955 0.99797255 0.05960389 0.49133371] [ 0.60910579 -0.03370184 0.79237259 8.70392239] [ 0. 0. 0. 1. ]] SLAMing on 176.47538475 meters Centerline goodness [0,1] 0.932397216175614 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.70 [[ 7.93057794e-01 4.80971138e-02 -6.07244598e-01 2.07302524e+01] [-1.79895958e-02 9.98292386e-01 5.55759466e-02 4.91321200e-01] [ 6.08880702e-01 -3.31508528e-02 7.92568806e-01 8.70393632e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.50538475 meters Centerline goodness [0,1] 0.9339200247027946 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.70 [[ 7.93759538e-01 4.17532997e-02 -6.06796884e-01 2.07283349e+01] [-1.27862214e-02 9.98566016e-01 5.19848434e-02 4.88734830e-01] [ 6.08097286e-01 -3.35048260e-02 7.93155166e-01 8.70468414e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.53538475 meters Centerline goodness [0,1] 0.9308938064037582 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.70 [[ 7.94115438e-01 3.62893833e-02 -6.06682580e-01 2.07280870e+01] [-9.03233751e-03 9.98810238e-01 4.79220764e-02 4.89053386e-01] [ 6.07699834e-01 -3.25758988e-02 7.93498407e-01 8.70398546e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.56538475 meters Centerline goodness [0,1] 0.928117147023237 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.71 [[ 7.93943912e-01 3.58946241e-02 -6.06930508e-01 2.07287310e+01] [-8.26478999e-03 9.98800667e-01 4.82588936e-02 4.87806906e-01] [ 6.07934831e-01 -3.32987016e-02 7.93288370e-01 8.70521180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.59538475 meters Centerline goodness [0,1] 0.9203969333498208 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.71 [[ 7.94047307e-01 3.55425785e-02 -6.06815952e-01 2.07294333e+01] [-7.87577999e-03 9.98806821e-01 4.81965377e-02 4.87701961e-01] [ 6.07804941e-01 -3.34911820e-02 7.93379792e-01 8.70511298e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.62538475 meters Centerline goodness [0,1] 0.9154474575218216 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.71 [[ 7.94148390e-01 3.59580963e-02 -6.06659172e-01 2.07291802e+01] [-7.97716800e-03 9.98778794e-01 4.87574084e-02 4.86146589e-01] [ 6.07671540e-01 -3.38811952e-02 7.93465415e-01 8.70521304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.65538475 meters Centerline goodness [0,1] 0.9170152981579769 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.71 [[ 7.94160348e-01 3.63325796e-02 -6.06621204e-01 2.07292284e+01] [-8.05623557e-03 9.98752915e-01 4.92718137e-02 4.84412027e-01] [ 6.07654868e-01 -3.42426374e-02 7.93462667e-01 8.70544910e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.68538475 meters Centerline goodness [0,1] 0.9159760732755935 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.70 [[ 7.94130819e-01 3.74207906e-02 -6.06593708e-01 2.07289013e+01] [-9.08811536e-03 9.98722177e-01 4.97133758e-02 4.83315922e-01] [ 6.07678902e-01 -3.39661303e-02 7.93456145e-01 8.70490162e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.71538475 meters Centerline goodness [0,1] 0.9212468470712796 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.70 [[ 7.94082889e-01 3.79953887e-02 -6.06620735e-01 2.07287398e+01] [-9.54565580e-03 9.98700714e-01 5.00576030e-02 4.82408088e-01] [ 6.07734519e-01 -3.39592932e-02 7.93413839e-01 8.70489822e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.74538475 meters Centerline goodness [0,1] 0.9232636295743092 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.70 [[ 7.94212828e-01 4.04356164e-02 -6.06292789e-01 2.07263018e+01] [-1.19662210e-02 9.98630700e-01 5.09267507e-02 4.81894455e-01] [ 6.07521847e-01 -3.31916451e-02 7.93609174e-01 8.70347753e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.77538475 meters Centerline goodness [0,1] 0.9262931437657843 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.70 [[ 7.94260493e-01 4.10365438e-02 -6.06189963e-01 2.07261735e+01] [-1.27408541e-02 9.98622030e-01 5.09088594e-02 4.82656062e-01] [ 6.07443775e-01 -3.27115179e-02 7.93688867e-01 8.70266654e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.80538475 meters Centerline goodness [0,1] 0.9300200300450676 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.70 [[ 7.93895949e-01 4.76960633e-02 -6.06180095e-01 2.07257203e+01] [-1.76284965e-02 9.98305158e-01 5.54621215e-02 4.82503607e-01] [ 6.07798041e-01 -3.33451099e-02 7.93391231e-01 8.70287104e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.83538475 meters Centerline goodness [0,1] 0.9313704062197521 Centerline is valid? [False, False] Translation: X:20.73, Y:0.48, Z:8.70 [[ 7.93972879e-01 4.80444586e-02 -6.06051811e-01 2.07263105e+01] [-1.82917379e-02 9.98309030e-01 5.51769214e-02 4.84074442e-01] [ 6.07677941e-01 -3.27232382e-02 7.93509111e-01 8.70175937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 176.86538475 meters Centerline goodness [0,1] 0.9355282493824845 Centerline is valid? [False, False] Translation: X:20.72, Y:0.48, Z:8.70 [[ 0.79373164 0.05489281 -0.60578616 20.72476348] [-0.02321145 0.99792765 0.06001356 0.48302833] [ 0.60782507 -0.03357349 0.79336089 8.70200851] [ 0. 0. 0. 1. ]] SLAMing on 176.89538475 meters Centerline goodness [0,1] 0.9348395955561104 Centerline is valid? [False, False] Translation: X:20.72, Y:0.48, Z:8.70 [[ 0.79385327 0.05551158 -0.60557035 20.72411655] [-0.02393043 0.99790514 0.06010538 0.48370193] [ 0.60763831 -0.0332233 0.79351868 8.70130448] [ 0. 0. 0. 1. ]] SLAMing on 176.92538475 meters Centerline goodness [0,1] 0.9370753599700804 Centerline is valid? [False, False] Translation: X:20.72, Y:0.48, Z:8.70 [[ 0.7941185 0.05740232 -0.6050461 20.72154854] [-0.025994 0.99782667 0.06054951 0.48480252] [ 0.60720682 -0.03235592 0.79388473 8.69966969] [ 0. 0. 0. 1. ]] SLAMing on 176.95538475 meters Centerline goodness [0,1] 0.9383674869779483 Centerline is valid? [False, False] Translation: X:20.72, Y:0.48, Z:8.70 [[ 0.79428407 0.05845714 -0.60472769 20.71928128] [-0.02707341 0.99777711 0.06089223 0.48477144] [ 0.60694303 -0.03199369 0.7941011 8.69908078] [ 0. 0. 0. 1. ]] SLAMing on 176.98538475 meters Centerline goodness [0,1] 0.9371662346585053 Centerline is valid? [False, False] Translation: X:20.71, Y:0.48, Z:8.70 [[ 0.79461411 0.06094558 -0.60404806 20.71463267] [-0.02946051 0.99764727 0.06190311 0.48421868] [ 0.60639962 -0.03139352 0.79454009 8.6978658 ] [ 0. 0. 0. 1. ]] SLAMing on 177.01538475 meters Centerline goodness [0,1] 0.9351534773675363 Centerline is valid? [False, False] Translation: X:20.71, Y:0.48, Z:8.70 [[ 0.79485369 0.06180316 -0.60364558 20.71291359] [-0.03042509 0.99760759 0.06207583 0.4845007 ] [ 0.60603789 -0.03097523 0.79483244 8.69693297] [ 0. 0. 0. 1. ]] SLAMing on 177.04538475 meters Centerline goodness [0,1] 0.9217618351931864 Centerline is valid? [False, False] Translation: X:20.71, Y:0.49, Z:8.70 [[ 0.79514713 0.06310827 -0.60312386 20.71085304] [-0.03201039 0.99755164 0.06217759 0.48544217] [ 0.60557112 -0.0301341 0.79522045 8.69524446] [ 0. 0. 0. 1. ]] SLAMing on 177.07538475 meters Centerline goodness [0,1] 0.9183552774924518 Centerline is valid? [False, False] Translation: X:20.71, Y:0.49, Z:8.69 [[ 0.79560677 0.05761026 -0.60306793 20.71087301] [-0.02882864 0.99794073 0.05729929 0.48738557] [ 0.60512708 -0.02820208 0.79562922 8.6931845 ] [ 0. 0. 0. 1. ]] SLAMing on 177.10538475 meters Centerline goodness [0,1] 0.9236267166042447 Centerline is valid? [False, False] Translation: X:20.71, Y:0.49, Z:8.69 [[ 0.79601618 0.0521796 -0.603022 20.71071536] [-0.02546293 0.99828204 0.05276932 0.48904025] [ 0.60473952 -0.02665052 0.7959773 8.6917567 ] [ 0. 0. 0. 1. ]] SLAMing on 177.13538475000001 meters Centerline goodness [0,1] 0.9254860286303682 Centerline is valid? [False, False] Translation: X:20.71, Y:0.49, Z:8.69 [[ 0.79642279 0.04648862 -0.6029507 20.711 ] [-0.02189451 0.99860377 0.04807428 0.49084127] [ 0.60434375 -0.02508614 0.79632865 8.6902495 ] [ 0. 0. 0. 1. ]] SLAMing on 177.16538475000002 meters Centerline goodness [0,1] 0.9319966217272984 Centerline is valid? [False, False] Translation: X:20.71, Y:0.49, Z:8.69 [[ 7.96774467e-01 4.03578080e-02 -6.02927605e-01 2.07122259e+01] [-1.80780260e-02 9.98912647e-01 4.29733439e-02 4.93399381e-01] [ 6.04006320e-01 -2.33403223e-02 7.96637681e-01 8.68848003e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.19538475000002 meters Centerline goodness [0,1] 0.9293642157624747 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.69 [[ 7.96597030e-01 3.88920348e-02 -6.03258304e-01 2.07155267e+01] [-1.71336451e-02 9.98979941e-01 4.17793699e-02 4.95215430e-01] [ 6.04267830e-01 -2.29453083e-02 7.96450816e-01 8.68807798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.22538475 meters Centerline goodness [0,1] 0.9371753802133549 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.69 [[ 7.96380682e-01 3.83699606e-02 -6.03577298e-01 2.07166037e+01] [-1.65924775e-02 9.98995962e-01 4.16144000e-02 4.95637990e-01] [ 6.04568027e-01 -2.31260615e-02 7.96217738e-01 8.68878882e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.25538475 meters Centerline goodness [0,1] 0.9406248059126763 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.69 [[ 7.96109727e-01 3.76861599e-02 -6.03977694e-01 2.07175133e+01] [-1.57957605e-02 9.99013035e-01 4.15144576e-02 4.96002942e-01] [ 6.04946110e-01 -2.35097766e-02 7.95919276e-01 8.68999404e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.28538475 meters Centerline goodness [0,1] 0.9384481742313778 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.69 [[ 7.96371641e-01 3.19744413e-02 -6.03961791e-01 2.07178408e+01] [-1.20684869e-02 9.99242840e-01 3.69878214e-02 4.97525402e-01] [ 6.04687160e-01 -2.21671471e-02 7.96154543e-01 8.68895085e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.31538475 meters Centerline goodness [0,1] 0.9425619963284483 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.69 [[ 7.95795788e-01 3.05040442e-02 -6.04796302e-01 2.07211670e+01] [-1.05578154e-02 9.99277574e-01 3.65083949e-02 4.97372215e-01] [ 6.05473035e-01 -2.26678992e-02 7.95542941e-01 8.69056522e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.34538475 meters Centerline goodness [0,1] 0.9396991172448091 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.69 [[ 7.95457675e-01 2.97182473e-02 -6.05280029e-01 2.07227932e+01] [-9.76915045e-03 9.99295902e-01 3.62251785e-02 4.97401964e-01] [ 6.05930401e-01 -2.29025246e-02 7.95187917e-01 8.69153347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.37538475 meters Centerline goodness [0,1] 0.9396259297295615 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.69 [[ 7.95099593e-01 2.90237331e-02 -6.05784004e-01 2.07243765e+01] [-9.00059583e-03 9.99308931e-01 3.60645139e-02 4.97262564e-01] [ 6.06412093e-01 -2.32224634e-02 7.94811356e-01 8.69263537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.40538475 meters Centerline goodness [0,1] 0.9395629939562994 Centerline is valid? [False, False] Translation: X:20.73, Y:0.50, Z:8.69 [[ 7.94478504e-01 2.71281007e-02 -6.06686058e-01 2.07281115e+01] [-7.12701751e-03 9.99349473e-01 3.53530309e-02 4.97618102e-01] [ 6.07250453e-01 -2.37633609e-02 7.94155017e-01 8.69444749e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.43538475 meters Centerline goodness [0,1] 0.9371884346959123 Centerline is valid? [False, False] Translation: X:20.73, Y:0.50, Z:8.69 [[ 7.94377810e-01 2.00044292e-02 -6.07094489e-01 2.07311689e+01] [-2.10753704e-03 9.99542309e-01 3.01783215e-02 4.99899767e-01] [ 6.07420327e-01 -2.26935148e-02 7.94056390e-01 8.69418609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.46538475 meters Centerline goodness [0,1] 0.935177397750989 Centerline is valid? [False, False] Translation: X:20.73, Y:0.50, Z:8.70 [[ 7.93890346e-01 1.90580072e-02 -6.07762216e-01 2.07330774e+01] [-9.79379628e-04 9.99547491e-01 3.00641645e-02 4.99737210e-01] [ 6.08060161e-01 -2.32724200e-02 7.93549769e-01 8.69593603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.49538475 meters Centerline goodness [0,1] 0.9359329741177936 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.70 [[ 7.93876800e-01 1.22260654e-02 -6.07955713e-01 2.07351634e+01] [ 3.90437851e-03 9.99674755e-01 2.52019746e-02 5.02162069e-01] [ 6.08066100e-01 -2.23809522e-02 7.93570861e-01 8.69579571e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.52538475 meters Centerline goodness [0,1] 0.9325425316060558 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.70 [[ 7.93530170e-01 1.15957602e-02 -6.08420421e-01 2.07360830e+01] [ 4.82108080e-03 9.99667257e-01 2.53403310e-02 5.01619897e-01] [ 6.08511813e-01 -2.30415611e-02 7.93210224e-01 8.69742192e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.55538475 meters Centerline goodness [0,1] 0.9338504363056329 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.70 [[ 7.93345350e-01 5.41890045e-03 -6.08747724e-01 2.07359374e+01] [ 9.60824314e-03 9.99724371e-01 2.14211263e-02 5.01764973e-01] [ 6.08696014e-01 -2.28433470e-02 7.93074614e-01 8.69883521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.58538475 meters Centerline goodness [0,1] 0.9319339018523725 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.70 [[ 7.92958770e-01 4.95382573e-03 -6.09255159e-01 2.07367728e+01] [ 1.05698467e-02 9.99704609e-01 2.18854365e-02 5.00142357e-01] [ 6.09183607e-01 -2.37939824e-02 7.92672176e-01 8.70084453e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.61538475 meters Centerline goodness [0,1] 0.9289824254174746 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.70 [[ 7.93041355e-01 -9.88191161e-04 -6.09166999e-01 2.07373871e+01] [ 1.49015291e-02 9.99730912e-01 1.77777253e-02 5.01171936e-01] [ 6.08985512e-01 -2.31759911e-02 7.92842683e-01 8.70081832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.64538475 meters Centerline goodness [0,1] 0.9298486932599725 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.70 [[ 7.92940967e-01 -1.04298882e-03 -6.09297575e-01 2.07370640e+01] [ 1.50815996e-02 9.99725745e-01 1.79159016e-02 5.01994164e-01] [ 6.09111786e-01 -2.33954344e-02 7.92739229e-01 8.70154132e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.67538475 meters Centerline goodness [0,1] 0.9306661669633655 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.70 [[ 7.92765852e-01 -1.08405127e-03 -6.09525331e-01 2.07374685e+01] [ 1.52725661e-02 9.99719785e-01 1.80859118e-02 5.02071081e-01] [ 6.09334926e-01 -2.36469092e-02 7.92560263e-01 8.70225217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.70538475 meters Centerline goodness [0,1] 0.9321070547453234 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.70 [[ 7.92633895e-01 -6.05224475e-04 -6.09697582e-01 2.07369702e+01] [ 1.51823659e-02 9.99709011e-01 1.87453744e-02 5.01123204e-01] [ 6.09508822e-01 -2.41148709e-02 7.92412436e-01 8.70324015e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.73538475 meters Centerline goodness [0,1] 0.9324096611121513 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.70 [[ 7.92555513e-01 1.12248175e-04 -6.09799759e-01 2.07358334e+01] [ 1.48307457e-02 9.99700643e-01 1.94595090e-02 5.00476049e-01] [ 6.09619396e-01 -2.44665263e-02 7.92316592e-01 8.70409561e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.76538475 meters Centerline goodness [0,1] 0.9305729296972729 Centerline is valid? [False, False] Translation: X:20.73, Y:0.50, Z:8.70 [[ 7.92513238e-01 7.19616568e-04 -6.09854285e-01 2.07346589e+01] [ 1.45786796e-02 9.99691180e-01 2.01247924e-02 4.99953258e-01] [ 6.09680432e-01 -2.48400346e-02 7.92258003e-01 8.70488972e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.79538475 meters Centerline goodness [0,1] 0.9365827764940986 Centerline is valid? [False, False] Translation: X:20.73, Y:0.50, Z:8.71 [[ 7.92681923e-01 3.83888188e-03 -6.09623353e-01 2.07338441e+01] [ 1.27592683e-02 9.99656666e-01 2.28856147e-02 5.00499338e-01] [ 6.09501904e-01 -2.59193610e-02 7.92360787e-01 8.70571658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.82538475 meters Centerline goodness [0,1] 0.9342491414299094 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.71 [[ 7.92497653e-01 2.97405436e-03 -6.09867711e-01 2.07359775e+01] [ 1.33122867e-02 9.99665499e-01 2.21736867e-02 5.03010085e-01] [ 6.09729656e-01 -2.56913285e-02 7.92192971e-01 8.70567792e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.85538475 meters Centerline goodness [0,1] 0.9350519957656143 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.71 [[ 7.92288864e-01 3.01179263e-03 -6.10138743e-01 2.07363868e+01] [ 1.35181271e-02 9.99655708e-01 2.24883560e-02 5.03049721e-01] [ 6.09996407e-01 -2.60652071e-02 7.91975371e-01 8.70657516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.88538475000001 meters Centerline goodness [0,1] 0.9350519957656143 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.71 [[ 7.92288864e-01 3.01179263e-03 -6.10138743e-01 2.07363868e+01] [ 1.35181271e-02 9.99655708e-01 2.24883560e-02 5.03049721e-01] [ 6.09996407e-01 -2.60652071e-02 7.91975371e-01 8.70657516e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.91538475000002 meters Centerline goodness [0,1] 0.936102037641935 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.71 [[ 7.91890038e-01 1.94599072e-03 -6.10660610e-01 2.07384416e+01] [ 1.48431570e-02 9.99638137e-01 2.24337946e-02 5.02158322e-01] [ 6.10483291e-01 -2.68292298e-02 7.91574598e-01 8.70819005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.94538475000002 meters Centerline goodness [0,1] 0.9321156962972198 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.71 [[ 7.91459894e-01 1.36071477e-03 -6.11219588e-01 2.07400225e+01] [ 1.57565780e-02 9.99619771e-01 2.26283602e-02 5.01395995e-01] [ 6.11017975e-01 -2.75401687e-02 7.91137518e-01 8.70982408e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 177.97538475 meters Centerline goodness [0,1] 0.9324872146688288 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.71 [[ 7.91232146e-01 1.15744121e-03 -6.11514800e-01 2.07403262e+01] [ 1.63126086e-02 9.99602400e-01 2.29986933e-02 5.00448403e-01] [ 6.11298282e-01 -2.81727071e-02 7.90898672e-01 8.71113492e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.00538475 meters Centerline goodness [0,1] 0.9336067113253615 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.71 [[ 7.91127037e-01 -4.82676955e-03 -6.11632825e-01 2.07408427e+01] [ 2.08023070e-02 9.99602699e-01 1.90186255e-02 5.00577249e-01] [ 6.11298024e-01 -2.77695226e-02 7.90913130e-01 8.71174437e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.03538475 meters Centerline goodness [0,1] 0.9323978796382912 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.71 [[ 7.90888079e-01 -5.04104418e-03 -6.11940058e-01 2.07415887e+01] [ 2.14593450e-02 9.99579529e-01 1.95003014e-02 4.99728540e-01] [ 6.11584453e-01 -2.85543887e-02 7.90663711e-01 8.71315804e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.06538475 meters Centerline goodness [0,1] 0.9321039658023651 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.71 [[ 7.90505583e-01 -6.36114920e-03 -6.12421798e-01 2.07438560e+01] [ 2.27527861e-02 9.99560812e-01 1.89866674e-02 5.00283818e-01] [ 6.12032053e-01 -2.89433688e-02 7.90303136e-01 8.71429606e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.09538475 meters Centerline goodness [0,1] 0.9317905752639611 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.72 [[ 7.90327665e-01 -6.42401720e-03 -6.12650728e-01 2.07443712e+01] [ 2.30108657e-02 9.99550763e-01 1.92034252e-02 5.00493055e-01] [ 6.12252140e-01 -2.92746218e-02 7.90120443e-01 8.71512868e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.12538475 meters Centerline goodness [0,1] 0.9341100968877535 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.72 [[ 7.90204581e-01 -6.20819344e-03 -6.12811699e-01 2.07443927e+01] [ 2.29420407e-02 9.99547440e-01 1.94570727e-02 5.00921934e-01] [ 6.12413572e-01 -2.94342189e-02 7.89989395e-01 8.71566829e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.15538475 meters Centerline goodness [0,1] 0.9335422419409884 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.72 [[ 7.90063335e-01 5.97371696e-04 -6.13024934e-01 2.07419191e+01] [ 1.85176360e-02 9.99519935e-01 2.48394304e-02 4.99798135e-01] [ 6.12745480e-01 -3.09764958e-02 7.89672992e-01 8.71765071e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.18538475 meters Centerline goodness [0,1] 0.9358030799678397 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.72 [[ 7.89912047e-01 7.36004162e-03 -6.13175984e-01 2.07399471e+01] [ 1.41247318e-02 9.99444301e-01 3.01923884e-02 4.98211452e-01] [ 6.13057461e-01 -3.25102777e-02 7.89369135e-01 8.71934602e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.21538475 meters Centerline goodness [0,1] 0.9340960957256522 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.72 [[ 7.89848421e-01 1.35363191e-02 -6.13152705e-01 2.07398323e+01] [ 9.59177469e-03 9.99361483e-01 3.44183820e-02 4.99003445e-01] [ 6.13227095e-01 -3.30665273e-02 7.89214252e-01 8.71922770e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.24538475 meters Centerline goodness [0,1] 0.9355872653866305 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.72 [[ 7.89540616e-01 1.34217271e-02 -6.13551524e-01 2.07401607e+01] [ 1.02594075e-02 9.99332441e-01 3.50630474e-02 4.96976884e-01] [ 6.13612548e-01 -3.39783752e-02 7.88875852e-01 8.72106658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.27538475 meters Centerline goodness [0,1] 0.9337364341085271 Centerline is valid? [False, False] Translation: X:20.74, Y:0.49, Z:8.72 [[ 7.89232616e-01 1.36214549e-02 -6.13943266e-01 2.07400270e+01] [ 1.05789323e-02 9.99304028e-01 3.57707533e-02 4.94935481e-01] [ 6.14003228e-01 -3.47263094e-02 7.88539231e-01 8.72268564e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.30538475 meters Centerline goodness [0,1] 0.936017855482191 Centerline is valid? [False, False] Translation: X:20.74, Y:0.49, Z:8.72 [[ 7.88777648e-01 1.34721036e-02 -6.14530980e-01 2.07406432e+01] [ 1.11725097e-02 9.99280398e-01 3.62472124e-02 4.93506208e-01] [ 6.14577089e-01 -3.54568443e-02 7.88059525e-01 8.72455846e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.33538475 meters Centerline goodness [0,1] 0.9356281844165527 Centerline is valid? [False, False] Translation: X:20.74, Y:0.49, Z:8.73 [[ 7.88355173e-01 1.22728716e-02 -6.15097958e-01 2.07431948e+01] [ 1.24928860e-02 9.99275498e-01 3.59500644e-02 4.92478677e-01] [ 6.15093528e-01 -3.60257679e-02 7.87630685e-01 8.72590840e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.36538475 meters Centerline goodness [0,1] 0.935154431165606 Centerline is valid? [False, False] Translation: X:20.74, Y:0.49, Z:8.73 [[ 7.88185468e-01 1.22231794e-02 -6.15316391e-01 2.07438089e+01] [ 1.27526772e-02 9.99263711e-01 3.61857002e-02 4.92383570e-01] [ 6.15305645e-01 -3.63679744e-02 7.87449258e-01 8.72662640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.39538475 meters Centerline goodness [0,1] 0.9369414101290963 Centerline is valid? [False, False] Translation: X:20.74, Y:0.49, Z:8.73 [[ 7.87985280e-01 1.15444036e-02 -6.15585839e-01 2.07448894e+01] [ 1.36117403e-02 9.99253188e-01 3.61633286e-02 4.92633841e-01] [ 6.15543597e-01 -3.68753652e-02 7.87239664e-01 8.72767289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.42538475 meters Centerline goodness [0,1] 0.9350275490620937 Centerline is valid? [False, False] Translation: X:20.75, Y:0.49, Z:8.73 [[ 7.87852222e-01 1.14745993e-02 -6.15757428e-01 2.07452770e+01] [ 1.39064192e-02 9.99240034e-01 3.64138234e-02 4.92486761e-01] [ 6.15707307e-01 -3.72516926e-02 7.87093910e-01 8.72842530e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.45538475 meters Centerline goodness [0,1] 0.9333167686430413 Centerline is valid? [False, False] Translation: X:20.75, Y:0.49, Z:8.73 [[ 7.87687710e-01 1.11963718e-02 -6.15972980e-01 2.07454807e+01] [ 1.43153716e-02 9.99232252e-01 3.64688367e-02 4.92855759e-01] [ 6.15908387e-01 -3.75439366e-02 7.86922685e-01 8.72926221e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.48538475 meters Centerline goodness [0,1] 0.9345704637690139 Centerline is valid? [False, False] Translation: X:20.75, Y:0.49, Z:8.73 [[ 7.87381879e-01 1.11111880e-02 -6.16365409e-01 2.07455306e+01] [ 1.46769695e-02 9.99216262e-01 3.67620558e-02 4.93176069e-01] [ 6.16290810e-01 -3.79921529e-02 7.86601699e-01 8.73068746e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.51538475 meters Centerline goodness [0,1] 0.935610058987892 Centerline is valid? [False, False] Translation: X:20.75, Y:0.49, Z:8.73 [[ 7.87251661e-01 1.10540707e-02 -6.16532749e-01 2.07457807e+01] [ 1.47379482e-02 9.99216386e-01 3.67342737e-02 4.93762987e-01] [ 6.16455688e-01 -3.80055456e-02 7.86471845e-01 8.73106117e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.54538475 meters Centerline goodness [0,1] 0.934248017839445 Centerline is valid? [False, False] Translation: X:20.75, Y:0.50, Z:8.73 [[ 7.87161230e-01 1.10360540e-02 -6.16648525e-01 2.07458944e+01] [ 1.45488211e-02 9.99229392e-01 3.64548305e-02 4.96433335e-01] [ 6.16575648e-01 -3.76673382e-02 7.86394076e-01 8.73101702e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.57538475 meters Centerline goodness [0,1] 0.9338312449848775 Centerline is valid? [False, False] Translation: X:20.75, Y:0.50, Z:8.73 [[ 7.87108152e-01 1.11452712e-02 -6.16714310e-01 2.07461954e+01] [ 1.42301557e-02 9.99242514e-01 3.62201752e-02 4.98376490e-01] [ 6.16650841e-01 -3.72851358e-02 7.86353330e-01 8.73071354e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.60538475 meters Centerline goodness [0,1] 0.932265629821638 Centerline is valid? [False, False] Translation: X:20.75, Y:0.50, Z:8.73 [[ 7.86893785e-01 1.71768912e-02 -6.16849354e-01 2.07452814e+01] [ 9.81924244e-03 9.99137430e-01 4.03482238e-02 4.99569596e-01] [ 6.17010335e-01 -3.78067599e-02 7.86046370e-01 8.73122677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.63538475000001 meters Centerline goodness [0,1] 0.9324811335284152 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.73 [[ 7.86972623e-01 1.85961459e-02 -6.16707608e-01 2.07429212e+01] [ 8.54395485e-03 9.99121374e-01 4.10302469e-02 5.00376624e-01] [ 6.16928757e-01 -3.75588030e-02 7.86122284e-01 8.73113613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.66538475000002 meters Centerline goodness [0,1] 0.9333908701414789 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.73 [[ 7.86890523e-01 2.60220189e-02 -6.16543720e-01 2.07387868e+01] [ 2.95658908e-03 9.98940054e-01 4.59350213e-02 5.01426953e-01] [ 6.17085539e-01 -3.79686994e-02 7.85979526e-01 8.73163061e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.69538475000002 meters Centerline goodness [0,1] 0.9338328245922363 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.73 [[ 7.86956323e-01 2.71315324e-02 -6.16411896e-01 2.07373338e+01] [ 1.70198574e-03 9.98933478e-01 4.61411998e-02 5.03842202e-01] [ 6.17006361e-01 -3.73602332e-02 7.86070839e-01 8.73097773e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.72538475 meters Centerline goodness [0,1] 0.9322862236429581 Centerline is valid? [False, False] Translation: X:20.73, Y:0.51, Z:8.73 [[ 7.87048484e-01 3.44365214e-02 -6.15929225e-01 2.07343157e+01] [-3.94208406e-03 9.98701068e-01 5.07999592e-02 5.05502614e-01] [ 6.16878549e-01 -3.75539861e-02 7.86161913e-01 8.73042334e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.75538475 meters Centerline goodness [0,1] 0.9339042667074476 Centerline is valid? [False, False] Translation: X:20.73, Y:0.51, Z:8.73 [[ 7.86951069e-01 4.09323520e-02 -6.15656200e-01 2.07328903e+01] [-8.93374471e-03 9.98448415e-01 5.49631791e-02 5.08381711e-01] [ 6.16950730e-01 -3.77532172e-02 7.86095727e-01 8.73009869e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.78538475 meters Centerline goodness [0,1] 0.9352137640191914 Centerline is valid? [False, False] Translation: X:20.73, Y:0.51, Z:8.73 [[ 7.87173392e-01 4.18262541e-02 -6.15311804e-01 2.07315643e+01] [-9.96848441e-03 9.98430183e-01 5.51162331e-02 5.10339158e-01] [ 6.16651182e-01 -3.72523061e-02 7.86354618e-01 8.72921369e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.81538475 meters Centerline goodness [0,1] 0.9345270722942932 Centerline is valid? [False, False] Translation: X:20.73, Y:0.51, Z:8.73 [[ 7.87365892e-01 4.29632491e-02 -6.14987082e-01 2.07298058e+01] [-1.10972361e-02 9.98394763e-01 5.55405125e-02 5.11554899e-01] [ 6.16386083e-01 -3.69060484e-02 7.86578757e-01 8.72859731e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.84538475 meters Centerline goodness [0,1] 0.9321708380331067 Centerline is valid? [False, False] Translation: X:20.73, Y:0.51, Z:8.73 [[ 7.87481209e-01 4.46454449e-02 -6.14719554e-01 2.07277879e+01] [-1.28003246e-02 9.98342580e-01 5.61092181e-02 5.13264000e-01] [ 6.16205726e-01 -3.63163451e-02 7.86747498e-01 8.72781762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.87538475 meters Centerline goodness [0,1] 0.9328025866276233 Centerline is valid? [False, False] Translation: X:20.72, Y:0.51, Z:8.73 [[ 7.87898561e-01 4.63769683e-02 -6.14056214e-01 2.07247649e+01] [-1.44275139e-02 9.98276576e-01 5.68834300e-02 5.13178754e-01] [ 6.15636016e-01 -3.59590681e-02 7.87209782e-01 8.72677339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.90538475 meters Centerline goodness [0,1] 0.9323159401748454 Centerline is valid? [False, False] Translation: X:20.72, Y:0.51, Z:8.73 [[ 7.88008198e-01 4.73562853e-02 -6.13840747e-01 2.07227731e+01] [-1.51183247e-02 9.98225109e-01 5.76026754e-02 5.12312214e-01] [ 6.15479095e-01 -3.61111368e-02 7.87325517e-01 8.72700379e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.93538475 meters Centerline goodness [0,1] 0.9364778528413781 Centerline is valid? [False, False] Translation: X:20.72, Y:0.51, Z:8.73 [[ 7.88695176e-01 4.45259680e-02 -6.13169925e-01 2.07183320e+01] [-1.36987270e-02 9.98399002e-01 5.48796682e-02 5.11850405e-01] [ 6.14631812e-01 -3.48836822e-02 7.88042426e-01 8.72557949e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.96538475 meters Centerline goodness [0,1] 0.9357357173473762 Centerline is valid? [False, False] Translation: X:20.72, Y:0.51, Z:8.73 [[ 7.88672068e-01 4.51320774e-02 -6.13155335e-01 2.07175523e+01] [-1.41053723e-02 9.98367760e-01 5.53430688e-02 5.11354708e-01] [ 6.14652265e-01 -3.49987482e-02 7.88021371e-01 8.72585613e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 178.99538475 meters Centerline goodness [0,1] 0.9328035347181738 Centerline is valid? [False, False] Translation: X:20.72, Y:0.51, Z:8.73 [[ 7.88785942e-01 4.62761757e-02 -6.12923530e-01 2.07164725e+01] [-1.52857479e-02 9.98330363e-01 5.57030797e-02 5.11764878e-01] [ 6.14477895e-01 -3.45688116e-02 7.88176321e-01 8.72508206e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.02538475 meters Centerline goodness [0,1] 0.928641340918823 Centerline is valid? [False, False] Translation: X:20.72, Y:0.51, Z:8.72 [[ 7.88732253e-01 4.66176207e-02 -6.12966745e-01 2.07171473e+01] [-1.57007616e-02 9.98322865e-01 5.57220109e-02 5.12506975e-01] [ 6.14536345e-01 -3.43257025e-02 7.88141375e-01 8.72473974e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.05538475 meters Centerline goodness [0,1] 0.9251813090975856 Centerline is valid? [False, False] Translation: X:20.72, Y:0.51, Z:8.72 [[ 7.88679552e-01 4.66782877e-02 -6.13029936e-01 2.07183344e+01] [-1.60017818e-02 9.98334341e-01 5.54300166e-02 5.13838560e-01] [ 6.14596215e-01 -3.39069494e-02 7.88112816e-01 8.72416062e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.08538475 meters Centerline goodness [0,1] 0.9075840214509887 Centerline is valid? [False, False] Translation: X:20.72, Y:0.51, Z:8.72 [[ 7.87987342e-01 5.16957316e-02 -6.13517318e-01 2.07214551e+01] [-1.93998073e-02 9.98058744e-01 5.91810096e-02 5.13425733e-01] [ 6.15385729e-01 -3.47317687e-02 7.87460544e-01 8.72490710e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.11538475 meters Centerline goodness [0,1] 0.8770648900246418 Centerline is valid? [False, False] Translation: X:20.72, Y:0.51, Z:8.72 [[ 0.78766458 0.05755156 -0.61341041 20.72263846] [-0.0238259 0.99772814 0.0630149 0.5141098 ] [ 0.61564344 -0.03501955 0.78724633 8.72441729] [ 0. 0. 0. 1. ]] SLAMing on 179.14538475 meters Centerline goodness [0,1] 0.8580692300666728 Centerline is valid? [False, False] Translation: X:20.72, Y:0.51, Z:8.72 [[ 0.78768855 0.05865504 -0.61327509 20.72159378] [-0.02477516 0.99766802 0.06359814 0.51339705] [ 0.6155753 -0.03490154 0.78730486 8.72421838] [ 0. 0. 0. 1. ]] SLAMing on 179.17538475 meters Centerline goodness [0,1] 0.8277882913131067 Centerline is valid? [False, False] Translation: X:20.72, Y:0.51, Z:8.72 [[ 0.78829374 0.05632129 -0.612716 20.71770349] [-0.02382842 0.99784924 0.06106641 0.51081744] [ 0.61483753 -0.03353821 0.78794035 8.72235211] [ 0. 0. 0. 1. ]] SLAMing on 179.20538475 meters Centerline goodness [0,1] 0.8252692295891756 Centerline is valid? [False, False] Translation: X:20.72, Y:0.51, Z:8.72 [[ 0.78833748 0.05735463 -0.61256384 20.71645015] [-0.02443014 0.99777822 0.06198212 0.50831254] [ 0.61475782 -0.03389781 0.78798716 8.72265301] [ 0. 0. 0. 1. ]] SLAMing on 179.23538475 meters Centerline goodness [0,1] 0.8483092086910703 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.72 [[ 0.78897853 0.05320125 -0.61211315 20.7176063 ] [-0.02121458 0.99800901 0.05939667 0.50156274] [ 0.61405442 -0.03387697 0.78853632 8.7213916 ] [ 0. 0. 0. 1. ]] SLAMing on 179.26538475 meters Centerline goodness [0,1] 0.8302719502719502 Centerline is valid? [False, False] Translation: X:20.71, Y:0.50, Z:8.72 [[ 7.89242470e-01 5.07862449e-02 -6.11978007e-01 2.07149626e+01] [-2.01730136e-02 9.98180627e-01 5.68197653e-02 5.00736036e-01] [ 6.13750253e-01 -3.24991312e-02 7.88831055e-01 8.72018140e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.29538475 meters Centerline goodness [0,1] 0.8347831509369251 Centerline is valid? [False, False] Translation: X:20.71, Y:0.50, Z:8.72 [[ 7.89936576e-01 4.98198601e-02 -6.11161343e-01 2.07090744e+01] [-2.06342436e-02 9.98289215e-01 5.47071337e-02 4.98440035e-01] [ 6.12841280e-01 -3.06043138e-02 7.89613160e-01 8.71745886e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.32538475 meters Centerline goodness [0,1] 0.8006037594920952 Centerline is valid? [False, False] Translation: X:20.71, Y:0.50, Z:8.72 [[ 0.79015659 0.05153878 -0.61073425 20.70618208] [-0.02216046 0.99820905 0.0555663 0.49805371] [ 0.61250427 -0.03037193 0.78988358 8.71692237] [ 0. 0. 0. 1. ]] SLAMing on 179.35538475 meters Centerline goodness [0,1] 0.8143478260869565 Centerline is valid? [False, False] Translation: X:20.70, Y:0.50, Z:8.72 [[ 0.7903739 0.05489566 -0.61016028 20.70272493] [-0.0251284 0.99804398 0.05724308 0.49815505] [ 0.61210919 -0.02991109 0.79020736 8.71570611] [ 0. 0. 0. 1. ]] SLAMing on 179.38538475000001 meters Centerline goodness [0,1] 0.7873664653971203 Centerline is valid? [False, False] Translation: X:20.70, Y:0.50, Z:8.71 [[ 0.79051056 0.05571089 -0.60990929 20.7022721 ] [-0.02606279 0.9980121 0.05738104 0.49864256] [ 0.6118936 -0.02946438 0.79039109 8.71474252] [ 0. 0. 0. 1. ]] SLAMing on 179.41538475000002 meters Centerline goodness [0,1] 0.7776775998756412 Centerline is valid? [False, False] Translation: X:20.69, Y:0.50, Z:8.71 [[ 0.79048501 0.0594781 -0.60958658 20.6877824 ] [-0.0247536 0.99756292 0.06523405 0.49778127] [ 0.61198097 -0.03647707 0.79003083 8.70567541] [ 0. 0. 0. 1. ]] SLAMing on 179.44538475000002 meters Centerline goodness [0,1] 0.7716778314379187 Centerline is valid? [False, False] Translation: X:20.69, Y:0.50, Z:8.71 [[ 0.79036788 0.05947711 -0.60973854 20.6890096 ] [-0.02476198 0.99756427 0.06521019 0.4969999 ] [ 0.61213189 -0.03644171 0.78991553 8.70562465] [ 0. 0. 0. 1. ]] SLAMing on 179.47538475 meters Centerline goodness [0,1] 0.7564665234849193 Centerline is valid? [False, False] Translation: X:20.69, Y:0.50, Z:8.71 [[ 0.79009073 0.05909864 -0.6101344 20.69109307] [-0.0243831 0.99758388 0.06505286 0.49628912] [ 0.61250478 -0.0365207 0.78962278 8.70604508] [ 0. 0. 0. 1. ]] SLAMing on 179.50538475 meters Centerline goodness [0,1] 0.7663222754714633 Centerline is valid? [False, False] Translation: X:20.68, Y:0.49, Z:8.70 [[ 0.78765813 0.06011949 -0.61317233 20.67603341] [-0.02124988 0.99728656 0.07048381 0.49367807] [ 0.61574598 -0.0424873 0.7867984 8.69820408] [ 0. 0. 0. 1. ]] SLAMing on 179.53538475 meters Centerline goodness [0,1] 0.8149549662246685 Centerline is valid? [False, False] Translation: X:20.68, Y:0.49, Z:8.70 [[ 7.88057518e-01 5.48333007e-02 -6.13154676e-01 2.06758725e+01] [-1.75052603e-02 9.97618399e-01 6.67165387e-02 4.92848410e-01] [ 6.15352674e-01 -4.18430378e-02 7.87140551e-01 8.69782093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.56538475 meters Centerline goodness [0,1] 0.8218745110311375 Centerline is valid? [False, False] Translation: X:20.67, Y:0.49, Z:8.70 [[ 7.88518250e-01 5.00122910e-02 -6.12974502e-01 2.06745043e+01] [-1.44255655e-02 9.97917913e-01 6.28628749e-02 4.93715318e-01] [ 6.14842153e-01 -4.07260202e-02 7.87597942e-01 8.69682488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.59538475 meters Centerline goodness [0,1] 0.843521926267856 Centerline is valid? [False, False] Translation: X:20.67, Y:0.50, Z:8.70 [[ 7.89666528e-01 4.71743352e-02 -6.11719999e-01 2.06744567e+01] [-1.23129438e-02 9.98057353e-01 6.10729952e-02 4.95228622e-01] [ 6.13412721e-01 -4.06952262e-02 7.88713340e-01 8.69500073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.62538475 meters Centerline goodness [0,1] 0.8147686555538246 Centerline is valid? [False, False] Translation: X:20.68, Y:0.50, Z:8.69 [[ 7.89574174e-01 4.64100218e-02 -6.11897650e-01 2.06762609e+01] [-1.17330491e-02 9.98095498e-01 6.05616337e-02 4.96113853e-01] [ 6.13542957e-01 -4.06384767e-02 7.88614960e-01 8.69497942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.65538475 meters Centerline goodness [0,1] 0.8395280786950566 Centerline is valid? [False, False] Translation: X:20.68, Y:0.50, Z:8.69 [[ 7.89573291e-01 4.40917580e-02 -6.12070204e-01 2.06789877e+01] [-9.91095934e-03 9.98201543e-01 5.91223553e-02 4.95950739e-01] [ 6.13576231e-01 -4.06152297e-02 7.88590269e-01 8.69497109e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.68538475 meters Centerline goodness [0,1] 0.8863509229908633 Centerline is valid? [False, False] Translation: X:20.68, Y:0.50, Z:8.69 [[ 7.89864376e-01 3.88758007e-02 -6.12048152e-01 2.06787516e+01] [-6.51779624e-03 9.98464605e-01 5.50086392e-02 4.96145682e-01] [ 6.13246921e-01 -3.94601593e-02 7.88905007e-01 8.69407180e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.71538475 meters Centerline goodness [0,1] 0.8915325837112505 Centerline is valid? [False, False] Translation: X:20.68, Y:0.50, Z:8.69 [[ 7.90153303e-01 3.38122114e-02 -6.11975892e-01 2.06783499e+01] [-3.34092390e-03 9.98699929e-01 5.08654205e-02 4.97644668e-01] [ 6.12900152e-01 -3.81469151e-02 7.89239011e-01 8.69300881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.74538475 meters Centerline goodness [0,1] 0.8915325837112505 Centerline is valid? [False, False] Translation: X:20.68, Y:0.50, Z:8.69 [[ 7.90153303e-01 3.38122114e-02 -6.11975892e-01 2.06783499e+01] [-3.34092390e-03 9.98699929e-01 5.08654205e-02 4.97644668e-01] [ 6.12900152e-01 -3.81469151e-02 7.89239011e-01 8.69300881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.77538475 meters Centerline goodness [0,1] 0.9109148029487698 Centerline is valid? [False, False] Translation: X:20.68, Y:0.50, Z:8.69 [[ 7.90504459e-01 2.82764548e-02 -6.11803190e-01 2.06792839e+01] [ 1.47908987e-04 9.98924803e-01 4.63596386e-02 4.98261237e-01] [ 6.12456267e-01 -3.67379922e-02 7.89650328e-01 8.69132094e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.80538475 meters Centerline goodness [0,1] 0.9039892871601631 Centerline is valid? [False, False] Translation: X:20.68, Y:0.50, Z:8.69 [[ 7.90266140e-01 2.81246934e-02 -6.12117987e-01 2.06802929e+01] [ 4.56319731e-04 9.98918839e-01 4.64859727e-02 4.97328395e-01] [ 6.12763593e-01 -3.70156117e-02 7.89398901e-01 8.69210845e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.83538475 meters Centerline goodness [0,1] 0.9070303975058457 Centerline is valid? [False, False] Translation: X:20.68, Y:0.50, Z:8.69 [[ 7.90172578e-01 2.82153209e-02 -6.12234590e-01 2.06807718e+01] [ 4.24133303e-04 9.98914325e-01 4.65831680e-02 4.96454868e-01] [ 6.12884261e-01 -3.70684110e-02 7.89302740e-01 8.69231125e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.86538475 meters Centerline goodness [0,1] 0.9135435876598006 Centerline is valid? [False, False] Translation: X:20.68, Y:0.50, Z:8.69 [[ 7.90225466e-01 2.88221180e-02 -6.12138055e-01 2.06794073e+01] [-3.73055155e-05 9.98895633e-01 4.69841856e-02 4.95630028e-01] [ 6.12816213e-01 -3.71052639e-02 7.89353842e-01 8.69252795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.89538475 meters Centerline goodness [0,1] 0.9146925363792834 Centerline is valid? [False, False] Translation: X:20.68, Y:0.50, Z:8.69 [[ 7.90185289e-01 2.90857296e-02 -6.12177449e-01 2.06789820e+01] [-1.98014013e-04 9.98885280e-01 4.72033712e-02 4.95710486e-01] [ 6.12867987e-01 -3.71781898e-02 7.89310213e-01 8.69287470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.92538475 meters Centerline goodness [0,1] 0.9141066026260799 Centerline is valid? [False, False] Translation: X:20.68, Y:0.50, Z:8.69 [[ 7.90094983e-01 2.87160206e-02 -6.12311447e-01 2.06799918e+01] [ 1.11342109e-04 9.98895372e-01 4.69896016e-02 4.95852121e-01] [ 6.12984426e-01 -3.71944245e-02 7.89219024e-01 8.69309351e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.95538475 meters Centerline goodness [0,1] 0.9270308342463609 Centerline is valid? [False, False] Translation: X:20.68, Y:0.50, Z:8.69 [[ 7.90151397e-01 2.21173029e-02 -6.12512527e-01 2.06826327e+01] [ 4.55889400e-03 9.99108974e-01 4.19580191e-02 4.97302890e-01] [ 6.12894760e-01 -3.59455671e-02 7.89346521e-01 8.69218036e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 179.98538475 meters Centerline goodness [0,1] 0.9287761714855434 Centerline is valid? [False, False] Translation: X:20.69, Y:0.50, Z:8.69 [[ 7.90092302e-01 1.56773851e-02 -6.12787381e-01 2.06852237e+01] [ 8.74870628e-03 9.99282679e-01 3.68454469e-02 4.99332586e-01] [ 6.12925456e-01 -3.44724007e-02 7.89388395e-01 8.69118611e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.01538475 meters Centerline goodness [0,1] 0.9363590897724431 Centerline is valid? [False, False] Translation: X:20.68, Y:0.50, Z:8.69 [[ 7.86743272e-01 1.37926520e-02 -6.17126233e-01 2.06750269e+01] [ 1.48536016e-02 9.99037846e-01 4.12644142e-02 4.98994324e-01] [ 6.17101608e-01 -4.16310474e-02 7.85781433e-01 8.68654738e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.04538475 meters Centerline goodness [0,1] 0.9365858232279035 Centerline is valid? [False, False] Translation: X:20.68, Y:0.50, Z:8.69 [[ 7.86254097e-01 1.22636388e-02 -6.17781594e-01 2.06784061e+01] [ 1.62764614e-02 9.99045042e-01 4.05472779e-02 4.99173410e-01] [ 6.17688896e-01 -4.19357617e-02 7.85303648e-01 8.68767761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.07538475 meters Centerline goodness [0,1] 0.9352414803728993 Centerline is valid? [False, False] Translation: X:20.68, Y:0.50, Z:8.69 [[ 7.85864457e-01 5.15256367e-03 -6.18377317e-01 2.06816674e+01] [ 2.16317365e-02 9.99124266e-01 3.58157773e-02 4.99864798e-01] [ 6.18020325e-01 -4.15229215e-02 7.85064790e-01 8.68860578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.10538475 meters Centerline goodness [0,1] 0.9324847123424436 Centerline is valid? [False, False] Translation: X:20.68, Y:0.50, Z:8.69 [[ 7.85613843e-01 -1.63856900e-03 -6.18714962e-01 2.06832730e+01] [ 2.65602008e-02 9.99163985e-01 3.10787090e-02 5.01502158e-01] [ 6.18146783e-01 -4.08490576e-02 7.85000579e-01 8.68922067e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.13538475000001 meters Centerline goodness [0,1] 0.9282693813625685 Centerline is valid? [False, False] Translation: X:20.68, Y:0.50, Z:8.69 [[ 7.85143974e-01 -2.32417567e-03 -6.19308920e-01 2.06845829e+01] [ 2.74871955e-02 9.99138315e-01 3.10979421e-02 5.01349042e-01] [ 6.18702993e-01 -4.14394272e-02 7.84531312e-01 8.69097004e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.16538475000002 meters Centerline goodness [0,1] 0.9240017442222638 Centerline is valid? [False, False] Translation: X:20.69, Y:0.50, Z:8.69 [[ 7.84747980e-01 -2.92618973e-03 -6.19808072e-01 2.06859940e+01] [ 2.83455503e-02 9.99112031e-01 3.11717817e-02 5.01298095e-01] [ 6.19166487e-01 -4.20307936e-02 7.84134092e-01 8.69252187e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.19538475000002 meters Centerline goodness [0,1] 0.9113492906693331 Centerline is valid? [False, False] Translation: X:20.69, Y:0.50, Z:8.69 [[ 7.85315275e-01 -8.68712939e-03 -6.19035099e-01 2.06869856e+01] [ 3.25998408e-02 9.99094589e-01 2.73359120e-02 5.04144433e-01] [ 6.18237147e-01 -4.16477549e-02 7.84887441e-01 8.69151881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.22538475 meters Centerline goodness [0,1] 0.9054533018281308 Centerline is valid? [False, False] Translation: X:20.69, Y:0.50, Z:8.69 [[ 7.84893925e-01 -9.00313267e-03 -6.19564742e-01 2.06878496e+01] [ 3.33762768e-02 9.99057121e-01 2.77649645e-02 5.03428843e-01] [ 6.18730596e-01 -4.24713163e-02 7.84454356e-01 8.69348045e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.25538475 meters Centerline goodness [0,1] 0.9032418952618454 Centerline is valid? [False, False] Translation: X:20.69, Y:0.50, Z:8.70 [[ 7.84230277e-01 -1.07569902e-02 -6.20376627e-01 2.06919019e+01] [ 3.52579177e-02 9.99006720e-01 2.72479981e-02 5.02187436e-01] [ 6.19467313e-01 -4.32418932e-02 7.83830586e-01 8.69541815e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.28538475 meters Centerline goodness [0,1] 0.9034846687066758 Centerline is valid? [False, False] Translation: X:20.69, Y:0.50, Z:8.70 [[ 7.83855177e-01 -1.10843814e-02 -6.20844745e-01 2.06935145e+01] [ 3.57401848e-02 9.98988475e-01 2.72885609e-02 5.01298736e-01] [ 6.19914268e-01 -4.35793857e-02 7.83458446e-01 8.69648030e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.31538475 meters Centerline goodness [0,1] 0.903254040198806 Centerline is valid? [False, False] Translation: X:20.69, Y:0.50, Z:8.70 [[ 7.83869910e-01 -1.08673768e-02 -6.20829981e-01 2.06944701e+01] [ 3.53939212e-02 9.99003170e-01 2.72017887e-02 5.01856239e-01] [ 6.19915506e-01 -4.32962711e-02 7.83473164e-01 8.69595146e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.34538475 meters Centerline goodness [0,1] 0.9118638776147362 Centerline is valid? [False, False] Translation: X:20.70, Y:0.50, Z:8.70 [[ 7.83689569e-01 -1.05971477e-02 -6.21062283e-01 2.06958144e+01] [ 3.51918700e-02 9.99005960e-01 2.73610043e-02 5.00894521e-01] [ 6.20154973e-01 -4.32988768e-02 7.83283484e-01 8.69611527e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.37538475 meters Centerline goodness [0,1] 0.9112424185581192 Centerline is valid? [False, False] Translation: X:20.70, Y:0.50, Z:8.70 [[ 7.83467074e-01 -1.03465125e-02 -6.21347161e-01 2.06959661e+01] [ 3.51243530e-02 9.99000274e-01 2.76537922e-02 5.00322195e-01] [ 6.20439864e-01 -4.34902527e-02 7.83047236e-01 8.69691304e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.40538475 meters Centerline goodness [0,1] 0.9156305784347499 Centerline is valid? [False, False] Translation: X:20.70, Y:0.50, Z:8.70 [[ 7.82904021e-01 -1.11028945e-02 -6.22043422e-01 2.06973082e+01] [ 3.60758599e-02 9.98968560e-01 2.75744306e-02 4.99272045e-01] [ 6.21095666e-01 -4.40288840e-02 7.82497049e-01 8.69886747e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.43538475 meters Centerline goodness [0,1] 0.9192328216718461 Centerline is valid? [False, False] Translation: X:20.70, Y:0.50, Z:8.70 [[ 7.82501306e-01 -1.12955771e-02 -6.22546477e-01 2.06982749e+01] [ 3.65406371e-02 9.98945297e-01 2.78042416e-02 4.98494945e-01] [ 6.21575810e-01 -4.45051002e-02 7.82088747e-01 8.70029338e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.46538475 meters Centerline goodness [0,1] 0.9169071518193225 Centerline is valid? [False, False] Translation: X:20.70, Y:0.50, Z:8.70 [[ 7.82092053e-01 -1.16524902e-02 -6.23053962e-01 2.06997747e+01] [ 3.71566414e-02 9.98918251e-01 2.79591012e-02 4.98420426e-01] [ 6.22054181e-01 -4.50171835e-02 7.81678993e-01 8.70169289e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.49538475 meters Centerline goodness [0,1] 0.9161740327171499 Centerline is valid? [False, False] Translation: X:20.70, Y:0.50, Z:8.70 [[ 7.81602943e-01 -1.23988104e-02 -6.23653036e-01 2.07023420e+01] [ 3.77661584e-02 9.98908914e-01 2.74717789e-02 5.00607140e-01] [ 6.22631960e-01 -4.50250026e-02 7.81218402e-01 8.70259088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.52538475 meters Centerline goodness [0,1] 0.9151586881365434 Centerline is valid? [False, False] Translation: X:20.70, Y:0.50, Z:8.70 [[ 7.81178246e-01 -1.34696641e-02 -6.24162732e-01 2.07049766e+01] [ 3.86414886e-02 9.98893532e-01 2.68057176e-02 5.03434649e-01] [ 6.23111052e-01 -4.50586206e-02 7.80834386e-01 8.70337930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.55538475 meters Centerline goodness [0,1] 0.9140381498566263 Centerline is valid? [False, False] Translation: X:20.71, Y:0.50, Z:8.70 [[ 7.80856518e-01 -1.37968118e-02 -6.24558041e-01 2.07063744e+01] [ 3.92324025e-02 9.98865670e-01 2.69850270e-02 5.03395473e-01] [ 6.23477279e-01 -4.55743467e-02 7.80512051e-01 8.70456764e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.58538475 meters Centerline goodness [0,1] 0.9114505712866369 Centerline is valid? [False, False] Translation: X:20.71, Y:0.50, Z:8.71 [[ 7.80487398e-01 -1.36361547e-02 -6.25022781e-01 2.07068756e+01] [ 3.94438776e-02 9.98844312e-01 2.74630851e-02 5.03098403e-01] [ 6.23925958e-01 -4.60879139e-02 7.80123261e-01 8.70609754e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.61538475 meters Centerline goodness [0,1] 0.9122681883024251 Centerline is valid? [False, False] Translation: X:20.71, Y:0.50, Z:8.71 [[ 7.80170545e-01 -1.34930015e-02 -6.25421346e-01 2.07072361e+01] [ 3.98375147e-02 9.98809679e-01 2.81460094e-02 5.02074810e-01] [ 6.24297120e-01 -4.68739196e-02 7.79779419e-01 8.70775984e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.64538475 meters Centerline goodness [0,1] 0.9116463357564034 Centerline is valid? [False, False] Translation: X:20.71, Y:0.50, Z:8.71 [[ 7.80007051e-01 -1.29219932e-02 -6.25637293e-01 2.07063552e+01] [ 3.98911405e-02 9.98780055e-01 2.91049493e-02 5.00600619e-01] [ 6.24497956e-01 -4.76594508e-02 7.79570959e-01 8.70929745e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.67538475 meters Centerline goodness [0,1] 0.9053464606181456 Centerline is valid? [False, False] Translation: X:20.71, Y:0.50, Z:8.71 [[ 7.79343458e-01 -1.26287614e-02 -6.26469703e-01 2.07067852e+01] [ 4.15722665e-02 9.98636112e-01 3.15857840e-02 4.96112949e-01] [ 6.25216379e-01 -5.06599396e-02 7.78805528e-01 8.71474130e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.70538475 meters Centerline goodness [0,1] 0.9042284287720393 Centerline is valid? [False, False] Translation: X:20.71, Y:0.49, Z:8.72 [[ 7.78929293e-01 -1.27491060e-02 -6.26982151e-01 2.07079795e+01] [ 4.22080848e-02 9.98592027e-01 3.21316293e-02 4.94497063e-01] [ 6.25689727e-01 -5.14919831e-02 7.78370696e-01 8.71650659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.73538475 meters Centerline goodness [0,1] 0.9108500560887449 Centerline is valid? [False, False] Translation: X:20.71, Y:0.49, Z:8.72 [[ 7.78373427e-01 -1.27378914e-02 -6.27672331e-01 2.07093149e+01] [ 4.25015151e-02 9.98569575e-01 3.24410973e-02 4.94546378e-01] [ 6.26361261e-01 -5.19283131e-02 7.77801402e-01 8.71822294e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.76538475 meters Centerline goodness [0,1] 0.912559816046237 Centerline is valid? [False, False] Translation: X:20.71, Y:0.50, Z:8.72 [[ 7.77671651e-01 -1.36513357e-02 -6.28522429e-01 2.07128557e+01] [ 4.33021994e-02 9.98552940e-01 3.18895724e-02 4.95490687e-01] [ 6.27177585e-01 -5.20160200e-02 7.77137447e-01 8.71949442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.79538475 meters Centerline goodness [0,1] 0.91380006836332 Centerline is valid? [False, False] Translation: X:20.71, Y:0.50, Z:8.72 [[ 7.77270565e-01 -1.35965386e-02 -6.29019556e-01 2.07136475e+01] [ 4.34849609e-02 9.98536649e-01 3.21499354e-02 4.95727196e-01] [ 6.27661952e-01 -5.23420893e-02 7.76724391e-01 8.72079930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.82538475 meters Centerline goodness [0,1] 0.9131419705197827 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.73 [[ 7.76062409e-01 -1.10224315e-02 -6.30559786e-01 2.07188607e+01] [ 4.39564918e-02 9.98361041e-01 3.66477775e-02 4.95011682e-01] [ 6.29122376e-01 -5.61581586e-02 7.75274981e-01 8.72772794e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.85538475 meters Centerline goodness [0,1] 0.9112277215425697 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.73 [[ 7.75652021e-01 -1.12343896e-02 -6.31060798e-01 2.07204075e+01] [ 4.43944066e-02 9.98336305e-01 3.67934630e-02 4.95367011e-01] [ 6.29597553e-01 -5.65544936e-02 7.74860317e-01 8.72897128e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.88538475000001 meters Centerline goodness [0,1] 0.9102886016305527 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.73 [[ 7.75077067e-01 -1.13344552e-02 -6.31765043e-01 2.07215088e+01] [ 4.48706233e-02 9.98302228e-01 3.71387742e-02 4.95782355e-01] [ 6.30271503e-01 -5.71331035e-02 7.74269747e-01 8.73102537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.91538475000002 meters Centerline goodness [0,1] 0.9088565126898822 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.73 [[ 7.74835623e-01 -1.09518513e-02 -6.32067887e-01 2.07211692e+01] [ 4.48126131e-02 9.98286163e-01 3.76372978e-02 4.96546914e-01] [ 6.30572428e-01 -5.74873328e-02 7.73998462e-01 8.73224791e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.94538475000002 meters Centerline goodness [0,1] 0.9138369066798859 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.74 [[ 7.74493312e-01 -4.01816217e-03 -6.32569335e-01 2.07176737e+01] [ 4.06447538e-02 9.98229658e-01 4.34229733e-02 4.96288421e-01] [ 6.31274990e-01 -5.93414273e-02 7.73285511e-01 8.73566843e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 180.97538475 meters Centerline goodness [0,1] 0.9149282620049771 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.74 [[ 7.74356848e-01 -3.32924677e-03 -6.32740380e-01 2.07168451e+01] [ 4.01272755e-02 9.98231662e-01 4.38560141e-02 4.97725223e-01] [ 6.31475474e-01 -5.93503524e-02 7.73121117e-01 8.73627473e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.00538475 meters Centerline goodness [0,1] 0.9194121249234538 Centerline is valid? [False, False] Translation: X:20.71, Y:0.50, Z:8.74 [[ 7.74159670e-01 3.61990326e-03 -6.32980017e-01 2.07137048e+01] [ 3.54072868e-02 9.98170357e-01 4.90128800e-02 4.98397889e-01] [ 6.31999311e-01 -6.03559000e-02 7.72615063e-01 8.73809870e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.03538475 meters Centerline goodness [0,1] 0.9235211439745783 Centerline is valid? [False, False] Translation: X:20.71, Y:0.50, Z:8.74 [[ 7.73757375e-01 9.78182282e-03 -6.33406536e-01 2.07129148e+01] [ 3.14555468e-02 9.98054081e-01 5.38386447e-02 4.97738321e-01] [ 6.32700619e-01 -6.15821974e-02 7.71944014e-01 8.74006195e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.06538475 meters Centerline goodness [0,1] 0.9300644063677239 Centerline is valid? [False, False] Translation: X:20.71, Y:0.50, Z:8.74 [[ 7.73582750e-01 1.65443767e-02 -6.33479292e-01 2.07111971e+01] [ 2.64047349e-02 9.97949401e-01 5.83076648e-02 4.98714442e-01] [ 6.33144944e-01 -6.18326565e-02 7.71559591e-01 8.74037594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.09538475 meters Centerline goodness [0,1] 0.9339842920823604 Centerline is valid? [False, False] Translation: X:20.71, Y:0.50, Z:8.74 [[ 7.73342592e-01 1.76423884e-02 -6.33742836e-01 2.07112009e+01] [ 2.52630710e-02 9.97961266e-01 5.86096236e-02 5.00105211e-01] [ 6.33484817e-01 -6.13356084e-02 7.71320251e-01 8.74028417e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.12538475 meters Centerline goodness [0,1] 0.9352917945134733 Centerline is valid? [False, False] Translation: X:20.71, Y:0.50, Z:8.74 [[ 7.73091214e-01 2.45520615e-02 -6.33819510e-01 2.07108778e+01] [ 1.97082479e-02 9.97838328e-01 6.26917610e-02 5.00819597e-01] [ 6.33988612e-01 -6.09579217e-02 7.70936166e-01 8.73957480e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.15538475 meters Centerline goodness [0,1] 0.9373239223289207 Centerline is valid? [False, False] Translation: X:20.71, Y:0.50, Z:8.74 [[ 7.72461691e-01 3.03254991e-02 -6.34336897e-01 2.07118978e+01] [ 1.57925422e-02 9.97633034e-01 6.69247740e-02 5.00650342e-01] [ 6.34864971e-01 -6.17146163e-02 7.70154384e-01 8.74099588e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.18538475 meters Centerline goodness [0,1] 0.9362396831635276 Centerline is valid? [False, False] Translation: X:20.71, Y:0.50, Z:8.74 [[ 7.72180280e-01 3.74483590e-02 -6.34299011e-01 2.07115901e+01] [ 9.81493382e-03 9.97439667e-01 7.08362717e-02 5.01701680e-01] [ 6.35327697e-01 -6.09239749e-02 7.69835688e-01 8.73973443e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.21538475 meters Centerline goodness [0,1] 0.9405093152673603 Centerline is valid? [False, False] Translation: X:20.71, Y:0.50, Z:8.74 [[ 7.72114228e-01 3.90338402e-02 -6.34283831e-01 2.07101172e+01] [ 8.20377219e-03 9.97416353e-01 7.13674817e-02 5.02365082e-01] [ 6.35430812e-01 -6.03073681e-02 7.69799132e-01 8.73925372e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.24538475 meters Centerline goodness [0,1] 0.9390776699029126 Centerline is valid? [False, False] Translation: X:20.71, Y:0.50, Z:8.74 [[ 7.71841137e-01 4.10287325e-02 -6.34490269e-01 2.07075225e+01] [ 6.58916081e-03 9.97346064e-01 7.25080154e-02 5.00431349e-01] [ 6.35781285e-01 -6.01454275e-02 7.69522375e-01 8.74009493e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.27538475 meters Centerline goodness [0,1] 0.9410225197808886 Centerline is valid? [False, False] Translation: X:20.71, Y:0.50, Z:8.74 [[ 7.72034573e-01 3.66560994e-02 -6.34522614e-01 2.07057631e+01] [ 9.48998082e-03 9.97559388e-01 6.91752010e-02 4.99732499e-01] [ 6.35509684e-01 -5.94272542e-02 7.69802470e-01 8.74001017e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.30538475 meters Centerline goodness [0,1] 0.940470372632865 Centerline is valid? [False, False] Translation: X:20.71, Y:0.50, Z:8.74 [[ 7.71378308e-01 3.57392685e-02 -6.35372498e-01 2.07091914e+01] [ 1.06109189e-02 9.97560618e-01 6.89943609e-02 4.98696686e-01] [ 6.36288390e-01 -5.99626395e-02 7.69117395e-01 8.74177703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.33538475 meters Centerline goodness [0,1] 0.9384877218575249 Centerline is valid? [False, False] Translation: X:20.71, Y:0.50, Z:8.74 [[ 7.70871943e-01 3.48871420e-02 -6.36034068e-01 2.07116875e+01] [ 1.16779838e-02 9.97557238e-01 6.88707623e-02 4.98001118e-01] [ 6.36883092e-01 -6.05181338e-02 7.68581474e-01 8.74341153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.36538475 meters Centerline goodness [0,1] 0.9392212725546059 Centerline is valid? [False, False] Translation: X:20.71, Y:0.50, Z:8.75 [[ 7.70498697e-01 3.44289507e-02 -6.36511119e-01 2.07130856e+01] [ 1.25005440e-02 9.97532208e-01 6.90885653e-02 4.96885586e-01] [ 6.37318989e-01 -6.11893848e-02 7.68166886e-01 8.74504159e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.39538475 meters Centerline goodness [0,1] 0.9402815691807502 Centerline is valid? [False, False] Translation: X:20.71, Y:0.50, Z:8.75 [[ 7.70634063e-01 2.98259530e-02 -6.36579573e-01 2.07121521e+01] [ 1.56857630e-02 9.97713800e-01 6.57352983e-02 4.97347185e-01] [ 6.37084843e-01 -6.06430963e-02 7.68404397e-01 8.74509884e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.42538475 meters Centerline goodness [0,1] 0.941387411895635 Centerline is valid? [False, False] Translation: X:20.71, Y:0.50, Z:8.75 [[ 7.70599568e-01 2.48325542e-02 -6.36835654e-01 2.07115550e+01] [ 1.96623403e-02 9.97838609e-01 6.27016909e-02 4.95817199e-01] [ 6.37016246e-01 -6.08395753e-02 7.68445735e-01 8.74643990e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.45538475 meters Centerline goodness [0,1] 0.9415927562656448 Centerline is valid? [False, False] Translation: X:20.71, Y:0.50, Z:8.75 [[ 7.70289111e-01 2.49412376e-02 -6.37206889e-01 2.07123575e+01] [ 1.99062574e-02 9.97807437e-01 6.31194144e-02 4.95524532e-01] [ 6.37384049e-01 -6.13046020e-02 7.68103717e-01 8.74767771e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.48538475 meters Centerline goodness [0,1] 0.9386777880753785 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.75 [[ 7.69804663e-01 2.44479577e-02 -6.37811162e-01 2.07152092e+01] [ 2.03054779e-02 9.97822365e-01 6.27552054e-02 4.96548656e-01] [ 6.37956478e-01 -6.12603102e-02 7.67631882e-01 8.74835470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.51538475 meters Centerline goodness [0,1] 0.9381125562473032 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.75 [[ 7.69404156e-01 2.48729860e-02 -6.38277823e-01 2.07170296e+01] [ 1.98257746e-02 9.97830258e-01 6.27830859e-02 4.97258570e-01] [ 6.38454527e-01 -6.09599195e-02 7.67241621e-01 8.74859475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.54538475 meters Centerline goodness [0,1] 0.9387044060062282 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.75 [[ 7.69243477e-01 2.50021444e-02 -6.38466417e-01 2.07178667e+01] [ 1.96902207e-02 9.97831993e-01 6.27981556e-02 4.97399076e-01] [ 6.38652307e-01 -6.08786162e-02 7.67083454e-01 8.74878879e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.57538475 meters Centerline goodness [0,1] 0.9368869146770313 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.75 [[ 7.68873953e-01 2.63039312e-02 -6.38859098e-01 2.07173155e+01] [ 1.85395210e-02 9.97816239e-01 6.33958954e-02 4.96696274e-01] [ 6.39131544e-01 -6.05875944e-02 7.66707254e-01 8.74935681e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.60538475 meters Centerline goodness [0,1] 0.9353024779089167 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.75 [[ 7.68541409e-01 2.68225167e-02 -6.39237558e-01 2.07171980e+01] [ 1.82607963e-02 9.97794204e-01 6.38221727e-02 4.96409842e-01] [ 6.39539402e-01 -6.07229693e-02 7.66356363e-01 8.75034347e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.63538475000001 meters Centerline goodness [0,1] 0.9360488421571953 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.75 [[ 7.68320087e-01 2.76220683e-02 -6.39469519e-01 2.07168245e+01] [ 1.75907920e-02 9.97779772e-01 6.42346488e-02 4.96542537e-01] [ 6.39824045e-01 -6.06015462e-02 7.66128347e-01 8.75076788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.66538475000002 meters Centerline goodness [0,1] 0.9317234616327531 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.75 [[ 7.67203246e-01 3.23128305e-02 -6.40589619e-01 2.07203640e+01] [ 1.46028158e-02 9.97591386e-01 6.78099172e-02 4.96726074e-01] [ 6.41237817e-01 -6.13784008e-02 7.64883491e-01 8.75304238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.69538475000002 meters Centerline goodness [0,1] 0.9317234616327531 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.75 [[ 7.67203246e-01 3.23128305e-02 -6.40589619e-01 2.07203640e+01] [ 1.46028158e-02 9.97591386e-01 6.78099172e-02 4.96726074e-01] [ 6.41237817e-01 -6.13784008e-02 7.64883491e-01 8.75304238e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.72538475 meters Centerline goodness [0,1] 0.9281287210331878 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.75 [[ 7.66563006e-01 3.21179410e-02 -6.41365415e-01 2.07235162e+01] [ 1.43615973e-02 9.97641250e-01 6.71243741e-02 4.99072612e-01] [ 6.42008490e-01 -6.06660938e-02 7.64293611e-01 8.75318645e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.75538475 meters Centerline goodness [0,1] 0.9291973039215686 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.75 [[ 7.66353961e-01 3.24675255e-02 -6.41597589e-01 2.07238800e+01] [ 1.41227229e-02 9.97629247e-01 6.73530550e-02 4.99334194e-01] [ 6.42263307e-01 -6.06773854e-02 7.64078595e-01 8.75362475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.78538475 meters Centerline goodness [0,1] 0.9265990159901599 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.75 [[ 7.65996089e-01 3.35524686e-02 -6.41969021e-01 2.07224189e+01] [ 1.33988392e-02 9.97586729e-01 6.81262716e-02 4.99007275e-01] [ 6.42705580e-01 -6.07860973e-02 7.63697969e-01 8.75489179e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.81538475 meters Centerline goodness [0,1] 0.9300781009777996 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.76 [[ 7.65804659e-01 3.42548441e-02 -6.42160284e-01 2.07214225e+01] [ 1.29537564e-02 9.97555968e-01 6.86606946e-02 4.98674099e-01] [ 6.42942785e-01 -6.08990677e-02 7.63489279e-01 8.75565734e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.84538475 meters Centerline goodness [0,1] 0.9282617385689247 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.76 [[ 7.65468006e-01 3.58210049e-02 -6.42476138e-01 2.07189696e+01] [ 1.18754776e-02 9.97492859e-01 6.97636722e-02 4.97842247e-01] [ 6.43364364e-01 -6.10315700e-02 7.63123478e-01 8.75703324e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.87538475 meters Centerline goodness [0,1] 0.9286441148354867 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.76 [[ 7.65267734e-01 3.64063438e-02 -6.42681782e-01 2.07181605e+01] [ 1.15412058e-02 9.97462903e-01 7.02464127e-02 4.97418727e-01] [ 6.43608651e-01 -6.11746358e-02 7.62906002e-01 8.75783041e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.90538475 meters Centerline goodness [0,1] 0.9231408008857723 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.76 [[ 7.64975650e-01 3.73451638e-02 -6.42975577e-01 2.07175953e+01] [ 1.08232508e-02 9.97431139e-01 7.08094587e-02 4.97861621e-01] [ 6.43968254e-01 -6.11265977e-02 7.62606338e-01 8.75851276e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.93538475 meters Centerline goodness [0,1] 0.9270342661863858 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.76 [[ 7.64823519e-01 3.77442983e-02 -6.43133231e-01 2.07175479e+01] [ 1.05109804e-02 9.97418339e-01 7.10364480e-02 4.98308048e-01] [ 6.44154099e-01 -6.10903069e-02 7.62452274e-01 8.75885659e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.96538475 meters Centerline goodness [0,1] 0.9258038684242946 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.76 [[ 7.64383963e-01 3.76558763e-02 -6.43660774e-01 2.07184522e+01] [ 1.07749910e-02 9.97407647e-01 7.11469320e-02 4.98052958e-01] [ 6.44671278e-01 -6.13190129e-02 7.61996668e-01 8.76012523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 181.99538475 meters Centerline goodness [0,1] 0.9247786245410509 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.76 [[ 7.63915228e-01 3.82816360e-02 -6.44180131e-01 2.07181663e+01] [ 1.02657498e-02 9.97391656e-01 7.14457724e-02 4.97824777e-01] [ 6.45234948e-01 -6.11915055e-02 7.61529685e-01 8.76110274e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.02538475 meters Centerline goodness [0,1] 0.9226632047477745 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.76 [[ 7.63574493e-01 3.86072039e-02 -6.44564564e-01 2.07181164e+01] [ 1.01414995e-02 9.97370867e-01 7.17530768e-02 4.97201482e-01] [ 6.45640104e-01 -6.13256704e-02 7.61175419e-01 8.76210105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.05538475 meters Centerline goodness [0,1] 0.9191944229279628 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.76 [[ 7.63235668e-01 3.88076200e-02 -6.44953707e-01 2.07187772e+01] [ 1.03420357e-02 9.97332975e-01 7.22494176e-02 4.95508922e-01] [ 6.46037427e-01 -6.18134668e-02 7.60798750e-01 8.76336470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.08538475 meters Centerline goodness [0,1] 0.9131525171837266 Centerline is valid? [False, False] Translation: X:20.72, Y:0.49, Z:8.76 [[ 7.62614335e-01 3.87502573e-02 -6.45691717e-01 2.07211434e+01] [ 1.03745851e-02 9.97342921e-01 7.21073245e-02 4.94764426e-01] [ 6.46770240e-01 -6.16888630e-02 7.60185991e-01 8.76421086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.11538475 meters Centerline goodness [0,1] 0.9092374457532548 Centerline is valid? [False, False] Translation: X:20.72, Y:0.49, Z:8.76 [[ 7.62399789e-01 3.89255073e-02 -6.45934491e-01 2.07220814e+01] [ 1.02461923e-02 9.97337868e-01 7.21955212e-02 4.94387494e-01] [ 6.47025175e-01 -6.16602191e-02 7.59971342e-01 8.76447752e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.14538475 meters Centerline goodness [0,1] 0.8995187082751126 Centerline is valid? [False, False] Translation: X:20.72, Y:0.49, Z:8.76 [[ 7.62018845e-01 3.96588020e-02 -6.46339276e-01 2.07231239e+01] [ 9.49737345e-03 9.97331000e-01 7.23925219e-02 4.93660073e-01] [ 6.47485197e-01 -6.13029914e-02 7.59608362e-01 8.76458462e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.17538475 meters Centerline goodness [0,1] 0.8805910172792186 Centerline is valid? [False, False] Translation: X:20.72, Y:0.49, Z:8.76 [[ 7.61945812e-01 4.10958418e-02 -6.46335602e-01 2.07219641e+01] [ 8.20759826e-03 9.97291845e-01 7.30863237e-02 4.92275090e-01] [ 6.47588770e-01 -6.09926812e-02 7.59545047e-01 8.76443966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.20538475 meters Centerline goodness [0,1] 0.8670502254703778 Centerline is valid? [False, False] Translation: X:20.72, Y:0.49, Z:8.77 [[ 7.61705390e-01 4.18506206e-02 -6.46570510e-01 2.07213806e+01] [ 7.70949670e-03 9.97255697e-01 7.36317761e-02 4.91216863e-01] [ 6.47877660e-01 -6.10704540e-02 7.59292393e-01 8.76510678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.23538475 meters Centerline goodness [0,1] 0.8669850783542487 Centerline is valid? [False, False] Translation: X:20.72, Y:0.49, Z:8.76 [[ 7.62105981e-01 3.82509091e-02 -6.46321392e-01 2.07188722e+01] [ 9.48802414e-03 9.97486302e-01 7.02214694e-02 4.92059592e-01] [ 6.47382770e-01 -5.96485148e-02 7.59827351e-01 8.76352902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.26538475 meters Centerline goodness [0,1] 0.8665229750413894 Centerline is valid? [False, False] Translation: X:20.71, Y:0.49, Z:8.76 [[ 7.62535832e-01 3.61649743e-02 -6.45934362e-01 2.07127105e+01] [ 1.01233607e-02 9.97647050e-01 6.78076718e-02 4.91724942e-01] [ 6.46866774e-01 -5.82448059e-02 7.60375512e-01 8.76242980e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.29538475 meters Centerline goodness [0,1] 0.856109951070527 Centerline is valid? [False, False] Translation: X:20.71, Y:0.49, Z:8.76 [[ 7.62431199e-01 3.70574012e-02 -6.46007287e-01 2.07110545e+01] [ 9.51289479e-03 9.97608925e-01 6.84539058e-02 4.91695842e-01] [ 6.46999360e-01 -5.83367929e-02 7.60255646e-01 8.76307093e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.32538475 meters Centerline goodness [0,1] 0.8421986367456192 Centerline is valid? [False, False] Translation: X:20.71, Y:0.49, Z:8.76 [[ 7.62269576e-01 3.75864509e-02 -6.46167433e-01 2.07108346e+01] [ 8.89025706e-03 9.97610342e-01 6.85169236e-02 4.93025571e-01] [ 6.47198622e-01 -5.79729609e-02 7.60113860e-01 8.76304658e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.35538475 meters Centerline goodness [0,1] 0.8160255813231505 Centerline is valid? [False, False] Translation: X:20.71, Y:0.49, Z:8.76 [[ 7.62103924e-01 3.72380811e-02 -6.46382963e-01 2.07126512e+01] [ 8.88146660e-03 9.97649466e-01 6.79460240e-02 4.94953738e-01] [ 6.47393797e-01 -5.75227602e-02 7.59981844e-01 8.76266529e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.38538475000001 meters Centerline goodness [0,1] 0.8513450182772518 Centerline is valid? [False, False] Translation: X:20.71, Y:0.50, Z:8.76 [[ 7.61970062e-01 3.70406293e-02 -6.46552099e-01 2.07134706e+01] [ 8.89500885e-03 9.97670216e-01 6.76388850e-02 4.95525028e-01] [ 6.47551159e-01 -5.72898921e-02 7.59865360e-01 8.76258926e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.41538475000002 meters Centerline goodness [0,1] 0.842260793828543 Centerline is valid? [False, False] Translation: X:20.71, Y:0.50, Z:8.76 [[ 7.61678656e-01 3.73100552e-02 -6.46879884e-01 2.07135851e+01] [ 8.74262767e-03 9.97658179e-01 6.78360167e-02 4.95131578e-01] [ 6.47895972e-01 -5.73246760e-02 7.59568753e-01 8.76337862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.44538475000002 meters Centerline goodness [0,1] 0.8424367128070832 Centerline is valid? [False, False] Translation: X:20.71, Y:0.49, Z:8.76 [[ 7.61379520e-01 3.69620179e-02 -6.47251911e-01 2.07147426e+01] [ 9.16386670e-03 9.97660097e-01 6.77521534e-02 4.94782835e-01] [ 6.48241661e-01 -5.75164322e-02 7.59259251e-01 8.76417966e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.47538475 meters Centerline goodness [0,1] 0.8396556529278791 Centerline is valid? [False, False] Translation: X:20.72, Y:0.49, Z:8.76 [[ 7.61079777e-01 3.68192311e-02 -6.47612475e-01 2.07154700e+01] [ 9.31788466e-03 9.97664147e-01 6.76714580e-02 4.94761863e-01] [ 6.48591359e-01 -5.75377565e-02 7.58958929e-01 8.76481603e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.50538475 meters Centerline goodness [0,1] 0.8149568253374482 Centerline is valid? [False, False] Translation: X:20.72, Y:0.49, Z:8.77 [[ 7.60831339e-01 3.63961713e-02 -6.47928231e-01 2.07173762e+01] [ 9.62661845e-03 9.97683165e-01 6.73470893e-02 4.94730935e-01] [ 6.48878264e-01 -5.74771340e-02 7.58718246e-01 8.76501329e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.53538475 meters Centerline goodness [0,1] 0.8493689866300138 Centerline is valid? [False, False] Translation: X:20.72, Y:0.49, Z:8.77 [[ 7.60419900e-01 3.58358478e-02 -6.48442262e-01 2.07196218e+01] [ 1.02925389e-02 9.97685994e-01 6.72065616e-02 4.94024984e-01] [ 6.49350167e-01 -5.77793241e-02 7.58291442e-01 8.76598733e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.56538475 meters Centerline goodness [0,1] 0.8436286179676732 Centerline is valid? [False, False] Translation: X:20.72, Y:0.50, Z:8.76 [[ 7.60606667e-01 3.18300325e-02 -6.48432222e-01 2.07194934e+01] [ 1.22554075e-02 9.97915430e-01 6.33608631e-02 4.95048458e-01] [ 6.49097298e-01 -5.61394960e-02 7.58631040e-01 8.76414776e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.59538475 meters Centerline goodness [0,1] 0.8283297965297716 Centerline is valid? [False, False] Translation: X:20.72, Y:0.49, Z:8.76 [[ 7.60408763e-01 3.22238953e-02 -6.48644844e-01 2.07194583e+01] [ 1.19053458e-02 9.97908813e-01 6.35315902e-02 4.94939030e-01] [ 6.49335642e-01 -5.60323191e-02 7.58434970e-01 8.76452489e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.62538475 meters Centerline goodness [0,1] 0.8065582977130199 Centerline is valid? [False, False] Translation: X:20.72, Y:0.49, Z:8.77 [[ 7.60306550e-01 3.27999709e-02 -6.48735780e-01 2.07188342e+01] [ 1.15877722e-02 9.97880482e-01 6.40333263e-02 4.94190170e-01] [ 6.49461064e-01 -5.62023598e-02 7.58314988e-01 8.76505775e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.65538475 meters Centerline goodness [0,1] 0.8561212273958793 Centerline is valid? [False, False] Translation: X:20.72, Y:0.49, Z:8.76 [[ 7.60945364e-01 2.29367132e-02 -6.48410411e-01 2.07156334e+01] [ 1.85541844e-02 9.98196935e-01 5.70843355e-02 4.92295214e-01] [ 6.48550612e-01 -5.54687867e-02 7.59147758e-01 8.76470055e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.68538475 meters Centerline goodness [0,1] 0.8760171576357787 Centerline is valid? [False, False] Translation: X:20.72, Y:0.49, Z:8.76 [[ 7.60984572e-01 1.70430399e-02 -6.48546079e-01 2.07162952e+01] [ 2.26565005e-02 9.98347006e-01 5.28198634e-02 4.92895040e-01] [ 6.48374247e-01 -5.48888857e-02 7.59340534e-01 8.76452108e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.71538475 meters Centerline goodness [0,1] 0.8778414457527863 Centerline is valid? [False, False] Translation: X:20.72, Y:0.49, Z:8.76 [[ 7.60525087e-01 1.53922104e-02 -6.49126083e-01 2.07203615e+01] [ 2.39056336e-02 9.98377435e-01 5.16819005e-02 4.93946330e-01] [ 6.48868332e-01 -5.48231522e-02 7.58923125e-01 8.76496641e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.74538475 meters Centerline goodness [0,1] 0.8836205538577865 Centerline is valid? [False, False] Translation: X:20.72, Y:0.49, Z:8.77 [[ 7.60252220e-01 1.43070249e-02 -6.49470454e-01 2.07232684e+01] [ 2.46762304e-02 9.98399934e-01 5.08788220e-02 4.94923467e-01] [ 6.49159183e-01 -5.47072200e-02 7.58682724e-01 8.76504080e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.77538475 meters Centerline goodness [0,1] 0.8951899211410977 Centerline is valid? [False, False] Translation: X:20.73, Y:0.50, Z:8.77 [[ 7.59855162e-01 1.22941853e-02 -6.49976142e-01 2.07274709e+01] [ 2.64439420e-02 9.98409121e-01 4.97990472e-02 4.96007884e-01] [ 6.49554347e-01 -5.50279945e-02 7.58321218e-01 8.76584901e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.80538475 meters Centerline goodness [0,1] 0.9066235762919268 Centerline is valid? [False, False] Translation: X:20.73, Y:0.50, Z:8.77 [[ 7.59554401e-01 1.15843863e-02 -6.50340613e-01 2.07293156e+01] [ 2.71965167e-02 9.98401393e-01 4.95480379e-02 4.95938261e-01] [ 6.49874958e-01 -5.53214296e-02 7.58025117e-01 8.76664789e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.83538475 meters Centerline goodness [0,1] 0.9275307234258203 Centerline is valid? [False, False] Translation: X:20.73, Y:0.50, Z:8.77 [[ 7.59576077e-01 -8.21387179e-05 -6.50418463e-01 2.07303106e+01] [ 3.54495022e-02 9.98518848e-01 4.12727779e-02 4.96459798e-01] [ 6.49451705e-01 -5.44068255e-02 7.58453941e-01 8.76652656e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.86538475 meters Centerline goodness [0,1] 0.9246892440385591 Centerline is valid? [False, False] Translation: X:20.73, Y:0.50, Z:8.77 [[ 7.59477356e-01 -5.96290912e-03 -6.50506409e-01 2.07311298e+01] [ 3.96741848e-02 9.98521183e-01 3.71672801e-02 4.96051911e-01] [ 6.49322804e-01 -5.40360191e-02 7.58590802e-01 8.76662678e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.89538475 meters Centerline goodness [0,1] 0.9231817893602181 Centerline is valid? [False, False] Translation: X:20.73, Y:0.50, Z:8.77 [[ 7.59067628e-01 -1.28409464e-02 -6.50885125e-01 2.07338248e+01] [ 4.46607858e-02 9.98477141e-01 3.23853848e-02 4.97204815e-01] [ 6.49478060e-01 -5.36517384e-02 7.58485162e-01 8.76716413e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.92538475 meters Centerline goodness [0,1] 0.9270896209931061 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.77 [[ 7.58612736e-01 -1.37278455e-02 -6.51397162e-01 2.07360552e+01] [ 4.56744263e-02 9.98438875e-01 3.21505651e-02 4.96915914e-01] [ 6.49938892e-01 -5.41420198e-02 7.58055459e-01 8.76844942e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.95538475 meters Centerline goodness [0,1] 0.9265173686219621 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.77 [[ 7.58275647e-01 -2.00533891e-02 -6.51625586e-01 2.07376740e+01] [ 5.01477019e-02 9.98359513e-01 2.76313418e-02 4.98319686e-01] [ 6.50002501e-01 -5.36296992e-02 7.58037337e-01 8.76878333e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 182.98538475 meters Centerline goodness [0,1] 0.9285827949460552 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.77 [[ 0.75795277 -0.02635374 -0.65177686 20.73936076] [ 0.05441766 0.99825519 0.02291928 0.50074848] [ 0.65003563 -0.0528399 0.7580644 8.76864371] [ 0. 0. 0. 1. ]] SLAMing on 183.01538475 meters Centerline goodness [0,1] 0.9220469435786528 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.77 [[ 0.75758867 -0.02684658 -0.65217993 20.74066271] [ 0.05502006 0.99822441 0.02282141 0.50093866] [ 0.65040925 -0.05317222 0.75772061 8.76967343] [ 0. 0. 0. 1. ]] SLAMing on 183.04538475 meters Centerline goodness [0,1] 0.9182110047998983 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.77 [[ 0.75719026 -0.02767368 -0.6526079 20.74234071] [ 0.05569641 0.99819883 0.02229355 0.50273577] [ 0.6508155 -0.05322837 0.75736776 8.77049267] [ 0. 0. 0. 1. ]] SLAMing on 183.07538475 meters Centerline goodness [0,1] 0.9212490866927158 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.77 [[ 0.75709384 -0.02772674 -0.65271751 20.74268548] [ 0.05565644 0.99820417 0.02215384 0.50376762] [ 0.65093108 -0.05310047 0.7572774 8.77057596] [ 0. 0. 0. 1. ]] SLAMing on 183.10538475 meters Centerline goodness [0,1] 0.9248604415123065 Centerline is valid? [False, False] Translation: X:20.74, Y:0.51, Z:8.77 [[ 0.75693463 -0.02762469 -0.65290646 20.74284242] [ 0.05549423 0.99821437 0.02210139 0.50572562] [ 0.65113007 -0.05296185 0.75711603 8.77090478] [ 0. 0. 0. 1. ]] SLAMing on 183.13538475000001 meters Centerline goodness [0,1] 0.9250632911392405 Centerline is valid? [False, False] Translation: X:20.74, Y:0.51, Z:8.77 [[ 0.75672543 -0.02732194 -0.65316165 20.74250367] [ 0.05549654 0.99820441 0.02254076 0.50560635] [ 0.65137298 -0.05330538 0.75688293 8.7719239 ] [ 0. 0. 0. 1. ]] SLAMing on 183.16538475000002 meters Centerline goodness [0,1] 0.927797263563687 Centerline is valid? [False, False] Translation: X:20.74, Y:0.51, Z:8.77 [[ 0.7567593 -0.02591974 -0.65317955 20.73960167] [ 0.05452672 0.9982343 0.02356111 0.50533436] [ 0.65141553 -0.05344583 0.75683641 8.77279342] [ 0. 0. 0. 1. ]] SLAMing on 183.19538475000002 meters Centerline goodness [0,1] 0.9278311425682507 Centerline is valid? [False, False] Translation: X:20.74, Y:0.51, Z:8.77 [[ 0.75677218 -0.02544122 -0.65318344 20.73914747] [ 0.05413099 0.99824935 0.02383427 0.505597 ] [ 0.65143358 -0.05339458 0.75682449 8.77280665] [ 0. 0. 0. 1. ]] SLAMing on 183.22538475 meters Centerline goodness [0,1] 0.9303030303030303 Centerline is valid? [False, False] Translation: X:20.74, Y:0.51, Z:8.77 [[ 0.75685558 -0.02471683 -0.65311462 20.7387565 ] [ 0.05324185 0.99829515 0.02391877 0.5065402 ] [ 0.65140996 -0.05287609 0.75688122 8.77215655] [ 0. 0. 0. 1. ]] SLAMing on 183.25538475 meters Centerline goodness [0,1] 0.9291475017327201 Centerline is valid? [False, False] Translation: X:20.74, Y:0.51, Z:8.77 [[ 0.75682988 -0.02440287 -0.65315621 20.73903443] [ 0.05287518 0.99831342 0.02396947 0.50661314] [ 0.65146968 -0.05267656 0.75684373 8.77192775] [ 0. 0. 0. 1. ]] SLAMing on 183.28538475 meters Centerline goodness [0,1] 0.9296708876828843 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.77 [[ 7.56661912e-01 -2.99023039e-02 -6.53122196e-01 2.07387646e+01] [ 5.72106252e-02 9.98149965e-01 2.05813209e-02 5.03978157e-01] [ 6.51298468e-01 -5.29386308e-02 7.56972791e-01 8.77303284e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.31538475 meters Centerline goodness [0,1] 0.9288752062968135 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.77 [[ 7.56413938e-01 -3.54246617e-02 -6.53133255e-01 2.07390948e+01] [ 6.11610646e-02 9.97988133e-01 1.67036200e-02 5.04019918e-01] [ 6.51227517e-01 -5.25811761e-02 7.57058743e-01 8.77333508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.34538475 meters Centerline goodness [0,1] 0.9253151661785305 Centerline is valid? [False, False] Translation: X:20.74, Y:0.51, Z:8.77 [[ 7.55891374e-01 -4.22900318e-02 -6.53329767e-01 2.07422896e+01] [ 6.60546137e-02 9.97745761e-01 1.18399822e-02 5.05056003e-01] [ 6.51356292e-01 -5.21051858e-02 7.56980866e-01 8.77353708e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.37538475 meters Centerline goodness [0,1] 0.921837689834124 Centerline is valid? [False, False] Translation: X:20.74, Y:0.51, Z:8.77 [[ 7.55394674e-01 -4.32405516e-02 -6.53841832e-01 2.07448490e+01] [ 6.70501740e-02 9.97683509e-01 1.14843663e-02 5.05603448e-01] [ 6.51830623e-01 -5.25154378e-02 7.56544095e-01 8.77468937e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.40538475 meters Centerline goodness [0,1] 0.9213283945927122 Centerline is valid? [False, False] Translation: X:20.75, Y:0.51, Z:8.78 [[ 7.54762289e-01 -4.48283219e-02 -6.54464902e-01 2.07483037e+01] [ 6.84944925e-02 9.97594542e-01 1.06599617e-02 5.07643904e-01] [ 6.52412746e-01 -5.28729785e-02 7.56017233e-01 8.77606099e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.43538475 meters Centerline goodness [0,1] 0.9240767158028214 Centerline is valid? [False, False] Translation: X:20.75, Y:0.51, Z:8.78 [[ 7.54401847e-01 -4.51907355e-02 -6.54855443e-01 2.07487156e+01] [ 6.90874571e-02 9.97552688e-01 1.07498008e-02 5.08644206e-01] [ 6.52767016e-01 -5.33519669e-02 7.55677703e-01 8.77750534e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.46538475 meters Centerline goodness [0,1] 0.922089825847846 Centerline is valid? [False, False] Translation: X:20.75, Y:0.51, Z:8.78 [[ 7.54151071e-01 -4.48453914e-02 -6.55167958e-01 2.07483847e+01] [ 6.90038573e-02 9.97554107e-01 1.11477193e-02 5.09012088e-01] [ 6.53065563e-01 -5.36161807e-02 7.55401003e-01 8.77855285e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.49538475 meters Centerline goodness [0,1] 0.921518588531821 Centerline is valid? [False, False] Translation: X:20.75, Y:0.51, Z:8.78 [[ 7.53925027e-01 -4.46063893e-02 -6.55444371e-01 2.07483838e+01] [ 6.87014551e-02 9.97575135e-01 1.11337009e-02 5.10751735e-01] [ 6.53358373e-01 -5.34239578e-02 7.55161385e-01 8.77900383e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.52538475 meters Centerline goodness [0,1] 0.9211055908433432 Centerline is valid? [False, False] Translation: X:20.75, Y:0.51, Z:8.78 [[ 7.53803422e-01 -4.44369364e-02 -6.55595729e-01 2.07487360e+01] [ 6.84901983e-02 9.97589677e-01 1.11323434e-02 5.11488035e-01] [ 6.53520844e-01 -5.32934800e-02 7.55030007e-01 8.77910389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.55538475 meters Centerline goodness [0,1] 0.9211055908433432 Centerline is valid? [False, False] Translation: X:20.75, Y:0.51, Z:8.78 [[ 7.53803422e-01 -4.44369364e-02 -6.55595729e-01 2.07487360e+01] [ 6.84901983e-02 9.97589677e-01 1.11323434e-02 5.11488035e-01] [ 6.53520844e-01 -5.32934800e-02 7.55030007e-01 8.77910389e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.58538475 meters Centerline goodness [0,1] 0.9254714908839866 Centerline is valid? [False, False] Translation: X:20.75, Y:0.51, Z:8.78 [[ 7.53768787e-01 -4.40643820e-02 -6.55660695e-01 2.07483783e+01] [ 6.79696707e-02 9.97625709e-01 1.10936281e-02 5.13182852e-01] [ 6.53615132e-01 -5.29270721e-02 7.54974162e-01 8.77894798e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.61538475 meters Centerline goodness [0,1] 0.9290318523409741 Centerline is valid? [False, False] Translation: X:20.75, Y:0.51, Z:8.78 [[ 7.53957915e-01 -4.28111913e-02 -6.55526250e-01 2.07468074e+01] [ 6.68147650e-02 9.97696917e-01 1.16897338e-02 5.13674897e-01] [ 6.53516067e-01 -5.26123997e-02 7.55081906e-01 8.77859217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.64538475 meters Centerline goodness [0,1] 0.9275723016823136 Centerline is valid? [False, False] Translation: X:20.74, Y:0.51, Z:8.78 [[ 7.53640052e-01 -4.71209506e-02 -6.55596132e-01 2.07449262e+01] [ 7.01439784e-02 9.97496826e-01 8.93890703e-03 5.11587624e-01] [ 6.53533851e-01 -5.27228393e-02 7.55058811e-01 8.78000121e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.67538475 meters Centerline goodness [0,1] 0.9272710091974298 Centerline is valid? [False, False] Translation: X:20.74, Y:0.51, Z:8.78 [[ 7.53417194e-01 -4.66268600e-02 -6.55887542e-01 2.07447996e+01] [ 6.99950200e-02 9.97502189e-01 9.49104257e-03 5.10720090e-01] [ 6.53806721e-01 -5.30595762e-02 7.54798949e-01 8.78095552e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.70538475 meters Centerline goodness [0,1] 0.9294821095257679 Centerline is valid? [False, False] Translation: X:20.75, Y:0.51, Z:8.78 [[ 7.52775244e-01 -4.79068957e-02 -6.56532072e-01 2.07481010e+01] [ 7.16285670e-02 9.97387552e-01 9.34984106e-03 5.09014291e-01] [ 6.54368994e-01 -5.40647804e-02 7.54240160e-01 8.78305322e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.73538475 meters Centerline goodness [0,1] 0.9248041940373927 Centerline is valid? [False, False] Translation: X:20.75, Y:0.51, Z:8.78 [[ 7.52350576e-01 -4.79496795e-02 -6.57015555e-01 2.07492669e+01] [ 7.19886371e-02 9.97358806e-01 9.64612995e-03 5.08109903e-01] [ 6.54817720e-01 -5.45549257e-02 7.53815304e-01 8.78442832e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.76538475 meters Centerline goodness [0,1] 0.9293411281403066 Centerline is valid? [False, False] Translation: X:20.75, Y:0.51, Z:8.79 [[ 7.51774678e-01 -4.78854371e-02 -6.57679116e-01 2.07503287e+01] [ 7.25807869e-02 9.97308819e-01 1.03512926e-02 5.06278604e-01] [ 6.55413506e-01 -5.55167074e-02 7.53227078e-01 8.78677116e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.79538475 meters Centerline goodness [0,1] 0.9265445572743665 Centerline is valid? [False, False] Translation: X:20.75, Y:0.51, Z:8.79 [[ 7.51550432e-01 -4.75207583e-02 -6.57961797e-01 2.07499120e+01] [ 7.25620469e-02 9.97304841e-01 1.08537539e-02 5.06012010e-01] [ 6.55672706e-01 -5.59001982e-02 7.52973087e-01 8.78787578e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.82538475 meters Centerline goodness [0,1] 0.9302391980204302 Centerline is valid? [False, False] Translation: X:20.75, Y:0.51, Z:8.79 [[ 7.51242161e-01 -4.76841666e-02 -6.58301934e-01 2.07506829e+01] [ 7.30217032e-02 9.97268649e-01 1.10937813e-02 5.05914380e-01] [ 6.55974883e-01 -5.64044447e-02 7.52672234e-01 8.78910500e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.85538475 meters Centerline goodness [0,1] 0.9294233020151214 Centerline is valid? [False, False] Translation: X:20.75, Y:0.51, Z:8.79 [[ 7.50896678e-01 -4.75856571e-02 -6.58703108e-01 2.07513912e+01] [ 7.33000760e-02 9.97243429e-01 1.15170242e-02 5.05319745e-01] [ 6.56339301e-01 -5.69310830e-02 7.52314810e-01 8.79040488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.88538475000001 meters Centerline goodness [0,1] 0.9314452756648016 Centerline is valid? [False, False] Translation: X:20.75, Y:0.51, Z:8.79 [[ 7.50412148e-01 -4.20505649e-02 -6.59631229e-01 2.07516159e+01] [ 6.98820166e-02 9.97428305e-01 1.59147870e-02 5.05695768e-01] [ 6.57265633e-01 -5.80390100e-02 7.51420895e-01 8.79298807e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.91538475000002 meters Centerline goodness [0,1] 0.9316501691517354 Centerline is valid? [False, False] Translation: X:20.75, Y:0.51, Z:8.79 [[ 7.50208102e-01 -4.20962989e-02 -6.59860368e-01 2.07522728e+01] [ 6.99156020e-02 9.97426875e-01 1.58567960e-02 5.06805571e-01] [ 6.57494952e-01 -5.80304317e-02 7.51220911e-01 8.79336821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.94538475000002 meters Centerline goodness [0,1] 0.9314125926856855 Centerline is valid? [False, False] Translation: X:20.75, Y:0.51, Z:8.79 [[ 7.50006877e-01 -4.75832453e-02 -6.59716241e-01 2.07527543e+01] [ 7.42003827e-02 9.97165843e-01 1.24332401e-02 5.05979996e-01] [ 6.57254888e-01 -5.82762132e-02 7.51411934e-01 8.79407019e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 183.97538475 meters Centerline goodness [0,1] 0.9297609285308774 Centerline is valid? [False, False] Translation: X:20.75, Y:0.50, Z:8.79 [[ 7.49576384e-01 -5.35054759e-02 -6.59751778e-01 2.07546686e+01] [ 7.87643706e-02 9.96855788e-01 8.64365815e-03 5.04438236e-01] [ 6.57214895e-01 -5.84440156e-02 7.51433882e-01 8.79483488e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.00538475 meters Centerline goodness [0,1] 0.93149820064398 Centerline is valid? [False, False] Translation: X:20.75, Y:0.50, Z:8.80 [[ 7.49177335e-01 -5.23056119e-02 -6.60301025e-01 2.07528755e+01] [ 7.80534476e-02 9.96903051e-01 9.58994388e-03 5.04158000e-01] [ 6.57754499e-01 -5.87233401e-02 7.50939804e-01 8.79664483e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.03538475 meters Centerline goodness [0,1] 0.9229549778059607 Centerline is valid? [False, False] Translation: X:20.76, Y:0.50, Z:8.80 [[ 7.48426399e-01 -5.53273947e-02 -6.60906048e-01 2.07579817e+01] [ 8.11704440e-02 9.96664124e-01 8.48422213e-03 5.02348931e-01] [ 6.58231938e-01 -5.99958531e-02 7.50420691e-01 8.79910401e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.06538475 meters Centerline goodness [0,1] 0.9184560246122617 Centerline is valid? [False, False] Translation: X:20.76, Y:0.50, Z:8.80 [[ 7.48035227e-01 -5.58180896e-02 -6.61307523e-01 2.07596188e+01] [ 8.22159847e-02 9.96574958e-01 8.88171131e-03 5.00093850e-01] [ 6.58546757e-01 -6.10138822e-02 7.50062314e-01 8.80095010e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.09538475 meters Centerline goodness [0,1] 0.9090504073319756 Centerline is valid? [False, False] Translation: X:20.76, Y:0.50, Z:8.80 [[ 7.47535998e-01 -5.62816813e-02 -6.61832535e-01 2.07613435e+01] [ 8.31841531e-02 9.96491584e-01 9.21521214e-03 4.98476203e-01] [ 6.58991903e-01 -6.19426817e-02 7.49595075e-01 8.80288978e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.12538475 meters Centerline goodness [0,1] 0.9073159926586924 Centerline is valid? [False, False] Translation: X:20.76, Y:0.50, Z:8.80 [[ 7.47099642e-01 -5.63794739e-02 -6.62316752e-01 2.07621429e+01] [ 8.32988135e-02 9.96482729e-01 9.13662795e-03 5.00070121e-01] [ 6.59472086e-01 -6.19961711e-02 7.49168234e-01 8.80396059e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.15538475 meters Centerline goodness [0,1] 0.921480544131604 Centerline is valid? [False, False] Translation: X:20.76, Y:0.50, Z:8.80 [[ 7.46776576e-01 -5.67299519e-02 -6.62651083e-01 2.07634713e+01] [ 8.34793067e-02 9.96470930e-01 8.76878210e-03 5.01862894e-01] [ 6.59815088e-01 -6.18659741e-02 7.48876927e-01 8.80436181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.18538475 meters Centerline goodness [0,1] 0.904135397368669 Centerline is valid? [False, False] Translation: X:20.77, Y:0.50, Z:8.81 [[ 7.46413005e-01 -5.17138243e-02 -6.63470652e-01 2.07650140e+01] [ 8.01746380e-02 9.96702325e-01 1.25101292e-02 5.03543349e-01] [ 6.60635795e-01 -6.25312425e-02 7.48097714e-01 8.80596888e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.21538475 meters Centerline goodness [0,1] 0.9081776801130121 Centerline is valid? [False, False] Translation: X:20.77, Y:0.51, Z:8.81 [[ 7.46301170e-01 -5.14868404e-02 -6.63614096e-01 2.07651791e+01] [ 7.97015652e-02 9.96742885e-01 1.22996627e-02 5.05320362e-01] [ 6.60819358e-01 -6.20703348e-02 7.47973963e-01 8.80574591e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.24538475 meters Centerline goodness [0,1] 0.9269107137284274 Centerline is valid? [False, False] Translation: X:20.76, Y:0.50, Z:8.81 [[ 7.46392721e-01 -4.33577604e-02 -6.64091869e-01 2.07604274e+01] [ 7.41886130e-02 9.97076583e-01 1.82848694e-02 5.04295151e-01] [ 6.61357661e-01 -6.29157482e-02 7.47427356e-01 8.80774677e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.27538475 meters Centerline goodness [0,1] 0.9211576846307385 Centerline is valid? [False, False] Translation: X:20.76, Y:0.50, Z:8.81 [[ 0.74616184 -0.03689363 -0.66474158 20.75921821] [ 0.07002495 0.9972742 0.02325245 0.50353347] [ 0.66207176 -0.06389859 0.74671143 8.80975524] [ 0. 0. 0. 1. ]] SLAMing on 184.30538475 meters Centerline goodness [0,1] 0.9293161940925644 Centerline is valid? [False, False] Translation: X:20.76, Y:0.51, Z:8.81 [[ 0.74606842 -0.02791908 -0.66528372 20.75692745] [ 0.06314341 0.99758459 0.02894655 0.50562537] [ 0.66286863 -0.06360439 0.74602927 8.81003618] [ 0. 0. 0. 1. ]] SLAMing on 184.33538475 meters Centerline goodness [0,1] 0.9290117691014385 Centerline is valid? [False, False] Translation: X:20.76, Y:0.51, Z:8.81 [[ 0.74589234 -0.02141293 -0.66572224 20.75618463] [ 0.05866543 0.99771077 0.03363893 0.50528437] [ 0.66347794 -0.06414591 0.74544103 8.81111798] [ 0. 0. 0. 1. ]] SLAMing on 184.36538475 meters Centerline goodness [0,1] 0.9324605864610218 Centerline is valid? [False, False] Translation: X:20.75, Y:0.51, Z:8.81 [[ 7.46129898e-01 -1.28263817e-02 -6.65676843e-01 2.07524625e+01] [ 5.17235781e-02 9.97909488e-01 3.87469390e-02 5.05804238e-01] [ 6.63788255e-01 -6.33414378e-02 7.45233531e-01 8.81025155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.39538475 meters Centerline goodness [0,1] 0.9312988948218055 Centerline is valid? [False, False] Translation: X:20.75, Y:0.50, Z:8.81 [[ 7.45977828e-01 -5.82574212e-03 -6.65945299e-01 2.07509162e+01] [ 4.68818260e-02 9.97940321e-01 4.37859684e-02 5.04884022e-01] [ 6.64318579e-01 -6.38840932e-02 7.44714474e-01 8.81124995e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.42538475 meters Centerline goodness [0,1] 0.928838835432072 Centerline is valid? [False, False] Translation: X:20.75, Y:0.50, Z:8.81 [[ 7.45993522e-01 2.64329547e-03 -6.65947955e-01 2.07479832e+01] [ 4.01485411e-02 9.97994691e-01 4.89355755e-02 5.04342466e-01] [ 6.64741875e-01 -6.32424611e-02 7.44391450e-01 8.81066169e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.45538475 meters Centerline goodness [0,1] 0.9254308611033757 Centerline is valid? [False, False] Translation: X:20.75, Y:0.50, Z:8.81 [[ 7.46075774e-01 4.94975180e-03 -6.65842654e-01 2.07458622e+01] [ 3.78296319e-02 9.98042159e-01 4.98073121e-02 5.04726026e-01] [ 6.64785573e-01 -6.23486115e-02 7.44427829e-01 8.80969865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.48538475 meters Centerline goodness [0,1] 0.8816853759803168 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.81 [[ 7.45991584e-01 1.93629259e-02 -6.65673819e-01 2.07417818e+01] [ 2.73869859e-02 9.97839627e-01 5.97162673e-02 5.03104424e-01] [ 6.65391997e-01 -6.27786323e-02 7.43849672e-01 8.81015409e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.51538475 meters Centerline goodness [0,1] 0.8386016649771142 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.81 [[ 0.74620176 0.02162746 -0.66536846 20.73951454] [ 0.02501573 0.99785531 0.06048957 0.5036923 ] [ 0.66524969 -0.0617821 0.74406036 8.80872784] [ 0. 0. 0. 1. ]] SLAMing on 184.54538475 meters Centerline goodness [0,1] 0.7805709023941068 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.81 [[ 7.46252640e-01 3.10339813e-02 -6.64939011e-01 2.07350680e+01] [ 1.75174726e-02 9.97651138e-01 6.62219335e-02 5.01720715e-01] [ 6.65432292e-01 -6.10663437e-02 7.43956159e-01 8.80768075e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.57538475 meters Centerline goodness [0,1] 0.7754841455628857 Centerline is valid? [False, False] Translation: X:20.73, Y:0.50, Z:8.81 [[ 7.46510035e-01 3.29265611e-02 -6.64558958e-01 2.07328899e+01] [ 1.54119822e-02 9.97651187e-01 6.67426443e-02 5.02047072e-01] [ 6.65195639e-01 -6.00662246e-02 7.44249159e-01 8.80610862e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.60538475 meters Centerline goodness [0,1] 0.7483512457254519 Centerline is valid? [False, False] Translation: X:20.73, Y:0.50, Z:8.80 [[ 7.46748119e-01 3.63404516e-02 -6.64113408e-01 2.07280456e+01] [ 1.21439027e-02 9.97594777e-01 6.82435870e-02 5.00832981e-01] [ 6.64996070e-01 -5.90256988e-02 7.44510708e-01 8.80481865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.63538475000001 meters Centerline goodness [0,1] 0.7569691759793687 Centerline is valid? [False, False] Translation: X:20.73, Y:0.50, Z:8.80 [[ 7.46679212e-01 3.69396457e-02 -6.64157826e-01 2.07278538e+01] [ 1.16851548e-02 9.97574373e-01 6.86208975e-02 4.99842476e-01] [ 6.65081658e-01 -5.89985846e-02 7.44436401e-01 8.80489155e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.66538475000002 meters Centerline goodness [0,1] 0.7535857186826715 Centerline is valid? [False, False] Translation: X:20.73, Y:0.50, Z:8.80 [[ 7.46344307e-01 3.59714343e-02 -6.64587263e-01 2.07318217e+01] [ 1.22328575e-02 9.97628328e-01 6.77353417e-02 4.99984357e-01] [ 6.65447618e-01 -5.86836880e-02 7.44134190e-01 8.80474518e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.69538475000002 meters Centerline goodness [0,1] 0.7584152334152334 Centerline is valid? [False, False] Translation: X:20.73, Y:0.50, Z:8.80 [[ 7.46181285e-01 3.55410969e-02 -6.64793442e-01 2.07337333e+01] [ 1.24572246e-02 9.97653750e-01 6.73187394e-02 5.00186691e-01] [ 6.65626252e-01 -5.85134648e-02 7.43987814e-01 8.80464861e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.72538475 meters Centerline goodness [0,1] 0.760832638438494 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.81 [[ 7.45869922e-01 3.54666735e-02 -6.65146732e-01 2.07355405e+01] [ 1.25565239e-02 9.97655324e-01 6.72769586e-02 4.98923587e-01] [ 6.65973268e-01 -5.85317906e-02 7.43675760e-01 8.80510231e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.75538475 meters Centerline goodness [0,1] 0.7574989176819841 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.81 [[ 7.45567700e-01 3.53610866e-02 -6.65491096e-01 2.07366847e+01] [ 1.28169081e-02 9.97645777e-01 6.73693633e-02 4.98168364e-01] [ 6.66306635e-01 -5.87579594e-02 7.43359247e-01 8.80588817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.78538475 meters Centerline goodness [0,1] 0.7522192084823079 Centerline is valid? [False, False] Translation: X:20.74, Y:0.50, Z:8.81 [[ 7.45399731e-01 3.58524042e-02 -6.65652947e-01 2.07374194e+01] [ 1.23347656e-02 9.97639918e-01 6.75458897e-02 4.97057880e-01] [ 6.66503635e-01 -5.85593610e-02 7.43198295e-01 8.80593247e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.81538475 meters Centerline goodness [0,1] 0.7437232657615771 Centerline is valid? [False, False] Translation: X:20.73, Y:0.50, Z:8.80 [[ 7.45675173e-01 3.38129672e-02 -6.65451140e-01 2.07338865e+01] [ 1.27613884e-02 9.97803639e-01 6.50003428e-02 4.96433701e-01] [ 6.66187424e-01 -5.69612223e-02 7.43605901e-01 8.80416470e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.84538475 meters Centerline goodness [0,1] 0.7403974331152928 Centerline is valid? [False, False] Translation: X:20.73, Y:0.50, Z:8.80 [[ 7.45643383e-01 3.45955969e-02 -6.65446534e-01 2.07331603e+01] [ 1.21525095e-02 9.97779211e-01 6.54901685e-02 4.95989546e-01] [ 6.66234389e-01 -5.69191561e-02 7.43567043e-01 8.80422292e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.87538475 meters Centerline goodness [0,1] 0.7450579413769598 Centerline is valid? [False, False] Translation: X:20.73, Y:0.50, Z:8.80 [[ 7.45800492e-01 3.54564774e-02 -6.65225124e-01 2.07321269e+01] [ 1.13634416e-02 9.97760177e-01 6.59204230e-02 4.95775513e-01] [ 6.66072443e-01 -5.67227308e-02 7.43727123e-01 8.80370107e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.90538475 meters Centerline goodness [0,1] 0.7405311813993755 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.80 [[ 7.45758719e-01 3.66159559e-02 -6.65209143e-01 2.07311245e+01] [ 1.03898832e-02 9.97727848e-01 6.65671922e-02 4.94298278e-01] [ 6.66135109e-01 -5.65545092e-02 7.43683807e-01 8.80371808e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.93538475 meters Centerline goodness [0,1] 0.7597126795752654 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.80 [[ 7.45941377e-01 3.19429457e-02 -6.65245151e-01 2.07306951e+01] [ 1.33434153e-02 9.97931922e-01 6.28795124e-02 4.92426179e-01] [ 6.65877928e-01 -5.57810724e-02 7.43972484e-01 8.80301171e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.96538475 meters Centerline goodness [0,1] 0.7617309372270061 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.80 [[ 7.45863707e-01 3.24423294e-02 -6.65308068e-01 2.07302699e+01] [ 1.29470438e-02 9.97918415e-01 6.31760383e-02 4.91971260e-01] [ 6.65972751e-01 -5.57344868e-02 7.43891096e-01 8.80317467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 184.99538475 meters Centerline goodness [0,1] 0.7520087200249144 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.80 [[ 7.45680758e-01 3.29371543e-02 -6.65488806e-01 2.07310005e+01] [ 1.26704166e-02 9.97895911e-01 6.35862498e-02 4.90316689e-01] [ 6.66182908e-01 -5.58470634e-02 7.43694452e-01 8.80360999e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.02538475 meters Centerline goodness [0,1] 0.7546270330902972 Centerline is valid? [False, False] Translation: X:20.73, Y:0.49, Z:8.80 [[ 7.45941650e-01 2.69620212e-02 -6.65465329e-01 2.07327241e+01] [ 1.65595714e-02 9.98120503e-01 5.90020523e-02 4.90425083e-01] [ 6.65805404e-01 -5.50319089e-02 7.44093175e-01 8.80239301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.05538475 meters Centerline goodness [0,1] 0.7631290170873177 Centerline is valid? [False, False] Translation: X:20.74, Y:0.49, Z:8.80 [[ 7.45801842e-01 2.04311053e-02 -6.65854475e-01 2.07360618e+01] [ 2.11747138e-02 9.98297465e-01 5.43489043e-02 4.88800724e-01] [ 6.65831243e-01 -5.46327909e-02 7.44099465e-01 8.80235834e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.08538475 meters Centerline goodness [0,1] 0.7458515009881113 Centerline is valid? [False, False] Translation: X:20.74, Y:0.49, Z:8.80 [[ 7.45916095e-01 1.45343237e-02 -6.65881320e-01 2.07375321e+01] [ 2.51001952e-02 9.98438257e-01 4.99101919e-02 4.88846790e-01] [ 6.65566795e-01 -5.39425665e-02 7.44386351e-01 8.80155301e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.11538475 meters Centerline goodness [0,1] 0.7972332764828501 Centerline is valid? [False, False] Translation: X:20.74, Y:0.49, Z:8.80 [[ 7.46018640e-01 8.67306548e-03 -6.65868581e-01 2.07385765e+01] [ 2.89514817e-02 9.98547335e-01 4.54426178e-02 4.89308019e-01] [ 6.65295424e-01 -5.31789220e-02 7.44683827e-01 8.80070455e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.14538475 meters Centerline goodness [0,1] 0.8051755189737433 Centerline is valid? [False, False] Translation: X:20.74, Y:0.49, Z:8.80 [[ 7.46106424e-01 3.10072524e-03 -6.65819487e-01 2.07392986e+01] [ 3.26526170e-02 9.98615554e-01 4.12405468e-02 4.89803831e-01] [ 6.65025572e-01 -5.25105856e-02 7.44972233e-01 8.80008634e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.17538475 meters Centerline goodness [0,1] 0.8163677696387976 Centerline is valid? [False, False] Translation: X:20.74, Y:0.49, Z:8.80 [[ 7.45732952e-01 2.77066559e-03 -6.66239212e-01 2.07410158e+01] [ 3.36162607e-02 9.98561157e-01 4.17799371e-02 4.88903684e-01] [ 6.65396356e-01 -5.35531468e-02 7.44566820e-01 8.80197662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.20538475 meters Centerline goodness [0,1] 0.8040564094438283 Centerline is valid? [False, False] Translation: X:20.74, Y:0.49, Z:8.80 [[ 7.45858586e-01 -2.75585086e-03 -6.66098622e-01 2.07415864e+01] [ 3.71852413e-02 9.98604292e-01 3.75063484e-02 4.89958643e-01] [ 6.65065581e-01 -5.27434700e-02 7.44920062e-01 8.80100319e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.23538475 meters Centerline goodness [0,1] 0.855839532074512 Centerline is valid? [False, False] Translation: X:20.74, Y:0.49, Z:8.80 [[ 7.45665928e-01 -8.46738488e-03 -6.66266184e-01 2.07429735e+01] [ 4.18249589e-02 9.98542217e-01 3.41191044e-02 4.87457043e-01] [ 6.65006013e-01 -5.33080094e-02 7.44933057e-01 8.80218835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.26538475 meters Centerline goodness [0,1] 0.8452815805355272 Centerline is valid? [False, False] Translation: X:20.74, Y:0.49, Z:8.80 [[ 7.45797695e-01 -1.36809082e-02 -6.66032004e-01 2.07423981e+01] [ 4.51689581e-02 9.98526760e-01 3.00678522e-02 4.88112185e-01] [ 6.64639424e-01 -5.25085066e-02 7.45316908e-01 8.80129476e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.29538475 meters Centerline goodness [0,1] 0.8864681829798109 Centerline is valid? [False, False] Translation: X:20.74, Y:0.49, Z:8.80 [[ 7.45872797e-01 -1.95995632e-02 -6.65799991e-01 2.07433300e+01] [ 4.91342116e-02 9.98462746e-01 2.56510039e-02 4.88714720e-01] [ 6.64273739e-01 -5.18459437e-02 7.45689210e-01 8.80039570e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.32538475 meters Centerline goodness [0,1] 0.9021414500857851 Centerline is valid? [False, False] Translation: X:20.74, Y:0.49, Z:8.80 [[ 0.74563947 -0.02576553 -0.66585127 20.74487323] [ 0.05355035 0.99833719 0.02133596 0.48950648] [ 0.66419435 -0.0515655 0.74577937 8.80059903] [ 0. 0. 0. 1. ]] SLAMing on 185.35538475 meters Centerline goodness [0,1] 0.9105660138175825 Centerline is valid? [False, False] Translation: X:20.75, Y:0.49, Z:8.80 [[ 7.45234614e-01 -2.71031597e-02 -6.66251295e-01 2.07483344e+01] [ 5.46085225e-02 9.98297966e-01 2.04714529e-02 4.90955231e-01] [ 6.64562472e-01 -5.16390341e-02 7.45446263e-01 8.80111537e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.38538475000001 meters Centerline goodness [0,1] 0.9159044152555784 Centerline is valid? [False, False] Translation: X:20.75, Y:0.49, Z:8.80 [[ 7.44980699e-01 -2.77517630e-02 -6.66508513e-01 2.07503608e+01] [ 5.50153747e-02 9.98286654e-01 1.99264936e-02 4.92228003e-01] [ 6.64813558e-01 -5.15130687e-02 7.45231063e-01 8.80123073e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.41538475000002 meters Centerline goodness [0,1] 0.914824508845511 Centerline is valid? [False, False] Translation: X:20.75, Y:0.49, Z:8.80 [[ 7.44788487e-01 -2.80625025e-02 -6.66710286e-01 2.07517328e+01] [ 5.51183100e-02 9.98288337e-01 1.95542413e-02 4.93247084e-01] [ 6.65020361e-01 -5.13117180e-02 7.45060418e-01 8.80123265e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.44538475000002 meters Centerline goodness [0,1] 0.9104171271590514 Centerline is valid? [False, False] Translation: X:20.75, Y:0.49, Z:8.80 [[ 7.44687623e-01 -2.83649896e-02 -6.66810146e-01 2.07530811e+01] [ 5.50877144e-02 9.98299671e-01 1.90554678e-02 4.94656517e-01] [ 6.65135842e-01 -5.09234180e-02 7.44983971e-01 8.80087565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.47538475 meters Centerline goodness [0,1] 0.9104171271590514 Centerline is valid? [False, False] Translation: X:20.75, Y:0.49, Z:8.80 [[ 7.44687623e-01 -2.83649896e-02 -6.66810146e-01 2.07530811e+01] [ 5.50877144e-02 9.98299671e-01 1.90554678e-02 4.94656517e-01] [ 6.65135842e-01 -5.09234180e-02 7.44983971e-01 8.80087565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.50538475 meters Centerline goodness [0,1] 0.9137009268925373 Centerline is valid? [False, False] Translation: X:20.75, Y:0.49, Z:8.80 [[ 7.44571600e-01 -2.83810967e-02 -6.66939012e-01 2.07537681e+01] [ 5.51469242e-02 9.98295850e-01 1.90843576e-02 4.94986951e-01] [ 6.65260813e-01 -5.09893058e-02 7.44867869e-01 8.80114090e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.53538475 meters Centerline goodness [0,1] 0.8995982675287176 Centerline is valid? [False, False] Translation: X:20.75, Y:0.50, Z:8.80 [[ 7.44604444e-01 -2.82759612e-02 -6.66906809e-01 2.07543746e+01] [ 5.45650745e-02 9.98337075e-01 1.85939871e-02 4.96497509e-01] [ 6.65272030e-01 -5.02349851e-02 7.44909103e-01 8.80029964e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.56538475 meters Centerline goodness [0,1] 0.9044794952681388 Centerline is valid? [False, False] Translation: X:20.76, Y:0.50, Z:8.80 [[ 7.44449592e-01 -2.84138499e-02 -6.67073803e-01 2.07555243e+01] [ 5.46156801e-02 9.98337409e-01 1.84267639e-02 4.96467773e-01] [ 6.65441157e-01 -5.01504863e-02 7.44763718e-01 8.80036812e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.59538475 meters Centerline goodness [0,1] 0.9121655729429581 Centerline is valid? [False, False] Translation: X:20.76, Y:0.50, Z:8.80 [[ 7.44139578e-01 -3.45484385e-02 -6.67130192e-01 2.07580898e+01] [ 5.87236484e-02 9.98178750e-01 1.38100088e-02 4.96663682e-01] [ 6.65438067e-01 -4.94528930e-02 7.44813124e-01 8.79994088e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.62538475 meters Centerline goodness [0,1] 0.9203539823008849 Centerline is valid? [False, False] Translation: X:20.76, Y:0.50, Z:8.80 [[ 7.43957052e-01 -4.04719710e-02 -6.67000693e-01 2.07593109e+01] [ 6.28319429e-02 9.97978655e-01 9.52638269e-03 4.96586067e-01] [ 6.65266902e-01 -4.89961690e-02 7.44996191e-01 8.79963251e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.65538475 meters Centerline goodness [0,1] 0.9287909024676106 Centerline is valid? [False, False] Translation: X:20.76, Y:0.50, Z:8.80 [[ 7.43517519e-01 -4.65728184e-02 -6.67092701e-01 2.07613918e+01] [ 6.71185718e-02 9.97731706e-01 5.15169238e-03 4.96530322e-01] [ 6.65339610e-01 -4.86046829e-02 7.44956904e-01 8.79988181e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.68538475 meters Centerline goodness [0,1] 0.9305155096479832 Centerline is valid? [False, False] Translation: X:20.76, Y:0.50, Z:8.80 [[ 7.43154864e-01 -4.70546128e-02 -6.67462892e-01 2.07629999e+01] [ 6.77027082e-02 9.97692783e-01 5.04529821e-03 4.96372341e-01] [ 6.65685505e-01 -4.89384833e-02 7.44625969e-01 8.80086467e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.71538475 meters Centerline goodness [0,1] 0.9316434788132901 Centerline is valid? [False, False] Translation: X:20.76, Y:0.50, Z:8.80 [[ 7.43097601e-01 -4.77053699e-02 -6.67480451e-01 2.07641993e+01] [ 6.83972194e-02 9.97646412e-01 4.84316595e-03 4.97061928e-01] [ 6.65678432e-01 -4.92527519e-02 7.44611571e-01 8.80125196e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.74538475 meters Centerline goodness [0,1] 0.9303093831395718 Centerline is valid? [False, False] Translation: X:20.77, Y:0.50, Z:8.80 [[ 7.42825374e-01 -4.78993201e-02 -6.67769511e-01 2.07652183e+01] [ 6.87820485e-02 9.97619413e-01 4.95344452e-03 4.96575117e-01] [ 6.65942561e-01 -4.96100991e-02 7.44351627e-01 8.80211624e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.77538475 meters Centerline goodness [0,1] 0.9332446640065869 Centerline is valid? [False, False] Translation: X:20.77, Y:0.50, Z:8.80 [[ 7.42482848e-01 -4.78059479e-02 -6.68157027e-01 2.07654697e+01] [ 6.88868979e-02 9.97611070e-01 5.17183397e-03 4.95708152e-01] [ 6.66313602e-01 -4.98672629e-02 7.44002312e-01 8.80332519e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.80538475 meters Centerline goodness [0,1] 0.9245565427852616 Centerline is valid? [False, False] Translation: X:20.77, Y:0.49, Z:8.80 [[ 7.42291407e-01 -5.39027644e-02 -6.67905651e-01 2.07674866e+01] [ 7.36634054e-02 9.97282202e-01 1.38259830e-03 4.94365278e-01] [ 6.66015893e-01 -5.02264956e-02 7.44244671e-01 8.80375452e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.83538475 meters Centerline goodness [0,1] 0.9197588274911004 Centerline is valid? [False, False] Translation: X:20.77, Y:0.49, Z:8.81 [[ 7.41972094e-01 -5.88910472e-02 -6.67839244e-01 2.07666997e+01] [ 7.78359252e-02 9.96965146e-01 -1.43782652e-03 4.91563734e-01] [ 6.65897125e-01 -5.09150583e-02 7.44304156e-01 8.80523695e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.86538475 meters Centerline goodness [0,1] 0.906052801030264 Centerline is valid? [False, False] Translation: X:20.77, Y:0.49, Z:8.81 [[ 7.41350885e-01 -6.48564798e-02 -6.67976424e-01 2.07684239e+01] [ 8.25826301e-02 9.96571135e-01 -5.10705119e-03 4.89619441e-01] [ 6.66017248e-01 -5.13771330e-02 7.44164911e-01 8.80657622e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.89538475 meters Centerline goodness [0,1] 0.8931147752157671 Centerline is valid? [False, False] Translation: X:20.78, Y:0.49, Z:8.81 [[ 7.40312411e-01 -6.91785226e-02 -6.68694150e-01 2.07759903e+01] [ 8.68039689e-02 9.96201104e-01 -6.95933271e-03 4.90649436e-01] [ 6.66635286e-01 -5.28932258e-02 7.43505011e-01 8.80936356e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.92538475 meters Centerline goodness [0,1] 0.8897729102915123 Centerline is valid? [False, False] Translation: X:20.78, Y:0.49, Z:8.81 [[ 7.39619483e-01 -7.04205851e-02 -6.69330981e-01 2.07794298e+01] [ 8.80173475e-02 9.96090414e-01 -7.53875875e-03 4.91176323e-01] [ 6.67245058e-01 -5.33369247e-02 7.42926110e-01 8.81072761e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.95538475 meters Centerline goodness [0,1] 0.8831072590778748 Centerline is valid? [False, False] Translation: X:20.78, Y:0.49, Z:8.81 [[ 7.38380070e-01 -7.29897819e-02 -6.70423272e-01 2.07847815e+01] [ 9.09533628e-02 9.95821034e-01 -8.24346336e-03 4.90996731e-01] [ 6.68223285e-01 -5.48904421e-02 7.41933071e-01 8.81437821e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 185.98538475 meters Centerline goodness [0,1] 0.8775175342642043 Centerline is valid? [False, False] Translation: X:20.79, Y:0.49, Z:8.82 [[ 7.36665486e-01 -7.54315747e-02 -6.72037230e-01 2.07909844e+01] [ 9.41721743e-02 9.95519539e-01 -8.51175447e-03 4.90733036e-01] [ 6.69668248e-01 -5.70168914e-02 7.40468440e-01 8.81966193e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.01538475 meters Centerline goodness [0,1] 0.8808711877493244 Centerline is valid? [False, False] Translation: X:20.79, Y:0.49, Z:8.82 [[ 7.36131690e-01 -7.59564815e-02 -6.72562821e-01 2.07927644e+01] [ 9.49933975e-02 9.95442045e-01 -8.44921076e-03 4.90317109e-01] [ 6.70139082e-01 -5.76692956e-02 7.39991799e-01 8.82127105e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.04538475 meters Centerline goodness [0,1] 0.8749234192112985 Centerline is valid? [False, False] Translation: X:20.79, Y:0.49, Z:8.82 [[ 7.35576935e-01 -7.62624430e-02 -6.73134914e-01 2.07942960e+01] [ 9.55537848e-02 9.95389209e-01 -8.35442140e-03 4.90042398e-01] [ 6.70668358e-01 -5.81752690e-02 7.39472509e-01 8.82281222e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.07538475 meters Centerline goodness [0,1] 0.88027830324794 Centerline is valid? [False, False] Translation: X:20.80, Y:0.49, Z:8.83 [[ 7.34875439e-01 -7.21098252e-02 -6.74357666e-01 2.07984017e+01] [ 9.31133624e-02 9.95642980e-01 -4.99574383e-03 4.90588358e-01] [ 6.71779719e-01 -5.91204604e-02 7.38387960e-01 8.82515902e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.10538475 meters Centerline goodness [0,1] 0.8822439460737334 Centerline is valid? [False, False] Translation: X:20.80, Y:0.49, Z:8.83 [[ 7.34458672e-01 -6.69354171e-02 -6.75344437e-01 2.08000230e+01] [ 8.98499726e-02 9.95954812e-01 -9.97356519e-04 4.91154736e-01] [ 6.72679301e-01 -5.99471621e-02 7.37501794e-01 8.82713151e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.13538475000001 meters Centerline goodness [0,1] 0.890193719929096 Centerline is valid? [False, False] Translation: X:20.80, Y:0.49, Z:8.83 [[ 7.34389824e-01 -6.11804227e-02 -6.75964897e-01 2.08006030e+01] [ 8.54788011e-02 9.96336358e-01 2.69020207e-03 4.93444113e-01] [ 6.73323816e-01 -5.97563261e-02 7.36928911e-01 8.82741604e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.16538475000002 meters Centerline goodness [0,1] 0.9029937852929114 Centerline is valid? [False, False] Translation: X:20.80, Y:0.49, Z:8.83 [[ 7.34715700e-01 -5.42067813e-02 -6.76205934e-01 2.07978019e+01] [ 8.03216022e-02 9.96741756e-01 7.36961848e-03 4.94301502e-01] [ 6.73603207e-01 -5.97285185e-02 7.36675792e-01 8.82764772e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.19538475000002 meters Centerline goodness [0,1] 0.9081948568901245 Centerline is valid? [False, False] Translation: X:20.80, Y:0.50, Z:8.83 [[ 7.35022418e-01 -5.28903117e-02 -6.75976819e-01 2.07951803e+01] [ 7.90694342e-02 9.96837165e-01 7.98071506e-03 4.95220403e-01] [ 6.73416713e-01 -5.93151091e-02 7.36879670e-01 8.82706780e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.22538475 meters Centerline goodness [0,1] 0.9124365882093456 Centerline is valid? [False, False] Translation: X:20.79, Y:0.49, Z:8.83 [[ 7.35283873e-01 -4.49983731e-02 -6.76263834e-01 2.07909520e+01] [ 7.36381103e-02 9.97190758e-01 1.37120346e-02 4.93551409e-01] [ 6.73747026e-01 -5.98810287e-02 7.36531878e-01 8.82833609e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.25538475 meters Centerline goodness [0,1] 0.9197142317618179 Centerline is valid? [False, False] Translation: X:20.79, Y:0.49, Z:8.83 [[ 7.35499115e-01 -4.38578968e-02 -6.76104679e-01 2.07892705e+01] [ 7.25625576e-02 9.97262113e-01 1.42461343e-02 4.93823473e-01] [ 6.73628776e-01 -5.95379039e-02 7.36667843e-01 8.82781531e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.28538475 meters Centerline goodness [0,1] 0.92127539503386 Centerline is valid? [False, False] Translation: X:20.79, Y:0.49, Z:8.83 [[ 7.35648812e-01 -3.67963949e-02 -6.76362958e-01 2.07877612e+01] [ 6.76080502e-02 9.97525937e-01 1.92654304e-02 4.92443323e-01] [ 6.73980695e-01 -5.99001718e-02 7.36316503e-01 8.82846332e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.31538475 meters Centerline goodness [0,1] 0.926559703601369 Centerline is valid? [False, False] Translation: X:20.79, Y:0.49, Z:8.83 [[ 7.35561095e-01 -3.65525476e-02 -6.76471572e-01 2.07886672e+01] [ 6.74279712e-02 9.97535190e-01 1.94168392e-02 4.91683897e-01] [ 6.74094463e-01 -5.98953771e-02 7.36212740e-01 8.82850992e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.34538475 meters Centerline goodness [0,1] 0.9270208287518457 Centerline is valid? [False, False] Translation: X:20.79, Y:0.49, Z:8.83 [[ 7.35413675e-01 -3.60762820e-02 -6.76657394e-01 2.07899215e+01] [ 6.72524299e-02 9.97537358e-01 1.99080329e-02 4.89551882e-01] [ 6.74272821e-01 -6.01474936e-02 7.36028832e-01 8.82889321e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.37538475 meters Centerline goodness [0,1] 0.922447426015796 Centerline is valid? [False, False] Translation: X:20.79, Y:0.48, Z:8.83 [[ 7.35121488e-01 -4.14292865e-02 -6.76668318e-01 2.07920093e+01] [ 7.16537741e-02 9.97288338e-01 1.67841236e-02 4.84705829e-01] [ 6.74138068e-01 -6.08242087e-02 7.36096652e-01 8.82991557e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.40538475 meters Centerline goodness [0,1] 0.9286854370171742 Centerline is valid? [False, False] Translation: X:20.79, Y:0.48, Z:8.83 [[ 7.34498089e-01 -4.61609106e-02 -6.77038941e-01 2.07917759e+01] [ 7.51546307e-02 9.97079807e-01 1.35513931e-02 4.82262714e-01] [ 6.74436312e-01 -6.08360839e-02 7.35822419e-01 8.83141584e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.43538475 meters Centerline goodness [0,1] 0.931281887755102 Centerline is valid? [False, False] Translation: X:20.79, Y:0.48, Z:8.83 [[ 7.34126807e-01 -4.63391706e-02 -6.77429341e-01 2.07929649e+01] [ 7.54409480e-02 9.97058179e-01 1.35517797e-02 4.82200610e-01] [ 6.74808487e-01 -6.10546365e-02 7.35463008e-01 8.83234346e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.46538475 meters Centerline goodness [0,1] 0.929492472845074 Centerline is valid? [False, False] Translation: X:20.80, Y:0.48, Z:8.83 [[ 7.33474284e-01 -4.77458932e-02 -6.78038202e-01 2.07971957e+01] [ 7.65181995e-02 9.96988964e-01 1.25686177e-02 4.84914551e-01] [ 6.75396505e-01 -6.11010203e-02 7.34919197e-01 8.83319086e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.49538475 meters Centerline goodness [0,1] 0.9285352736475798 Centerline is valid? [False, False] Translation: X:20.80, Y:0.49, Z:8.83 [[ 7.33133569e-01 -4.85385824e-02 -6.78350335e-01 2.07996840e+01] [ 7.70756464e-02 9.96953459e-01 1.19643724e-02 4.86925801e-01] [ 6.75702978e-01 -6.10557736e-02 7.34641190e-01 8.83349367e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.52538475 meters Centerline goodness [0,1] 0.9259247599559264 Centerline is valid? [False, False] Translation: X:20.80, Y:0.49, Z:8.84 [[ 7.32311769e-01 -4.47654400e-02 -6.79496525e-01 2.08035884e+01] [ 7.53476388e-02 9.97036554e-01 1.55191120e-02 4.87654430e-01] [ 6.76788154e-01 -6.25632871e-02 7.33514573e-01 8.83676851e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.55538475 meters Centerline goodness [0,1] 0.9224852630583489 Centerline is valid? [False, False] Translation: X:20.80, Y:0.49, Z:8.84 [[ 7.31992583e-01 -4.44946895e-02 -6.79858133e-01 2.08035730e+01] [ 7.54014541e-02 9.97025987e-01 1.59311817e-02 4.87395123e-01] [ 6.77127373e-01 -6.29237987e-02 7.33170592e-01 8.83794025e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.58538475 meters Centerline goodness [0,1] 0.9251400868853491 Centerline is valid? [False, False] Translation: X:20.80, Y:0.48, Z:8.84 [[ 7.31472857e-01 -4.34732972e-02 -6.80483308e-01 2.08022272e+01] [ 7.55294061e-02 9.96990082e-01 1.74953070e-02 4.84863436e-01] [ 6.77674530e-01 -6.41938423e-02 7.32554696e-01 8.84099241e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.61538475 meters Centerline goodness [0,1] 0.9243331348149076 Centerline is valid? [False, False] Translation: X:20.80, Y:0.48, Z:8.84 [[ 7.31126045e-01 -4.29543005e-02 -6.80888857e-01 2.08020441e+01] [ 7.55005818e-02 9.96980087e-01 1.81760346e-02 4.84326247e-01] [ 6.78051893e-01 -6.46964771e-02 7.32161182e-01 8.84248491e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.64538475 meters Centerline goodness [0,1] 0.9325821537302659 Centerline is valid? [False, False] Translation: X:20.80, Y:0.48, Z:8.84 [[ 7.30870290e-01 -4.24028415e-02 -6.81197928e-01 2.08018973e+01] [ 7.49742801e-02 9.97016072e-01 1.83796204e-02 4.84663571e-01] [ 6.78385934e-01 -6.45054428e-02 7.31868548e-01 8.84300475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.67538475 meters Centerline goodness [0,1] 0.9324485816718032 Centerline is valid? [False, False] Translation: X:20.80, Y:0.48, Z:8.84 [[ 7.30663435e-01 -4.23411729e-02 -6.81423635e-01 2.08025866e+01] [ 7.51971080e-02 9.96993683e-01 1.86813235e-02 4.84343503e-01] [ 6.78584070e-01 -6.48908466e-02 7.31650762e-01 8.84383302e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.70538475 meters Centerline goodness [0,1] 0.9175096301399893 Centerline is valid? [False, False] Translation: X:20.80, Y:0.48, Z:8.85 [[ 7.29951213e-01 -4.27957505e-02 -6.82158156e-01 2.08043720e+01] [ 7.68116112e-02 9.96851877e-01 1.96548329e-02 4.82420766e-01] [ 6.79169495e-01 -6.67447362e-02 7.30940447e-01 8.84744548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.73538475 meters Centerline goodness [0,1] 0.9226534888812435 Centerline is valid? [False, False] Translation: X:20.80, Y:0.48, Z:8.85 [[ 7.29669106e-01 -4.25424661e-02 -6.82475739e-01 2.08043880e+01] [ 7.68136063e-02 9.96845129e-01 1.99864472e-02 4.82588264e-01] [ 6.79472343e-01 -6.70069158e-02 7.30634935e-01 8.84847661e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 186.76538475 meters Centerline goodness [0,1] 0.931546597610059 Centerline is valid? [False, False] Translation: X:20.81, Y:0.48, Z:8.85 [[ 0.72889245 -0.03795692 -0.68357521 20.80758627] [ 0.07415377 0.99696489 0.02371123 0.48297613] [ 0.68060048 -0.06797262 0.72949483 8.85113735] [ 0. 0. 0. 1. ]] SLAMing on 186.79538475 meters Centerline goodness [0,1] 0.9285202826811121 Centerline is valid? [False, False] Translation: X:20.81, Y:0.48, Z:8.85 [[ 0.72845037 -0.0383238 -0.68402584 20.80939658] [ 0.07454543 0.99693994 0.02353145 0.48355281] [ 0.68103087 -0.06813249 0.72907813 8.85207683] [ 0. 0. 0. 1. ]] SLAMing on 186.82538475 meters Centerline goodness [0,1] 0.930786250740129 Centerline is valid? [False, False] Translation: X:20.81, Y:0.48, Z:8.85 [[ 0.7279287 -0.03860824 -0.68456498 20.81087885] [ 0.07503032 0.9969029 0.02355956 0.48308471] [ 0.68153522 -0.06851281 0.72857102 8.85358645] [ 0. 0. 0. 1. ]] SLAMing on 186.85538475 meters Centerline goodness [0,1] 0.9293539151002116 Centerline is valid? [False, False] Translation: X:20.81, Y:0.48, Z:8.85 [[ 0.72773666 -0.03835287 -0.68478347 20.81127906] [ 0.07495602 0.99690221 0.02382386 0.4828604 ] [ 0.68174844 -0.06866614 0.72835707 8.85418581] [ 0. 0. 0. 1. ]] SLAMing on 186.88538475000001 meters Centerline goodness [0,1] 0.9264696714668661 Centerline is valid? [False, False] Translation: X:20.81, Y:0.48, Z:8.86 [[ 0.72737875 -0.03834011 -0.68516435 20.81214948] [ 0.0750534 0.99689321 0.02389391 0.48302109] [ 0.68211959 -0.06880384 0.72799649 8.85514925] [ 0. 0. 0. 1. ]] SLAMing on 186.91538475000002 meters Centerline goodness [0,1] 0.9257221030376519 Centerline is valid? [False, False] Translation: X:20.81, Y:0.48, Z:8.86 [[ 0.72707513 -0.03784277 -0.68551417 20.81223109] [ 0.07511347 0.9968706 0.02463668 0.48185502] [ 0.6824366 -0.06940406 0.72764233 8.85660702] [ 0. 0. 0. 1. ]] SLAMing on 186.94538475000002 meters Centerline goodness [0,1] 0.9299240064781363 Centerline is valid? [False, False] Translation: X:20.81, Y:0.48, Z:8.86 [[ 0.72667819 -0.03726897 -0.68596635 20.81196751] [ 0.07514353 0.99684806 0.02544391 0.47991342] [ 0.68285595 -0.07003547 0.72718827 8.85842266] [ 0. 0. 0. 1. ]] SLAMing on 186.97538475 meters Centerline goodness [0,1] 0.929263053021576 Centerline is valid? [False, False] Translation: X:20.81, Y:0.48, Z:8.86 [[ 0.72649886 -0.03708605 -0.68616618 20.81256822] [ 0.0749465 0.99686215 0.02547322 0.48015673] [ 0.68306839 -0.06993201 0.72699868 8.85864597] [ 0. 0. 0. 1. ]] SLAMing on 187.00538475 meters Centerline goodness [0,1] 0.9324773836540554 Centerline is valid? [False, False] Translation: X:20.82, Y:0.48, Z:8.86 [[ 0.72595514 -0.03190958 -0.68700139 20.81542731] [ 0.07132899 0.99702932 0.02906378 0.48094549] [ 0.68403312 -0.07010212 0.72607464 8.85983455] [ 0. 0. 0. 1. ]] SLAMing on 187.03538475 meters Centerline goodness [0,1] 0.9366974473774212 Centerline is valid? [False, False] Translation: X:20.82, Y:0.48, Z:8.86 [[ 0.72584563 -0.03155982 -0.68713325 20.81590089] [ 0.07058043 0.99709138 0.02876076 0.48284899] [ 0.68422695 -0.06937404 0.72596193 8.85919568] [ 0. 0. 0. 1. ]] SLAMing on 187.06538475 meters Centerline goodness [0,1] 0.9400397663725613 Centerline is valid? [False, False] Translation: X:20.82, Y:0.48, Z:8.86 [[ 0.72578608 -0.02462967 -0.68747942 20.81503316] [ 0.06518624 0.99732438 0.03308826 0.48401314] [ 0.68482503 -0.0688292 0.72544966 8.85907621] [ 0. 0. 0. 1. ]] SLAMing on 187.09538475 meters Centerline goodness [0,1] 0.940032918232353 Centerline is valid? [False, False] Translation: X:20.81, Y:0.48, Z:8.86 [[ 7.25744043e-01 -1.73367115e-02 -6.87746335e-01 2.08133912e+01] [ 5.96207587e-02 9.97506300e-01 3.77696401e-02 4.84277072e-01] [ 6.85376501e-01 -6.84150496e-02 7.24967884e-01 8.85913849e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.12538475 meters Centerline goodness [0,1] 0.9401123281720296 Centerline is valid? [False, False] Translation: X:20.81, Y:0.48, Z:8.86 [[ 7.25747132e-01 -1.61352465e-02 -6.87772312e-01 2.08119687e+01] [ 5.84115579e-02 9.97560157e-01 3.82337893e-02 4.84904055e-01] [ 6.85477344e-01 -6.79219152e-02 7.24918908e-01 8.85881029e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.15538475 meters Centerline goodness [0,1] 0.940787019768743 Centerline is valid? [False, False] Translation: X:20.81, Y:0.48, Z:8.86 [[ 7.25618637e-01 -1.43321644e-02 -6.87947805e-01 2.08091699e+01] [ 5.74219414e-02 9.97556995e-01 3.97839485e-02 4.82186370e-01] [ 6.85696955e-01 -6.83712730e-02 7.24668928e-01 8.86014477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.18538475 meters Centerline goodness [0,1] 0.9406827259111333 Centerline is valid? [False, False] Translation: X:20.81, Y:0.48, Z:8.86 [[ 7.25178809e-01 -1.44127527e-02 -6.88409738e-01 2.08102304e+01] [ 5.80653374e-02 9.97499733e-01 4.02827469e-02 4.80441423e-01] [ 6.86107944e-01 -6.91849381e-02 7.24202550e-01 8.86191051e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.21538475 meters Centerline goodness [0,1] 0.940230459357337 Centerline is valid? [False, False] Translation: X:20.81, Y:0.48, Z:8.86 [[ 7.24800541e-01 -1.41292127e-02 -6.88813866e-01 2.08105372e+01] [ 5.82170815e-02 9.97469942e-01 4.07981148e-02 4.79235415e-01] [ 6.86494681e-01 -6.96712286e-02 7.23789315e-01 8.86328836e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.24538475 meters Centerline goodness [0,1] 0.9365074422370305 Centerline is valid? [False, False] Translation: X:20.81, Y:0.48, Z:8.87 [[ 7.24069889e-01 -8.87723469e-03 -6.89669480e-01 2.08128593e+01] [ 5.49781623e-02 9.97478361e-01 4.48811833e-02 4.79234717e-01] [ 6.87531961e-01 -7.04138740e-02 7.22732100e-01 8.86543143e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.27538475 meters Centerline goodness [0,1] 0.937591433996327 Centerline is valid? [False, False] Translation: X:20.81, Y:0.48, Z:8.87 [[ 7.24001917e-01 -8.63570497e-03 -6.89743901e-01 2.08133191e+01] [ 5.46588109e-02 9.97495750e-01 4.48847824e-02 4.79991699e-01] [ 6.87628998e-01 -7.01972499e-02 7.22660853e-01 8.86530512e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.30538475 meters Centerline goodness [0,1] 0.9343971078629975 Centerline is valid? [False, False] Translation: X:20.81, Y:0.48, Z:8.87 [[ 7.23443595e-01 -8.57914253e-03 -6.90330184e-01 2.08146733e+01] [ 5.49923179e-02 9.97461638e-01 4.52341145e-02 4.79034003e-01] [ 6.88189806e-01 -7.06871874e-02 7.22079021e-01 8.86689490e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.33538475 meters Centerline goodness [0,1] 0.9337945282664496 Centerline is valid? [False, False] Translation: X:20.81, Y:0.48, Z:8.87 [[ 7.22845625e-01 -7.97774413e-03 -6.90963500e-01 2.08145539e+01] [ 5.52445246e-02 9.97399824e-01 4.62777879e-02 4.76371972e-01] [ 6.88797681e-01 -7.16236465e-02 7.21406826e-01 8.86939303e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.36538475 meters Centerline goodness [0,1] 0.9367160060210737 Centerline is valid? [False, False] Translation: X:20.81, Y:0.47, Z:8.87 [[ 7.22557808e-01 -7.12646611e-03 -6.91273771e-01 2.08139919e+01] [ 5.49374871e-02 9.97376330e-01 4.71415855e-02 4.74692578e-01] [ 6.89124144e-01 -7.20393646e-02 7.21053565e-01 8.87063468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.39538475 meters Centerline goodness [0,1] 0.9367160060210737 Centerline is valid? [False, False] Translation: X:20.81, Y:0.47, Z:8.87 [[ 7.22557808e-01 -7.12646611e-03 -6.91273771e-01 2.08139919e+01] [ 5.49374871e-02 9.97376330e-01 4.71415855e-02 4.74692578e-01] [ 6.89124144e-01 -7.20393646e-02 7.21053565e-01 8.87063468e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.42538475 meters Centerline goodness [0,1] 0.9378688936330528 Centerline is valid? [False, False] Translation: X:20.81, Y:0.47, Z:8.87 [[ 7.22272256e-01 -6.71867573e-03 -6.91576206e-01 2.08142080e+01] [ 5.48250134e-02 9.97362222e-01 4.75690639e-02 4.73697681e-01] [ 6.89432380e-01 -7.22734898e-02 7.20735413e-01 8.87153381e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.45538475 meters Centerline goodness [0,1] 0.9331804473485801 Centerline is valid? [False, False] Translation: X:20.81, Y:0.47, Z:8.87 [[ 7.21887669e-01 -6.07608805e-03 -6.91983579e-01 2.08147982e+01] [ 5.42202235e-02 9.97383972e-01 4.78056401e-02 4.73813053e-01] [ 6.89882860e-01 -7.20298064e-02 7.20328638e-01 8.87205700e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.48538475 meters Centerline goodness [0,1] 0.9320288040075141 Centerline is valid? [False, False] Translation: X:20.81, Y:0.47, Z:8.87 [[ 7.21583480e-01 7.36468055e-04 -6.92327046e-01 2.08140401e+01] [ 4.93385184e-02 9.97402171e-01 5.24844650e-02 4.74212444e-01] [ 6.90567152e-01 -7.20303136e-02 7.19672594e-01 8.87284642e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.51538475 meters Centerline goodness [0,1] 0.9283664045925372 Centerline is valid? [False, False] Translation: X:20.81, Y:0.47, Z:8.87 [[ 7.21199183e-01 6.82830233e-03 -6.92694097e-01 2.08139604e+01] [ 4.53266120e-02 9.97343394e-01 5.70232631e-02 4.73939482e-01] [ 6.91243254e-01 -7.25226073e-02 7.18973737e-01 8.87421680e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.54538475 meters Centerline goodness [0,1] 0.9247637168969712 Centerline is valid? [False, False] Translation: X:20.81, Y:0.48, Z:8.87 [[ 7.21204765e-01 7.99276153e-03 -6.92675828e-01 2.08131480e+01] [ 4.40083165e-02 9.97384870e-01 5.73296561e-02 4.75046667e-01] [ 6.91322613e-01 -7.18299182e-02 7.18966972e-01 8.87346343e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.57538475 meters Centerline goodness [0,1] 0.909886970562663 Centerline is valid? [False, False] Translation: X:20.81, Y:0.47, Z:8.87 [[ 7.20691300e-01 1.47878576e-02 -6.93098384e-01 2.08127621e+01] [ 3.93396731e-02 9.97289105e-01 6.21838550e-02 4.74209512e-01] [ 6.92139033e-01 -7.20816272e-02 7.18155832e-01 8.87479594e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.60538475 meters Centerline goodness [0,1] 0.9032388036572137 Centerline is valid? [False, False] Translation: X:20.81, Y:0.47, Z:8.87 [[ 7.20607304e-01 1.54280180e-02 -6.93171761e-01 2.08125236e+01] [ 3.86518542e-02 9.97303824e-01 6.23788104e-02 4.74397628e-01] [ 6.92265229e-01 -7.17430002e-02 7.18068099e-01 8.87461525e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.63538475000001 meters Centerline goodness [0,1] 0.8711879130084075 Centerline is valid? [False, False] Translation: X:20.81, Y:0.47, Z:8.87 [[ 7.20652699e-01 1.72888708e-02 -6.93080647e-01 2.08105062e+01] [ 3.69292230e-02 9.97312562e-01 6.32762616e-02 4.72764045e-01] [ 6.92312011e-01 -7.11951385e-02 7.18077525e-01 8.87410787e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.66538475000002 meters Centerline goodness [0,1] 0.8538795779019243 Centerline is valid? [False, False] Translation: X:20.81, Y:0.47, Z:8.87 [[ 7.20657874e-01 1.85024077e-02 -6.93043931e-01 2.08092687e+01] [ 3.58146484e-02 9.97315536e-01 6.38673034e-02 4.72207096e-01] [ 6.92365178e-01 -7.08475998e-02 7.18060637e-01 8.87383157e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.69538475000002 meters Centerline goodness [0,1] 0.8183375911271731 Centerline is valid? [False, False] Translation: X:20.81, Y:0.47, Z:8.87 [[ 7.20822350e-01 2.01274785e-02 -6.92827558e-01 2.08081303e+01] [ 3.38695447e-02 9.97361313e-01 6.42126495e-02 4.72057451e-01] [ 6.92291842e-01 -6.97516668e-02 7.18238617e-01 8.87226662e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.72538475 meters Centerline goodness [0,1] 0.8119504086008141 Centerline is valid? [False, False] Translation: X:20.81, Y:0.47, Z:8.87 [[ 0.72079782 0.02207619 -0.69279373 20.80646601] [ 0.03179732 0.99738733 0.06486483 0.47160587] [ 0.69241565 -0.06878341 0.71821265 8.87135292] [ 0. 0. 0. 1. ]] SLAMing on 187.75538475 meters Centerline goodness [0,1] 0.7901092043681748 Centerline is valid? [False, False] Translation: X:20.80, Y:0.47, Z:8.87 [[ 7.21095005e-01 1.77555649e-02 -6.92608644e-01 2.08048541e+01] [ 3.40903209e-02 9.97551433e-01 6.10654368e-02 4.72478552e-01] [ 6.91996997e-01 -6.76452324e-02 7.18724063e-01 8.86977064e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.78538475 meters Centerline goodness [0,1] 0.8349984291548853 Centerline is valid? [False, False] Translation: X:20.80, Y:0.47, Z:8.87 [[ 7.21236183e-01 7.11656734e-03 -6.92652671e-01 2.08042095e+01] [ 4.15551333e-02 9.97701710e-01 5.35207308e-02 4.70366124e-01] [ 6.91441639e-01 -6.73843617e-02 7.19282843e-01 8.86965504e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.81538475 meters Centerline goodness [0,1] 0.8607598927952074 Centerline is valid? [False, False] Translation: X:20.80, Y:0.47, Z:8.87 [[ 7.21071846e-01 1.53104217e-03 -6.92858606e-01 2.08047371e+01] [ 4.57360534e-02 9.97711312e-01 4.98031175e-02 4.68823404e-01] [ 6.91349120e-01 -6.76002442e-02 7.19351514e-01 8.87035587e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.84538475 meters Centerline goodness [0,1] 0.910534506304189 Centerline is valid? [False, False] Translation: X:20.81, Y:0.47, Z:8.87 [[ 7.20255269e-01 -6.02951513e-03 -6.93682920e-01 2.08089092e+01] [ 5.22670453e-02 9.97591585e-01 4.55980971e-02 4.66534201e-01] [ 6.91737309e-01 -6.90990263e-02 7.18835740e-01 8.87361058e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.87538475 meters Centerline goodness [0,1] 0.9168148336296673 Centerline is valid? [False, False] Translation: X:20.81, Y:0.47, Z:8.88 [[ 7.19477148e-01 -7.10316032e-03 -6.94479790e-01 2.08120323e+01] [ 5.37728300e-02 9.97515770e-01 4.55057272e-02 4.65875036e-01] [ 6.92431308e-01 -7.00844745e-02 7.18071758e-01 8.87613032e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.90538475 meters Centerline goodness [0,1] 0.9208957577669137 Centerline is valid? [False, False] Translation: X:20.82, Y:0.47, Z:8.88 [[ 7.18594853e-01 -9.36657584e-03 -6.95365878e-01 2.08176708e+01] [ 5.60791776e-02 9.97433383e-01 4.45171009e-02 4.66905499e-01] [ 6.93164167e-01 -7.09853062e-02 7.17275766e-01 8.87845475e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.93538475 meters Centerline goodness [0,1] 0.9205365051246363 Centerline is valid? [False, False] Translation: X:20.82, Y:0.47, Z:8.88 [[ 7.18183406e-01 -1.00153712e-02 -6.95781782e-01 2.08194716e+01] [ 5.68015747e-02 9.97403355e-01 4.42733401e-02 4.67764665e-01] [ 6.93531669e-01 -7.13178790e-02 7.16887427e-01 8.87954070e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.96538475 meters Centerline goodness [0,1] 0.9193022445942951 Centerline is valid? [False, False] Translation: X:20.82, Y:0.47, Z:8.88 [[ 7.17921510e-01 -1.04127608e-02 -6.96046177e-01 2.08207864e+01] [ 5.72651630e-02 9.97382571e-01 4.41441777e-02 4.68291325e-01] [ 6.93764663e-01 -7.15512525e-02 7.16638690e-01 8.88023368e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 187.99538475 meters Centerline goodness [0,1] 0.9199078893410303 Centerline is valid? [False, False] Translation: X:20.82, Y:0.47, Z:8.88 [[ 7.17408936e-01 -1.11553702e-02 -6.96562974e-01 2.08226923e+01] [ 5.80560695e-02 9.97351096e-01 4.38210522e-02 4.69764426e-01] [ 6.94229005e-01 -7.18773228e-02 7.16156225e-01 8.88157074e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.02538475 meters Centerline goodness [0,1] 0.9207145787961999 Centerline is valid? [False, False] Translation: X:20.82, Y:0.47, Z:8.88 [[ 7.17014053e-01 -1.13182490e-02 -6.96966817e-01 2.08234886e+01] [ 5.84550866e-02 9.97322527e-01 4.39406484e-02 4.69746281e-01] [ 6.94603376e-01 -7.22473181e-02 7.15755877e-01 8.88278757e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.05538475 meters Centerline goodness [0,1] 0.9213264183561213 Centerline is valid? [False, False] Translation: X:20.82, Y:0.47, Z:8.88 [[ 7.16666142e-01 -1.13905027e-02 -6.97323381e-01 2.08235511e+01] [ 5.86498712e-02 9.97309088e-01 4.39860844e-02 4.69780675e-01] [ 6.94945921e-01 -7.24212638e-02 7.15405708e-01 8.88387385e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.08538475 meters Centerline goodness [0,1] 0.9197659052293752 Centerline is valid? [False, False] Translation: X:20.82, Y:0.47, Z:8.88 [[ 7.16355985e-01 -1.13919962e-02 -6.97641975e-01 2.08237873e+01] [ 5.87899066e-02 9.97296618e-01 4.40817829e-02 4.69619174e-01] [ 6.95253803e-01 -7.25925556e-02 7.15089135e-01 8.88478068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.11538475 meters Centerline goodness [0,1] 0.9233232856066315 Centerline is valid? [False, False] Translation: X:20.82, Y:0.47, Z:8.89 [[ 7.15965208e-01 -1.08742579e-02 -6.98051267e-01 2.08237275e+01] [ 5.84359003e-02 9.97303328e-01 4.43995154e-02 4.68785499e-01] [ 6.95686040e-01 -7.25797626e-02 7.14669932e-01 8.88575142e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.14538475 meters Centerline goodness [0,1] 0.9200840889837156 Centerline is valid? [False, False] Translation: X:20.83, Y:0.47, Z:8.88 [[ 7.15864205e-01 -1.09546097e-02 -6.98153591e-01 2.08257151e+01] [ 5.80767144e-02 9.97346387e-01 4.39007992e-02 4.69763319e-01] [ 6.95820045e-01 -7.19734774e-02 7.14600786e-01 8.88497777e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.17538475 meters Centerline goodness [0,1] 0.9198281808490625 Centerline is valid? [False, False] Translation: X:20.83, Y:0.47, Z:8.88 [[ 7.15716163e-01 -1.09264783e-02 -6.98305797e-01 2.08267722e+01] [ 5.79777341e-02 9.97355809e-01 4.38175008e-02 4.69810149e-01] [ 6.95980572e-01 -7.18470814e-02 7.14457165e-01 8.88498124e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.20538475 meters Centerline goodness [0,1] 0.92077376473539 Centerline is valid? [False, False] Translation: X:20.83, Y:0.47, Z:8.88 [[ 7.15658040e-01 -1.02678181e-02 -6.98375359e-01 2.08265056e+01] [ 5.73062854e-02 9.97383910e-01 4.40604712e-02 4.69653833e-01] [ 6.96095941e-01 -7.15535281e-02 7.14374225e-01 8.88482703e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.23538475 meters Centerline goodness [0,1] 0.920041471613937 Centerline is valid? [False, False] Translation: X:20.83, Y:0.47, Z:8.89 [[ 7.15619605e-01 -9.33815951e-03 -6.98427792e-01 2.08264978e+01] [ 5.67119633e-02 9.97386167e-01 4.47726193e-02 4.67505929e-01] [ 6.96184124e-01 -7.16493754e-02 7.14278680e-01 8.88503229e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.26538475 meters Centerline goodness [0,1] 0.9194487942373943 Centerline is valid? [False, False] Translation: X:20.82, Y:0.47, Z:8.88 [[ 7.15818047e-01 -8.06558517e-03 -6.98240267e-01 2.08238242e+01] [ 5.54005454e-02 9.97437260e-01 4.52735205e-02 4.67793187e-01] [ 6.96085701e-01 -7.10904946e-02 7.14430429e-01 8.88440256e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.29538475 meters Centerline goodness [0,1] 0.9236696439803749 Centerline is valid? [False, False] Translation: X:20.82, Y:0.47, Z:8.88 [[ 7.16214244e-01 -1.13863292e-02 -6.97787581e-01 2.08182597e+01] [ 5.74857731e-02 9.97431555e-01 4.27279681e-02 4.66415471e-01] [ 6.95508837e-01 -7.07152380e-02 7.15029239e-01 8.88405225e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.32538475 meters Centerline goodness [0,1] 0.926837758298788 Centerline is valid? [False, False] Translation: X:20.82, Y:0.47, Z:8.88 [[ 7.16197139e-01 -1.73253767e-02 -6.97682944e-01 2.08190100e+01] [ 6.20692755e-02 9.97311521e-01 3.89504142e-02 4.65385836e-01] [ 6.95132407e-01 -7.12008500e-02 7.15347032e-01 8.88456466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.35538475 meters Centerline goodness [0,1] 0.9258777633289987 Centerline is valid? [False, False] Translation: X:20.82, Y:0.47, Z:8.88 [[ 0.71610365 -0.02369107 -0.69759179 20.8211321 ] [ 0.06648534 0.9971948 0.03438369 0.46648892] [ 0.69482031 -0.07100191 0.71566994 8.88412585] [ 0. 0. 0. 1. ]] SLAMing on 188.38538475000001 meters Centerline goodness [0,1] 0.9217981663018305 Centerline is valid? [False, False] Translation: X:20.83, Y:0.47, Z:8.89 [[ 0.71536273 -0.03194665 -0.69802261 20.82761627] [ 0.07268467 0.99693724 0.02886311 0.46693654] [ 0.69496266 -0.07138314 0.71549378 8.88502979] [ 0. 0. 0. 1. ]] SLAMing on 188.41538475000002 meters Centerline goodness [0,1] 0.9166481581368785 Centerline is valid? [False, False] Translation: X:20.83, Y:0.47, Z:8.89 [[ 0.71445288 -0.03364274 -0.69887427 20.83218746] [ 0.07449045 0.9968239 0.02816534 0.46649582] [ 0.69570702 -0.07218227 0.71468977 8.88724519] [ 0. 0. 0. 1. ]] SLAMing on 188.44538475000002 meters Centerline goodness [0,1] 0.9174167061424285 Centerline is valid? [False, False] Translation: X:20.84, Y:0.47, Z:8.89 [[ 0.71324757 -0.03833825 -0.6998629 20.84057852] [ 0.07873133 0.99656595 0.0256455 0.46741991] [ 0.69647633 -0.07339273 0.71381667 8.89026254] [ 0. 0. 0. 1. ]] SLAMing on 188.47538475 meters Centerline goodness [0,1] 0.9136385236812926 Centerline is valid? [False, False] Translation: X:20.84, Y:0.47, Z:8.89 [[ 0.7125352 -0.0397065 -0.70051194 20.84388659] [ 0.07995673 0.99648863 0.02484599 0.46790849] [ 0.69706564 -0.07371429 0.71320803 8.89168754] [ 0. 0. 0. 1. ]] SLAMing on 188.50538475 meters Centerline goodness [0,1] 0.911547212741752 Centerline is valid? [False, False] Translation: X:20.85, Y:0.47, Z:8.89 [[ 0.71160608 -0.04158838 -0.7013467 20.84865855] [ 0.08145501 0.99639847 0.02356222 0.4695095 ] [ 0.69784086 -0.07389523 0.71243079 8.89318255] [ 0. 0. 0. 1. ]] SLAMing on 188.53538475 meters Centerline goodness [0,1] 0.9115783500929925 Centerline is valid? [False, False] Translation: X:20.85, Y:0.47, Z:8.89 [[ 0.711298 -0.04196548 -0.70163669 20.84992208] [ 0.0817557 0.99638031 0.0232871 0.47058316] [ 0.69811973 -0.07392686 0.71215424 8.89375108] [ 0. 0. 0. 1. ]] SLAMing on 188.56538475 meters Centerline goodness [0,1] 0.9135339530486845 Centerline is valid? [False, False] Translation: X:20.85, Y:0.47, Z:8.89 [[ 0.71104403 -0.04240136 -0.70186787 20.8510512 ] [ 0.0817633 0.99639464 0.02263791 0.47323919] [ 0.69837751 -0.07348359 0.71194734 8.89367086] [ 0. 0. 0. 1. ]] SLAMing on 188.59538475 meters Centerline goodness [0,1] 0.911960185214351 Centerline is valid? [False, False] Translation: X:20.85, Y:0.47, Z:8.89 [[ 0.71095308 -0.04205991 -0.70198054 20.85045858] [ 0.08153206 0.99640822 0.02287334 0.47388356] [ 0.69849713 -0.07349579 0.71182872 8.89407877] [ 0. 0. 0. 1. ]] SLAMing on 188.62538475 meters Centerline goodness [0,1] 0.9163084068158283 Centerline is valid? [False, False] Translation: X:20.85, Y:0.47, Z:8.89 [[ 0.71096902 -0.04148299 -0.70199872 20.84925778] [ 0.08113944 0.99643051 0.0232945 0.4743129 ] [ 0.69852662 -0.07352145 0.71179713 8.89435694] [ 0. 0. 0. 1. ]] SLAMing on 188.65538475 meters Centerline goodness [0,1] 0.9182018233259981 Centerline is valid? [False, False] Translation: X:20.85, Y:0.48, Z:8.89 [[ 0.71114981 -0.03966478 -0.70192069 20.84522307] [ 0.07941602 0.99654907 0.0241463 0.47563936] [ 0.69854066 -0.07291538 0.7118457 8.89411656] [ 0. 0. 0. 1. ]] SLAMing on 188.68538475 meters Centerline goodness [0,1] 0.920528761617684 Centerline is valid? [False, False] Translation: X:20.84, Y:0.48, Z:8.89 [[ 0.71150877 -0.03677835 -0.70171406 20.84113987] [ 0.07658951 0.99673868 0.02541734 0.47708479] [ 0.69849074 -0.07182859 0.71200516 8.89297084] [ 0. 0. 0. 1. ]] SLAMing on 188.71538475 meters Centerline goodness [0,1] 0.9221421860319449 Centerline is valid? [False, False] Translation: X:20.84, Y:0.48, Z:8.89 [[ 0.71170505 -0.0359571 -0.70155756 20.84027092] [ 0.07559612 0.99680985 0.02559983 0.47851781] [ 0.69839899 -0.07125456 0.71215282 8.89213587] [ 0. 0. 0. 1. ]] SLAMing on 188.74538475 meters Centerline goodness [0,1] 0.9235918672354205 Centerline is valid? [False, False] Translation: X:20.84, Y:0.48, Z:8.89 [[ 0.71182112 -0.02947484 -0.70174207 20.83975832] [ 0.07043105 0.99707848 0.02956297 0.47978429] [ 0.69882055 -0.07046798 0.71181746 8.89150552] [ 0. 0. 0. 1. ]] SLAMing on 188.77538475 meters Centerline goodness [0,1] 0.9248807259347033 Centerline is valid? [False, False] Translation: X:20.84, Y:0.48, Z:8.89 [[ 0.71195095 -0.02879271 -0.70163867 20.83931391] [ 0.0695243 0.99714021 0.0296271 0.48055592] [ 0.69877909 -0.06987398 0.71191672 8.89069325] [ 0. 0. 0. 1. ]] SLAMing on 188.80538475 meters Centerline goodness [0,1] 0.9264356311772801 Centerline is valid? [False, False] Translation: X:20.84, Y:0.48, Z:8.89 [[ 0.71188785 -0.03368819 -0.70148471 20.83800465] [ 0.07313431 0.99697421 0.02634009 0.47829657] [ 0.69847481 -0.07005379 0.71219759 8.8911395 ] [ 0. 0. 0. 1. ]] SLAMing on 188.83538475 meters Centerline goodness [0,1] 0.9289046113389475 Centerline is valid? [False, False] Translation: X:20.84, Y:0.48, Z:8.89 [[ 0.71178153 -0.03923464 -0.70130428 20.83854221] [ 0.07690833 0.99678894 0.02229172 0.47814917] [ 0.69817774 -0.06980298 0.71251343 8.89079649] [ 0. 0. 0. 1. ]] SLAMing on 188.86538475 meters Centerline goodness [0,1] 0.9252645502645502 Centerline is valid? [False, False] Translation: X:20.84, Y:0.48, Z:8.89 [[ 7.11284916e-01 -4.62409987e-02 -7.01381165e-01 2.08421479e+01] [ 8.27696550e-02 9.96401639e-01 1.82471398e-02 4.75138720e-01] [ 6.98013576e-01 -7.10319923e-02 7.12552808e-01 8.89254508e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.89538475 meters Centerline goodness [0,1] 0.9235488437942425 Centerline is valid? [False, False] Translation: X:20.84, Y:0.47, Z:8.89 [[ 7.10724674e-01 -5.21033761e-02 -7.01538078e-01 2.08439932e+01] [ 8.71195314e-02 9.96095510e-01 1.42801394e-02 4.74674774e-01] [ 6.98054887e-01 -7.12669161e-02 7.12488879e-01 8.89346471e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.92538475 meters Centerline goodness [0,1] 0.9199710245346603 Centerline is valid? [False, False] Translation: X:20.85, Y:0.47, Z:8.90 [[ 7.09741386e-01 -5.35854087e-02 -7.02421362e-01 2.08479542e+01] [ 8.89353592e-02 9.95940613e-01 1.38851420e-02 4.74086277e-01] [ 6.98825921e-01 -7.23249560e-02 7.11625908e-01 8.89633174e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.95538475 meters Centerline goodness [0,1] 0.9175299805361964 Centerline is valid? [False, False] Translation: X:20.85, Y:0.48, Z:8.90 [[ 7.09372669e-01 -5.44223415e-02 -7.02729411e-01 2.08507994e+01] [ 8.93424993e-02 9.95915345e-01 1.30591976e-02 4.76660554e-01] [ 6.99148292e-01 -7.20474398e-02 7.11337355e-01 8.89655513e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 188.98538475 meters Centerline goodness [0,1] 0.918213511730896 Centerline is valid? [False, False] Translation: X:20.85, Y:0.48, Z:8.90 [[ 7.09292607e-01 -5.42947838e-02 -7.02820087e-01 2.08511121e+01] [ 8.91764973e-02 9.95930221e-01 1.30594080e-02 4.77480957e-01] [ 6.99250706e-01 -7.19379751e-02 7.11247761e-01 8.89668950e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.01538475 meters Centerline goodness [0,1] 0.9191164935839111 Centerline is valid? [False, False] Translation: X:20.85, Y:0.48, Z:8.90 [[ 7.09090300e-01 -5.41022653e-02 -7.03039039e-01 2.08514192e+01] [ 8.92331527e-02 9.95921156e-01 1.33602431e-02 4.77373888e-01] [ 6.99448633e-01 -7.22080088e-02 7.11025747e-01 8.89754217e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.04538475 meters Centerline goodness [0,1] 0.9176839792876197 Centerline is valid? [False, False] Translation: X:20.85, Y:0.48, Z:8.90 [[ 7.08794669e-01 -5.86601169e-02 -7.02971627e-01 2.08498922e+01] [ 9.26710292e-02 9.95642921e-01 1.03563232e-02 4.76109456e-01] [ 6.99301221e-01 -7.24856108e-02 7.11142488e-01 8.89854930e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.07538475 meters Centerline goodness [0,1] 0.9150878293601004 Centerline is valid? [False, False] Translation: X:20.85, Y:0.48, Z:8.90 [[ 7.07960796e-01 -6.44862175e-02 -7.03301527e-01 2.08509843e+01] [ 9.72784583e-02 9.95234859e-01 6.66912139e-03 4.76007276e-01] [ 6.99520130e-01 -7.31375648e-02 7.10860383e-01 8.90054940e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.10538475 meters Centerline goodness [0,1] 0.9114782936483006 Centerline is valid? [False, False] Translation: X:20.85, Y:0.48, Z:8.90 [[ 7.07380196e-01 -6.48569719e-02 -7.03851427e-01 2.08522684e+01] [ 9.80385788e-02 9.95159175e-01 6.83033127e-03 4.75694654e-01] [ 7.00001211e-01 -7.38362346e-02 7.10314378e-01 8.90249673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.13538475000001 meters Centerline goodness [0,1] 0.9105008179187115 Centerline is valid? [False, False] Translation: X:20.86, Y:0.47, Z:8.91 [[ 7.06524033e-01 -6.58478227e-02 -7.04618944e-01 2.08551708e+01] [ 9.96067153e-02 9.95003021e-01 6.89132141e-03 4.73969785e-01] [ 7.00644199e-01 -7.50536627e-02 7.09552432e-01 8.90540299e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.16538475000002 meters Centerline goodness [0,1] 0.8858568631166698 Centerline is valid? [False, False] Translation: X:20.86, Y:0.47, Z:8.91 [[ 7.04946714e-01 -7.45633236e-02 -7.05330023e-01 2.08617504e+01] [ 1.06872320e-01 9.94271290e-01 1.70575337e-03 4.74154744e-01] [ 7.01162205e-01 -7.65827212e-02 7.08877034e-01 8.90906153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.19538475000002 meters Centerline goodness [0,1] 0.8983828602170955 Centerline is valid? [False, False] Translation: X:20.86, Y:0.47, Z:8.91 [[ 7.04158044e-01 -7.56364785e-02 -7.06003238e-01 2.08640199e+01] [ 1.08526523e-01 9.94092027e-01 1.74249050e-03 4.73281163e-01] [ 7.01700394e-01 -7.78470654e-02 7.08206461e-01 8.91190881e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.22538475 meters Centerline goodness [0,1] 0.8809870755195134 Centerline is valid? [False, False] Translation: X:20.87, Y:0.47, Z:8.92 [[ 7.03342947e-01 -7.69088450e-02 -7.06677952e-01 2.08651807e+01] [ 1.10921172e-01 9.93826688e-01 2.23802270e-03 4.71732327e-01] [ 7.02143285e-01 -7.99596441e-02 7.07531811e-01 8.91612245e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.25538475 meters Centerline goodness [0,1] 0.821272138640259 Centerline is valid? [False, False] Translation: X:20.87, Y:0.47, Z:8.92 [[ 7.02928077e-01 -7.69220592e-02 -7.07089185e-01 2.08654681e+01] [ 1.11349470e-01 9.93777952e-01 2.58414659e-03 4.72010371e-01] [ 7.02490864e-01 -8.05504749e-02 7.07119655e-01 8.91775185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.28538475 meters Centerline goodness [0,1] 0.821272138640259 Centerline is valid? [False, False] Translation: X:20.87, Y:0.47, Z:8.92 [[ 7.02928077e-01 -7.69220592e-02 -7.07089185e-01 2.08654681e+01] [ 1.11349470e-01 9.93777952e-01 2.58414659e-03 4.72010371e-01] [ 7.02490864e-01 -8.05504749e-02 7.07119655e-01 8.91775185e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.31538475 meters Centerline goodness [0,1] 0.8632844464027192 Centerline is valid? [False, False] Translation: X:20.87, Y:0.47, Z:8.92 [[ 7.02291814e-01 -7.26262283e-02 -7.08174865e-01 2.08690223e+01] [ 1.08857380e-01 9.94039208e-01 6.01027926e-03 4.73850557e-01] [ 7.03517078e-01 -8.13110306e-02 7.06011500e-01 8.92016020e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.34538475 meters Centerline goodness [0,1] 0.8824300699300699 Centerline is valid? [False, False] Translation: X:20.87, Y:0.48, Z:8.92 [[ 7.02302232e-01 -6.66650200e-02 -7.08750556e-01 2.08694605e+01] [ 1.04494961e-01 9.94475099e-01 1.00040017e-02 4.76440397e-01] [ 7.04167862e-01 -8.10866942e-02 7.05388240e-01 8.92063732e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.37538475 meters Centerline goodness [0,1] 0.8961188278798049 Centerline is valid? [False, False] Translation: X:20.87, Y:0.48, Z:8.92 [[ 7.02354311e-01 -6.01483112e-02 -7.09281751e-01 2.08689324e+01] [ 1.00337949e-01 9.94840431e-01 1.49937865e-02 4.75359296e-01] [ 7.04720312e-01 -8.16988267e-02 7.04765624e-01 8.92202597e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.40538475 meters Centerline goodness [0,1] 0.9107115127799 Centerline is valid? [False, False] Translation: X:20.86, Y:0.47, Z:8.92 [[ 7.03136784e-01 -5.07268615e-02 -7.09242869e-01 2.08634443e+01] [ 9.26816513e-02 9.95480923e-01 2.06843889e-02 4.74313158e-01] [ 7.04988492e-01 -8.02777550e-02 7.04660704e-01 8.92042136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 189.43538475 meters Centerline goodness [0,1] 0.9170950556126741 Centerline is valid? [False, False] Translation: X:20.86, Y:0.47, Z:8.92 [[ 0.70340908 -0.04877985 -0.70910944 20.86213398] [ 0.09121557 0.99558823 0.0219955 0.47200382] [ 0.70490807 -0.08015366 0.70475528 8.92006403] [ 0. 0. 0. 1. ]] SLAMing on 189.46538475 meters Centerline goodness [0,1] 0.918002120097275 Centerline is valid? [False, False] Translation: X:20.86, Y:0.47, Z:8.92 [[ 0.70359133 -0.04724223 -0.70903273 20.86224034] [ 0.09007159 0.99566876 0.02303981 0.46945975] [ 0.70487328 -0.08007431 0.70479909 8.91972977] [ 0. 0. 0. 1. ]] SLAMing on 189.49538475 meters Centerline goodness [0,1] 0.930641627543036 Centerline is valid? [False, False] Translation: X:20.84, Y:0.47, Z:8.91 [[ 0.70569097 -0.03617973 -0.70759542 20.84323568] [ 0.07785357 0.99660756 0.02668697 0.4653657 ] [ 0.70422942 -0.07392158 0.70611368 8.91085541] [ 0. 0. 0. 1. ]] SLAMing on 189.52538475 meters Centerline goodness [0,1] 0.934318709596435 Centerline is valid? [False, False] Translation: X:20.84, Y:0.46, Z:8.91 [[ 0.70627559 -0.02750144 -0.70740262 20.83918959] [ 0.07089429 0.99696969 0.0320225 0.46461054] [ 0.70437831 -0.07276751 0.70608505 8.90938233] [ 0. 0. 0. 1. ]] SLAMing on 189.55538475 meters Centerline goodness [0,1] 0.93469068128426 Centerline is valid? [False, False] Translation: X:20.84, Y:0.47, Z:8.91 [[ 0.70626448 -0.02691493 -0.70743627 20.83876148] [ 0.0700887 0.99702608 0.03204001 0.46629432] [ 0.70447005 -0.07221201 0.70605054 8.90888124] [ 0. 0. 0. 1. ]] SLAMing on 189.58538475 meters Centerline goodness [0,1] 0.9348410070594115 Centerline is valid? [False, False] Translation: X:20.84, Y:0.47, Z:8.91 [[ 0.70609346 -0.03301655 -0.70734852 20.84060436] [ 0.0744526 0.99683722 0.02779164 0.46649429] [ 0.70419375 -0.07228743 0.70631841 8.90890556] [ 0. 0. 0. 1. ]] SLAMing on 189.61538475 meters Centerline goodness [0,1] 0.9371580428325778 Centerline is valid? [False, False] Translation: X:20.84, Y:0.47, Z:8.91 [[ 0.70585965 -0.03275611 -0.70759395 20.8418126 ] [ 0.07415699 0.99685822 0.02782843 0.46729499] [ 0.7044593 -0.072116 0.70607109 8.90914947] [ 0. 0. 0. 1. ]] SLAMing on 189.64538475 meters Centerline goodness [0,1] 0.931825989194591 Centerline is valid? [False, False] Translation: X:20.85, Y:0.47, Z:8.91 [[ 0.70500937 -0.02891975 -0.7086081 20.84679421] [ 0.07198427 0.99692601 0.0309321 0.4686722 ] [ 0.7055353 -0.07281606 0.70492394 8.9114332 ] [ 0. 0. 0. 1. ]] SLAMing on 189.67538475 meters Centerline goodness [0,1] 0.9305807906772758 Centerline is valid? [False, False] Translation: X:20.85, Y:0.47, Z:8.91 [[ 0.704839 -0.0289292 -0.70877717 20.84760005] [ 0.07208612 0.99691667 0.0309958 0.46837713] [ 0.7056951 -0.07294004 0.70475115 8.9118895 ] [ 0. 0. 0. 1. ]] SLAMing on 189.70538475 meters Centerline goodness [0,1] 0.9312464889832095 Centerline is valid? [False, False] Translation: X:20.85, Y:0.47, Z:8.91 [[ 0.70455563 -0.0285625 -0.70907373 20.8477571 ] [ 0.07210075 0.99690029 0.03148477 0.4675199 ] [ 0.70597652 -0.07330752 0.70443109 8.91298442] [ 0. 0. 0. 1. ]] SLAMing on 189.73538475 meters Centerline goodness [0,1] 0.9321880085117036 Centerline is valid? [False, False] Translation: X:20.85, Y:0.47, Z:8.91 [[ 0.70422977 -0.02835222 -0.7094058 20.84850986] [ 0.07214708 0.99688761 0.03177891 0.46690653] [ 0.70629685 -0.07356121 0.70408345 8.91403739] [ 0. 0. 0. 1. ]] SLAMing on 189.76538475 meters Centerline goodness [0,1] 0.9310172924131485 Centerline is valid? [False, False] Translation: X:20.85, Y:0.47, Z:8.92 [[ 0.70355022 -0.02890593 -0.71005742 20.85141942] [ 0.07281098 0.9968462 0.03156282 0.46655528] [ 0.70690569 -0.073906 0.70343603 8.91559168] [ 0. 0. 0. 1. ]] SLAMing on 189.79538475 meters Centerline goodness [0,1] 0.9304711127739843 Centerline is valid? [False, False] Translation: X:20.85, Y:0.47, Z:8.92 [[ 0.70317205 -0.02894907 -0.71043016 20.85234099] [ 0.07327453 0.99680126 0.03190762 0.46518566] [ 0.70723398 -0.07449299 0.70304402 8.91701829] [ 0. 0. 0. 1. ]] SLAMing on 189.82538475 meters Centerline goodness [0,1] 0.9286833364667544 Centerline is valid? [False, False] Translation: X:20.85, Y:0.46, Z:8.92 [[ 0.70294686 -0.02875958 -0.71066068 20.8526954 ] [ 0.07336405 0.99678433 0.03222907 0.46444606] [ 0.70744853 -0.07479227 0.70279633 8.91784568] [ 0. 0. 0. 1. ]] SLAMing on 189.85538475 meters Centerline goodness [0,1] 0.9306621731261312 Centerline is valid? [False, False] Translation: X:20.85, Y:0.46, Z:8.92 [[ 0.70265381 -0.0278728 -0.71098574 20.85265673] [ 0.07282889 0.99680173 0.03289778 0.46363041] [ 0.70779486 -0.07489605 0.70243648 8.91878468] [ 0. 0. 0. 1. ]] SLAMing on 189.88538475000001 meters Centerline goodness [0,1] 0.9328181674814698 Centerline is valid? [False, False] Translation: X:20.85, Y:0.46, Z:8.92 [[ 0.70242952 -0.03198093 -0.71103445 20.85106301] [ 0.07544171 0.99670785 0.02969876 0.46288432] [ 0.70774382 -0.07450294 0.70252971 8.91887189] [ 0. 0. 0. 1. ]] SLAMing on 189.91538475000002 meters Centerline goodness [0,1] 0.9318281592975854 Centerline is valid? [False, False] Translation: X:20.85, Y:0.46, Z:8.92 [[ 0.70217302 -0.03127379 -0.7113192 20.85089902] [ 0.07510529 0.99671461 0.03031812 0.46254053] [ 0.70803407 -0.0747124 0.70221493 8.91979077] [ 0. 0. 0. 1. ]] SLAMing on 189.94538475000002 meters Centerline goodness [0,1] 0.9299419061077092 Centerline is valid? [False, False] Translation: X:20.85, Y:0.46, Z:8.92 [[ 0.70169716 -0.03131421 -0.71178685 20.85280054] [ 0.07526071 0.99670206 0.03034516 0.46312016] [ 0.70848919 -0.07486269 0.70173973 8.92079775] [ 0. 0. 0. 1. ]] SLAMing on 189.97538475 meters Centerline goodness [0,1] 0.9303244005641749 Centerline is valid? [False, False] Translation: X:20.85, Y:0.46, Z:8.92 [[ 0.70133515 -0.03135633 -0.71214169 20.85397315] [ 0.07556052 0.99667375 0.03052933 0.46289973] [ 0.70881564 -0.07522109 0.70137164 8.92188011] [ 0. 0. 0. 1. ]] SLAMing on 190.00538475 meters Centerline goodness [0,1] 0.9311870469735479 Centerline is valid? [False, False] Translation: X:20.85, Y:0.46, Z:8.92 [[ 0.701073 -0.030949 -0.71241758 20.85406885] [ 0.07530193 0.99668485 0.03080462 0.46344581] [ 0.70910244 -0.07524271 0.70107936 8.92253649] [ 0. 0. 0. 1. ]] SLAMing on 190.03538475 meters Centerline goodness [0,1] 0.9291346002827077 Centerline is valid? [False, False] Translation: X:20.85, Y:0.46, Z:8.92 [[ 0.70068264 -0.03049489 -0.71282108 20.85498089] [ 0.07491615 0.99670784 0.03100069 0.46438859] [ 0.709529 -0.07512346 0.70066044 8.92320677] [ 0. 0. 0. 1. ]] SLAMing on 190.06538475 meters Centerline goodness [0,1] 0.9288787012905454 Centerline is valid? [False, False] Translation: X:20.86, Y:0.46, Z:8.93 [[ 0.70008345 -0.03024647 -0.71342015 20.85549961] [ 0.07523295 0.99666607 0.03157145 0.46341159] [ 0.71008673 -0.07577535 0.70002495 8.92526398] [ 0. 0. 0. 1. ]] SLAMing on 190.09538475 meters Centerline goodness [0,1] 0.9288604497976851 Centerline is valid? [False, False] Translation: X:20.86, Y:0.46, Z:8.93 [[ 0.69978938 -0.02988045 -0.71372402 20.85546972] [ 0.07532013 0.9966418 0.03212464 0.46256924] [ 0.7103673 -0.07623827 0.69968995 8.92650942] [ 0. 0. 0. 1. ]] SLAMing on 190.12538475 meters Centerline goodness [0,1] 0.9277899343544858 Centerline is valid? [False, False] Translation: X:20.86, Y:0.46, Z:8.93 [[ 0.69929711 -0.0295029 -0.71422205 20.85581916] [ 0.0755496 0.99660232 0.03280347 0.46172796] [ 0.71082755 -0.07689856 0.69915006 8.9283742 ] [ 0. 0. 0. 1. ]] SLAMing on 190.15538475 meters Centerline goodness [0,1] 0.9249042867005586 Centerline is valid? [False, False] Translation: X:20.86, Y:0.46, Z:8.93 [[ 0.69839438 -0.02985056 -0.71509037 20.85742094] [ 0.07657166 0.99651166 0.03318572 0.46037281] [ 0.71160528 -0.07793238 0.69824385 8.93139645] [ 0. 0. 0. 1. ]] SLAMing on 190.18538475 meters Centerline goodness [0,1] 0.9233205795646993 Centerline is valid? [False, False] Translation: X:20.86, Y:0.46, Z:8.93 [[ 0.69791167 -0.029388 -0.71558064 20.85721496] [ 0.07651438 0.9964988 0.03370014 0.46001528] [ 0.71208487 -0.07827192 0.69771674 8.93294945] [ 0. 0. 0. 1. ]] SLAMing on 190.21538475 meters Centerline goodness [0,1] 0.9213377296278851 Centerline is valid? [False, False] Translation: X:20.86, Y:0.46, Z:8.94 [[ 0.69688891 -0.02956246 -0.71656954 20.8585131 ] [ 0.07730645 0.99642491 0.03407518 0.45908222] [ 0.71300039 -0.07914206 0.69668284 8.93605872] [ 0. 0. 0. 1. ]] SLAMing on 190.24538475 meters Centerline goodness [0,1] 0.9233088373845864 Centerline is valid? [False, False] Translation: X:20.86, Y:0.46, Z:8.94 [[ 0.69647651 -0.02938817 -0.71697755 20.85893132] [ 0.07765064 0.99638041 0.03458972 0.45796389] [ 0.71336586 -0.07976469 0.69623757 8.9376659 ] [ 0. 0. 0. 1. ]] SLAMing on 190.27538475 meters Centerline goodness [0,1] 0.9098525891394733 Centerline is valid? [False, False] Translation: X:20.86, Y:0.46, Z:8.94 [[ 0.69559645 -0.0295553 -0.71782454 20.86073149] [ 0.07867027 0.99627856 0.03521396 0.45592467] [ 0.71411243 -0.08096615 0.69533295 8.94078267] [ 0. 0. 0. 1. ]] SLAMing on 190.30538475 meters Centerline goodness [0,1] 0.9123919490188656 Centerline is valid? [False, False] Translation: X:20.86, Y:0.45, Z:8.94 [[ 0.69523777 -0.02882324 -0.71820169 20.86052062] [ 0.07861208 0.99625084 0.03611646 0.45463793] [ 0.71446805 -0.08156885 0.69489707 8.94238453] [ 0. 0. 0. 1. ]] SLAMing on 190.33538475 meters Centerline goodness [0,1] 0.9113767518549052 Centerline is valid? [False, False] Translation: X:20.86, Y:0.45, Z:8.95 [[ 0.69460872 -0.02899493 -0.71880318 20.86213067] [ 0.07967736 0.9961407 0.03681336 0.45187971] [ 0.7149617 -0.08284322 0.69423826 8.94505416] [ 0. 0. 0. 1. ]] SLAMing on 190.36538475 meters Centerline goodness [0,1] 0.903009820175998 Centerline is valid? [False, False] Translation: X:20.86, Y:0.45, Z:8.95 [[ 0.69383683 -0.03437889 -0.71931116 20.86396873] [ 0.08533608 0.99574699 0.034723 0.44717686] [ 0.71505818 -0.08547529 0.6938197 8.9492607 ] [ 0. 0. 0. 1. ]] SLAMing on 190.39538475 meters Centerline goodness [0,1] 0.8847056554030158 Centerline is valid? [False, False] Translation: X:20.86, Y:0.44, Z:8.95 [[ 0.69316907 -0.03918565 -0.71970905 20.86311886] [ 0.0898983 0.99542426 0.03238583 0.44356376] [ 0.71514679 -0.08714948 0.69352003 8.95251056] [ 0. 0. 0. 1. ]] SLAMing on 190.42538475 meters Centerline goodness [0,1] 0.8703835227272727 Centerline is valid? [False, False] Translation: X:20.86, Y:0.44, Z:8.96 [[ 0.69261449 -0.03867382 -0.72027044 20.86280062] [ 0.09050553 0.9953294 0.03358774 0.44045682] [ 0.71560738 -0.08845181 0.69287976 8.95540089] [ 0. 0. 0. 1. ]] SLAMing on 190.45538475 meters Centerline goodness [0,1] 0.8733203505355405 Centerline is valid? [False, False] Translation: X:20.86, Y:0.44, Z:8.96 [[ 0.69164985 -0.04375005 -0.72090666 20.86286027] [ 0.09544422 0.99494602 0.03118995 0.43839155] [ 0.71589865 -0.0903789 0.69232996 8.95935496] [ 0. 0. 0. 1. ]] SLAMing on 190.48538475 meters Centerline goodness [0,1] 0.8063580990847203 Centerline is valid? [False, False] Translation: X:20.86, Y:0.44, Z:8.96 [[ 0.6909991 -0.04397812 -0.72151658 20.86397192] [ 0.09659158 0.99481374 0.03186989 0.43605637] [ 0.71637303 -0.09171449 0.69166331 8.96223181] [ 0. 0. 0. 1. ]] SLAMing on 190.51538475 meters Centerline goodness [0,1] 0.8226490152602061 Centerline is valid? [False, False] Translation: X:20.87, Y:0.43, Z:8.97 [[ 0.68991205 -0.04736398 -0.72234204 20.86847467] [ 0.1011644 0.9943734 0.03142148 0.43347391] [ 0.71678946 -0.09475336 0.69082173 8.96775471] [ 0. 0. 0. 1. ]] SLAMing on 190.54538475 meters Centerline goodness [0,1] 0.7945062132112491 Centerline is valid? [False, False] Translation: X:20.87, Y:0.43, Z:8.97 [[ 0.68923632 -0.04781034 -0.72295745 20.87038025] [ 0.10231209 0.99424429 0.03178894 0.43151978] [ 0.71727647 -0.09587737 0.69016085 8.97027653] [ 0. 0. 0. 1. ]] SLAMing on 190.57538475 meters Centerline goodness [0,1] 0.770336029460117 Centerline is valid? [False, False] Translation: X:20.87, Y:0.43, Z:8.97 [[ 0.68844709 -0.05399228 -0.72327411 20.87262325] [ 0.10720249 0.99384707 0.02784999 0.43090147] [ 0.71732018 -0.09671003 0.68999923 8.97201891] [ 0. 0. 0. 1. ]] SLAMing on 190.60538475 meters Centerline goodness [0,1] 0.7712008919787499 Centerline is valid? [False, False] Translation: X:20.87, Y:0.43, Z:8.97 [[ 0.68783979 -0.05388984 -0.72385931 20.87351347] [ 0.10789876 0.99375195 0.02854688 0.42901738] [ 0.71779822 -0.0977392 0.68935678 8.97450776] [ 0. 0. 0. 1. ]] SLAMing on 190.63538475000001 meters Centerline goodness [0,1] 0.7384488448844885 Centerline is valid? [False, False] Translation: X:20.88, Y:0.43, Z:8.98 [[ 0.68667722 -0.06083963 -0.72441213 20.8784157 ] [ 0.11328521 0.99327346 0.02396424 0.4284414 ] [ 0.71808137 -0.09852088 0.68895049 8.97650727] [ 0. 0. 0. 1. ]] SLAMing on 190.66538475000002 meters Centerline goodness [0,1] 0.6648235216210847 Centerline is valid? [False, False] Translation: X:20.88, Y:0.43, Z:8.98 [[ 0.68613853 -0.06088441 -0.72491862 20.879878 ] [ 0.11383776 0.99320137 0.024331 0.42696166] [ 0.71850879 -0.09921755 0.68840467 8.97829333] [ 0. 0. 0. 1. ]] SLAMing on 190.69538475000002 meters Centerline goodness [0,1] 0.7619472831299401 Centerline is valid? [False, False] Translation: X:20.88, Y:0.43, Z:8.98 [[ 0.68550945 -0.06015531 -0.72557435 20.87950983] [ 0.11393599 0.99316579 0.02530409 0.42537398] [ 0.71909345 -0.10001522 0.68767839 8.98074216] [ 0. 0. 0. 1. ]] SLAMing on 190.72538475 meters Centerline goodness [0,1] 0.7184930828408228 Centerline is valid? [False, False] Translation: X:20.88, Y:0.42, Z:8.98 [[ 0.68519266 -0.0597162 -0.72590977 20.87960709] [ 0.11388872 0.99315847 0.02579944 0.42478129] [ 0.71940279 -0.10035052 0.6873059 8.98187271] [ 0. 0. 0. 1. ]] SLAMing on 190.75538475 meters Centerline goodness [0,1] 0.7540190261526732 Centerline is valid? [False, False] Translation: X:20.88, Y:0.43, Z:8.98 [[ 0.68496053 -0.05835458 -0.7262395 20.87774339] [ 0.11257101 0.99329398 0.02635968 0.42730983] [ 0.71983112 -0.09980886 0.68693621 8.98210663] [ 0. 0. 0. 1. ]] SLAMing on 190.78538475 meters Centerline goodness [0,1] 0.7570744593032854 Centerline is valid? [False, False] Translation: X:20.88, Y:0.43, Z:8.98 [[ 0.6847141 -0.05779951 -0.72651622 20.87820563] [ 0.11184725 0.99337515 0.02638178 0.42871347] [ 0.72017831 -0.09932282 0.68664269 8.98202616] [ 0. 0. 0. 1. ]] SLAMing on 190.81538475 meters Centerline goodness [0,1] 0.7695913382187892 Centerline is valid? [False, False] Translation: X:20.88, Y:0.43, Z:8.98 [[ 0.68468908 -0.05683443 -0.72661593 20.87744888] [ 0.11093125 0.99346603 0.02682344 0.42915443] [ 0.72034375 -0.09897014 0.68652006 8.98184202] [ 0. 0. 0. 1. ]] SLAMing on 190.84538475 meters Centerline goodness [0,1] 0.769403527313561 Centerline is valid? [False, False] Translation: X:20.88, Y:0.43, Z:8.98 [[ 0.68466377 -0.05612984 -0.72669455 20.87694888] [ 0.11025994 0.9935321 0.02714234 0.42953058] [ 0.72047087 -0.09870868 0.68642431 8.98174877] [ 0. 0. 0. 1. ]] SLAMing on 190.87538475 meters Centerline goodness [0,1] 0.7939204732172198 Centerline is valid? [False, False] Translation: X:20.87, Y:0.43, Z:8.98 [[ 0.68452456 -0.05295948 -0.72706356 20.87457672] [ 0.1073533 0.9938071 0.02868313 0.42946688] [ 0.72104189 -0.09768698 0.68597074 8.98137753] [ 0. 0. 0. 1. ]] SLAMing on 190.90538475 meters Centerline goodness [0,1] 0.8222822150523474 Centerline is valid? [False, False] Translation: X:20.87, Y:0.43, Z:8.98 [[ 0.68455934 -0.05182376 -0.72711265 20.87369604] [ 0.10643691 0.99388559 0.02937027 0.42855776] [ 0.72114471 -0.09749732 0.68588963 8.98131672] [ 0. 0. 0. 1. ]] SLAMing on 190.93538475 meters Centerline goodness [0,1] 0.8590953785644051 Centerline is valid? [False, False] Translation: X:20.87, Y:0.43, Z:8.98 [[ 0.68491615 -0.04351316 -0.72732144 20.86975047] [ 0.10020351 0.99435566 0.0348724 0.42707717] [ 0.72169878 -0.09676483 0.68541042 8.98117255] [ 0. 0. 0. 1. ]] SLAMing on 190.96538475 meters Centerline goodness [0,1] 0.8736436135442541 Centerline is valid? [False, False] Translation: X:20.87, Y:0.43, Z:8.98 [[ 0.68511362 -0.04194165 -0.72722776 20.86825345] [ 0.098395 0.99451975 0.03533963 0.4278645 ] [ 0.72176017 -0.09576723 0.68548588 8.97986264] [ 0. 0. 0. 1. ]] SLAMing on 190.99538475 meters Centerline goodness [0,1] 0.9144433625446283 Centerline is valid? [False, False] Translation: X:20.87, Y:0.43, Z:8.98 [[ 0.68554358 -0.03405624 -0.72723461 20.86653988] [ 0.09206209 0.99494182 0.04019143 0.42756416] [ 0.72218736 -0.09450371 0.68521126 8.97842334] [ 0. 0. 0. 1. ]] SLAMing on 191.02538475 meters Centerline goodness [0,1] 0.9126896641161977 Centerline is valid? [False, False] Translation: X:20.87, Y:0.43, Z:8.98 [[ 0.68578634 -0.0325284 -0.72707565 20.86507571] [ 0.0902546 0.99509041 0.04061018 0.42838037] [ 0.72218502 -0.09347183 0.68535525 8.97695733] [ 0. 0. 0. 1. ]] SLAMing on 191.05538475 meters Centerline goodness [0,1] 0.9173505654281099 Centerline is valid? [False, False] Translation: X:20.86, Y:0.43, Z:8.98 [[ 0.68588121 -0.02427401 -0.72730856 20.86124737] [ 0.08412033 0.99538829 0.04610765 0.42705354] [ 0.7228352 -0.0928058 0.68476007 8.97718675] [ 0. 0. 0. 1. ]] SLAMing on 191.08538475 meters Centerline goodness [0,1] 0.9189635093167702 Centerline is valid? [False, False] Translation: X:20.86, Y:0.43, Z:8.98 [[ 0.68617983 -0.02348504 -0.72705274 20.85946868] [ 0.08290399 0.99549128 0.04608729 0.42775853] [ 0.7226923 -0.09189974 0.68503304 8.97579278] [ 0. 0. 0. 1. ]] SLAMing on 191.11538475 meters Centerline goodness [0,1] 0.9170017693421264 Centerline is valid? [False, False] Translation: X:20.86, Y:0.43, Z:8.97 [[ 0.68678716 -0.02142129 -0.72654286 20.85538095] [ 0.08059695 0.995646 0.04683128 0.42831175] [ 0.72237631 -0.09072026 0.68552338 8.97384878] [ 0. 0. 0. 1. ]] SLAMing on 191.14538475 meters Centerline goodness [0,1] 0.9199884181063605 Centerline is valid? [False, False] Translation: X:20.85, Y:0.43, Z:8.97 [[ 0.68676513 -0.02124974 -0.72656872 20.85482654] [ 0.08023686 0.99568027 0.04672088 0.42925374] [ 0.72243733 -0.09038386 0.68550351 8.97359002] [ 0. 0. 0. 1. ]] SLAMing on 191.17538475 meters Centerline goodness [0,1] 0.9202177344026798 Centerline is valid? [False, False] Translation: X:20.85, Y:0.43, Z:8.97 [[ 0.68673652 -0.02642757 -0.72642587 20.85423476] [ 0.08332946 0.99561297 0.04255597 0.43205369] [ 0.72211437 -0.08975742 0.68592598 8.97267421] [ 0. 0. 0. 1. ]] SLAMing on 191.20538475 meters Centerline goodness [0,1] 0.9202177344026798 Centerline is valid? [False, False] Translation: X:20.85, Y:0.43, Z:8.97 [[ 0.68673652 -0.02642757 -0.72642587 20.85423476] [ 0.08332946 0.99561297 0.04255597 0.43205369] [ 0.72211437 -0.08975742 0.68592598 8.97267421] [ 0. 0. 0. 1. ]] SLAMing on 191.23538475 meters Centerline goodness [0,1] 0.9233951131918169 Centerline is valid? [False, False] Translation: X:20.85, Y:0.43, Z:8.97 [[ 0.68661627 -0.03239193 -0.72629805 20.85390414] [ 0.08736131 0.99544428 0.03819277 0.43387775] [ 0.7217521 -0.08967413 0.68631804 8.97254241] [ 0. 0. 0. 1. ]] SLAMing on 191.26538475 meters Centerline goodness [0,1] 0.9237062465911643 Centerline is valid? [False, False] Translation: X:20.85, Y:0.44, Z:8.97 [[ 0.68647519 -0.03878145 -0.72611832 20.85494441] [ 0.09157363 0.99523737 0.03341918 0.43633026] [ 0.72136404 -0.08943473 0.68675712 8.97192722] [ 0. 0. 0. 1. ]] SLAMing on 191.29538475 meters Centerline goodness [0,1] 0.9230966418866957 Centerline is valid? [False, False] Translation: X:20.86, Y:0.44, Z:8.97 [[ 0.68621521 -0.04544169 -0.72597778 20.85718498] [ 0.096078 0.99496465 0.02853712 0.43834635] [ 0.72102545 -0.0893331 0.68712582 8.97152543] [ 0. 0. 0. 1. ]] SLAMing on 191.32538475 meters Centerline goodness [0,1] 0.9206496668375193 Centerline is valid? [False, False] Translation: X:20.86, Y:0.44, Z:8.97 [[ 0.68544553 -0.05337583 -0.72616488 20.86139889] [ 0.10188685 0.99452841 0.02307204 0.44094829] [ 0.72096012 -0.08980128 0.68713335 8.97246446] [ 0. 0. 0. 1. ]] SLAMing on 191.35538475 meters Centerline goodness [0,1] 0.9169222903885481 Centerline is valid? [False, False] Translation: X:20.87, Y:0.45, Z:8.97 [[ 6.84402433e-01 -6.17651916e-02 -7.26483566e-01 2.08666736e+01] [ 1.08008513e-01 9.94000425e-01 1.72428709e-02 4.45170745e-01] [ 7.21059964e-01 -9.02674724e-02 6.86967475e-01 8.97373579e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.38538475000001 meters Centerline goodness [0,1] 0.9122807017543859 Centerline is valid? [False, False] Translation: X:20.87, Y:0.45, Z:8.97 [[ 6.83854470e-01 -6.87582263e-02 -7.26371372e-01 2.08692813e+01] [ 1.12742659e-01 9.93550616e-01 1.20940797e-02 4.47988897e-01] [ 7.20855156e-01 -9.01636303e-02 6.87196015e-01 8.97360047e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.41538475000002 meters Centerline goodness [0,1] 0.8918840579710146 Centerline is valid? [False, False] Translation: X:20.87, Y:0.45, Z:8.98 [[ 6.82810899e-01 -7.67399727e-02 -7.26553682e-01 2.08731076e+01] [ 1.18742577e-01 9.92902323e-01 6.72135964e-03 4.49571826e-01] [ 7.20881042e-01 -9.08622742e-02 6.87076830e-01 8.97515640e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.44538475000002 meters Centerline goodness [0,1] 0.9036924861451218 Centerline is valid? [False, False] Translation: X:20.88, Y:0.45, Z:8.98 [[ 6.82086072e-01 -7.78454930e-02 -7.27116682e-01 2.08755714e+01] [ 1.20189886e-01 9.92729875e-01 6.46430067e-03 4.48985593e-01] [ 7.21327236e-01 -9.18012807e-02 6.86483462e-01 8.97735649e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.47538475 meters Centerline goodness [0,1] 0.8737217827513023 Centerline is valid? [False, False] Translation: X:20.88, Y:0.45, Z:8.98 [[ 6.81422295e-01 -8.46748341e-02 -7.26975810e-01 2.08798770e+01] [ 1.25650172e-01 9.92072117e-01 2.22467719e-03 4.50216208e-01] [ 7.21024057e-01 -9.28605801e-02 6.86659466e-01 8.97866266e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.50538475 meters Centerline goodness [0,1] 0.8118840579710145 Centerline is valid? [False, False] Translation: X:20.88, Y:0.45, Z:8.98 [[ 6.81019213e-01 -8.49317610e-02 -7.27323468e-01 2.08805435e+01] [ 1.26070605e-01 9.92018824e-01 2.20341949e-03 4.50248883e-01] [ 7.21331432e-01 -9.31946809e-02 6.86291277e-01 8.97982724e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.53538475 meters Centerline goodness [0,1] 0.803026400515132 Centerline is valid? [False, False] Translation: X:20.88, Y:0.45, Z:8.98 [[ 6.80594056e-01 -8.50446467e-02 -7.27708142e-01 2.08810025e+01] [ 1.26425341e-01 9.91973432e-01 2.31178603e-03 4.49978461e-01] [ 7.21670537e-01 -9.35741378e-02 6.85883019e-01 8.98113103e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.56538475 meters Centerline goodness [0,1] 0.8050227724677658 Centerline is valid? [False, False] Translation: X:20.88, Y:0.45, Z:8.98 [[ 6.80172505e-01 -8.52151532e-02 -7.28082235e-01 2.08816188e+01] [ 1.26686375e-01 9.91940264e-01 2.25283300e-03 4.50982430e-01] [ 7.22022109e-01 -9.37704144e-02 6.85486093e-01 8.98225651e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.59538475 meters Centerline goodness [0,1] 0.8300803673938002 Centerline is valid? [False, False] Translation: X:20.88, Y:0.45, Z:8.98 [[ 6.80498560e-01 -8.30531398e-02 -7.28027394e-01 2.08765294e+01] [ 1.24696083e-01 9.92189272e-01 3.36672874e-03 4.52323290e-01] [ 7.22061353e-01 -9.30732187e-02 6.85539772e-01 8.98182068e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.62538475 meters Centerline goodness [0,1] 0.8893857603730795 Centerline is valid? [False, False] Translation: X:20.87, Y:0.45, Z:8.98 [[ 6.80515264e-01 -8.22140924e-02 -7.28107010e-01 2.08744464e+01] [ 1.24009136e-01 9.92273564e-01 3.86102488e-03 4.53262188e-01] [ 7.22163908e-01 -9.29194075e-02 6.85452605e-01 8.98199975e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.65538475 meters Centerline goodness [0,1] 0.8676634324797201 Centerline is valid? [False, False] Translation: X:20.87, Y:0.46, Z:8.98 [[ 6.80280362e-01 -8.20193242e-02 -7.28348446e-01 2.08741683e+01] [ 1.23456028e-01 9.92343656e-01 3.56059742e-03 4.56989687e-01] [ 7.22479922e-01 -9.23412109e-02 6.85197682e-01 8.98187581e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.68538475 meters Centerline goodness [0,1] 0.9193200558163136 Centerline is valid? [False, False] Translation: X:20.88, Y:0.46, Z:8.98 [[ 6.80102006e-01 -8.23973304e-02 -7.28472334e-01 2.08756489e+01] [ 1.23588150e-01 9.92328630e-01 3.13988457e-03 4.59351421e-01] [ 7.22625235e-01 -9.21659901e-02 6.85068026e-01 8.98183521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.71538475 meters Centerline goodness [0,1] 0.9086831548690736 Centerline is valid? [False, False] Translation: X:20.88, Y:0.46, Z:8.98 [[ 6.79899059e-01 -7.74832129e-02 -7.29200672e-01 2.08775141e+01] [ 1.20577958e-01 9.92679562e-01 6.94573995e-03 4.59508774e-01] [ 7.23324426e-01 -9.26479299e-02 6.84264668e-01 8.98350970e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.74538475 meters Centerline goodness [0,1] 0.9118891274150777 Centerline is valid? [False, False] Translation: X:20.88, Y:0.46, Z:8.98 [[ 6.79761318e-01 -7.74273673e-02 -7.29335007e-01 2.08781594e+01] [ 1.20506071e-01 9.92688403e-01 6.92975905e-03 4.59943314e-01] [ 7.23465851e-01 -9.25998781e-02 6.84121645e-01 8.98371102e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.77538475 meters Centerline goodness [0,1] 0.8997632949345116 Centerline is valid? [False, False] Translation: X:20.88, Y:0.46, Z:8.98 [[ 6.79458953e-01 -7.80505898e-02 -7.29550297e-01 2.08798581e+01] [ 1.21220203e-01 9.92603002e-01 6.70399612e-03 4.59600479e-01] [ 7.23630564e-01 -9.29913251e-02 6.83894305e-01 8.98462161e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.80538475 meters Centerline goodness [0,1] 0.8977046695923974 Centerline is valid? [False, False] Translation: X:20.88, Y:0.46, Z:8.99 [[ 6.79073997e-01 -7.81200976e-02 -7.29901197e-01 2.08806305e+01] [ 1.21554258e-01 9.92561099e-01 6.85759381e-03 4.58639818e-01] [ 7.23935818e-01 -9.33794120e-02 6.83518263e-01 8.98581242e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.83538475 meters Centerline goodness [0,1] 0.8964142165395449 Centerline is valid? [False, False] Translation: X:20.88, Y:0.46, Z:8.99 [[ 6.78810081e-01 -7.79409167e-02 -7.30165794e-01 2.08807594e+01] [ 1.21578331e-01 9.92556606e-01 7.07760446e-03 4.58044623e-01] [ 7.24179248e-01 -9.35766875e-02 6.83233357e-01 8.98666699e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.86538475 meters Centerline goodness [0,1] 0.9220277839308882 Centerline is valid? [False, False] Translation: X:20.88, Y:0.46, Z:8.99 [[ 6.78523876e-01 -7.81081225e-02 -7.30413904e-01 2.08819923e+01] [ 1.21850595e-01 9.92523367e-01 7.05682288e-03 4.57344767e-01] [ 7.24401672e-01 -9.37895919e-02 6.82968323e-01 8.98741921e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.89538475 meters Centerline goodness [0,1] 0.925469781615033 Centerline is valid? [False, False] Translation: X:20.88, Y:0.46, Z:8.99 [[ 6.78366114e-01 -7.80608735e-02 -7.30565476e-01 2.08831238e+01] [ 1.21720767e-01 9.92539904e-01 6.97091733e-03 4.56911603e-01] [ 7.24571232e-01 -9.36538239e-02 6.82807067e-01 8.98757817e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.92538475 meters Centerline goodness [0,1] 0.9257435180477885 Centerline is valid? [False, False] Translation: X:20.88, Y:0.46, Z:8.99 [[ 6.78254786e-01 -7.80981404e-02 -7.30664852e-01 2.08842420e+01] [ 1.21847192e-01 9.92524047e-01 7.01985104e-03 4.55990182e-01] [ 7.24654199e-01 -9.37907078e-02 6.82700224e-01 8.98791210e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.95538475 meters Centerline goodness [0,1] 0.9301365512861226 Centerline is valid? [False, False] Translation: X:20.88, Y:0.46, Z:8.99 [[ 6.78579421e-01 -7.64827009e-02 -7.30534301e-01 2.08822351e+01] [ 1.20004878e-01 9.92744702e-01 7.53564179e-03 4.56402088e-01] [ 7.24657711e-01 -9.27812115e-02 6.82834423e-01 8.98657477e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 191.98538475 meters Centerline goodness [0,1] 0.9328412814557949 Centerline is valid? [False, False] Translation: X:20.88, Y:0.46, Z:8.99 [[ 6.78712922e-01 -7.59950519e-02 -7.30461170e-01 2.08821418e+01] [ 1.19509935e-01 9.92802716e-01 7.75515988e-03 4.56491642e-01] [ 7.24614480e-01 -9.25608941e-02 6.82910196e-01 8.98617533e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.01538475 meters Centerline goodness [0,1] 0.9345241879092239 Centerline is valid? [False, False] Translation: X:20.88, Y:0.46, Z:8.98 [[ 6.79400028e-01 -7.30472451e-02 -7.30123073e-01 2.08765693e+01] [ 1.16840865e-01 9.93106489e-01 9.36553626e-03 4.56395501e-01] [ 7.24405836e-01 -9.16711574e-02 6.83251480e-01 8.98478191e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.04538475 meters Centerline goodness [0,1] 0.9352390026996983 Centerline is valid? [False, False] Translation: X:20.87, Y:0.46, Z:8.98 [[ 6.79584606e-01 -7.17135509e-02 -7.30083509e-01 2.08736844e+01] [ 1.15815198e-01 9.93217951e-01 1.02440877e-02 4.56171074e-01] [ 7.24397407e-01 -9.15164901e-02 6.83281149e-01 8.98468293e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.07538475 meters Centerline goodness [0,1] 0.9371950060206604 Centerline is valid? [False, False] Translation: X:20.87, Y:0.46, Z:8.98 [[ 6.80219389e-01 -6.88459870e-02 -7.29768328e-01 2.08686992e+01] [ 1.13380110e-01 9.93479727e-01 1.19575718e-02 4.56205074e-01] [ 7.24186808e-01 -9.08749858e-02 6.83589938e-01 8.98349172e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.10538475 meters Centerline goodness [0,1] 0.9381201458234268 Centerline is valid? [False, False] Translation: X:20.87, Y:0.46, Z:8.98 [[ 6.80369061e-01 -6.83263294e-02 -7.29677636e-01 2.08681082e+01] [ 1.12846514e-01 9.93537691e-01 1.21868793e-02 4.57388848e-01] [ 7.24129549e-01 -9.06331533e-02 6.83682695e-01 8.98301037e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.13538475000001 meters Centerline goodness [0,1] 0.9391626551811503 Centerline is valid? [False, False] Translation: X:20.87, Y:0.46, Z:8.98 [[ 6.80269297e-01 -6.81638579e-02 -7.29785839e-01 2.08673519e+01] [ 1.12882968e-01 9.93530595e-01 1.24254795e-02 4.58053861e-01] [ 7.24217591e-01 -9.08330637e-02 6.83562898e-01 8.98359339e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.16538475000002 meters Centerline goodness [0,1] 0.9365430849044667 Centerline is valid? [False, False] Translation: X:20.87, Y:0.46, Z:8.98 [[ 6.80138323e-01 -7.35229085e-02 -7.29387581e-01 2.08672286e+01] [ 1.16421530e-01 9.93163957e-01 8.44878849e-03 4.59103837e-01] [ 7.23780276e-01 -9.06627629e-02 6.84048518e-01 8.98296548e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.19538475000002 meters Centerline goodness [0,1] 0.9339329828339773 Centerline is valid? [False, False] Translation: X:20.87, Y:0.46, Z:8.98 [[ 6.79722494e-01 -7.98799504e-02 -7.29106662e-01 2.08679936e+01] [ 1.21026205e-01 9.92640943e-01 4.07639193e-03 4.59976563e-01] [ 7.23415503e-01 -9.10118276e-02 6.84387944e-01 8.98326211e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.22538475 meters Centerline goodness [0,1] 0.9342471824743573 Centerline is valid? [False, False] Translation: X:20.87, Y:0.46, Z:8.98 [[ 6.79091708e-01 -8.08464278e-02 -7.29587765e-01 2.08703031e+01] [ 1.22117752e-01 9.92508779e-01 3.68477053e-03 4.60289898e-01] [ 7.23824362e-01 -9.15979150e-02 6.83877266e-01 8.98489874e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.25538475 meters Centerline goodness [0,1] 0.9365385222857504 Centerline is valid? [False, False] Translation: X:20.88, Y:0.46, Z:8.99 [[ 6.78334828e-01 -8.30301610e-02 -7.30046474e-01 2.08756167e+01] [ 1.23658643e-01 9.92322719e-01 2.03993778e-03 4.62956728e-01] [ 7.24272325e-01 -9.16603173e-02 6.83394458e-01 8.98576788e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.28538475 meters Centerline goodness [0,1] 0.9369961748806626 Centerline is valid? [False, False] Translation: X:20.88, Y:0.47, Z:8.99 [[ 6.77971837e-01 -8.37385745e-02 -7.30302704e-01 2.08778629e+01] [ 1.24021687e-01 9.92278579e-01 1.35726921e-03 4.65395315e-01] [ 7.24550074e-01 -9.14935638e-02 6.83122330e-01 8.98603287e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.31538475 meters Centerline goodness [0,1] 0.9396180107611466 Centerline is valid? [False, False] Translation: X:20.88, Y:0.47, Z:8.99 [[ 6.77577176e-01 -7.92679675e-02 -7.31167396e-01 2.08807740e+01] [ 1.21107558e-01 9.92628651e-01 4.61735813e-03 4.66323319e-01] [ 7.25411697e-01 -9.16785145e-02 6.82182468e-01 8.98755350e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.34538475 meters Centerline goodness [0,1] 0.9373443852626935 Centerline is valid? [False, False] Translation: X:20.88, Y:0.47, Z:8.99 [[ 6.77446433e-01 -7.92281497e-02 -7.31292848e-01 2.08815325e+01] [ 1.21132499e-01 9.92625350e-01 4.67242336e-03 4.66236495e-01] [ 7.25529632e-01 -9.17486471e-02 6.82047607e-01 8.98790208e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.37538475 meters Centerline goodness [0,1] 0.9392898774455751 Centerline is valid? [False, False] Translation: X:20.88, Y:0.47, Z:8.99 [[ 6.77396083e-01 -7.83521144e-02 -7.31433861e-01 2.08804603e+01] [ 1.20603399e-01 9.92686324e-01 5.35550452e-03 4.65242016e-01] [ 7.25664776e-01 -9.18412072e-02 6.81891359e-01 8.98839865e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.40538475 meters Centerline goodness [0,1] 0.9400637888022232 Centerline is valid? [False, False] Translation: X:20.88, Y:0.46, Z:8.99 [[ 6.77820502e-01 -7.60201881e-02 -7.31286741e-01 2.08768657e+01] [ 1.18605601e-01 9.92918730e-01 6.71616118e-03 4.64474093e-01] [ 7.25597739e-01 -9.12870555e-02 6.82037092e-01 8.98763953e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.43538475 meters Centerline goodness [0,1] 0.9421002838221382 Centerline is valid? [False, False] Translation: X:20.87, Y:0.46, Z:8.99 [[ 6.78187536e-01 -7.26360896e-02 -7.31290410e-01 2.08730310e+01] [ 1.15630316e-01 9.93255280e-01 8.57779508e-03 4.64701535e-01] [ 7.25735004e-01 -9.03766946e-02 6.82012285e-01 8.98668123e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.46538475 meters Centerline goodness [0,1] 0.9426625035481124 Centerline is valid? [False, False] Translation: X:20.87, Y:0.46, Z:8.99 [[ 6.78216553e-01 -7.18758470e-02 -7.31338615e-01 2.08722389e+01] [ 1.15033709e-01 9.93320320e-01 9.05466492e-03 4.64829787e-01] [ 7.25802696e-01 -9.02696169e-02 6.81954429e-01 8.98671799e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.49538475 meters Centerline goodness [0,1] 0.9412487786427963 Centerline is valid? [False, False] Translation: X:20.87, Y:0.46, Z:8.99 [[ 6.78431458e-01 -7.08101841e-02 -7.31243239e-01 2.08713689e+01] [ 1.14103411e-01 9.93421870e-01 9.66430559e-03 4.64143377e-01] [ 7.25748695e-01 -8.99939168e-02 6.82048332e-01 8.98624166e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.52538475 meters Centerline goodness [0,1] 0.9422289901970116 Centerline is valid? [False, False] Translation: X:20.87, Y:0.46, Z:8.99 [[ 6.78188468e-01 -7.01986651e-02 -7.31527545e-01 2.08703137e+01] [ 1.14062486e-01 9.93418979e-01 1.04154333e-02 4.62318967e-01] [ 7.25982198e-01 -9.05034771e-02 6.81732330e-01 8.98754466e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.55538475 meters Centerline goodness [0,1] 0.9420010125300595 Centerline is valid? [False, False] Translation: X:20.87, Y:0.46, Z:8.99 [[ 6.77949158e-01 -6.99265565e-02 -7.31775387e-01 2.08699051e+01] [ 1.14201171e-01 9.93398127e-01 1.08744805e-02 4.61820018e-01] [ 7.26183883e-01 -9.09419507e-02 6.81459118e-01 8.98869601e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.58538475 meters Centerline goodness [0,1] 0.9425560950839442 Centerline is valid? [False, False] Translation: X:20.87, Y:0.46, Z:8.99 [[ 6.77731477e-01 -7.02860432e-02 -7.31942564e-01 2.08712704e+01] [ 1.14565785e-01 9.93358128e-01 1.06915852e-02 4.62458501e-01] [ 7.26329626e-01 -9.11015983e-02 6.81282447e-01 8.98916431e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.61538475 meters Centerline goodness [0,1] 0.9403946329913181 Centerline is valid? [False, False] Translation: X:20.87, Y:0.46, Z:8.99 [[ 6.77241157e-01 -7.09469183e-02 -7.32332541e-01 2.08735467e+01] [ 1.15292172e-01 9.93277260e-01 1.03923323e-02 4.63556839e-01] [ 7.26671955e-01 -9.14703241e-02 6.80867865e-01 8.99033403e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.64538475 meters Centerline goodness [0,1] 0.9390919158361019 Centerline is valid? [False, False] Translation: X:20.88, Y:0.47, Z:8.99 [[ 6.76727771e-01 -7.26143010e-02 -7.32643629e-01 2.08774730e+01] [ 1.16737110e-01 9.93118394e-01 9.39699222e-03 4.65174033e-01] [ 7.26919508e-01 -9.18859057e-02 6.80547580e-01 8.99129923e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.67538475 meters Centerline goodness [0,1] 0.939387239418825 Centerline is valid? [False, False] Translation: X:20.88, Y:0.47, Z:8.99 [[ 6.76352044e-01 -7.27419610e-02 -7.32977844e-01 2.08783842e+01] [ 1.17076639e-01 9.93077662e-01 9.47724104e-03 4.65390366e-01] [ 7.27214530e-01 -9.22245339e-02 6.80186491e-01 8.99237224e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.70538475 meters Centerline goodness [0,1] 0.9378991968633403 Centerline is valid? [False, False] Translation: X:20.88, Y:0.47, Z:8.99 [[ 6.76137123e-01 -7.26244282e-02 -7.33187754e-01 2.08785652e+01] [ 1.17141791e-01 9.93068214e-01 9.66042111e-03 4.65547728e-01] [ 7.27403871e-01 -9.24186962e-02 6.79957641e-01 8.99309835e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.73538475 meters Centerline goodness [0,1] 0.9376651982378854 Centerline is valid? [False, False] Translation: X:20.88, Y:0.47, Z:8.99 [[ 6.75968507e-01 -7.24902438e-02 -7.33356491e-01 2.08792249e+01] [ 1.16827677e-01 9.93106576e-01 9.51964346e-03 4.67240625e-01] [ 7.27611072e-01 -9.21113141e-02 6.79777636e-01 8.99308153e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.76538475 meters Centerline goodness [0,1] 0.9368976522261194 Centerline is valid? [False, False] Translation: X:20.88, Y:0.47, Z:8.99 [[ 6.75828434e-01 -7.21527264e-02 -7.33518856e-01 2.08796481e+01] [ 1.16466966e-01 9.93148017e-01 9.61577164e-03 4.67942174e-01] [ 7.27798993e-01 -9.19293273e-02 6.79601078e-01 8.99320673e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.79538475 meters Centerline goodness [0,1] 0.9377503074642869 Centerline is valid? [False, False] Translation: X:20.88, Y:0.47, Z:8.99 [[ 6.75573202e-01 -6.59935464e-02 -7.34333508e-01 2.08797810e+01] [ 1.12252203e-01 9.93581428e-01 1.39781419e-02 4.67564405e-01] [ 7.28697668e-01 -9.18738120e-02 6.78644908e-01 8.99460555e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.82538475 meters Centerline goodness [0,1] 0.9348169690838971 Centerline is valid? [False, False] Translation: X:20.88, Y:0.47, Z:8.99 [[ 6.75591499e-01 -6.50682792e-02 -7.34399241e-01 2.08794989e+01] [ 1.11339768e-01 9.93678303e-01 1.43835433e-02 4.68252286e-01] [ 7.28820679e-01 -9.14852405e-02 6.78565302e-01 8.99428712e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.85538475 meters Centerline goodness [0,1] 0.9329119924158635 Centerline is valid? [False, False] Translation: X:20.88, Y:0.47, Z:9.00 [[ 6.75639267e-01 -5.80561359e-02 -7.34942899e-01 2.08777701e+01] [ 1.06626224e-01 9.94108064e-01 1.94937466e-02 4.66438883e-01] [ 7.29480931e-01 -9.15349266e-02 6.77848750e-01 8.99545201e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.88538475000001 meters Centerline goodness [0,1] 0.9322680052101534 Centerline is valid? [False, False] Translation: X:20.88, Y:0.47, Z:9.00 [[ 6.75751497e-01 -5.69366049e-02 -7.34927301e-01 2.08762164e+01] [ 1.05532908e-01 9.94214441e-01 2.00112660e-02 4.66660354e-01] [ 7.29535962e-01 -9.10816583e-02 6.77850582e-01 8.99502682e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.91538475000002 meters Centerline goodness [0,1] 0.9332783923420711 Centerline is valid? [False, False] Translation: X:20.87, Y:0.47, Z:8.99 [[ 6.75850076e-01 -5.55820113e-02 -7.34940348e-01 2.08747896e+01] [ 1.04248225e-01 9.94336556e-01 2.06669088e-02 4.67468680e-01] [ 7.29629346e-01 -9.05839586e-02 6.77816763e-01 8.99463521e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 192.94538475000002 meters Centerline goodness [0,1] 0.9335122336227308 Centerline is valid? [False, False] Translation: X:20.87, Y:0.47, Z:9.00 [[ 0.67575299 -0.05491913 -0.73507944 20.87413225] [ 0.10382028 0.99437117 0.02114991 0.46760325] [ 0.72978027 -0.09060827 0.67765102 8.99501694] [ 0. 0. 0. 1. ]] SLAMing on 192.97538475 meters Centerline goodness [0,1] 0.9331600798656229 Centerline is valid? [False, False] Translation: X:20.87, Y:0.47, Z:9.00 [[ 0.67554148 -0.05417802 -0.7353288 20.87299339] [ 0.10350955 0.99438891 0.0218283 0.46721385] [ 0.73002019 -0.09085947 0.6773589 8.99598499] [ 0. 0. 0. 1. ]] SLAMing on 193.00538475 meters Centerline goodness [0,1] 0.9315953724427072 Centerline is valid? [False, False] Translation: X:20.87, Y:0.47, Z:9.00 [[ 0.67532518 -0.05401132 -0.73553972 20.87345968] [ 0.10353731 0.99438128 0.02204301 0.46735639] [ 0.73021635 -0.09104201 0.67712291 8.99662314] [ 0. 0. 0. 1. ]] SLAMing on 193.03538475 meters Centerline goodness [0,1] 0.932132396938872 Centerline is valid? [False, False] Translation: X:20.88, Y:0.47, Z:9.00 [[ 0.67489181 -0.05469764 -0.73588669 20.87572753] [ 0.10382757 0.99436696 0.0213115 0.46997925] [ 0.73057572 -0.09078828 0.67676924 8.99688476] [ 0. 0. 0. 1. ]] SLAMing on 193.06538475 meters Centerline goodness [0,1] 0.9265531407783736 Centerline is valid? [False, False] Translation: X:20.88, Y:0.47, Z:9.00 [[ 0.67452323 -0.05498907 -0.73620284 20.87720968] [ 0.10417918 0.99433297 0.02118143 0.47061741] [ 0.730866 -0.09098437 0.6764294 8.99771984] [ 0. 0. 0. 1. ]] SLAMing on 193.09538475 meters Centerline goodness [0,1] 0.9265531407783736 Centerline is valid? [False, False] Translation: X:20.88, Y:0.47, Z:9.00 [[ 0.67452323 -0.05498907 -0.73620284 20.87720968] [ 0.10417918 0.99433297 0.02118143 0.47061741] [ 0.730866 -0.09098437 0.6764294 8.99771984] [ 0. 0. 0. 1. ]] SLAMing on 193.12538475 meters Centerline goodness [0,1] 0.9270217582694 Centerline is valid? [False, False] Translation: X:20.88, Y:0.47, Z:9.00 [[ 6.73760459e-01 -5.61597017e-02 -7.36812684e-01 2.08795738e+01] [ 1.05656836e-01 9.94184277e-01 2.08388190e-02 4.69601241e-01] [ 7.31357284e-01 -9.18896695e-02 6.75775711e-01 9.00003762e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.15538475 meters Centerline goodness [0,1] 0.9248162982118642 Centerline is valid? [False, False] Translation: X:20.88, Y:0.47, Z:9.00 [[ 6.73348660e-01 -6.19137143e-02 -7.36728087e-01 2.08809327e+01] [ 1.09998310e-01 9.93786060e-01 1.70188010e-02 4.68972469e-01] [ 7.31096405e-01 -9.24984315e-02 6.75974916e-01 9.00071503e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.18538475 meters Centerline goodness [0,1] 0.9244213659247064 Centerline is valid? [False, False] Translation: X:20.88, Y:0.47, Z:9.00 [[ 6.73005461e-01 -6.19899645e-02 -7.37035205e-01 2.08816057e+01] [ 1.10360584e-01 9.93742911e-01 1.71921068e-02 4.68150428e-01] [ 7.31357772e-01 -9.29100174e-02 6.75635655e-01 9.00184565e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.21538475 meters Centerline goodness [0,1] 0.9242654508611956 Centerline is valid? [False, False] Translation: X:20.88, Y:0.47, Z:9.00 [[ 6.72644078e-01 -6.20228400e-02 -7.37362266e-01 2.08824472e+01] [ 1.10723853e-01 9.93698511e-01 1.74212070e-02 4.67051450e-01] [ 7.31635273e-01 -9.33618632e-02 6.75272827e-01 9.00306912e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.24538475 meters Centerline goodness [0,1] 0.9214254094732183 Centerline is valid? [False, False] Translation: X:20.88, Y:0.47, Z:9.00 [[ 6.72346377e-01 -6.20358031e-02 -7.37632638e-01 2.08832346e+01] [ 1.11010122e-01 9.93663126e-01 1.76165789e-02 4.66792622e-01] [ 7.31865494e-01 -9.37291323e-02 6.74972405e-01 9.00406136e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.27538475 meters Centerline goodness [0,1] 0.9216556270402181 Centerline is valid? [False, False] Translation: X:20.88, Y:0.47, Z:9.00 [[ 6.72162372e-01 -6.19700378e-02 -7.37805842e-01 2.08838478e+01] [ 1.11179559e-01 9.93640383e-01 1.78296016e-02 4.67025084e-01] [ 7.32008778e-01 -9.40133156e-02 6.74777478e-01 9.00473809e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.30538475 meters Centerline goodness [0,1] 0.9146144337738898 Centerline is valid? [False, False] Translation: X:20.88, Y:0.47, Z:9.01 [[ 6.71996712e-01 -6.16498895e-02 -7.37983544e-01 2.08836413e+01] [ 1.11238021e-01 9.93625548e-01 1.82858809e-02 4.66060773e-01] [ 7.32151980e-01 -9.43798808e-02 6.74570913e-01 9.00558005e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.33538475 meters Centerline goodness [0,1] 0.912827691524561 Centerline is valid? [False, False] Translation: X:20.88, Y:0.47, Z:9.01 [[ 6.71807986e-01 -6.68979138e-02 -7.37698244e-01 2.08840305e+01] [ 1.14864560e-01 9.93274889e-01 1.45302102e-02 4.66398881e-01] [ 7.31765101e-01 -9.44968952e-02 6.74974202e-01 9.00532213e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.36538475 meters Centerline goodness [0,1] 0.9063755180108384 Centerline is valid? [False, False] Translation: X:20.88, Y:0.46, Z:9.01 [[ 6.71500006e-01 -6.66953187e-02 -7.37996935e-01 2.08845919e+01] [ 1.15382471e-01 9.93204427e-01 1.52266811e-02 4.64444897e-01] [ 7.31966275e-01 -9.53766262e-02 6.74632249e-01 9.00693164e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.39538475 meters Centerline goodness [0,1] 0.8913459697491863 Centerline is valid? [False, False] Translation: X:20.88, Y:0.46, Z:9.01 [[ 6.71496287e-01 -7.16530640e-02 -7.37535474e-01 2.08842099e+01] [ 1.18638974e-01 9.92870202e-01 1.15566490e-02 4.64746405e-01] [ 7.31448925e-01 -9.52606990e-02 6.75209500e-01 9.00609768e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.42538475 meters Centerline goodness [0,1] 0.8759580991313235 Centerline is valid? [False, False] Translation: X:20.88, Y:0.46, Z:9.01 [[ 6.71100070e-01 -7.15030009e-02 -7.37910575e-01 2.08849338e+01] [ 1.19239929e-01 9.92789978e-01 1.22433023e-02 4.62251392e-01] [ 7.31714791e-01 -9.62048860e-02 6.74787436e-01 9.00800386e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.45538475 meters Centerline goodness [0,1] 0.8702695738993205 Centerline is valid? [False, False] Translation: X:20.89, Y:0.46, Z:9.01 [[ 6.71734345e-01 -7.78949757e-02 -7.36685375e-01 2.08869514e+01] [ 1.24260570e-01 9.92214140e-01 8.39109439e-03 4.61059329e-01] [ 7.30296022e-01 -9.71775311e-02 6.76183590e-01 9.00686914e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.48538475 meters Centerline goodness [0,1] 0.8583590336674377 Centerline is valid? [False, False] Translation: X:20.89, Y:0.46, Z:9.01 [[ 6.71474614e-01 -7.73640455e-02 -7.36978051e-01 2.08867004e+01] [ 1.24381008e-01 9.92192149e-01 9.17081710e-03 4.59619741e-01] [ 7.30514344e-01 -9.78240438e-02 6.75854459e-01 9.00830859e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.51538475 meters Centerline goodness [0,1] 0.8493590773283645 Centerline is valid? [False, False] Translation: X:20.88, Y:0.46, Z:9.01 [[ 6.71245914e-01 -7.61643840e-02 -7.37311270e-01 2.08842844e+01] [ 1.24218110e-01 9.92198387e-01 1.05935175e-02 4.57693069e-01] [ 7.30752204e-01 -9.86982679e-02 6.75470109e-01 9.01031795e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.54538475 meters Centerline goodness [0,1] 0.863583553863035 Centerline is valid? [False, False] Translation: X:20.88, Y:0.45, Z:9.01 [[ 6.71133584e-01 -8.01346113e-02 -7.36992643e-01 2.08812635e+01] [ 1.28049204e-01 9.91729005e-01 8.77390419e-03 4.54642602e-01] [ 7.30193887e-01 -1.00259783e-01 6.75843815e-01 9.01216484e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.57538475 meters Centerline goodness [0,1] 0.8259816584861792 Centerline is valid? [False, False] Translation: X:20.88, Y:0.45, Z:9.02 [[ 6.70720189e-01 -8.37959938e-02 -7.36961776e-01 2.08805116e+01] [ 1.32834657e-01 9.91104276e-01 8.20167156e-03 4.51245990e-01] [ 7.29718700e-01 -1.03395091e-01 6.75884660e-01 9.01646825e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.60538475 meters Centerline goodness [0,1] 0.7879795892003617 Centerline is valid? [False, False] Translation: X:20.88, Y:0.45, Z:9.02 [[ 6.70603494e-01 -8.26943231e-02 -7.37192378e-01 2.08789140e+01] [ 1.32724797e-01 9.91106833e-01 9.55897545e-03 4.49685312e-01] [ 7.29845930e-01 -1.04253991e-01 6.75615293e-01 9.01813737e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.63538475000001 meters Centerline goodness [0,1] 0.7965849556949745 Centerline is valid? [False, False] Translation: X:20.87, Y:0.45, Z:9.02 [[ 6.70443061e-01 -7.97349222e-02 -7.37664181e-01 2.08739792e+01] [ 1.32429285e-01 9.91104133e-01 1.32318809e-02 4.46027387e-01] [ 7.30046975e-01 -1.06559563e-01 6.75038127e-01 9.02256145e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.66538475000002 meters Centerline goodness [0,1] 0.7871858727643197 Centerline is valid? [False, False] Translation: X:20.87, Y:0.45, Z:9.02 [[ 6.70191321e-01 -7.89283031e-02 -7.37979618e-01 2.08727366e+01] [ 1.32194094e-01 9.91124290e-01 1.40485943e-02 4.45765142e-01] [ 7.30320693e-01 -1.06971793e-01 6.74676753e-01 9.02389282e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.69538475000002 meters Centerline goodness [0,1] 0.7818999256072711 Centerline is valid? [False, False] Translation: X:20.88, Y:0.45, Z:9.03 [[ 6.74354864e-01 -8.29444484e-02 -7.33734104e-01 2.08827592e+01] [ 1.29835218e-01 9.91509126e-01 7.24354152e-03 4.47736046e-01] [ 7.26903249e-01 -1.00149245e-01 6.79398113e-01 9.03113540e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.72538475 meters Centerline goodness [0,1] 0.7712610920396399 Centerline is valid? [False, False] Translation: X:20.88, Y:0.45, Z:9.03 [[ 6.74101640e-01 -8.23002115e-02 -7.34039273e-01 2.08821695e+01] [ 1.29928990e-01 9.91489771e-01 8.15423354e-03 4.46831979e-01] [ 7.27121335e-01 -1.00869764e-01 6.79058064e-01 9.03271523e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.75538475 meters Centerline goodness [0,1] 0.757318927312134 Centerline is valid? [False, False] Translation: X:20.88, Y:0.44, Z:9.04 [[ 6.73661676e-01 -7.40058694e-02 -7.35325151e-01 2.08786641e+01] [ 1.26319285e-01 9.91862177e-01 1.59015892e-02 4.42634507e-01] [ 7.28164394e-01 -1.03598039e-01 6.77527904e-01 9.03896442e+00] [ 0.00000000e+00 0.00000000e+00 0.00000000e+00 1.00000000e+00]] SLAMing on 193.78538475 meters Centerline goodness [0,1] 0.7591163418869381 Centerline is valid? [False, False] Translation: X:20.88, Y:0.44, Z:9.04 [[ 0.67323112 -0.06682748 -0.7364061 20.87691987] [ 0.12287536 0.99217162 0.02229637 0.43912836] [ 0.72915123 -0.10549677 0.67617226 9.04353388] [ 0. 0. 0. 1. ]] Total time of SLAM: 11515.51 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%| | 0/6460 [00:00